diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 42305ded35..fe0f6267e7 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -49,7 +49,7 @@ jobs:
         cp Dockerfile.openpilot_base $STRIPPED_DIR
 
         # need this to build on x86
-        cp -pR --parents phonelibs/libyuv phonelibs/snpe selfdrive/modeld/runners $STRIPPED_DIR
+        cp -pR --parents third_party/libyuv third_party/snpe selfdrive/modeld/runners $STRIPPED_DIR
     - name: Build Docker image
       run: eval "$BUILD"
     - name: Build openpilot and run checks
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 854cff6782..78e92685f3 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -38,7 +38,7 @@ repos:
         entry: cppcheck
         language: system
         types: [c++]
-        exclude: '^(phonelibs)|(pyextra)|(cereal)|(opendbc)|(panda)|(tools)|(selfdrive/modeld/thneed/debug)|(selfdrive/modeld/test)|(selfdrive/camerad/test)/|(installer)'
+        exclude: '^(third_party)|(pyextra)|(cereal)|(opendbc)|(panda)|(tools)|(selfdrive/modeld/thneed/debug)|(selfdrive/modeld/test)|(selfdrive/camerad/test)/|(installer)'
         args:
         - --error-exitcode=1
         - --language=c++
diff --git a/Dockerfile.openpilot b/Dockerfile.openpilot
index e39ac00ef9..df132e604b 100644
--- a/Dockerfile.openpilot
+++ b/Dockerfile.openpilot
@@ -16,7 +16,7 @@ RUN pip install --no-cache-dir pipenv==2020.8.13 && \
 COPY SConstruct ${OPENPILOT_PATH}
 
 COPY ./pyextra ${OPENPILOT_PATH}/pyextra
-COPY ./phonelibs ${OPENPILOT_PATH}/phonelibs
+COPY ./third_party ${OPENPILOT_PATH}/third_party
 COPY ./site_scons ${OPENPILOT_PATH}/site_scons
 COPY ./laika ${OPENPILOT_PATH}/laika
 COPY ./laika_repo ${OPENPILOT_PATH}/laika_repo
diff --git a/README.md b/README.md
index 70e8d4f6b2..66d9866fa1 100755
--- a/README.md
+++ b/README.md
@@ -97,8 +97,8 @@ Directory Structure
     ├── docs                # Documentation
     ├── opendbc             # Files showing how to interpret data from cars
     ├── panda               # Code used to communicate on CAN
-    ├── phonelibs           # External libraries
-    ├── pyextra             # Extra python packages not shipped in NEOS
+    ├── third_party         # External libraries
+    ├── pyextra             # Extra python packages
     └── selfdrive           # Code needed to drive the car
         ├── assets          # Fonts, images, and sounds for UI
         ├── athena          # Allows communication with the app
diff --git a/SConstruct b/SConstruct
index 0e06df62f9..18c8d2f125 100644
--- a/SConstruct
+++ b/SConstruct
@@ -64,11 +64,11 @@ USE_FRAME_STREAM = os.getenv("USE_FRAME_STREAM") is not None
 
 lenv = {
   "PATH": os.environ['PATH'],
-  "LD_LIBRARY_PATH": [Dir(f"#phonelibs/acados/{arch}/lib").abspath],
+  "LD_LIBRARY_PATH": [Dir(f"#third_party/acados/{arch}/lib").abspath],
   "PYTHONPATH": Dir("#").abspath + ":" + Dir("#pyextra/").abspath,
 
-  "ACADOS_SOURCE_DIR": Dir("#phonelibs/acados/acados").abspath,
-  "TERA_PATH": Dir("#").abspath + f"/phonelibs/acados/{arch}/t_renderer",
+  "ACADOS_SOURCE_DIR": Dir("#third_party/acados/acados").abspath,
+  "TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer",
 }
 
 rpath = lenv["LD_LIBRARY_PATH"].copy()
@@ -82,7 +82,7 @@ if arch == "aarch64" or arch == "larch64":
     lenv["ANDROID_ROOT"] = os.environ['ANDROID_ROOT']
 
   cpppath = [
-    "#phonelibs/opencl/include",
+    "#third_party/opencl/include",
   ]
 
   libpath = [
@@ -90,14 +90,14 @@ if arch == "aarch64" or arch == "larch64":
     "/usr/lib",
     "/system/vendor/lib64",
     "/system/comma/usr/lib",
-    "#phonelibs/nanovg",
-    f"#phonelibs/acados/{arch}/lib",
+    "#third_party/nanovg",
+    f"#third_party/acados/{arch}/lib",
   ]
 
   if arch == "larch64":
     libpath += [
-      "#phonelibs/snpe/larch64",
-      "#phonelibs/libyuv/larch64/lib",
+      "#third_party/snpe/larch64",
+      "#third_party/libyuv/larch64/lib",
       "/usr/lib/aarch64-linux-gnu"
     ]
     cpppath += [
@@ -109,8 +109,8 @@ if arch == "aarch64" or arch == "larch64":
   else:
     rpath = []
     libpath += [
-      "#phonelibs/snpe/aarch64",
-      "#phonelibs/libyuv/lib",
+      "#third_party/snpe/aarch64",
+      "#third_party/libyuv/lib",
       "/system/vendor/lib64"
     ]
     cflags = ["-DQCOM", "-D_USING_LIBCXX", "-mcpu=cortex-a57"]
@@ -123,7 +123,7 @@ else:
   if arch == "Darwin":
     yuv_dir = "mac" if real_arch != "arm64" else "mac_arm64"
     libpath = [
-      f"#phonelibs/libyuv/{yuv_dir}/lib",
+      f"#third_party/libyuv/{yuv_dir}/lib",
       "/usr/local/lib",
       "/opt/homebrew/lib",
       "/usr/local/opt/openssl/lib",
@@ -139,10 +139,10 @@ else:
     ]
   else:
     libpath = [
-      "#phonelibs/acados/x86_64/lib",
-      "#phonelibs/snpe/x86_64-linux-clang",
-      "#phonelibs/libyuv/x64/lib",
-      "#phonelibs/mapbox-gl-native-qt/x86_64",
+      "#third_party/acados/x86_64/lib",
+      "#third_party/snpe/x86_64-linux-clang",
+      "#third_party/libyuv/x64/lib",
+      "#third_party/mapbox-gl-native-qt/x86_64",
       "#cereal",
       "#selfdrive/common",
       "/usr/lib",
@@ -150,7 +150,7 @@ else:
     ]
 
   rpath += [
-    Dir("#phonelibs/snpe/x86_64-linux-clang").abspath,
+    Dir("#third_party/snpe/x86_64-linux-clang").abspath,
     Dir("#cereal").abspath,
     Dir("#selfdrive/common").abspath
   ]
@@ -191,25 +191,25 @@ env = Environment(
 
   CPPPATH=cpppath + [
     "#",
-    "#phonelibs/acados/include",
-    "#phonelibs/acados/include/blasfeo/include",
-    "#phonelibs/acados/include/hpipm/include",
-    "#phonelibs/catch2/include",
-    "#phonelibs/bzip2",
-    "#phonelibs/libyuv/include",
-    "#phonelibs/openmax/include",
-    "#phonelibs/json11",
-    "#phonelibs/curl/include",
-    "#phonelibs/libgralloc/include",
-    "#phonelibs/android_frameworks_native/include",
-    "#phonelibs/android_hardware_libhardware/include",
-    "#phonelibs/android_system_core/include",
-    "#phonelibs/linux/include",
-    "#phonelibs/snpe/include",
-    "#phonelibs/mapbox-gl-native-qt/include",
-    "#phonelibs/nanovg",
-    "#phonelibs/qrcode",
-    "#phonelibs",
+    "#third_party/acados/include",
+    "#third_party/acados/include/blasfeo/include",
+    "#third_party/acados/include/hpipm/include",
+    "#third_party/catch2/include",
+    "#third_party/bzip2",
+    "#third_party/libyuv/include",
+    "#third_party/openmax/include",
+    "#third_party/json11",
+    "#third_party/curl/include",
+    "#third_party/libgralloc/include",
+    "#third_party/android_frameworks_native/include",
+    "#third_party/android_hardware_libhardware/include",
+    "#third_party/android_system_core/include",
+    "#third_party/linux/include",
+    "#third_party/snpe/include",
+    "#third_party/mapbox-gl-native-qt/include",
+    "#third_party/nanovg",
+    "#third_party/qrcode",
+    "#third_party",
     "#cereal",
     "#opendbc/can",
   ],
@@ -224,7 +224,7 @@ env = Environment(
   CXXFLAGS=["-std=c++1z"] + cxxflags,
   LIBPATH=libpath + [
     "#cereal",
-    "#phonelibs",
+    "#third_party",
     "#opendbc/can",
     "#selfdrive/boardd",
     "#selfdrive/common",
@@ -403,7 +403,7 @@ SConscript(['cereal/SConscript'])
 SConscript(['panda/board/SConscript'])
 SConscript(['opendbc/can/SConscript'])
 
-SConscript(['phonelibs/SConscript'])
+SConscript(['third_party/SConscript'])
 
 SConscript(['common/SConscript'])
 SConscript(['common/kalman/SConscript'])
diff --git a/lgtm.yml b/lgtm.yml
index 22ef981fb0..6ce9353562 100644
--- a/lgtm.yml
+++ b/lgtm.yml
@@ -1,7 +1,7 @@
 path_classifiers:
   library:
     - external
-    - phonelibs
+    - third_party
     - pyextra
     - tools/lib/mkvparse
 extraction:
diff --git a/phonelibs/SConscript b/phonelibs/SConscript
deleted file mode 100644
index c73c2550fb..0000000000
--- a/phonelibs/SConscript
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:6f0c49035e54d1c6781f4d167142d87708f646fc9afb618532a4feab095c4686
-size 185
diff --git a/phonelibs/acados/.gitignore b/phonelibs/acados/.gitignore
deleted file mode 100644
index d64532cba5..0000000000
--- a/phonelibs/acados/.gitignore
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:be2bcee07d20268d1f74037c0ccefb2cba8f9cb8fcadbea35c5e03bdf6894231
-size 42
diff --git a/phonelibs/acados/aarch64/lib/libacados.so b/phonelibs/acados/aarch64/lib/libacados.so
deleted file mode 100755
index d446be3e0e..0000000000
--- a/phonelibs/acados/aarch64/lib/libacados.so
+++ /dev/null
@@ -1,3 +0,0 @@
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-size 567737
diff --git a/phonelibs/acados/aarch64/lib/libblasfeo.so b/phonelibs/acados/aarch64/lib/libblasfeo.so
deleted file mode 100755
index 1bcba777eb..0000000000
--- a/phonelibs/acados/aarch64/lib/libblasfeo.so
+++ /dev/null
@@ -1,3 +0,0 @@
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-size 694193
diff --git a/phonelibs/acados/aarch64/lib/libhpipm.so b/phonelibs/acados/aarch64/lib/libhpipm.so
deleted file mode 100755
index d4b80789e8..0000000000
--- a/phonelibs/acados/aarch64/lib/libhpipm.so
+++ /dev/null
@@ -1,3 +0,0 @@
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-size 1324401
diff --git a/phonelibs/acados/aarch64/lib/libqpOASES_e.so.3.1 b/phonelibs/acados/aarch64/lib/libqpOASES_e.so.3.1
deleted file mode 100755
index 51d52bbb37..0000000000
--- a/phonelibs/acados/aarch64/lib/libqpOASES_e.so.3.1
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
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-size 218545
diff --git a/phonelibs/acados/build.sh b/phonelibs/acados/build.sh
deleted file mode 100755
index 3301accaa4..0000000000
--- a/phonelibs/acados/build.sh
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
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diff --git a/phonelibs/acados/include/acados/dense_qp/dense_qp_common.h b/phonelibs/acados/include/acados/dense_qp/dense_qp_common.h
deleted file mode 100644
index d9b780beee..0000000000
--- a/phonelibs/acados/include/acados/dense_qp/dense_qp_common.h
+++ /dev/null
@@ -1,3 +0,0 @@
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-size 5161
diff --git a/phonelibs/acados/include/acados/dense_qp/dense_qp_hpipm.h b/phonelibs/acados/include/acados/dense_qp/dense_qp_hpipm.h
deleted file mode 100644
index d34a4b2402..0000000000
--- a/phonelibs/acados/include/acados/dense_qp/dense_qp_hpipm.h
+++ /dev/null
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deleted file mode 100644
index 1a20d8af99..0000000000
--- a/phonelibs/acados/include/acados/dense_qp/dense_qp_ooqp.h
+++ /dev/null
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-size 4007
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deleted file mode 100644
index 1c0ef948fc..0000000000
--- a/phonelibs/acados/include/acados/dense_qp/dense_qp_qore.h
+++ /dev/null
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-size 4510
diff --git a/phonelibs/acados/include/acados/dense_qp/dense_qp_qpoases.h b/phonelibs/acados/include/acados/dense_qp/dense_qp_qpoases.h
deleted file mode 100644
index b0cf18d927..0000000000
--- a/phonelibs/acados/include/acados/dense_qp/dense_qp_qpoases.h
+++ /dev/null
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deleted file mode 100644
index b3d722b77a..0000000000
--- a/phonelibs/acados/include/acados/ocp_nlp/ocp_nlp_common.h
+++ /dev/null
@@ -1,3 +0,0 @@
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deleted file mode 100644
index ee7f2689cf..0000000000
--- a/phonelibs/acados/include/acados/ocp_nlp/ocp_nlp_constraints_bgh.h
+++ /dev/null
@@ -1,3 +0,0 @@
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deleted file mode 100644
index 94bde1f713..0000000000
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+++ /dev/null
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deleted file mode 100644
index 1dfc8957d4..0000000000
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deleted file mode 100644
index 29499ab8b8..0000000000
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deleted file mode 100644
index e4aede2583..0000000000
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deleted file mode 100644
index 9d300547ea..0000000000
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deleted file mode 100644
index 4e2ab9862d..0000000000
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deleted file mode 100644
index 5fede368a8..0000000000
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deleted file mode 100644
index cf134713bd..0000000000
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deleted file mode 100644
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deleted file mode 100644
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diff --git a/phonelibs/snpe/include/DlSystem/ITensorItrImpl.hpp b/phonelibs/snpe/include/DlSystem/ITensorItrImpl.hpp
deleted file mode 100644
index b5ac5021f9..0000000000
--- a/phonelibs/snpe/include/DlSystem/ITensorItrImpl.hpp
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:ed6c5b1a735b06a505e2d2429cc8ae1c96eac260b213f119b4b3e2662b58d92f
-size 1115
diff --git a/phonelibs/snpe/include/DlSystem/IUDL.hpp b/phonelibs/snpe/include/DlSystem/IUDL.hpp
deleted file mode 100644
index fdaa7b197c..0000000000
--- a/phonelibs/snpe/include/DlSystem/IUDL.hpp
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:d63d6651cb3f2133a456633df58952560eec0123b4929622cf8c8bf8692f8704
-size 2940
diff --git a/phonelibs/snpe/include/DlSystem/IUserBuffer.hpp b/phonelibs/snpe/include/DlSystem/IUserBuffer.hpp
deleted file mode 100644
index c0bd143a4b..0000000000
--- a/phonelibs/snpe/include/DlSystem/IUserBuffer.hpp
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:72b2484ce8b8bd8247358711fae6b1c54e9d8590a113f088187661d74e7a03c7
-size 11950
diff --git a/phonelibs/snpe/include/DlSystem/IUserBufferFactory.hpp b/phonelibs/snpe/include/DlSystem/IUserBufferFactory.hpp
deleted file mode 100644
index 98294a1d35..0000000000
--- a/phonelibs/snpe/include/DlSystem/IUserBufferFactory.hpp
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:786a163ab861e30141b7e199976fe29e16616774e5b0147a51535a206e72cc83
-size 2675
diff --git a/phonelibs/snpe/include/DlSystem/PlatformConfig.hpp b/phonelibs/snpe/include/DlSystem/PlatformConfig.hpp
deleted file mode 100644
index 419da0fc67..0000000000
--- a/phonelibs/snpe/include/DlSystem/PlatformConfig.hpp
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:3ada59af5b711dd1c5472b576a9776f13a3f6719fbbc86dd6a546737d79184cc
-size 4876
diff --git a/phonelibs/snpe/include/DlSystem/RuntimeList.hpp b/phonelibs/snpe/include/DlSystem/RuntimeList.hpp
deleted file mode 100644
index f7e1adfa64..0000000000
--- a/phonelibs/snpe/include/DlSystem/RuntimeList.hpp
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:60bdf12976d8348b4eb285c72f86431ef5ade59452296ebb0de11e8a83da6df1
-size 3146
diff --git a/phonelibs/snpe/include/DlSystem/String.hpp b/phonelibs/snpe/include/DlSystem/String.hpp
deleted file mode 100644
index 848dc016df..0000000000
--- a/phonelibs/snpe/include/DlSystem/String.hpp
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:561bf3e6cd5d2db2d02cb445b596850c0e64f58292aaba4d9c12f936995f7821
-size 2450
diff --git a/phonelibs/snpe/include/DlSystem/StringList.hpp b/phonelibs/snpe/include/DlSystem/StringList.hpp
deleted file mode 100644
index 727c1f5a65..0000000000
--- a/phonelibs/snpe/include/DlSystem/StringList.hpp
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:1174524a6beb8744727ae9c41e8fc89010b0c7147567b4747fa7ce8aafb6eadc
-size 2478
diff --git a/phonelibs/snpe/include/DlSystem/TensorMap.hpp b/phonelibs/snpe/include/DlSystem/TensorMap.hpp
deleted file mode 100644
index e36c9256e0..0000000000
--- a/phonelibs/snpe/include/DlSystem/TensorMap.hpp
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:7223001d25503e47147f54c54cb4e92290ff3caf5e37198cccb978efb72f96f3
-size 2655
diff --git a/phonelibs/snpe/include/DlSystem/TensorShape.hpp b/phonelibs/snpe/include/DlSystem/TensorShape.hpp
deleted file mode 100644
index 07fcef1cb3..0000000000
--- a/phonelibs/snpe/include/DlSystem/TensorShape.hpp
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:b1c25bf90ccfa1ca6e9c9746de4a6287446058257719cced20328dc8136450dd
-size 4816
diff --git a/phonelibs/snpe/include/DlSystem/TensorShapeMap.hpp b/phonelibs/snpe/include/DlSystem/TensorShapeMap.hpp
deleted file mode 100644
index 0d5a1b561f..0000000000
--- a/phonelibs/snpe/include/DlSystem/TensorShapeMap.hpp
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:ce614c420f95bb501c8d9e066fcca906bbc0056a22628f5adbd66273b2fed9d8
-size 2878
diff --git a/phonelibs/snpe/include/DlSystem/UDLContext.hpp b/phonelibs/snpe/include/DlSystem/UDLContext.hpp
deleted file mode 100644
index 9a4b5aed89..0000000000
--- a/phonelibs/snpe/include/DlSystem/UDLContext.hpp
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:3cfa7f79e72744dce50bde7cb19d7ee6ad72c91044955fa263d52215511f00ff
-size 5901
diff --git a/phonelibs/snpe/include/DlSystem/UDLFunc.hpp b/phonelibs/snpe/include/DlSystem/UDLFunc.hpp
deleted file mode 100644
index 9a6117f329..0000000000
--- a/phonelibs/snpe/include/DlSystem/UDLFunc.hpp
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:099d0cd2b478957f93d6a8b8d2176cb6779c528389a48776d15976c65ecc3a82
-size 2424
diff --git a/phonelibs/snpe/include/DlSystem/UserBufferMap.hpp b/phonelibs/snpe/include/DlSystem/UserBufferMap.hpp
deleted file mode 100644
index 323287b8e4..0000000000
--- a/phonelibs/snpe/include/DlSystem/UserBufferMap.hpp
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:2d31e9da6ceacb5aed9a554983b5e835399ce9cc2d6c35d2af591a8d18b94da9
-size 2911
diff --git a/phonelibs/snpe/include/DlSystem/ZdlExportDefine.hpp b/phonelibs/snpe/include/DlSystem/ZdlExportDefine.hpp
deleted file mode 100644
index fce952d498..0000000000
--- a/phonelibs/snpe/include/DlSystem/ZdlExportDefine.hpp
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:07c079eb9825f264f83bc55bd2d78e8733c4613f83f03eb0c0b0df0c1a27efa4
-size 371
diff --git a/phonelibs/snpe/include/PlatformValidator/PlatformValidator.hpp b/phonelibs/snpe/include/PlatformValidator/PlatformValidator.hpp
deleted file mode 100644
index 6c73ed8b63..0000000000
--- a/phonelibs/snpe/include/PlatformValidator/PlatformValidator.hpp
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:0cff776c152451d399a2870afe98e4de1871d03da9caa039e1651bb2995088b7
-size 2310
diff --git a/phonelibs/snpe/include/SNPE/ApplicationBufferMap.hpp b/phonelibs/snpe/include/SNPE/ApplicationBufferMap.hpp
deleted file mode 100644
index 5cf6f8c32f..0000000000
--- a/phonelibs/snpe/include/SNPE/ApplicationBufferMap.hpp
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:51c26c448233f22b8f0058dc93b204f82e493fc36e784e1ac2c23f8c59b887e1
-size 2805
diff --git a/phonelibs/snpe/include/SNPE/PSNPE.hpp b/phonelibs/snpe/include/SNPE/PSNPE.hpp
deleted file mode 100644
index f6cd8be5f4..0000000000
--- a/phonelibs/snpe/include/SNPE/PSNPE.hpp
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:a86790d8ec404fa64dddfa0e8e83929d13beb0a214fcf592309fe5a33b40102e
-size 6635
diff --git a/phonelibs/snpe/include/SNPE/RuntimeConfigList.hpp b/phonelibs/snpe/include/SNPE/RuntimeConfigList.hpp
deleted file mode 100644
index e00c45c2c6..0000000000
--- a/phonelibs/snpe/include/SNPE/RuntimeConfigList.hpp
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:a9c1b9bbde6c8e44174c63f19370e9b863eeb023958986fdee0c7485e074c6b3
-size 2601
diff --git a/phonelibs/snpe/include/SNPE/SNPE.hpp b/phonelibs/snpe/include/SNPE/SNPE.hpp
deleted file mode 100644
index d222fc115e..0000000000
--- a/phonelibs/snpe/include/SNPE/SNPE.hpp
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:055722c8ed4cbd8112fafe7d1c9862fd489a800582b67a7306ead269c09a2305
-size 8314
diff --git a/phonelibs/snpe/include/SNPE/SNPEBuilder.hpp b/phonelibs/snpe/include/SNPE/SNPEBuilder.hpp
deleted file mode 100644
index a520e914fd..0000000000
--- a/phonelibs/snpe/include/SNPE/SNPEBuilder.hpp
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:39bdaaa1696e8fb3a726685bab4c9cd6f5d3f5df572673d310fa8f5367e2cd85
-size 10117
diff --git a/phonelibs/snpe/include/SNPE/SNPEFactory.hpp b/phonelibs/snpe/include/SNPE/SNPEFactory.hpp
deleted file mode 100644
index 572b9dfdc6..0000000000
--- a/phonelibs/snpe/include/SNPE/SNPEFactory.hpp
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:f2d7eb817326862920e09224ede42691926458d3303b6c8f087317b4b33c954e
-size 3579
diff --git a/phonelibs/snpe/include/SNPE/UserBufferList.hpp b/phonelibs/snpe/include/SNPE/UserBufferList.hpp
deleted file mode 100644
index f9cd041319..0000000000
--- a/phonelibs/snpe/include/SNPE/UserBufferList.hpp
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:c641ad042a19c9e71e8211cf76e38fb5e2a8a749203946f8179a268ad541d82d
-size 1300
diff --git a/phonelibs/snpe/include/SnpeUdo/UdoBase.h b/phonelibs/snpe/include/SnpeUdo/UdoBase.h
deleted file mode 100644
index 3eca588645..0000000000
--- a/phonelibs/snpe/include/SnpeUdo/UdoBase.h
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:aa8fa1297e227fa0fb6c7a77209a5249d4915a9f0afce02e9796fa097d95fd01
-size 16619
diff --git a/phonelibs/snpe/include/SnpeUdo/UdoImpl.h b/phonelibs/snpe/include/SnpeUdo/UdoImpl.h
deleted file mode 100644
index 51df46e3c6..0000000000
--- a/phonelibs/snpe/include/SnpeUdo/UdoImpl.h
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:a864fe746548d13669d83fd5d54dae519c537835b4d660074c3f5d7e65eb51bd
-size 12494
diff --git a/phonelibs/snpe/include/SnpeUdo/UdoImplCpu.h b/phonelibs/snpe/include/SnpeUdo/UdoImplCpu.h
deleted file mode 100644
index a27db093a0..0000000000
--- a/phonelibs/snpe/include/SnpeUdo/UdoImplCpu.h
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:0cb23bc0fdd8027b2dd4e7f8aff99b9098141fe37ae9c9f5c6a6dbc8f97473fc
-size 1521
diff --git a/phonelibs/snpe/include/SnpeUdo/UdoImplDsp.h b/phonelibs/snpe/include/SnpeUdo/UdoImplDsp.h
deleted file mode 100644
index 8f66072a1c..0000000000
--- a/phonelibs/snpe/include/SnpeUdo/UdoImplDsp.h
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:9cf102f64eab373106f5a99bb2fce97bdde2a73ece87711c4462247fa6e79227
-size 8425
diff --git a/phonelibs/snpe/include/SnpeUdo/UdoImplGpu.h b/phonelibs/snpe/include/SnpeUdo/UdoImplGpu.h
deleted file mode 100644
index d860a87c4f..0000000000
--- a/phonelibs/snpe/include/SnpeUdo/UdoImplGpu.h
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:a50f1e4de20eff3606248b360c68a0ca9e9735b92dc096234d75a215318a8d6d
-size 3930
diff --git a/phonelibs/snpe/include/SnpeUdo/UdoReg.h b/phonelibs/snpe/include/SnpeUdo/UdoReg.h
deleted file mode 100644
index 69b2b0dee3..0000000000
--- a/phonelibs/snpe/include/SnpeUdo/UdoReg.h
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:deed02fc52d964333359719afae28f8a806acb4b866b7b6d1d14a3c1514ef777
-size 3434
diff --git a/phonelibs/snpe/include/SnpeUdo/UdoShared.h b/phonelibs/snpe/include/SnpeUdo/UdoShared.h
deleted file mode 100644
index 3ebfbd6036..0000000000
--- a/phonelibs/snpe/include/SnpeUdo/UdoShared.h
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:28468c047dc34df577bd156053418709978d722a7c825bf2b04dea2779310401
-size 1256
diff --git a/phonelibs/zlib/build.txt b/phonelibs/zlib/build.txt
deleted file mode 100644
index a8312ac221..0000000000
--- a/phonelibs/zlib/build.txt
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:ceed041aa79cbd6641c5ac8d482728b44267d77fbbc0db46d3932320e84a9dde
-size 147
diff --git a/release/build_release2.sh b/release/build_release2.sh
index c607aa8206..f7b22792db 100755
--- a/release/build_release2.sh
+++ b/release/build_release2.sh
@@ -77,8 +77,8 @@ rm models/supercombo.dlc
 mkdir -p panda/board/obj
 mv /tmp/panda.bin.signed panda/board/obj/panda.bin.signed
 
-# Restore phonelibs
-git checkout phonelibs/
+# Restore third_party
+git checkout third_party/
 
 # Mark as prebuilt release
 touch prebuilt
diff --git a/release/build_release3.sh b/release/build_release3.sh
index 37cea5204f..681bc48bb8 100755
--- a/release/build_release3.sh
+++ b/release/build_release3.sh
@@ -68,8 +68,8 @@ rm models/supercombo.dlc
 mkdir -p panda/board/obj
 mv /tmp/panda.bin.signed panda/board/obj/panda.bin.signed
 
-# Restore phonelibs
-git checkout phonelibs/
+# Restore third_party
+git checkout third_party/
 
 # Mark as prebuilt release
 touch prebuilt
diff --git a/release/files_common b/release/files_common
index fa5d1067df..68c2600c29 100644
--- a/release/files_common
+++ b/release/files_common
@@ -433,44 +433,44 @@ selfdrive/assets/offroad/*
 selfdrive/assets/sounds/*
 selfdrive/assets/training/*
 
-phonelibs/SConscript
+third_party/SConscript
 
-phonelibs/nanovg/*.c
-phonelibs/nanovg/*.h
+third_party/nanovg/*.c
+third_party/nanovg/*.h
 
-phonelibs/libgralloc/**
-phonelibs/linux/**
-phonelibs/opencl/**
-phonelibs/zlib/*
-phonelibs/bzip2/*
-phonelibs/openmax/**
+third_party/libgralloc/**
+third_party/linux/**
+third_party/opencl/**
+third_party/zlib/*
+third_party/bzip2/*
+third_party/openmax/**
 
-phonelibs/json11/json11.cpp
-phonelibs/json11/json11.hpp
+third_party/json11/json11.cpp
+third_party/json11/json11.hpp
 
-phonelibs/qrcode/*.cc
-phonelibs/qrcode/*.hpp
+third_party/qrcode/*.cc
+third_party/qrcode/*.hpp
 
-phonelibs/kaitai/*.h
-phonelibs/kaitai/*.cpp
+third_party/kaitai/*.h
+third_party/kaitai/*.cpp
 
-phonelibs/libyuv/include/**
-phonelibs/libyuv/lib/**
-phonelibs/libyuv/larch64/**
+third_party/libyuv/include/**
+third_party/libyuv/lib/**
+third_party/libyuv/larch64/**
 
-phonelibs/snpe/include/**
-phonelibs/snpe/aarch64**
-phonelibs/snpe/larch64**
-phonelibs/snpe/dsp**
+third_party/snpe/include/**
+third_party/snpe/aarch64**
+third_party/snpe/larch64**
+third_party/snpe/dsp**
 
-phonelibs/acados/x86_64/**
-phonelibs/acados/aarch64/**
-phonelibs/acados/larch64/**
-phonelibs/acados/include/**
+third_party/acados/x86_64/**
+third_party/acados/aarch64/**
+third_party/acados/larch64/**
+third_party/acados/include/**
 
-phonelibs/android_frameworks_native/**
-phonelibs/android_hardware_libhardware/**
-phonelibs/android_system_core/**
+third_party/android_frameworks_native/**
+third_party/android_hardware_libhardware/**
+third_party/android_system_core/**
 
 scripts/update_now.sh
 scripts/stop_updater.sh
diff --git a/release/files_pc b/release/files_pc
index 1b57f97a7d..2f55599c25 100644
--- a/release/files_pc
+++ b/release/files_pc
@@ -1,3 +1,3 @@
-phonelibs/mapbox-gl-native-qt/x86_64/**
+third_party/mapbox-gl-native-qt/x86_64/**
 
-phonelibs/qt-plugins/x86_64/**
+third_party/qt-plugins/x86_64/**
diff --git a/release/files_tici b/release/files_tici
index cf5184a586..b5a2e5b7ae 100644
--- a/release/files_tici
+++ b/release/files_tici
@@ -1,4 +1,4 @@
-phonelibs/mapbox-gl-native-qt/include/*
+third_party/mapbox-gl-native-qt/include/*
 
 selfdrive/timezoned.py
 
diff --git a/selfdrive/hardware/eon/updater b/selfdrive/hardware/eon/updater
index 010ed574a2..d1f0f47ae4 100755
--- a/selfdrive/hardware/eon/updater
+++ b/selfdrive/hardware/eon/updater
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:cee626f7d0ea1b464b5c57f3dbc6996af15d61ffca611f1934b5ac89c9cac8b8
-size 3178392
+oid sha256:93fa3a75fe891d75c3adc515c65dcd899ace6063e16eaf417d202b6befaba3d1
+size 3193008
diff --git a/selfdrive/hardware/tici/updater b/selfdrive/hardware/tici/updater
index a8f8a57b99..7eb407988e 100755
--- a/selfdrive/hardware/tici/updater
+++ b/selfdrive/hardware/tici/updater
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:294ea7c8e3b8a6444493b119e7d3de8e063b1fc1785cf15af5a39bed412f6f97
-size 7898584
+oid sha256:f74ea28934c6b9477a98dc6a38e6bfcd53e94e6af31dba5b6d11bc5310f7d995
+size 8135168
diff --git a/selfdrive/modeld/dmonitoringmodeld b/selfdrive/modeld/dmonitoringmodeld
index 506f731637..9acd7bcc33 100755
--- a/selfdrive/modeld/dmonitoringmodeld
+++ b/selfdrive/modeld/dmonitoringmodeld
@@ -5,13 +5,13 @@ cd $DIR
 
 if [ -d /system ]; then
   if [ -f /TICI ]; then # QCOM2
-    export LD_LIBRARY_PATH="/usr/lib/aarch64-linux-gnu:/data/pythonpath/phonelibs/snpe/larch64:$LD_LIBRARY_PATH"
+    export LD_LIBRARY_PATH="/usr/lib/aarch64-linux-gnu:/data/pythonpath/third_party/snpe/larch64:$LD_LIBRARY_PATH"
   else # QCOM
-    export LD_LIBRARY_PATH="/data/pythonpath/phonelibs/snpe/aarch64/:$LD_LIBRARY_PATH"
+    export LD_LIBRARY_PATH="/data/pythonpath/third_party/snpe/aarch64/:$LD_LIBRARY_PATH"
   fi
-  export ADSP_LIBRARY_PATH="/data/pythonpath/phonelibs/snpe/dsp/"
+  export ADSP_LIBRARY_PATH="/data/pythonpath/third_party/snpe/dsp/"
 else
   # PC
-  export LD_LIBRARY_PATH="$DIR/../../phonelibs/snpe/x86_64-linux-clang:$DIR/../../openpilot/phonelibs/snpe/x86_64:$LD_LIBRARY_PATH"
+  export LD_LIBRARY_PATH="$DIR/../../third_party/snpe/x86_64-linux-clang:$DIR/../../openpilot/third_party/snpe/x86_64:$LD_LIBRARY_PATH"
 fi
 exec ./_dmonitoringmodeld
diff --git a/selfdrive/modeld/modeld b/selfdrive/modeld/modeld
index f3a7c24081..fcf2812cb7 100755
--- a/selfdrive/modeld/modeld
+++ b/selfdrive/modeld/modeld
@@ -5,12 +5,12 @@ cd $DIR
 
 if [ -d /system ]; then
   if [ -f /TICI ]; then # QCOM2
-    export LD_LIBRARY_PATH="/usr/lib/aarch64-linux-gnu:/data/pythonpath/phonelibs/snpe/larch64:$LD_LIBRARY_PATH"
+    export LD_LIBRARY_PATH="/usr/lib/aarch64-linux-gnu:/data/pythonpath/third_party/snpe/larch64:$LD_LIBRARY_PATH"
   else # QCOM
-    export LD_LIBRARY_PATH="/data/pythonpath/phonelibs/snpe/aarch64/:$LD_LIBRARY_PATH"
+    export LD_LIBRARY_PATH="/data/pythonpath/third_party/snpe/aarch64/:$LD_LIBRARY_PATH"
   fi
 else
   # PC
-  export LD_LIBRARY_PATH="$DIR/../../phonelibs/snpe/x86_64-linux-clang:$DIR/../../openpilot/phonelibs/snpe/x86_64:$LD_LIBRARY_PATH"
+  export LD_LIBRARY_PATH="$DIR/../../third_party/snpe/x86_64-linux-clang:$DIR/../../openpilot/third_party/snpe/x86_64:$LD_LIBRARY_PATH"
 fi
 exec ./_modeld
diff --git a/selfdrive/modeld/test/snpe_benchmark/benchmark.sh b/selfdrive/modeld/test/snpe_benchmark/benchmark.sh
index e87da7db4d..a9d3f79786 100755
--- a/selfdrive/modeld/test/snpe_benchmark/benchmark.sh
+++ b/selfdrive/modeld/test/snpe_benchmark/benchmark.sh
@@ -1,4 +1,4 @@
 #!/bin/sh -e
-clang++ -I /data/openpilot/phonelibs/snpe/include/ -L/data/pythonpath/phonelibs/snpe/aarch64 -lSNPE benchmark.cc -o benchmark
-export LD_LIBRARY_PATH="/data/pythonpath/phonelibs/snpe/aarch64/:$HOME/openpilot/phonelibs/snpe/x86_64/:$LD_LIBRARY_PATH"
+clang++ -I /data/openpilot/third_party/snpe/include/ -L/data/pythonpath/third_party/snpe/aarch64 -lSNPE benchmark.cc -o benchmark
+export LD_LIBRARY_PATH="/data/pythonpath/third_party/snpe/aarch64/:$HOME/openpilot/third_party/snpe/x86_64/:$LD_LIBRARY_PATH"
 exec ./benchmark $1
diff --git a/selfdrive/modeld/visiontest.mk b/selfdrive/modeld/visiontest.mk
index 82c6798ffe..1df504e93a 100644
--- a/selfdrive/modeld/visiontest.mk
+++ b/selfdrive/modeld/visiontest.mk
@@ -10,7 +10,7 @@ ifeq ($(UNAME_S),Darwin)
 	SHARED_FLAGS=-Wl,-force_load $^
 endif
 
-PHONELIBS := ../../phonelibs
+PHONELIBS := ../../third_party
 BASEDIR := ../..
 
 WARN_FLAGS = -Werror=implicit-function-declaration \
diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript
index ca8147ec82..7816beb033 100644
--- a/selfdrive/ui/SConscript
+++ b/selfdrive/ui/SConscript
@@ -11,7 +11,7 @@ if arch == 'aarch64':
   base_libs += ['log', 'utils', 'gui', 'ui', 'CB', 'gsl', 'adreno_utils', 'cutils', 'uuid']
 
 if maps and arch == 'x86_64':
-  rpath = [Dir(f"#phonelibs/mapbox-gl-native-qt/{arch}").srcnode().abspath]
+  rpath = [Dir(f"#third_party/mapbox-gl-native-qt/{arch}").srcnode().abspath]
   qt_env["RPATH"] += rpath
 
 if arch == "Darwin":
@@ -21,7 +21,7 @@ if arch == "Darwin":
 widgets_src = ["qt/util.cc", "qt/widgets/input.cc", "qt/widgets/drive_stats.cc",
                "qt/widgets/ssh_keys.cc", "qt/widgets/toggle.cc", "qt/widgets/controls.cc",
                "qt/widgets/offroad_alerts.cc", "qt/widgets/prime.cc", "qt/widgets/keyboard.cc",
-               "qt/widgets/scrollview.cc", "qt/widgets/cameraview.cc", "#phonelibs/qrcode/QrCode.cc", "qt/api.cc",
+               "qt/widgets/scrollview.cc", "qt/widgets/cameraview.cc", "#third_party/qrcode/QrCode.cc", "qt/api.cc",
                "qt/request_repeater.cc"]
 
 if arch != 'aarch64':
@@ -54,7 +54,7 @@ qt_env.Program("qt/spinner", ["qt/spinner.cc"], LIBS=qt_libs)
 qt_src = ["main.cc", "ui.cc", "paint.cc", "qt/sidebar.cc", "qt/onroad.cc",
           "qt/window.cc", "qt/home.cc", "qt/offroad/settings.cc",
           "qt/offroad/onboarding.cc", "qt/offroad/driverview.cc",
-          "#phonelibs/nanovg/nanovg.c"]
+          "#third_party/nanovg/nanovg.c"]
 qt_env.Program("_ui", qt_src + [asset_obj], LIBS=qt_libs)
 
 
diff --git a/selfdrive/ui/qt/spinner_aarch64 b/selfdrive/ui/qt/spinner_aarch64
index 16541f2a80..0ad9192c98 100755
--- a/selfdrive/ui/qt/spinner_aarch64
+++ b/selfdrive/ui/qt/spinner_aarch64
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:5cb58e6793b987c1dd45325bbeb1954e25352154dff5cc70b07b60bc123c3a3e
-size 3099840
+oid sha256:56a3413e09c42849a190031665a2bdabf628a495fd3c8e181c8e863c22a7cd64
+size 3166352
diff --git a/selfdrive/ui/qt/spinner_larch64 b/selfdrive/ui/qt/spinner_larch64
index 0af2f03244..3d3011ed7f 100755
--- a/selfdrive/ui/qt/spinner_larch64
+++ b/selfdrive/ui/qt/spinner_larch64
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:ae8b210c237ffacab908083f231a20940d2443ee40c620d1f07de1e1e83cf5ea
-size 2738568
+oid sha256:d00e4d5c404368a41500e910a95cceedd4d17e93565f9220075ed384c83d32af
+size 2807984
diff --git a/selfdrive/ui/qt/text_aarch64 b/selfdrive/ui/qt/text_aarch64
index 47b6b80296..78d19b0ac0 100755
--- a/selfdrive/ui/qt/text_aarch64
+++ b/selfdrive/ui/qt/text_aarch64
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:0e90aae922acde371d1db36a53d789afba2843cc551f6f2e3b8f97af0d2257de
-size 785800
+oid sha256:8c33f9f4090720b23f3c70cf1fe5b3bda23f31fe17a20f769279bf14dbb1178e
+size 3214400
diff --git a/selfdrive/ui/qt/text_larch64 b/selfdrive/ui/qt/text_larch64
index 11ac388e94..b032104cb8 100755
--- a/selfdrive/ui/qt/text_larch64
+++ b/selfdrive/ui/qt/text_larch64
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:8c446b58b2f3d96c87c764c4de2e53c5be533fd7f2bb29c35bac78f11349ac2d
-size 621056
+oid sha256:b112ca5c127163fa056bfa5d572700c31fcbe71bfd7ff0c89a62386a4aaa15cf
+size 2847888
diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui
index 36341a7ee5..68c8c2cad5 100755
--- a/selfdrive/ui/ui
+++ b/selfdrive/ui/ui
@@ -1,5 +1,5 @@
 #!/bin/sh
 cd "$(dirname "$0")"
 export LD_LIBRARY_PATH="/system/lib64:$LD_LIBRARY_PATH"
-export QT_PLUGIN_PATH="../../phonelibs/qt-plugins/$(uname -m)"
+export QT_PLUGIN_PATH="../../third_party/qt-plugins/$(uname -m)"
 exec ./_ui
diff --git a/third_party/SConscript b/third_party/SConscript
new file mode 100644
index 0000000000..5a7a62ae5a
--- /dev/null
+++ b/third_party/SConscript
@@ -0,0 +1,6 @@
+Import('env')
+
+env.Library('json11', ['json11/json11.cpp'])
+env.Append(CPPPATH=[Dir('json11')])
+
+env.Library('kaitai', ['kaitai/kaitaistream.cpp'], CPPDEFINES=['KS_STR_ENCODING_NONE'])
diff --git a/third_party/acados/.gitignore b/third_party/acados/.gitignore
new file mode 100644
index 0000000000..9787bd1b55
--- /dev/null
+++ b/third_party/acados/.gitignore
@@ -0,0 +1,4 @@
+acados_repo/
+!x86_64/
+!larch64/
+!aarch64/
diff --git a/third_party/acados/aarch64/lib/libacados.so b/third_party/acados/aarch64/lib/libacados.so
new file mode 100755
index 0000000000..17561ba541
--- /dev/null
+++ b/third_party/acados/aarch64/lib/libacados.so
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:748584a2ba0872cbdb57dfb3cba0b6c16e1f3cbfb5444be131e1435329270472
+size 567753
diff --git a/third_party/acados/aarch64/lib/libblasfeo.so b/third_party/acados/aarch64/lib/libblasfeo.so
new file mode 100755
index 0000000000..f5f49cd2f2
--- /dev/null
+++ b/third_party/acados/aarch64/lib/libblasfeo.so
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f459390b07bd4cff5059475e70436a4843469aecf82cb4137bf77a86732648de
+size 694193
diff --git a/third_party/acados/aarch64/lib/libhpipm.so b/third_party/acados/aarch64/lib/libhpipm.so
new file mode 100755
index 0000000000..d1084d63bf
--- /dev/null
+++ b/third_party/acados/aarch64/lib/libhpipm.so
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a363f66e7a0c7b3ce5e4bd202e0320431253f9d3d9f6d6423b031afba4c8017b
+size 1324409
diff --git a/phonelibs/acados/aarch64/lib/libqpOASES_e.so b/third_party/acados/aarch64/lib/libqpOASES_e.so
similarity index 100%
rename from phonelibs/acados/aarch64/lib/libqpOASES_e.so
rename to third_party/acados/aarch64/lib/libqpOASES_e.so
diff --git a/third_party/acados/aarch64/lib/libqpOASES_e.so.3.1 b/third_party/acados/aarch64/lib/libqpOASES_e.so.3.1
new file mode 100755
index 0000000000..857c159384
--- /dev/null
+++ b/third_party/acados/aarch64/lib/libqpOASES_e.so.3.1
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17841debecba17ce4bb1150820c61f9d965c3cb045f46afc8b20ee286dd42350
+size 218545
diff --git a/phonelibs/acados/aarch64/t_renderer b/third_party/acados/aarch64/t_renderer
similarity index 100%
rename from phonelibs/acados/aarch64/t_renderer
rename to third_party/acados/aarch64/t_renderer
diff --git a/third_party/acados/build.sh b/third_party/acados/build.sh
new file mode 100755
index 0000000000..42cfee9914
--- /dev/null
+++ b/third_party/acados/build.sh
@@ -0,0 +1,75 @@
+#!/usr/bin/bash -e
+
+DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+
+ARCHNAME="x86_64"
+BLAS_TARGET="X64_AUTOMATIC"
+if [ -f /TICI ]; then
+  ARCHNAME="larch64"
+  BLAS_TARGET="ARMV8A_ARM_CORTEX_A57"
+elif [ -f /EON ]; then
+  ARCHNAME="aarch64"
+  BLAS_TARGET="ARMV8A_ARM_CORTEX_A57"
+fi
+
+if [ ! -d acados_repo/ ]; then
+  #git clone https://github.com/acados/acados.git $DIR/acados
+  git clone https://github.com/commaai/acados.git $DIR/acados_repo
+fi
+cd acados_repo
+git fetch
+git checkout 2683e94d4ef96ed2d2b940bb4e977656d1b7724d
+git submodule update --recursive --init
+
+# build
+mkdir -p build
+cd build
+cmake -DACADOS_WITH_QPOASES=ON -UBLASFEO_TARGET -DBLASFEO_TARGET=$BLAS_TARGET ..
+make -j4 install
+
+INSTALL_DIR="$DIR/$ARCHNAME"
+rm -rf $INSTALL_DIR
+mkdir -p $INSTALL_DIR
+
+rm $DIR/acados_repo/lib/*.json
+
+cp -r $DIR/acados_repo/include $DIR
+cp -r $DIR/acados_repo/lib $INSTALL_DIR
+cp -r $DIR/acados_repo/interfaces/acados_template/acados_template $DIR/../../pyextra
+#pip3 install -e $DIR/acados/interfaces/acados_template
+
+# hack to workaround no rpath on android
+if [ -f /EON ]; then
+  pushd $INSTALL_DIR/lib
+  for lib in $(ls .); do
+    if ! readlink $lib; then
+      patchelf --set-soname $PWD/$lib $lib
+
+      if [ "$lib" = "libacados.so" ]; then
+        for nlib in "libhpipm.so" "libblasfeo.so" "libqpOASES_e.so.3.1"; do
+          patchelf --replace-needed $nlib $PWD/$nlib $lib
+        done
+      fi
+
+      if [ "$lib" = "libhpipm.so" ]; then
+        patchelf --replace-needed libblasfeo.so $PWD/libblasfeo.so $lib
+      fi
+
+      # pad extra byte to workaround bionic linker bug
+      # https://android.googlesource.com/platform/bionic/+/93ce35434ca5af43a7449e289959543f0a2426fa%5E%21/#F0
+      dd if=/dev/zero bs=1 count=1 >> $lib
+    fi
+  done
+  popd
+
+  cd $DIR
+  git checkout $INSTALL_DIR/t_renderer
+fi
+
+# build tera
+# build with commaai/termux-packages for NEOS
+if [ ! -f /EON ]; then
+  cd $DIR/acados_repo/interfaces/acados_template/tera_renderer/
+  cargo build --verbose --release
+  cp target/release/t_renderer $INSTALL_DIR/
+fi
diff --git a/third_party/acados/include/acados/dense_qp/dense_qp_common.h b/third_party/acados/include/acados/dense_qp/dense_qp_common.h
new file mode 100644
index 0000000000..f3809c4294
--- /dev/null
+++ b/third_party/acados/include/acados/dense_qp/dense_qp_common.h
@@ -0,0 +1,150 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef ACADOS_DENSE_QP_DENSE_QP_COMMON_H_
+#define ACADOS_DENSE_QP_DENSE_QP_COMMON_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// hpipm
+#include "hpipm/include/hpipm_d_dense_qp.h"
+#include "hpipm/include/hpipm_d_dense_qp_res.h"
+#include "hpipm/include/hpipm_d_dense_qp_sol.h"
+// acados
+#include "acados/utils/types.h"
+
+typedef struct d_dense_qp_dim dense_qp_dims;
+typedef struct d_dense_qp dense_qp_in;
+typedef struct d_dense_qp_sol dense_qp_out;
+typedef struct d_dense_qp_res dense_qp_res;
+typedef struct d_dense_qp_res_ws dense_qp_res_ws;
+
+
+
+#ifndef QP_SOLVER_CONFIG_
+#define QP_SOLVER_CONFIG_
+typedef struct
+{
+    void (*dims_set)(void *config_, void *dims_, const char *field, const int* value);
+    acados_size_t (*opts_calculate_size)(void *config, void *dims);
+    void *(*opts_assign)(void *config, void *dims, void *raw_memory);
+    void (*opts_initialize_default)(void *config, void *dims, void *args);
+    void (*opts_update)(void *config, void *dims, void *args);
+    void (*opts_set)(void *config_, void *opts_, const char *field, void* value);
+    acados_size_t (*memory_calculate_size)(void *config, void *dims, void *args);
+    void *(*memory_assign)(void *config, void *dims, void *args, void *raw_memory);
+    void (*memory_get)(void *config_, void *mem_, const char *field, void* value);
+    acados_size_t (*workspace_calculate_size)(void *config, void *dims, void *args);
+    int (*evaluate)(void *config, void *qp_in, void *qp_out, void *args, void *mem, void *work);
+    void (*eval_sens)(void *config, void *qp_in, void *qp_out, void *opts, void *mem, void *work);
+} qp_solver_config;
+#endif
+
+
+
+#ifndef QP_INFO_
+#define QP_INFO_
+typedef struct
+{
+    double solve_QP_time;
+    double condensing_time;
+    double interface_time;
+    double total_time;
+    int num_iter;
+    int t_computed;
+} qp_info;
+#endif
+
+
+
+/* config */
+//
+acados_size_t dense_qp_solver_config_calculate_size();
+//
+qp_solver_config *dense_qp_solver_config_assign(void *raw_memory);
+
+/* dims */
+//
+acados_size_t dense_qp_dims_calculate_size();
+//
+dense_qp_dims *dense_qp_dims_assign(void *raw_memory);
+//
+void dense_qp_dims_set(void *config_, void *dims_, const char *field, const int* value);
+//
+
+/* in */
+//
+acados_size_t dense_qp_in_calculate_size(dense_qp_dims *dims);
+//
+dense_qp_in *dense_qp_in_assign(dense_qp_dims *dims, void *raw_memory);
+
+/* out */
+//
+acados_size_t dense_qp_out_calculate_size(dense_qp_dims *dims);
+//
+dense_qp_out *dense_qp_out_assign(dense_qp_dims *dims, void *raw_memory);
+//
+void dense_qp_out_get(dense_qp_out *out, const char *field, void *value);
+
+/* res */
+//
+acados_size_t dense_qp_res_calculate_size(dense_qp_dims *dims);
+//
+dense_qp_res *dense_qp_res_assign(dense_qp_dims *dims, void *raw_memory);
+//
+acados_size_t dense_qp_res_workspace_calculate_size(dense_qp_dims *dims);
+//
+dense_qp_res_ws *dense_qp_res_workspace_assign(dense_qp_dims *dims, void *raw_memory);
+//
+void dense_qp_compute_t(dense_qp_in *qp_in, dense_qp_out *qp_out);
+//
+void dense_qp_res_compute(dense_qp_in *qp_in, dense_qp_out *qp_out, dense_qp_res *qp_res, dense_qp_res_ws *res_ws);
+//
+void dense_qp_res_compute_nrm_inf(dense_qp_res *qp_res, double res[4]);
+
+/* misc */
+//
+void dense_qp_stack_slacks_dims(dense_qp_dims *in, dense_qp_dims *out);
+//
+void dense_qp_stack_slacks(dense_qp_in *in, dense_qp_in *out);
+//
+void dense_qp_unstack_slacks(dense_qp_out *in, dense_qp_in *qp_out, dense_qp_out *out);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_DENSE_QP_DENSE_QP_COMMON_H_
diff --git a/third_party/acados/include/acados/dense_qp/dense_qp_hpipm.h b/third_party/acados/include/acados/dense_qp/dense_qp_hpipm.h
new file mode 100644
index 0000000000..20eedc26a2
--- /dev/null
+++ b/third_party/acados/include/acados/dense_qp/dense_qp_hpipm.h
@@ -0,0 +1,94 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef ACADOS_DENSE_QP_DENSE_QP_HPIPM_H_
+#define ACADOS_DENSE_QP_DENSE_QP_HPIPM_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// hpipm
+#include "hpipm/include/hpipm_d_dense_qp.h"
+#include "hpipm/include/hpipm_d_dense_qp_ipm.h"
+#include "hpipm/include/hpipm_d_dense_qp_sol.h"
+// acados
+#include "acados/dense_qp/dense_qp_common.h"
+#include "acados/utils/types.h"
+
+
+
+typedef struct dense_qp_hpipm_opts_
+{
+    struct d_dense_qp_ipm_arg *hpipm_opts;
+} dense_qp_hpipm_opts;
+
+
+
+typedef struct dense_qp_hpipm_memory_
+{
+    struct d_dense_qp_ipm_ws *hpipm_workspace;
+    double time_qp_solver_call;
+    int iter;
+
+} dense_qp_hpipm_memory;
+
+
+
+//
+acados_size_t dense_qp_hpipm_opts_calculate_size(void *config, void *dims);
+//
+void *dense_qp_hpipm_opts_assign(void *config, void *dims, void *raw_memory);
+//
+void dense_qp_hpipm_opts_initialize_default(void *config, void *dims, void *opts_);
+//
+void dense_qp_hpipm_opts_update(void *config, void *dims, void *opts_);
+//
+acados_size_t dense_qp_hpipm_calculate_memory_size(void *dims, void *opts_);
+//
+void *dense_qp_hpipm_assign_memory(void *dims, void *opts_, void *raw_memory);
+//
+acados_size_t dense_qp_hpipm_calculate_workspace_size(void *dims, void *opts_);
+//
+int dense_qp_hpipm(void *config, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
+//
+void dense_qp_hpipm_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
+//
+void dense_qp_hpipm_config_initialize_default(void *config_);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_DENSE_QP_DENSE_QP_HPIPM_H_
diff --git a/third_party/acados/include/acados/dense_qp/dense_qp_ooqp.h b/third_party/acados/include/acados/dense_qp/dense_qp_ooqp.h
new file mode 100644
index 0000000000..646f11f06f
--- /dev/null
+++ b/third_party/acados/include/acados/dense_qp/dense_qp_ooqp.h
@@ -0,0 +1,128 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef ACADOS_DENSE_QP_DENSE_QP_OOQP_H_
+#define ACADOS_DENSE_QP_DENSE_QP_OOQP_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "acados/dense_qp/dense_qp_common.h"
+#include "acados/utils/types.h"
+
+enum dense_qp_ooqp_termination_code
+{
+  DENSE_SUCCESSFUL_TERMINATION = 0,
+  DENSE_NOT_FINISHED,
+  DENSE_MAX_ITS_EXCEEDED,
+  DENSE_INFEASIBLE,
+  DENSE_UNKNOWN
+};
+
+typedef struct dense_qp_ooqp_opts_
+{
+    int printLevel;
+    int useDiagonalWeights;  // TODO(dimitris): implement option
+    int fixHessian;
+    int fixDynamics;
+    int fixInequalities;
+} dense_qp_ooqp_opts;
+
+typedef struct dense_qp_ooqp_workspace_
+{
+    double *x;
+    double *gamma;
+    double *phi;
+    double *y;
+    double *z;
+    double *lambda;
+    double *pi;
+    double objectiveValue;
+} dense_qp_ooqp_workspace;
+
+typedef struct dense_qp_ooqp_memory_
+{
+    int firstRun;
+    int nx;
+    int my;
+    int mz;
+    double *c;
+    double *dQ;
+    double *xlow;
+    char *ixlow;
+    double *xupp;
+    char *ixupp;
+    double *dA;
+    double *bA;
+    double *dC;
+    double *clow;
+    char *iclow;
+    double *cupp;
+    char *icupp;
+    double time_qp_solver_call;
+    int iter;
+
+} dense_qp_ooqp_memory;
+
+//
+acados_size_t dense_qp_ooqp_opts_calculate_size(void *config_, dense_qp_dims *dims);
+//
+void *dense_qp_ooqp_opts_assign(void *config_, dense_qp_dims *dims, void *raw_memory);
+//
+void dense_qp_ooqp_opts_initialize_default(void *config_, dense_qp_dims *dims, void *opts_);
+//
+void dense_qp_ooqp_opts_update(void *config_, dense_qp_dims *dims, void *opts_);
+//
+acados_size_t dense_qp_ooqp_memory_calculate_size(void *config_, dense_qp_dims *dims, void *opts_);
+//
+void *dense_qp_ooqp_memory_assign(void *config_, dense_qp_dims *dims, void *opts_,
+                                  void *raw_memory);
+//
+acados_size_t dense_qp_ooqp_workspace_calculate_size(void *config_, dense_qp_dims *dims, void *opts_);
+//
+int dense_qp_ooqp(void *config_, dense_qp_in *qp_in, dense_qp_out *qp_out, void *opts_,
+                  void *memory_, void *work_);
+//
+void dense_qp_ooqp_destroy(void *mem_, void *work);
+//
+void dense_qp_ooqp_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
+//
+void dense_qp_ooqp_config_initialize_default(void *config_);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_DENSE_QP_DENSE_QP_OOQP_H_
diff --git a/third_party/acados/include/acados/dense_qp/dense_qp_qore.h b/third_party/acados/include/acados/dense_qp/dense_qp_qore.h
new file mode 100644
index 0000000000..52606fac5d
--- /dev/null
+++ b/third_party/acados/include/acados/dense_qp/dense_qp_qore.h
@@ -0,0 +1,127 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef ACADOS_DENSE_QP_DENSE_QP_QORE_H_
+#define ACADOS_DENSE_QP_DENSE_QP_QORE_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// qore
+#include "qore/QPSOLVER_DENSE/include/qpsolver_dense.h"
+// acados
+#include "acados/dense_qp/dense_qp_common.h"
+#include "acados/utils/types.h"
+
+typedef struct dense_qp_qore_opts_
+{
+    int nsmax;       // maximum size of Schur complement
+    int print_freq;  // print frequency,
+                     // prtfreq  < 0: disable printing;
+                     // prtfreq == 0: print on each call and include working set changes;
+                     // prtfreq  > 0: print on every prtfreq seconds, but do not include working set
+                     // changes;
+    int warm_start;  // warm start with updated matrices H and C
+    int warm_strategy;  // 0: ramp-up from zero homotopy; 1: setup homotopy from the previous
+                        // solution
+    int hot_start;      // hot start with unchanged matrices H and C
+    int max_iter;       // maximum number of iterations
+    int compute_t;      // compute t in qp_out (to have correct residuals in NLP)
+} dense_qp_qore_opts;
+
+typedef struct dense_qp_qore_memory_
+{
+    double *H;
+    double *HH;
+    double *g;
+    double *gg;
+    double *Zl;
+    double *Zu;
+    double *zl;
+    double *zu;
+    double *A;
+    double *b;
+    double *C;
+    double *CC;
+    double *Ct;
+    double *CCt;
+    double *d_lb0;
+    double *d_ub0;
+    double *d_lb;
+    double *d_ub;
+    double *d_lg;
+    double *d_ug;
+    double *d_ls;
+    double *d_us;
+    double *lb;
+    double *ub;
+    int *idxb;
+    int *idxb_stacked;
+    int *idxs;
+    double *prim_sol;
+    double *dual_sol;
+    QoreProblemDense *QP;
+    int num_iter;
+    dense_qp_in *qp_stacked;
+    double time_qp_solver_call;
+    int iter;
+
+} dense_qp_qore_memory;
+
+acados_size_t dense_qp_qore_opts_calculate_size(void *config, dense_qp_dims *dims);
+//
+void *dense_qp_qore_opts_assign(void *config, dense_qp_dims *dims, void *raw_memory);
+//
+void dense_qp_qore_opts_initialize_default(void *config, dense_qp_dims *dims, void *opts_);
+//
+void dense_qp_qore_opts_update(void *config, dense_qp_dims *dims, void *opts_);
+//
+acados_size_t dense_qp_qore_memory_calculate_size(void *config, dense_qp_dims *dims, void *opts_);
+//
+void *dense_qp_qore_memory_assign(void *config, dense_qp_dims *dims, void *opts_, void *raw_memory);
+//
+acados_size_t dense_qp_qore_workspace_calculate_size(void *config, dense_qp_dims *dims, void *opts_);
+//
+int dense_qp_qore(void *config, dense_qp_in *qp_in, dense_qp_out *qp_out, void *opts_, void *memory_, void *work_);
+//
+void dense_qp_qore_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
+//
+void dense_qp_qore_config_initialize_default(void *config);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_DENSE_QP_DENSE_QP_QORE_H_
diff --git a/third_party/acados/include/acados/dense_qp/dense_qp_qpoases.h b/third_party/acados/include/acados/dense_qp/dense_qp_qpoases.h
new file mode 100644
index 0000000000..8fca17dd17
--- /dev/null
+++ b/third_party/acados/include/acados/dense_qp/dense_qp_qpoases.h
@@ -0,0 +1,127 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef ACADOS_DENSE_QP_DENSE_QP_QPOASES_H_
+#define ACADOS_DENSE_QP_DENSE_QP_QPOASES_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// blasfeo
+#include "blasfeo/include/blasfeo_common.h"
+
+// acados
+#include "acados/dense_qp/dense_qp_common.h"
+#include "acados/utils/types.h"
+
+typedef struct dense_qp_qpoases_opts_
+{
+    double max_cputime;  // maximum cpu time in seconds
+    int max_nwsr;        // maximum number of working set recalculations
+    int warm_start;      // warm start with dual_sol in memory
+    int use_precomputed_cholesky;
+    int hotstart;  // this option requires constant data matrices! (eg linear MPC, inexact schemes
+                   // with frozen sensitivities)
+    int set_acado_opts;  // use same options as in acado code generation
+    int compute_t;       // compute t in qp_out (to have correct residuals in NLP)
+    double tolerance;  // terminationTolerance
+} dense_qp_qpoases_opts;
+
+typedef struct dense_qp_qpoases_memory_
+{
+    double *H;
+    double *HH;
+    double *R;
+    double *g;
+    double *gg;
+    double *Zl;
+    double *Zu;
+    double *zl;
+    double *zu;
+    double *A;
+    double *b;
+    double *d_lb0;
+    double *d_ub0;
+    double *d_lb;
+    double *d_ub;
+    double *C;
+    double *CC;
+    double *d_lg0;
+    double *d_ug0;
+    double *d_lg;
+    double *d_ug;
+    double *d_ls;
+    double *d_us;
+    int *idxb;
+    int *idxb_stacked;
+    int *idxs;
+    double *prim_sol;
+    double *dual_sol;
+    void *QPB;       // NOTE(giaf): cast to QProblemB to use
+    void *QP;        // NOTE(giaf): cast to QProblem to use
+    double cputime;  // cputime of qpoases
+    int nwsr;        // performed number of working set recalculations
+    int first_it;    // to be used with hotstart
+    dense_qp_in *qp_stacked;
+    double time_qp_solver_call; // equal to cputime
+    int iter;
+
+} dense_qp_qpoases_memory;
+
+acados_size_t dense_qp_qpoases_opts_calculate_size(void *config, dense_qp_dims *dims);
+//
+void *dense_qp_qpoases_opts_assign(void *config, dense_qp_dims *dims, void *raw_memory);
+//
+void dense_qp_qpoases_opts_initialize_default(void *config, dense_qp_dims *dims, void *opts_);
+//
+void dense_qp_qpoases_opts_update(void *config, dense_qp_dims *dims, void *opts_);
+//
+acados_size_t dense_qp_qpoases__memorycalculate_size(void *config, dense_qp_dims *dims, void *opts_);
+//
+void *dense_qp_qpoases_memory_assign(void *config, dense_qp_dims *dims, void *opts_, void *raw_memory);
+//
+acados_size_t dense_qp_qpoases_workspace_calculate_size(void *config, dense_qp_dims *dims, void *opts_);
+//
+int dense_qp_qpoases(void *config, dense_qp_in *qp_in, dense_qp_out *qp_out, void *opts_, void *memory_, void *work_);
+//
+void dense_qp_qpoases_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
+//
+void dense_qp_qpoases_config_initialize_default(void *config_);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_DENSE_QP_DENSE_QP_QPOASES_H_
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_common.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_common.h
new file mode 100644
index 0000000000..0407633816
--- /dev/null
+++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_common.h
@@ -0,0 +1,427 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+
+/// \defgroup ocp_nlp ocp_nlp
+/// @{
+/// @}
+
+/// \defgroup ocp_nlp_solver ocp_nlp_solver
+/// @{
+/// @}
+
+/// \ingroup ocp_nlp
+/// @{
+
+/// \ingroup ocp_nlp_solver
+/// @{
+
+/// \defgroup ocp_nlp_common ocp_nlp_common
+/// @{
+
+#ifndef ACADOS_OCP_NLP_OCP_NLP_COMMON_H_
+#define ACADOS_OCP_NLP_OCP_NLP_COMMON_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "acados/ocp_nlp/ocp_nlp_constraints_common.h"
+#include "acados/ocp_nlp/ocp_nlp_cost_common.h"
+#include "acados/ocp_nlp/ocp_nlp_dynamics_common.h"
+#include "acados/ocp_nlp/ocp_nlp_reg_common.h"
+#include "acados/ocp_qp/ocp_qp_common.h"
+#include "acados/ocp_qp/ocp_qp_xcond_solver.h"
+#include "acados/sim/sim_common.h"
+#include "acados/utils/external_function_generic.h"
+#include "acados/utils/types.h"
+
+
+
+/************************************************
+ * config
+ ************************************************/
+
+typedef struct ocp_nlp_config
+{
+    int N;  // number of stages
+
+    // solver-specific implementations of memory management functions
+    acados_size_t (*opts_calculate_size)(void *config, void *dims);
+    void *(*opts_assign)(void *config, void *dims, void *raw_memory);
+    void (*opts_initialize_default)(void *config, void *dims, void *opts_);
+    void (*opts_update)(void *config, void *dims, void *opts_);
+    acados_size_t (*memory_calculate_size)(void *config, void *dims, void *opts_);
+    void *(*memory_assign)(void *config, void *dims, void *opts_, void *raw_memory);
+    acados_size_t (*workspace_calculate_size)(void *config, void *dims, void *opts_);
+    void (*opts_set)(void *config_, void *opts_, const char *field, void* value);
+    void (*opts_set_at_stage)(void *config_, void *opts_, size_t stage, const char *field, void* value);
+    // evaluate solver // TODO rename into solve
+    int (*evaluate)(void *config, void *dims, void *nlp_in, void *nlp_out, void *opts_, void *mem, void *work);
+    void (*eval_param_sens)(void *config, void *dims, void *opts_, void *mem, void *work,
+                            char *field, int stage, int index, void *sens_nlp_out);
+    // prepare memory
+    int (*precompute)(void *config, void *dims, void *nlp_in, void *nlp_out, void *opts_, void *mem, void *work);
+    // initalize this struct with default values
+    void (*config_initialize_default)(void *config);
+    // general getter
+    void (*get)(void *config_, void *dims, void *mem_, const char *field, void *return_value_);
+    void (*opts_get)(void *config_, void *dims, void *opts_, const char *field, void *return_value_);
+    void (*work_get)(void *config_, void *dims, void *work_, const char *field, void *return_value_);
+    // config structs of submodules
+    ocp_qp_xcond_solver_config *qp_solver; // TODO rename xcond_solver
+    ocp_nlp_dynamics_config **dynamics;
+    ocp_nlp_cost_config **cost;
+    ocp_nlp_constraints_config **constraints;
+    ocp_nlp_reg_config *regularize;
+
+} ocp_nlp_config;
+
+//
+acados_size_t ocp_nlp_config_calculate_size(int N);
+//
+ocp_nlp_config *ocp_nlp_config_assign(int N, void *raw_memory);
+
+
+
+/************************************************
+ * dims
+ ************************************************/
+
+/// Structure to store dimensions/number of variables.
+typedef struct ocp_nlp_dims
+{
+    void **cost;
+    void **dynamics;
+    void **constraints;
+    ocp_qp_xcond_solver_dims *qp_solver;  // xcond solver instead ??
+    ocp_nlp_reg_dims *regularize;
+
+    int *nv;  // number of primal variables (states+controls+slacks)
+    int *nx;  // number of differential states
+    int *nu;  // number of inputs
+    int *ni;  // number of two-sided inequality constraints: nb+ng+nh+ns
+    int *nz;  // number of algebraic variables
+    int *ns;  // number of slack variables
+    int N;    // number of shooting nodes
+} ocp_nlp_dims;
+
+//
+acados_size_t ocp_nlp_dims_calculate_size(void *config);
+//
+ocp_nlp_dims *ocp_nlp_dims_assign(void *config, void *raw_memory);
+
+/// Sets the dimension of optimization variables
+/// (states, constrols, algebraic variables, slack variables).
+///
+/// \param config_ The configuration struct.
+/// \param dims_ The dimension struct.
+/// \param field The type of optimization variables, either nx, nu, nz, or ns.
+/// \param value_array Number of variables for each stage.
+void ocp_nlp_dims_set_opt_vars(void *config_, void *dims_,
+                               const char *field, const void* value_array);
+
+/// Sets the dimensions of constraints functions for a stage
+/// (bounds on states, bounds on controls, equality constraints,
+/// inequality constraints).
+///
+/// \param config_ The configuration struct.
+/// \param dims_ The dimension struct.
+/// \param stage Stage number.
+/// \param field The type of constraint/bound, either nbx, nbu, ng, or nh.
+/// \param value_field Number of constraints/bounds for the given stage.
+void ocp_nlp_dims_set_constraints(void *config_, void *dims_, int stage,
+                                  const char *field, const void* value_field);
+
+/// Sets the dimensions of the cost terms for a stage.
+///
+/// \param config_ The configuration struct.
+/// \param dims_ The dimension struct.
+/// \param stage Stage number.
+/// \param field Type of cost term, can be eiter ny.
+/// \param value_field Number of cost terms/residuals for the given stage.
+void ocp_nlp_dims_set_cost(void *config_, void *dims_, int stage, const char *field,
+                           const void* value_field);
+
+/// Sets the dimensions of the dynamics for a stage.
+///
+/// \param config_ The configuration struct.
+/// \param dims_ The dimension struct.
+/// \param stage Stage number.
+/// \param field TBD
+/// \param value TBD
+void ocp_nlp_dims_set_dynamics(void *config_, void *dims_, int stage, const char *field,
+                               const void* value);
+
+/************************************************
+ * Inputs
+ ************************************************/
+
+/// Struct for storing the inputs of an OCP NLP solver
+typedef struct ocp_nlp_in
+{
+    /// Length of sampling intervals/timesteps.
+    double *Ts;
+
+    /// Pointers to cost functions (TBC).
+    void **cost;
+
+    /// Pointers to dynamics functions (TBC).
+    void **dynamics;
+
+    /// Pointers to constraints functions (TBC).
+    void **constraints;
+
+} ocp_nlp_in;
+
+//
+acados_size_t ocp_nlp_in_calculate_size_self(int N);
+//
+acados_size_t ocp_nlp_in_calculate_size(ocp_nlp_config *config, ocp_nlp_dims *dims);
+//
+ocp_nlp_in *ocp_nlp_in_assign_self(int N, void *raw_memory);
+//
+ocp_nlp_in *ocp_nlp_in_assign(ocp_nlp_config *config, ocp_nlp_dims *dims, void *raw_memory);
+
+
+/************************************************
+ * out
+ ************************************************/
+
+typedef struct ocp_nlp_out
+{
+    struct blasfeo_dvec *ux;  // NOTE: this contains [u; x; s_l; s_u]! - rename to uxs?
+    struct blasfeo_dvec *z;  // algebraic vairables
+    struct blasfeo_dvec *pi;  // multipliers for dynamics
+    struct blasfeo_dvec *lam;  // inequality mulitpliers
+    struct blasfeo_dvec *t;  // slack variables corresponding to evaluation of all inequalities (at the solution)
+
+    // NOTE: the inequalities are internally organized in the following order:
+    // [ lbu lbx lg lh lphi ubu ubx ug uh uphi; lsbu lsbx lsg lsh lsphi usbu usbx usg ush usphi]
+
+    int sqp_iter;
+    int qp_iter;
+    double inf_norm_res;
+    double total_time;
+
+} ocp_nlp_out;
+
+//
+acados_size_t ocp_nlp_out_calculate_size(ocp_nlp_config *config, ocp_nlp_dims *dims);
+//
+ocp_nlp_out *ocp_nlp_out_assign(ocp_nlp_config *config, ocp_nlp_dims *dims,
+                                void *raw_memory);
+
+
+
+/************************************************
+ * options
+ ************************************************/
+
+/// Globalization types
+typedef enum
+{
+    FIXED_STEP,
+    MERIT_BACKTRACKING,
+} ocp_nlp_globalization_t;
+
+typedef struct ocp_nlp_opts
+{
+    ocp_qp_xcond_solver_opts *qp_solver_opts; // xcond solver opts instead ???
+    void *regularize;
+    void **dynamics;     // dynamics_opts
+    void **cost;         // cost_opts
+    void **constraints;  // constraints_opts
+    double step_length;  // step length in case of FIXED_STEP
+    double levenberg_marquardt;  // LM factor to be added to the hessian before regularization
+    int reuse_workspace;
+    int num_threads;
+
+    // TODO: move to separate struct?
+    ocp_nlp_globalization_t globalization;
+    double alpha_min;
+    double alpha_reduction;
+} ocp_nlp_opts;
+
+//
+acados_size_t ocp_nlp_opts_calculate_size(void *config, void *dims);
+//
+void *ocp_nlp_opts_assign(void *config, void *dims, void *raw_memory);
+//
+void ocp_nlp_opts_initialize_default(void *config, void *dims, void *opts);
+//
+void ocp_nlp_opts_update(void *config, void *dims, void *opts);
+//
+void ocp_nlp_opts_set(void *config_, void *opts_, const char *field, void* value);
+//
+void ocp_nlp_opts_set_at_stage(void *config, void *opts, int stage, const char *field, void *value);
+
+
+/************************************************
+ * residuals
+ ************************************************/
+
+typedef struct ocp_nlp_res
+{
+    struct blasfeo_dvec *res_stat;  // stationarity
+    struct blasfeo_dvec *res_eq;  // dynamics
+    struct blasfeo_dvec *res_ineq;  // inequality constraints
+    struct blasfeo_dvec *res_comp;  // complementarity
+    double inf_norm_res_stat;
+    double inf_norm_res_eq;
+    double inf_norm_res_ineq;
+    double inf_norm_res_comp;
+    acados_size_t memsize;
+} ocp_nlp_res;
+
+//
+acados_size_t ocp_nlp_res_calculate_size(ocp_nlp_dims *dims);
+//
+ocp_nlp_res *ocp_nlp_res_assign(ocp_nlp_dims *dims, void *raw_memory);
+
+/************************************************
+ * memory
+ ************************************************/
+
+typedef struct ocp_nlp_memory
+{
+//    void *qp_solver_mem; // xcond solver mem instead ???
+    ocp_qp_xcond_solver_memory *qp_solver_mem; // xcond solver mem instead ???
+    void *regularize_mem;
+    void **dynamics;     // dynamics memory
+    void **cost;         // cost memory
+    void **constraints;  // constraints memory
+
+    // residuals
+    ocp_nlp_res *nlp_res;
+
+    // qp in & out
+    ocp_qp_in *qp_in;
+    ocp_qp_out *qp_out;
+    // QP stuff not entering the qp_in struct
+    struct blasfeo_dmat *dzduxt; // dzdux transposed
+    struct blasfeo_dvec *z_alg; // z_alg, output algebraic variables
+
+    struct blasfeo_dvec *cost_grad;
+    struct blasfeo_dvec *ineq_fun;
+    struct blasfeo_dvec *ineq_adj;
+    struct blasfeo_dvec *dyn_fun;
+    struct blasfeo_dvec *dyn_adj;
+
+    double cost_value;
+
+    bool *set_sim_guess; // indicate if there is new explicitly provided guess for integration variables
+    struct blasfeo_dvec *sim_guess;
+
+	int *sqp_iter; // pointer to iteration number
+
+} ocp_nlp_memory;
+
+//
+acados_size_t ocp_nlp_memory_calculate_size(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_opts *opts);
+//
+ocp_nlp_memory *ocp_nlp_memory_assign(ocp_nlp_config *config, ocp_nlp_dims *dims,
+                                      ocp_nlp_opts *opts, void *raw_memory);
+
+
+
+/************************************************
+ * workspace
+ ************************************************/
+
+typedef struct ocp_nlp_workspace
+{
+
+    void *qp_work;
+    void **dynamics;     // dynamics_workspace
+    void **cost;         // cost_workspace
+    void **constraints;  // constraints_workspace
+
+	ocp_nlp_out *tmp_nlp_out;
+	ocp_nlp_out *weight_merit_fun;
+
+} ocp_nlp_workspace;
+
+//
+acados_size_t ocp_nlp_workspace_calculate_size(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_opts *opts);
+//
+ocp_nlp_workspace *ocp_nlp_workspace_assign(ocp_nlp_config *config, ocp_nlp_dims *dims,
+                                ocp_nlp_opts *opts, ocp_nlp_memory *mem, void *raw_memory);
+
+
+
+/************************************************
+ * function
+ ************************************************/
+
+//
+void ocp_nlp_initialize_qp(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
+            ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work);
+//
+void ocp_nlp_approximate_qp_matrices(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
+             ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work);
+//
+void ocp_nlp_approximate_qp_vectors_sqp(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
+                 ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work);
+//
+void ocp_nlp_embed_initial_value(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
+                 ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work);
+//
+void ocp_nlp_update_variables_sqp(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
+           ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work, double alpha);
+//
+double ocp_nlp_line_search(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
+            ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work);
+//
+double ocp_nlp_evaluate_merit_fun(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
+          ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work);
+//
+void ocp_nlp_initialize_t_slacks(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
+            ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work);
+//
+void ocp_nlp_res_compute(ocp_nlp_dims *dims, ocp_nlp_in *in, ocp_nlp_out *out,
+                         ocp_nlp_res *res, ocp_nlp_memory *mem);
+//
+void ocp_nlp_cost_compute(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
+            ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work);
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_OCP_NLP_OCP_NLP_COMMON_H_
+/// @}
+/// @}
+/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_bgh.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_bgh.h
new file mode 100644
index 0000000000..7f7a30faf3
--- /dev/null
+++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_bgh.h
@@ -0,0 +1,241 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+/// \addtogroup ocp_nlp
+/// @{
+/// \addtogroup ocp_nlp_constraints
+/// @{
+
+#ifndef ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_BGH_H_
+#define ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_BGH_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// acados
+#include "acados/ocp_qp/ocp_qp_common.h"
+#include "acados/ocp_nlp/ocp_nlp_constraints_common.h"
+#include "acados/utils/external_function_generic.h"
+#include "acados/utils/types.h"
+
+
+
+/************************************************
+ * dims
+ ************************************************/
+
+typedef struct
+{
+    int nx;
+    int nu;
+    int nz;
+    int nb;  // nbx + nbu
+    int nbu; // number of input box constraints
+    int nbx; // number of state box constraints
+    int ng;  // number of general linear constraints
+    int nh;  // number of nonlinear path constraints
+    int ns;  // nsbu + nsbx + nsg + nsh
+    int nsbu;  // number of softened input bounds
+    int nsbx;  // number of softened state bounds
+    int nsg;  // number of softened general linear constraints
+    int nsh;  // number of softened nonlinear constraints
+    int nbue; // number of input box constraints which are equality
+    int nbxe; // number of state box constraints which are equality
+    int nge;  // number of general linear constraints which are equality
+    int nhe;  // number of nonlinear path constraints which are equality
+} ocp_nlp_constraints_bgh_dims;
+
+//
+acados_size_t ocp_nlp_constraints_bgh_dims_calculate_size(void *config);
+//
+void *ocp_nlp_constraints_bgh_dims_assign(void *config, void *raw_memory);
+//
+void ocp_nlp_constraints_bgh_dims_initialize(void *config, void *dims, int nx, int nu, int nz, int nbx,
+                                         int nbu, int ng, int nh, int dummy0, int ns);
+//
+void ocp_nlp_constraints_bgh_dims_get(void *config_, void *dims_, const char *field, int* value);
+//
+void ocp_nlp_constraints_bgh_dims_set(void *config_, void *dims_,
+                                      const char *field, const int* value);
+
+
+/************************************************
+ * model
+ ************************************************/
+
+typedef struct
+{
+    int *idxb;
+    int *idxs;
+    int *idxe;
+    struct blasfeo_dvec d;  // gathers bounds
+    struct blasfeo_dmat DCt;  // general linear constraint matrix
+            // lg <= [D, C] * [u; x] <= ug
+    external_function_generic *nl_constr_h_fun;  // nonlinear: lh <= h(x,u) <= uh
+    external_function_generic *nl_constr_h_fun_jac;  // nonlinear: lh <= h(x,u) <= uh
+    external_function_generic *nl_constr_h_fun_jac_hess;  // nonlinear: lh <= h(x,u) <= uh
+} ocp_nlp_constraints_bgh_model;
+
+//
+acados_size_t ocp_nlp_constraints_bgh_model_calculate_size(void *config, void *dims);
+//
+void *ocp_nlp_constraints_bgh_model_assign(void *config, void *dims, void *raw_memory);
+//
+int ocp_nlp_constraints_bgh_model_set(void *config_, void *dims_,
+                         void *model_, const char *field, void *value);
+
+
+
+/************************************************
+ * options
+ ************************************************/
+
+typedef struct
+{
+    int compute_adj;
+    int compute_hess;
+} ocp_nlp_constraints_bgh_opts;
+
+//
+acados_size_t ocp_nlp_constraints_bgh_opts_calculate_size(void *config, void *dims);
+//
+void *ocp_nlp_constraints_bgh_opts_assign(void *config, void *dims, void *raw_memory);
+//
+void ocp_nlp_constraints_bgh_opts_initialize_default(void *config, void *dims, void *opts);
+//
+void ocp_nlp_constraints_bgh_opts_update(void *config, void *dims, void *opts);
+//
+void ocp_nlp_constraints_bgh_opts_set(void *config, void *opts, char *field, void *value);
+
+
+
+/************************************************
+ * memory
+ ************************************************/
+
+typedef struct
+{
+    struct blasfeo_dvec fun;
+    struct blasfeo_dvec adj;
+    struct blasfeo_dvec *ux;     // pointer to ux in nlp_out
+    struct blasfeo_dvec *tmp_ux; // pointer to ux in tmp_nlp_out
+    struct blasfeo_dvec *lam;    // pointer to lam in nlp_out
+    struct blasfeo_dvec *tmp_lam;// pointer to lam in tmp_nlp_out
+    struct blasfeo_dvec *z_alg;  // pointer to z_alg in ocp_nlp memory
+    struct blasfeo_dmat *DCt;    // pointer to DCt in qp_in
+    struct blasfeo_dmat *RSQrq;  // pointer to RSQrq in qp_in
+    struct blasfeo_dmat *dzduxt; // pointer to dzduxt in ocp_nlp memory
+    int *idxb;                   // pointer to idxb[ii] in qp_in
+    int *idxs_rev;               // pointer to idxs_rev[ii] in qp_in
+    int *idxe;                   // pointer to idxe[ii] in qp_in
+} ocp_nlp_constraints_bgh_memory;
+
+//
+acados_size_t ocp_nlp_constraints_bgh_memory_calculate_size(void *config, void *dims, void *opts);
+//
+void *ocp_nlp_constraints_bgh_memory_assign(void *config, void *dims, void *opts, void *raw_memory);
+//
+struct blasfeo_dvec *ocp_nlp_constraints_bgh_memory_get_fun_ptr(void *memory_);
+//
+struct blasfeo_dvec *ocp_nlp_constraints_bgh_memory_get_adj_ptr(void *memory_);
+//
+void ocp_nlp_constraints_bgh_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory_);
+//
+void ocp_nlp_constraints_bgh_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory_);
+//
+void ocp_nlp_constraints_bgh_memory_set_lam_ptr(struct blasfeo_dvec *lam, void *memory_);
+//
+void ocp_nlp_constraints_bgh_memory_set_tmp_lam_ptr(struct blasfeo_dvec *tmp_lam, void *memory_);
+//
+void ocp_nlp_constraints_bgh_memory_set_DCt_ptr(struct blasfeo_dmat *DCt, void *memory);
+//
+void ocp_nlp_constraints_bgh_memory_set_RSQrq_ptr(struct blasfeo_dmat *RSQrq, void *memory_);
+//
+void ocp_nlp_constraints_bgh_memory_set_z_alg_ptr(struct blasfeo_dvec *z_alg, void *memory_);
+//
+void ocp_nlp_constraints_bgh_memory_set_dzduxt_ptr(struct blasfeo_dmat *dzduxt, void *memory_);
+//
+void ocp_nlp_constraints_bgh_memory_set_idxb_ptr(int *idxb, void *memory_);
+//
+void ocp_nlp_constraints_bgh_memory_set_idxs_rev_ptr(int *idxs_rev, void *memory_);
+//
+void ocp_nlp_constraints_bgh_memory_set_idxe_ptr(int *idxe, void *memory_);
+
+
+
+/************************************************
+ * workspace
+ ************************************************/
+
+typedef struct
+{
+    struct blasfeo_dmat tmp_nv_nv;
+    struct blasfeo_dmat tmp_nz_nh;
+    struct blasfeo_dmat tmp_nv_nh;
+    struct blasfeo_dmat tmp_nz_nv;
+    struct blasfeo_dmat hess_z;
+    struct blasfeo_dvec tmp_ni;
+    struct blasfeo_dvec tmp_nh;
+} ocp_nlp_constraints_bgh_workspace;
+
+//
+acados_size_t ocp_nlp_constraints_bgh_workspace_calculate_size(void *config, void *dims, void *opts);
+
+/* functions */
+
+//
+void ocp_nlp_constraints_bgh_config_initialize_default(void *config);
+//
+void ocp_nlp_constraints_bgh_initialize(void *config, void *dims, void *model, void *opts,
+                                    void *mem, void *work);
+//
+void ocp_nlp_constraints_bgh_update_qp_matrices(void *config_, void *dims, void *model_,
+                                            void *opts_, void *memory_, void *work_);
+
+//
+void ocp_nlp_constraints_bgh_compute_fun(void *config_, void *dims, void *model_,
+                                            void *opts_, void *memory_, void *work_);
+//
+void ocp_nlp_constraints_bgh_bounds_update(void *config_, void *dims, void *model_,
+                                            void *opts_, void *memory_, void *work_);
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_BGH_H_
+/// @}
+/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_bgp.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_bgp.h
new file mode 100644
index 0000000000..beeec78411
--- /dev/null
+++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_bgp.h
@@ -0,0 +1,221 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+/// \addtogroup ocp_nlp
+/// @{
+/// \addtogroup ocp_nlp_constraints
+/// @{
+
+#ifndef ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_BGP_H_
+#define ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_BGP_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// acados
+#include "acados/ocp_qp/ocp_qp_common.h"
+#include "acados/ocp_nlp/ocp_nlp_constraints_common.h"
+#include "acados/utils/external_function_generic.h"
+#include "acados/utils/types.h"
+
+
+
+/* dims */
+
+typedef struct
+{
+    int nx;
+    int nu;
+    int nz;
+    int nb;   // nbx + nbu
+    int nbu;
+    int nbx;
+    int ng;   // number of general linear constraints
+    int nphi; // dimension of convex outer part 
+    int ns;   // nsbu + nsbx + nsg + nsphi
+    int nsbu; // number of softened input bounds
+    int nsbx; // number of softened state bounds
+    int nsg;  // number of softened general linear constraints
+    int nsphi;  // number of softened nonlinear constraints
+    int nr;   // dimension of nonlinear function in convex_over_nonlinear constraint
+    int nbue; // number of input box constraints which are equality
+    int nbxe; // number of state box constraints which are equality
+    int nge;  // number of general linear constraints which are equality
+    int nphie;  // number of nonlinear path constraints which are equality
+} ocp_nlp_constraints_bgp_dims;
+
+//
+acados_size_t ocp_nlp_constraints_bgp_dims_calculate_size(void *config);
+//
+void *ocp_nlp_constraints_bgp_dims_assign(void *config, void *raw_memory);
+//
+void ocp_nlp_constraints_bgp_dims_initialize(void *config, void *dims, int nx, int nu, int nz, 
+		int nbx, int nbu, int ng, int nphi, int nq, int ns);
+//
+void ocp_nlp_constraints_bgp_dims_get(void *config_, void *dims_, const char *field, int* value);
+
+
+/* model */
+
+typedef struct
+{
+    //  ocp_nlp_constraints_bgp_dims *dims;
+    int *idxb;
+    int *idxs;
+    int *idxe;
+    struct blasfeo_dvec d;
+    struct blasfeo_dmat DCt;
+    external_function_generic *nl_constr_phi_o_r_fun_phi_jac_ux_z_phi_hess_r_jac_ux;
+    external_function_generic *nl_constr_phi_o_r_fun;
+    external_function_generic *nl_constr_r_fun_jac;
+} ocp_nlp_constraints_bgp_model;
+
+//
+acados_size_t ocp_nlp_constraints_bgp_calculate_size(void *config, void *dims);
+//
+void *ocp_nlp_constraints_bgp_assign(void *config, void *dims, void *raw_memory);
+//
+int ocp_nlp_constraints_bgp_model_set(void *config_, void *dims_,
+                         void *model_, const char *field, void *value);
+
+/* options */
+
+typedef struct
+{
+    int compute_adj;
+    int compute_hess;
+} ocp_nlp_constraints_bgp_opts;
+
+//
+acados_size_t ocp_nlp_constraints_bgp_opts_calculate_size(void *config, void *dims);
+//
+void *ocp_nlp_constraints_bgp_opts_assign(void *config, void *dims, void *raw_memory);
+//
+void ocp_nlp_constraints_bgp_opts_initialize_default(void *config, void *dims, void *opts);
+//
+void ocp_nlp_constraints_bgp_opts_update(void *config, void *dims, void *opts);
+//
+void ocp_nlp_constraints_bgp_opts_set(void *config, void *opts, char *field, void *value);
+
+/* memory */
+
+typedef struct
+{
+    struct blasfeo_dvec fun;
+    struct blasfeo_dvec adj;
+    struct blasfeo_dvec *ux;     // pointer to ux in nlp_out
+    struct blasfeo_dvec *tmp_ux; // pointer to ux in tmp_nlp_out
+    struct blasfeo_dvec *lam;    // pointer to lam in nlp_out
+    struct blasfeo_dvec *tmp_lam;// pointer to lam in tmp_nlp_out
+    struct blasfeo_dvec *z_alg;  // pointer to z_alg in ocp_nlp memory
+    struct blasfeo_dmat *DCt;    // pointer to DCt in qp_in
+    struct blasfeo_dmat *RSQrq;  // pointer to RSQrq in qp_in
+    struct blasfeo_dmat *dzduxt; // pointer to dzduxt in ocp_nlp memory
+    int *idxb;                   // pointer to idxb[ii] in qp_in
+    int *idxs_rev;                   // pointer to idxs_rev[ii] in qp_in
+    int *idxe;                   // pointer to idxe[ii] in qp_in
+} ocp_nlp_constraints_bgp_memory;
+
+//
+acados_size_t ocp_nlp_constraints_bgp_memory_calculate_size(void *config, void *dims, void *opts);
+//
+void *ocp_nlp_constraints_bgp_memory_assign(void *config, void *dims, void *opts,
+    void *raw_memory);
+//
+struct blasfeo_dvec *ocp_nlp_constraints_bgp_memory_get_fun_ptr(void *memory_);
+//
+struct blasfeo_dvec *ocp_nlp_constraints_bgp_memory_get_adj_ptr(void *memory_);
+//
+void ocp_nlp_constraints_bgp_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory_);
+//
+void ocp_nlp_constraints_bgp_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory_);
+//
+void ocp_nlp_constraints_bgp_memory_set_lam_ptr(struct blasfeo_dvec *lam, void *memory_);
+//
+void ocp_nlp_constraints_bgp_memory_set_tmp_lam_ptr(struct blasfeo_dvec *tmp_lam, void *memory_);
+//
+void ocp_nlp_constraints_bgp_memory_set_DCt_ptr(struct blasfeo_dmat *DCt, void *memory);
+//
+void ocp_nlp_constraints_bgp_memory_set_z_alg_ptr(struct blasfeo_dvec *z_alg, void *memory_);
+//
+void ocp_nlp_constraints_bgp_memory_set_dzduxt_ptr(struct blasfeo_dmat *dzduxt, void *memory_);
+//
+void ocp_nlp_constraints_bgp_memory_set_idxb_ptr(int *idxb, void *memory_);
+//
+void ocp_nlp_constraints_bgp_memory_set_idxs_rev_ptr(int *idxs_rev, void *memory_);
+//
+void ocp_nlp_constraints_bgh_memory_set_idxe_ptr(int *idxe, void *memory_);
+
+/* workspace */
+
+typedef struct
+{
+    struct blasfeo_dvec tmp_ni;
+    struct blasfeo_dmat jac_r_ux_tran;
+    struct blasfeo_dmat tmp_nr_nphi_nr;
+    struct blasfeo_dmat tmp_nv_nr;
+    struct blasfeo_dmat tmp_nv_nphi;
+    struct blasfeo_dmat tmp_nz_nphi;
+} ocp_nlp_constraints_bgp_workspace;
+
+//
+acados_size_t ocp_nlp_constraints_bgp_workspace_calculate_size(void *config, void *dims, void *opts);
+
+/* functions */
+
+//
+void ocp_nlp_constraints_bgp_config_initialize_default(void *config);
+//
+void ocp_nlp_constraints_bgp_initialize(void *config, void *dims, void *model,
+        void *opts, void *mem, void *work);
+//
+void ocp_nlp_constraints_bgp_update_qp_matrices(void *config_, void *dims,
+        void *model_, void *opts_, void *memory_, void *work_);
+//
+void ocp_nlp_constraints_bgp_compute_fun(void *config_, void *dims,
+        void *model_, void *opts_, void *memory_, void *work_);
+//
+void ocp_nlp_constraints_bgp_bounds_update(void *config_, void *dims, void *model_,
+        void *opts_, void *memory_, void *work_);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_BGP_H_
+/// @}
+/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_common.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_common.h
new file mode 100644
index 0000000000..7cadecab46
--- /dev/null
+++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_common.h
@@ -0,0 +1,112 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+/// \ingroup ocp_nlp
+/// @{
+
+/// \defgroup ocp_nlp_constraints ocp_nlp_constraints
+/// @{
+
+#ifndef ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_COMMON_H_
+#define ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_COMMON_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// acados
+#include "acados/ocp_qp/ocp_qp_common.h"
+#include "acados/utils/external_function_generic.h"
+#include "acados/utils/types.h"
+
+
+
+/************************************************
+ * config
+ ************************************************/
+
+typedef struct
+{
+    acados_size_t (*dims_calculate_size)(void *config);
+    void *(*dims_assign)(void *config, void *raw_memory);
+    void (*dims_initialize)(void *config, void *dims, int nx, int nu, int nz, int nbx, int nbu, int ng,
+                            int nh, int nq, int ns);
+    acados_size_t (*model_calculate_size)(void *config, void *dims);
+    void *(*model_assign)(void *config, void *dims, void *raw_memory);
+    int (*model_set)(void *config_, void *dims_, void *model_, const char *field, void *value);
+    acados_size_t (*opts_calculate_size)(void *config, void *dims);
+    void *(*opts_assign)(void *config, void *dims, void *raw_memory);
+    void (*opts_initialize_default)(void *config, void *dims, void *opts);
+    void (*opts_update)(void *config, void *dims, void *opts);
+    void (*opts_set)(void *config, void *opts, char *field, void *value);
+    acados_size_t (*memory_calculate_size)(void *config, void *dims, void *opts);
+    struct blasfeo_dvec *(*memory_get_fun_ptr)(void *memory);
+    struct blasfeo_dvec *(*memory_get_adj_ptr)(void *memory);
+    void (*memory_set_ux_ptr)(struct blasfeo_dvec *ux, void *memory);
+    void (*memory_set_tmp_ux_ptr)(struct blasfeo_dvec *tmp_ux, void *memory);
+    void (*memory_set_lam_ptr)(struct blasfeo_dvec *lam, void *memory);
+    void (*memory_set_tmp_lam_ptr)(struct blasfeo_dvec *tmp_lam, void *memory);
+    void (*memory_set_DCt_ptr)(struct blasfeo_dmat *DCt, void *memory);
+    void (*memory_set_RSQrq_ptr)(struct blasfeo_dmat *RSQrq, void *memory);
+    void (*memory_set_z_alg_ptr)(struct blasfeo_dvec *z_alg, void *memory);
+    void (*memory_set_dzdux_tran_ptr)(struct blasfeo_dmat *dzduxt, void *memory);
+    void (*memory_set_idxb_ptr)(int *idxb, void *memory);
+    void (*memory_set_idxs_rev_ptr)(int *idxs_rev, void *memory);
+    void (*memory_set_idxe_ptr)(int *idxe, void *memory);
+    void *(*memory_assign)(void *config, void *dims, void *opts, void *raw_memory);
+    acados_size_t (*workspace_calculate_size)(void *config, void *dims, void *opts);
+    void (*initialize)(void *config, void *dims, void *model, void *opts, void *mem, void *work);
+    void (*update_qp_matrices)(void *config, void *dims, void *model, void *opts, void *mem, void *work);
+    void (*compute_fun)(void *config, void *dims, void *model, void *opts, void *mem, void *work);
+    void (*bounds_update)(void *config, void *dims, void *model, void *opts, void *mem, void *work);
+    void (*config_initialize_default)(void *config);
+    // dimension setters
+    void (*dims_set)(void *config_, void *dims_, const char *field, const int *value);
+    void (*dims_get)(void *config_, void *dims_, const char *field, int* value);
+} ocp_nlp_constraints_config;
+
+//
+acados_size_t ocp_nlp_constraints_config_calculate_size();
+//
+ocp_nlp_constraints_config *ocp_nlp_constraints_config_assign(void *raw_memory);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_COMMON_H_
+/// @}
+/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_common.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_common.h
new file mode 100644
index 0000000000..c9fbbfb404
--- /dev/null
+++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_common.h
@@ -0,0 +1,109 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+///
+/// \defgroup ocp_nlp_cost ocp_nlp_cost 
+/// 
+
+/// \addtogroup ocp_nlp_cost ocp_nlp_cost
+/// @{
+/// \addtogroup ocp_nlp_cost_common ocp_nlp_cost_common
+/// @{
+
+#ifndef ACADOS_OCP_NLP_OCP_NLP_COST_COMMON_H_
+#define ACADOS_OCP_NLP_OCP_NLP_COST_COMMON_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// acados
+#include "acados/utils/external_function_generic.h"
+#include "acados/utils/types.h"
+
+
+
+/************************************************
+ * config
+ ************************************************/
+
+typedef struct
+{
+    acados_size_t (*dims_calculate_size)(void *config);
+    void *(*dims_assign)(void *config, void *raw_memory);
+    void (*dims_initialize)(void *config, void *dims, int nx, int nu, int ny, int ns, int nz);
+    void (*dims_set)(void *config_, void *dims_, const char *field, int *value);
+    void (*dims_get)(void *config_, void *dims_, const char *field, int *value);
+    acados_size_t (*model_calculate_size)(void *config, void *dims);
+    void *(*model_assign)(void *config, void *dims, void *raw_memory);
+    int (*model_set)(void *config_, void *dims_, void *model_, const char *field, void *value_);
+    acados_size_t (*opts_calculate_size)(void *config, void *dims);
+    void *(*opts_assign)(void *config, void *dims, void *raw_memory);
+    void (*opts_initialize_default)(void *config, void *dims, void *opts);
+    void (*opts_update)(void *config, void *dims, void *opts);
+    void (*opts_set)(void *config, void *opts, const char *field, void *value);
+    acados_size_t (*memory_calculate_size)(void *config, void *dims, void *opts);
+	double *(*memory_get_fun_ptr)(void *memory);
+    struct blasfeo_dvec *(*memory_get_grad_ptr)(void *memory);
+    void (*memory_set_ux_ptr)(struct blasfeo_dvec *ux, void *memory);
+    void (*memory_set_tmp_ux_ptr)(struct blasfeo_dvec *tmp_ux, void *memory);
+    void (*memory_set_z_alg_ptr)(struct blasfeo_dvec *z_alg, void *memory);
+    void (*memory_set_dzdux_tran_ptr)(struct blasfeo_dmat *dzdux, void *memory);
+    void (*memory_set_RSQrq_ptr)(struct blasfeo_dmat *RSQrq, void *memory);
+    void (*memory_set_Z_ptr)(struct blasfeo_dvec *Z, void *memory);
+    void *(*memory_assign)(void *config, void *dims, void *opts, void *raw_memory);
+    acados_size_t (*workspace_calculate_size)(void *config, void *dims, void *opts);
+    void (*initialize)(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_);
+
+    // computes the function value, gradient and hessian (approximation) of the cost function
+    void (*update_qp_matrices)(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_);
+    // computes the cost function value (intended for globalization)
+    void (*compute_fun)(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_);
+    void (*config_initialize_default)(void *config);
+} ocp_nlp_cost_config;
+
+//
+acados_size_t ocp_nlp_cost_config_calculate_size();
+//
+ocp_nlp_cost_config *ocp_nlp_cost_config_assign(void *raw_memory);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_OCP_NLP_OCP_NLP_COST_COMMON_H_
+/// @} 
+/// @} 
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_external.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_external.h
new file mode 100644
index 0000000000..f2196dbee7
--- /dev/null
+++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_external.h
@@ -0,0 +1,187 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef ACADOS_OCP_NLP_OCP_NLP_COST_EXTERNAL_H_
+#define ACADOS_OCP_NLP_OCP_NLP_COST_EXTERNAL_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// blasfeo
+#include "blasfeo/include/blasfeo_common.h"
+
+// acados
+#include "acados/ocp_nlp/ocp_nlp_cost_common.h"
+#include "acados/utils/external_function_generic.h"
+#include "acados/utils/types.h"
+
+/************************************************
+ * dims
+ ************************************************/
+
+typedef struct
+{
+    int nx;  // number of states
+    int nu;  // number of inputs
+    int ns;  // number of slacks
+} ocp_nlp_cost_external_dims;
+
+//
+acados_size_t ocp_nlp_cost_external_dims_calculate_size(void *config);
+//
+void *ocp_nlp_cost_external_dims_assign(void *config, void *raw_memory);
+//
+void ocp_nlp_cost_external_dims_initialize(void *config, void *dims, int nx,
+                                           int nu, int ny, int ns, int nz);
+//
+void ocp_nlp_cost_external_dims_set(void *config_, void *dims_, const char *field, int* value);
+//
+void ocp_nlp_cost_external_dims_get(void *config_, void *dims_, const char *field, int* value);
+
+/************************************************
+ * model
+ ************************************************/
+
+typedef struct
+{
+    external_function_generic *ext_cost_fun;  // function
+    external_function_generic *ext_cost_fun_jac_hess;  // function, gradient and hessian
+    external_function_generic *ext_cost_fun_jac;  // function, gradient
+    struct blasfeo_dvec Z;
+    struct blasfeo_dvec z;
+    struct blasfeo_dmat numerical_hessian;  // custom hessian approximation
+    double scaling;
+} ocp_nlp_cost_external_model;
+
+//
+acados_size_t ocp_nlp_cost_external_model_calculate_size(void *config, void *dims);
+//
+void *ocp_nlp_cost_external_model_assign(void *config, void *dims, void *raw_memory);
+
+
+
+/************************************************
+ * options
+ ************************************************/
+
+typedef struct
+{
+    int use_numerical_hessian;  // > 0 indicating custom hessian is used instead of CasADi evaluation
+} ocp_nlp_cost_external_opts;
+
+//
+acados_size_t ocp_nlp_cost_external_opts_calculate_size(void *config, void *dims);
+//
+void *ocp_nlp_cost_external_opts_assign(void *config, void *dims, void *raw_memory);
+//
+void ocp_nlp_cost_external_opts_initialize_default(void *config, void *dims, void *opts);
+//
+void ocp_nlp_cost_external_opts_update(void *config, void *dims, void *opts);
+//
+void ocp_nlp_cost_external_opts_set(void *config, void *opts, const char *field, void *value);
+
+
+
+/************************************************
+ * memory
+ ************************************************/
+
+typedef struct
+{
+    struct blasfeo_dvec grad;    // gradient of cost function
+    struct blasfeo_dvec *ux;     // pointer to ux in nlp_out
+    struct blasfeo_dvec *tmp_ux;     // pointer to tmp_ux in nlp_out
+    struct blasfeo_dmat *RSQrq;  // pointer to RSQrq in qp_in
+    struct blasfeo_dvec *Z;      // pointer to Z in qp_in
+    struct blasfeo_dvec *z_alg;         ///< pointer to z in sim_out
+    struct blasfeo_dmat *dzdux_tran;    ///< pointer to sensitivity of a wrt ux in sim_out
+	double fun;                         ///< value of the cost function
+} ocp_nlp_cost_external_memory;
+
+//
+acados_size_t ocp_nlp_cost_external_memory_calculate_size(void *config, void *dims, void *opts);
+//
+void *ocp_nlp_cost_external_memory_assign(void *config, void *dims, void *opts, void *raw_memory);
+//
+double *ocp_nlp_cost_external_memory_get_fun_ptr(void *memory_);
+//
+struct blasfeo_dvec *ocp_nlp_cost_external_memory_get_grad_ptr(void *memory_);
+//
+void ocp_nlp_cost_external_memory_set_RSQrq_ptr(struct blasfeo_dmat *RSQrq, void *memory);
+//
+void ocp_nlp_cost_ls_memory_set_Z_ptr(struct blasfeo_dvec *Z, void *memory);
+//
+void ocp_nlp_cost_external_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory_);
+//
+void ocp_nlp_cost_external_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory_);
+//
+void ocp_nlp_cost_external_memory_set_z_alg_ptr(struct blasfeo_dvec *z_alg, void *memory_);
+//
+void ocp_nlp_cost_external_memory_set_dzdux_tran_ptr(struct blasfeo_dmat *dzdux_tran, void *memory_);
+
+/************************************************
+ * workspace
+ ************************************************/
+
+typedef struct
+{
+    struct blasfeo_dmat tmp_nv_nv;
+    struct blasfeo_dvec tmp_2ns;  // temporary vector of dimension 2*ns
+} ocp_nlp_cost_external_workspace;
+
+//
+acados_size_t ocp_nlp_cost_external_workspace_calculate_size(void *config, void *dims, void *opts);
+
+/************************************************
+ * functions
+ ************************************************/
+
+//
+void ocp_nlp_cost_external_config_initialize_default(void *config);
+//
+void ocp_nlp_cost_external_initialize(void *config_, void *dims, void *model_,
+                                      void *opts_, void *mem_, void *work_);
+//
+void ocp_nlp_cost_external_update_qp_matrices(void *config_, void *dims, void *model_,
+                                               void *opts_, void *memory_, void *work_);
+//
+void ocp_nlp_cost_external_compute_fun(void *config_, void *dims, void *model_,
+                                       void *opts_, void *memory_, void *work_);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_OCP_NLP_OCP_NLP_COST_EXTERNAL_H_
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_ls.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_ls.h
new file mode 100644
index 0000000000..3cf759504a
--- /dev/null
+++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_ls.h
@@ -0,0 +1,259 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+/// \addtogroup ocp_nlp
+/// @{
+/// \addtogroup ocp_nlp_cost ocp_nlp_cost
+/// @{
+/// \addtogroup ocp_nlp_cost_ls ocp_nlp_cost_ls
+/// \brief This module implements linear-least squares costs of the form
+/// \f$\min_{x,u,z} \| V_x x + V_u u + V_z z - y_{\text{ref}}\|_W^2\f$.
+/// @{
+
+
+
+#ifndef ACADOS_OCP_NLP_OCP_NLP_COST_LS_H_
+#define ACADOS_OCP_NLP_OCP_NLP_COST_LS_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// blasfeo
+#include "blasfeo/include/blasfeo_common.h"
+
+// acados
+#include "acados/ocp_nlp/ocp_nlp_cost_common.h"
+#include "acados/utils/external_function_generic.h"
+#include "acados/utils/types.h"
+
+
+////////////////////////////////////////////////////////////////////////////////
+//                                     dims                                   //
+////////////////////////////////////////////////////////////////////////////////
+
+typedef struct
+{
+    int nx;  // number of states
+    int nz;  // number of algebraic variables
+    int nu;  // number of inputs
+    int ny;  // number of outputs
+    int ns;  // number of slacks
+} ocp_nlp_cost_ls_dims;
+
+
+///  Calculate the size of the ocp_nlp_cost_ls_dims struct
+///
+///  \param[in] config_ structure containing configuration of ocp_nlp_cost
+///  module
+///  \param[out] []
+///  \return \c size of ocp_nlp_dims struct
+acados_size_t ocp_nlp_cost_ls_dims_calculate_size(void *config);
+
+
+///  Assign memory pointed to by raw_memory to ocp_nlp-cost_ls dims struct 
+///
+///  \param[in] config structure containing configuration of ocp_nlp_cost 
+///  module
+///  \param[in] raw_memory pointer to memory location  
+///  \param[out] []
+///  \return dims
+void *ocp_nlp_cost_ls_dims_assign(void *config, void *raw_memory);
+
+
+///  Initialize the dimensions struct of the 
+///  ocp_nlp-cost_ls component    
+///
+///  \param[in] config structure containing configuration ocp_nlp-cost_ls component 
+///  \param[in] nx number of states
+///  \param[in] nu number of inputs
+///  \param[in] ny number of residuals
+///  \param[in] ns number of slacks
+///  \param[in] nz number of algebraic variables
+///  \param[out] dims
+///  \return size
+void ocp_nlp_cost_ls_dims_initialize(void *config, void *dims, int nx,
+        int nu, int ny, int ns, int nz);
+
+//
+void ocp_nlp_cost_ls_dims_set(void *config_, void *dims_, const char *field, int* value);
+//
+void ocp_nlp_cost_ls_dims_get(void *config_, void *dims_, const char *field, int* value);
+
+
+////////////////////////////////////////////////////////////////////////////////
+//                                     model                                  //
+////////////////////////////////////////////////////////////////////////////////
+
+
+/// structure containing the data describing the linear least-square cost 
+typedef struct
+{
+    // slack penalty has the form z^T * s + .5 * s^T * Z * s
+    struct blasfeo_dmat Cyt;            ///< output matrix: Cy * [u,x] = y; in transposed form
+    struct blasfeo_dmat Vz;             ///< Vz in ls cost Vx*x + Vu*u + Vz*z
+    struct blasfeo_dmat W;              ///< ls norm corresponding to this matrix
+    struct blasfeo_dvec y_ref;          ///< yref
+    struct blasfeo_dvec Z;              ///< diagonal Hessian of slacks as vector (lower and upper)
+    struct blasfeo_dvec z;              ///< gradient of slacks as vector (lower and upper)
+    double scaling;
+} ocp_nlp_cost_ls_model;
+
+//
+acados_size_t ocp_nlp_cost_ls_model_calculate_size(void *config, void *dims);
+//
+void *ocp_nlp_cost_ls_model_assign(void *config, void *dims, void *raw_memory);
+//
+int ocp_nlp_cost_ls_model_set(void *config_, void *dims_, void *model_,
+                              const char *field, void *value_);
+
+
+
+////////////////////////////////////////////////////////////////////////////////
+//                                   options                                  //
+////////////////////////////////////////////////////////////////////////////////
+
+
+
+typedef struct
+{
+    int dummy; // struct can't be void
+} ocp_nlp_cost_ls_opts;
+
+//
+acados_size_t ocp_nlp_cost_ls_opts_calculate_size(void *config, void *dims);
+//
+void *ocp_nlp_cost_ls_opts_assign(void *config, void *dims, void *raw_memory);
+//
+void ocp_nlp_cost_ls_opts_initialize_default(void *config, void *dims, void *opts);
+//
+void ocp_nlp_cost_ls_opts_update(void *config, void *dims, void *opts);
+//
+void ocp_nlp_cost_ls_opts_set(void *config, void *opts, const char *field, void *value);
+
+
+
+////////////////////////////////////////////////////////////////////////////////
+//                                     memory                                 //
+////////////////////////////////////////////////////////////////////////////////
+
+
+
+/// structure containing the memory associated with cost_ls component 
+/// of the ocp_nlp module
+typedef struct
+{
+    struct blasfeo_dmat hess;           ///< hessian of cost function
+    struct blasfeo_dmat W_chol;         ///< cholesky factor of weight matrix
+    struct blasfeo_dvec res;            ///< ls residual r(x)
+    struct blasfeo_dvec grad;           ///< gradient of cost function
+    struct blasfeo_dvec *ux;            ///< pointer to ux in nlp_out
+    struct blasfeo_dvec *tmp_ux;        ///< pointer to ux in tmp_nlp_out
+    struct blasfeo_dvec *z_alg;         ///< pointer to z in sim_out
+    struct blasfeo_dmat *dzdux_tran;    ///< pointer to sensitivity of a wrt ux in sim_out
+    struct blasfeo_dmat *RSQrq;         ///< pointer to RSQrq in qp_in
+    struct blasfeo_dvec *Z;             ///< pointer to Z in qp_in
+	double fun;                         ///< value of the cost function
+} ocp_nlp_cost_ls_memory;
+
+//
+acados_size_t ocp_nlp_cost_ls_memory_calculate_size(void *config, void *dims, void *opts);
+//
+void *ocp_nlp_cost_ls_memory_assign(void *config, void *dims, void *opts, void *raw_memory);
+//
+double *ocp_nlp_cost_ls_memory_get_fun_ptr(void *memory_);
+//
+struct blasfeo_dvec *ocp_nlp_cost_ls_memory_get_grad_ptr(void *memory_);
+//
+void ocp_nlp_cost_ls_memory_set_RSQrq_ptr(struct blasfeo_dmat *RSQrq, void *memory);
+//
+void ocp_nlp_cost_ls_memory_set_Z_ptr(struct blasfeo_dvec *Z, void *memory);
+//
+void ocp_nlp_cost_ls_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory_);
+//
+void ocp_nlp_cost_ls_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory_);
+//
+void ocp_nlp_cost_ls_memory_set_z_alg_ptr(struct blasfeo_dvec *z_alg, void *memory_);
+//
+void ocp_nlp_cost_ls_memory_set_dzdux_tran_ptr(struct blasfeo_dmat *dzdux_tran, void *memory_);
+
+
+
+////////////////////////////////////////////////////////////////////////////////
+//                                 workspace                                  //
+////////////////////////////////////////////////////////////////////////////////
+
+
+
+typedef struct
+{
+    struct blasfeo_dmat tmp_nv_ny;   // temporary matrix of dimensions nv, ny
+    struct blasfeo_dmat Cyt_tilde;   // updated Cyt (after z elimination)
+    struct blasfeo_dmat dzdux_tran;  // derivatives of z wrt u and x (tran)
+    struct blasfeo_dvec tmp_ny;      // temporary vector of dimension ny
+    struct blasfeo_dvec tmp_2ns;     // temporary vector of dimension ny
+    struct blasfeo_dvec tmp_nz;      // temporary vector of dimension nz
+    struct blasfeo_dvec y_ref_tilde; // updated y_ref (after z elimination)
+} ocp_nlp_cost_ls_workspace;
+
+//
+acados_size_t ocp_nlp_cost_ls_workspace_calculate_size(void *config, void *dims, void *opts);
+
+
+
+////////////////////////////////////////////////////////////////////////////////
+//                                 functions                                  //
+////////////////////////////////////////////////////////////////////////////////
+
+
+
+//
+void ocp_nlp_cost_ls_config_initialize_default(void *config);
+//
+void ocp_nlp_cost_ls_initialize(void *config_, void *dims, void *model_, void *opts_,
+                                void *mem_, void *work_);
+//
+void ocp_nlp_cost_ls_update_qp_matrices(void *config_, void *dims, void *model_,
+                                        void *opts_, void *memory_, void *work_);
+//
+void ocp_nlp_cost_ls_compute_fun(void *config_, void *dims, void *model_, void *opts_, void *memory_, void *work_);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_OCP_NLP_OCP_NLP_COST_LS_H_
+/// @}
+/// @}
+/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_nls.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_nls.h
new file mode 100644
index 0000000000..aafb6b3540
--- /dev/null
+++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_nls.h
@@ -0,0 +1,210 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+/// \addtogroup ocp_nlp
+/// @{
+/// \addtogroup ocp_nlp_cost ocp_nlp_cost
+/// @{
+/// \addtogroup ocp_nlp_cost_nls ocp_nlp_cost_nls
+/// \brief This module implements nonlinear-least squares costs of the form
+/// \f$\min_{x,u} \| r(x,u) - y_{\text{ref}} \|_W^2\f$.
+/// @{
+
+#ifndef ACADOS_OCP_NLP_OCP_NLP_COST_NLS_H_
+#define ACADOS_OCP_NLP_OCP_NLP_COST_NLS_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// blasfeo
+#include "blasfeo/include/blasfeo_common.h"
+
+// acados
+#include "acados/ocp_nlp/ocp_nlp_cost_common.h"
+#include "acados/utils/external_function_generic.h"
+#include "acados/utils/types.h"
+
+
+
+/************************************************
+ * dims
+ ************************************************/
+
+typedef struct
+{
+    int nx;  // number of states
+    int nu;  // number of inputs
+    int ny;  // number of outputs
+    int ns;  // number of slacks
+} ocp_nlp_cost_nls_dims;
+
+//
+acados_size_t ocp_nlp_cost_nls_dims_calculate_size(void *config);
+//
+void *ocp_nlp_cost_nls_dims_assign(void *config, void *raw_memory);
+//
+void ocp_nlp_cost_nls_dims_initialize(void *config, void *dims, int nx, int nu, int ny, int ns, int nz);
+//
+void ocp_nlp_cost_nls_dims_set(void *config_, void *dims_, const char *field, int* value);
+//
+void ocp_nlp_cost_nls_dims_get(void *config_, void *dims_, const char *field, int* value);
+
+
+
+/************************************************
+ * model
+ ************************************************/
+
+typedef struct
+{
+    // nonliner function nls_y(x,u) replaces Cy * [x,u] in ls_cost
+    // slack penalty has the form z^T * s + .5 * s^T * Z * s
+    external_function_generic *nls_y_fun;  // evaluation of nls function
+    external_function_generic *nls_y_fun_jac;  // evaluation nls function and jacobian
+    external_function_generic *nls_y_hess;  // hessian*seeds of nls residuals
+    struct blasfeo_dmat W;                //
+    struct blasfeo_dvec y_ref;
+    struct blasfeo_dvec Z;              // diagonal Hessian of slacks as vector
+    struct blasfeo_dvec z;              // gradient of slacks as vector
+    double scaling;
+} ocp_nlp_cost_nls_model;
+
+//
+acados_size_t ocp_nlp_cost_nls_model_calculate_size(void *config, void *dims);
+//
+void *ocp_nlp_cost_nls_model_assign(void *config, void *dims, void *raw_memory);
+//
+int ocp_nlp_cost_nls_model_set(void *config_, void *dims_, void *model_, const char *field, void *value_);
+
+
+
+/************************************************
+ * options
+ ************************************************/
+
+typedef struct
+{
+    bool gauss_newton_hess;  // gauss-newton hessian approximation
+} ocp_nlp_cost_nls_opts;
+
+//
+acados_size_t ocp_nlp_cost_nls_opts_calculate_size(void *config, void *dims);
+//
+void *ocp_nlp_cost_nls_opts_assign(void *config, void *dims, void *raw_memory);
+//
+void ocp_nlp_cost_nls_opts_initialize_default(void *config, void *dims, void *opts);
+//
+void ocp_nlp_cost_nls_opts_update(void *config, void *dims, void *opts);
+//
+void ocp_nlp_cost_nls_opts_set(void *config, void *opts, const char *field, void *value);
+
+
+
+/************************************************
+ * memory
+ ************************************************/
+
+typedef struct
+{
+    struct blasfeo_dmat W_chol;  // cholesky factor of weight matrix
+    struct blasfeo_dmat Jt;      // jacobian of nls fun
+    struct blasfeo_dvec res;     // nls residual r(x)
+    struct blasfeo_dvec grad;    // gradient of cost function
+    struct blasfeo_dvec *ux;     // pointer to ux in nlp_out
+    struct blasfeo_dvec *tmp_ux;     // pointer to ux in tmp_nlp_out
+    struct blasfeo_dvec *z_alg;         ///< pointer to z in sim_out
+    struct blasfeo_dmat *dzdux_tran;    ///< pointer to sensitivity of a wrt ux in sim_out
+    struct blasfeo_dmat *RSQrq;  // pointer to RSQrq in qp_in
+    struct blasfeo_dvec *Z;      // pointer to Z in qp_in
+	double fun;                         ///< value of the cost function
+} ocp_nlp_cost_nls_memory;
+
+//
+acados_size_t ocp_nlp_cost_nls_memory_calculate_size(void *config, void *dims, void *opts);
+//
+void *ocp_nlp_cost_nls_memory_assign(void *config, void *dims, void *opts, void *raw_memory);
+//
+double *ocp_nlp_cost_nls_memory_get_fun_ptr(void *memory_);
+//
+struct blasfeo_dvec *ocp_nlp_cost_nls_memory_get_grad_ptr(void *memory_);
+//
+void ocp_nlp_cost_nls_memory_set_RSQrq_ptr(struct blasfeo_dmat *RSQrq, void *memory);
+//
+void ocp_nlp_cost_nls_memory_set_Z_ptr(struct blasfeo_dvec *Z, void *memory);
+//
+void ocp_nlp_cost_nls_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory_);
+//
+void ocp_nlp_cost_nls_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory_);
+//
+void ocp_nlp_cost_nls_memory_set_z_alg_ptr(struct blasfeo_dvec *z_alg, void *memory_);
+//
+void ocp_nlp_cost_nls_memory_set_dzdux_tran_ptr(struct blasfeo_dmat *dzdux_tran, void *memory_);
+
+/************************************************
+ * workspace
+ ************************************************/
+
+typedef struct
+{
+    struct blasfeo_dmat tmp_nv_ny;
+    struct blasfeo_dmat tmp_nv_nv;
+    struct blasfeo_dvec tmp_ny;
+    struct blasfeo_dvec tmp_2ns;     // temporary vector of dimension ny
+} ocp_nlp_cost_nls_workspace;
+
+//
+acados_size_t ocp_nlp_cost_nls_workspace_calculate_size(void *config, void *dims, void *opts);
+
+/************************************************
+ * functions
+ ************************************************/
+
+//
+void ocp_nlp_cost_nls_config_initialize_default(void *config);
+//
+void ocp_nlp_cost_nls_initialize(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_);
+//
+void ocp_nlp_cost_nls_update_qp_matrices(void *config_, void *dims, void *model_, void *opts_, void *memory_, void *work_);
+//
+void ocp_nlp_cost_nls_compute_fun(void *config_, void *dims, void *model_, void *opts_, void *memory_, void *work_);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_OCP_NLP_OCP_NLP_COST_NLS_H_
+/// @}
+/// @}
+/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_common.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_common.h
new file mode 100644
index 0000000000..45dac20a25
--- /dev/null
+++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_common.h
@@ -0,0 +1,122 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+/// \ingroup ocp_nlp
+/// @{
+
+/// \defgroup ocp_nlp_dynamics ocp_nlp_dynamics
+/// @{
+
+#ifndef ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_COMMON_H_
+#define ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_COMMON_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+// blasfeo
+#include "blasfeo/include/blasfeo_common.h"
+
+// acados
+#include "acados/sim/sim_common.h"
+#include "acados/utils/external_function_generic.h"
+#include "acados/utils/types.h"
+
+
+
+/************************************************
+ * config
+ ************************************************/
+
+typedef struct
+{
+    void (*config_initialize_default)(void *config);
+    sim_config *sim_solver;
+    /* dims */
+    acados_size_t (*dims_calculate_size)(void *config);
+    void *(*dims_assign)(void *config, void *raw_memory);
+    void (*dims_initialize)(void *config, void *dims, int nx, int nu, int nx1, int nu1, int nz);
+    void (*dims_set)(void *config_, void *dims_, const char *field, int *value);
+    void (*dims_get)(void *config_, void *dims_, const char *field, int* value);
+    /* model */
+    acados_size_t (*model_calculate_size)(void *config, void *dims);
+    void *(*model_assign)(void *config, void *dims, void *raw_memory);
+    void (*model_set)(void *config_, void *dims_, void *model_, const char *field, void *value_);
+    /* opts */
+    acados_size_t (*opts_calculate_size)(void *config, void *dims);
+    void *(*opts_assign)(void *config, void *dims, void *raw_memory);
+    void (*opts_initialize_default)(void *config, void *dims, void *opts);
+    void (*opts_set)(void *config_, void *opts_, const char *field, void *value);
+    void (*opts_update)(void *config, void *dims, void *opts);
+    /* memory */
+    acados_size_t (*memory_calculate_size)(void *config, void *dims, void *opts);
+    void *(*memory_assign)(void *config, void *dims, void *opts, void *raw_memory);
+    struct blasfeo_dvec *(*memory_get_fun_ptr)(void *memory_);
+    struct blasfeo_dvec *(*memory_get_adj_ptr)(void *memory_);
+    void (*memory_set_ux_ptr)(struct blasfeo_dvec *ux, void *memory_);
+    void (*memory_set_tmp_ux_ptr)(struct blasfeo_dvec *tmp_ux, void *memory_);
+    void (*memory_set_ux1_ptr)(struct blasfeo_dvec *ux1, void *memory_);
+    void (*memory_set_tmp_ux1_ptr)(struct blasfeo_dvec *tmp_ux1, void *memory_);
+    void (*memory_set_pi_ptr)(struct blasfeo_dvec *pi, void *memory_);
+    void (*memory_set_tmp_pi_ptr)(struct blasfeo_dvec *tmp_pi, void *memory_);
+    void (*memory_set_BAbt_ptr)(struct blasfeo_dmat *BAbt, void *memory_);
+    void (*memory_set_RSQrq_ptr)(struct blasfeo_dmat *RSQrq, void *memory_);
+    void (*memory_set_dzduxt_ptr)(struct blasfeo_dmat *mat, void *memory_);
+    void (*memory_set_sim_guess_ptr)(struct blasfeo_dvec *vec, bool *bool_ptr, void *memory_);
+    void (*memory_set_z_alg_ptr)(struct blasfeo_dvec *vec, void *memory_);
+    void (*memory_get)(void *config, void *dims, void *mem, const char *field, void* value);
+    /* workspace */
+    acados_size_t (*workspace_calculate_size)(void *config, void *dims, void *opts);
+    void (*initialize)(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_);
+    void (*update_qp_matrices)(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_);
+    void (*compute_fun)(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_);
+    int (*precompute)(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_);
+} ocp_nlp_dynamics_config;
+
+//
+acados_size_t ocp_nlp_dynamics_config_calculate_size();
+//
+ocp_nlp_dynamics_config *ocp_nlp_dynamics_config_assign(void *raw_memory);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_COMMON_H_
+/// @}
+/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_cont.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_cont.h
new file mode 100644
index 0000000000..59a2df4f47
--- /dev/null
+++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_cont.h
@@ -0,0 +1,216 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+/// \addtogroup ocp_nlp
+/// @{
+/// \addtogroup ocp_nlp_dynamics
+/// @{
+
+#ifndef ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_CONT_H_
+#define ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_CONT_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+// blasfeo
+#include "blasfeo/include/blasfeo_common.h"
+
+// acados
+#include "acados/ocp_nlp/ocp_nlp_dynamics_common.h"
+#include "acados/utils/external_function_generic.h"
+#include "acados/utils/types.h"
+#include "acados_c/sim_interface.h"
+
+
+
+/************************************************
+ * dims
+ ************************************************/
+
+typedef struct
+{
+    void *sim;
+    int nx;   // number of states at the current stage
+    int nz;   // number of algebraic states at the current stage
+    int nu;   // number of inputs at the current stage
+    int nx1;  // number of states at the next stage
+    int nu1;  // number of inputes at the next stage
+} ocp_nlp_dynamics_cont_dims;
+
+//
+acados_size_t ocp_nlp_dynamics_cont_dims_calculate_size(void *config);
+//
+void *ocp_nlp_dynamics_cont_dims_assign(void *config, void *raw_memory);
+//
+void ocp_nlp_dynamics_cont_dims_initialize(void *config, void *dims, int nx, int nu, int nx1,
+                                           int nu1, int nz);
+
+//
+void ocp_nlp_dynamics_cont_dims_set(void *config_, void *dims_, const char *field, int* value);
+
+/************************************************
+ * options
+ ************************************************/
+
+typedef struct
+{
+    void *sim_solver;
+    int compute_adj;
+    int compute_hess;
+} ocp_nlp_dynamics_cont_opts;
+
+//
+acados_size_t ocp_nlp_dynamics_cont_opts_calculate_size(void *config, void *dims);
+//
+void *ocp_nlp_dynamics_cont_opts_assign(void *config, void *dims, void *raw_memory);
+//
+void ocp_nlp_dynamics_cont_opts_initialize_default(void *config, void *dims, void *opts);
+//
+void ocp_nlp_dynamics_cont_opts_update(void *config, void *dims, void *opts);
+//
+void ocp_nlp_dynamics_cont_opts_set(void *config, void *opts, const char *field, void* value);
+
+
+
+/************************************************
+ * memory
+ ************************************************/
+
+typedef struct
+{
+    struct blasfeo_dvec fun;
+    struct blasfeo_dvec adj;
+    struct blasfeo_dvec *ux;            // pointer to ux in nlp_out at current stage
+    struct blasfeo_dvec *tmp_ux;        // pointer to ux in tmp_nlp_out at current stage
+    struct blasfeo_dvec *ux1;           // pointer to ux in nlp_out at next stage
+    struct blasfeo_dvec *tmp_ux1;       // pointer to ux in tmp_nlp_out at next stage
+    struct blasfeo_dvec *pi;            // pointer to pi in nlp_out at current stage
+    struct blasfeo_dvec *tmp_pi;        // pointer to pi in tmp_nlp_out at current stage
+    struct blasfeo_dmat *BAbt;          // pointer to BAbt in qp_in
+    struct blasfeo_dmat *RSQrq;         // pointer to RSQrq in qp_in
+    struct blasfeo_dvec *z_alg;         // pointer to output z at t = 0
+    bool *set_sim_guess;                 // indicate if initialization for integrator is set from outside
+    struct blasfeo_dvec *sim_guess;     // initializations for integrator
+    // struct blasfeo_dvec *z;             // pointer to (input) z in nlp_out at current stage
+    struct blasfeo_dmat *dzduxt;        // pointer to dzdux transposed
+    void *sim_solver;                   // sim solver memory
+} ocp_nlp_dynamics_cont_memory;
+
+//
+acados_size_t ocp_nlp_dynamics_cont_memory_calculate_size(void *config, void *dims, void *opts);
+//
+void *ocp_nlp_dynamics_cont_memory_assign(void *config, void *dims, void *opts, void *raw_memory);
+//
+struct blasfeo_dvec *ocp_nlp_dynamics_cont_memory_get_fun_ptr(void *memory);
+//
+struct blasfeo_dvec *ocp_nlp_dynamics_cont_memory_get_adj_ptr(void *memory);
+//
+void ocp_nlp_dynamics_cont_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory);
+//
+void ocp_nlp_dynamics_cont_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory);
+//
+void ocp_nlp_dynamics_cont_memory_set_ux1_ptr(struct blasfeo_dvec *ux1, void *memory);
+//
+void ocp_nlp_dynamics_cont_memory_set_tmp_ux1_ptr(struct blasfeo_dvec *tmp_ux1, void *memory);
+//
+void ocp_nlp_dynamics_cont_memory_set_pi_ptr(struct blasfeo_dvec *pi, void *memory);
+//
+void ocp_nlp_dynamics_cont_memory_set_tmp_pi_ptr(struct blasfeo_dvec *tmp_pi, void *memory);
+//
+void ocp_nlp_dynamics_cont_memory_set_BAbt_ptr(struct blasfeo_dmat *BAbt, void *memory);
+
+
+
+/************************************************
+ * workspace
+ ************************************************/
+
+typedef struct
+{
+    struct blasfeo_dmat hess;
+    sim_in *sim_in;
+    sim_out *sim_out;
+    void *sim_solver;  // sim solver workspace
+} ocp_nlp_dynamics_cont_workspace;
+
+acados_size_t ocp_nlp_dynamics_cont_workspace_calculate_size(void *config, void *dims, void *opts);
+
+
+
+/************************************************
+ * model
+ ************************************************/
+
+typedef struct
+{
+    void *sim_model;
+    // double *state_transition; // TODO
+    double T;  // simulation time
+} ocp_nlp_dynamics_cont_model;
+
+//
+acados_size_t ocp_nlp_dynamics_cont_model_calculate_size(void *config, void *dims);
+//
+void *ocp_nlp_dynamics_cont_model_assign(void *config, void *dims, void *raw_memory);
+//
+void ocp_nlp_dynamics_cont_model_set(void *config_, void *dims_, void *model_, const char *field, void *value);
+
+
+
+/************************************************
+ * functions
+ ************************************************/
+
+//
+void ocp_nlp_dynamics_cont_config_initialize_default(void *config);
+//
+void ocp_nlp_dynamics_cont_initialize(void *config_, void *dims, void *model_, void *opts, void *mem, void *work_);
+//
+void ocp_nlp_dynamics_cont_update_qp_matrices(void *config_, void *dims, void *model_, void *opts, void *mem, void *work_);
+//
+void ocp_nlp_dynamics_cont_compute_fun(void *config_, void *dims, void *model_, void *opts, void *mem, void *work_);
+//
+int ocp_nlp_dynamics_cont_precompute(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_);
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_CONT_H_
+/// @}
+/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_disc.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_disc.h
new file mode 100644
index 0000000000..8b2a6177bf
--- /dev/null
+++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_disc.h
@@ -0,0 +1,199 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+/// \addtogroup ocp_nlp
+/// @{
+/// \addtogroup ocp_nlp_dynamics
+/// @{
+
+#ifndef ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_DISC_H_
+#define ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_DISC_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// blasfeo
+#include "blasfeo/include/blasfeo_common.h"
+
+// acados
+#include "acados/ocp_nlp/ocp_nlp_dynamics_common.h"
+#include "acados/utils/external_function_generic.h"
+#include "acados/utils/types.h"
+
+/************************************************
+ * dims
+ ************************************************/
+
+typedef struct
+{
+    int nx;   // number of states at the current stage
+    int nu;   // number of inputs at the current stage
+    int nx1;  // number of states at the next stage
+    int nu1;  // number of inputes at the next stage
+} ocp_nlp_dynamics_disc_dims;
+
+//
+acados_size_t ocp_nlp_dynamics_disc_dims_calculate_size(void *config);
+//
+void *ocp_nlp_dynamics_disc_dims_assign(void *config, void *raw_memory);
+//
+void ocp_nlp_dynamics_disc_dims_initialize(void *config, void *dims, int nx, int nu, int nx1,
+                                           int nu1, int nz);
+
+//
+void ocp_nlp_dynamics_disc_dims_set(void *config_, void *dims_, const char *dim, int* value);
+
+
+/************************************************
+ * options
+ ************************************************/
+
+typedef struct
+{
+    int compute_adj;
+    int compute_hess;
+} ocp_nlp_dynamics_disc_opts;
+
+//
+acados_size_t ocp_nlp_dynamics_disc_opts_calculate_size(void *config, void *dims);
+//
+void *ocp_nlp_dynamics_disc_opts_assign(void *config, void *dims, void *raw_memory);
+//
+void ocp_nlp_dynamics_disc_opts_initialize_default(void *config, void *dims, void *opts);
+//
+void ocp_nlp_dynamics_disc_opts_update(void *config, void *dims, void *opts);
+//
+int ocp_nlp_dynamics_disc_precompute(void *config_, void *dims, void *model_, void *opts_,
+                                        void *mem_, void *work_);
+
+
+/************************************************
+ * memory
+ ************************************************/
+
+typedef struct
+{
+    struct blasfeo_dvec fun;
+    struct blasfeo_dvec adj;
+    struct blasfeo_dvec *ux;     // pointer to ux in nlp_out at current stage
+    struct blasfeo_dvec *tmp_ux; // pointer to ux in tmp_nlp_out at current stage
+    struct blasfeo_dvec *ux1;    // pointer to ux in nlp_out at next stage
+    struct blasfeo_dvec *tmp_ux1;// pointer to ux in tmp_nlp_out at next stage
+    struct blasfeo_dvec *pi;     // pointer to pi in nlp_out at current stage
+    struct blasfeo_dvec *tmp_pi; // pointer to pi in tmp_nlp_out at current stage
+    struct blasfeo_dmat *BAbt;   // pointer to BAbt in qp_in
+    struct blasfeo_dmat *RSQrq;  // pointer to RSQrq in qp_in
+} ocp_nlp_dynamics_disc_memory;
+
+//
+acados_size_t ocp_nlp_dynamics_disc_memory_calculate_size(void *config, void *dims, void *opts);
+//
+void *ocp_nlp_dynamics_disc_memory_assign(void *config, void *dims, void *opts, void *raw_memory);
+//
+struct blasfeo_dvec *ocp_nlp_dynamics_disc_memory_get_fun_ptr(void *memory);
+//
+struct blasfeo_dvec *ocp_nlp_dynamics_disc_memory_get_adj_ptr(void *memory);
+//
+void ocp_nlp_dynamics_disc_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory);
+//
+void ocp_nlp_dynamics_disc_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory);
+//
+void ocp_nlp_dynamics_disc_memory_set_ux1_ptr(struct blasfeo_dvec *ux1, void *memory);
+//
+void ocp_nlp_dynamics_disc_memory_set_tmp_ux1_ptr(struct blasfeo_dvec *tmp_ux1, void *memory);
+//
+void ocp_nlp_dynamics_disc_memory_set_pi_ptr(struct blasfeo_dvec *pi, void *memory);
+//
+void ocp_nlp_dynamics_disc_memory_set_tmp_pi_ptr(struct blasfeo_dvec *tmp_pi, void *memory);
+//
+void ocp_nlp_dynamics_disc_memory_set_BAbt_ptr(struct blasfeo_dmat *BAbt, void *memory);
+
+
+
+/************************************************
+ * workspace
+ ************************************************/
+
+typedef struct
+{
+    struct blasfeo_dmat tmp_nv_nv;
+} ocp_nlp_dynamics_disc_workspace;
+
+acados_size_t ocp_nlp_dynamics_disc_workspace_calculate_size(void *config, void *dims, void *opts);
+
+
+
+/************************************************
+ * model
+ ************************************************/
+
+typedef struct
+{
+    external_function_generic *disc_dyn_fun;
+    external_function_generic *disc_dyn_fun_jac;
+    external_function_generic *disc_dyn_fun_jac_hess;
+} ocp_nlp_dynamics_disc_model;
+
+//
+acados_size_t ocp_nlp_dynamics_disc_model_calculate_size(void *config, void *dims);
+//
+void *ocp_nlp_dynamics_disc_model_assign(void *config, void *dims, void *raw_memory);
+//
+void ocp_nlp_dynamics_disc_model_set(void *config_, void *dims_, void *model_, const char *field, void *value);
+
+
+
+/************************************************
+ * functions
+ ************************************************/
+
+//
+void ocp_nlp_dynamics_disc_config_initialize_default(void *config);
+//
+void ocp_nlp_dynamics_disc_initialize(void *config_, void *dims, void *model_, void *opts, void *mem, void *work_);
+//
+void ocp_nlp_dynamics_disc_update_qp_matrices(void *config_, void *dims, void *model_, void *opts, void *mem, void *work_);
+//
+void ocp_nlp_dynamics_disc_compute_fun(void *config_, void *dims, void *model_, void *opts, void *mem, void *work_);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_DISC_H_
+/// @}
+/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_common.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_common.h
new file mode 100644
index 0000000000..cd26788a56
--- /dev/null
+++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_common.h
@@ -0,0 +1,125 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+/// \ingroup ocp_nlp
+/// @{
+
+/// \defgroup ocp_nlp_reg ocp_nlp_reg
+/// @{
+
+#ifndef ACADOS_OCP_NLP_OCP_NLP_REG_COMMON_H_
+#define ACADOS_OCP_NLP_OCP_NLP_REG_COMMON_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "acados/ocp_qp/ocp_qp_common.h"
+
+
+
+/* dims */
+
+//typedef ocp_qp_dims ocp_nlp_reg_dims;
+typedef struct
+{
+    int *nx;
+    int *nu;
+    int *nbu;
+    int *nbx;
+    int *ng;
+    int N;
+} ocp_nlp_reg_dims;
+
+//
+acados_size_t ocp_nlp_reg_dims_calculate_size(int N);
+//
+ocp_nlp_reg_dims *ocp_nlp_reg_dims_assign(int N, void *raw_memory);
+//
+void ocp_nlp_reg_dims_set(void *config_, ocp_nlp_reg_dims *dims, int stage, char *field, int* value);
+
+
+
+/* config */
+
+typedef struct
+{
+    /* dims */
+    acados_size_t (*dims_calculate_size)(int N);
+    ocp_nlp_reg_dims *(*dims_assign)(int N, void *raw_memory);
+    void (*dims_set)(void *config, ocp_nlp_reg_dims *dims, int stage, char *field, int *value);
+    /* opts */
+    acados_size_t (*opts_calculate_size)(void);
+    void *(*opts_assign)(void *raw_memory);
+    void (*opts_initialize_default)(void *config, ocp_nlp_reg_dims *dims, void *opts);
+    void (*opts_set)(void *config, ocp_nlp_reg_dims *dims, void *opts, char *field, void* value);
+    /* memory */
+    acados_size_t (*memory_calculate_size)(void *config, ocp_nlp_reg_dims *dims, void *opts);
+    void *(*memory_assign)(void *config, ocp_nlp_reg_dims *dims, void *opts, void *raw_memory);
+    void (*memory_set)(void *config, ocp_nlp_reg_dims *dims, void *memory, char *field, void* value);
+    void (*memory_set_RSQrq_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dmat *mat, void *memory);
+    void (*memory_set_rq_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dvec *vec, void *memory);
+    void (*memory_set_BAbt_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dmat *mat, void *memory);
+    void (*memory_set_b_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dvec *vec, void *memory);
+    void (*memory_set_idxb_ptr)(ocp_nlp_reg_dims *dims, int **idxb, void *memory);
+    void (*memory_set_DCt_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dmat *mat, void *memory);
+    void (*memory_set_ux_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dvec *vec, void *memory);
+    void (*memory_set_pi_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dvec *vec, void *memory);
+    void (*memory_set_lam_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dvec *vec, void *memory);
+    /* functions */
+    void (*regularize_hessian)(void *config, ocp_nlp_reg_dims *dims, void *opts, void *memory);
+    void (*correct_dual_sol)(void *config, ocp_nlp_reg_dims *dims, void *opts, void *memory);
+} ocp_nlp_reg_config;
+
+//
+acados_size_t ocp_nlp_reg_config_calculate_size(void);
+//
+void *ocp_nlp_reg_config_assign(void *raw_memory);
+
+
+
+/* regularization help functions */
+void acados_reconstruct_A(int dim, double *A, double *V, double *d);
+void acados_mirror(int dim, double *A, double *V, double *d, double *e, double epsilon);
+void acados_project(int dim, double *A, double *V, double *d, double *e, double epsilon);
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // ACADOS_OCP_NLP_OCP_NLP_REG_COMMON_H_
+/// @}
+/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_convexify.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_convexify.h
new file mode 100644
index 0000000000..df31361680
--- /dev/null
+++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_convexify.h
@@ -0,0 +1,149 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+/// \addtogroup ocp_nlp
+/// @{
+/// \addtogroup ocp_nlp_reg
+/// @{
+
+#ifndef ACADOS_OCP_NLP_OCP_NLP_REG_CONVEXIFY_H_
+#define ACADOS_OCP_NLP_OCP_NLP_REG_CONVEXIFY_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+// blasfeo
+#include "blasfeo/include/blasfeo_common.h"
+
+// acados
+#include "acados/ocp_nlp/ocp_nlp_reg_common.h"
+
+
+
+/************************************************
+ * dims
+ ************************************************/
+
+// use the functions in ocp_nlp_reg_common
+
+/************************************************
+ * options
+ ************************************************/
+
+typedef struct
+{
+    double delta;
+    double epsilon;
+//    double gamma; // 0.0
+} ocp_nlp_reg_convexify_opts;
+
+//
+acados_size_t ocp_nlp_reg_convexify_opts_calculate_size(void);
+//
+void *ocp_nlp_reg_convexify_opts_assign(void *raw_memory);
+//
+void ocp_nlp_reg_convexify_opts_initialize_default(void *config_, ocp_nlp_reg_dims *dims, void *opts_);
+//
+void ocp_nlp_reg_convexify_opts_set(void *config_, ocp_nlp_reg_dims *dims, void *opts_, char *field, void* value);
+
+
+
+/************************************************
+ * memory
+ ************************************************/
+
+typedef struct {
+    double *R;
+    double *V; // TODO move to workspace
+    double *d; // TODO move to workspace
+    double *e; // TODO move to workspace
+    double *reg_hess; // TODO move to workspace
+
+    struct blasfeo_dmat Q_tilde;
+    struct blasfeo_dmat Q_bar;
+    struct blasfeo_dmat BAQ;
+    struct blasfeo_dmat L;
+    struct blasfeo_dmat delta_eye;
+    struct blasfeo_dmat St_copy;
+
+    struct blasfeo_dmat *original_RSQrq;
+    struct blasfeo_dmat tmp_RSQ;
+
+	struct blasfeo_dvec tmp_nuxM;
+	struct blasfeo_dvec tmp_nbgM;
+
+//    struct blasfeo_dvec grad;
+//    struct blasfeo_dvec b2;
+
+    // giaf's
+    struct blasfeo_dmat **RSQrq;  // pointer to RSQrq in qp_in
+    struct blasfeo_dvec **rq;  // pointer to rq in qp_in
+    struct blasfeo_dmat **BAbt;  // pointer to BAbt in qp_in
+    struct blasfeo_dvec **b;  // pointer to b in qp_in
+    struct blasfeo_dmat **DCt;  // pointer to DCt in qp_in
+    struct blasfeo_dvec **ux;  // pointer to ux in qp_out
+    struct blasfeo_dvec **pi;  // pointer to pi in qp_out
+    struct blasfeo_dvec **lam;  // pointer to lam in qp_out
+	int **idxb; // pointer to idxb in qp_in
+
+} ocp_nlp_reg_convexify_memory;
+
+//
+acados_size_t ocp_nlp_reg_convexify_calculate_memory_size(void *config, ocp_nlp_reg_dims *dims, void *opts);
+//
+void *ocp_nlp_reg_convexify_assign_memory(void *config, ocp_nlp_reg_dims *dims, void *opts, void *raw_memory);
+
+/************************************************
+ * workspace
+ ************************************************/
+
+ // TODO
+
+/************************************************
+ * functions
+ ************************************************/
+
+//
+void ocp_nlp_reg_convexify_config_initialize_default(ocp_nlp_reg_config *config);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // ACADOS_OCP_NLP_OCP_NLP_REG_CONVEXIFY_H_
+/// @}
+/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_mirror.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_mirror.h
new file mode 100644
index 0000000000..f6bd7dcafd
--- /dev/null
+++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_mirror.h
@@ -0,0 +1,124 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+/// \addtogroup ocp_nlp
+/// @{
+/// \addtogroup ocp_nlp_reg
+/// @{
+
+#ifndef ACADOS_OCP_NLP_OCP_NLP_REG_MIRROR_H_
+#define ACADOS_OCP_NLP_OCP_NLP_REG_MIRROR_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+// blasfeo
+#include "blasfeo/include/blasfeo_common.h"
+
+// acados
+#include "acados/ocp_nlp/ocp_nlp_reg_common.h"
+
+
+
+/************************************************
+ * dims
+ ************************************************/
+
+// use the functions in ocp_nlp_reg_common
+
+/************************************************
+ * options
+ ************************************************/
+
+typedef struct
+{
+    double epsilon;
+} ocp_nlp_reg_mirror_opts;
+
+//
+acados_size_t ocp_nlp_reg_mirror_opts_calculate_size(void);
+//
+void *ocp_nlp_reg_mirror_opts_assign(void *raw_memory);
+//
+void ocp_nlp_reg_mirror_opts_initialize_default(void *config_, ocp_nlp_reg_dims *dims, void *opts_);
+//
+void ocp_nlp_reg_mirror_opts_set(void *config_, ocp_nlp_reg_dims *dims, void *opts_, char *field, void* value);
+
+
+
+/************************************************
+ * memory
+ ************************************************/
+
+typedef struct
+{
+    double *reg_hess; // TODO move to workspace
+    double *V; // TODO move to workspace
+    double *d; // TODO move to workspace
+    double *e; // TODO move to workspace
+
+    // giaf's
+    struct blasfeo_dmat **RSQrq;  // pointer to RSQrq in qp_in
+} ocp_nlp_reg_mirror_memory;
+
+//
+acados_size_t ocp_nlp_reg_mirror_memory_calculate_size(void *config, ocp_nlp_reg_dims *dims, void *opts);
+//
+void *ocp_nlp_reg_mirror_memory_assign(void *config, ocp_nlp_reg_dims *dims, void *opts, void *raw_memory);
+
+/************************************************
+ * workspace
+ ************************************************/
+
+ // TODO
+
+/************************************************
+ * functions
+ ************************************************/
+
+//
+void ocp_nlp_reg_mirror_config_initialize_default(ocp_nlp_reg_config *config);
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // ACADOS_OCP_NLP_OCP_NLP_REG_MIRROR_H_
+/// @}
+/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_noreg.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_noreg.h
new file mode 100644
index 0000000000..8d2b6ecc13
--- /dev/null
+++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_noreg.h
@@ -0,0 +1,120 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+/// \addtogroup ocp_nlp
+/// @{
+/// \addtogroup ocp_nlp_reg
+/// @{
+
+#ifndef ACADOS_OCP_NLP_OCP_NLP_REG_NOREG_H_
+#define ACADOS_OCP_NLP_OCP_NLP_REG_NOREG_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+// blasfeo
+#include "blasfeo/include/blasfeo_common.h"
+
+// acados
+#include "acados/ocp_nlp/ocp_nlp_reg_common.h"
+
+
+
+/************************************************
+ * dims
+ ************************************************/
+
+// use the functions in ocp_nlp_reg_common
+
+
+/************************************************
+ * options
+ ************************************************/
+
+typedef struct
+{
+    int dummy;
+} ocp_nlp_reg_noreg_opts;
+
+//
+acados_size_t ocp_nlp_reg_noreg_opts_calculate_size(void);
+//
+void *ocp_nlp_reg_noreg_opts_assign(void *raw_memory);
+//
+void ocp_nlp_reg_noreg_opts_initialize_default(void *config_, ocp_nlp_reg_dims *dims, void *opts_);
+//
+void ocp_nlp_reg_noreg_opts_set(void *config_, ocp_nlp_reg_dims *dims, void *opts_, char *field, void* value);
+
+
+
+/************************************************
+ * memory
+ ************************************************/
+
+typedef struct
+{
+    int dummy;
+} ocp_nlp_reg_noreg_memory;
+
+//
+acados_size_t ocp_nlp_reg_noreg_memory_calculate_size(void *config, ocp_nlp_reg_dims *dims, void *opts);
+//
+void *ocp_nlp_reg_noreg_memory_assign(void *config, ocp_nlp_reg_dims *dims, void *opts, void *raw_memory);
+
+/************************************************
+ * workspace
+ ************************************************/
+
+// not needed
+
+/************************************************
+ * functions
+ ************************************************/
+
+//
+void ocp_nlp_reg_noreg_config_initialize_default(ocp_nlp_reg_config *config);
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // ACADOS_OCP_NLP_OCP_NLP_REG_NOREG_H_
+
+/// @}
+/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_project.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_project.h
new file mode 100644
index 0000000000..104c297207
--- /dev/null
+++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_project.h
@@ -0,0 +1,124 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+/// \addtogroup ocp_nlp
+/// @{
+/// \addtogroup ocp_nlp_reg
+/// @{
+
+#ifndef ACADOS_OCP_NLP_OCP_NLP_REG_PROJECT_H_
+#define ACADOS_OCP_NLP_OCP_NLP_REG_PROJECT_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+// blasfeo
+#include "blasfeo/include/blasfeo_common.h"
+
+// acados
+#include "acados/ocp_nlp/ocp_nlp_reg_common.h"
+
+
+
+/************************************************
+ * dims
+ ************************************************/
+
+// use the functions in ocp_nlp_reg_common
+
+/************************************************
+ * options
+ ************************************************/
+
+typedef struct
+{
+    double epsilon;
+} ocp_nlp_reg_project_opts;
+
+//
+acados_size_t ocp_nlp_reg_project_opts_calculate_size(void);
+//
+void *ocp_nlp_reg_project_opts_assign(void *raw_memory);
+//
+void ocp_nlp_reg_project_opts_initialize_default(void *config_, ocp_nlp_reg_dims *dims, void *opts_);
+//
+void ocp_nlp_reg_project_opts_set(void *config_, ocp_nlp_reg_dims *dims, void *opts_, char *field, void* value);
+
+
+
+/************************************************
+ * memory
+ ************************************************/
+
+typedef struct
+{
+    double *reg_hess; // TODO move to workspace
+    double *V; // TODO move to workspace
+    double *d; // TODO move to workspace
+    double *e; // TODO move to workspace
+
+    // giaf's
+    struct blasfeo_dmat **RSQrq;  // pointer to RSQrq in qp_in
+} ocp_nlp_reg_project_memory;
+
+//
+acados_size_t ocp_nlp_reg_project_memory_calculate_size(void *config, ocp_nlp_reg_dims *dims, void *opts);
+//
+void *ocp_nlp_reg_project_memory_assign(void *config, ocp_nlp_reg_dims *dims, void *opts, void *raw_memory);
+
+/************************************************
+ * workspace
+ ************************************************/
+
+ // TODO
+
+/************************************************
+ * functions
+ ************************************************/
+
+//
+void ocp_nlp_reg_project_config_initialize_default(ocp_nlp_reg_config *config);
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // ACADOS_OCP_NLP_OCP_NLP_REG_PROJECT_H_
+/// @}
+/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_project_reduc_hess.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_project_reduc_hess.h
new file mode 100644
index 0000000000..e0b854bc1a
--- /dev/null
+++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_project_reduc_hess.h
@@ -0,0 +1,135 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+/// \addtogroup ocp_nlp
+/// @{
+/// \addtogroup ocp_nlp_reg
+/// @{
+
+#ifndef ACADOS_OCP_NLP_OCP_NLP_REG_PROJECT_REDUC_HESS_H_
+#define ACADOS_OCP_NLP_OCP_NLP_REG_PROJECT_REDUC_HESS_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+// blasfeo
+#include "blasfeo/include/blasfeo_common.h"
+
+// acados
+#include "acados/ocp_nlp/ocp_nlp_reg_common.h"
+
+
+
+/************************************************
+ * dims
+ ************************************************/
+
+// use the functions in ocp_nlp_reg_common
+
+/************************************************
+ * options
+ ************************************************/
+
+typedef struct
+{
+    double thr_eig;
+    double min_eig;
+    double min_pivot;
+	int pivoting;
+} ocp_nlp_reg_project_reduc_hess_opts;
+
+//
+acados_size_t ocp_nlp_reg_project_reduc_hess_opts_calculate_size(void);
+//
+void *ocp_nlp_reg_project_reduc_hess_opts_assign(void *raw_memory);
+//
+void ocp_nlp_reg_project_reduc_hess_opts_initialize_default(void *config_, ocp_nlp_reg_dims *dims, void *opts_);
+//
+void ocp_nlp_reg_project_reduc_hess_opts_set(void *config_, ocp_nlp_reg_dims *dims, void *opts_, char *field, void* value);
+
+
+
+/************************************************
+ * memory
+ ************************************************/
+
+typedef struct
+{
+    double *reg_hess; // TODO move to workspace
+    double *V; // TODO move to workspace
+    double *d; // TODO move to workspace
+    double *e; // TODO move to workspace
+
+    // giaf's
+    struct blasfeo_dmat L; // TODO move to workspace
+    struct blasfeo_dmat L2; // TODO move to workspace
+    struct blasfeo_dmat L3; // TODO move to workspace
+    struct blasfeo_dmat Ls; // TODO move to workspace
+    struct blasfeo_dmat P; // TODO move to workspace
+    struct blasfeo_dmat AL; // TODO move to workspace
+
+    struct blasfeo_dmat **RSQrq;  // pointer to RSQrq in qp_in
+    struct blasfeo_dmat **BAbt;  // pointer to RSQrq in qp_in
+} ocp_nlp_reg_project_reduc_hess_memory;
+
+//
+acados_size_t ocp_nlp_reg_project_reduc_hess_memory_calculate_size(void *config, ocp_nlp_reg_dims *dims, void *opts);
+//
+void *ocp_nlp_reg_project_reduc_hess_memory_assign(void *config, ocp_nlp_reg_dims *dims, void *opts, void *raw_memory);
+
+/************************************************
+ * workspace
+ ************************************************/
+
+ // TODO
+
+/************************************************
+ * functions
+ ************************************************/
+
+//
+void ocp_nlp_reg_project_reduc_hess_config_initialize_default(ocp_nlp_reg_config *config);
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // ACADOS_OCP_NLP_OCP_NLP_REG_PROJECT_REDUC_HESS_H_
+/// @}
+/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp.h
new file mode 100644
index 0000000000..81a4afd030
--- /dev/null
+++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp.h
@@ -0,0 +1,171 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+/// \addtogroup ocp_nlp
+/// @{
+/// \addtogroup ocp_nlp_solver
+/// @{
+/// \addtogroup ocp_nlp_sqp ocp_nlp_sqp
+/// @{
+
+#ifndef ACADOS_OCP_NLP_OCP_NLP_SQP_H_
+#define ACADOS_OCP_NLP_OCP_NLP_SQP_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// acados
+#include "acados/ocp_nlp/ocp_nlp_common.h"
+#include "acados/utils/types.h"
+
+
+
+/************************************************
+ * options
+ ************************************************/
+
+typedef struct
+{
+    ocp_nlp_opts *nlp_opts;
+    double tol_stat;     // exit tolerance on stationarity condition
+    double tol_eq;       // exit tolerance on equality constraints
+    double tol_ineq;     // exit tolerance on inequality constraints
+    double tol_comp;     // exit tolerance on complementarity condition
+    int max_iter;
+    int ext_qp_res;      // compute external QP residuals (i.e. at SQP level) at each SQP iteration (for debugging)
+    int qp_warm_start;   // qp_warm_start in all but the first sqp iterations
+    bool warm_start_first_qp; // to set qp_warm_start in first iteration
+    int rti_phase;       // only phase 0 at the moment 
+    int print_level;     // verbosity
+    int initialize_t_slacks;  // 0-false or 1-true
+
+} ocp_nlp_sqp_opts;
+
+//
+acados_size_t ocp_nlp_sqp_opts_calculate_size(void *config, void *dims);
+//
+void *ocp_nlp_sqp_opts_assign(void *config, void *dims, void *raw_memory);
+//
+void ocp_nlp_sqp_opts_initialize_default(void *config, void *dims, void *opts);
+//
+void ocp_nlp_sqp_opts_update(void *config, void *dims, void *opts);
+//
+void ocp_nlp_sqp_opts_set(void *config_, void *opts_, const char *field, void* value);
+//
+void ocp_nlp_sqp_opts_set_at_stage(void *config_, void *opts_, size_t stage, const char *field, void* value);
+
+
+
+/************************************************
+ * memory
+ ************************************************/
+
+typedef struct
+{
+    // nlp memory
+    ocp_nlp_memory *nlp_mem;
+
+    double time_qp_sol;
+    double time_qp_solver_call;
+    double time_qp_xcond;
+    double time_lin;
+    double time_reg;
+    double time_tot;
+    double time_glob;
+    double time_sim;
+    double time_sim_la;
+    double time_sim_ad;
+
+    // statistics
+    double *stat;
+    int stat_m;
+    int stat_n;
+
+    int status;
+    int sqp_iter;
+
+} ocp_nlp_sqp_memory;
+
+//
+acados_size_t ocp_nlp_sqp_memory_calculate_size(void *config, void *dims, void *opts_);
+//
+void *ocp_nlp_sqp_memory_assign(void *config, void *dims, void *opts_, void *raw_memory);
+
+
+
+/************************************************
+ * workspace
+ ************************************************/
+
+typedef struct
+{
+    ocp_nlp_workspace *nlp_work;
+
+    // temp QP in & out (to be used as workspace in param sens)
+    ocp_qp_in *tmp_qp_in;
+    ocp_qp_out *tmp_qp_out;
+
+    // qp residuals
+    ocp_qp_res *qp_res;
+    ocp_qp_res_ws *qp_res_ws;
+
+} ocp_nlp_sqp_workspace;
+
+//
+acados_size_t ocp_nlp_sqp_workspace_calculate_size(void *config, void *dims, void *opts_);
+
+
+
+/************************************************
+ * functions
+ ************************************************/
+
+//
+int ocp_nlp_sqp(void *config, void *dims, void *nlp_in, void *nlp_out,
+                void *args, void *mem, void *work_);
+//
+void ocp_nlp_sqp_config_initialize_default(void *config_);
+//
+int ocp_nlp_sqp_precompute(void *config_, void *dims_, void *nlp_in_, void *nlp_out_,
+                void *opts_, void *mem_, void *work_);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_OCP_NLP_OCP_NLP_SQP_H_
+/// @}
+/// @}
+/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp_rti.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp_rti.h
new file mode 100644
index 0000000000..6f16594d2b
--- /dev/null
+++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp_rti.h
@@ -0,0 +1,172 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+/// \addtogroup ocp_nlp
+/// @{
+/// \addtogroup ocp_nlp_solver
+/// @{
+/// \addtogroup ocp_nlp_sqp_rti ocp_nlp_sqp_rti
+/// @{
+
+#ifndef ACADOS_OCP_NLP_OCP_NLP_SQP_RTI_H_
+#define ACADOS_OCP_NLP_OCP_NLP_SQP_RTI_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// acados
+#include "acados/ocp_nlp/ocp_nlp_common.h"
+#include "acados/utils/types.h"
+
+
+
+/************************************************
+ * options
+ ************************************************/
+
+typedef struct
+{
+    ocp_nlp_opts *nlp_opts;
+    int compute_dual_sol;
+    int ext_qp_res;           // compute external QP residuals (i.e. at SQP level) at each SQP iteration (for debugging)
+    int qp_warm_start;        // NOTE: this is not actually setting the warm_start! Just for compatibility with sqp.
+    bool warm_start_first_qp; // to set qp_warm_start in first iteration
+    int rti_phase;            // phase of RTI. Possible values 1 (preparation), 2 (feedback) 0 (both)
+    int print_level;     // verbosity
+
+} ocp_nlp_sqp_rti_opts;
+
+//
+acados_size_t ocp_nlp_sqp_rti_opts_calculate_size(void *config_, void *dims_);
+//
+void *ocp_nlp_sqp_rti_opts_assign(void *config_, void *dims_, void *raw_memory);
+//
+void ocp_nlp_sqp_rti_opts_initialize_default(void *config_, void *dims_, void *opts_);
+//
+void ocp_nlp_sqp_rti_opts_update(void *config_, void *dims_, void *opts_);
+//
+void ocp_nlp_sqp_rti_opts_set(void *config_, void *opts_, const char *field, void* value);
+//
+void ocp_nlp_sqp_rti_opts_set_at_stage(void *config_, void *opts_, size_t stage,
+    const char *field, void* value);
+
+
+
+/************************************************
+ * memory
+ ************************************************/
+
+typedef struct
+{
+    // nlp memory
+    ocp_nlp_memory *nlp_mem;
+
+    double time_qp_sol;
+    double time_qp_solver_call;
+    double time_qp_xcond;
+    double time_lin;
+    double time_reg;
+    double time_tot;
+    double time_glob;
+
+    // statistics
+    double *stat;
+    int stat_m;
+    int stat_n;
+
+    int status;
+
+} ocp_nlp_sqp_rti_memory;
+
+//
+acados_size_t ocp_nlp_sqp_rti_memory_calculate_size(void *config_, void *dims_, void *opts_);
+//
+void *ocp_nlp_sqp_rti_memory_assign(void *config_, void *dims_, void *opts_,
+    void *raw_memory);
+
+
+
+/************************************************
+ * workspace
+ ************************************************/
+
+typedef struct
+{
+    ocp_nlp_workspace *nlp_work;
+
+    // temp QP in & out (to be used as workspace in param sens)
+    ocp_qp_in *tmp_qp_in;
+    ocp_qp_out *tmp_qp_out;
+
+    // qp residuals
+    ocp_qp_res *qp_res;
+    ocp_qp_res_ws *qp_res_ws;
+
+
+} ocp_nlp_sqp_rti_workspace;
+
+//
+acados_size_t ocp_nlp_sqp_rti_workspace_calculate_size(void *config_, void *dims_, void *opts_);
+
+
+
+/************************************************
+ * functions
+ ************************************************/
+
+void ocp_nlp_sqp_rti_preparation_step(void *config_, void *dims_,
+    void *nlp_in_, void *nlp_out_, void *opts, void *mem_, void *work_);
+//
+void ocp_nlp_sqp_rti_feedback_step(void *config_, void *dims_,
+    void *nlp_in_, void *nlp_out_, void *opts_, void *mem_, void *work_);
+//
+int ocp_nlp_sqp_rti(void *config_, void *dims_, void *nlp_in_, void *nlp_out_,
+    void *opts_, void *mem_, void *work_);
+//
+void ocp_nlp_sqp_rti_config_initialize_default(void *config_);
+//
+int ocp_nlp_sqp_rti_precompute(void *config_, void *dims_,
+    void *nlp_in_, void *nlp_out_, void *opts_, void *mem_, void *work_);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_OCP_NLP_OCP_NLP_SQP_RTI_H_
+/// @}
+/// @}
+/// @}
diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_common.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_common.h
new file mode 100644
index 0000000000..bba55f8f75
--- /dev/null
+++ b/third_party/acados/include/acados/ocp_qp/ocp_qp_common.h
@@ -0,0 +1,182 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef ACADOS_OCP_QP_OCP_QP_COMMON_H_
+#define ACADOS_OCP_QP_OCP_QP_COMMON_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// hpipm
+#include "hpipm/include/hpipm_d_ocp_qp.h"
+#include "hpipm/include/hpipm_d_ocp_qp_dim.h"
+#include "hpipm/include/hpipm_d_ocp_qp_res.h"
+#include "hpipm/include/hpipm_d_ocp_qp_sol.h"
+// acados
+#include "acados/utils/types.h"
+
+
+
+typedef struct d_ocp_qp_dim ocp_qp_dims;
+typedef struct d_ocp_qp ocp_qp_in;
+typedef struct d_ocp_qp_sol ocp_qp_out;
+typedef struct d_ocp_qp_res ocp_qp_res;
+typedef struct d_ocp_qp_res_ws ocp_qp_res_ws;
+
+
+
+#ifndef QP_SOLVER_CONFIG_
+#define QP_SOLVER_CONFIG_
+typedef struct
+{
+    void (*dims_set)(void *config_, void *dims_, int stage, const char *field, int* value);
+    acados_size_t (*opts_calculate_size)(void *config, void *dims);
+    void *(*opts_assign)(void *config, void *dims, void *raw_memory);
+    void (*opts_initialize_default)(void *config, void *dims, void *opts);
+    void (*opts_update)(void *config, void *dims, void *opts);
+    void (*opts_set)(void *config_, void *opts_, const char *field, void* value);
+    acados_size_t (*memory_calculate_size)(void *config, void *dims, void *opts);
+    void *(*memory_assign)(void *config, void *dims, void *opts, void *raw_memory);
+    void (*memory_get)(void *config_, void *mem_, const char *field, void* value);
+    acados_size_t (*workspace_calculate_size)(void *config, void *dims, void *opts);
+    int (*evaluate)(void *config, void *qp_in, void *qp_out, void *opts, void *mem, void *work);
+    void (*eval_sens)(void *config, void *qp_in, void *qp_out, void *opts, void *mem, void *work);
+} qp_solver_config;
+#endif
+
+
+
+typedef struct
+{
+    acados_size_t (*dims_calculate_size)(void *config, int N);
+    void *(*dims_assign)(void *config, int N, void *raw_memory);
+    void (*dims_set)(void *config, void *dims_, int stage, const char *field, int* value);
+    void (*dims_get)(void *config, void *dims, const char *field, void* value);
+    // TODO add config everywhere !!!!!
+    acados_size_t (*opts_calculate_size)(void *dims);
+    void *(*opts_assign)(void *dims, void *raw_memory);
+    void (*opts_initialize_default)(void *dims, void *opts);
+    void (*opts_update)(void *dims, void *opts);
+    void (*opts_set)(void *opts_, const char *field, void* value);
+    acados_size_t (*memory_calculate_size)(void *dims, void *opts);
+    void *(*memory_assign)(void *dims, void *opts, void *raw_memory);
+    void (*memory_get)(void *config, void *mem, const char *field, void* value);
+    acados_size_t (*workspace_calculate_size)(void *dims, void *opts);
+    int (*condensing)(void *qp_in, void *qp_out, void *opts, void *mem, void *work);
+    int (*condensing_rhs)(void *qp_in, void *qp_out, void *opts, void *mem, void *work);
+    int (*expansion)(void *qp_in, void *qp_out, void *opts, void *mem, void *work);
+} ocp_qp_xcond_config;
+
+
+
+/// Struct containing metrics of the qp solver.
+#ifndef QP_INFO_
+#define QP_INFO_
+typedef struct
+{
+    double solve_QP_time;
+    double condensing_time;
+    double interface_time;
+    double total_time;
+    int num_iter;
+    int t_computed;
+} qp_info;
+#endif
+
+
+
+/* config */
+//
+acados_size_t ocp_qp_solver_config_calculate_size();
+//
+qp_solver_config *ocp_qp_solver_config_assign(void *raw_memory);
+//
+acados_size_t ocp_qp_condensing_config_calculate_size();
+//
+ocp_qp_xcond_config *ocp_qp_condensing_config_assign(void *raw_memory);
+
+
+/* dims */
+//
+acados_size_t ocp_qp_dims_calculate_size(int N);
+//
+ocp_qp_dims *ocp_qp_dims_assign(int N, void *raw_memory);
+//
+void ocp_qp_dims_set(void *config_, void *dims, int stage, const char *field, int* value);
+//
+void ocp_qp_dims_get(void *config_, void *dims, int stage, const char *field, int* value);
+
+
+/* in */
+//
+acados_size_t ocp_qp_in_calculate_size(ocp_qp_dims *dims);
+//
+ocp_qp_in *ocp_qp_in_assign(ocp_qp_dims *dims, void *raw_memory);
+
+
+/* out */
+//
+acados_size_t ocp_qp_out_calculate_size(ocp_qp_dims *dims);
+//
+ocp_qp_out *ocp_qp_out_assign(ocp_qp_dims *dims, void *raw_memory);
+
+/* res */
+//
+acados_size_t ocp_qp_res_calculate_size(ocp_qp_dims *dims);
+//
+ocp_qp_res *ocp_qp_res_assign(ocp_qp_dims *dims, void *raw_memory);
+//
+acados_size_t ocp_qp_res_workspace_calculate_size(ocp_qp_dims *dims);
+//
+ocp_qp_res_ws *ocp_qp_res_workspace_assign(ocp_qp_dims *dims, void *raw_memory);
+//
+void ocp_qp_res_compute(ocp_qp_in *qp_in, ocp_qp_out *qp_out, ocp_qp_res *qp_res, ocp_qp_res_ws *res_ws);
+//
+void ocp_qp_res_compute_nrm_inf(ocp_qp_res *qp_res, double res[4]);
+
+
+/* misc */
+//
+void ocp_qp_stack_slacks_dims(ocp_qp_dims *in, ocp_qp_dims *out);
+//
+void ocp_qp_stack_slacks(ocp_qp_in *in, ocp_qp_in *out);
+//
+void ocp_qp_compute_t(ocp_qp_in *qp_in, ocp_qp_out *qp_out);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_OCP_QP_OCP_QP_COMMON_H_
diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_common_frontend.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_common_frontend.h
new file mode 100644
index 0000000000..50b80850c6
--- /dev/null
+++ b/third_party/acados/include/acados/ocp_qp/ocp_qp_common_frontend.h
@@ -0,0 +1,121 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef ACADOS_OCP_QP_OCP_QP_COMMON_FRONTEND_H_
+#define ACADOS_OCP_QP_OCP_QP_COMMON_FRONTEND_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "acados/ocp_qp/ocp_qp_common.h"
+
+typedef struct
+{
+    int N;
+    int *nx;
+    int *nu;
+    int *nb;
+    int *nc;
+    double **A;
+    double **B;
+    double **b;
+    double **Q;
+    double **S;
+    double **R;
+    double **q;
+    double **r;
+    int **idxb;
+    double **lb;
+    double **ub;
+    double **Cx;
+    double **Cu;
+    double **lc;
+    double **uc;
+} colmaj_ocp_qp_in;
+
+typedef struct
+{
+    double **x;
+    double **u;
+    double **pi;
+    double **lam;
+} colmaj_ocp_qp_out;
+
+typedef struct
+{
+    double **res_r;
+    double **res_q;
+    double **res_ls;
+    double **res_us;
+    double **res_b;
+    double **res_d_lb;
+    double **res_d_ub;
+    double **res_d_lg;
+    double **res_d_ug;
+    double **res_d_ls;
+    double **res_d_us;
+    double **res_m_lb;
+    double **res_m_ub;
+    double **res_m_lg;
+    double **res_m_ug;
+    double **res_m_ls;
+    double **res_m_us;
+    double res_nrm_inf[4];
+} colmaj_ocp_qp_res;
+
+//
+acados_size_t colmaj_ocp_qp_in_calculate_size(ocp_qp_dims *dims);
+//
+char *assign_colmaj_ocp_qp_in(ocp_qp_dims *dims, colmaj_ocp_qp_in **qp_in, void *ptr);
+//
+acados_size_t colmaj_ocp_qp_out_calculate_size(ocp_qp_dims *dims);
+//
+char *assign_colmaj_ocp_qp_out(ocp_qp_dims *dims, colmaj_ocp_qp_out **qp_out, void *ptr);
+//
+acados_size_t colmaj_ocp_qp_res_calculate_size(ocp_qp_dims *dims);
+//
+char *assign_colmaj_ocp_qp_res(ocp_qp_dims *dims, colmaj_ocp_qp_res **qp_res, void *ptr);
+//
+void convert_colmaj_to_ocp_qp_in(colmaj_ocp_qp_in *cm_qp_in, ocp_qp_in *qp_in);
+//
+void convert_ocp_qp_out_to_colmaj(ocp_qp_out *qp_out, colmaj_ocp_qp_out *cm_qp_out);
+//
+void convert_ocp_qp_res_to_colmaj(ocp_qp_res *qp_res, colmaj_ocp_qp_res *cm_qp_res);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_OCP_QP_OCP_QP_COMMON_FRONTEND_H_
diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_full_condensing.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_full_condensing.h
new file mode 100644
index 0000000000..14ac97bbf4
--- /dev/null
+++ b/third_party/acados/include/acados/ocp_qp/ocp_qp_full_condensing.h
@@ -0,0 +1,117 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef ACADOS_OCP_QP_OCP_QP_FULL_CONDENSING_H_
+#define ACADOS_OCP_QP_OCP_QP_FULL_CONDENSING_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// hpipm
+#include "hpipm/include/hpipm_d_ocp_qp_red.h"
+// acados
+#include "acados/dense_qp/dense_qp_common.h"
+#include "acados/ocp_qp/ocp_qp_common.h"
+#include "acados/utils/types.h"
+
+
+
+typedef struct
+{
+    ocp_qp_dims *orig_dims;
+    ocp_qp_dims *red_dims; // dims of reduced qp
+    dense_qp_dims *fcond_dims;
+} ocp_qp_full_condensing_dims;
+
+
+
+typedef struct ocp_qp_full_condensing_opts_
+{
+    struct d_cond_qp_arg *hpipm_cond_opts;
+    struct d_ocp_qp_reduce_eq_dof_arg *hpipm_red_opts;
+//    dense_qp_dims *fcond_dims;  // TODO(all): move to dims
+    int cond_hess; // 0 cond only rhs, 1 cond hess + rhs
+    int expand_dual_sol; // 0 primal sol only, 1 primal + dual sol
+    int ric_alg;
+    int mem_qp_in; // allocate qp_in in memory
+} ocp_qp_full_condensing_opts;
+
+
+
+typedef struct ocp_qp_full_condensing_memory_
+{
+    struct d_cond_qp_ws *hpipm_cond_work;
+    struct d_ocp_qp_reduce_eq_dof_ws *hpipm_red_work;
+    // in memory
+    dense_qp_in *fcond_qp_in;
+    dense_qp_out *fcond_qp_out;
+    ocp_qp_in *red_qp; // reduced qp
+    ocp_qp_out *red_sol; // reduced qp sol
+    // only pointer
+    ocp_qp_in *ptr_qp_in;
+    qp_info *qp_out_info; // info in fcond_qp_in
+    double time_qp_xcond;
+} ocp_qp_full_condensing_memory;
+
+
+
+//
+acados_size_t ocp_qp_full_condensing_opts_calculate_size(void *dims);
+//
+void *ocp_qp_full_condensing_opts_assign(void *dims, void *raw_memory);
+//
+void ocp_qp_full_condensing_opts_initialize_default(void *dims, void *opts_);
+//
+void ocp_qp_full_condensing_opts_update(void *dims, void *opts_);
+//
+void ocp_qp_full_condensing_opts_set(void *opts_, const char *field, void* value);
+//
+acados_size_t ocp_qp_full_condensing_memory_calculate_size(void *dims, void *opts_);
+//
+void *ocp_qp_full_condensing_memory_assign(void *dims, void *opts_, void *raw_memory);
+//
+acados_size_t ocp_qp_full_condensing_workspace_calculate_size(void *dims, void *opts_);
+//
+int ocp_qp_full_condensing(void *in, void *out, void *opts, void *mem, void *work);
+//
+int ocp_qp_full_expansion(void *in, void *out, void *opts, void *mem, void *work);
+//
+void ocp_qp_full_condensing_config_initialize_default(void *config_);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_OCP_QP_OCP_QP_FULL_CONDENSING_H_
diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_hpipm.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_hpipm.h
new file mode 100644
index 0000000000..84e874863f
--- /dev/null
+++ b/third_party/acados/include/acados/ocp_qp/ocp_qp_hpipm.h
@@ -0,0 +1,100 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef ACADOS_OCP_QP_OCP_QP_HPIPM_H_
+#define ACADOS_OCP_QP_OCP_QP_HPIPM_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// hpipm
+#include "hpipm/include/hpipm_d_ocp_qp_ipm.h"
+// acados
+#include "acados/ocp_qp/ocp_qp_common.h"
+#include "acados/utils/types.h"
+
+
+
+// struct of arguments to the solver
+// TODO(roversch): why not make this a typedef of the underlying struct?
+typedef struct ocp_qp_hpipm_opts_
+{
+    struct d_ocp_qp_ipm_arg *hpipm_opts;
+} ocp_qp_hpipm_opts;
+
+
+
+// TODO(roversch): why not make this a typedef of the underlying struct?
+// struct of the solver memory
+typedef struct ocp_qp_hpipm_memory_
+{
+    struct d_ocp_qp_ipm_ws *hpipm_workspace;
+    double time_qp_solver_call;
+    int iter;
+
+} ocp_qp_hpipm_memory;
+
+
+
+//
+acados_size_t ocp_qp_hpipm_opts_calculate_size(void *config, void *dims);
+//
+void *ocp_qp_hpipm_opts_assign(void *config, void *dims, void *raw_memory);
+//
+void ocp_qp_hpipm_opts_initialize_default(void *config, void *dims, void *opts_);
+//
+void ocp_qp_hpipm_opts_update(void *config, void *dims, void *opts_);
+//
+void ocp_qp_hpipm_opts_set(void *config_, void *opts_, const char *field, void *value);
+//
+acados_size_t ocp_qp_hpipm_memory_calculate_size(void *config, void *dims, void *opts_);
+//
+void *ocp_qp_hpipm_memory_assign(void *config, void *dims, void *opts_, void *raw_memory);
+//
+acados_size_t ocp_qp_hpipm_workspace_calculate_size(void *config, void *dims, void *opts_);
+//
+int ocp_qp_hpipm(void *config, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
+//
+void ocp_qp_hpipm_eval_sens(void *config, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
+//
+void ocp_qp_hpipm_config_initialize_default(void *config);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_OCP_QP_OCP_QP_HPIPM_H_
diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_hpmpc.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_hpmpc.h
new file mode 100644
index 0000000000..37d1c0a337
--- /dev/null
+++ b/third_party/acados/include/acados/ocp_qp/ocp_qp_hpmpc.h
@@ -0,0 +1,129 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef ACADOS_OCP_QP_OCP_QP_HPMPC_H_
+#define ACADOS_OCP_QP_OCP_QP_HPMPC_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "acados/ocp_qp/ocp_qp_common.h"
+#include "acados/utils/types.h"
+
+typedef enum hpmpc_options_t_ { HPMPC_DEFAULT_ARGUMENTS } hpmpc_options_t;
+
+typedef struct ocp_qp_hpmpc_opts_
+{
+    double tol;
+    int max_iter;
+    double mu0;
+    double alpha_min;
+    int warm_start;
+    int N2;  // horizion length of the partially condensed problem
+
+    // partial tightening
+    double sigma_mu;
+    int N;
+    int M;
+} ocp_qp_hpmpc_opts;
+
+// struct of the solver memory
+typedef struct ocp_qp_hpmpc_memory_
+{
+    struct blasfeo_dvec *hpi;
+    double *stats;
+
+    // workspace
+    void *hpmpc_work;  // raw workspace
+
+    // partial tightening-specific (init of extra variables)
+    struct blasfeo_dvec *lam0;
+    struct blasfeo_dvec *ux0;
+    struct blasfeo_dvec *pi0;
+    struct blasfeo_dvec *t0;
+
+    // 2. workspace
+    struct blasfeo_dmat *hsL;
+    struct blasfeo_dmat *hsric_work_mat;
+    struct blasfeo_dmat sLxM;
+    struct blasfeo_dmat sPpM;
+
+    struct blasfeo_dvec *hsQx;
+    struct blasfeo_dvec *hsqx;
+    struct blasfeo_dvec *hstinv;
+    struct blasfeo_dvec *hsrq;
+    struct blasfeo_dvec *hsdux;
+
+    struct blasfeo_dvec *hsdlam;
+    struct blasfeo_dvec *hsdt;
+    struct blasfeo_dvec *hsdpi;
+    struct blasfeo_dvec *hslamt;
+
+    struct blasfeo_dvec *hsPb;
+
+    void *work_ric;
+
+    int out_iter;
+
+    double time_qp_solver_call;
+    int iter;
+
+} ocp_qp_hpmpc_memory;
+
+acados_size_t ocp_qp_hpmpc_opts_calculate_size(void *config_, ocp_qp_dims *dims);
+//
+void *ocp_qp_hpmpc_opts_assign(void *config_, ocp_qp_dims *dims, void *raw_memory);
+//
+void ocp_qp_hpmpc_opts_initialize_default(void *config_, ocp_qp_dims *dims, void *opts_);
+//
+void ocp_qp_hpmpc_opts_update(void *config_, ocp_qp_dims *dims, void *opts_);
+//
+acados_size_t ocp_qp_hpmpc_memory_calculate_size(void *config_, ocp_qp_dims *dims, void *opts_);
+//
+void *ocp_qp_hpmpc_memory_assign(void *config_, ocp_qp_dims *dims, void *opts_, void *raw_memory);
+//
+acados_size_t ocp_qp_hpmpc_workspace_calculate_size(void *config_, ocp_qp_dims *dims, void *opts_);
+//
+int ocp_qp_hpmpc(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
+//
+void ocp_qp_hpmpc_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
+//
+void ocp_qp_hpmpc_config_initialize_default(void *config_);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_OCP_QP_OCP_QP_HPMPC_H_
diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_ooqp.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_ooqp.h
new file mode 100644
index 0000000000..e1b789b96a
--- /dev/null
+++ b/third_party/acados/include/acados/ocp_qp/ocp_qp_ooqp.h
@@ -0,0 +1,146 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef ACADOS_OCP_QP_OCP_QP_OOQP_H_
+#define ACADOS_OCP_QP_OCP_QP_OOQP_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "acados/ocp_qp/ocp_qp_common.h"
+#include "acados/utils/types.h"
+
+enum ocp_qp_ooqp_termination_code
+{
+  SPARSE_SUCCESSFUL_TERMINATION = 0,
+  SPARSE_NOT_FINISHED,
+  SPARSE_MAX_ITS_EXCEEDED,
+  SPARSE_INFEASIBLE,
+  SPARSE_UNKNOWN
+};
+
+typedef struct ocp_qp_ooqp_opts_
+{
+    int printLevel;
+    int useDiagonalWeights;  // TODO(dimitris): implement option
+    int fixHessian;
+    int fixHessianSparsity;
+    int fixDynamics;
+    int fixDynamicsSparsity;
+    int fixInequalities;
+    int fixInequalitiesSparsity;
+} ocp_qp_ooqp_opts;
+
+typedef struct ocp_qp_ooqp_workspace_
+{
+    double *x;
+    double *gamma;
+    double *phi;
+    double *y;
+    double *z;
+    double *lambda;
+    double *pi;
+    double objectiveValue;
+    int *tmpInt;    // temporary vector to sort indicies sparse matrices
+    double *tmpReal;  // temporary vector to sort data of sparse matrices
+    // int ierr;
+} ocp_qp_ooqp_workspace;
+
+typedef struct ocp_qp_ooqp_memory_
+{
+    int firstRun;
+    double *c;
+    int nx;
+    int *irowQ;
+    int nnzQ;
+    int *jcolQ;
+    int *orderQ;
+    double *dQ;
+    double *xlow;
+    char *ixlow;
+    double *xupp;
+    char *ixupp;
+    int *irowA;
+    int nnzA;
+    int *jcolA;
+    int *orderA;
+    double *dA;
+    double *bA;
+    int my;
+    int *irowC;
+    int nnzC;
+    int *jcolC;
+    int *orderC;
+    double *dC;
+    double *clow;
+    int mz;
+    char *iclow;
+    double *cupp;
+    char *icupp;
+    int nnz;  // max(nnzQ, nnzA, nnzC)
+    double time_qp_solver_call;
+    int iter;
+
+} ocp_qp_ooqp_memory;
+
+//
+acados_size_t ocp_qp_ooqp_opts_calculate_size(void *config_, ocp_qp_dims *dims);
+//
+void *ocp_qp_ooqp_opts_assign(void *config_, ocp_qp_dims *dims, void *raw_memory);
+//
+void ocp_qp_ooqp_opts_initialize_default(void *config_, ocp_qp_dims *dims, void *opts_);
+//
+void ocp_qp_ooqp_opts_update(void *config_, ocp_qp_dims *dims, void *opts_);
+//
+acados_size_t ocp_qp_ooqp_memory_calculate_size(void *config_, ocp_qp_dims *dims, void *opts_);
+//
+void *ocp_qp_ooqp_memory_assign(void *config_, ocp_qp_dims *dims, void *opts_, void *raw_memory);
+//
+acados_size_t ocp_qp_ooqp_workspace_calculate_size(void *config_, ocp_qp_dims *dims, void *opts_);
+//
+int ocp_qp_ooqp(void *config_, ocp_qp_in *qp_in, ocp_qp_out *qp_out, void *opts_, void *memory_,
+                void *work_);
+//
+void ocp_qp_ooqp_destroy(void *mem_, void *work);
+//
+void ocp_qp_ooqp_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
+//
+void ocp_qp_ooqp_config_initialize_default(void *config_);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_OCP_QP_OCP_QP_OOQP_H_
diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_osqp.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_osqp.h
new file mode 100644
index 0000000000..55321a46b2
--- /dev/null
+++ b/third_party/acados/include/acados/ocp_qp/ocp_qp_osqp.h
@@ -0,0 +1,105 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef ACADOS_OCP_QP_OCP_QP_OSQP_H_
+#define ACADOS_OCP_QP_OCP_QP_OSQP_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// osqp
+#include "osqp/include/types.h"
+
+// acados
+#include "acados/ocp_qp/ocp_qp_common.h"
+#include "acados/utils/types.h"
+
+typedef struct ocp_qp_osqp_opts_
+{
+    OSQPSettings *osqp_opts;
+} ocp_qp_osqp_opts;
+
+
+typedef struct ocp_qp_osqp_memory_
+{
+    c_int first_run;
+
+    c_float *q;
+    c_float *l;
+    c_float *u;
+
+    c_int P_nnzmax;
+    c_int *P_i;
+    c_int *P_p;
+    c_float *P_x;
+
+    c_int A_nnzmax;
+    c_int *A_i;
+    c_int *A_p;
+    c_float *A_x;
+
+    OSQPData *osqp_data;
+    OSQPWorkspace *osqp_work;
+
+    double time_qp_solver_call;
+    int iter;
+
+} ocp_qp_osqp_memory;
+
+acados_size_t ocp_qp_osqp_opts_calculate_size(void *config, void *dims);
+//
+void *ocp_qp_osqp_opts_assign(void *config, void *dims, void *raw_memory);
+//
+void ocp_qp_osqp_opts_initialize_default(void *config, void *dims, void *opts_);
+//
+void ocp_qp_osqp_opts_update(void *config, void *dims, void *opts_);
+//
+acados_size_t ocp_qp_osqp_memory_calculate_size(void *config, void *dims, void *opts_);
+//
+void *ocp_qp_osqp_memory_assign(void *config, void *dims, void *opts_, void *raw_memory);
+//
+acados_size_t ocp_qp_osqp_workspace_calculate_size(void *config, void *dims, void *opts_);
+//
+int ocp_qp_osqp(void *config, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
+//
+void ocp_qp_osqp_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
+//
+void ocp_qp_osqp_config_initialize_default(void *config);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_OCP_QP_OCP_QP_OSQP_H_
diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_partial_condensing.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_partial_condensing.h
new file mode 100644
index 0000000000..b95a11114e
--- /dev/null
+++ b/third_party/acados/include/acados/ocp_qp/ocp_qp_partial_condensing.h
@@ -0,0 +1,123 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef ACADOS_OCP_QP_OCP_QP_PARTIAL_CONDENSING_H_
+#define ACADOS_OCP_QP_OCP_QP_PARTIAL_CONDENSING_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// hpipm
+#include "hpipm/include/hpipm_d_ocp_qp_red.h"
+// acados
+#include "acados/ocp_qp/ocp_qp_common.h"
+
+
+
+typedef struct
+{
+    ocp_qp_dims *orig_dims;
+    ocp_qp_dims *red_dims; // dims of reduced qp
+    ocp_qp_dims *pcond_dims;
+    int *block_size;
+    int N2;
+    int N2_bkp;
+} ocp_qp_partial_condensing_dims;
+
+
+
+typedef struct ocp_qp_partial_condensing_opts_
+{
+    struct d_part_cond_qp_arg *hpipm_pcond_opts;
+    struct d_ocp_qp_reduce_eq_dof_arg *hpipm_red_opts;
+//    ocp_qp_dims *pcond_dims;  // TODO(all): move to dims
+//    int *block_size;
+    int N2;
+    int N2_bkp;
+//    int expand_dual_sol; // 0 primal sol only, 1 primal + dual sol
+    int ric_alg;
+    int mem_qp_in; // allocate qp_in in memory
+} ocp_qp_partial_condensing_opts;
+
+
+
+typedef struct ocp_qp_partial_condensing_memory_
+{
+    struct d_part_cond_qp_ws *hpipm_pcond_work;
+    struct d_ocp_qp_reduce_eq_dof_ws *hpipm_red_work;
+    // in memory
+    ocp_qp_in *pcond_qp_in;
+    ocp_qp_out *pcond_qp_out;
+    ocp_qp_in *red_qp; // reduced qp
+    ocp_qp_out *red_sol; // reduced qp sol
+    // only pointer
+    ocp_qp_in *ptr_qp_in;
+    ocp_qp_in *ptr_pcond_qp_in;
+    qp_info *qp_out_info; // info in pcond_qp_in
+    double time_qp_xcond;
+} ocp_qp_partial_condensing_memory;
+
+
+
+//
+acados_size_t ocp_qp_partial_condensing_opts_calculate_size(void *dims);
+//
+void *ocp_qp_partial_condensing_opts_assign(void *dims, void *raw_memory);
+//
+void ocp_qp_partial_condensing_opts_initialize_default(void *dims, void *opts_);
+//
+void ocp_qp_partial_condensing_opts_update(void *dims, void *opts_);
+//
+void ocp_qp_partial_condensing_opts_set(void *opts_, const char *field, void* value);
+//
+acados_size_t ocp_qp_partial_condensing_memory_calculate_size(void *dims, void *opts_);
+//
+void *ocp_qp_partial_condensing_memory_assign(void *dims, void *opts, void *raw_memory);
+//
+acados_size_t ocp_qp_partial_condensing_workspace_calculate_size(void *dims, void *opts_);
+//
+int ocp_qp_partial_condensing(void *in, void *out, void *opts, void *mem, void *work);
+//
+int ocp_qp_partial_expansion(void *in, void *out, void *opts, void *mem, void *work);
+//
+void ocp_qp_partial_condensing_config_initialize_default(void *config_);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_OCP_QP_OCP_QP_PARTIAL_CONDENSING_H_
diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_qpdunes.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_qpdunes.h
new file mode 100644
index 0000000000..348627c676
--- /dev/null
+++ b/third_party/acados/include/acados/ocp_qp/ocp_qp_qpdunes.h
@@ -0,0 +1,121 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef ACADOS_OCP_QP_OCP_QP_QPDUNES_H_
+#define ACADOS_OCP_QP_OCP_QP_QPDUNES_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "qpDUNES.h"
+
+#include "acados/ocp_qp/ocp_qp_common.h"
+#include "acados/utils/types.h"
+
+typedef enum qpdunes_options_t_ {
+    QPDUNES_DEFAULT_ARGUMENTS,
+    QPDUNES_LINEAR_MPC,     // TODO(dimitris): partly implemented
+    QPDUNES_NONLINEAR_MPC,  // TODO(dimitris): not implemented yet
+    QPDUNES_ACADO_SETTINGS
+} qpdunes_options_t;
+
+typedef enum { QPDUNES_WITH_QPOASES, QPDUNES_WITH_CLIPPING } qpdunes_stage_qp_solver_t;
+
+typedef struct ocp_qp_qpdunes_opts_
+{
+    qpOptions_t options;
+    qpdunes_stage_qp_solver_t stageQpSolver;
+    int warmstart;  // warmstart = 0: all multipliers set to zero, warmstart = 1: use previous mult.
+    bool isLinearMPC;
+} ocp_qp_qpdunes_opts;
+
+typedef struct ocp_qp_qpdunes_memory_
+{
+    int firstRun;
+    int nx;
+    int nu;
+    int nz;
+    int nDmax;  // max(dims->ng)
+    qpData_t qpData;
+    double time_qp_solver_call;
+    int iter;
+
+} ocp_qp_qpdunes_memory;
+
+typedef struct ocp_qp_qpdunes_workspace_
+{
+    double *H;
+    double *Q;
+    double *R;
+    double *S;
+    double *g;
+    double *ABt;
+    double *b;
+    double *Ct;
+    double *lc;
+    double *uc;
+    double *zLow;
+    double *zUpp;
+} ocp_qp_qpdunes_workspace;
+
+//
+acados_size_t ocp_qp_qpdunes_opts_calculate_size(void *config_, ocp_qp_dims *dims);
+//
+void *ocp_qp_qpdunes_opts_assign(void *config_, ocp_qp_dims *dims, void *raw_memory);
+//
+void ocp_qp_qpdunes_opts_initialize_default(void *config_, ocp_qp_dims *dims, void *opts_);
+//
+void ocp_qp_qpdunes_opts_update(void *config_, ocp_qp_dims *dims, void *opts_);
+//
+acados_size_t ocp_qp_qpdunes_memory_calculate_size(void *config_, ocp_qp_dims *dims, void *opts_);
+//
+void *ocp_qp_qpdunes_memory_assign(void *config_, ocp_qp_dims *dims, void *opts_, void *raw_memory);
+//
+acados_size_t ocp_qp_qpdunes_workspace_calculate_size(void *config_, ocp_qp_dims *dims, void *opts_);
+//
+int ocp_qp_qpdunes(void *config_, ocp_qp_in *qp_in, ocp_qp_out *qp_out, void *opts_, void *memory_,
+                   void *work_);
+//
+void ocp_qp_qpdunes_free_memory(void *mem_);
+//
+void ocp_qp_qpdunes_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
+//
+void ocp_qp_qpdunes_config_initialize_default(void *config_);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_OCP_QP_OCP_QP_QPDUNES_H_
diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_xcond_solver.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_xcond_solver.h
new file mode 100644
index 0000000000..9d4f309bd9
--- /dev/null
+++ b/third_party/acados/include/acados/ocp_qp/ocp_qp_xcond_solver.h
@@ -0,0 +1,151 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef ACADOS_OCP_QP_OCP_QP_PARTIAL_CONDENSING_SOLVER_H_
+#define ACADOS_OCP_QP_OCP_QP_PARTIAL_CONDENSING_SOLVER_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// acados
+#include "acados/ocp_qp/ocp_qp_common.h"
+#include "acados/utils/types.h"
+
+
+
+typedef struct
+{
+    ocp_qp_dims *orig_dims;
+    void *xcond_dims;
+} ocp_qp_xcond_solver_dims;
+
+
+
+typedef struct ocp_qp_xcond_solver_opts_
+{
+    void *xcond_opts;
+    void *qp_solver_opts;
+} ocp_qp_xcond_solver_opts;
+
+
+
+typedef struct ocp_qp_xcond_solver_memory_
+{
+    void *xcond_memory;
+    void *solver_memory;
+    void *xcond_qp_in;
+    void *xcond_qp_out;
+} ocp_qp_xcond_solver_memory;
+
+
+
+typedef struct ocp_qp_xcond_solver_workspace_
+{
+    void *xcond_work;
+    void *qp_solver_work;
+} ocp_qp_xcond_solver_workspace;
+
+
+
+typedef struct
+{
+    acados_size_t (*dims_calculate_size)(void *config, int N);
+    ocp_qp_xcond_solver_dims *(*dims_assign)(void *config, int N, void *raw_memory);
+    void (*dims_set)(void *config_, ocp_qp_xcond_solver_dims *dims, int stage, const char *field, int* value);
+    acados_size_t (*opts_calculate_size)(void *config, ocp_qp_xcond_solver_dims *dims);
+    void *(*opts_assign)(void *config, ocp_qp_xcond_solver_dims *dims, void *raw_memory);
+    void (*opts_initialize_default)(void *config, ocp_qp_xcond_solver_dims *dims, void *opts);
+    void (*opts_update)(void *config, ocp_qp_xcond_solver_dims *dims, void *opts);
+    void (*opts_set)(void *config_, void *opts_, const char *field, void* value);
+    acados_size_t (*memory_calculate_size)(void *config, ocp_qp_xcond_solver_dims *dims, void *opts);
+    void *(*memory_assign)(void *config, ocp_qp_xcond_solver_dims *dims, void *opts, void *raw_memory);
+    void (*memory_get)(void *config_, void *mem_, const char *field, void* value);
+    acados_size_t (*workspace_calculate_size)(void *config, ocp_qp_xcond_solver_dims *dims, void *opts);
+    int (*evaluate)(void *config, ocp_qp_xcond_solver_dims *dims, ocp_qp_in *qp_in, ocp_qp_out *qp_out, void *opts, void *mem, void *work);
+    void (*eval_sens)(void *config, ocp_qp_xcond_solver_dims *dims, ocp_qp_in *param_qp_in, ocp_qp_out *sens_qp_out, void *opts, void *mem, void *work);
+    qp_solver_config *qp_solver;  // either ocp_qp_solver or dense_solver
+    ocp_qp_xcond_config *xcond;
+} ocp_qp_xcond_solver_config;  // pcond - partial condensing or fcond - full condensing
+
+
+
+/* config */
+//
+acados_size_t ocp_qp_xcond_solver_config_calculate_size();
+//
+ocp_qp_xcond_solver_config *ocp_qp_xcond_solver_config_assign(void *raw_memory);
+
+/* dims */
+//
+acados_size_t ocp_qp_xcond_solver_dims_calculate_size(void *config, int N);
+//
+ocp_qp_xcond_solver_dims *ocp_qp_xcond_solver_dims_assign(void *config, int N, void *raw_memory);
+//
+void ocp_qp_xcond_solver_dims_set_(void *config, ocp_qp_xcond_solver_dims *dims, int stage, const char *field, int* value);
+
+/* opts */
+//
+acados_size_t ocp_qp_xcond_solver_opts_calculate_size(void *config, ocp_qp_xcond_solver_dims *dims);
+//
+void *ocp_qp_xcond_solver_opts_assign(void *config, ocp_qp_xcond_solver_dims *dims, void *raw_memory);
+//
+void ocp_qp_xcond_solver_opts_initialize_default(void *config, ocp_qp_xcond_solver_dims *dims, void *opts_);
+//
+void ocp_qp_xcond_solver_opts_update(void *config, ocp_qp_xcond_solver_dims *dims, void *opts_);
+//
+void ocp_qp_xcond_solver_opts_set_(void *config_, void *opts_, const char *field, void* value);
+
+/* memory */
+//
+acados_size_t ocp_qp_xcond_solver_memory_calculate_size(void *config, ocp_qp_xcond_solver_dims *dims, void *opts_);
+//
+void *ocp_qp_xcond_solver_memory_assign(void *config, ocp_qp_xcond_solver_dims *dims, void *opts_, void *raw_memory);
+
+/* workspace */
+//
+acados_size_t ocp_qp_xcond_solver_workspace_calculate_size(void *config, ocp_qp_xcond_solver_dims *dims, void *opts_);
+
+/* config */
+//
+int ocp_qp_xcond_solver(void *config, ocp_qp_xcond_solver_dims *dims, ocp_qp_in *qp_in, ocp_qp_out *qp_out, void *opts_, void *mem_, void *work_);
+
+//
+void ocp_qp_xcond_solver_config_initialize_default(void *config_);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_OCP_QP_OCP_QP_PARTIAL_CONDENSING_SOLVER_H_
diff --git a/third_party/acados/include/acados/sim/sim_collocation_utils.h b/third_party/acados/include/acados/sim/sim_collocation_utils.h
new file mode 100644
index 0000000000..850dab50dc
--- /dev/null
+++ b/third_party/acados/include/acados/sim/sim_collocation_utils.h
@@ -0,0 +1,91 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef ACADOS_SIM_SIM_COLLOCATION_UTILS_H_
+#define ACADOS_SIM_SIM_COLLOCATION_UTILS_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "acados/utils/types.h"
+
+
+
+enum Newton_type_collocation
+{
+    exact = 0,
+    simplified_in,
+    simplified_inis
+};
+
+
+
+typedef struct
+{
+    enum Newton_type_collocation type;
+    double *eig;
+    double *low_tria;
+    bool single;
+    bool freeze;
+
+    double *transf1;
+    double *transf2;
+
+    double *transf1_T;
+    double *transf2_T;
+} Newton_scheme;
+
+
+
+//
+acados_size_t gauss_nodes_work_calculate_size(int ns);
+//
+void gauss_nodes(int ns, double *nodes, void *raw_memory);
+//
+acados_size_t gauss_simplified_work_calculate_size(int ns);
+//
+void gauss_simplified(int ns, Newton_scheme *scheme, void *work);
+//
+acados_size_t butcher_table_work_calculate_size(int ns);
+//
+void butcher_table(int ns, double *nodes, double *b, double *A, void *work);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_SIM_SIM_COLLOCATION_UTILS_H_
diff --git a/third_party/acados/include/acados/sim/sim_common.h b/third_party/acados/include/acados/sim/sim_common.h
new file mode 100644
index 0000000000..177f0893dd
--- /dev/null
+++ b/third_party/acados/include/acados/sim/sim_common.h
@@ -0,0 +1,221 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef ACADOS_SIM_SIM_COMMON_H_
+#define ACADOS_SIM_SIM_COMMON_H_
+
+#include <stdbool.h>
+
+#include "acados/sim/sim_collocation_utils.h"
+#include "acados/utils/timing.h"
+#include "acados/utils/types.h"
+
+#include "acados/utils/external_function_generic.h"
+
+// maximum number of integration stages
+#define NS_MAX 15
+
+
+
+typedef enum
+{
+    // ERK and LIFTED_ERK
+    EXPL_ODE_FUN,
+    EXPL_ODE_HES,  // wrt x and u ???
+    EXPL_VDE_FOR,
+    EXPL_VDE_ADJ,
+    // IRK
+    IMPL_ODE_FUN,
+    IMPL_ODE_FUN_JAC_X_XDOT,
+    IMPL_ODE_JAC_X_XDOT_U,
+    IMPL_ODE_FUN_JAC_X_XDOT_U,
+    IMPL_ODE_HESS,
+    // gnsf
+    PHI_FUN,
+    PHI_FUN_JAC_Y,
+    PHI_JAC_Y_UHAT,
+    LO_FUN,
+    GET_GNSF_MATRICES
+} sim_function_t;
+
+
+
+typedef struct
+{
+    void *dims;
+
+    double *x;  // x[NX] - initial state value for simulation
+    double *u;  // u[NU] - control - constant over simulation time
+
+    double *S_forw;  // forward seed [Sx, Su]
+    double *S_adj;   // backward seed
+
+    bool identity_seed; // indicating if S_forw = [eye(nx), zeros(nx x nu)]
+
+    void *model;
+
+    double T;  // simulation time
+
+} sim_in;
+
+
+
+typedef struct
+{
+    double CPUtime;  // in seconds
+    double LAtime;   // in seconds
+    double ADtime;   // in seconds
+
+} sim_info;
+
+
+
+typedef struct
+{
+    double *xn;      // xn[NX]
+    double *S_forw;  // S_forw[NX*(NX+NU)]
+    double *S_adj;   //
+    double *S_hess;  //
+
+    double *zn;           // z - algebraic variables - reported at start of simulation interval
+    double *S_algebraic;  // sensitivities of reported value of algebraic variables w.r.t.
+                          // initial stat & control (x_n,u)
+
+    double *grad;  // gradient correction
+
+    sim_info *info;
+
+} sim_out;
+
+
+
+typedef struct
+{
+    int ns;  // number of integration stages
+
+    int num_steps;
+    int num_forw_sens;
+
+    int tableau_size;  // check that is consistent with ns
+            // only update when butcher tableau is changed
+            // kind of private -> no setter!
+    double *A_mat;
+    double *c_vec;
+    double *b_vec;
+
+    bool sens_forw;
+    bool sens_adj;
+    bool sens_hess;
+
+    bool output_z;        // 1 -- if zn should be computed
+    bool sens_algebraic;  // 1 -- if S_algebraic should be computed
+    bool exact_z_output;  // 1 -- if z, S_algebraic should be computed exactly, extra Newton iterations
+
+    // for explicit integrators: newton_iter == 0 && scheme == NULL
+    // && jac_reuse=false
+    int newton_iter;
+    bool jac_reuse;
+    Newton_scheme *scheme;
+
+    // workspace
+    void *work;
+
+} sim_opts;
+
+
+
+typedef struct
+{
+    int (*evaluate)(void *config_, sim_in *in, sim_out *out, void *opts, void *mem, void *work);
+    int (*precompute)(void *config_, sim_in *in, sim_out *out, void *opts, void *mem, void *work);
+    // opts
+    acados_size_t (*opts_calculate_size)(void *config_, void *dims);
+    void *(*opts_assign)(void *config_, void *dims, void *raw_memory);
+    void (*opts_initialize_default)(void *config_, void *dims, void *opts);
+    void (*opts_update)(void *config_, void *dims, void *opts);
+    void (*opts_set)(void *config_, void *opts_, const char *field, void *value);
+    void (*opts_get)(void *config_, void *opts_, const char *field, void *value);
+    // mem
+    acados_size_t (*memory_calculate_size)(void *config, void *dims, void *opts);
+    void *(*memory_assign)(void *config, void *dims, void *opts, void *raw_memory);
+    int (*memory_set)(void *config, void *dims, void *mem, const char *field, void *value);
+    int (*memory_set_to_zero)(void *config, void *dims, void *opts, void *mem, const char *field);
+    void (*memory_get)(void *config, void *dims, void *mem, const char *field, void *value);
+    // work
+    acados_size_t (*workspace_calculate_size)(void *config, void *dims, void *opts);
+    // model
+    acados_size_t (*model_calculate_size)(void *config, void *dims);
+    void *(*model_assign)(void *config, void *dims, void *raw_memory);
+    int (*model_set)(void *model, const char *field, void *value);
+    // config
+    void (*config_initialize_default)(void *config);
+    // dims
+    acados_size_t (*dims_calculate_size)();
+    void *(*dims_assign)(void *config, void *raw_memory);
+    void (*dims_set)(void *config, void *dims, const char *field, const int *value);
+    void (*dims_get)(void *config, void *dims, const char *field, int *value);
+
+} sim_config;
+
+
+
+/* config */
+//
+acados_size_t sim_config_calculate_size();
+//
+sim_config *sim_config_assign(void *raw_memory);
+
+/* in */
+//
+acados_size_t sim_in_calculate_size(void *config, void *dims);
+//
+sim_in *sim_in_assign(void *config, void *dims, void *raw_memory);
+//
+int sim_in_set_(void *config_, void *dims_, sim_in *in, const char *field, void *value);
+
+/* out */
+//
+acados_size_t sim_out_calculate_size(void *config, void *dims);
+//
+sim_out *sim_out_assign(void *config, void *dims, void *raw_memory);
+//
+int sim_out_get_(void *config, void *dims, sim_out *out, const char *field, void *value);
+
+/* opts */
+//
+void sim_opts_set_(sim_opts *opts, const char *field, void *value);
+//
+void sim_opts_get_(sim_config *config, sim_opts *opts, const char *field, void *value);
+
+#endif  // ACADOS_SIM_SIM_COMMON_H_
diff --git a/third_party/acados/include/acados/sim/sim_erk_integrator.h b/third_party/acados/include/acados/sim/sim_erk_integrator.h
new file mode 100644
index 0000000000..24a00c7077
--- /dev/null
+++ b/third_party/acados/include/acados/sim/sim_erk_integrator.h
@@ -0,0 +1,143 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef ACADOS_SIM_SIM_ERK_INTEGRATOR_H_
+#define ACADOS_SIM_SIM_ERK_INTEGRATOR_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "acados/sim/sim_common.h"
+#include "acados/utils/types.h"
+
+
+
+typedef struct
+{
+    int nx;
+    int nu;
+    int nz;
+} sim_erk_dims;
+
+
+
+typedef struct
+{
+    /* external functions */
+    // explicit ode
+    external_function_generic *expl_ode_fun;
+    // hessian explicit ode
+    external_function_generic *expl_ode_hes;
+    // forward explicit vde
+    external_function_generic *expl_vde_for;
+    // adjoint explicit vde
+    external_function_generic *expl_vde_adj;
+
+} erk_model;
+
+
+
+typedef struct
+{
+	// memory
+	double time_sim;
+	double time_ad;
+	double time_la;
+
+	// workspace structs
+} sim_erk_memory;
+
+
+
+typedef struct
+{
+	// workspace mem
+    double *rhs_forw_in;  // x + S + p
+
+    double *K_traj;         // (stages*nX) or (steps*stages*nX) for adj
+    double *out_forw_traj;  // S or (steps+1)*nX for adj
+
+    double *rhs_adj_in;
+    double *out_adj_tmp;
+    double *adj_traj;
+
+} sim_erk_workspace;
+
+
+
+// dims
+acados_size_t sim_erk_dims_calculate_size();
+void *sim_erk_dims_assign(void *config_, void *raw_memory);
+void sim_erk_dims_set(void *config_, void *dims_, const char *field, const int* value);
+void sim_erk_dims_get(void *config_, void *dims_, const char *field, int* value);
+
+// model
+acados_size_t sim_erk_model_calculate_size(void *config, void *dims);
+void *sim_erk_model_assign(void *config, void *dims, void *raw_memory);
+int sim_erk_model_set(void *model, const char *field, void *value);
+
+// opts
+acados_size_t sim_erk_opts_calculate_size(void *config, void *dims);
+//
+void sim_erk_opts_update(void *config_, void *dims, void *opts_);
+//
+void *sim_erk_opts_assign(void *config, void *dims, void *raw_memory);
+//
+void sim_erk_opts_initialize_default(void *config, void *dims, void *opts_);
+//
+void sim_erk_opts_set(void *config_, void *opts_, const char *field, void *value);
+
+
+// memory
+acados_size_t sim_erk_memory_calculate_size(void *config, void *dims, void *opts_);
+//
+void *sim_erk_memory_assign(void *config, void *dims, void *opts_, void *raw_memory);
+//
+int sim_erk_memory_set(void *config_, void *dims_, void *mem_, const char *field, void *value);
+
+
+// workspace
+acados_size_t sim_erk_workspace_calculate_size(void *config, void *dims, void *opts_);
+
+//
+int sim_erk(void *config, sim_in *in, sim_out *out, void *opts_, void *mem_, void *work_);
+//
+void sim_erk_config_initialize_default(void *config);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_SIM_SIM_ERK_INTEGRATOR_H_
diff --git a/third_party/acados/include/acados/sim/sim_gnsf.h b/third_party/acados/include/acados/sim/sim_gnsf.h
new file mode 100644
index 0000000000..5524b384e0
--- /dev/null
+++ b/third_party/acados/include/acados/sim/sim_gnsf.h
@@ -0,0 +1,367 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef ACADOS_SIM_SIM_GNSF_H_
+#define ACADOS_SIM_SIM_GNSF_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdbool.h>
+
+#include "acados/utils/timing.h"
+#include "acados/utils/types.h"
+#include "acados/sim/sim_common.h"
+
+#include "blasfeo/include/blasfeo_common.h"
+#include "blasfeo/include/blasfeo_d_aux.h"
+#include "blasfeo/include/blasfeo_d_aux_ext_dep.h"
+#include "blasfeo/include/blasfeo_d_blas.h"
+#include "blasfeo/include/blasfeo_d_kernel.h"
+#include "blasfeo/include/blasfeo_i_aux_ext_dep.h"
+#include "blasfeo/include/blasfeo_target.h"
+
+/* 
+GNSF - Generalized Nonlinear Static Feedback Model
+has the following form
+https://github.com/acados/acados/files/3359595/gnsf_structure_blo.pdf
+
+Details on the algorithm can be found in master thesis of Jonathan Frey,
+which presents a slightly different format without the terms B_LO, c_LO.
+https://github.com/acados/acados/files/2318322/gnsf_structure.pdf
+https://cdn.syscop.de/publications/Frey2018.pdf
+https://cdn.syscop.de/publications/Frey2019.pdf
+*/
+
+typedef struct
+{
+    int nx; // total number of differential states
+    int nu; // total number of inputs
+    int nz; // total number of algebraic states
+    int nx1; // number of differential states in NSF part
+    int nz1; // number of algebraic states in NSF part
+    int n_out; // output dimension of phi
+    int ny; // dimension of first input of phi
+    int nuhat; // dimension of second input of phi
+
+} sim_gnsf_dims;
+
+
+
+typedef struct
+{
+    /* external functions */
+    // phi: nonlinearity function
+    external_function_generic *phi_fun;
+    external_function_generic *phi_fun_jac_y;
+    external_function_generic *phi_jac_y_uhat;
+
+    // f_lo: linear output function
+    external_function_generic *f_lo_fun_jac_x1_x1dot_u_z;
+
+    // to import model matrices
+    external_function_generic *get_gnsf_matrices;
+
+    // flag indicating, if model defining matrices are imported via external (casadi) function,
+    //    [default]: true -> auto;
+    bool auto_import_gnsf;
+
+    // booleans from structure detection
+    bool nontrivial_f_LO; // indicates if f_LO is constant zero function
+    bool fully_linear; // indicates if model is fully linear LOS
+
+    /* model defining matrices */
+    // TODO: add setters to set manually
+    double *A;
+    double *B;
+    double *C;
+    double *E;
+
+    double *L_x;
+    double *L_xdot;
+    double *L_z;
+    double *L_u;
+
+    double *A_LO;
+    double *B_LO;
+    double *E_LO;
+
+    /* constant vector */
+    double *c;
+    double *c_LO;
+
+    // permutation vector - to have GNSF order of x, z within sim_gnsf only
+    int *ipiv_x;
+    int *ipiv_z;
+
+    double *ipiv_x_double;
+    double *ipiv_z_double;
+
+} gnsf_model;
+
+
+
+// pre_workspace - workspace used in the precomputation phase
+typedef struct
+{
+    struct blasfeo_dmat E11;
+    struct blasfeo_dmat E12;
+    struct blasfeo_dmat E21;
+    struct blasfeo_dmat E22;
+
+    struct blasfeo_dmat A1;
+    struct blasfeo_dmat A2;
+    struct blasfeo_dmat B1;
+    struct blasfeo_dmat B2;
+    struct blasfeo_dmat C1;
+    struct blasfeo_dmat C2;
+
+    struct blasfeo_dmat AA1;
+    struct blasfeo_dmat AA2;
+    struct blasfeo_dmat BB1;
+    struct blasfeo_dmat BB2;
+    struct blasfeo_dmat CC1;
+    struct blasfeo_dmat CC2;
+    struct blasfeo_dmat DD1;
+    struct blasfeo_dmat DD2;
+    struct blasfeo_dmat EE1;
+    struct blasfeo_dmat EE2;
+
+    struct blasfeo_dmat QQ1;
+
+    struct blasfeo_dmat LLZ;
+    struct blasfeo_dmat LLx;
+    struct blasfeo_dmat LLK;
+
+    int *ipivEE1;  // index of pivot vector
+    int *ipivEE2;
+    int *ipivQQ1;
+
+    // for algebraic sensitivity propagation
+    struct blasfeo_dmat Q1;
+
+    // for constant term in NSF
+    struct blasfeo_dvec cc1;
+    struct blasfeo_dvec cc2;
+
+} gnsf_pre_workspace;
+
+
+
+// workspace
+typedef struct
+{
+    double *Z_work;  // used to perform computations to get out->zn
+
+    int *ipiv;  // index of pivot vector
+
+    struct blasfeo_dvec *vv_traj;
+    struct blasfeo_dvec *yy_traj;
+    struct blasfeo_dmat *f_LO_jac_traj;
+
+    struct blasfeo_dvec K2_val;
+    struct blasfeo_dvec x0_traj;
+    struct blasfeo_dvec res_val;
+    struct blasfeo_dvec u0;
+    struct blasfeo_dvec lambda;
+    struct blasfeo_dvec lambda_old;
+
+    struct blasfeo_dvec yyu;
+    struct blasfeo_dvec yyss;
+
+    struct blasfeo_dvec K1_val;
+    struct blasfeo_dvec f_LO_val;
+    struct blasfeo_dvec x1_stage_val;
+    struct blasfeo_dvec Z1_val;
+
+    struct blasfeo_dvec K1u;
+    struct blasfeo_dvec Zu;
+    struct blasfeo_dvec ALOtimesx02;
+    struct blasfeo_dvec BLOtimesu0;
+
+    struct blasfeo_dvec uhat;
+
+    struct blasfeo_dmat J_r_vv;
+    struct blasfeo_dmat J_r_x1u;
+
+    struct blasfeo_dmat dK1_dx1;
+    struct blasfeo_dmat dK1_du;
+    struct blasfeo_dmat dZ_dx1;
+    struct blasfeo_dmat dZ_du;
+    struct blasfeo_dmat J_G2_K1;
+
+    struct blasfeo_dmat dK2_dx1;
+    struct blasfeo_dmat dK2_dvv;
+    struct blasfeo_dmat dxf_dwn;
+    struct blasfeo_dmat S_forw_new;
+    struct blasfeo_dmat S_algebraic_aux;
+
+    struct blasfeo_dmat dPsi_dvv;
+    struct blasfeo_dmat dPsi_dx;
+    struct blasfeo_dmat dPsi_du;
+
+    struct blasfeo_dmat dPHI_dyuhat;
+    struct blasfeo_dvec z0;
+
+    // memory only available if (opts->sens_algebraic)
+    // struct blasfeo_dvec y_one_stage;
+    // struct blasfeo_dvec x0dot_1;
+    // struct blasfeo_dmat dz10_dx1u;  // (nz1) * (nx1+nu);
+    // struct blasfeo_dmat dr0_dvv0;  // (n_out * n_out)
+    // struct blasfeo_dmat f_LO_jac0; // (nx2+nz2) * (2*nx1 + nz1 + nu)
+    // struct blasfeo_dmat sens_z2_rhs; // (nx2 + nz2) * (nx1 + nu)
+    // int *ipiv_vv0;
+
+} gnsf_workspace;
+
+
+
+// memory
+typedef struct
+{
+    bool first_call;
+
+    // simulation time for one step
+    double dt;
+
+    // (scaled) butcher table
+    double *A_dt;
+    double *b_dt;
+    double *c_butcher;
+
+    // value used to initialize integration variables - corresponding to value of phi
+    double *phi_guess;  //  n_out
+
+    struct blasfeo_dmat S_forw;
+    struct blasfeo_dmat S_algebraic;
+
+    // precomputed matrices
+    struct blasfeo_dmat KKv;
+    struct blasfeo_dmat KKx;
+    struct blasfeo_dmat KKu;
+
+    struct blasfeo_dmat YYv;
+    struct blasfeo_dmat YYx;
+    struct blasfeo_dmat YYu;
+
+    struct blasfeo_dmat ZZv;
+    struct blasfeo_dmat ZZx;
+    struct blasfeo_dmat ZZu;
+
+    struct blasfeo_dmat ALO;
+    struct blasfeo_dmat BLO;
+    struct blasfeo_dmat M2_LU;
+    int *ipivM2;
+
+    struct blasfeo_dmat dK2_dx2;
+    struct blasfeo_dmat dK2_du;
+    struct blasfeo_dmat dx2f_dx2u;
+
+    struct blasfeo_dmat Lu;
+
+    // precomputed vectors for constant term in NSF
+    struct blasfeo_dvec KK0;
+    struct blasfeo_dvec YY0;
+    struct blasfeo_dvec ZZ0;
+
+    // for algebraic sensitivities only;
+    // struct blasfeo_dmat *Z0x;
+    // struct blasfeo_dmat *Z0u;
+    // struct blasfeo_dmat *Z0v;
+
+    // struct blasfeo_dmat *Y0x;
+    // struct blasfeo_dmat *Y0u;
+    // struct blasfeo_dmat *Y0v;
+
+    // struct blasfeo_dmat *K0x;
+    // struct blasfeo_dmat *K0u;
+    // struct blasfeo_dmat *K0v;
+
+    // struct blasfeo_dmat *ELO_LU;
+    // int *ipiv_ELO;
+    // struct blasfeo_dmat *ELO_inv_ALO;
+
+    // struct blasfeo_dmat *Lx;
+    // struct blasfeo_dmat *Lxdot;
+    // struct blasfeo_dmat *Lz;
+
+	double time_sim;
+	double time_ad;
+	double time_la;
+
+} sim_gnsf_memory;
+
+
+
+// gnsf dims
+acados_size_t sim_gnsf_dims_calculate_size();
+void *sim_gnsf_dims_assign(void *config_, void *raw_memory);
+
+// get & set functions
+void sim_gnsf_dims_set(void *config_, void *dims_, const char *field, const int *value);
+void sim_gnsf_dims_get(void *config_, void *dims_, const char *field, int* value);
+
+// opts
+acados_size_t sim_gnsf_opts_calculate_size(void *config, void *dims);
+void *sim_gnsf_opts_assign(void *config, void *dims, void *raw_memory);
+void sim_gnsf_opts_initialize_default(void *config, void *dims, void *opts_);
+void sim_gnsf_opts_update(void *config_, void *dims, void *opts_);
+void sim_gnsf_opts_set(void *config_, void *opts_, const char *field, void *value);
+
+// model
+acados_size_t sim_gnsf_model_calculate_size(void *config, void *dims_);
+void *sim_gnsf_model_assign(void *config, void *dims_, void *raw_memory);
+int sim_gnsf_model_set(void *model_, const char *field, void *value);
+
+// precomputation
+int sim_gnsf_precompute(void *config_, sim_in *in, sim_out *out, void *opts_, void *mem_,
+                       void *work_);
+
+// workspace & memory
+acados_size_t sim_gnsf_workspace_calculate_size(void *config, void *dims_, void *args);
+acados_size_t sim_gnsf_memory_calculate_size(void *config, void *dims_, void *opts_);
+void *sim_gnsf_memory_assign(void *config, void *dims_, void *opts_, void *raw_memory);
+
+// interface
+void sim_gnsf_config_initialize_default(void *config_);
+
+// integrator
+int sim_gnsf(void *config, sim_in *in, sim_out *out, void *opts, void *mem_, void *work_);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_SIM_SIM_GNSF_H_
diff --git a/third_party/acados/include/acados/sim/sim_irk_integrator.h b/third_party/acados/include/acados/sim/sim_irk_integrator.h
new file mode 100644
index 0000000000..6851bacb3a
--- /dev/null
+++ b/third_party/acados/include/acados/sim/sim_irk_integrator.h
@@ -0,0 +1,186 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef ACADOS_SIM_SIM_IRK_INTEGRATOR_H_
+#define ACADOS_SIM_SIM_IRK_INTEGRATOR_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "acados/sim/sim_common.h"
+#include "acados/utils/types.h"
+
+#include "blasfeo/include/blasfeo_common.h"
+
+typedef struct
+{
+    int nx;
+    int nu;
+    int nz;
+
+} sim_irk_dims;
+
+
+
+typedef struct
+{
+    /* external functions */
+    // implicit fun - can either be fully implicit ode or dae
+    //          - i.e. dae has z as additional last argument & nz > 0
+    external_function_generic *impl_ode_fun;
+    // implicit ode & jac_x & jax_xdot & jac_z
+    external_function_generic *impl_ode_fun_jac_x_xdot_z;
+    // jax_x & jac_xdot & jac_u & jac_z of implicit ode
+    external_function_generic *impl_ode_jac_x_xdot_u_z;
+    // hessian of implicit ode:
+    external_function_generic *impl_ode_hess;
+} irk_model;
+
+
+
+typedef struct
+{
+    struct blasfeo_dvec *rG;        // residuals of G (nx*ns)
+    struct blasfeo_dvec *K;         // internal K variables ((nx+nz)*ns)
+    struct blasfeo_dvec *xt;        // temporary x
+    struct blasfeo_dvec *xn;        // x at each integration step
+    struct blasfeo_dvec xtdot;      // temporary xdot
+
+    struct blasfeo_dvec *lambda;    // adjoint sensitivities (nx + nu)
+    struct blasfeo_dvec *lambdaK;   // auxiliary variable ((nx+nz)*ns) for adjoint propagation
+
+    struct blasfeo_dmat df_dx;     // temporary Jacobian of ode w.r.t x (nx+nz, nx)
+    struct blasfeo_dmat df_dxdot;  // temporary Jacobian of ode w.r.t xdot (nx+nz, nx)
+    struct blasfeo_dmat df_du;     // temporary Jacobian of ode w.r.t u (nx+nz, nu)
+    struct blasfeo_dmat df_dz;     // temporary Jacobian of ode w.r.t z (nx+nz, nu)
+
+    /* NOTE: the memory allocation corresponding to the following fields is CONDITIONAL */
+
+    // only allocated if (opts->sens_algebraic || opts->output_z)
+    int *ipiv_one_stage;  // index of pivot vector (nx + nz)
+    double *Z_work;  // used to perform computations to get out->zn (ns)
+
+    // df_dxdotz, dk0_dxu, only allocated if (opts->sens_algebraic && opts->exact_z_output)
+    //      used for algebraic sensitivity generation
+    struct blasfeo_dmat df_dxdotz;  // temporary Jacobian of ode w.r.t. xdot,z (nx+nz, nx+nz);
+    struct blasfeo_dmat dk0_dxu;    // intermediate result, (nx+nz, nx+nu)
+
+    // dK_dxu: if (!opts->sens_hess) - single blasfeo_dmat that is reused
+    //         if ( opts->sens_hess) - array of (num_steps) blasfeo_dmat
+    //                                  to store intermediate results
+    struct blasfeo_dmat *dK_dxu;  // jacobian of (K,Z) over x and u ((nx+nz)*ns, nx+nu);
+
+    // S_forw: if (!opts->sens_hess) - single blasfeo_dmat that is reused
+    //         if ( opts->sens_hess) - array of (num_steps + 1) blasfeo_dmat
+    //                                  to store intermediate results
+    struct blasfeo_dmat *S_forw;  // forward sensitivities (nx, nx+nu)
+
+    // dG_dxu: if (!opts->sens_hess) - single blasfeo_dmat that is reused
+    //         if ( opts->sens_hess) - array of blasfeo_dmat to store intermediate results
+    struct blasfeo_dmat *dG_dxu;  // jacobian of G over x and u ((nx+nz)*ns, nx+nu)
+
+    // dG_dK:  if (!opts->sens_hess) - single blasfeo_dmat that is reused
+    //         if ( opts->sens_hess) - array of blasfeo_dmat to store intermediate results
+    struct blasfeo_dmat *dG_dK;   // jacobian of G over K ((nx+nz)*ns, (nx+nz)*ns)
+
+    // ipiv: index of pivot vector
+    //         if (!opts->sens_hess) - array (ns * (nx + nz)) that is reused
+    //         if ( opts->sens_hess) - array (ns * (nx + nz)) * num_steps, to store all
+    //              pivot vectors for dG_dxu
+    int *ipiv;  // index of pivot vector
+
+    // xn_traj, K_traj only available if( opts->sens_adj || opts->sens_hess )
+    struct blasfeo_dvec *xn_traj;  // xn trajectory
+    struct blasfeo_dvec *K_traj;   // K trajectory
+
+    /* the following variables are only available if (opts->sens_hess) */
+    // For Hessian propagation
+    struct blasfeo_dmat Hess;   // temporary Hessian (nx + nu, nx + nu)
+    // output of impl_ode_hess
+    struct blasfeo_dmat f_hess;  // size: (nx + nu, nx + nu)
+    struct blasfeo_dmat dxkzu_dw0;  // size (2*nx + nu + nz) x (nx + nu)
+    struct blasfeo_dmat tmp_dxkzu_dw0;  // size (2*nx + nu + nz) x (nx + nu)
+
+} sim_irk_workspace;
+
+
+typedef struct
+{
+    double *xdot;  // xdot[NX] - initialization for state derivatives k within the integrator
+    double *z;     // z[NZ] - initialization for algebraic variables z
+
+	double time_sim;
+	double time_ad;
+	double time_la;
+} sim_irk_memory;
+
+
+// get & set functions
+void sim_irk_dims_set(void *config_, void *dims_, const char *field, const int *value);
+void sim_irk_dims_get(void *config_, void *dims_, const char *field, int* value);
+
+// dims
+acados_size_t sim_irk_dims_calculate_size();
+void *sim_irk_dims_assign(void *config_, void *raw_memory);
+
+// model
+acados_size_t sim_irk_model_calculate_size(void *config, void *dims);
+void *sim_irk_model_assign(void *config, void *dims, void *raw_memory);
+int sim_irk_model_set(void *model, const char *field, void *value);
+
+// opts
+acados_size_t sim_irk_opts_calculate_size(void *config, void *dims);
+void *sim_irk_opts_assign(void *config, void *dims, void *raw_memory);
+void sim_irk_opts_initialize_default(void *config, void *dims, void *opts_);
+void sim_irk_opts_update(void *config_, void *dims, void *opts_);
+void sim_irk_opts_set(void *config_, void *opts_, const char *field, void *value);
+
+// memory
+acados_size_t sim_irk_memory_calculate_size(void *config, void *dims, void *opts_);
+void *sim_irk_memory_assign(void *config, void *dims, void *opts_, void *raw_memory);
+int sim_irk_memory_set(void *config_, void *dims_, void *mem_, const char *field, void *value);
+
+// workspace
+acados_size_t sim_irk_workspace_calculate_size(void *config, void *dims, void *opts_);
+void sim_irk_config_initialize_default(void *config);
+
+// main
+int sim_irk(void *config, sim_in *in, sim_out *out, void *opts_, void *mem_, void *work_);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_SIM_SIM_IRK_INTEGRATOR_H_
diff --git a/third_party/acados/include/acados/sim/sim_lifted_irk_integrator.h b/third_party/acados/include/acados/sim/sim_lifted_irk_integrator.h
new file mode 100644
index 0000000000..8e476b0e27
--- /dev/null
+++ b/third_party/acados/include/acados/sim/sim_lifted_irk_integrator.h
@@ -0,0 +1,159 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef ACADOS_SIM_SIM_LIFTED_IRK_INTEGRATOR_H_
+#define ACADOS_SIM_SIM_LIFTED_IRK_INTEGRATOR_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "acados/sim/sim_common.h"
+#include "acados/utils/types.h"
+
+typedef struct
+{
+    int nx;
+    int nu;
+    int nz;
+} sim_lifted_irk_dims;
+
+
+
+typedef struct
+{
+    /* external functions */
+    // implicit ode
+    external_function_generic *impl_ode_fun;
+    // implicit ode & jax_x & jac_xdot & jac_u implicit ode
+    external_function_generic *impl_ode_fun_jac_x_xdot_u;
+
+} lifted_irk_model;
+
+
+
+typedef struct
+{
+
+    struct blasfeo_dmat *J_temp_x;     // temporary Jacobian of ode w.r.t x (nx, nx)
+    struct blasfeo_dmat *J_temp_xdot;  // temporary Jacobian of ode w.r.t xdot (nx, nx)
+    struct blasfeo_dmat *J_temp_u;     // temporary Jacobian of ode w.r.t u (nx, nu)
+
+    struct blasfeo_dvec *rG;      // residuals of G (nx*ns)
+    struct blasfeo_dvec *xt;      // temporary x
+    struct blasfeo_dvec *xn;      // x at each integration step (for evaluations)
+    struct blasfeo_dvec *xn_out;  // x at each integration step (output)
+    struct blasfeo_dvec *dxn;     // dx at each integration step
+    struct blasfeo_dvec *w;       // stacked x and u
+
+    int *ipiv;  // index of pivot vector
+
+} sim_lifted_irk_workspace;
+
+
+
+typedef struct
+{
+    // memory for lifted integrators
+    struct blasfeo_dmat *S_forw;    // forward sensitivities
+    struct blasfeo_dmat *JGK;       // jacobian of G over K (nx*ns, nx*ns)
+    struct blasfeo_dmat *JGf;       // jacobian of G over x and u (nx*ns, nx+nu);
+    struct blasfeo_dmat *JKf;       // jacobian of K over x and u (nx*ns, nx+nu);
+
+    struct blasfeo_dvec *K;         // internal variables (nx*ns)
+    struct blasfeo_dvec *x;         // states (nx) -- for expansion step
+    struct blasfeo_dvec *u;         // controls (nu) -- for expansion step
+
+    int update_sens;
+
+	double time_sim;
+	double time_ad;
+	double time_la;
+
+} sim_lifted_irk_memory;
+
+
+
+/* dims */
+void sim_lifted_irk_dims_set(void *config_, void *dims_, const char *field, const int *value);
+void sim_lifted_irk_dims_get(void *config_, void *dims_, const char *field, int* value);
+
+acados_size_t sim_lifted_irk_dims_calculate_size();
+//
+void *sim_lifted_irk_dims_assign(void* config_, void *raw_memory);
+
+/* model */
+//
+acados_size_t sim_lifted_irk_model_calculate_size(void *config, void *dims);
+//
+void *sim_lifted_irk_model_assign(void *config, void *dims, void *raw_memory);
+//
+int sim_lifted_irk_model_set(void *model_, const char *field, void *value);
+
+/* opts */
+//
+acados_size_t sim_lifted_irk_opts_calculate_size(void *config, void *dims);
+//
+void *sim_lifted_irk_opts_assign(void *config, void *dims, void *raw_memory);
+//
+void sim_lifted_irk_opts_initialize_default(void *config, void *dims, void *opts_);
+//
+void sim_lifted_irk_opts_update(void *config_, void *dims, void *opts_);
+//
+void sim_lifted_irk_opts_set(void *config_, void *opts_, const char *field, void *value);
+
+/* memory */
+//
+acados_size_t sim_lifted_irk_memory_calculate_size(void *config, void *dims, void *opts_);
+//
+void *sim_lifted_irk_memory_assign(void *config, void *dims, void *opts_, void *raw_memory);
+
+/* workspace */
+//
+acados_size_t sim_lifted_irk_workspace_calculate_size(void *config, void *dims, void *opts_);
+//
+void sim_lifted_irk_config_initialize_default(void *config);
+
+/* solver */
+//
+int sim_lifted_irk(void *config, sim_in *in, sim_out *out, void *opts_,
+        void *mem_, void *work_);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_SIM_SIM_LIFTED_IRK_INTEGRATOR_H_
diff --git a/third_party/acados/include/acados/utils/external_function_generic.h b/third_party/acados/include/acados/utils/external_function_generic.h
new file mode 100644
index 0000000000..021363f26e
--- /dev/null
+++ b/third_party/acados/include/acados/utils/external_function_generic.h
@@ -0,0 +1,245 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef ACADOS_UTILS_EXTERNAL_FUNCTION_GENERIC_H_
+#define ACADOS_UTILS_EXTERNAL_FUNCTION_GENERIC_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "acados/utils/types.h"
+
+/************************************************
+ * generic external function
+ ************************************************/
+
+// type of arguments
+typedef enum {
+    COLMAJ,
+    BLASFEO_DMAT,
+    BLASFEO_DVEC,
+    COLMAJ_ARGS,
+    BLASFEO_DMAT_ARGS,
+    BLASFEO_DVEC_ARGS,
+    IGNORE_ARGUMENT
+} ext_fun_arg_t;
+
+struct colmaj_args
+{
+    double *A;
+    int lda;
+};
+
+struct blasfeo_dmat_args
+{
+    struct blasfeo_dmat *A;
+    int ai;
+    int aj;
+};
+
+struct blasfeo_dvec_args
+{
+    struct blasfeo_dvec *x;
+    int xi;
+};
+
+// prototype of an external function
+typedef struct
+{
+    // public members (have to be before private ones)
+    void (*evaluate)(void *, ext_fun_arg_t *, void **, ext_fun_arg_t *, void **);
+    // private members
+    // .....
+} external_function_generic;
+
+
+
+/************************************************
+ * generic external parametric function
+ ************************************************/
+
+// prototype of a parametric external function
+typedef struct
+{
+    // public members for core (have to be before private ones)
+    void (*evaluate)(void *, ext_fun_arg_t *, void **, ext_fun_arg_t *, void **);
+	// public members for interfaces
+    void (*get_nparam)(void *, int *);
+    void (*set_param)(void *, double *);
+    void (*set_param_sparse)(void *, int n_update, int *idx, double *);
+    // private members
+    void *ptr_ext_mem;  // pointer to external memory
+    int (*fun)(void **, void **, void *);
+    double *p;  // parameters
+    int np;     // number of parameters
+    // .....
+} external_function_param_generic;
+
+//
+acados_size_t external_function_param_generic_struct_size();
+//
+void external_function_param_generic_set_fun(external_function_param_generic *fun, void *value);
+//
+acados_size_t external_function_param_generic_calculate_size(external_function_param_generic *fun, int np);
+//
+void external_function_param_generic_assign(external_function_param_generic *fun, void *mem);
+//
+void external_function_param_generic_wrapper(void *self, ext_fun_arg_t *type_in, void **in, ext_fun_arg_t *type_out, void **out);
+//
+void external_function_param_generic_get_nparam(void *self, int *np);
+//
+void external_function_param_generic_set_param(void *self, double *p);
+
+
+/************************************************
+ * casadi external function
+ ************************************************/
+
+typedef struct
+{
+    // public members (have to be the same as in the prototype, and before the private ones)
+    void (*evaluate)(void *, ext_fun_arg_t *, void **, ext_fun_arg_t *, void **);
+    // private members
+    void *ptr_ext_mem;  // pointer to external memory
+    int (*casadi_fun)(const double **, double **, int *, double *, void *);
+    int (*casadi_work)(int *, int *, int *, int *);
+    const int *(*casadi_sparsity_in)(int);
+    const int *(*casadi_sparsity_out)(int);
+    int (*casadi_n_in)();
+    int (*casadi_n_out)();
+    double **args;
+    double **res;
+    double *w;
+    int *iw;
+    int *args_size;     // size of args[i]
+    int *res_size;      // size of res[i]
+    int args_num;       // number of args arrays
+    int args_size_tot;  // total size of args arrays
+    int res_num;        // number of res arrays
+    int res_size_tot;   // total size of res arrays
+    int in_num;         // number of input arrays
+    int out_num;        // number of output arrays
+    int iw_size;        // number of ints for worksapce
+    int w_size;         // number of doubles for workspace
+} external_function_casadi;
+
+//
+acados_size_t external_function_casadi_struct_size();
+//
+void external_function_casadi_set_fun(external_function_casadi *fun, void *value);
+//
+void external_function_casadi_set_work(external_function_casadi *fun, void *value);
+//
+void external_function_casadi_set_sparsity_in(external_function_casadi *fun, void *value);
+//
+void external_function_casadi_set_sparsity_out(external_function_casadi *fun, void *value);
+//
+void external_function_casadi_set_n_in(external_function_casadi *fun, void *value);
+//
+void external_function_casadi_set_n_out(external_function_casadi *fun, void *value);
+//
+acados_size_t external_function_casadi_calculate_size(external_function_casadi *fun);
+//
+void external_function_casadi_assign(external_function_casadi *fun, void *mem);
+//
+void external_function_casadi_wrapper(void *self, ext_fun_arg_t *type_in, void **in,
+                                      ext_fun_arg_t *type_out, void **out);
+
+/************************************************
+ * casadi external parametric function
+ ************************************************/
+
+typedef struct
+{
+    // public members for core (have to be the same as in the prototype, and before the private ones)
+    void (*evaluate)(void *, ext_fun_arg_t *, void **, ext_fun_arg_t *, void **);
+	// public members for interfaces
+    void (*get_nparam)(void *, int *);
+    void (*set_param)(void *, double *);
+    void (*set_param_sparse)(void *, int n_update, int *idx, double *);
+    // private members
+    void *ptr_ext_mem;  // pointer to external memory
+    int (*casadi_fun)(const double **, double **, int *, double *, void *);
+    int (*casadi_work)(int *, int *, int *, int *);
+    const int *(*casadi_sparsity_in)(int);
+    const int *(*casadi_sparsity_out)(int);
+    int (*casadi_n_in)();
+    int (*casadi_n_out)();
+    double **args;
+    double **res;
+    double *w;
+    int *iw;
+    int *args_size;     // size of args[i]
+    int *res_size;      // size of res[i]
+    int args_num;       // number of args arrays
+    int args_size_tot;  // total size of args arrays
+    int res_num;        // number of res arrays
+    int res_size_tot;   // total size of res arrays
+    int in_num;         // number of input arrays
+    int out_num;        // number of output arrays
+    int iw_size;        // number of ints for worksapce
+    int w_size;         // number of doubles for workspace
+    int np;             // number of parameters
+} external_function_param_casadi;
+
+//
+acados_size_t external_function_param_casadi_struct_size();
+//
+void external_function_param_casadi_set_fun(external_function_param_casadi *fun, void *value);
+//
+void external_function_param_casadi_set_work(external_function_param_casadi *fun, void *value);
+//
+void external_function_param_casadi_set_sparsity_in(external_function_param_casadi *fun, void *value);
+//
+void external_function_param_casadi_set_sparsity_out(external_function_param_casadi *fun, void *value);
+//
+void external_function_param_casadi_set_n_in(external_function_param_casadi *fun, void *value);
+//
+void external_function_param_casadi_set_n_out(external_function_param_casadi *fun, void *value);
+//
+acados_size_t external_function_param_casadi_calculate_size(external_function_param_casadi *fun, int np);
+//
+void external_function_param_casadi_assign(external_function_param_casadi *fun, void *mem);
+//
+void external_function_param_casadi_wrapper(void *self, ext_fun_arg_t *type_in, void **in,
+                                            ext_fun_arg_t *type_out, void **out);
+//
+void external_function_param_casadi_get_nparam(void *self, int *np);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_UTILS_EXTERNAL_FUNCTION_GENERIC_H_
diff --git a/third_party/acados/include/acados/utils/math.h b/third_party/acados/include/acados/utils/math.h
new file mode 100644
index 0000000000..ac0d3263e8
--- /dev/null
+++ b/third_party/acados/include/acados/utils/math.h
@@ -0,0 +1,105 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+#ifndef ACADOS_UTILS_MATH_H_
+#define ACADOS_UTILS_MATH_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "acados/utils/types.h"
+
+#if defined(__DSPACE__)
+double fmax(double a, double b);
+#endif
+
+#define MIN(a,b) (((a)<(b))?(a):(b))
+#define MAX(a,b) (((a)>(b))?(a):(b))
+
+void dgemm_nn_3l(int m, int n, int k, double *A, int lda, double *B, int ldb, double *C, int ldc);
+// void dgemv_n_3l(int m, int n, double *A, int lda, double *x, double *y);
+// void dgemv_t_3l(int m, int n, double *A, int lda, double *x, double *y);
+// void dcopy_3l(int n, double *x, int incx, double *y, int incy);
+void daxpy_3l(int n, double da, double *dx, double *dy);
+void dscal_3l(int n, double da, double *dx);
+double twonormv(int n, double *ptrv);
+
+/* copies a matrix into another matrix */
+void dmcopy(int row, int col, double *ptrA, int lda, double *ptrB, int ldb);
+
+/* solution of a system of linear equations */
+void dgesv_3l(int n, int nrhs, double *A, int lda, int *ipiv, double *B, int ldb, int *info);
+
+/* matrix exponential */
+void expm(int row, double *A);
+
+int idamax_3l(int n, double *x);
+
+void dswap_3l(int n, double *x, int incx, double *y, int incy);
+
+void dger_3l(int m, int n, double alpha, double *x, int incx, double *y, int incy, double *A,
+             int lda);
+
+void dgetf2_3l(int m, int n, double *A, int lda, int *ipiv, int *info);
+
+void dlaswp_3l(int n, double *A, int lda, int k1, int k2, int *ipiv);
+
+void dtrsm_l_l_n_u_3l(int m, int n, double *A, int lda, double *B, int ldb);
+
+void dgetrs_3l(int n, int nrhs, double *A, int lda, int *ipiv, double *B, int ldb);
+
+void dgesv_3l(int n, int nrhs, double *A, int lda, int *ipiv, double *B, int ldb, int *info);
+
+double onenorm(int row, int col, double *ptrA);
+
+// double twonormv(int n, double *ptrv);
+
+void padeapprox(int m, int row, double *A);
+
+void expm(int row, double *A);
+
+// void d_compute_qp_size_ocp2dense_rev(int N, int *nx, int *nu, int *nb, int **hidxb, int *ng,
+//                                      int *nvd, int *ned, int *nbd, int *ngd);
+
+void acados_eigen_decomposition(int dim, double *A, double *V, double *d, double *e);
+
+double minimum_of_doubles(double *x, int n);
+
+void neville_algorithm(double xx, int n, double *x, double *Q, double *out);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_UTILS_MATH_H_
diff --git a/third_party/acados/include/acados/utils/mem.h b/third_party/acados/include/acados/utils/mem.h
new file mode 100644
index 0000000000..7b9efc5ed8
--- /dev/null
+++ b/third_party/acados/include/acados/utils/mem.h
@@ -0,0 +1,113 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef ACADOS_UTILS_MEM_H_
+#define ACADOS_UTILS_MEM_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdio.h>
+#include <stdbool.h>
+
+#include "types.h"
+
+// blasfeo
+#include "blasfeo/include/blasfeo_d_aux.h"
+#include "blasfeo/include/blasfeo_d_aux_ext_dep.h"
+
+// TODO(dimitris): probably does not belong here
+typedef struct
+{
+    int (*fun)(void *);
+    acados_size_t (*calculate_args_size)(void *);
+    void *(*assign_args)(void *);
+    void (*initialize_default_args)(void *);
+    acados_size_t (*calculate_memory_size)(void *);
+    void *(*assign_memory)(void *);
+    acados_size_t (*calculate_workspace_size)(void *);
+} module_solver;
+
+// make int counter of memory multiple of a number (typically 8 or 64)
+void make_int_multiple_of(acados_size_t num, acados_size_t *size);
+
+// align char pointer to number (typically 8 for pointers and doubles,
+// 64 for blasfeo structs) and return offset
+int align_char_to(int num, char **c_ptr);
+
+// switch between malloc and calloc (for valgrinding)
+void *acados_malloc(size_t nitems, acados_size_t size);
+
+// uses always calloc
+void *acados_calloc(size_t nitems, acados_size_t size);
+
+// allocate vector of pointers to vectors of doubles and advance pointer
+void assign_and_advance_double_ptrs(int n, double ***v, char **ptr);
+
+// allocate vector of pointers to vectors of ints and advance pointer
+void assign_and_advance_int_ptrs(int n, int ***v, char **ptr);
+
+// allocate vector of pointers to strvecs and advance pointer
+void assign_and_advance_blasfeo_dvec_structs(int n, struct blasfeo_dvec **sv, char **ptr);
+
+// allocate vector of pointers to strmats and advance pointer
+void assign_and_advance_blasfeo_dmat_structs(int n, struct blasfeo_dmat **sm, char **ptr);
+
+// allocate vector of pointers to vector of pointers to strmats and advance pointer
+void assign_and_advance_blasfeo_dmat_ptrs(int n, struct blasfeo_dmat ***sm, char **ptr);
+
+// allocate vector of chars and advance pointer
+void assign_and_advance_char(int n, char **v, char **ptr);
+
+// allocate vector of ints and advance pointer
+void assign_and_advance_int(int n, int **v, char **ptr);
+
+// allocate vector of bools and advance pointer
+void assign_and_advance_bool(int n, bool **v, char **ptr);
+
+// allocate vector of doubles and advance pointer
+void assign_and_advance_double(int n, double **v, char **ptr);
+
+// allocate strvec and advance pointer
+void assign_and_advance_blasfeo_dvec_mem(int n, struct blasfeo_dvec *sv, char **ptr);
+
+// allocate strmat and advance pointer
+void assign_and_advance_blasfeo_dmat_mem(int m, int n, struct blasfeo_dmat *sA, char **ptr);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_UTILS_MEM_H_
diff --git a/third_party/acados/include/acados/utils/print.h b/third_party/acados/include/acados/utils/print.h
new file mode 100644
index 0000000000..2993447dbd
--- /dev/null
+++ b/third_party/acados/include/acados/utils/print.h
@@ -0,0 +1,109 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef ACADOS_UTILS_PRINT_H_
+#define ACADOS_UTILS_PRINT_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "acados/dense_qp/dense_qp_common.h"
+#include "acados/ocp_nlp/ocp_nlp_common.h"
+#include "acados/ocp_qp/ocp_qp_common.h"
+#include "acados/ocp_qp/ocp_qp_common_frontend.h"
+#include "acados/utils/types.h"
+
+// void print_matrix(char *file_name, const real_t *matrix, const int_t nrows, const int_t ncols);
+
+// void print_matrix_name(char *file_name, char *name, const real_t *matrix, const int_t nrows,
+//                        const int_t ncols);
+
+// void print_int_matrix(char *file_name, const int_t *matrix, const int_t nrows, const int_t ncols);
+
+// void print_array(char *file_name, real_t *array, int_t size);
+
+// void print_int_array(char *file_name, const int_t *array, int_t size);
+
+void read_matrix(const char *file_name, real_t *array, const int_t nrows, const int_t ncols);
+
+void write_double_vector_to_txt(real_t *vec, int_t n, const char *fname);
+
+// ocp nlp
+// TODO(andrea): inconsistent naming
+void ocp_nlp_dims_print(ocp_nlp_dims *dims);
+// TODO(andrea): inconsistent naming
+void ocp_nlp_out_print(ocp_nlp_dims *dims, ocp_nlp_out *nlp_out);
+// TODO(andrea): inconsistent naming
+void ocp_nlp_res_print(ocp_nlp_dims *dims, ocp_nlp_res *nlp_res);
+
+// ocp qp
+void print_ocp_qp_dims(ocp_qp_dims *dims);
+
+// void print_dense_qp_dims(dense_qp_dims *dims);
+
+void print_ocp_qp_in(ocp_qp_in *qp_in);
+
+void print_ocp_qp_out(ocp_qp_out *qp_out);
+
+// void print_ocp_qp_in_to_string(char string_out[], ocp_qp_in *qp_in);
+
+// void print_ocp_qp_out_to_string(char string_out[], ocp_qp_out *qp_out);
+
+void print_ocp_qp_res(ocp_qp_res *qp_res);
+
+// void print_colmaj_ocp_qp_in(colmaj_ocp_qp_in *qp);
+
+// void print_colmaj_ocp_qp_in_to_file(colmaj_ocp_qp_in *qp);
+
+// void print_colmaj_ocp_qp_out(char *filename, colmaj_ocp_qp_in *qp, colmaj_ocp_qp_out *out);
+
+void print_dense_qp_in(dense_qp_in *qp_in);
+
+void print_qp_info(qp_info *info);
+
+// void acados_warning(char warning_string[]);
+
+// void acados_error(char error_string[]);
+
+// void acados_not_implemented(char feature_string[]);
+
+// blasfeo
+// void print_blasfeo_target();
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_UTILS_PRINT_H_
diff --git a/third_party/acados/include/acados/utils/strsep.h b/third_party/acados/include/acados/utils/strsep.h
new file mode 100644
index 0000000000..02f1835593
--- /dev/null
+++ b/third_party/acados/include/acados/utils/strsep.h
@@ -0,0 +1,72 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef ACADOS_UTILS_STRSEP_H_
+#define ACADOS_UTILS_STRSEP_H_
+
+#ifdef __cplusplus
+#include <string>
+#define STD(x) std::x
+namespace std
+{
+#else
+#include <string.h>
+#define STD(x) x
+#endif
+
+char* strsep_acados(char** stringp, const char* delim)
+{
+    char* result;
+
+    if ((stringp == NULL) || (*stringp == NULL)) return NULL;
+
+    result = *stringp;
+
+    while (**stringp && !STD(strchr)(delim, **stringp)) ++*stringp;
+
+    if (**stringp)
+        *(*stringp)++ = '\0';
+    else
+        *stringp = NULL;
+
+    return result;
+}
+
+#ifdef __cplusplus
+}  // namespace std
+#endif
+
+#undef STD
+
+#endif  // ACADOS_UTILS_STRSEP_H_
diff --git a/third_party/acados/include/acados/utils/timing.h b/third_party/acados/include/acados/utils/timing.h
new file mode 100644
index 0000000000..823b763f66
--- /dev/null
+++ b/third_party/acados/include/acados/utils/timing.h
@@ -0,0 +1,125 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef ACADOS_UTILS_TIMING_H_
+#define ACADOS_UTILS_TIMING_H_
+
+#include "acados/utils/types.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifdef MEASURE_TIMINGS
+#if (defined _WIN32 || defined _WIN64) && !(defined __MINGW32__ || defined __MINGW64__)
+
+/* Use Windows QueryPerformanceCounter for timing. */
+#include <Windows.h>
+
+/** A structure for keeping internal timer data. */
+typedef struct acados_timer_
+{
+    LARGE_INTEGER tic;
+    LARGE_INTEGER toc;
+    LARGE_INTEGER freq;
+} acados_timer;
+
+#elif defined(__APPLE__)
+
+#include <mach/mach_time.h>
+
+/** A structure for keeping internal timer data. */
+typedef struct acados_timer_
+{
+    uint64_t tic;
+    uint64_t toc;
+    mach_timebase_info_data_t tinfo;
+} acados_timer;
+
+#elif defined(__DSPACE__)
+
+#include <brtenv.h>
+
+typedef struct acados_timer_
+{
+    double time;
+} acados_timer;
+
+#else
+
+/* Use POSIX clock_gettime() for timing on non-Windows machines. */
+#include <time.h>
+
+#if (__STDC_VERSION__ >= 199901L) && !(defined __MINGW32__ || defined __MINGW64__)  // C99 Mode
+
+#include <sys/stat.h>
+#include <sys/time.h>
+
+typedef struct acados_timer_
+{
+    struct timeval tic;
+    struct timeval toc;
+} acados_timer;
+
+#else  // ANSI C Mode
+
+/** A structure for keeping internal timer data. */
+typedef struct acados_timer_
+{
+    struct timespec tic;
+    struct timespec toc;
+} acados_timer;
+
+#endif  // __STDC_VERSION__ >= 199901L
+
+#endif  // (defined _WIN32 || defined _WIN64)
+
+#else
+
+// Dummy type when timings are off
+typedef real_t acados_timer;
+
+#endif  // MEASURE_TIMINGS
+
+/** A function for measurement of the current time. */
+void acados_tic(acados_timer* t);
+
+/** A function which returns the elapsed time. */
+real_t acados_toc(acados_timer* t);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_UTILS_TIMING_H_
diff --git a/third_party/acados/include/acados/utils/types.h b/third_party/acados/include/acados/utils/types.h
new file mode 100644
index 0000000000..99ad375fea
--- /dev/null
+++ b/third_party/acados/include/acados/utils/types.h
@@ -0,0 +1,79 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef ACADOS_UTILS_TYPES_H_
+#define ACADOS_UTILS_TYPES_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdbool.h>
+#include <stddef.h>
+
+#define MAX_STR_LEN 256
+#define ACADOS_EPS 1e-12
+#define ACADOS_NEG_INFTY -1.0e9
+#define ACADOS_POS_INFTY +1.0e9
+#define UNUSED(x) ((void)(x))
+
+
+
+typedef double real_t;
+typedef int int_t;
+typedef size_t acados_size_t;
+
+
+typedef int (*casadi_function_t)(const double** arg, double** res, int* iw, double* w, void* mem);
+
+
+
+// enum of return values
+enum return_values
+{
+    ACADOS_SUCCESS,
+    ACADOS_FAILURE,
+    ACADOS_MAXITER,
+    ACADOS_MINSTEP,
+    ACADOS_QP_FAILURE,
+    ACADOS_READY,
+};
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_UTILS_TYPES_H_
diff --git a/third_party/acados/include/acados_c/condensing_interface.h b/third_party/acados/include/acados_c/condensing_interface.h
new file mode 100644
index 0000000000..51fe827127
--- /dev/null
+++ b/third_party/acados/include/acados_c/condensing_interface.h
@@ -0,0 +1,84 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef INTERFACES_ACADOS_C_CONDENSING_INTERFACE_H_
+#define INTERFACES_ACADOS_C_CONDENSING_INTERFACE_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "acados/ocp_qp/ocp_qp_full_condensing.h"
+#include "acados/ocp_qp/ocp_qp_partial_condensing.h"
+
+typedef enum {
+    PARTIAL_CONDENSING,
+    FULL_CONDENSING,
+} condensing_t;
+
+typedef struct
+{
+    condensing_t condensing_type;
+} condensing_plan;
+
+typedef struct
+{
+    ocp_qp_xcond_config *config;
+    void *dims;
+    void *opts;
+    void *mem;
+    void *work;
+} condensing_module;
+
+ocp_qp_xcond_config *ocp_qp_condensing_config_create(condensing_plan *plan);
+//
+void *ocp_qp_condensing_opts_create(ocp_qp_xcond_config *config, void *dims_);
+//
+acados_size_t ocp_qp_condensing_calculate_size(ocp_qp_xcond_config *config, void *dims_, void *opts_);
+//
+condensing_module *ocp_qp_condensing_assign(ocp_qp_xcond_config *config, void *dims_,
+                                            void *opts_, void *raw_memory);
+//
+condensing_module *ocp_qp_condensing_create(ocp_qp_xcond_config *config, void *dims_,
+                                            void *opts_);
+//
+int ocp_qp_condense(condensing_module *module, void *qp_in, void *qp_out);
+//
+int ocp_qp_expand(condensing_module *module, void *qp_in, void *qp_out);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // INTERFACES_ACADOS_C_CONDENSING_INTERFACE_H_
diff --git a/third_party/acados/include/acados_c/dense_qp_interface.h b/third_party/acados/include/acados_c/dense_qp_interface.h
new file mode 100644
index 0000000000..4ecc77381d
--- /dev/null
+++ b/third_party/acados/include/acados_c/dense_qp_interface.h
@@ -0,0 +1,94 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef INTERFACES_ACADOS_C_DENSE_QP_INTERFACE_H_
+#define INTERFACES_ACADOS_C_DENSE_QP_INTERFACE_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "acados/dense_qp/dense_qp_common.h"
+
+typedef enum { DENSE_QP_HPIPM, DENSE_QP_QORE, DENSE_QP_QPOASES, DENSE_QP_OOQP } dense_qp_solver_t;
+
+typedef struct
+{
+    dense_qp_solver_t qp_solver;
+} dense_qp_solver_plan;
+
+typedef struct
+{
+    qp_solver_config *config;
+    void *dims;
+    void *opts;
+    void *mem;
+    void *work;
+} dense_qp_solver;
+
+qp_solver_config *dense_qp_config_create(dense_qp_solver_plan *plan);
+//
+dense_qp_dims *dense_qp_dims_create();
+//
+dense_qp_in *dense_qp_in_create(qp_solver_config *config, dense_qp_dims *dims);
+//
+dense_qp_out *dense_qp_out_create(qp_solver_config *config, dense_qp_dims *dims);
+//
+void *dense_qp_opts_create(qp_solver_config *config, dense_qp_dims *dims);
+//
+acados_size_t dense_qp_calculate_size(qp_solver_config *config, dense_qp_dims *dims, void *opts_);
+//
+dense_qp_solver *dense_qp_assign(qp_solver_config *config, dense_qp_dims *dims, void *opts_,
+                                 void *raw_memory);
+//
+dense_qp_solver *dense_qp_create(qp_solver_config *config, dense_qp_dims *dims, void *opts_);
+//
+int dense_qp_solve(dense_qp_solver *solver, dense_qp_in *qp_in, dense_qp_out *qp_out);
+//
+void dense_qp_inf_norm_residuals(dense_qp_dims *dims, dense_qp_in *qp_in, dense_qp_out *qp_out,
+                                 double *res);
+//
+bool dense_qp_set_field_double_array(const char *field, double *arr, dense_qp_in *qp_in);
+//
+bool dense_qp_set_field_int_array(const char *field, int *arr, dense_qp_in *qp_in);
+//
+bool dense_qp_get_field_double_array(const char *field, dense_qp_in *qp_in, double *arr);
+//
+bool dense_qp_get_field_int_array(const char *field, dense_qp_in *qp_in, int *arr);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // INTERFACES_ACADOS_C_DENSE_QP_INTERFACE_H_
diff --git a/third_party/acados/include/acados_c/external_function_interface.h b/third_party/acados/include/acados_c/external_function_interface.h
new file mode 100644
index 0000000000..6838975071
--- /dev/null
+++ b/third_party/acados/include/acados_c/external_function_interface.h
@@ -0,0 +1,92 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef INTERFACES_ACADOS_C_EXTERNAL_FUNCTION_INTERFACE_H_
+#define INTERFACES_ACADOS_C_EXTERNAL_FUNCTION_INTERFACE_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "acados/utils/external_function_generic.h"
+
+
+
+/************************************************
+ * generic external parametric function
+ ************************************************/
+
+//
+void external_function_param_generic_create(external_function_param_generic *fun, int np);
+//
+void external_function_param_generic_free(external_function_param_generic *fun);
+
+
+
+/************************************************
+ * casadi external function
+ ************************************************/
+
+//
+void external_function_casadi_create(external_function_casadi *fun);
+//
+void external_function_casadi_free(external_function_casadi *fun);
+//
+void external_function_casadi_create_array(int size, external_function_casadi *funs);
+//
+void external_function_casadi_free_array(int size, external_function_casadi *funs);
+
+
+
+/************************************************
+ * casadi external parametric function
+ ************************************************/
+
+//
+void external_function_param_casadi_create(external_function_param_casadi *fun, int np);
+//
+void external_function_param_casadi_free(external_function_param_casadi *fun);
+//
+void external_function_param_casadi_create_array(int size, external_function_param_casadi *funs,
+                                                 int np);
+//
+void external_function_param_casadi_free_array(int size, external_function_param_casadi *funs);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // INTERFACES_ACADOS_C_EXTERNAL_FUNCTION_INTERFACE_H_
diff --git a/third_party/acados/include/acados_c/ocp_nlp_interface.h b/third_party/acados/include/acados_c/ocp_nlp_interface.h
new file mode 100644
index 0000000000..0f250a6628
--- /dev/null
+++ b/third_party/acados/include/acados_c/ocp_nlp_interface.h
@@ -0,0 +1,406 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef INTERFACES_ACADOS_C_OCP_NLP_INTERFACE_H_
+#define INTERFACES_ACADOS_C_OCP_NLP_INTERFACE_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// acados
+#include "acados/ocp_nlp/ocp_nlp_common.h"
+#include "acados/ocp_nlp/ocp_nlp_constraints_bgh.h"
+#include "acados/sim/sim_erk_integrator.h"
+#include "acados/sim/sim_irk_integrator.h"
+#include "acados/sim/sim_lifted_irk_integrator.h"
+#include "acados/sim/sim_gnsf.h"
+// acados_c
+#include "acados_c/ocp_qp_interface.h"
+#include "acados_c/sim_interface.h"
+
+
+/// Solution methods for optimal control problems.
+typedef enum
+{
+    SQP,
+    SQP_RTI,
+    INVALID_NLP_SOLVER,
+} ocp_nlp_solver_t;
+
+
+/// Types of the cost function.
+typedef enum
+{
+    LINEAR_LS,
+    NONLINEAR_LS,
+    EXTERNAL,
+    INVALID_COST,
+} ocp_nlp_cost_t;
+
+
+/// Types of the system dynamics, discrete or continuous time.
+typedef enum
+{
+    CONTINUOUS_MODEL,
+    DISCRETE_MODEL,
+    INVALID_DYNAMICS,
+} ocp_nlp_dynamics_t;
+
+
+/// Constraint types
+typedef enum
+{
+    /// Comprises simple bounds, polytopic constraints,
+    /// general non-linear constraints.
+    BGH,
+
+    /// Comprises simple bounds, polytopic constraints,
+    /// general non-linear constraints, and positive definite constraints.
+    BGP,
+
+    INVALID_CONSTRAINT,
+} ocp_nlp_constraints_t;
+
+
+/// Regularization types
+typedef enum
+{
+    NO_REGULARIZE,
+    MIRROR,
+    PROJECT,
+    PROJECT_REDUC_HESS,
+    CONVEXIFY,
+    INVALID_REGULARIZE,
+} ocp_nlp_reg_t;
+
+
+/// Structure to store the configuration of a non-linear program
+typedef struct ocp_nlp_plan
+{
+    /// QP solver configuration.
+    ocp_qp_solver_plan ocp_qp_solver_plan;
+
+    /// Simulation solver configuration for each stage.
+    sim_solver_plan *sim_solver_plan;
+
+    /// Nlp solver type.
+    ocp_nlp_solver_t nlp_solver;
+
+    /// Regularization type, defaults to no regularization.
+    ocp_nlp_reg_t regularization;
+
+    /// Cost type for each stage.
+    ocp_nlp_cost_t *nlp_cost;
+
+    /// Dynamics type for each stage.
+    ocp_nlp_dynamics_t *nlp_dynamics;
+
+    /// Constraints type for each stage.
+    ocp_nlp_constraints_t *nlp_constraints;
+
+    /// Horizon length.
+    int N;
+
+} ocp_nlp_plan;
+
+
+/// Structure to store the state/configuration for the non-linear programming solver
+typedef struct ocp_nlp_solver
+{
+    ocp_nlp_config *config;
+    void *dims;
+    void *opts;
+    void *mem;
+    void *work;
+} ocp_nlp_solver;
+
+
+/// Constructs an empty plan struct (user nlp configuration), all fields are set to a
+/// default/invalid state.
+///
+/// \param N Horizon length
+ocp_nlp_plan *ocp_nlp_plan_create(int N);
+
+/// Destructor for plan struct, frees memory.
+///
+/// \param plan_ The plan struct to destroy.
+void ocp_nlp_plan_destroy(void* plan_);
+
+
+/// Constructs an nlp configuration struct from a plan.
+///
+/// \param plan The plan (user nlp configuration).
+ocp_nlp_config *ocp_nlp_config_create(ocp_nlp_plan plan);
+
+/// Desctructor of the nlp configuration.
+///
+/// \param config_ The configuration struct.
+void ocp_nlp_config_destroy(void *config_);
+
+
+/// Constructs an struct that contains the dimensions of the variables.
+///
+/// \param config_ The configuration struct.
+ocp_nlp_dims *ocp_nlp_dims_create(void *config_);
+
+/// Destructor of The dimension struct.
+///
+/// \param dims_ The dimension struct.
+void ocp_nlp_dims_destroy(void *dims_);
+
+
+/// Constructs an input struct for a non-linear programs.
+///
+/// \param config The configuration struct.
+/// \param dims The dimension struct.
+ocp_nlp_in *ocp_nlp_in_create(ocp_nlp_config *config, ocp_nlp_dims *dims);
+
+/// Destructor of the inputs struct.
+///
+/// \param in The inputs struct.
+void ocp_nlp_in_destroy(void *in);
+
+
+/// Sets the sampling times for the given stage.
+///
+/// \param config The configuration struct.
+/// \param dims The dimension struct.
+/// \param in The inputs struct.
+/// \param stage Stage number.
+/// \param field Has to be "Ts" (TBC other options).
+/// \param value The sampling times (floating point).
+void ocp_nlp_in_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in, int stage,
+        const char *field, void *value);
+
+
+/// Sets the function pointers to the dynamics functions for the given stage.
+///
+/// \param config The configuration struct.
+/// \param dims The dimension struct.
+/// \param in The inputs struct.
+/// \param stage Stage number.
+/// \param fun_type The name of the function type, either impl_ode_fun,
+///     impl_ode_fun_jac_x_xdot, impl_ode_jac_x_xdot_u (TBC)
+/// \param fun_ptr Function pointer to the dynamics function.
+int ocp_nlp_dynamics_model_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
+        int stage, const char *fun_type, void *fun_ptr);
+
+
+/// Sets the function pointers to the cost functions for the given stage.
+///
+/// \param config The configuration struct.
+/// \param dims The dimension struct.
+/// \param in The inputs struct.
+/// \param stage Stage number.
+/// \param field The name of the field, either nls_res_jac,
+///     y_ref, W (others TBC)
+/// \param value Cost values.
+int ocp_nlp_cost_model_set_slice(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
+        int start_stage, int end_stage, const char *field, void *value, int dim);
+int ocp_nlp_cost_model_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
+        int start_stage, const char *field, void *value);
+
+
+/// Sets the function pointers to the constraints functions for the given stage.
+///
+/// \param config The configuration struct.
+/// \param dims The dimension struct.
+/// \param in The inputs struct.
+/// \param stage Stage number.
+/// \param field The name of the field, either lb, ub (others TBC)
+/// \param value Constraints function or values.
+int ocp_nlp_constraints_model_set_slice(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
+        int start_stage, int end_stage, const char *field, void *value, int dim);
+int ocp_nlp_constraints_model_set(ocp_nlp_config *config, ocp_nlp_dims *dims,
+        ocp_nlp_in *in, int stage, const char *field, void *value);
+
+/* out */
+
+/// Constructs an output struct for the non-linear program.
+///
+/// \param config The configuration struct.
+/// \param dims The dimension struct.
+ocp_nlp_out *ocp_nlp_out_create(ocp_nlp_config *config, ocp_nlp_dims *dims);
+
+/// Destructor of the output struct.
+///
+/// \param out The output struct.
+void ocp_nlp_out_destroy(void *out);
+
+
+/// Sets fields in the output struct of an nlp solver, used to initialize the solver.
+///
+/// \param config The configuration struct.
+/// \param dims The dimension struct.
+/// \param out The output struct.
+/// \param stage Stage number.
+/// \param field The name of the field, either x, u, pi.
+/// \param value Initialization values.
+void ocp_nlp_out_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
+        int stage, const char *field, void *value);
+
+
+/// Gets values of fields in the output struct of an nlp solver.
+///
+/// \param config The configuration struct.
+/// \param dims The dimension struct.
+/// \param out The output struct.
+/// \param stage Stage number.
+/// \param field The name of the field, either x, u, z, pi.
+/// \param value Pointer to the output memory.
+void ocp_nlp_out_get(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
+        int stage, const char *field, void *value);
+
+void ocp_nlp_out_get_slice(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
+        int start_stage, int end_stage, const char *field, void *value);
+
+//
+void ocp_nlp_get_at_stage(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_solver *solver,
+        int stage, const char *field, void *value);
+
+// TODO(andrea): remove this once/if the MATLAB interface uses the new setters below?
+int ocp_nlp_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
+        int stage, const char *field);
+
+void ocp_nlp_constraint_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
+        int stage, const char *field, int *dims_out);
+
+void ocp_nlp_cost_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
+        int stage, const char *field, int *dims_out);
+
+
+/* opts */
+
+/// Creates an options struct for the non-linear program.
+///
+/// \param config The configuration struct.
+/// \param dims The dimension struct.
+void *ocp_nlp_solver_opts_create(ocp_nlp_config *config, ocp_nlp_dims *dims);
+
+/// Destructor of the options.
+///
+/// \param opts The options struct.
+void ocp_nlp_solver_opts_destroy(void *opts);
+
+/// Sets an option.
+///
+/// \param config The configuration struct.
+/// \param opts_ The options struct.
+/// \param field Name of the option.
+/// \param value Value of the option.
+void ocp_nlp_solver_opts_set(ocp_nlp_config *config, void *opts_, const char *field, void* value);
+
+
+void ocp_nlp_solver_opts_set_at_stage(ocp_nlp_config *config, void *opts_, int stage, const char *field, void* value);
+
+
+/// TBC
+/// Updates the options.
+///
+/// \param config The configuration struct.
+/// \param dims The dimension struct.
+/// \param opts_ The options struct.
+void ocp_nlp_solver_opts_update(ocp_nlp_config *config, ocp_nlp_dims *dims, void *opts_);
+
+
+/* solver */
+
+/// Creates an ocp solver.
+///
+/// \param config The configuration struct.
+/// \param dims The dimension struct.
+/// \param opts_ The options struct.
+/// \return The solver.
+ocp_nlp_solver *ocp_nlp_solver_create(ocp_nlp_config *config, ocp_nlp_dims *dims, void *opts_);
+
+/// Destructor of the solver.
+///
+/// \param solver The solver struct.
+void ocp_nlp_solver_destroy(void *solver);
+
+/// Solves the optimal control problem. Call ocp_nlp_precompute before
+/// calling this functions (TBC).
+///
+/// \param solver The solver struct.
+/// \param nlp_in The inputs struct.
+/// \param nlp_out The output struct.
+int ocp_nlp_solve(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out);
+
+/// Performs precomputations for the solver. Needs to be called before
+/// ocl_nlp_solve (TBC).
+///
+/// \param solver The solver struct.
+/// \param nlp_in The inputs struct.
+/// \param nlp_out The output struct.
+int ocp_nlp_precompute(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out);
+
+
+/// Computes cost function value.
+///
+/// \param solver The solver struct.
+/// \param nlp_in The inputs struct.
+/// \param nlp_out The output struct.
+void ocp_nlp_eval_cost(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out);
+
+
+//
+void ocp_nlp_eval_param_sens(ocp_nlp_solver *solver, char *field, int stage, int index, ocp_nlp_out *sens_nlp_out);
+
+/* get */
+/// \param config The configuration struct.
+/// \param solver The solver struct.
+/// \param field Supports "sqp_iter", "status", "nlp_res", "time_tot", ...
+/// \param return_value_ Pointer to the output memory.
+void ocp_nlp_get(ocp_nlp_config *config, ocp_nlp_solver *solver,
+        const char *field, void *return_value_);
+
+/* set */
+/// Sets the initial guesses for the integrator for the given stage.
+///
+/// \param config The configuration struct.
+/// \param solver The ocp_nlp_solver struct.
+/// \param stage Stage number.
+/// \param field Supports "z_guess", "xdot_guess" (IRK), "phi_guess" (GNSF-IRK)
+/// \param value The initial guess for the algebraic variables in the integrator (if continuous model is used).
+void ocp_nlp_set(ocp_nlp_config *config, ocp_nlp_solver *solver,
+        int stage, const char *field, void *value);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // INTERFACES_ACADOS_C_OCP_NLP_INTERFACE_H_
diff --git a/third_party/acados/include/acados_c/ocp_qp_interface.h b/third_party/acados/include/acados_c/ocp_qp_interface.h
new file mode 100644
index 0000000000..a567ebeb35
--- /dev/null
+++ b/third_party/acados/include/acados_c/ocp_qp_interface.h
@@ -0,0 +1,261 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef INTERFACES_ACADOS_C_OCP_QP_INTERFACE_H_
+#define INTERFACES_ACADOS_C_OCP_QP_INTERFACE_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "acados/ocp_qp/ocp_qp_common.h"
+#include "acados/ocp_qp/ocp_qp_xcond_solver.h"
+
+
+/// QP solver types (Enumeration).
+///
+/// Full list of fields:
+///   PARTIAL_CONDENSING_HPIPM
+///   PARTIAL_CONDENSING_HPMPC
+///   PARTIAL_CONDENSING_OOQP
+///   PARTIAL_CONDENSING_OSQP
+///   PARTIAL_CONDENSING_QPDUNES
+///   FULL_CONDENSING_HPIPM
+///   FULL_CONDENSING_QPOASES
+///   FULL_CONDENSING_QORE
+///   FULL_CONDENSING_OOQP
+///   INVALID_QP_SOLVER
+///
+/// Note: In this enumeration the partial condensing solvers have to be
+///       specified before the full condensing solvers.
+typedef enum {
+    PARTIAL_CONDENSING_HPIPM,
+#ifdef ACADOS_WITH_HPMPC
+    PARTIAL_CONDENSING_HPMPC,
+#else
+    PARTIAL_CONDENSING_HPMPC_NOT_AVAILABLE,
+#endif
+#ifdef ACADOS_WITH_OOQP
+    PARTIAL_CONDENSING_OOQP,
+#else
+    PARTIAL_CONDENSING_OOQP_NOT_AVAILABLE,
+#endif
+#ifdef ACADOS_WITH_OSQP
+    PARTIAL_CONDENSING_OSQP,
+#else
+    PARTIAL_CONDENSING_OSQP_NOT_AVAILABLE,
+#endif
+#ifdef ACADOS_WITH_QPDUNES
+    PARTIAL_CONDENSING_QPDUNES,
+#else
+    PARTIAL_CONDENSING_QPDUNES_NOT_AVAILABLE,
+#endif
+    FULL_CONDENSING_HPIPM,
+#ifdef ACADOS_WITH_QPOASES
+    FULL_CONDENSING_QPOASES,
+#else
+    FULL_CONDENSING_QPOASES_NOT_AVAILABLE,
+#endif
+#ifdef ACADOS_WITH_QORE
+    FULL_CONDENSING_QORE,
+#else
+    FULL_CONDENSING_QORE_NOT_AVAILABLE,
+#endif
+#ifdef ACADOS_WITH_OOQP
+    FULL_CONDENSING_OOQP,
+#else
+    FULL_CONDENSING_OOQP_NOT_AVAILABLE,
+#endif
+    INVALID_QP_SOLVER,
+} ocp_qp_solver_t;
+
+
+/// Struct containing qp solver
+typedef struct
+{
+    ocp_qp_solver_t qp_solver;
+} ocp_qp_solver_plan;
+
+
+/// Linear ocp configuration.
+typedef struct
+{
+    ocp_qp_xcond_solver_config *config;
+    ocp_qp_xcond_solver_dims *dims;
+    void *opts;
+    void *mem;
+    void *work;
+} ocp_qp_solver;
+
+
+/// Initializes the qp solver configuration.
+/// TBC should this be private/static - no, used in ocp_nlp
+void ocp_qp_xcond_solver_config_initialize_from_plan(
+    ocp_qp_solver_t solver_name, ocp_qp_xcond_solver_config *solver_config);
+
+/// Constructs a qp solver config and Initializes with default values.
+///
+/// \param plan The qp solver plan struct.
+ocp_qp_xcond_solver_config *ocp_qp_xcond_solver_config_create(ocp_qp_solver_plan plan);
+
+/// Destructor for config struct, frees memory.
+///
+/// \param config The config object to destroy.
+void ocp_qp_xcond_solver_config_free(ocp_qp_xcond_solver_config *config);
+
+
+/// Constructs a struct that contains the dimensions for the variables of the qp.
+///
+/// \param N The number of variables.
+ocp_qp_dims *ocp_qp_dims_create(int N);
+
+/// Destructor of The dimension struct.
+///
+/// \param dims The dimension struct.
+void ocp_qp_dims_free(void *dims);
+
+//
+ocp_qp_xcond_solver_dims *ocp_qp_xcond_solver_dims_create(ocp_qp_xcond_solver_config *config, int N);
+//
+ocp_qp_xcond_solver_dims *ocp_qp_xcond_solver_dims_create_from_ocp_qp_dims(
+    ocp_qp_xcond_solver_config *config, ocp_qp_dims *dims);
+//
+void ocp_qp_xcond_solver_dims_free(ocp_qp_xcond_solver_dims *dims_);
+
+void ocp_qp_xcond_solver_dims_set(void *config_, ocp_qp_xcond_solver_dims *dims,
+                                  int stage, const char *field, int* value);
+
+
+/// Constructs an input object for the qp.
+///
+/// \param dims The dimension struct.
+ocp_qp_in *ocp_qp_in_create(ocp_qp_dims *dims);
+
+
+void ocp_qp_in_set(ocp_qp_xcond_solver_config *config, ocp_qp_in *in,
+                   int stage, char *field, void *value);
+
+/// Destructor of the inputs struct.
+///
+/// \param in_ The inputs struct.
+void ocp_qp_in_free(void *in_);
+
+
+/// Constructs an outputs object for the qp.
+///
+/// \param dims The dimension struct.
+ocp_qp_out *ocp_qp_out_create(ocp_qp_dims *dims);
+
+/// Destructor of the output struct.
+///
+/// \param out_ The output struct.
+void ocp_qp_out_free(void *out_);
+
+
+/// Getter of output struct
+void ocp_qp_out_get(ocp_qp_out *out, const char *field, void *value);
+
+
+/// Constructs an options object for the qp.
+///
+/// \param config The configuration struct.
+/// \param dims The dimension struct.
+void *ocp_qp_xcond_solver_opts_create(ocp_qp_xcond_solver_config *config,
+                                      ocp_qp_xcond_solver_dims *dims);
+
+/// Destructor of the options struct.
+///
+/// \param opts The options struct to destroy.
+void ocp_qp_xcond_solver_opts_free(ocp_qp_xcond_solver_opts *opts);
+
+
+/// Setter of the options struct.
+///
+/// \param opts The options struct.
+void ocp_qp_xcond_solver_opts_set(ocp_qp_xcond_solver_config *config,
+           ocp_qp_xcond_solver_opts *opts, const char *field, void* value);
+
+/// TBC Should be private/static?
+acados_size_t ocp_qp_calculate_size(ocp_qp_xcond_solver_config *config, ocp_qp_xcond_solver_dims *dims, void *opts_);
+
+
+/// TBC Reserves memory? TBC Should this be private?
+///
+/// \param config The configuration struct.
+/// \param dims The dimension struct.
+/// \param opts_ The options struct.
+/// \param raw_memory Pointer to raw memory to assign to qp solver.
+ocp_qp_solver *ocp_qp_assign(ocp_qp_xcond_solver_config *config, ocp_qp_xcond_solver_dims *dims,
+                             void *opts_, void *raw_memory);
+
+/// Creates a qp solver. Reserves memory.
+///
+/// \param config The configuration struct.
+/// \param dims The dimension struct.
+/// \param opts_ The options struct.
+ocp_qp_solver *ocp_qp_create(ocp_qp_xcond_solver_config *config,
+                             ocp_qp_xcond_solver_dims *dims, void *opts_);
+
+
+/// Destroys a qp solver. Frees memory.
+///
+/// \param solver The qp solver
+void ocp_qp_solver_destroy(ocp_qp_solver *solver);
+
+void ocp_qp_x_cond_solver_free(ocp_qp_xcond_solver_config *config,
+                             ocp_qp_xcond_solver_dims *dims, void *opts_);
+
+
+/// Solves the qp.
+///
+/// \param solver The solver.
+/// \param qp_in The inputs struct.
+/// \param qp_out The output struct.
+int ocp_qp_solve(ocp_qp_solver *solver, ocp_qp_in *qp_in, ocp_qp_out *qp_out);
+
+
+/// Calculates the infinity norm of the residuals.
+///
+/// \param dims The dimension struct.
+/// \param qp_in The inputs struct.
+/// \param qp_out The output struct.
+/// \param res Output array for the residuals.
+void ocp_qp_inf_norm_residuals(ocp_qp_dims *dims, ocp_qp_in *qp_in, ocp_qp_out *qp_out,
+                               double *res);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // INTERFACES_ACADOS_C_OCP_QP_INTERFACE_H_
diff --git a/third_party/acados/include/acados_c/sim_interface.h b/third_party/acados/include/acados_c/sim_interface.h
new file mode 100644
index 0000000000..ba2e67bd6a
--- /dev/null
+++ b/third_party/acados/include/acados_c/sim_interface.h
@@ -0,0 +1,140 @@
+/*
+ * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
+ * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
+ * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
+ * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef INTERFACES_ACADOS_C_SIM_INTERFACE_H_
+#define INTERFACES_ACADOS_C_SIM_INTERFACE_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "acados/sim/sim_common.h"
+
+
+
+typedef enum
+{
+	ERK,
+	IRK,
+	GNSF,
+	LIFTED_IRK,
+	INVALID_SIM_SOLVER,
+} sim_solver_t;
+
+
+
+typedef struct
+{
+    sim_solver_t sim_solver;
+} sim_solver_plan;
+
+
+
+typedef struct
+{
+    sim_config *config;
+    void *dims;
+    void *opts;
+    void *mem;
+    void *work;
+} sim_solver;
+
+
+
+/* config */
+//
+sim_config *sim_config_create(sim_solver_plan plan);
+//
+void sim_config_destroy(void *config);
+
+/* dims */
+//
+void *sim_dims_create(void *config_);
+//
+void sim_dims_destroy(void *dims);
+//
+void sim_dims_set(sim_config *config, void *dims, const char *field, const int* value);
+//
+void sim_dims_get(sim_config *config, void *dims, const char *field, int* value);
+//
+void sim_dims_get_from_attr(sim_config *config, void *dims, const char *field, int *dims_out);
+
+/* in */
+//
+sim_in *sim_in_create(sim_config *config, void *dims);
+//
+void sim_in_destroy(void *out);
+//
+int sim_in_set(void *config_, void *dims_, sim_in *in, const char *field, void *value);
+
+
+/* out */
+//
+sim_out *sim_out_create(sim_config *config, void *dims);
+//
+void sim_out_destroy(void *out);
+//
+int sim_out_get(void *config, void *dims, sim_out *out, const char *field, void *value);
+
+/* opts */
+//
+void *sim_opts_create(sim_config *config, void *dims);
+//
+void sim_opts_destroy(void *opts);
+//
+void sim_opts_set(sim_config *config, void *opts, const char *field, void *value);
+//
+void sim_opts_get(sim_config *config, void *opts, const char *field, void *value);
+
+/* solver */
+//
+acados_size_t sim_calculate_size(sim_config *config, void *dims, void *opts_);
+//
+sim_solver *sim_assign(sim_config *config, void *dims, void *opts_, void *raw_memory);
+//
+sim_solver *sim_solver_create(sim_config *config, void *dims, void *opts_);
+//
+void sim_solver_destroy(void *solver);
+//
+int sim_solve(sim_solver *solver, sim_in *in, sim_out *out);
+//
+int sim_precompute(sim_solver *solver, sim_in *in, sim_out *out);
+//
+int sim_solver_set(sim_solver *solver, const char *field, void *value);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // INTERFACES_ACADOS_C_SIM_INTERFACE_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo.h b/third_party/acados/include/blasfeo/include/blasfeo.h
new file mode 100644
index 0000000000..c854918193
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/blasfeo.h
@@ -0,0 +1,52 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#include "blasfeo_processor_features.h"
+#include "blasfeo_target.h"
+#include "blasfeo_block_size.h"
+#include "blasfeo_stdlib.h"
+#include "blasfeo_common.h"
+#include "blasfeo_d_aux.h"
+#include "blasfeo_d_aux_ext_dep.h"
+#include "blasfeo_d_kernel.h"
+#include "blasfeo_d_blas.h"
+#include "blasfeo_s_aux.h"
+#include "blasfeo_s_aux_ext_dep.h"
+#include "blasfeo_s_kernel.h"
+#include "blasfeo_s_blas.h"
+#include "blasfeo_i_aux_ext_dep.h"
+#include "blasfeo_v_aux_ext_dep.h"
+#include "blasfeo_timing.h"
+#include "blasfeo_memory.h"
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_block_size.h b/third_party/acados/include/blasfeo/include/blasfeo_block_size.h
new file mode 100644
index 0000000000..182cc71b14
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/blasfeo_block_size.h
@@ -0,0 +1,371 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef BLASFEO_BLOCK_SIZE_H_
+#define BLASFEO_BLOCK_SIZE_H_
+
+
+
+#define D_EL_SIZE 8 // double precision
+#define S_EL_SIZE 4 // single precision
+
+
+
+#if defined( TARGET_X64_INTEL_HASWELL )
+// common
+#define CACHE_LINE_SIZE 64 // data cache size: 64 bytes
+#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB, 8-way
+#define L2_CACHE_SIZE (256*1024) // L2 data cache size: 256 kB ; DTLB1 64*4 kB = 256 kB
+#define LLC_CACHE_SIZE (6*1024*1024) // LLC cache size: 6 MB ; TLB 1024*4 kB = 4 MB
+// double
+#define D_PS 4 // panel size
+#define D_PLD 4 // 2 // GCD of panel length
+#define D_M_KERNEL 12 // max kernel size
+#define D_KC 256 // 192
+#define D_NC 72 //96 //72 // 120 // 512
+#define D_MC 1500 // 6000
+// single
+#define S_PS 8 // panel size
+#define S_PLD 4 // 2 // GCD of panel length
+#define S_M_KERNEL 24 // max kernel size
+#define S_KC 256
+#define S_NC 144
+#define S_MC 3000
+
+#elif defined( TARGET_X64_INTEL_SANDY_BRIDGE )
+// common
+#define CACHE_LINE_SIZE 64 // data cache size: 64 bytes
+#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB, 8-way
+#define L2_CACHE_SIZE (256*1024) // L2 data cache size: 256 kB ; DTLB1 64*4 kB = 256 kB
+#define LLC_CACHE_SIZE (4*1024*1024) // LLC cache size: 4 MB ; TLB 1024*4 kB = 4 MB
+// double
+#define D_PS 4 // panel size
+#define D_PLD 4 // 2 // GCD of panel length
+#define D_M_KERNEL 8 // max kernel size
+#define D_KC 256 //320 //256 //320
+#define D_NC 72 //64 //72 //60 // 120
+#define D_MC 1000 // 800
+// single
+#define S_PS 8 // panel size
+#define S_PLD 4 // 2 // GCD of panel length
+#define S_M_KERNEL 16 // max kernel size
+#define S_KC 256
+#define S_NC 144
+#define S_MC 2000
+
+#elif defined( TARGET_X64_INTEL_CORE )
+// common
+#define CACHE_LINE_SIZE 64
+#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB
+// double
+#define D_PS 4 // panel size
+#define D_PLD 4 // 2 // GCD of panel length
+#define D_M_KERNEL 4 // max kernel size
+#define D_KC 256
+#define D_NC 128 // TODO these are just dummy
+#define D_MC 3000 // TODO these are just dummy
+// single
+#define S_PS 4
+#define S_PLD 4 //2
+#define S_M_KERNEL 4 // max kernel size
+#define S_KC 256
+#define S_NC 128 // TODO these are just dummy
+#define S_MC 3000 // TODO these are just dummy
+
+#elif defined( TARGET_X64_AMD_BULLDOZER )
+// common
+#define CACHE_LINE_SIZE 64
+#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB
+// double
+#define D_PS 4 // panel size
+#define D_PLD 4 // 2 // GCD of panel length
+#define D_M_KERNEL 4 // max kernel size
+#define D_KC 256
+#define D_NC 128 // TODO these are just dummy
+#define D_MC 3000 // TODO these are just dummy
+// single
+#define S_PS 4
+#define S_PLD 4 //2
+#define S_M_KERNEL 4 // max kernel size
+#define S_KC 256
+#define S_NC 128 // TODO these are just dummy
+#define S_MC 3000 // TODO these are just dummy
+
+
+#elif defined( TARGET_X86_AMD_JAGUAR )
+// common
+#define CACHE_LINE_SIZE 64
+#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB
+// double
+#define D_PS 4 // panel size
+#define D_PLD 4 // 2 // GCD of panel length
+#define D_M_KERNEL 4 // max kernel size
+#define D_KC 256
+#define D_NC 128 // TODO these are just dummy
+#define D_MC 3000 // TODO these are just dummy
+// single
+#define S_PS 4
+#define S_PLD 4 //2
+#define S_M_KERNEL 4 // max kernel size
+#define S_KC 256
+#define S_NC 128 // TODO these are just dummy
+#define S_MC 3000 // TODO these are just dummy
+
+
+#elif defined( TARGET_X86_AMD_BARCELONA )
+// common
+#define CACHE_LINE_SIZE 64
+#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB
+// double
+#define D_PS 4 // panel size
+#define D_PLD 4 // 2 // GCD of panel length
+#define D_M_KERNEL 4 // max kernel size
+#define D_KC 256
+#define D_NC 128 // TODO these are just dummy
+#define D_MC 3000 // TODO these are just dummy
+// single
+#define S_PS 4
+#define S_PLD 4 //2
+#define S_M_KERNEL 4 // max kernel size
+#define S_KC 256
+#define S_NC 128 // TODO these are just dummy
+#define S_MC 3000 // TODO these are just dummy
+
+
+#elif defined(TARGET_ARMV8A_ARM_CORTEX_A76)
+// common
+#define CACHE_LINE_SIZE 64
+#define L1_CACHE_SIZE (64*1024) // L1 data cache size: 64 kB, 4-way ; DTLB1 48*4 kB = 192 kB
+#define LLC_CACHE_SIZE (1*1024*1024) // LLC cache size: 1 MB
+// double
+#define D_PS 4 // panel size
+#define D_PLD 4 // 2 // GCD of panel length
+#define D_M_KERNEL 8 // max kernel size
+#define D_KC 512 //256
+#define D_NC 128 //256
+#define D_MC 6000
+// single
+#define S_PS 4
+#define S_PLD 4 //2
+#define S_M_KERNEL 8 // max kernel size
+#define S_KC 512
+#define S_NC 256
+#define S_MC 6000
+
+
+#elif defined(TARGET_ARMV8A_ARM_CORTEX_A73)
+// common
+#define CACHE_LINE_SIZE 64
+#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 (64?) kB, 4-way, seen as 8-(16-)way ; DTLB1 48*4 kB = 192 kB
+#define LLC_CACHE_SIZE (1*1024*1024) // LLC cache size: 1 MB
+// double
+#define D_PS 4 // panel size
+#define D_PLD 4 // 2 // GCD of panel length
+#define D_M_KERNEL 8 // max kernel size
+#define D_KC 320
+#define D_NC 256
+#define D_MC 6000
+// single
+#define S_PS 4
+#define S_PLD 4 //2
+#define S_M_KERNEL 8 // max kernel size
+#define S_KC 256
+#define S_NC 128 // TODO these are just dummy
+#define S_MC 3000 // TODO these are just dummy
+
+
+#elif defined(TARGET_ARMV8A_ARM_CORTEX_A57)
+// common
+#define CACHE_LINE_SIZE 64
+#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB, 2-way ; DTLB1 32*4 kB = 128 kB
+#define LLC_CACHE_SIZE (1*1024*1024) // LLC cache size: 1 MB // 2 MB ???
+// double
+#define D_PS 4 // panel size
+#define D_PLD 4 // 2 // GCD of panel length
+#define D_M_KERNEL 8 // max kernel size
+#define D_KC 224 //256 //192
+#define D_NC 40 //36 //48
+#define D_MC 512 //488 //600
+// single
+#define S_PS 4
+#define S_PLD 4 //2
+#define S_M_KERNEL 8 // max kernel size
+#define S_KC 256
+#define S_NC 128 // TODO these are just dummy
+#define S_MC 3000 // TODO these are just dummy
+
+
+#elif defined(TARGET_ARMV8A_ARM_CORTEX_A55)
+// common
+#define CACHE_LINE_SIZE 64
+#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB, 4-way ; DTLB1 16*4 kB = 64 kB
+#define LLC_CACHE_SIZE (512*1024) // LLC cache size: 512 kB
+// double
+#define D_PS 4 // panel size
+#define D_PLD 4 // 2 // GCD of panel length
+#define D_M_KERNEL 12 // max kernel size
+#define D_KC 224
+#define D_NC 160
+#define D_MC 6000
+// single
+#define S_PS 4
+#define S_PLD 4 //2
+#define S_M_KERNEL 8 // max kernel size
+#define S_KC 256
+#define S_NC 128 // TODO these are just dummy
+#define S_MC 3000 // TODO these are just dummy
+
+
+#elif defined(TARGET_ARMV8A_ARM_CORTEX_A53)
+// common
+#define CACHE_LINE_SIZE 64
+#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB, 4-way ??? ; DTLB1 10*4 kB = 40 kB
+#define LLC_CACHE_SIZE (256*1024) // LLC cache size: 256 kB
+// double
+#define D_PS 4 // panel size
+#define D_PLD 4 // 2 // GCD of panel length
+#define D_M_KERNEL 12 // max kernel size
+#define D_KC 160
+#define D_NC 128
+#define D_MC 6000
+// single
+#define S_PS 4
+#define S_PLD 4 //2
+#define S_M_KERNEL 8 // max kernel size
+#define S_KC 256
+#define S_NC 128 // TODO these are just dummy
+#define S_MC 3000 // TODO these are just dummy
+
+
+#elif defined( TARGET_ARMV7A_ARM_CORTEX_A15 )
+// common
+#define CACHE_LINE_SIZE 64
+#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB
+// double
+#define D_PS 4 // panel size
+#define D_PLD 4 // 2 // GCD of panel length
+#define D_M_KERNEL 4 // max kernel size
+#define D_KC 256
+#define D_NC 128 // TODO these are just dummy
+#define D_MC 3000 // TODO these are just dummy
+// single
+#define S_PS 4
+#define S_PLD 4 //2
+#define S_M_KERNEL 4 // max kernel size
+#define S_KC 256
+#define S_NC 128 // TODO these are just dummy
+#define S_MC 3000 // TODO these are just dummy
+
+
+#elif defined( TARGET_ARMV7A_ARM_CORTEX_A7 )
+// common
+#define CACHE_LINE_SIZE 64
+#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB
+// double
+#define D_PS 4 // panel size
+#define D_PLD 4 // 2 // GCD of panel length
+#define D_M_KERNEL 4 // max kernel size
+#define D_KC 256
+#define D_NC 128 // TODO these are just dummy
+#define D_MC 3000 // TODO these are just dummy
+// single
+#define S_PS 4
+#define S_PLD 4 //2
+#define S_M_KERNEL 4 // max kernel size
+#define S_KC 256
+#define S_NC 128 // TODO these are just dummy
+#define S_MC 3000 // TODO these are just dummy
+
+
+#elif defined( TARGET_ARMV7A_ARM_CORTEX_A9 )
+// common
+#define CACHE_LINE_SIZE 32
+#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB
+// double
+#define D_PS 4 // panel size
+#define D_PLD 4 // 2 // GCD of panel length
+#define D_M_KERNEL 4 // max kernel size
+#define D_KC 256
+#define D_NC 128 // TODO these are just dummy
+#define D_MC 3000 // TODO these are just dummy
+// single
+#define S_PS 4
+#define S_PLD 4 //2
+#define S_M_KERNEL 4 // max kernel size
+#define S_KC 256
+#define S_NC 128 // TODO these are just dummy
+#define S_MC 3000 // TODO these are just dummy
+
+
+#elif defined( TARGET_GENERIC )
+// common
+#define CACHE_LINE_SIZE 64
+#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB
+// double
+#define D_PS 4 // panel size
+#define D_PLD 4 // 2 // GCD of panel length
+#define D_M_KERNEL 4 // max kernel size
+#define D_KC 256
+#define D_NC 128 // TODO these are just dummy
+#define D_MC 3000 // TODO these are just dummy
+
+// single
+#define S_PS 4
+#define S_PLD 4 //2
+#define S_M_KERNEL 4 // max kernel size
+#define S_KC 256
+#define S_NC 128 // TODO these are just dummy
+#define S_MC 3000 // TODO these are just dummy
+
+
+#else
+#error "Unknown architecture"
+#endif
+
+
+
+#define D_CACHE_LINE_EL (CACHE_LINE_SIZE/D_EL_SIZE)
+#define D_L1_CACHE_EL (L1_CACHE_SIZE/D_EL_SIZE)
+#define D_L2_CACHE_EL (L2_CACHE_SIZE/D_EL_SIZE)
+#define D_LLC_CACHE_EL (LLC_CACHE_SIZE/D_EL_SIZE)
+
+#define S_CACHE_LINE_EL (CACHE_LINE_SIZE/S_EL_SIZE)
+#define S_L1_CACHE_EL (L1_CACHE_SIZE/S_EL_SIZE)
+#define S_L2_CACHE_EL (L2_CACHE_SIZE/S_EL_SIZE)
+#define S_LLC_CACHE_EL (LLC_CACHE_SIZE/S_EL_SIZE)
+
+
+
+#endif  // BLASFEO_BLOCK_SIZE_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_common.h b/third_party/acados/include/blasfeo/include/blasfeo_common.h
new file mode 100644
index 0000000000..a648142ba0
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/blasfeo_common.h
@@ -0,0 +1,236 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef BLASFEO_COMMON_H_
+#define BLASFEO_COMMON_H_
+
+
+
+#include "blasfeo_target.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+#if defined(__GNUC__) || defined(__clang__) || defined(__INTEL_COMPILER) || defined(__ICL) || defined(__ICC) || defined(__INTEL_LLVM_COMPILER)
+#define ALIGNED(VEC, BYTES) VEC __attribute__ ((aligned ( BYTES )))
+#elif defined (_MSC_VER)
+#define ALIGNED(VEC, BYTES) __declspec(align( BYTES )) VEC
+#else
+#define ALIGNED(VEC, BYTES) VEC
+#endif
+
+
+
+
+#if ( defined(LA_HIGH_PERFORMANCE) & defined(MF_PANELMAJ) ) | ( defined(LA_REFERENCE) & defined(MF_PANELMAJ) )
+
+#include "blasfeo_block_size.h"
+
+// matrix structure
+struct blasfeo_dmat
+	{
+	double *mem; // pointer to passed chunk of memory
+	double *pA; // pointer to a pm*pn array of doubles, the first is aligned to cache line size
+	double *dA; // pointer to a min(m,n) (or max???) array of doubles
+	int m; // rows
+	int n; // cols
+	int pm; // packed number or rows
+	int cn; // packed number or cols
+	int use_dA; // flag to tell if dA can be used
+	int memsize; // size of needed memory
+	};
+
+struct blasfeo_smat
+	{
+	float *mem; // pointer to passed chunk of memory
+	float *pA; // pointer to a pm*pn array of floats, the first is aligned to cache line size
+	float *dA; // pointer to a min(m,n) (or max???) array of floats
+	int m; // rows
+	int n; // cols
+	int pm; // packed number or rows
+	int cn; // packed number or cols
+	int use_dA; // flag to tell if dA can be used
+	int memsize; // size of needed memory
+	};
+
+// vector structure
+struct blasfeo_dvec
+	{
+	double *mem; // pointer to passed chunk of memory
+	double *pa; // pointer to a pm array of doubles, the first is aligned to cache line size
+	int m; // size
+	int pm; // packed size
+	int memsize; // size of needed memory
+	};
+
+struct blasfeo_svec
+	{
+	float *mem; // pointer to passed chunk of memory
+	float *pa; // pointer to a pm array of floats, the first is aligned to cache line size
+	int m; // size
+	int pm; // packed size
+	int memsize; // size of needed memory
+	};
+
+#define BLASFEO_DMATEL(sA,ai,aj) ((sA)->pA[((ai)-((ai)&(D_PS-1)))*(sA)->cn+(aj)*D_PS+((ai)&(D_PS-1))])
+#define BLASFEO_SMATEL(sA,ai,aj) ((sA)->pA[((ai)-((ai)&(S_PS-1)))*(sA)->cn+(aj)*S_PS+((ai)&(S_PS-1))])
+#define BLASFEO_DVECEL(sa,ai) ((sa)->pa[ai])
+#define BLASFEO_SVECEL(sa,ai) ((sa)->pa[ai])
+
+#elif ( defined(LA_HIGH_PERFORMANCE) & defined(MF_COLMAJ) ) | ( defined(LA_REFERENCE) & defined(MF_COLMAJ) ) | defined(LA_EXTERNAL_BLAS_WRAPPER)
+
+// matrix structure
+struct blasfeo_dmat
+	{
+	double *mem; // pointer to passed chunk of memory
+	double *pA; // pointer to a m*n array of doubles
+	double *dA; // pointer to a min(m,n) (or max???) array of doubles
+	int m; // rows
+	int n; // cols
+	int use_dA; // flag to tell if dA can be used
+	int memsize; // size of needed memory
+	};
+
+struct blasfeo_smat
+	{
+	float *mem; // pointer to passed chunk of memory
+	float *pA; // pointer to a m*n array of floats
+	float *dA; // pointer to a min(m,n) (or max???) array of floats
+	int m; // rows
+	int n; // cols
+	int use_dA; // flag to tell if dA can be used
+	int memsize; // size of needed memory
+	};
+
+// vector structure
+struct blasfeo_dvec
+	{
+	double *mem; // pointer to passed chunk of memory
+	double *pa; // pointer to a m array of doubles, the first is aligned to cache line size
+	int m; // size
+	int memsize; // size of needed memory
+	};
+
+struct blasfeo_svec
+	{
+	float *mem; // pointer to passed chunk of memory
+	float *pa; // pointer to a m array of floats, the first is aligned to cache line size
+	int m; // size
+	int memsize; // size of needed memory
+	};
+
+#define BLASFEO_DMATEL(sA,ai,aj) ((sA)->pA[(ai)+(aj)*(sA)->m])
+#define BLASFEO_SMATEL(sA,ai,aj) ((sA)->pA[(ai)+(aj)*(sA)->m])
+#define BLASFEO_DVECEL(sa,ai) ((sa)->pa[ai])
+#define BLASFEO_SVECEL(sa,ai) ((sa)->pa[ai])
+
+#else
+
+#error : wrong LA or MF choice
+
+#endif
+
+
+
+// Explicitly panel-major matrix structure
+struct blasfeo_pm_dmat
+	{
+	double *mem; // pointer to passed chunk of memory
+	double *pA; // pointer to a pm*pn array of doubles, the first is aligned to cache line size
+	double *dA; // pointer to a min(m,n) (or max???) array of doubles
+	int m; // rows
+	int n; // cols
+	int pm; // packed number or rows
+	int cn; // packed number or cols
+	int use_dA; // flag to tell if dA can be used
+	int ps; // panel size
+	int memsize; // size of needed memory
+	};
+
+struct blasfeo_pm_smat
+	{
+	float *mem; // pointer to passed chunk of memory
+	float *pA; // pointer to a pm*pn array of floats, the first is aligned to cache line size
+	float *dA; // pointer to a min(m,n) (or max???) array of floats
+	int m; // rows
+	int n; // cols
+	int pm; // packed number or rows
+	int cn; // packed number or cols
+	int use_dA; // flag to tell if dA can be used
+	int ps; // panel size
+	int memsize; // size of needed memory
+	};
+
+// Explicitly column-major matrix structure
+struct blasfeo_cm_dmat
+	{
+	double *mem; // pointer to passed chunk of memory
+	double *pA; // pointer to a m*n array of doubles
+	double *dA; // pointer to a min(m,n) (or max???) array of doubles
+	int m; // rows
+	int n; // cols
+	int use_dA; // flag to tell if dA can be used
+	int memsize; // size of needed memory
+	};
+
+struct blasfeo_cm_smat
+	{
+	float *mem; // pointer to passed chunk of memory
+	float *pA; // pointer to a m*n array of floats
+	float *dA; // pointer to a min(m,n) (or max???) array of floats
+	int m; // rows
+	int n; // cols
+	int use_dA; // flag to tell if dA can be used
+	int memsize; // size of needed memory
+	};
+
+
+#define BLASFEO_PM_DMATEL(sA,ai,aj) ((sA)->pA[((ai)-((ai)&((sA)->ps-1)))*(sA)->cn+(aj)*((sA)->ps)+((ai)&((sA)->ps-1))])
+#define BLASFEO_PM_SMATEL(sA,ai,aj) ((sA)->pA[((ai)-((ai)&((sA)->ps-1)))*(sA)->cn+(aj)*((sA)->ps)+((ai)&((sA)->ps-1))])
+#define BLASFEO_CM_DMATEL(sA,ai,aj) ((sA)->pA[(ai)+(aj)*(sA)->m])
+#define BLASFEO_CM_SMATEL(sA,ai,aj) ((sA)->pA[(ai)+(aj)*(sA)->m])
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BLASFEO_COMMON_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_aux.h b/third_party/acados/include/blasfeo/include/blasfeo_d_aux.h
new file mode 100644
index 0000000000..7a9415a59d
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/blasfeo_d_aux.h
@@ -0,0 +1,239 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+/*
+ * auxiliary algebra operations header
+ *
+ * include/blasfeo_aux_lib*.h
+ *
+ */
+
+#ifndef BLASFEO_D_AUX_H_
+#define BLASFEO_D_AUX_H_
+
+
+
+#include <stdlib.h>
+
+#include "blasfeo_common.h"
+#include "blasfeo_d_aux_old.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+// --- memory size calculations
+//
+// returns the memory size (in bytes) needed for a dmat
+size_t blasfeo_memsize_dmat(int m, int n);
+// returns the memory size (in bytes) needed for the diagonal of a dmat
+size_t blasfeo_memsize_diag_dmat(int m, int n);
+// returns the memory size (in bytes) needed for a dvec
+size_t blasfeo_memsize_dvec(int m);
+
+// --- creation
+//
+// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated)
+void blasfeo_create_dmat(int m, int n, struct blasfeo_dmat *sA, void *memory);
+// create a strvec for a vector of size m by using memory passed by a pointer (pointer is not updated)
+void blasfeo_create_dvec(int m, struct blasfeo_dvec *sA, void *memory);
+
+// --- packing
+// pack the column-major matrix A into the matrix struct B
+void blasfeo_pack_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj);
+// pack the lower-triangular column-major matrix A into the matrix struct B
+void blasfeo_pack_l_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj);
+// pack the upper-triangular column-major matrix A into the matrix struct B
+void blasfeo_pack_u_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj);
+// transpose and pack the column-major matrix A into the matrix struct B
+void blasfeo_pack_tran_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj);
+// pack the vector x into the vector structure y
+void blasfeo_pack_dvec(int m, double *x, int xi, struct blasfeo_dvec *sy, int yi);
+// unpack the matrix structure A into the column-major matrix B
+void blasfeo_unpack_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, double *B, int ldb);
+// transpose and unpack the matrix structure A into the column-major matrix B
+void blasfeo_unpack_tran_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, double *B, int ldb);
+// pack the vector structure x into the vector y
+void blasfeo_unpack_dvec(int m, struct blasfeo_dvec *sx, int xi, double *y,  int yi);
+
+// --- cast
+//
+//void d_cast_mat2strmat(double *A, struct blasfeo_dmat *sA); // TODO
+//void d_cast_diag_mat2strmat(double *dA, struct blasfeo_dmat *sA); // TODO
+//void d_cast_vec2vecmat(double *a, struct blasfeo_dvec *sx); // TODO
+
+
+// ge
+// --- insert/extract
+//
+// sA[ai, aj] <= a
+void blasfeo_dgein1(double a, struct blasfeo_dmat *sA, int ai, int aj);
+// <= sA[ai, aj]
+double blasfeo_dgeex1(struct blasfeo_dmat *sA, int ai, int aj);
+
+// --- set
+// A <= alpha
+void blasfeo_dgese(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
+
+// --- copy / scale
+// B <= A
+void blasfeo_dgecp(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
+// A <= alpha*A
+void blasfeo_dgesc(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
+// B <= alpha*A
+void blasfeo_dgecpsc(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
+// B <= A, A lower triangular
+void blasfeo_dtrcp_l(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
+void blasfeo_dtrcpsc_l(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
+void blasfeo_dtrsc_l(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
+
+// --- sum
+// B <= B + alpha*A
+void blasfeo_dgead(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
+// y <= y + alpha*x
+void blasfeo_dvecad(int m, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi);
+
+// --- traspositions
+// B <= A'
+void blasfeo_dgetr(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
+// B <= A', A lower triangular
+void blasfeo_dtrtr_l(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
+// B <= A', A upper triangular
+void blasfeo_dtrtr_u(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
+
+// dia
+// diag(A) += alpha
+void blasfeo_ddiare(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
+// diag(A) <= alpha*x
+void blasfeo_ddiain(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
+// diag(A)[idx] <= alpha*x
+void blasfeo_ddiain_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
+// x <= diag(A)
+void blasfeo_ddiaex(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
+// x <= diag(A)[idx]
+void blasfeo_ddiaex_sp(int kmax, double alpha, int *idx, struct blasfeo_dmat *sD, int di, int dj, struct blasfeo_dvec *sx, int xi);
+// diag(A) += alpha*x
+void blasfeo_ddiaad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
+// diag(A)[idx] += alpha*x
+void blasfeo_ddiaad_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
+// diag(A)[idx] = y + alpha*x
+void blasfeo_ddiaadin_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
+
+// row
+void blasfeo_drowin(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
+void blasfeo_drowex(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
+void blasfeo_drowad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
+void blasfeo_drowad_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
+void blasfeo_drowsw(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
+void blasfeo_drowpe(int kmax, int *ipiv, struct blasfeo_dmat *sA);
+void blasfeo_drowpei(int kmax, int *ipiv, struct blasfeo_dmat *sA);
+
+// col
+void blasfeo_dcolex(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
+void blasfeo_dcolin(int kmax, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
+void blasfeo_dcolad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
+void blasfeo_dcolsc(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
+void blasfeo_dcolsw(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
+void blasfeo_dcolpe(int kmax, int *ipiv, struct blasfeo_dmat *sA);
+void blasfeo_dcolpei(int kmax, int *ipiv, struct blasfeo_dmat *sA);
+
+// vec
+// a <= alpha
+void blasfeo_dvecse(int m, double alpha, struct blasfeo_dvec *sx, int xi);
+// sx[xi] <= a
+void blasfeo_dvecin1(double a, struct blasfeo_dvec *sx, int xi);
+// <= sx[xi]
+double blasfeo_dvecex1(struct blasfeo_dvec *sx, int xi);
+// y <= x
+void blasfeo_dveccp(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi);
+// x <= alpha*x
+void blasfeo_dvecsc(int m, double alpha, struct blasfeo_dvec *sx, int xi);
+// y <= alpha*x
+void blasfeo_dveccpsc(int m, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi);
+void blasfeo_dvecad_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi);
+void blasfeo_dvecin_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi);
+void blasfeo_dvecex_sp(int m, double alpha, int *idx, struct blasfeo_dvec *sx, int x, struct blasfeo_dvec *sz, int zi);
+
+void blasfeo_dveccl(int m,
+	struct blasfeo_dvec *sxm, int xim, struct blasfeo_dvec *sx, int xi,
+	struct blasfeo_dvec *sxp, int xip, struct blasfeo_dvec *sz, int zi);
+
+void blasfeo_dveccl_mask(int m,
+	struct blasfeo_dvec *sxm, int xim, struct blasfeo_dvec *sx, int xi,
+	struct blasfeo_dvec *sxp, int xip, struct blasfeo_dvec *sz, int zi,
+	struct blasfeo_dvec *sm, int mi);
+
+void blasfeo_dvecze(int m, struct blasfeo_dvec *sm, int mi, struct blasfeo_dvec *sv, int vi, struct blasfeo_dvec *se, int ei);
+void blasfeo_dvecnrm_inf(int m, struct blasfeo_dvec *sx, int xi, double *ptr_norm);
+void blasfeo_dvecnrm_2(int m, struct blasfeo_dvec *sx, int xi, double *ptr_norm);
+void blasfeo_dvecpe(int kmax, int *ipiv, struct blasfeo_dvec *sx, int xi);
+void blasfeo_dvecpei(int kmax, int *ipiv, struct blasfeo_dvec *sx, int xi);
+
+
+
+
+
+/*
+* Explicitly panel-major matrix format
+*/
+
+// returns the memory size (in bytes) needed for a dmat
+size_t blasfeo_pm_memsize_dmat(int ps, int m, int n);
+// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated)
+void blasfeo_pm_create_dmat(int ps, int m, int n, struct blasfeo_pm_dmat *sA, void *memory);
+// print
+void blasfeo_pm_print_dmat(int m, int n, struct blasfeo_pm_dmat *sA, int ai, int aj);
+
+
+
+/*
+* Explicitly panel-major matrix format
+*/
+
+// returns the memory size (in bytes) needed for a dmat
+size_t blasfeo_cm_memsize_dmat(int m, int n);
+// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated)
+void blasfeo_cm_create_dmat(int m, int n, struct blasfeo_pm_dmat *sA, void *memory);
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BLASFEO_D_AUX_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_aux_ext_dep.h b/third_party/acados/include/blasfeo/include/blasfeo_d_aux_ext_dep.h
new file mode 100644
index 0000000000..bee9e986f1
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/blasfeo_d_aux_ext_dep.h
@@ -0,0 +1,145 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+/*
+ * auxiliary algebra operation external dependancies header
+ *
+ * include/blasfeo_d_aux_ext_dep.h
+ *
+ * - dynamic memory allocation
+ * - print
+ *
+ */
+
+#ifndef BLASFEO_D_AUX_EXT_DEP_H_
+#define BLASFEO_D_AUX_EXT_DEP_H_
+
+
+
+#include <stdio.h>
+
+
+
+#include "blasfeo_common.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+#ifdef EXT_DEP
+
+/* column-major matrices */
+
+// dynamically allocate row*col doubles of memory and set accordingly a pointer to double; set allocated memory to zero
+void d_zeros(double **pA, int row, int col);
+// dynamically allocate row*col doubles of memory aligned to 64-byte boundaries and set accordingly a pointer to double; set allocated memory to zero
+void d_zeros_align(double **pA, int row, int col);
+// dynamically allocate size bytes of memory aligned to 64-byte boundaries and set accordingly a pointer to double; set allocated memory to zero
+void d_zeros_align_bytes(double **pA, int size);
+// free the memory allocated by d_zeros
+void d_free(double *pA);
+// free the memory allocated by d_zeros_align or d_zeros_align_bytes
+void d_free_align(double *pA);
+// print a column-major matrix
+void d_print_mat(int m, int n, double *A, int lda);
+// print the transposed of a column-major matrix
+void d_print_tran_mat(int row, int col, double *A, int lda);
+// print to file a column-major matrix
+void d_print_to_file_mat(FILE *file, int row, int col, double *A, int lda);
+// print to file a column-major matrix in exponential format
+void d_print_to_file_exp_mat(FILE *file, int row, int col, double *A, int lda);
+// print to string a column-major matrix
+void d_print_to_string_mat(char **buf_out, int row, int col, double *A, int lda);
+// print to file the transposed of a column-major matrix
+void d_print_tran_to_file_mat(FILE *file, int row, int col, double *A, int lda);
+// print to file the transposed of a column-major matrix in exponential format
+void d_print_tran_to_file_exp_mat(FILE *file, int row, int col, double *A, int lda);
+// print in exponential notation a column-major matrix
+void d_print_exp_mat(int m, int n, double *A, int lda);
+// print in exponential notation the transposed of a column-major matrix
+void d_print_exp_tran_mat(int row, int col, double *A, int lda);
+
+/* strmat and strvec */
+
+// create a strmat for a matrix of size m*n by dynamically allocating memory
+void blasfeo_allocate_dmat(int m, int n, struct blasfeo_dmat *sA);
+// create a strvec for a vector of size m by dynamically allocating memory
+void blasfeo_allocate_dvec(int m, struct blasfeo_dvec *sa);
+// free the memory allocated by blasfeo_allocate_dmat
+void blasfeo_free_dmat(struct blasfeo_dmat *sA);
+// free the memory allocated by blasfeo_allocate_dvec
+void blasfeo_free_dvec(struct blasfeo_dvec *sa);
+// print a strmat
+void blasfeo_print_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
+// print in exponential notation a strmat
+void blasfeo_print_exp_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
+// print to file a strmat
+void blasfeo_print_to_file_dmat(FILE *file, int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
+// print to file a strmat in exponential format
+void blasfeo_print_to_file_exp_dmat(FILE *file, int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
+// print to string a strmat
+void blasfeo_print_to_string_dmat(char **buf_out, int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
+// print the transposed of a strmat
+void blasfeo_print_tran_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
+// print a strvec
+void blasfeo_print_dvec(int m, struct blasfeo_dvec *sa, int ai);
+// print in exponential notation a strvec
+void blasfeo_print_exp_dvec(int m, struct blasfeo_dvec *sa, int ai);
+// print to file a strvec
+void blasfeo_print_to_file_dvec(FILE *file, int m, struct blasfeo_dvec *sa, int ai);
+// print to string a strvec
+void blasfeo_print_to_string_dvec(char **buf_out, int m, struct blasfeo_dvec *sa, int ai);
+// print the transposed of a strvec
+void blasfeo_print_tran_dvec(int m, struct blasfeo_dvec *sa, int ai);
+// print in exponential notation the transposed of a strvec
+void blasfeo_print_exp_tran_dvec(int m, struct blasfeo_dvec *sa, int ai);
+// print to file the transposed of a strvec
+void blasfeo_print_to_file_tran_dvec(FILE *file, int m, struct blasfeo_dvec *sa, int ai);
+// print to string the transposed of a strvec
+void blasfeo_print_to_string_tran_dvec(char **buf_out, int m, struct blasfeo_dvec *sa, int ai);
+
+#endif // EXT_DEP
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BLASFEO_D_AUX_EXT_DEP_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_aux_ext_dep_ref.h b/third_party/acados/include/blasfeo/include/blasfeo_d_aux_ext_dep_ref.h
new file mode 100644
index 0000000000..81b811f032
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/blasfeo_d_aux_ext_dep_ref.h
@@ -0,0 +1,84 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+/*
+ * auxiliary algebra operation external dependancies header
+ *
+ * include/blasfeo_d_aux_ext_dep.h
+ *
+ * - dynamic memory allocation
+ * - print
+ *
+ */
+
+#ifndef BLASFEO_D_AUX_EXT_DEP_REF_H_
+#define BLASFEO_D_AUX_EXT_DEP_REF_H_
+
+
+#include <stdio.h>
+
+#include "blasfeo_common.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// expose reference BLASFEO for testing
+// see blasfeo_d_aux_exp_dep.h for help
+
+void blasfeo_print_dmat_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj);
+void blasfeo_allocate_dmat_ref(int m, int n, struct blasfeo_dmat_ref *sA);
+void blasfeo_allocate_dvec_ref(int m, struct blasfeo_dvec_ref *sa);
+void blasfeo_free_dmat_ref(struct blasfeo_dmat_ref *sA);
+void blasfeo_free_dvec_ref(struct blasfeo_dvec_ref *sa);
+void blasfeo_print_dmat_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj);
+void blasfeo_print_exp_dmat_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj);
+void blasfeo_print_to_file_dmat_ref(FILE *file, int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj);
+void blasfeo_print_to_file_exp_dmat_ref(FILE *file, int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj);
+void blasfeo_print_to_string_dmat_ref(char **buf_out, int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj);
+void blasfeo_print_dvec(int m, struct blasfeo_dvec *sa, int ai);
+void blasfeo_print_exp_dvec(int m, struct blasfeo_dvec *sa, int ai);
+void blasfeo_print_to_file_dvec(FILE *file, int m, struct blasfeo_dvec *sa, int ai);
+void blasfeo_print_to_string_dvec(char **buf_out, int m, struct blasfeo_dvec *sa, int ai);
+void blasfeo_print_tran_dvec(int m, struct blasfeo_dvec *sa, int ai);
+void blasfeo_print_exp_tran_dvec(int m, struct blasfeo_dvec *sa, int ai);
+void blasfeo_print_to_file_tran_dvec(FILE *file, int m, struct blasfeo_dvec *sa, int ai);
+void blasfeo_print_to_string_tran_dvec(char **buf_out, int m, struct blasfeo_dvec *sa, int ai);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BLASFEO_D_AUX_EXT_DEP_REF_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_aux_old.h b/third_party/acados/include/blasfeo/include/blasfeo_d_aux_old.h
new file mode 100644
index 0000000000..3a1847a6a0
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/blasfeo_d_aux_old.h
@@ -0,0 +1,75 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+/*
+ * ----------- TOMOVE
+ *
+ * expecting column major matrices
+ *
+ */
+
+#include "blasfeo_common.h"
+
+
+void dtrcp_l_lib(int m, double alpha, int offsetA, double *A, int sda, int offsetB, double *B, int sdb);
+void dgead_lib(int m, int n, double alpha, int offsetA, double *A, int sda, int offsetB, double *B, int sdb);
+// TODO remove ???
+void ddiain_sqrt_lib(int kmax, double *x, int offset, double *pD, int sdd);
+// TODO ddiaad1
+void ddiareg_lib(int kmax, double reg, int offset, double *pD, int sdd);
+
+
+void dgetr_lib(int m, int n, double alpha, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc);
+void dtrtr_l_lib(int m, double alpha, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc);
+void dtrtr_u_lib(int m, double alpha, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc);
+void ddiaex_lib(int kmax, double alpha, int offset, double *pD, int sdd, double *x);
+void ddiaad_lib(int kmax, double alpha, double *x, int offset, double *pD, int sdd);
+void ddiain_libsp(int kmax, int *idx, double alpha, double *x, double *pD, int sdd);
+void ddiaex_libsp(int kmax, int *idx, double alpha, double *pD, int sdd, double *x);
+void ddiaad_libsp(int kmax, int *idx, double alpha, double *x, double *pD, int sdd);
+void ddiaadin_libsp(int kmax, int *idx, double alpha, double *x, double *y, double *pD, int sdd);
+void drowin_lib(int kmax, double alpha, double *x, double *pD);
+void drowex_lib(int kmax, double alpha, double *pD, double *x);
+void drowad_lib(int kmax, double alpha, double *x, double *pD);
+void drowin_libsp(int kmax, double alpha, int *idx, double *x, double *pD);
+void drowad_libsp(int kmax, int *idx, double alpha, double *x, double *pD);
+void drowadin_libsp(int kmax, int *idx, double alpha, double *x, double *y, double *pD);
+void dcolin_lib(int kmax, double *x, int offset, double *pD, int sdd);
+void dcolad_lib(int kmax, double alpha, double *x, int offset, double *pD, int sdd);
+void dcolin_libsp(int kmax, int *idx, double *x, double *pD, int sdd);
+void dcolad_libsp(int kmax, double alpha, int *idx, double *x, double *pD, int sdd);
+void dcolsw_lib(int kmax, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc);
+void dvecin_libsp(int kmax, int *idx, double *x, double *y);
+void dvecad_libsp(int kmax, int *idx, double alpha, double *x, double *y);
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_aux_ref.h b/third_party/acados/include/blasfeo/include/blasfeo_d_aux_ref.h
new file mode 100644
index 0000000000..448234044a
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/blasfeo_d_aux_ref.h
@@ -0,0 +1,206 @@
+
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef BLASFEO_D_AUX_REF_H_
+#define BLASFEO_D_AUX_REF_H_
+
+
+
+#include <stdlib.h>
+
+#include "blasfeo_common.h"
+#include "blasfeo_d_aux_old.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+// --- memory calculations
+//
+// returns the memory size (in bytes) needed for a dmat
+size_t blasfeo_ref_memsize_dmat(int m, int n);
+// returns the memory size (in bytes) needed for the diagonal of a dmat
+size_t blasfeo_ref_memsize_diag_dmat(int m, int n);
+// returns the memory size (in bytes) needed for a dvec
+size_t blasfeo_ref_memsize_dvec(int m);
+
+// --- creation
+//
+// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated)
+void blasfeo_ref_create_dmat(int m, int n, struct blasfeo_dmat *sA, void *memory);
+// create a strvec for a vector of size m by using memory passed by a pointer (pointer is not updated)
+void blasfeo_ref_create_dvec(int m, struct blasfeo_dvec *sA, void *memory);
+
+// --- packing
+// pack the column-major matrix A into the matrix struct B
+void blasfeo_ref_pack_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj);
+// pack the lower-triangular column-major matrix A into the matrix struct B
+void blasfeo_ref_pack_l_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj);
+// pack the upper-triangular column-major matrix A into the matrix struct B
+void blasfeo_ref_pack_u_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj);
+// transpose and pack the column-major matrix A into the matrix struct B
+void blasfeo_ref_pack_tran_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj);
+// pack the vector x into the vector structure y
+void blasfeo_ref_pack_dvec(int m, double *x, int xi, struct blasfeo_dvec *sy, int yi);
+// unpack the matrix structure A into the column-major matrix B
+void blasfeo_ref_unpack_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, double *B, int ldb);
+// transpose and unpack the matrix structure A into the column-major matrix B
+void blasfeo_ref_unpack_tran_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, double *B, int ldb);
+// pack the vector structure x into the vector y
+void blasfeo_ref_unpack_dvec(int m, struct blasfeo_dvec *sx, int xi, double *y,  int yi);
+
+// --- cast
+//
+void ref_d_cast_mat2strmat(double *A, struct blasfeo_dmat *sA); // TODO
+void ref_d_cast_diag_mat2strmat(double *dA, struct blasfeo_dmat *sA); // TODO
+void ref_d_cast_vec2vecmat(double *a, struct blasfeo_dvec *sx); // TODO
+
+
+// ge
+// --- insert/extract
+//
+// sA[ai, aj] <= a
+void blasfeo_ref_dgein1(double a, struct blasfeo_dmat *sA, int ai, int aj);
+// <= sA[ai, aj]
+double blasfeo_ref_dgeex1(struct blasfeo_dmat *sA, int ai, int aj);
+
+// --- set
+// A <= alpha
+void blasfeo_ref_dgese(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
+
+// --- copy / scale
+// B <= A
+void blasfeo_ref_dgecp(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
+// A <= alpha*A
+void blasfeo_ref_dgesc(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
+// B <= alpha*A
+void blasfeo_ref_dgecpsc(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
+// B <= A, A lower triangular
+void blasfeo_ref_dtrcp_l(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
+void blasfeo_ref_dtrcpsc_l(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
+void blasfeo_ref_dtrsc_l(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
+
+// --- sum
+// B <= B + alpha*A
+void blasfeo_ref_dgead(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int yi, int cj);
+// y <= y + alpha*x
+void blasfeo_ref_dvecad(int m, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi);
+
+// --- traspositions
+// B <= A'
+void blasfeo_ref_dgetr(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
+// B <= A', A lower triangular
+void blasfeo_ref_dtrtr_l(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
+// B <= A', A upper triangular
+void blasfeo_ref_dtrtr_u(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj);
+
+// dia
+// diag(A) += alpha
+void blasfeo_ref_ddiare(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
+// diag(A) <= alpha*x
+void blasfeo_ref_ddiain(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
+// diag(A)[idx] <= alpha*x
+void blasfeo_ref_ddiain_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
+// x <= diag(A)
+void blasfeo_ref_ddiaex(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
+// x <= diag(A)[idx]
+void blasfeo_ref_ddiaex_sp(int kmax, double alpha, int *idx, struct blasfeo_dmat *sD, int di, int dj, struct blasfeo_dvec *sx, int xi);
+// diag(A) += alpha*x
+void blasfeo_ref_ddiaad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
+// diag(A)[idx] += alpha*x
+void blasfeo_ref_ddiaad_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
+// diag(A)[idx] = y + alpha*x
+void blasfeo_ref_ddiaadin_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
+
+// row
+void blasfeo_ref_drowin(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
+void blasfeo_ref_drowex(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
+void blasfeo_ref_drowad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
+void blasfeo_ref_drowad_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
+void blasfeo_ref_drowsw(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
+void blasfeo_ref_drowpe(int kmax, int *ipiv, struct blasfeo_dmat *sA);
+void blasfeo_ref_drowpei(int kmax, int *ipiv, struct blasfeo_dmat *sA);
+
+// col
+void blasfeo_ref_dcolex(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
+void blasfeo_ref_dcolin(int kmax, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
+void blasfeo_ref_dcolad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
+void blasfeo_ref_dcolsc(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
+void blasfeo_ref_dcolsw(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
+void blasfeo_ref_dcolpe(int kmax, int *ipiv, struct blasfeo_dmat *sA);
+void blasfeo_ref_dcolpei(int kmax, int *ipiv, struct blasfeo_dmat *sA);
+
+// vec
+// a <= alpha
+void blasfeo_ref_dvecse(int m, double alpha, struct blasfeo_dvec *sx, int xi);
+// sx[xi] <= a
+void blasfeo_ref_dvecin1(double a, struct blasfeo_dvec *sx, int xi);
+// <= sx[xi]
+double blasfeo_ref_dvecex1(struct blasfeo_dvec *sx, int xi);
+// y <= x
+void blasfeo_ref_dveccp(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi);
+// x <= alpha*x
+void blasfeo_ref_dvecsc(int m, double alpha, struct blasfeo_dvec *sx, int xi);
+// y <= alpha*x
+void blasfeo_ref_dveccpsc(int m, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi);
+void blasfeo_ref_dvecad_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi);
+void blasfeo_ref_dvecin_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi);
+void blasfeo_ref_dvecex_sp(int m, double alpha, int *idx, struct blasfeo_dvec *sx, int x, struct blasfeo_dvec *sz, int zi);
+
+void blasfeo_ref_dveccl(int m,
+	struct blasfeo_dvec *sxm, int xim, struct blasfeo_dvec *sx, int xi,
+	struct blasfeo_dvec *sxp, int xip, struct blasfeo_dvec *sz, int zi);
+
+void blasfeo_ref_dveccl_mask(int m,
+	struct blasfeo_dvec *sxm, int xim, struct blasfeo_dvec *sx, int xi,
+	struct blasfeo_dvec *sxp, int xip, struct blasfeo_dvec *sz, int zi,
+	struct blasfeo_dvec *sm, int mi);
+
+void blasfeo_ref_dvecze(int m, struct blasfeo_dvec *sm, int mi, struct blasfeo_dvec *sv, int vi, struct blasfeo_dvec *se, int ei);
+void blasfeo_ref_dvecnrm_inf(int m, struct blasfeo_dvec *sx, int xi, double *ptr_norm);
+void blasfeo_ref_dvecpe(int kmax, int *ipiv, struct blasfeo_dvec *sx, int xi);
+void blasfeo_ref_dvecpei(int kmax, int *ipiv, struct blasfeo_dvec *sx, int xi);
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BLASFEO_D_AUX_REF_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_aux_test.h b/third_party/acados/include/blasfeo/include/blasfeo_d_aux_test.h
new file mode 100644
index 0000000000..1c61635f3f
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/blasfeo_d_aux_test.h
@@ -0,0 +1,226 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+/*
+ * auxiliary algebra operations header
+ *
+ * include/blasfeo_aux_lib*.h
+ *
+ */
+
+#ifndef BLASFEO_D_AUX_TEST_H_
+#define BLASFEO_D_AUX_TEST_H_
+
+#include "blasfeo_common.h"
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// --- memory calculations
+int test_blasfeo_memsize_dmat(int m, int n);
+int test_blasfeo_memsize_diag_dmat(int m, int n);
+int test_blasfeo_memsize_dvec(int m);
+
+// --- creation
+void test_blasfeo_create_dmat(int m, int n, struct blasfeo_dmat *sA, void *memory);
+void test_blasfeo_create_dvec(int m, struct blasfeo_dvec *sA, void *memory);
+
+// --- conversion
+void test_blasfeo_pack_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sA, int ai, int aj);
+void test_blasfeo_pack_dvec(int m, double *x, int xi, struct blasfeo_dvec *sa, int ai);
+void test_blasfeo_pack_tran_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sA, int ai, int aj);
+void test_blasfeo_unpack_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, double *A, int lda);
+void test_blasfeo_unpack_dvec(int m, struct blasfeo_dvec *sa, int ai, double *x, int xi);
+void test_blasfeo_unpack_tran_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, double *A, int lda);
+
+// --- cast
+void test_d_cast_mat2strmat(double *A, struct blasfeo_dmat *sA);
+void test_d_cast_diag_mat2strmat(double *dA, struct blasfeo_dmat *sA);
+void test_d_cast_vec2vecmat(double *a, struct blasfeo_dvec *sa);
+
+// ------ copy / scale
+
+// B <= A
+void test_blasfeo_dgecp(int m, int n,
+					struct blasfeo_dmat *sA, int ai, int aj,
+					struct blasfeo_dmat *sB, int bi, int bj);
+
+// A <= alpha*A
+void test_blasfeo_dgesc(int m, int n,
+					double alpha,
+					struct blasfeo_dmat *sA, int ai, int aj);
+
+// B <= alpha*A
+void test_blasfeo_dgecpsc(int m, int n,
+					double alpha,
+					struct blasfeo_dmat *sA, int ai, int aj,
+					struct blasfeo_dmat *sB, int bi, int bj);
+
+// // --- insert/extract
+// //
+// // <= sA[ai, aj]
+// void test_blasfeo_dgein1(double a, struct blasfeo_dmat *sA, int ai, int aj);
+// // <= sA[ai, aj]
+// double blasfeo_dgeex1(struct blasfeo_dmat *sA, int ai, int aj);
+// // sx[xi] <= a
+// void test_blasfeo_dvecin1(double a, struct blasfeo_dvec *sx, int xi);
+// // <= sx[xi]
+// double blasfeo_dvecex1(struct blasfeo_dvec *sx, int xi);
+// // A <= alpha
+
+// // --- set
+// void test_blasfeo_dgese(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
+// // a <= alpha
+// void test_blasfeo_dvecse(int m, double alpha, struct blasfeo_dvec *sx, int xi);
+// // B <= A
+
+
+// // --- vector
+// // y <= x
+// void test_blasfeo_dveccp(int m, struct blasfeo_dvec *sa, int ai, struct blasfeo_dvec *sc, int ci);
+// // x <= alpha*x
+// void test_blasfeo_dvecsc(int m, double alpha, struct blasfeo_dvec *sa, int ai);
+// // TODO
+// // x <= alpha*x
+// void test_blasfeo_dveccpsc(int m, double alpha, struct blasfeo_dvec *sa, int ai, struct blasfeo_dvec *sc, int ci);
+
+
+// // B <= A, A lower triangular
+// void test_blasfeo_dtrcp_l(int m,
+//                     struct blasfeo_dmat *sA, int ai, int aj,
+//                     struct blasfeo_dmat *sB, int bi, int bj);
+
+// void test_blasfeo_dtrcpsc_l(int m, double alpha,
+//                     struct blasfeo_dmat *sA, int ai, int aj,
+//                     struct blasfeo_dmat *sB, int bi, int bj);
+
+// void test_blasfeo_dtrsc_l(int m, double alpha,
+//                     struct blasfeo_dmat *sA, int ai, int aj);
+
+
+// // B <= B + alpha*A
+// void test_blasfeo_dgead(int m, int n, double alpha,
+//                     struct blasfeo_dmat *sA, int ai, int aj,
+//                     struct blasfeo_dmat *sC, int ci, int cj);
+
+// // y <= y + alpha*x
+// void test_blasfeo_dvecad(int m, double alpha,
+//                     struct blasfeo_dvec *sa, int ai,
+//                     struct blasfeo_dvec *sc, int ci);
+
+// // --- traspositions
+// void test_dgetr_lib(int m, int n, double alpha, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc);
+// void test_blasfeo_dgetr(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
+// void test_dtrtr_l_lib(int m, double alpha, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc);
+// void test_blasfeo_dtrtr_l(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
+// void test_dtrtr_u_lib(int m, double alpha, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc);
+// void test_blasfeo_dtrtr_u(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
+// void test_blasfeo_ddiare(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj);
+// void test_blasfeo_ddiain(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
+// void test_ddiaex_lib(int kmax, double alpha, int offset, double *pD, int sdd, double *x);
+// void test_ddiaad_lib(int kmax, double alpha, double *x, int offset, double *pD, int sdd);
+// void test_ddiain_libsp(int kmax, int *idx, double alpha, double *x, double *pD, int sdd);
+// void test_blasfeo_ddiain_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
+// void test_ddiaex_libsp(int kmax, int *idx, double alpha, double *pD, int sdd, double *x);
+// void test_blasfeo_ddiaex(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
+// void test_blasfeo_ddiaex_sp(int kmax, double alpha, int *idx, struct blasfeo_dmat *sD, int di, int dj, struct blasfeo_dvec *sx, int xi);
+// void test_blasfeo_ddiaad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
+// void test_ddiaad_libsp(int kmax, int *idx, double alpha, double *x, double *pD, int sdd);
+// void test_blasfeo_ddiaad_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
+// void test_ddiaadin_libsp(int kmax, int *idx, double alpha, double *x, double *y, double *pD, int sdd);
+// void test_blasfeo_ddiaadin_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
+// void test_drowin_lib(int kmax, double alpha, double *x, double *pD);
+// void test_blasfeo_drowin(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
+// void test_drowex_lib(int kmax, double alpha, double *pD, double *x);
+// void test_blasfeo_drowex(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
+// void test_drowad_lib(int kmax, double alpha, double *x, double *pD);
+// void test_blasfeo_drowad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
+// void test_drowin_libsp(int kmax, double alpha, int *idx, double *x, double *pD);
+// void test_drowad_libsp(int kmax, int *idx, double alpha, double *x, double *pD);
+// void test_blasfeo_drowad_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj);
+// void test_drowadin_libsp(int kmax, int *idx, double alpha, double *x, double *y, double *pD);
+// void test_drowsw_lib(int kmax, double *pA, double *pC);
+// void test_blasfeo_drowsw(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
+// void test_blasfeo_drowpe(int kmax, int *ipiv, struct blasfeo_dmat *sA);
+// void test_blasfeo_dcolex(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi);
+// void test_dcolin_lib(int kmax, double *x, int offset, double *pD, int sdd);
+// void test_blasfeo_dcolin(int kmax, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj);
+// void test_dcolad_lib(int kmax, double alpha, double *x, int offset, double *pD, int sdd);
+// void test_dcolin_libsp(int kmax, int *idx, double *x, double *pD, int sdd);
+// void test_dcolad_libsp(int kmax, double alpha, int *idx, double *x, double *pD, int sdd);
+// void test_dcolsw_lib(int kmax, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc);
+// void test_blasfeo_dcolsw(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj);
+// void test_blasfeo_dcolpe(int kmax, int *ipiv, struct blasfeo_dmat *sA);
+// void test_dvecin_libsp(int kmax, int *idx, double *x, double *y);
+// void test_dvecad_libsp(int kmax, int *idx, double alpha, double *x, double *y);
+// void test_blasfeo_dvecad_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi);
+// void test_blasfeo_dvecin_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi);
+// void test_blasfeo_dvecex_sp(int m, double alpha, int *idx, struct blasfeo_dvec *sx, int x, struct blasfeo_dvec *sz, int zi);
+// void test_blasfeo_dveccl(int m, struct blasfeo_dvec *sxm, int xim, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sxp, int xip, struct blasfeo_dvec *sz, int zi);
+// void test_blasfeo_dveccl_mask(int m, struct blasfeo_dvec *sxm, int xim, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sxp, int xip, struct blasfeo_dvec *sz, int zi, struct blasfeo_dvec *sm, int mi);
+// void test_blasfeo_dvecze(int m, struct blasfeo_dvec *sm, int mi, struct blasfeo_dvec *sv, int vi, struct blasfeo_dvec *se, int ei);
+// void test_blasfeo_dvecnrm_inf(int m, struct blasfeo_dvec *sx, int xi, double *ptr_norm);
+// void test_blasfeo_dvecpe(int kmax, int *ipiv, struct blasfeo_dvec *sx, int xi);
+// void test_blasfeo_dvecpei(int kmax, int *ipiv, struct blasfeo_dvec *sx, int xi);
+
+// ext_dep
+
+void test_blasfeo_allocate_dmat(int m, int n, struct blasfeo_dmat *sA);
+void test_blasfeo_allocate_dvec(int m, struct blasfeo_dvec *sa);
+
+void test_blasfeo_free_dmat(struct blasfeo_dmat *sA);
+void test_blasfeo_free_dvec(struct blasfeo_dvec *sa);
+
+void test_blasfeo_print_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
+void test_blasfeo_print_dvec(int m, struct blasfeo_dvec *sa, int ai);
+void test_blasfeo_print_tran_dvec(int m, struct blasfeo_dvec *sa, int ai);
+
+void test_blasfeo_print_to_file_dmat(FILE *file, int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
+void test_blasfeo_print_to_file_dvec(FILE *file, int m, struct blasfeo_dvec *sa, int ai);
+void test_blasfeo_print_to_file_tran_dvec(FILE *file, int m, struct blasfeo_dvec *sa, int ai);
+
+void test_blasfeo_print_exp_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj);
+void test_blasfeo_print_exp_dvec(int m, struct blasfeo_dvec *sa, int ai);
+void test_blasfeo_print_exp_tran_dvec(int m, struct blasfeo_dvec *sa, int ai);
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BLASFEO_D_AUX_TEST_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_blas.h b/third_party/acados/include/blasfeo/include/blasfeo_d_blas.h
new file mode 100644
index 0000000000..ea8d006731
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/blasfeo_d_blas.h
@@ -0,0 +1,46 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef BLASFEO_D_BLAS_H_
+#define BLASFEO_D_BLAS_H_
+
+
+
+#include "blasfeo_d_blasfeo_api.h"
+#include "blasfeo_d_blas_api.h"
+
+
+
+#endif  // BLASFEO_D_BLAS_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_blas_api.h b/third_party/acados/include/blasfeo/include/blasfeo_d_blas_api.h
new file mode 100644
index 0000000000..64dd43f677
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/blasfeo_d_blas_api.h
@@ -0,0 +1,161 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+
+#ifndef BLASFEO_D_BLAS_API_H_
+#define BLASFEO_D_BLAS_API_H_
+
+
+
+#include "blasfeo_target.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+#ifdef BLAS_API
+
+
+
+#ifdef FORTRAN_BLAS_API
+
+
+
+// BLAS 1
+//
+void daxpy_(int *n, double *alpha, double *x, int *incx, double *y, int *incy);
+//
+void dcopy_(int *n, double *x, int *incx, double *y, int *incy);
+//
+double ddot_(int *n, double *x, int *incx, double *y, int *incy);
+
+// BLAS 3
+//
+void dgemm_(char *ta, char *tb, int *m, int *n, int *k, double *alpha, double *A, int *lda, double *B, int *ldb, double *beta, double *C, int *ldc);
+//
+void dsyrk_(char *uplo, char *ta, int *m, int *k, double *alpha, double *A, int *lda, double *beta, double *C, int *ldc);
+//
+void dtrmm_(char *side, char *uplo, char *transa, char *diag, int *m, int *n, double *alpha, double *A, int *lda, double *B, int *ldb);
+//
+void dtrsm_(char *side, char *uplo, char *transa, char *diag, int *m, int *n, double *alpha, double *A, int *lda, double *B, int *ldb);
+
+
+
+// LAPACK
+//
+void dgesv_(int *m, int *n, double *A, int *lda, int *ipiv, double *B, int *ldb, int *info);
+//
+void dgetrf_(int *m, int *n, double *A, int *lda, int *ipiv, int *info);
+//
+void dgetrf_np_(int *m, int *n, double *A, int *lda, int *info);
+//
+void dgetrs_(char *trans, int *m, int *n, double *A, int *lda, int *ipiv, double *B, int *ldb, int *info);
+//
+void dlaswp_(int *n, double *A, int *lda, int *k1, int *k2, int *ipiv, int *incx);
+//
+void dposv_(char *uplo, int *m, int *n, double *A, int *lda, double *B, int *ldb, int *info);
+//
+void dpotrf_(char *uplo, int *m, double *A, int *lda, int *info);
+//
+void dpotrs_(char *uplo, int *m, int *n, double *A, int *lda, double *B, int *ldb, int *info);
+//
+void dtrtrs_(char *uplo, char *trans, char *diag, int *m, int *n, double *A, int *lda, double *B, int *ldb, int *info);
+
+
+
+#else // BLASFEO_API
+
+
+
+// BLAS 1
+//
+void blas_daxpy(int *n, double *alpha, double *x, int *incx, double *y, int *incy);
+//
+double blas_ddot(int *n, double *x, int *incx, double *y, int *incy);
+//
+void blas_dcopy(int *n, double *x, int *incx, double *y, int *incy);
+
+// BLAS 3
+//
+void blas_dgemm(char *ta, char *tb, int *m, int *n, int *k, double *alpha, double *A, int *lda, double *B, int *ldb, double *beta, double *C, int *ldc);
+//
+void blas_dsyrk(char *uplo, char *ta, int *m, int *k, double *alpha, double *A, int *lda, double *beta, double *C, int *ldc);
+//
+void blas_dtrmm(char *side, char *uplo, char *transa, char *diag, int *m, int *n, double *alpha, double *A, int *lda, double *B, int *ldb);
+//
+void blas_dtrsm(char *side, char *uplo, char *transa, char *diag, int *m, int *n, double *alpha, double *A, int *lda, double *B, int *ldb);
+
+
+
+// LAPACK
+//
+void blas_dgesv(int *m, int *n, double *A, int *lda, int *ipiv, double *B, int *ldb, int *info);
+//
+void blas_dgetrf(int *m, int *n, double *A, int *lda, int *ipiv, int *info);
+//
+void blas_dgetrf_np(int *m, int *n, double *A, int *lda, int *info);
+//
+void blas_dgetrs(char *trans, int *m, int *n, double *A, int *lda, int *ipiv, double *B, int *ldb, int *info);
+//
+void blas_dlaswp(int *n, double *A, int *lda, int *k1, int *k2, int *ipiv, int *incx);
+//
+void blas_dposv(char *uplo, int *m, int *n, double *A, int *lda, double *B, int *ldb, int *info);
+//
+void blas_dpotrf(char *uplo, int *m, double *A, int *lda, int *info);
+//
+void blas_dpotrs(char *uplo, int *m, int *n, double *A, int *lda, double *B, int *ldb, int *info);
+//
+void blas_dtrtrs(char *uplo, char *trans, char *diag, int *m, int *n, double *A, int *lda, double *B, int *ldb, int *info);
+
+
+
+#endif // BLASFEO_API
+
+
+
+#endif // BLAS_API
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BLASFEO_D_BLAS_API_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_api.h b/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_api.h
new file mode 100644
index 0000000000..f27264e133
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_api.h
@@ -0,0 +1,342 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef BLASFEO_D_BLASFEO_API_H_
+#define BLASFEO_D_BLASFEO_API_H_
+
+
+
+#include "blasfeo_common.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+//
+// level 1 BLAS
+//
+
+// z = y + alpha*x
+// z[zi:zi+n] = alpha*x[xi:xi+n] + y[yi:yi+n]
+// NB: Different arguments semantic compare to equivalent standard BLAS routine
+void blasfeo_daxpy(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
+// z = beta*y + alpha*x
+void blasfeo_daxpby(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
+// z = x .* y
+void blasfeo_dvecmul(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
+// z += x .* y
+void blasfeo_dvecmulacc(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
+// z = x .* y, return sum(z) = x^T * y
+double blasfeo_dvecmuldot(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
+// return x^T * y
+double blasfeo_ddot(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi);
+// construct givens plane rotation
+void blasfeo_drotg(double a, double b, double *c, double *s);
+// apply plane rotation [a b] [c -s; s; c] to the aj0 and aj1 columns of A at row index ai
+void blasfeo_dcolrot(int m, struct blasfeo_dmat *sA, int ai, int aj0, int aj1, double c, double s);
+// apply plane rotation [c s; -s c] [a; b] to the ai0 and ai1 rows of A at column index aj
+void blasfeo_drowrot(int m, struct blasfeo_dmat *sA, int ai0, int ai1, int aj, double c, double s);
+
+
+
+//
+// level 2 BLAS
+//
+
+// dense
+
+// z <= beta * y + alpha * A * x
+void blasfeo_dgemv_n(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
+// z <= beta * y + alpha * A^T * x
+void blasfeo_dgemv_t(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
+// z <= inv( A ) * x, A (m)x(n)
+void blasfeo_dtrsv_lnn_mn(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= inv( A^T ) * x, A (m)x(n)
+void blasfeo_dtrsv_ltn_mn(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, not_unit
+void blasfeo_dtrsv_lnn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, unit
+void blasfeo_dtrsv_lnu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= inv( A^T ) * x, A (m)x(m) lower, transposed, not_unit
+void blasfeo_dtrsv_ltn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= inv( A^T ) * x, A (m)x(m) lower, transposed, unit
+void blasfeo_dtrsv_ltu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= inv( A^T ) * x, A (m)x(m) upper, not_transposed, not_unit
+void blasfeo_dtrsv_unn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= inv( A^T ) * x, A (m)x(m) upper, transposed, not_unit
+void blasfeo_dtrsv_utn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= beta * y + alpha * A * x ; A upper triangular
+void blasfeo_dtrmv_unn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= A^T * x ; A upper triangular
+void blasfeo_dtrmv_utn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= A * x ; A lower triangular
+void blasfeo_dtrmv_lnn(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= A^T * x ; A lower triangular
+void blasfeo_dtrmv_ltn(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= A * x ; A lower triangular, unit diagonal
+void blasfeo_dtrmv_lnu(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= A^T * x ; A lower triangular, unit diagonal
+void blasfeo_dtrmv_ltu(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z_n <= beta_n * y_n + alpha_n * A  * x_n
+// z_t <= beta_t * y_t + alpha_t * A^T * x_t
+void blasfeo_dgemv_nt(int m, int n, double alpha_n, double alpha_t, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx_n, int xi_n, struct blasfeo_dvec *sx_t, int xi_t, double beta_n, double beta_t, struct blasfeo_dvec *sy_n, int yi_n, struct blasfeo_dvec *sy_t, int yi_t, struct blasfeo_dvec *sz_n, int zi_n, struct blasfeo_dvec *sz_t, int zi_t);
+// z <= beta * y + alpha * A * x, where A is symmetric and only the lower triangular patr of A is accessed
+void blasfeo_dsymv_l(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
+void blasfeo_dsymv_l_mn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
+
+// diagonal
+
+// z <= beta * y + alpha * A * x, A diagonal
+void blasfeo_dgemv_d(int m, double alpha, struct blasfeo_dvec *sA, int ai, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
+
+
+
+//
+// level 3 BLAS
+//
+
+// dense
+
+// D <= beta * C + alpha * A * B
+void blasfeo_dgemm_nn(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= beta * C + alpha * A * B^T
+void blasfeo_dgemm_nt(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= beta * C + alpha * A^T * B
+void blasfeo_dgemm_tn(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= beta * C + alpha * A^T * B^T
+void blasfeo_dgemm_tt(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= beta * C + alpha * A * B^T ; C, D lower triangular
+void blasfeo_dsyrk_ln(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+void blasfeo_dsyrk_ln_mn(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+#if ( defined(LA_HIGH_PERFORMANCE) & defined(MF_COLMAJ) )
+void blasfeo_dsyrk3_ln(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+#endif
+// D <= beta * C + alpha * A^T * B ; C, D lower triangular
+void blasfeo_dsyrk_lt(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+#if ( defined(LA_HIGH_PERFORMANCE) & defined(MF_COLMAJ) )
+void blasfeo_dsyrk3_lt(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+#endif
+// D <= beta * C + alpha * A * B^T ; C, D upper triangular
+void blasfeo_dsyrk_un(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+#if ( defined(LA_HIGH_PERFORMANCE) & defined(MF_COLMAJ) )
+void blasfeo_dsyrk3_un(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+#endif
+// D <= beta * C + alpha * A^T * B ; C, D upper triangular
+void blasfeo_dsyrk_ut(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+#if ( defined(LA_HIGH_PERFORMANCE) & defined(MF_COLMAJ) )
+void blasfeo_dsyrk3_ut(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+#endif
+// D <= alpha * A * B ; A lower triangular
+void blasfeo_dtrmm_llnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A * B ; A lower triangular
+void blasfeo_dtrmm_llnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A^T * B ; A lower triangular
+void blasfeo_dtrmm_lltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A^T * B ; A lower triangular
+void blasfeo_dtrmm_lltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A * B ; A upper triangular
+void blasfeo_dtrmm_lunn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A * B ; A upper triangular
+void blasfeo_dtrmm_lunu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A^T * B ; A upper triangular
+void blasfeo_dtrmm_lutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A^T * B ; A upper triangular
+void blasfeo_dtrmm_lutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A ; A lower triangular
+void blasfeo_dtrmm_rlnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A ; A lower triangular
+void blasfeo_dtrmm_rlnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A^T ; A lower triangular
+void blasfeo_dtrmm_rltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A^T ; A lower triangular
+void blasfeo_dtrmm_rltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A ; A upper triangular
+void blasfeo_dtrmm_runn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A ; A upper triangular
+void blasfeo_dtrmm_runu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A^T ; A upper triangular
+void blasfeo_dtrmm_rutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A^T ; A upper triangular
+void blasfeo_dtrmm_rutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A^{-1} * B , with A lower triangular employint explicit inverse of diagonal
+// D <= alpha * A^{-1} * B , with A lower triangular employing explicit inverse of diagonal
+void blasfeo_dtrsm_llnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A^{-1} * B , with A lower triangular with unit diagonal
+void blasfeo_dtrsm_llnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A^{-T} * B , with A lower triangular employing explicit inverse of diagonal
+void blasfeo_dtrsm_lltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A^{-T} * B , with A lower triangular with unit diagonal
+void blasfeo_dtrsm_lltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A^{-1} * B , with A upper triangular employing explicit inverse of diagonal
+void blasfeo_dtrsm_lunn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A^{-1} * B , with A upper triangular with unit diagonal
+void blasfeo_dtrsm_lunu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A^{-T} * B , with A upper triangular employing explicit inverse of diagonal
+void blasfeo_dtrsm_lutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A^{-T} * B , with A upper triangular with unit diagonal
+void blasfeo_dtrsm_lutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A^{-1} , with A lower triangular employing explicit inverse of diagonal
+void blasfeo_dtrsm_rlnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A^{-1} , with A lower triangular with unit diagonal
+void blasfeo_dtrsm_rlnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A^{-T} , with A lower triangular employing explicit inverse of diagonal
+void blasfeo_dtrsm_rltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A^{-T} , with A lower triangular with unit diagonal
+void blasfeo_dtrsm_rltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A^{-1} , with A upper triangular employing explicit inverse of diagonal
+void blasfeo_dtrsm_runn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A^{-1} , with A upper triangular with unit diagonal
+void blasfeo_dtrsm_runu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A^{-T} , with A upper triangular employing explicit inverse of diagonal
+void blasfeo_dtrsm_rutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A^{-T} , with A upper triangular with unit diagonal
+void blasfeo_dtrsm_rutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+
+// diagonal
+
+// D <= alpha * A * B + beta * C, with A diagonal (stored as strvec)
+void dgemm_diag_left_lib(int m, int n, double alpha, double *dA, double *pB, int sdb, double beta, double *pC, int sdc, double *pD, int sdd);
+void blasfeo_dgemm_dn(int m, int n, double alpha, struct blasfeo_dvec *sA, int ai, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A * B + beta * C, with B diagonal (stored as strvec)
+void blasfeo_dgemm_nd(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sB, int bi, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+
+
+
+//
+// LAPACK
+//
+
+// D <= chol( C ) ; C, D lower triangular
+void blasfeo_dpotrf_l(int m, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+void blasfeo_dpotrf_l_mn(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= chol( C ) ; C, D upper triangular
+void blasfeo_dpotrf_u(int m, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= chol( C + A * B' ) ; C, D lower triangular
+// D <= chol( C + A * B^T ) ; C, D lower triangular
+void blasfeo_dsyrk_dpotrf_ln(int m, int k, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+void blasfeo_dsyrk_dpotrf_ln_mn(int m, int n, int k, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= lu( C ) ; no pivoting
+void blasfeo_dgetrf_np(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= lu( C ) ; row pivoting
+void blasfeo_dgetrf_rp(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, int *ipiv);
+// D <= qr( C )
+int blasfeo_dgeqrf_worksize(int m, int n); // in bytes
+void blasfeo_dgeqrf(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work);
+// D <= Q factor, where C is the output of the LQ factorization
+int blasfeo_dorglq_worksize(int m, int n, int k); // in bytes
+void blasfeo_dorglq(int m, int n, int k, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work);
+// D <= lq( C )
+void blasfeo_dgelqf(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work);
+int blasfeo_dgelqf_worksize(int m, int n); // in bytes
+// D <= lq( C ), positive diagonal elements
+void blasfeo_dgelqf_pd(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work);
+// [L, A] <= lq( [L, A] ), positive diagonal elements, array of matrices, with
+// L lower triangular, of size (m)x(m)
+// A full, of size (m)x(n1)
+void blasfeo_dgelqf_pd_la(int m, int n1, struct blasfeo_dmat *sL, int li, int lj, struct blasfeo_dmat *sA, int ai, int aj, void *work);
+// [L, L, A] <= lq( [L, L, A] ), positive diagonal elements, array of matrices, with:
+// L lower triangular, of size (m)x(m)
+// A full, of size (m)x(n1)
+void blasfeo_dgelqf_pd_lla(int m, int n1, struct blasfeo_dmat *sL0, int l0i, int l0j, struct blasfeo_dmat *sL1, int l1i, int l1j, struct blasfeo_dmat *sA, int ai, int aj, void *work);
+
+
+
+//
+// BLAS API helper functions
+//
+
+#if ( defined(BLAS_API) & defined(MF_PANELMAJ) )
+// BLAS 3
+void blasfeo_cm_dgemm_nn(int m, int n, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dgemm_nt(int m, int n, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dgemm_tn(int m, int n, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dgemm_tt(int m, int n, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dsyrk_ln(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dsyrk_lt(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dsyrk_un(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dsyrk_ut(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dsyrk3_ln(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dsyrk3_lt(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dsyrk3_un(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dsyrk3_ut(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrsm_llnn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrsm_llnu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrsm_lltn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrsm_lltu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrsm_lunn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrsm_lunu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrsm_lutn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrsm_lutu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrsm_rlnn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrsm_rlnu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrsm_rltn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrsm_rltu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrsm_runn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrsm_runu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrsm_rutn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrsm_rutu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrmm_llnn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrmm_llnu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrmm_lltn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrmm_lltu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrmm_lunn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrmm_lunu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrmm_lutn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrmm_lutu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrmm_rlnn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrmm_rlnu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrmm_rltn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrmm_rltu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrmm_runn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrmm_runu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrmm_rutn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dtrmm_rutu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj);
+// LAPACK
+void blasfeo_cm_dpotrf_l(int m, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dpotrf_u(int m, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj);
+void blasfeo_cm_dgetrf_rp(int m, int n, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj, int *ipiv);
+#endif
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BLASFEO_D_BLASFEO_API_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_api_ref.h b/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_api_ref.h
new file mode 100644
index 0000000000..141a1f0f06
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_api_ref.h
@@ -0,0 +1,147 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef BLASFEO_D_BLASFEO_API_REF_H_
+#define BLASFEO_D_BLASFEO_API_REF_H_
+
+#include "blasfeo_common.h"
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+// expose reference BLASFEO for testing
+
+// --- level 1
+
+void blasfeo_daxpy_ref(int kmax, double alpha, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi);
+void blasfeo_daxpby_ref(int kmax, double alpha, struct blasfeo_dvec_ref *sx, int xi, double beta, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi);
+void blasfeo_dvecmul_ref(int m, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi);
+void blasfeo_dvecmulacc_ref(int m, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi);
+double blasfeo_dvecmuldot_ref(int m, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi);
+double blasfeo_ddot_ref(int m, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sy, int yi);
+void blasfeo_drotg_ref(double a, double b, double *c, double *s);
+void blasfeo_dcolrot_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj0, int aj1, double c, double s);
+void blasfeo_drowrot_ref(int m, struct blasfeo_dmat_ref *sA, int ai0, int ai1, int aj, double c, double s);
+
+
+// --- level 2
+
+// dense
+void blasfeo_dgemv_n_ref(int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, double beta, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi);
+void blasfeo_dgemv_t_ref(int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, double beta, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi);
+void blasfeo_dtrsv_lnn_mn_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
+void blasfeo_dtrsv_ltn_mn_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
+void blasfeo_dtrsv_lnn_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
+void blasfeo_dtrsv_lnu_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
+void blasfeo_dtrsv_ltn_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
+void blasfeo_dtrsv_ltu_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
+void blasfeo_dtrsv_unn_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
+void blasfeo_dtrsv_utn_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
+void blasfeo_dtrmv_unn_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
+void blasfeo_dtrmv_utn_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
+void blasfeo_dtrmv_lnn_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
+void blasfeo_dtrmv_ltn_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
+void blasfeo_dtrmv_lnu_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
+void blasfeo_dtrmv_ltu_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi);
+void blasfeo_dgemv_nt_ref(int m, int n, double alpha_n, double alpha_t, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx_n, int xi_n, struct blasfeo_dvec_ref *sx_t, int xi_t, double beta_n, double beta_t, struct blasfeo_dvec_ref *sy_n, int yi_n, struct blasfeo_dvec_ref *sy_t, int yi_t, struct blasfeo_dvec_ref *sz_n, int zi_n, struct blasfeo_dvec_ref *sz_t, int zi_t);
+void blasfeo_dsymv_l_ref(int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, double beta, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi);
+
+// diagonal
+void blasfeo_dgemv_d_ref(int m, double alpha, struct blasfeo_dvec_ref *sA, int ai, struct blasfeo_dvec_ref *sx, int xi, double beta, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi);
+
+
+// --- level 3
+
+// dense
+void blasfeo_dgemm_nn_ref( int m, int n, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dgemm_nt_ref( int m, int n, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dgemm_tn_ref(int m, int n, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dgemm_tt_ref(int m, int n, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
+
+void blasfeo_dsyrk_ln_mn_ref( int m, int n, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dsyrk_ln_ref( int m, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dsyrk_lt_ref( int m, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dsyrk_un_ref( int m, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dsyrk_ut_ref( int m, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
+
+void blasfeo_dtrmm_rutn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dtrmm_rlnn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
+
+void blasfeo_dtrsm_lunu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dtrsm_lunn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dtrsm_lutu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dtrsm_lutn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dtrsm_llnu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dtrsm_llnn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dtrsm_lltu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dtrsm_lltn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dtrsm_runu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dtrsm_runn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dtrsm_rutu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dtrsm_rutn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dtrsm_rlnu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dtrsm_rlnn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dtrsm_rltu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dtrsm_rltn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj);
+
+// diagonal
+void dgemm_diag_left_lib_ref(int m, int n, double alpha, double *dA, double *pB, int sdb, double beta, double *pC, int sdc, double *pD, int sdd);
+void blasfeo_dgemm_dn_ref(int m, int n, double alpha, struct blasfeo_dvec_ref *sA, int ai, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dgemm_nd_ref(int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sB, int bi, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
+
+// --- lapack
+
+void blasfeo_dgetrf_nopivot_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dgetrf_rowpivot_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj, int *ipiv);
+void blasfeo_dpotrf_l_ref(int m, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dpotrf_l_mn_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dsyrk_dpotrf_ln_ref(int m, int k, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dsyrk_dpotrf_ln_mn_ref(int m, int n, int k, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dgetrf_nopivot_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj);
+void blasfeo_dgetrf_rowpivot_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj, int *ipiv);
+void blasfeo_dgeqrf_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj, void *work);
+void blasfeo_dgelqf_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj, void *work);
+void blasfeo_dgelqf_pd_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj, void *work);
+void blasfeo_dgelqf_pd_la_ref(int m, int n1, struct blasfeo_dmat_ref *sL, int li, int lj, struct blasfeo_dmat_ref *sA, int ai, int aj, void *work);
+void blasfeo_dgelqf_pd_lla_ref(int m, int n1, struct blasfeo_dmat_ref *sL0, int l0i, int l0j, struct blasfeo_dmat_ref *sL1, int l1i, int l1j, struct blasfeo_dmat_ref *sA, int ai, int aj, void *work);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BLASFEO_D_BLASFEO_API_REF_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_ref_api.h b/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_ref_api.h
new file mode 100644
index 0000000000..eaac365817
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_ref_api.h
@@ -0,0 +1,270 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef BLASFEO_D_BLASFEO_REF_API_H_
+#define BLASFEO_D_BLASFEO_REF_API_H_
+
+
+
+#include "blasfeo_common.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+//
+// level 1 BLAS
+//
+
+// z = y + alpha*x
+// z[zi:zi+n] = alpha*x[xi:xi+n] + y[yi:yi+n]
+// NB: Different arguments semantic compare to equivalent standard BLAS routine
+void blasfeo_ref_daxpy(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
+// z = beta*y + alpha*x
+void blasfeo_ref_daxpby(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
+// z = x .* y
+void blasfeo_ref_dvecmul(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
+// z += x .* y
+void blasfeo_ref_dvecmulacc(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
+// z = x .* y, return sum(z) = x^T * y
+double blasfeo_ref_dvecmuldot(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
+// return x^T * y
+double blasfeo_ref_ddot(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi);
+// construct givens plane rotation
+void blasfeo_ref_drotg(double a, double b, double *c, double *s);
+// apply plane rotation [a b] [c -s; s; c] to the aj0 and aj1 columns of A at row index ai
+void blasfeo_ref_dcolrot(int m, struct blasfeo_dmat *sA, int ai, int aj0, int aj1, double c, double s);
+// apply plane rotation [c s; -s c] [a; b] to the ai0 and ai1 rows of A at column index aj
+void blasfeo_ref_drowrot(int m, struct blasfeo_dmat *sA, int ai0, int ai1, int aj, double c, double s);
+
+
+
+//
+// level 2 BLAS
+//
+
+// dense
+
+// z <= beta * y + alpha * A * x
+void blasfeo_ref_dgemv_n(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
+// z <= beta * y + alpha * A' * x
+void blasfeo_ref_dgemv_t(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
+// z <= inv( A ) * x, A (m)x(n)
+void blasfeo_ref_dtrsv_lnn_mn(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= inv( A' ) * x, A (m)x(n)
+void blasfeo_ref_dtrsv_ltn_mn(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, not_unit
+void blasfeo_ref_dtrsv_lnn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, unit
+void blasfeo_ref_dtrsv_lnu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= inv( A' ) * x, A (m)x(m) lower, transposed, not_unit
+void blasfeo_ref_dtrsv_ltn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= inv( A' ) * x, A (m)x(m) lower, transposed, unit
+void blasfeo_ref_dtrsv_ltu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= inv( A' ) * x, A (m)x(m) upper, not_transposed, not_unit
+void blasfeo_ref_dtrsv_unn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= inv( A' ) * x, A (m)x(m) upper, transposed, not_unit
+void blasfeo_ref_dtrsv_utn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= beta * y + alpha * A * x ; A upper triangular
+void blasfeo_ref_dtrmv_unn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= A' * x ; A upper triangular
+void blasfeo_ref_dtrmv_utn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= A * x ; A lower triangular
+void blasfeo_ref_dtrmv_lnn(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= A' * x ; A lower triangular
+void blasfeo_ref_dtrmv_ltn(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= A * x ; A lower triangular, unit diagonal
+void blasfeo_ref_dtrmv_lnu(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z <= A' * x ; A lower triangular, unit diagonal
+void blasfeo_ref_dtrmv_ltu(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
+// z_n <= beta_n * y_n + alpha_n * A  * x_n
+// z_t <= beta_t * y_t + alpha_t * A' * x_t
+void blasfeo_ref_dgemv_nt(int m, int n, double alpha_n, double alpha_t, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx_n, int xi_n, struct blasfeo_dvec *sx_t, int xi_t, double beta_n, double beta_t, struct blasfeo_dvec *sy_n, int yi_n, struct blasfeo_dvec *sy_t, int yi_t, struct blasfeo_dvec *sz_n, int zi_n, struct blasfeo_dvec *sz_t, int zi_t);
+// z <= beta * y + alpha * A * x, where A is symmetric and only the lower triangular patr of A is accessed
+void blasfeo_ref_dsymv_l(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
+
+// diagonal
+
+// z <= beta * y + alpha * A * x, A diagonal
+void blasfeo_ref_dgemv_d(int m, double alpha, struct blasfeo_dvec *sA, int ai, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi);
+
+
+
+//
+// level 3 BLAS
+//
+
+// dense
+
+// D <= beta * C + alpha * A * B
+void blasfeo_ref_dgemm_nn(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= beta * C + alpha * A * B^T
+void blasfeo_ref_dgemm_nt(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= beta * C + alpha * A^T * B
+void blasfeo_ref_dgemm_tn(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= beta * C + alpha * A^T * B^T
+void blasfeo_ref_dgemm_tt(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= beta * C + alpha * A * B^T ; C, D lower triangular
+void blasfeo_ref_dsyrk_ln(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+void blasfeo_ref_dsyrk_ln_mn(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= beta * C + alpha * A^T * B ; C, D lower triangular
+void blasfeo_ref_dsyrk_lt(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= beta * C + alpha * A * B^T ; C, D upper triangular
+void blasfeo_ref_dsyrk_un(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= beta * C + alpha * A^T * B ; C, D upper triangular
+void blasfeo_ref_dsyrk_ut(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A * B ; A lower triangular
+void blasfeo_ref_dtrmm_llnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A * B ; A lower triangular
+void blasfeo_ref_dtrmm_llnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A^T * B ; A lower triangular
+void blasfeo_ref_dtrmm_lltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A^T * B ; A lower triangular
+void blasfeo_ref_dtrmm_lltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A * B ; A upper triangular
+void blasfeo_ref_dtrmm_lunn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A * B ; A upper triangular
+void blasfeo_ref_dtrmm_lunu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A^T * B ; A upper triangular
+void blasfeo_ref_dtrmm_lutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A^T * B ; A upper triangular
+void blasfeo_ref_dtrmm_lutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A ; A lower triangular
+void blasfeo_ref_dtrmm_rlnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A ; A lower triangular
+void blasfeo_ref_dtrmm_rlnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A^T ; A lower triangular
+void blasfeo_ref_dtrmm_rltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A^T ; A lower triangular
+void blasfeo_ref_dtrmm_rltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A ; A upper triangular
+void blasfeo_ref_dtrmm_runn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A ; A upper triangular
+void blasfeo_ref_dtrmm_runu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A^T ; A upper triangular
+void blasfeo_ref_dtrmm_rutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A^T ; A upper triangular
+void blasfeo_ref_dtrmm_rutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A^{-1} * B , with A lower triangular employint explicit inverse of diagonal
+void blasfeo_ref_dtrsm_llnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A^{-1} * B , with A lower triangular with unit diagonal
+void blasfeo_ref_dtrsm_llnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A^{-T} * B , with A lower triangular employint explicit inverse of diagonal
+void blasfeo_ref_dtrsm_lltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A^{-T} * B , with A lower triangular with unit diagonal
+void blasfeo_ref_dtrsm_lltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A^{-1} * B , with A upper triangular employing explicit inverse of diagonal
+void blasfeo_ref_dtrsm_lunn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A^{-1} * B , with A upper triangular withunit diagonal
+void blasfeo_ref_dtrsm_lunu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A^{-T} * B , with A upper triangular employing explicit inverse of diagonal
+void blasfeo_ref_dtrsm_lutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A^{-T} * B , with A upper triangular withunit diagonal
+void blasfeo_ref_dtrsm_lutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A^{-1} , with A lower triangular employing explicit inverse of diagonal
+void blasfeo_ref_dtrsm_rlnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A^{-1} , with A lower triangular with unit diagonal
+void blasfeo_ref_dtrsm_rlnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A^{-T} , with A lower triangular employing explicit inverse of diagonal
+void blasfeo_ref_dtrsm_rltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A^{-T} , with A lower triangular with unit diagonal
+void blasfeo_ref_dtrsm_rltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A^{-1} , with A upper triangular employing explicit inverse of diagonal
+void blasfeo_ref_dtrsm_runn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A^{-1} , with A upper triangular with unit diagonal
+void blasfeo_ref_dtrsm_runu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A^{-T} , with A upper triangular employing explicit inverse of diagonal
+void blasfeo_ref_dtrsm_rutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * B * A^{-T} , with A upper triangular with unit diagonal
+void blasfeo_ref_dtrsm_rutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj);
+
+// diagonal
+
+// D <= alpha * A * B + beta * C, with A diagonal (stored as strvec)
+void dgemm_diag_left_lib(int m, int n, double alpha, double *dA, double *pB, int sdb, double beta, double *pC, int sdc, double *pD, int sdd);
+void blasfeo_ref_dgemm_dn(int m, int n, double alpha, struct blasfeo_dvec *sA, int ai, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= alpha * A * B + beta * C, with B diagonal (stored as strvec)
+void blasfeo_ref_dgemm_nd(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sB, int bi, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+
+
+
+//
+// LAPACK
+//
+
+// D <= chol( C ) ; C, D lower triangular
+void blasfeo_ref_dpotrf_l(int m, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+void blasfeo_ref_dpotrf_l_mn(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= chol( C ) ; C, D upper triangular
+void blasfeo_ref_dpotrf_u(int m, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= chol( C + A * B' ) ; C, D lower triangular
+void blasfeo_ref_dsyrk_dpotrf_ln(int m, int k, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+void blasfeo_ref_dsyrk_dpotrf_ln_mn(int m, int n, int k, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= lu( C ) ; no pivoting
+void blasfeo_ref_dgetrf_np(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj);
+// D <= lu( C ) ; row pivoting
+void blasfeo_ref_dgetrf_rp(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, int *ipiv);
+// D <= qr( C )
+int blasfeo_ref_dgeqrf_worksize(int m, int n); // in bytes
+void blasfeo_ref_dgeqrf(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work);
+// D <= Q factor, where C is the output of the LQ factorization
+int blasfeo_ref_dorglq_worksize(int m, int n, int k); // in bytes
+void blasfeo_ref_dorglq(int m, int n, int k, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work);
+// D <= lq( C )
+void blasfeo_ref_dgelqf(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work);
+int blasfeo_ref_dgelqf_worksize(int m, int n); // in bytes
+// D <= lq( C ), positive diagonal elements
+void blasfeo_ref_dgelqf_pd(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work);
+// [L, A] <= lq( [L, A] ), positive diagonal elements, array of matrices, with
+// L lower triangular, of size (m)x(m)
+// A full, of size (m)x(n1)
+void blasfeo_ref_dgelqf_pd_la(int m, int n1, struct blasfeo_dmat *sL, int li, int lj, struct blasfeo_dmat *sA, int ai, int aj, void *work);
+// [L, L, A] <= lq( [L, L, A] ), positive diagonal elements, array of matrices, with:
+// L lower triangular, of size (m)x(m)
+// A full, of size (m)x(n1)
+void blasfeo_ref_dgelqf_pd_lla(int m, int n1, struct blasfeo_dmat *sL0, int l0i, int l0j, struct blasfeo_dmat *sL1, int l1i, int l1j, struct blasfeo_dmat *sA, int ai, int aj, void *work);
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BLASFEO_D_BLASFEO_REF_API_H_
+
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_kernel.h b/third_party/acados/include/blasfeo/include/blasfeo_d_kernel.h
new file mode 100644
index 0000000000..bf110c2bf8
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/blasfeo_d_kernel.h
@@ -0,0 +1,1048 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef BLASFEO_D_KERNEL_H_
+#define BLASFEO_D_KERNEL_H_
+
+
+
+#include "blasfeo_target.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+// utils
+void blasfeo_align_2MB(void *ptr, void **ptr_align);
+void blasfeo_align_4096_byte(void *ptr, void **ptr_align);
+void blasfeo_align_64_byte(void *ptr, void **ptr_align);
+
+
+
+// level 2 BLAS
+// 12
+void kernel_dgemv_n_12_lib4(int k, double *alpha, double *A, int sda, double *x, double *beta, double *y, double *z);
+void kernel_dgemv_t_12_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *x, double *beta, double *y, double *z);
+// 8
+void kernel_dgemv_n_8_lib4(int k, double *alpha, double *A, int sda, double *x, double *beta, double *y, double *z);
+void kernel_dgemv_t_8_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *x, double *beta, double *y, double *z);
+void kernel_dtrmv_un_8_lib4(int k, double *A, int sda, double *x, double *z);
+// 4
+void kernel_dgemv_n_4_lib4(int k, double *alpha, double *A, double *x, double *beta, double *y, double *z);
+void kernel_dgemv_n_4_vs_lib4(int k, double *alpha, double *A, double *x, double *beta, double *y, double *z, int k1);
+void kernel_dgemv_n_4_gen_lib4(int kmax, double *alpha, double *A, double *x, double *beta, double *y, double *z, int k0, int k1);
+void kernel_dgemv_t_4_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *x, double *beta, double *y, double *z);
+void kernel_dgemv_t_4_vs_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *x, double *beta, double *y, double *z, int k1);
+void kernel_dtrsv_ln_inv_4_lib4(int k, double *A, double *inv_diag_A, double *x, double *y, double *z);
+void kernel_dtrsv_ln_inv_4_vs_lib4(int k, double *A, double *inv_diag_A, double *x, double *y, double *z, int km, int kn);
+void kernel_dtrsv_lt_inv_4_lib4(int k, double *A, int sda, double *inv_diag_A, double *x, double *y, double *z);
+void kernel_dtrsv_lt_inv_3_lib4(int k, double *A, int sda, double *inv_diag_A, double *x, double *y, double *z);
+void kernel_dtrsv_lt_inv_2_lib4(int k, double *A, int sda, double *inv_diag_A, double *x, double *y, double *z);
+void kernel_dtrsv_lt_inv_1_lib4(int k, double *A, int sda, double *inv_diag_A, double *x, double *y, double *z);
+void kernel_dtrsv_lt_one_4_lib4(int k, double *A, int sda, double *x, double *y, double *z);
+void kernel_dtrsv_lt_one_3_lib4(int k, double *A, int sda, double *x, double *y, double *z);
+void kernel_dtrsv_lt_one_2_lib4(int k, double *A, int sda, double *x, double *y, double *z);
+void kernel_dtrsv_lt_one_1_lib4(int k, double *A, int sda, double *x, double *y, double *z);
+void kernel_dtrsv_ln_one_4_vs_lib4(int kmax, double *A, double *x, double *y, double *z, int km, int kn);
+void kernel_dtrsv_ln_one_4_lib4(int kmax, double *A, double *x, double *y, double *z);
+void kernel_dtrsv_un_inv_4_lib4(int kmax, double *A, double *inv_diag_A, double *x, double *y, double *z);
+void kernel_dtrsv_ut_inv_4_lib4(int kmax, double *A, int sda, double *inv_diag_A, double *x, double *y, double *z);
+void kernel_dtrsv_ut_inv_4_vs_lib4(int kmax, double *A, int sda, double *inv_diag_A, double *x, double *y, double *z, int m1, int n1);
+void kernel_dtrmv_un_4_lib4(int k, double *A, double *x, double *z);
+void kernel_dtrmv_ut_4_lib4(int k, double *A, int sda, double *x, double *z);
+void kernel_dtrmv_ut_4_vs_lib4(int k, double *A, int sda, double *x, double *z, int km);
+void kernel_dgemv_nt_6_lib4(int kmax, double *alpha_n, double *alpha_t, double *A, int sda, double *x_n, double *x_t, double *beta_t, double *y_t, double *z_n, double *z_t);
+void kernel_dgemv_nt_4_lib4(int kmax, double *alpha_n, double *alpha_t, double *A, int sda, double *x_n, double *x_t, double *beta_t, double *y_t, double *z_n, double *z_t);
+void kernel_dgemv_nt_4_vs_lib4(int kmax, double *alpha_n, double *alpha_t, double *A, int sda, double *x_n, double *x_t, double *beta_t, double *y_t, double *z_n, double *z_t, int km);
+void kernel_dsymv_l_4_lib4(int kmax, double *alpha, double *A, int sda, double *x, double *z);
+void kernel_dsymv_l_4_gen_lib4(int kmax, double *alpha, int offA, double *A, int sda, double *x, double *z, int km);
+
+
+
+// level 3 BLAS
+// 12x4
+void kernel_dgemm_nt_12x4_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); //
+void kernel_dgemm_nt_12x4_vs_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, int km, int kn); //
+void kernel_dgemm_nt_12x4_gen_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int k0, int k1);
+void kernel_dgemm_nn_12x4_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
+void kernel_dgemm_nn_12x4_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int km, int kn); //
+void kernel_dgemm_nn_12x4_gen_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1); //
+void kernel_dgemm_tt_12x4_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); //
+void kernel_dgemm_tt_12x4_vs_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
+void kernel_dsyrk_nn_u_12x4_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
+void kernel_dsyrk_nn_u_12x4_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
+void kernel_dsyrk_nt_l_12x4_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); //
+void kernel_dsyrk_nt_l_12x4_vs_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, int km, int kn); //
+void kernel_dtrmm_nt_ru_12x4_lib4(int k, double *alpha, double *A, int sda, double *B, double *D, int sdd); //
+void kernel_dtrmm_nt_ru_12x4_vs_lib4(int k, double *alpha, double *A, int sda, double *B, double *D, int sdd, int km, int kn); //
+void kernel_dtrmm_nn_rl_12x4_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *D, int sdd);
+void kernel_dtrmm_nn_rl_12x4_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *D, int sdd, int km, int kn);
+void kernel_dtrsm_nt_rl_inv_12x4_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E);
+void kernel_dtrsm_nt_rl_inv_12x4_vs_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int km, int kn);
+void kernel_dtrsm_nt_rl_one_12x4_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E);
+void kernel_dtrsm_nt_rl_one_12x4_vs_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, int km, int kn);
+void kernel_dtrsm_nt_ru_inv_12x4_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E);
+void kernel_dtrsm_nt_ru_inv_12x4_vs_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int km, int kn);
+void kernel_dtrsm_nt_ru_one_12x4_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E);
+void kernel_dtrsm_nt_ru_one_12x4_vs_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, int km, int kn);
+void kernel_dtrsm_nn_ru_inv_12x4_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E);
+void kernel_dtrsm_nn_ru_inv_12x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int km, int kn);
+void kernel_dtrsm_nn_ll_inv_12x4_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E);
+void kernel_dtrsm_nn_ll_inv_12x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E, int km, int kn);
+void kernel_dtrsm_nn_ll_one_12x4_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int sde);
+void kernel_dtrsm_nn_ll_one_12x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int sde, int km, int kn);
+void kernel_dtrsm_nn_lu_inv_12x4_lib4(int kmax, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E);
+void kernel_dtrsm_nn_lu_inv_12x4_vs_lib4(int kmax, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E, int km, int kn);
+// 4x12
+void kernel_dgemm_nt_4x12_lib4(int k, double *alpha, double *A, double *B, int sdb, double *beta, double *C, double *D); //
+void kernel_dgemm_nt_4x12_vs_lib4(int k, double *alpha, double *A, double *B, int sdb, double *beta, double *C, double *D, int km, int kn); //
+void kernel_dgemm_nn_4x12_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D); //
+void kernel_dgemm_nn_4x12_vs_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); //
+void kernel_dgemm_tt_4x12_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, int sdb, double *beta, double *C, double *D); //
+void kernel_dgemm_tt_4x12_vs_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); //
+void kernel_dgemm_tt_4x12_gen_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, int sdb, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1); //
+void kernel_dtrsm_nt_rl_inv_4x12_lib4(int k, double *A, double *B, int sdb, double *C, double *D, double *E, int sed, double *inv_diag_E);
+void kernel_dtrsm_nt_rl_inv_4x12_vs_lib4(int k, double *A, double *B, int sdb, double *C, double *D, double *E, int sed, double *inv_diag_E, int km, int kn);
+// 8x8
+void kernel_dgemm_nt_8x8l_lib4(int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); // computes [A00 *; A10 A11]
+void kernel_dgemm_nt_8x8u_lib4(int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); // computes [A00 *; A10 A11]
+void kernel_dgemm_nt_8x8l_vs_lib4(int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int km, int kn); // computes [A00 *; A10 A11]
+void kernel_dgemm_nt_8x8u_vs_lib4(int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int km, int kn); // computes [A00 *; A10 A11]
+void kernel_dsyrk_nn_u_8x8_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
+void kernel_dsyrk_nn_u_8x8_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
+void kernel_dsyrk_nt_l_8x8_lib4(int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); // computes [L00 *; A10 L11]
+void kernel_dsyrk_nt_l_8x8_vs_lib4(int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int km, int kn); // computes [L00 *; A10 L11]
+void kernel_dtrsm_nt_rl_inv_8x8l_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *E, int sed, double *inv_diag_E);
+void kernel_dtrsm_nt_rl_inv_8x8l_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *E, int sed, double *inv_diag_E, int km, int kn);
+void kernel_dtrsm_nt_rl_inv_8x8u_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *E, int sed, double *inv_diag_E);
+void kernel_dtrsm_nt_rl_inv_8x8u_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *E, int sed, double *inv_diag_E, int km, int kn);
+// 8x4
+void kernel_dgemm_nt_8x4_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); //
+void kernel_dgemm_nt_8x4_vs_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, int km, int kn); //
+void kernel_dgemm_nt_8x4_gen_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int k0, int k1);
+void kernel_dgemm_nn_8x4_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
+void kernel_dgemm_nn_8x4_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
+void kernel_dgemm_nn_8x4_gen_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1); //
+void kernel_dgemm_tt_8x4_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); //
+void kernel_dgemm_tt_8x4_vs_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
+void kernel_dsyrk_nn_u_8x4_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
+void kernel_dsyrk_nn_u_8x4_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
+void kernel_dsyrk_nt_l_8x4_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); //
+void kernel_dsyrk_nt_l_8x4_vs_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, int km, int kn); //
+void kernel_dsyrk_nt_l_8x4_gen_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int k0, int k1);
+void kernel_dtrmm_nt_ru_8x4_lib4(int k, double *alpha, double *A, int sda, double *B, double *D, int sdd); //
+void kernel_dtrmm_nt_ru_8x4_vs_lib4(int k, double *alpha, double *A, int sda, double *B, double *D, int sdd, int km, int kn); //
+void kernel_dtrmm_nn_rl_8x4_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *D, int sdd);
+void kernel_dtrmm_nn_rl_8x4_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *D, int sdd, int km, int kn);
+void kernel_dtrmm_nn_rl_8x4_gen_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1);
+void kernel_dtrsm_nt_rl_inv_8x4_vs_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int km, int kn);
+void kernel_dtrsm_nt_rl_inv_8x4_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E);
+void kernel_dtrsm_nt_rl_one_8x4_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E);
+void kernel_dtrsm_nt_rl_one_8x4_vs_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, int km, int kn);
+void kernel_dtrsm_nt_ru_inv_8x4_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E);
+void kernel_dtrsm_nt_ru_inv_8x4_vs_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int km, int kn);
+void kernel_dtrsm_nt_ru_one_8x4_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E);
+void kernel_dtrsm_nt_ru_one_8x4_vs_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, int km, int kn);
+void kernel_dtrsm_nn_ru_inv_8x4_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E);
+void kernel_dtrsm_nn_ru_inv_8x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int km, int kn);
+void kernel_dtrsm_nn_ll_inv_8x4_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E);
+void kernel_dtrsm_nn_ll_inv_8x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E, int km, int kn);
+void kernel_dtrsm_nn_ll_one_8x4_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int sde);
+void kernel_dtrsm_nn_ll_one_8x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int sde, int km, int kn);
+void kernel_dtrsm_nn_lu_inv_8x4_lib4(int kmax, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E);
+void kernel_dtrsm_nn_lu_inv_8x4_vs_lib4(int kmax, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E, int km, int kn);
+// 4x8
+void kernel_dgemm_nt_4x8_lib4(int k, double *alpha, double *A, double *B, int sdb, double *beta, double *C, double *D); //
+void kernel_dgemm_nt_4x8_vs_lib4(int k, double *alpha, double *A, double *B, int sdb, double *beta, double *C, double *D, int km, int kn); //
+void kernel_dgemm_nn_4x8_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D); //
+void kernel_dgemm_nn_4x8_vs_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); //
+void kernel_dgemm_tt_4x8_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, int sdb, double *beta, double *C, double *D); //
+void kernel_dgemm_tt_4x8_vs_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); //
+void kernel_dgemm_tt_4x8_gen_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, int sdb, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1); //
+void kernel_dtrsm_nt_rl_inv_4x8_lib4(int k, double *A, double *B, int sdb, double *C, double *D, double *E, int sed, double *inv_diag_E);
+void kernel_dtrsm_nt_rl_inv_4x8_vs_lib4(int k, double *A, double *B, int sdb, double *C, double *D, double *E, int sed, double *inv_diag_E, int km, int kn);
+// 8x2
+void kernel_dgemm_nn_8x2_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
+void kernel_dgemm_nn_8x2_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
+// 2x8
+void kernel_dgemm_nn_2x8_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D); //
+void kernel_dgemm_nn_2x8_vs_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); //
+// 10xX
+void kernel_dgemm_nn_10x4_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
+void kernel_dgemm_nn_10x4_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
+void kernel_dgemm_nn_10x2_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
+void kernel_dgemm_nn_10x2_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
+// 6xX
+void kernel_dgemm_nn_8x6_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
+void kernel_dgemm_nn_8x6_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
+void kernel_dgemm_nn_6x8_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
+void kernel_dgemm_nn_6x8_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
+void kernel_dgemm_nn_6x6_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
+void kernel_dgemm_nn_6x6_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
+void kernel_dgemm_nn_6x4_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
+void kernel_dgemm_nn_6x4_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
+void kernel_dgemm_nn_6x2_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); //
+void kernel_dgemm_nn_6x2_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); //
+// 4x4
+void kernel_dgemm_nt_4x4_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D); //
+void kernel_dgemm_nt_4x4_vs_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D, int km, int kn); //
+void kernel_dgemm_nt_4x4_gen_lib4(int k, double *alpha, double *A, double *B, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1);
+void kernel_dgemm_nn_4x4_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D); //
+void kernel_dgemm_nn_4x4_vs_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); //
+void kernel_dgemm_nn_4x4_gen_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1); //
+void kernel_dgemm_tt_4x4_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, double *beta, double *C, double *D); //
+void kernel_dgemm_tt_4x4_vs_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, double *beta, double *C, double *D, int m1, int n1); //
+void kernel_dgemm_tt_4x4_gen_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1); //
+void kernel_dsyrk_nn_u_4x4_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D); //
+void kernel_dsyrk_nn_u_4x4_vs_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); //
+void kernel_dsyrk_nt_l_4x4_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D); //
+void kernel_dsyrk_nt_l_4x4_vs_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D, int km, int kn); //
+void kernel_dsyrk_nt_l_4x4_gen_lib4(int k, double *alpha, double *A, double *B, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1);
+void kernel_dsyrk_nt_u_4x4_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D); //
+void kernel_dsyrk_nt_u_4x4_vs_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D, int km, int kn); //
+void kernel_dsyrk_nt_u_4x4_gen_lib4(int k, double *alpha, double *A, double *B, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1);
+void kernel_dtrmm_nt_ru_4x4_lib4(int k, double *alpha, double *A, double *B, double *D); //
+void kernel_dtrmm_nt_ru_4x4_vs_lib4(int k, double *alpha, double *A, double *B, double *D, int km, int kn); //
+void kernel_dtrmm_nn_rl_4x4_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *D);
+void kernel_dtrmm_nn_rl_4x4_vs_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *D, int m1, int n1);
+void kernel_dtrmm_nn_rl_4x4_gen_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1);
+void kernel_dtrsm_nt_rl_inv_4x4_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E, double *inv_diag_E);
+void kernel_dtrsm_nt_rl_inv_4x4_vs_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E, double *inv_diag_E, int km, int kn);
+void kernel_dtrsm_nt_rl_one_4x4_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E);
+void kernel_dtrsm_nt_rl_one_4x4_vs_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E, int km, int kn);
+void kernel_dtrsm_nt_ru_inv_4x4_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E, double *inv_diag_E);
+void kernel_dtrsm_nt_ru_inv_4x4_vs_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E, double *inv_diag_E, int km, int kn);
+void kernel_dtrsm_nt_ru_one_4x4_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E);
+void kernel_dtrsm_nt_ru_one_4x4_vs_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E, int km, int kn);
+void kernel_dtrsm_nn_ru_inv_4x4_lib4(int k, double *A, double *B, int sdb, double *beta, double *C, double *D, double *E, double *inv_diag_E);
+void kernel_dtrsm_nn_ru_inv_4x4_vs_lib4(int k, double *A, double *B, int sdb, double *beta, double *C, double *D, double *E, double *inv_diag_E, int km, int kn);
+void kernel_dtrsm_nn_ll_inv_4x4_lib4(int k, double *A, double *B, int sdb, double *beta, double *C, double *D, double *E, double *inv_diag_E);
+void kernel_dtrsm_nn_ll_inv_4x4_vs_lib4(int k, double *A, double *B, int sdb, double *beta, double *C, double *D, double *E, double *inv_diag_E, int km, int kn);
+void kernel_dtrsm_nn_ll_one_4x4_lib4(int k, double *A, double *B, int sdb, double *beta, double *C, double *D, double *E);
+void kernel_dtrsm_nn_ll_one_4x4_vs_lib4(int k, double *A, double *B, int sdb, double *beta, double *C, double *D, double *E, int km, int kn);
+void kernel_dtrsm_nn_lu_inv_4x4_lib4(int kmax, double *A, double *B, int sdb, double *C, double *D, double *E, double *inv_diag_E);
+void kernel_dtrsm_nn_lu_inv_4x4_vs_lib4(int kmax, double *A, double *B, int sdb, double *C, double *D, double *E, double *inv_diag_E, int km, int kn);
+void kernel_dtrsm_nn_lu_one_4x4_lib4(int kmax, double *A, double *B, int sdb, double *C, double *D, double *E);
+void kernel_dtrsm_nn_lu_one_4x4_vs_lib4(int kmax, double *A, double *B, int sdb, double *C, double *D, double *E, int km, int kn);
+// 4x2
+void kernel_dgemm_nn_4x2_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D); //
+void kernel_dgemm_nn_4x2_vs_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); //
+void kernel_dgemm_nt_4x2_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D);
+void kernel_dgemm_nt_4x2_vs_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D, int m1, int n1);
+void kernel_dsyrk_nt_l_4x2_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D); //
+void kernel_dsyrk_nt_l_4x2_vs_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D, int km, int kn); //
+void kernel_dtrmm_nn_rl_4x2_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *D);
+void kernel_dtrmm_nn_rl_4x2_vs_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *D, int m1, int n1);
+void kernel_dtrsm_nt_rl_inv_4x2_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E, double *inv_diag_E);
+void kernel_dtrsm_nt_rl_inv_4x2_vs_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E, double *inv_diag_E, int km, int kn);
+// 2x4
+void kernel_dgemm_nn_2x4_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D); //
+void kernel_dgemm_nn_2x4_vs_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); //
+// 2x2
+void kernel_dgemm_nn_2x2_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D); //
+void kernel_dsyrk_nt_l_2x2_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D); //
+void kernel_dsyrk_nt_l_2x2_vs_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D, int km, int kn); //
+// diag
+void kernel_dgemm_diag_right_4_a0_lib4(int kmax, double *alpha, double *A, int sda, double *B, double *D, int sdd);
+void kernel_dgemm_diag_right_4_lib4(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd);
+void kernel_dgemm_diag_right_3_lib4(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd);
+void kernel_dgemm_diag_right_2_lib4(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd);
+void kernel_dgemm_diag_right_1_lib4(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd);
+void kernel_dgemm_diag_left_4_a0_lib4(int kmax, double *alpha, double *A, double *B, double *D);
+void kernel_dgemm_diag_left_4_lib4(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D);
+void kernel_dgemm_diag_left_3_lib4(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D);
+void kernel_dgemm_diag_left_2_lib4(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D);
+void kernel_dgemm_diag_left_1_lib4(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D);
+// low rank update
+void kernel_dger4_sub_12r_lib4(int k, double *A, int sda, double *B, double *C, int sdc);
+void kernel_dger4_sub_12r_vs_lib4(int k, double *A, int sda, double *B, double *C, int sdc, int km);
+void kernel_dger4_sub_8r_lib4(int k, double *A, int sda, double *B, double *C, int sdc);
+void kernel_dger4_sub_8r_vs_lib4(int k, double *A, int sda, double *B, double *C, int sdc, int km);
+void kernel_dger4_sub_4r_lib4(int n, double *A, double *B, double *C);
+void kernel_dger4_sub_4r_vs_lib4(int n, double *A, double *B, double *C, int km);
+
+
+
+// LAPACK
+// 12x4
+void kernel_dpotrf_nt_l_12x4_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
+void kernel_dpotrf_nt_l_12x4_vs_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
+void kernel_dgetrf_nn_l_12x4_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
+void kernel_dgetrf_nn_l_12x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
+void kernel_dgetrf_nn_m_12x4_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
+void kernel_dgetrf_nn_m_12x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
+void kernel_dgetrf_nn_r_12x4_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
+void kernel_dgetrf_nn_r_12x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
+void kernel_dgetrf_nt_l_12x4_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
+void kernel_dgetrf_nt_l_12x4_vs_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
+void kernel_dgetrf_nt_m_12x4_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
+void kernel_dgetrf_nt_m_12x4_vs_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
+void kernel_dgetrf_nt_r_12x4_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
+void kernel_dgetrf_nt_r_12x4_vs_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
+// 8x8
+void kernel_dpotrf_nt_l_8x8_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
+void kernel_dpotrf_nt_l_8x8_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
+// 8x4
+void kernel_dpotrf_nt_l_8x4_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
+void kernel_dpotrf_nt_l_8x4_vs_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
+void kernel_dgetrf_nn_l_8x4_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
+void kernel_dgetrf_nn_l_8x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
+void kernel_dgetrf_nn_r_8x4_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
+void kernel_dgetrf_nn_r_8x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
+void kernel_dgetrf_nt_l_8x4_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
+void kernel_dgetrf_nt_l_8x4_vs_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
+void kernel_dgetrf_nt_r_8x4_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
+void kernel_dgetrf_nt_r_8x4_vs_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
+// 4x4
+void kernel_dpotrf_nt_l_4x4_lib4(int k, double *A, double *B, double *C, double *D, double *inv_diag_D);
+void kernel_dpotrf_nt_l_4x4_vs_lib4(int k, double *A, double *B, double *C, double *D, double *inv_diag_D, int km, int kn);
+#if defined(TARGET_X64_INTEL_SANDY_BRIDGE)
+void kernel_dlauum_nt_4x4_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D); //
+void kernel_dlauum_nt_4x4_vs_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D, int km, int kn); //
+#endif
+void kernel_dgetrf_nn_4x4_lib4(int k, double *A, double *B, int sdb, double *C, double *D, double *inv_diag_D);
+void kernel_dgetrf_nn_4x4_vs_lib4(int k, double *A, double *B, int sdb, double *C, double *D, double *inv_diag_D, int km, int kn);
+void kernel_dgetrf_nt_4x4_lib4(int k, double *A, double *B, double *C, double *D, double *inv_diag_D);
+void kernel_dgetrf_nt_4x4_vs_lib4(int k, double *A, double *B, double *C, double *D, double *inv_diag_D, int km, int kn);
+void kernel_dgeqrf_4_lib4(int m, double *pD, int sdd, double *dD);
+void kernel_dgeqrf_vs_lib4(int m, int n, int k, int offD, double *pD, int sdd, double *dD);
+void kernel_dlarf_4_lib4(int m, int n, double *pV, int sdv, double *tau, double *pC, int sdc); // rank-4 reflector
+void kernel_dlarf_t_4_lib4(int m, int n, double *pD, int sdd, double *pVt, double *dD, double *pC0, int sdc, double *pW);
+void kernel_dgelqf_4_lib4(int n, double *pD, double *dD);
+void kernel_dgelqf_vs_lib4(int m, int n, int k, int offD, double *pD, int sdd, double *dD);
+void kernel_dlarft_4_lib4(int kmax, double *pD, double *dD, double *pT);
+void kernel_dlarft_3_lib4(int kmax, double *pD, double *dD, double *pT);
+void kernel_dlarft_2_lib4(int kmax, double *pD, double *dD, double *pT);
+void kernel_dlarft_1_lib4(int kmax, double *pD, double *dD, double *pT);
+void kernel_dgelqf_dlarft12_12_lib4(int n, double *pD, int sdd, double *dD, double *pT);
+void kernel_dgelqf_dlarft4_12_lib4(int n, double *pD, int sdd, double *dD, double *pT);
+void kernel_dgelqf_dlarft4_8_lib4(int n, double *pD, int sdd, double *dD, double *pT);
+void kernel_dgelqf_dlarft4_4_lib4(int n, double *pD, double *dD, double *pT);
+void kernel_dlarfb12_rn_12_lib4(int kmax, double *pV, int sdd, double *pT, double *pD, double *pK);
+void kernel_dlarfb12_rn_4_lib4(int kmax, double *pV, int sdd, double *pT, double *pD, double *pK, int km);
+void kernel_dlarfb4_rn_12_lib4(int kmax, double *pV, double *pT, double *pD, int sdd);
+void kernel_dlarfb4_rn_8_lib4(int kmax, double *pV, double *pT, double *pD, int sdd);
+void kernel_dlarfb4_rn_4_lib4(int kmax, double *pV, double *pT, double *pD);
+void kernel_dlarfb3_rn_4_lib4(int kmax, double *pV, double *pT, double *pD);
+void kernel_dlarfb2_rn_4_lib4(int kmax, double *pV, double *pT, double *pD);
+void kernel_dlarfb1_rn_4_lib4(int kmax, double *pV, double *pT, double *pD);
+void kernel_dlarfb4_rn_1_lib4(int kmax, double *pV, double *pT, double *pD);
+void kernel_dlarfb3_rn_1_lib4(int kmax, double *pV, double *pT, double *pD);
+void kernel_dlarfb2_rn_1_lib4(int kmax, double *pV, double *pT, double *pD);
+void kernel_dlarfb1_rn_1_lib4(int kmax, double *pV, double *pT, double *pD);
+void kernel_dlarfb4_rt_4_lib4(int kmax, double *pV, double *pT, double *pD);
+void kernel_dlarfb3_rt_4_lib4(int kmax, double *pV, double *pT, double *pD);
+void kernel_dlarfb2_rt_4_lib4(int kmax, double *pV, double *pT, double *pD);
+void kernel_dlarfb1_rt_4_lib4(int kmax, double *pV, double *pT, double *pD);
+void kernel_dlarfb4_rt_1_lib4(int kmax, double *pV, double *pT, double *pD);
+void kernel_dlarfb3_rt_1_lib4(int kmax, double *pV, double *pT, double *pD);
+void kernel_dlarfb2_rt_1_lib4(int kmax, double *pV, double *pT, double *pD);
+void kernel_dlarfb1_rt_1_lib4(int kmax, double *pV, double *pT, double *pD);
+void kernel_dgelqf_pd_dlarft12_12_lib4(int n, double *pD, int sdd, double *dD, double *pT);
+void kernel_dgelqf_pd_dlarft4_8_lib4(int n, double *pD, int sdd, double *dD, double *pT);
+void kernel_dgelqf_pd_dlarft4_4_lib4(int n, double *pD, double *dD, double *pT);
+void kernel_dgelqf_pd_4_lib4(int n, double *pD, double *dD);
+void kernel_dgelqf_pd_vs_lib4(int m, int n, int k, int offD, double *pD, int sdd, double *dD);
+void kernel_dgelqf_pd_la_vs_lib4(int m, int n1, int k, int offD, double *pD, int sdd, double *dD, int offA, double *pA, int sda);
+void kernel_dlarft_4_la_lib4(int n1, double *dD, double *pA, double *pT);
+void kernel_dlarfb4_rn_12_la_lib4(int n1, double *pVA, double *pT, double *pD, int sdd, double *pA, int sda);
+void kernel_dlarfb4_rn_8_la_lib4(int n1, double *pVA, double *pT, double *pD, int sdd, double *pA, int sda);
+void kernel_dlarfb4_rn_4_la_lib4(int n1, double *pVA, double *pT, double *pD, double *pA);
+void kernel_dlarfb4_rn_1_la_lib4(int n1, double *pVA, double *pT, double *pD, double *pA);
+void kernel_dgelqf_pd_lla_vs_lib4(int m, int n0, int n1, int k, int offD, double *pD, int sdd, double *dD, int offL, double *pL, int sdl, int offA, double *pA, int sda);
+void kernel_dlarft_4_lla_lib4(int n0, int n1, double *dD, double *pL, double *pA, double *pT);
+void kernel_dlarfb4_rn_12_lla_lib4(int n0, int n1, double *pVL, double *pVA, double *pT, double *pD, int sdd, double *pL, int sdl, double *pA, int sda);
+void kernel_dlarfb4_rn_8_lla_lib4(int n0, int n1, double *pVL, double *pVA, double *pT, double *pD, int sdd, double *pL, int sdl, double *pA, int sda);
+void kernel_dlarfb4_rn_4_lla_lib4(int n0, int n1, double *pVL, double *pVA, double *pT, double *pD, double *pL, double *pA);
+void kernel_dlarfb4_rn_1_lla_lib4(int n0, int n1, double *pVL, double *pVA, double *pT, double *pD, double *pL, double *pA);
+// 4x2
+void kernel_dpotrf_nt_l_4x2_lib4(int k, double *A, double *B, double *C, double *D, double *inv_diag_D);
+void kernel_dpotrf_nt_l_4x2_vs_lib4(int k, double *A, double *B, double *C, double *D, double *inv_diag_D, int km, int kn);
+// 2x2
+void kernel_dpotrf_nt_l_2x2_lib4(int k, double *A, double *B, double *C, double *D, double *inv_diag_D);
+void kernel_dpotrf_nt_l_2x2_vs_lib4(int k, double *A, double *B, double *C, double *D, double *inv_diag_D, int km, int kn);
+// 12
+void kernel_dgetrf_pivot_12_lib4(int m, double *pA, int sda, double *inv_diag_A, int* ipiv);
+void kernel_dgetrf_pivot_12_vs_lib4(int m, double *pA, int sda, double *inv_diag_A, int* ipiv, int n);
+// 8
+void kernel_dgetrf_pivot_8_lib4(int m, double *pA, int sda, double *inv_diag_A, int* ipiv);
+void kernel_dgetrf_pivot_8_vs_lib4(int m, double *pA, int sda, double *inv_diag_A, int* ipiv, int n);
+// 4
+void kernel_dgetrf_pivot_4_lib4(int m, double *pA, int sda, double *inv_diag_A, int* ipiv);
+void kernel_dgetrf_pivot_4_vs_lib4(int m, double *pA, int sda, double *inv_diag_A, int* ipiv, int n1);
+// vector
+void kernel_drowsw_lib4(int kmax, double *pA, double *pC);
+
+
+
+// merged routines
+// 12x4
+void kernel_dgemm_dtrsm_nt_rl_inv_12x4_vs_lib4(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int km, int kn);
+void kernel_dgemm_dtrsm_nt_rl_inv_12x4_lib4(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E);
+void kernel_dsyrk_dpotrf_nt_l_12x4_vs_lib4(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
+void kernel_dsyrk_dpotrf_nt_l_12x4_lib4(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
+// 4x12
+void kernel_dgemm_dtrsm_nt_rl_inv_4x12_vs_lib4(int kp, double *Ap, double *Bp, int sdbp, int km_, double *Am, double *Bm, int sdbm, double *C, double *D, double *E, int sde, double *inv_diag_E, int km, int kn);
+// 8x8
+void kernel_dsyrk_dpotrf_nt_l_8x8_lib4(int kp, double *Ap, int sdap, double *Bp, int sdbp, int km_, double *Am, int sdam, double *Bm, int sdbm, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
+void kernel_dsyrk_dpotrf_nt_l_8x8_vs_lib4(int kp, double *Ap, int sdap, double *Bp, int sdbp, int km_, double *Am, int sdam, double *Bm, int sdbm, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
+void kernel_dgemm_dtrsm_nt_rl_inv_8x8l_vs_lib4(int kp, double *Ap, int sdap, double *Bp, int sdb, int km_, double *Am, int sdam, double *Bm, int sdbm, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E, int km, int kn);
+void kernel_dgemm_dtrsm_nt_rl_inv_8x8u_vs_lib4(int kp, double *Ap, int sdap, double *Bp, int sdb, int km_, double *Am, int sdam, double *Bm, int sdbm, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E, int km, int kn);
+// 8x4
+void kernel_dgemm_dtrsm_nt_rl_inv_8x4_vs_lib4(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int km, int kn);
+void kernel_dgemm_dtrsm_nt_rl_inv_8x4_lib4(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E);
+void kernel_dsyrk_dpotrf_nt_l_8x4_lib4(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *inv_diag_D);
+void kernel_dsyrk_dpotrf_nt_l_8x4_vs_lib4(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn);
+// 4x8
+void kernel_dgemm_dtrsm_nt_rl_inv_4x8_vs_lib4(int kp, double *Ap, double *Bp, int sdbp, int km_, double *Am, double *Bm, int sdbm, double *C, double *D, double *E, int sde, double *inv_diag_E, int km, int kn);
+// 4x4
+void kernel_dgemm_dtrsm_nt_rl_inv_4x4_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *E, double *inv_diag_E);
+void kernel_dgemm_dtrsm_nt_rl_inv_4x4_vs_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *E, double *inv_diag_E, int km, int kn);
+void kernel_dsyrk_dpotrf_nt_l_4x4_vs_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *inv_diag_D, int km, int kn);
+void kernel_dsyrk_dpotrf_nt_l_4x4_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *inv_diag_D);
+// 4x2
+void kernel_dgemm_dtrsm_nt_rl_inv_4x2_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *E, double *inv_diag_E);
+void kernel_dgemm_dtrsm_nt_rl_inv_4x2_vs_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *E, double *inv_diag_E, int km, int kn);
+void kernel_dsyrk_dpotrf_nt_l_4x2_vs_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *inv_diag_D, int km, int kn);
+void kernel_dsyrk_dpotrf_nt_l_4x2_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *inv_diag_D);
+// 2x2
+void kernel_dsyrk_dpotrf_nt_l_2x2_vs_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *inv_diag_D, int km, int kn);
+void kernel_dsyrk_dpotrf_nt_l_2x2_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *inv_diag_D);
+
+/*
+ *
+ * Auxiliary routines
+ *
+ * cpsc copy and scale, scale
+ * cp copy
+ * add
+ * set and scale
+ * transpose and scale
+ * set and scale
+ *
+ */
+
+// copy and scale
+void kernel_dgecpsc_8_0_lib4(int tri, int kmax, double alpha, double *A0, int sda,  double *B, int sdb);
+void kernel_dgecpsc_8_1_lib4(int tri, int kmax, double alpha, double *A0, int sda, double *B, int sdb);
+void kernel_dgecpsc_8_2_lib4(int tri, int kmax, double alpha, double *A0, int sda, double *B, int sdb);
+void kernel_dgecpsc_8_3_lib4(int tri, int kmax, double alpha, double *A0, int sda, double *B, int sdb);
+
+void kernel_dgecpsc_4_0_lib4(int tri, int kmax, double alpha, double *A, double *B);
+void kernel_dgecpsc_4_1_lib4(int tri, int kmax, double alpha, double *A0, int sda, double *B);
+void kernel_dgecpsc_4_2_lib4(int tri, int kmax, double alpha, double *A0, int sda, double *B);
+void kernel_dgecpsc_4_3_lib4(int tri, int kmax, double alpha, double *A0, int sda, double *B);
+
+void kernel_dgecpsc_3_0_lib4(int tri, int kmax, double alpha, double *A, double *B);
+void kernel_dgecpsc_3_2_lib4(int tri, int kmax, double alpha, double *A0, int sda, double *B);
+void kernel_dgecpsc_3_3_lib4(int tri, int kmax, double alpha, double *A0, int sda, double *B);
+
+void kernel_dgecpsc_2_0_lib4(int tri, int kmax, double alpha, double *A, double *B);
+void kernel_dgecpsc_2_3_lib4(int tri, int kmax, double alpha, double *A0, int sda, double *B);
+
+void kernel_dgecpsc_1_0_lib4(int tri, int kmax, double alpha, double *A, double *B);
+
+// copy only
+void kernel_dgecp_8_0_lib4(int tri, int kmax, double *A, int sda, double *B, int sdb);
+
+void kernel_dgecp_4_0_lib4(int tri, int kmax, double *A, double *B);
+
+// add
+void kernel_dgead_8_0_lib4(int kmax, double alpha, double *A0, int sda,  double *B, int sdb);
+void kernel_dgead_8_1_lib4(int kmax, double alpha, double *A0, int sda, double *B, int sdb);
+void kernel_dgead_8_2_lib4(int kmax, double alpha, double *A0, int sda, double *B, int sdb);
+void kernel_dgead_8_3_lib4(int kmax, double alpha, double *A0, int sda, double *B, int sdb);
+void kernel_dgead_4_0_lib4(int kmax, double alpha, double *A, double *B);
+void kernel_dgead_4_1_lib4(int kmax, double alpha, double *A0, int sda, double *B);
+void kernel_dgead_4_2_lib4(int kmax, double alpha, double *A0, int sda, double *B);
+void kernel_dgead_4_3_lib4(int kmax, double alpha, double *A0, int sda, double *B);
+void kernel_dgead_3_0_lib4(int kmax, double alpha, double *A, double *B);
+void kernel_dgead_3_2_lib4(int kmax, double alpha, double *A0, int sda, double *B);
+void kernel_dgead_3_3_lib4(int kmax, double alpha, double *A0, int sda, double *B);
+void kernel_dgead_2_0_lib4(int kmax, double alpha, double *A, double *B);
+void kernel_dgead_2_3_lib4(int kmax, double alpha, double *A0, int sda, double *B);
+void kernel_dgead_1_0_lib4(int kmax, double alpha, double *A, double *B);
+
+// set
+void kernel_dgeset_4_lib4(int kmax, double alpha, double *A);
+void kernel_dtrset_4_lib4(int kmax, double alpha, double *A);
+
+// traspose
+void kernel_dgetr_8_lib4(int tri, int kmax, int kna, double alpha, double *A, int sda, double *C, int sdc);
+void kernel_dgetr_4_lib4(int tri, int kmax, int kna, double alpha, double *A, double *C, int sdc);
+void kernel_dgetr_3_lib4(int tri, int kmax, int kna, double alpha, double *A, double *C, int sdc);
+void kernel_dgetr_2_lib4(int tri, int kmax, int kna, double alpha, double *A, double *C, int sdc);
+void kernel_dgetr_1_lib4(int tri, int kmax, int kna, double alpha, double *A, double *C, int sdc);
+void kernel_dgetr_4_0_lib4(int m, double *A, int sda, double *B);
+
+
+
+// pack
+// 12
+void kernel_dpack_nn_12_lib4(int kmax, double *A, int lda, double *B, int sdb);
+void kernel_dpack_nn_12_vs_lib4(int kmax, double *A, int lda, double *B, int sdb, int m1);
+void kernel_dpack_tt_12_lib4(int kmax, double *A, int lda, double *B, int sdb);
+// 8
+void kernel_dpack_nn_8_lib4(int kmax, double *A, int lda, double *B, int sdb);
+void kernel_dpack_nn_8_vs_lib4(int kmax, double *A, int lda, double *B, int sdb, int m1);
+void kernel_dpack_tt_8_lib4(int kmax, double *A, int lda, double *B, int sdb);
+// 4
+void kernel_dpack_nn_4_lib4(int kmax, double *A, int lda, double *B);
+void kernel_dpack_nn_4_vs_lib4(int kmax, double *A, int lda, double *B, int m1);
+void kernel_dpack_tn_4_p0_lib4(int kmax, double *A, int lda, double *B);
+void kernel_dpack_tn_4_lib4(int kmax, double *A, int lda, double *B);
+void kernel_dpack_tn_4_vs_lib4(int kmax, double *A, int lda, double *B, int m1);
+void kernel_dpack_tt_4_lib4(int kmax, double *A, int lda, double *B, int sdb);
+void kernel_dpack_tt_4_vs_lib4(int kmax, double *A, int lda, double *B, int sdb, int m1);
+// unpack
+// 12
+void kernel_dunpack_nn_12_lib4(int kmax, double *A, int sda, double *B, int ldb);
+void kernel_dunpack_nn_12_vs_lib4(int kmax, double *A, int sda, double *B, int ldb, int m1);
+void kernel_dunpack_tt_12_lib4(int kmax, double *A, int sda, double *B, int ldb);
+// 8
+void kernel_dunpack_nn_8_lib4(int kmax, double *A, int sda, double *B, int ldb);
+void kernel_dunpack_nn_8_vs_lib4(int kmax, double *A, int sda, double *B, int ldb, int m1);
+void kernel_dunpack_tt_8_lib4(int kmax, double *A, int sda, double *B, int ldb);
+// 4
+void kernel_dunpack_nn_4_lib4(int kmax, double *A, double *B, int ldb);
+void kernel_dunpack_nn_4_vs_lib4(int kmax, double *A, double *B, int ldb, int m1);
+void kernel_dunpack_nt_4_lib4(int kmax, double *A, double *B, int ldb);
+void kernel_dunpack_nt_4_vs_lib4(int kmax, double *A, double *B, int ldb, int m1);
+void kernel_dunpack_tt_4_lib4(int kmax, double *A, int sda, double *B, int ldb);
+
+// panel copy
+// 12
+void kernel_dpacp_nn_12_lib4(int kmax, int offsetA, double *A, int sda, double *B, int sdb);
+void kernel_dpacp_nn_12_vs_lib4(int kmax, int offsetA, double *A, int sda, double *B, int sdb, int m1);
+// 8
+void kernel_dpacp_nn_8_lib4(int kmax, int offsetA, double *A, int sda, double *B, int sdb);
+void kernel_dpacp_nn_8_vs_lib4(int kmax, int offsetA, double *A, int sda, double *B, int sdb, int m1);
+// 4
+void kernel_dpacp_nt_4_lib4(int kmax, double *A, int offsetB, double *B, int sdb);
+void kernel_dpacp_tn_4_lib4(int kmax, int offsetA, double *A, int sda, double *B);
+void kernel_dpacp_nn_4_lib4(int kmax, int offsetA, double *A, int sda, double *B);
+void kernel_dpacp_nn_4_vs_lib4(int kmax, int offsetA, double *A, int sda, double *B, int m1);
+
+
+
+/************************************************
+* BLAS API kernels
+************************************************/
+
+//#if defined(BLAS_API)
+
+// A, B panel-major bs=4; C, D column-major
+// 12x4
+void kernel_dgemm_nt_12x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_nt_12x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dgemm_nt_12x4_p0_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *A_p, double *B_p);
+void kernel_dsyrk_nt_l_12x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dsyrk_nt_l_12x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dsyrk_nt_u_12x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dsyrk_nt_u_12x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_rl_12x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dtrmm_nt_rl_12x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_rl_one_12x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dtrmm_nt_rl_one_12x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_ru_12x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dtrmm_nt_ru_12x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_ru_one_12x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dtrmm_nt_ru_one_12x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrsm_nt_rl_inv_12x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE);
+void kernel_dtrsm_nt_rl_inv_12x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE, int m1, int n1);
+void kernel_dtrsm_nt_rl_inv_12x4_lib44ccc(int kmax, double *A, int sda, double *B, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
+void kernel_dtrsm_nt_rl_inv_12x4_vs_lib44ccc(int kmax, double *A, int sda, double *B, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
+void kernel_dtrsm_nt_rl_one_12x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E);
+void kernel_dtrsm_nt_rl_one_12x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int m1, int n1);
+void kernel_dtrsm_nt_ru_inv_12x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE);
+void kernel_dtrsm_nt_ru_inv_12x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE, int m1, int n1);
+void kernel_dtrsm_nt_ru_one_12x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E);
+void kernel_dtrsm_nt_ru_one_12x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int m1, int n1);
+void kernel_dpotrf_nt_l_12x4_lib44cc(int kmax, double *A, int sda, double *B, double *C, int ldc, double *D, int ldd, double *dD);
+void kernel_dpotrf_nt_l_12x4_vs_lib44cc(int kmax, double *A, int sda, double *B, double *C, int ldc, double *D, int ldd, double *dD, int m1, int n1);
+// 4x12
+void kernel_dgemm_nt_4x12_lib44cc(int kmax, double *alpha, double *A, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_nt_4x12_vs_lib44cc(int kmax, double *alpha, double *A, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_rl_4x12_tran_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd);
+void kernel_dtrmm_nt_rl_4x12_tran_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_rl_one_4x12_tran_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd);
+void kernel_dtrmm_nt_rl_one_4x12_tran_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_ru_4x12_tran_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd);
+void kernel_dtrmm_nt_ru_4x12_tran_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_ru_one_4x12_tran_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd);
+void kernel_dtrmm_nt_ru_one_4x12_tran_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
+// 8x8
+void kernel_dsyrk_nt_l_8x8_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dsyrk_nt_l_8x8_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dsyrk_nt_u_8x8_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dsyrk_nt_u_8x8_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dpotrf_nt_l_8x8_lib44cc(int kmax, double *A, int sda, double *B, int sdb, double *C, int ldc, double *D, int ldd, double *dD);
+void kernel_dpotrf_nt_l_8x8_vs_lib44cc(int kmax, double *A, int sda, double *B, int sdb, double *C, int ldc, double *D, int ldd, double *dD, int m1, int n1);
+// 8x4
+void kernel_dgemm_nt_8x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_nt_8x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dgemm_nt_8x4_p0_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *A_p, double *B_p);
+void kernel_dgemm_nt_8x4_p_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *A_p);
+void kernel_dsyrk_nt_l_8x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dsyrk_nt_l_8x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dsyrk_nt_u_8x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dsyrk_nt_u_8x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_rl_8x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dtrmm_nt_rl_8x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_rl_one_8x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dtrmm_nt_rl_one_8x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_ru_8x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dtrmm_nt_ru_8x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_ru_one_8x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dtrmm_nt_ru_one_8x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrsm_nt_rl_inv_8x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE);
+void kernel_dtrsm_nt_rl_inv_8x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE, int m1, int n1);
+void kernel_dtrsm_nt_rl_inv_8x4_lib44ccc(int kmax, double *A, int sda, double *B, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
+void kernel_dtrsm_nt_rl_inv_8x4_vs_lib44ccc(int kmax, double *A, int sda, double *B, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
+void kernel_dtrsm_nt_rl_one_8x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E);
+void kernel_dtrsm_nt_rl_one_8x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int m1, int n1);
+void kernel_dtrsm_nt_ru_inv_8x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE);
+void kernel_dtrsm_nt_ru_inv_8x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE, int m1, int n1);
+void kernel_dtrsm_nt_ru_one_8x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E);
+void kernel_dtrsm_nt_ru_one_8x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int m1, int n1);
+void kernel_dpotrf_nt_l_8x4_lib44cc(int kmax, double *A, int sda, double *B, double *C, int ldc, double *D, int ldd, double *dD);
+void kernel_dpotrf_nt_l_8x4_vs_lib44cc(int kmax, double *A, int sda, double *B, double *C, int ldc, double *D, int ldd, double *dD, int m1, int n1);
+// 4x8
+void kernel_dgemm_nt_4x8_lib44cc(int kmax, double *alpha, double *A, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_nt_4x8_vs_lib44cc(int kmax, double *alpha, double *A, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_rl_4x8_tran_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd);
+void kernel_dtrmm_nt_rl_4x8_tran_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_rl_one_4x8_tran_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd);
+void kernel_dtrmm_nt_rl_one_4x8_tran_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_ru_4x8_tran_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd);
+void kernel_dtrmm_nt_ru_4x8_tran_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_ru_one_4x8_tran_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd);
+void kernel_dtrmm_nt_ru_one_4x8_tran_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
+// 4x4
+void kernel_dgemm_nt_4x4_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_nt_4x4_vs_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dsyrk_nt_l_4x4_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dsyrk_nt_l_4x4_vs_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dsyrk_nt_u_4x4_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dsyrk_nt_u_4x4_vs_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_rl_4x4_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dtrmm_nt_rl_4x4_vs_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_rl_4x4_tran_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd);
+void kernel_dtrmm_nt_rl_4x4_tran_vs_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_rl_one_4x4_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dtrmm_nt_rl_one_4x4_vs_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_rl_one_4x4_tran_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd);
+void kernel_dtrmm_nt_rl_one_4x4_tran_vs_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_ru_4x4_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dtrmm_nt_ru_4x4_vs_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_ru_4x4_tran_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd);
+void kernel_dtrmm_nt_ru_4x4_tran_vs_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_ru_one_4x4_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dtrmm_nt_ru_one_4x4_vs_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_ru_one_4x4_tran_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd);
+void kernel_dtrmm_nt_ru_one_4x4_tran_vs_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd, int m1, int n1);
+void kernel_dtrsm_nt_rl_inv_4x4_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE);
+void kernel_dtrsm_nt_rl_inv_4x4_vs_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE, int m1, int n1);
+void kernel_dtrsm_nt_rl_inv_4x4_lib44ccc(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
+void kernel_dtrsm_nt_rl_inv_4x4_vs_lib44ccc(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
+void kernel_dtrsm_nt_rl_one_4x4_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E);
+void kernel_dtrsm_nt_rl_one_4x4_vs_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int m1, int n1);
+void kernel_dtrsm_nt_ru_inv_4x4_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE);
+void kernel_dtrsm_nt_ru_inv_4x4_vs_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE, int m1, int n1);
+void kernel_dtrsm_nt_ru_one_4x4_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E);
+void kernel_dtrsm_nt_ru_one_4x4_vs_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int m1, int n1);
+void kernel_dpotrf_nt_l_4x4_lib44cc(int kmax, double *A, double *B, double *C, int ldc, double *D, int ldd, double *dD);
+void kernel_dpotrf_nt_l_4x4_vs_lib44cc(int kmax, double *A, double *B, double *C, int ldc, double *D, int ldd, double *dD, int m1, int n1);
+// 4x2
+void kernel_dgemm_nt_4x2_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd);
+
+// A panel-major bs=4; B, C, D column-major
+// 12x4
+void kernel_dgemm_nn_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_nn_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dgemm_nt_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_nt_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dsyrk_nt_l_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dsyrk_nt_l_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nn_rl_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dtrmm_nn_rl_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nn_rl_one_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dtrmm_nn_rl_one_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nn_ru_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dtrmm_nn_ru_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nn_ru_one_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dtrmm_nn_ru_one_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_rl_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dtrmm_nt_rl_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_rl_one_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dtrmm_nt_rl_one_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_ru_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dtrmm_nt_ru_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_ru_one_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dtrmm_nt_ru_one_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrsm_nn_ll_one_12x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
+void kernel_dtrsm_nn_ll_one_12x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
+void kernel_dtrsm_nn_rl_inv_12x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
+void kernel_dtrsm_nn_rl_inv_12x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
+void kernel_dtrsm_nn_rl_one_12x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
+void kernel_dtrsm_nn_rl_one_12x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
+void kernel_dtrsm_nt_rl_inv_12x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
+void kernel_dtrsm_nt_rl_inv_12x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
+void kernel_dtrsm_nt_rl_one_12x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
+void kernel_dtrsm_nt_rl_one_12x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
+void kernel_dtrsm_nn_ru_inv_12x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
+void kernel_dtrsm_nn_ru_inv_12x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
+void kernel_dtrsm_nn_ru_one_12x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
+void kernel_dtrsm_nn_ru_one_12x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
+void kernel_dtrsm_nt_ru_inv_12x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
+void kernel_dtrsm_nt_ru_inv_12x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
+void kernel_dtrsm_nt_ru_one_12x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
+void kernel_dtrsm_nt_ru_one_12x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
+void kernel_dgetrf_nn_l_12x4_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag);
+void kernel_dgetrf_nn_l_12x4_vs_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag, int m1, int n1);
+void kernel_dgetrf_nn_m_12x4_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag);
+void kernel_dgetrf_nn_m_12x4_vs_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag, int m1, int n1);
+void kernel_dgetrf_nn_r_12x4_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag);
+void kernel_dgetrf_nn_r_12x4_vs_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag, int m1, int n1);
+// 4x12
+void kernel_dgemm_nn_4x12_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_nn_4x12_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dgemm_nt_4x12_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_nt_4x12_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nn_rl_4x12_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
+void kernel_dtrmm_nn_rl_4x12_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nn_rl_one_4x12_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
+void kernel_dtrmm_nn_rl_one_4x12_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nn_ru_4x12_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
+void kernel_dtrmm_nn_ru_4x12_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nn_ru_one_4x12_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
+void kernel_dtrmm_nn_ru_one_4x12_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_rl_4x12_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
+void kernel_dtrmm_nt_rl_4x12_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_rl_one_4x12_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
+void kernel_dtrmm_nt_rl_one_4x12_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_ru_4x12_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
+void kernel_dtrmm_nt_ru_4x12_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_ru_one_4x12_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
+void kernel_dtrmm_nt_ru_one_4x12_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
+// 8x4
+void kernel_dgemm_nn_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_nn_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dgemm_nt_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_nt_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dsyrk_nt_l_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dsyrk_nt_l_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nn_rl_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dtrmm_nn_rl_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nn_rl_one_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dtrmm_nn_rl_one_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nn_ru_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dtrmm_nn_ru_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nn_ru_one_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dtrmm_nn_ru_one_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_rl_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dtrmm_nt_rl_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_rl_one_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dtrmm_nt_rl_one_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_ru_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dtrmm_nt_ru_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_ru_one_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dtrmm_nt_ru_one_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrsm_nn_ll_one_8x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
+void kernel_dtrsm_nn_ll_one_8x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
+void kernel_dtrsm_nn_rl_inv_8x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
+void kernel_dtrsm_nn_rl_inv_8x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
+void kernel_dtrsm_nn_rl_one_8x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
+void kernel_dtrsm_nn_rl_one_8x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
+void kernel_dtrsm_nt_rl_inv_8x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
+void kernel_dtrsm_nt_rl_inv_8x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
+void kernel_dtrsm_nt_rl_one_8x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
+void kernel_dtrsm_nt_rl_one_8x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
+void kernel_dtrsm_nn_ru_inv_8x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
+void kernel_dtrsm_nn_ru_inv_8x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
+void kernel_dtrsm_nn_ru_one_8x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
+void kernel_dtrsm_nn_ru_one_8x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
+void kernel_dtrsm_nt_ru_inv_8x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
+void kernel_dtrsm_nt_ru_inv_8x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
+void kernel_dtrsm_nt_ru_one_8x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
+void kernel_dtrsm_nt_ru_one_8x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
+void kernel_dgetrf_nn_l_8x4_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag);
+void kernel_dgetrf_nn_l_8x4_vs_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag, int m1, int n1);
+void kernel_dgetrf_nn_r_8x4_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag);
+void kernel_dgetrf_nn_r_8x4_vs_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag, int m1, int n1);
+// 4x8
+void kernel_dgemm_nn_4x8_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_nn_4x8_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dgemm_nt_4x8_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_nt_4x8_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nn_rl_4x8_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
+void kernel_dtrmm_nn_rl_4x8_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nn_rl_one_4x8_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
+void kernel_dtrmm_nn_rl_one_4x8_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nn_ru_4x8_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
+void kernel_dtrmm_nn_ru_4x8_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nn_ru_one_4x8_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
+void kernel_dtrmm_nn_ru_one_4x8_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_rl_4x8_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
+void kernel_dtrmm_nt_rl_4x8_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_rl_one_4x8_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
+void kernel_dtrmm_nt_rl_one_4x8_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_ru_4x8_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
+void kernel_dtrmm_nt_ru_4x8_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_ru_one_4x8_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd);
+void kernel_dtrmm_nt_ru_one_4x8_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1);
+// 4x4
+void kernel_dgemm_nn_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_nn_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dgemm_nt_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_nt_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dsyrk_nt_l_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dsyrk_nt_l_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nn_rl_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dtrmm_nn_rl_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nn_rl_4x4_tran_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd);
+void kernel_dtrmm_nn_rl_4x4_tran_vs_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nn_rl_one_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dtrmm_nn_rl_one_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nn_rl_one_4x4_tran_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd);
+void kernel_dtrmm_nn_rl_one_4x4_tran_vs_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nn_ru_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dtrmm_nn_ru_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nn_ru_4x4_tran_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd);
+void kernel_dtrmm_nn_ru_4x4_tran_vs_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nn_ru_one_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dtrmm_nn_ru_one_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nn_ru_one_4x4_tran_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd);
+void kernel_dtrmm_nn_ru_one_4x4_tran_vs_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_rl_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dtrmm_nt_rl_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_rl_4x4_tran_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd);
+void kernel_dtrmm_nt_rl_4x4_tran_vs_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_rl_one_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dtrmm_nt_rl_one_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_rl_one_4x4_tran_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd);
+void kernel_dtrmm_nt_rl_one_4x4_tran_vs_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_ru_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dtrmm_nt_ru_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_ru_4x4_tran_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd);
+void kernel_dtrmm_nt_ru_4x4_tran_vs_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_ru_one_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dtrmm_nt_ru_one_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dtrmm_nt_ru_one_4x4_tran_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd);
+void kernel_dtrmm_nt_ru_one_4x4_tran_vs_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd, int m1, int n1);
+void kernel_dtrsm_nn_ll_one_4x4_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
+void kernel_dtrsm_nn_ll_one_4x4_vs_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
+void kernel_dtrsm_nn_rl_inv_4x4_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
+void kernel_dtrsm_nn_rl_inv_4x4_vs_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
+void kernel_dtrsm_nn_rl_one_4x4_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
+void kernel_dtrsm_nn_rl_one_4x4_vs_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
+void kernel_dtrsm_nt_rl_inv_4x4_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
+void kernel_dtrsm_nt_rl_inv_4x4_vs_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
+void kernel_dtrsm_nt_rl_one_4x4_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
+void kernel_dtrsm_nt_rl_one_4x4_vs_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
+void kernel_dtrsm_nn_ru_inv_4x4_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
+void kernel_dtrsm_nn_ru_inv_4x4_vs_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
+void kernel_dtrsm_nn_ru_one_4x4_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
+void kernel_dtrsm_nn_ru_one_4x4_vs_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
+void kernel_dtrsm_nt_ru_inv_4x4_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE);
+void kernel_dtrsm_nt_ru_inv_4x4_vs_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1);
+void kernel_dtrsm_nt_ru_one_4x4_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde);
+void kernel_dtrsm_nt_ru_one_4x4_vs_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1);
+void kernel_dgetrf_nn_4x4_lib4ccc(int kmax, double *A, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag);
+void kernel_dgetrf_nn_4x4_vs_lib4ccc(int kmax, double *A, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag, int m1, int n1);
+
+// B panel-major bs=4; A, C, D column-major
+// 12x4
+void kernel_dgemm_nt_12x4_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_nt_12x4_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dgemm_tt_12x4_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_tt_12x4_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+// 4x12
+void kernel_dgemm_nt_4x12_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_nt_4x12_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dgemm_tt_4x12_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_tt_4x12_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+// 8x4
+void kernel_dgemm_nt_8x4_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_nt_8x4_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dgemm_tt_8x4_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_tt_8x4_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+// 4x8
+void kernel_dgemm_nt_4x8_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_nt_4x8_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dgemm_tt_4x8_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_tt_4x8_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+// 4x4
+void kernel_dgemm_nt_4x4_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_nt_4x4_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dgemm_tt_4x4_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_tt_4x4_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+
+// A, C, D panel-major; B, E column-major
+// TODO merge with above
+// 12x4
+void kernel_dtrsm_nn_rl_inv_12x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE);
+void kernel_dtrsm_nn_rl_inv_12x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE, int m1, int n1);
+void kernel_dtrsm_nn_rl_one_12x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde);
+void kernel_dtrsm_nn_rl_one_12x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, int m1, int n1);
+void kernel_dtrsm_nn_ru_inv_12x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE);
+void kernel_dtrsm_nn_ru_inv_12x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE, int m1, int n1);
+void kernel_dtrsm_nn_ru_one_12x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde);
+void kernel_dtrsm_nn_ru_one_12x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, int m1, int n1);
+void kernel_dtrsm_nt_rl_inv_12x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE);
+void kernel_dtrsm_nt_rl_inv_12x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE, int m1, int n1);
+void kernel_dtrsm_nt_rl_one_12x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde);
+void kernel_dtrsm_nt_rl_one_12x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, int m1, int n1);
+void kernel_dtrsm_nt_ru_inv_12x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE);
+void kernel_dtrsm_nt_ru_inv_12x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE, int m1, int n1);
+void kernel_dtrsm_nt_ru_one_12x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde);
+void kernel_dtrsm_nt_ru_one_12x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, int m1, int n1);
+// 8x4
+void kernel_dtrsm_nn_rl_inv_8x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE);
+void kernel_dtrsm_nn_rl_inv_8x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE, int m1, int n1);
+void kernel_dtrsm_nn_rl_one_8x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde);
+void kernel_dtrsm_nn_rl_one_8x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, int m1, int n1);
+void kernel_dtrsm_nn_ru_inv_8x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE);
+void kernel_dtrsm_nn_ru_inv_8x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE, int m1, int n1);
+void kernel_dtrsm_nn_ru_one_8x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde);
+void kernel_dtrsm_nn_ru_one_8x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, int m1, int n1);
+void kernel_dtrsm_nt_rl_inv_8x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE);
+void kernel_dtrsm_nt_rl_inv_8x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE, int m1, int n1);
+void kernel_dtrsm_nt_rl_one_8x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde);
+void kernel_dtrsm_nt_rl_one_8x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, int m1, int n1);
+void kernel_dtrsm_nt_ru_inv_8x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE);
+void kernel_dtrsm_nt_ru_inv_8x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE, int m1, int n1);
+void kernel_dtrsm_nt_ru_one_8x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde);
+void kernel_dtrsm_nt_ru_one_8x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, int m1, int n1);
+// 4x4
+void kernel_dtrsm_nn_rl_inv_4x4_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, double *dE);
+void kernel_dtrsm_nn_rl_inv_4x4_vs_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, double *dE, int m1, int n1);
+void kernel_dtrsm_nn_rl_one_4x4_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde);
+void kernel_dtrsm_nn_rl_one_4x4_vs_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, int m1, int n1);
+void kernel_dtrsm_nn_ru_inv_4x4_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, double *dE);
+void kernel_dtrsm_nn_ru_inv_4x4_vs_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, double *dE, int m1, int n1);
+void kernel_dtrsm_nn_ru_one_4x4_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde);
+void kernel_dtrsm_nn_ru_one_4x4_vs_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, int m1, int n1);
+void kernel_dtrsm_nt_rl_inv_4x4_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, double *dE);
+void kernel_dtrsm_nt_rl_inv_4x4_vs_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, double *dE, int m1, int n1);
+void kernel_dtrsm_nt_rl_one_4x4_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde);
+void kernel_dtrsm_nt_rl_one_4x4_vs_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, int m1, int n1);
+void kernel_dtrsm_nt_ru_inv_4x4_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, double *dE);
+void kernel_dtrsm_nt_ru_inv_4x4_vs_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, double *dE, int m1, int n1);
+void kernel_dtrsm_nt_ru_one_4x4_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde);
+void kernel_dtrsm_nt_ru_one_4x4_vs_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, int m1, int n1);
+
+// A, B, C, D column-major
+// 12x4
+void kernel_dgemm_nn_12x4_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_nn_12x4_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dgemm_nt_12x4_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_nt_12x4_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dgemm_tt_12x4_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_tt_12x4_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+// 4x12
+void kernel_dgemm_nn_4x12_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_nn_4x12_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dgemm_nt_4x12_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_nt_4x12_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dgemm_tt_4x12_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_tt_4x12_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+// 8x4
+void kernel_dgemm_nn_8x4_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_nn_8x4_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dgemm_nt_8x4_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_nt_8x4_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dgemm_tt_8x4_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_tt_8x4_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+// 4x8
+void kernel_dgemm_nn_4x8_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_nn_4x8_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dgemm_nt_4x8_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_nt_4x8_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dgemm_tt_4x8_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_tt_4x8_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+// 4x4
+void kernel_dgemm_nn_4x4_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_nn_4x4_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dgemm_nt_4x4_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_nt_4x4_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+void kernel_dgemm_tt_4x4_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd);
+void kernel_dgemm_tt_4x4_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1);
+
+// A column-major
+// 12
+void kernel_dgetrf_pivot_12_lib(int m, double *pA, int lda, double *inv_diag_A, int* ipiv);
+void kernel_dgetrf_pivot_12_vs_lib(int m, double *pA, int lda, double *inv_diag_A, int* ipiv, int n);
+// 8
+void kernel_dgetrf_pivot_8_lib(int m, double *pA, int lda, double *inv_diag_A, int* ipiv);
+void kernel_dgetrf_pivot_8_vs_lib(int m, double *pA, int lda, double *inv_diag_A, int* ipiv, int n);
+// 4
+void kernel_dgetrf_pivot_4_lib(int m, double *pA, int lda, double *inv_diag_A, int* ipiv);
+void kernel_dgetrf_pivot_4_vs_lib(int m, double *pA, int lda, double *inv_diag_A, int* ipiv, int n);
+
+// vector
+void kernel_ddot_11_lib(int n, double *x, double *y, double *res);
+void kernel_daxpy_11_lib(int n, double *alpha, double *x, double *y);
+void kernel_drowsw_lib(int kmax, double *pA, int lda, double *pC, int ldc);
+
+//#endif // BLAS_API
+
+
+
+// larger kernels
+// 12
+void kernel_dgemm_nt_12xn_p0_lib44cc(int n, int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, double *A_p, double *B_p);
+void kernel_dgemm_nt_12xn_pl_lib44cc(int n, int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, double *A_p, double *B_p);
+// 8
+void kernel_dgemm_nt_8xn_p0_lib44cc(int n, int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, double *A_p, double *B_p);
+
+
+
+// aux
+void kernel_dvecld_inc1(int kmax, double *x);
+void kernel_dveccp_inc1(int kmax, double *x, double *y);
+
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BLASFEO_D_KERNEL_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_i_aux_ext_dep.h b/third_party/acados/include/blasfeo/include/blasfeo_i_aux_ext_dep.h
new file mode 100644
index 0000000000..74c3fb5c0a
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/blasfeo_i_aux_ext_dep.h
@@ -0,0 +1,69 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef BLASFEO_I_AUX_EXT_DEP_H_
+#define BLASFEO_I_AUX_EXT_DEP_H_
+
+
+
+#include "blasfeo_target.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+#ifdef EXT_DEP
+
+// i_aux_extern_depend_lib
+void int_zeros(int **pA, int row, int col);
+void int_zeros_align(int **pA, int row, int col);
+void int_free(int *pA);
+void int_free_align(int *pA);
+void int_print_mat(int row, int col, int *A, int lda);
+int int_print_to_string_mat(char **buf_out, int row, int col, int *A, int lda);
+
+#endif // EXT_DEP
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BLASFEO_I_AUX_EXT_DEP_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_m_aux.h b/third_party/acados/include/blasfeo/include/blasfeo_m_aux.h
new file mode 100644
index 0000000000..6248853e29
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/blasfeo_m_aux.h
@@ -0,0 +1,57 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef BLASFEO_M_AUX_H_
+#define BLASFEO_M_AUX_H_
+
+#include "blasfeo_common.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+void blasfeo_cvt_d2s_vec(int m, struct blasfeo_dvec *vd, int vdi, struct blasfeo_svec *vs, int vsi);
+void blasfeo_cvt_s2d_vec(int m, struct blasfeo_svec *vs, int vsi, struct blasfeo_dvec *vd, int vdi);
+void blasfeo_cvt_d2s_mat(int m, int n, struct blasfeo_dmat *Md, int mid, int nid, struct blasfeo_smat *Ms, int mis, int nis);
+void blasfeo_cvt_s2d_mat(int m, int n, struct blasfeo_smat *Ms, int mis, int nis, struct blasfeo_dmat *Md, int mid, int nid);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BLASFEO_M_AUX_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_memory.h b/third_party/acados/include/blasfeo/include/blasfeo_memory.h
new file mode 100644
index 0000000000..da4e7fa090
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/blasfeo_memory.h
@@ -0,0 +1,62 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2020 by Gianluca Frison.                                                          *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+#ifndef BLASFEO_MEMORY_H_
+#define BLASFEO_MEMORY_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+//
+int blasfeo_is_init();
+//
+void blasfeo_init();
+//
+void blasfeo_quit();
+//
+void *blasfeo_get_buffer();
+
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // BLASFEO_MEMORY_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_naming.h b/third_party/acados/include/blasfeo/include/blasfeo_naming.h
new file mode 100644
index 0000000000..c289443b17
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/blasfeo_naming.h
@@ -0,0 +1,77 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+/*
+ * ----------- Naming conventions
+ *
+ *  (precision)(data)
+ *
+ * 1) d(double)
+ *    s(single)
+ *
+ * 2) ge(general)
+ *    tr(triangular)
+ *    vec(vector)
+ *    row(row)
+ *    col(column)
+ *    dia(diagonal)
+ *
+ * 3) se(set)
+ *    cp(copy)
+ *    sc(scale)
+ *    ad(add)
+ *    tr(transpose)
+ *    in(insert)
+ *    ex(extract)
+ *    pe(premute)
+ *    sw(swap)
+ *
+ *    f(factorization)
+ *
+ *    lqf(LQ factorization)
+ *    qrf (factorization)
+ *    trf (LU factorization using partial pivoting with row interchanges.)
+ *
+ * 4) _l(lower) / _u(upper)
+ *    _lib8 (hp implementation, 8 rows kernel)
+ *    _lib4 (hp implementation, 4 rows kernel)
+ *    _lib0 (hp interface with reference implentation)
+ *    _lib (reference implementation)
+ *    _libref (reference implementation with dedicated namespace)
+ *
+ * 5) _sp(sparse)
+ *    _exp(exponential format)
+ */
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_processor_features.h b/third_party/acados/include/blasfeo/include/blasfeo_processor_features.h
new file mode 100644
index 0000000000..65a0c7e80a
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/blasfeo_processor_features.h
@@ -0,0 +1,88 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Ian McInerney                                                                           *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef BLASFEO_PROCESSOR_FEATURES_H_
+#define BLASFEO_PROCESSOR_FEATURES_H_
+
+/**
+ * Flags to indicate the different processor features
+ */
+enum
+{
+    // x86-64 CPU features
+    BLASFEO_PROCESSOR_FEATURE_AVX  = 0x0001,    /// AVX instruction set
+    BLASFEO_PROCESSOR_FEATURE_AVX2 = 0x0002,    /// AVX2 instruction set
+    BLASFEO_PROCESSOR_FEATURE_FMA  = 0x0004,    /// FMA instruction set
+    BLASFEO_PROCESSOR_FEATURE_SSE3 = 0x0008,    /// SSE3 instruction set
+
+    // ARM CPU features
+    BLASFEO_PROCESSOR_FEATURE_VFPv3  = 0x0100,  /// VFPv3 instruction set
+    BLASFEO_PROCESSOR_FEATURE_NEON   = 0x0100,  /// NEON instruction set
+    BLASFEO_PROCESSOR_FEATURE_VFPv4  = 0x0100,  /// VFPv4 instruction set
+    BLASFEO_PROCESSOR_FEATURE_NEONv2 = 0x0100,  /// NEONv2 instruction set
+} BLASFEO_PROCESSOR_FEATURES;
+
+/**
+ * Test the features that this processor provides against what the library was compiled with.
+ *
+ * @param features - Pointer to an integer to store the supported feature set (using the flags in the BLASFEO_PROCESSOR_FEATURES enum)
+ * @return 0 if current processor doesn't support all features required for this library, 1 otherwise
+ */
+int blasfeo_processor_cpu_features( int* features );
+
+/**
+ * Test the features that this processor provides against what the library was compiled with.
+ *
+ * @param features - Pointer to an integer to store the supported feature set (using the flags in the BLASFEO_PROCESSOR_FEATURES enum)
+ * @return 0 if current processor doesn't support all features required for this library, 1 otherwise
+ */
+void blasfeo_processor_library_features( int* features );
+
+/**
+ * Create a string listing the features the current processor supports.
+ *
+ * @param features - Flags from the BLASFEO_PROCESSOR_FEATURES enum indicating the features supported
+ * @param featureString - Character array to store the feature string in
+ */
+void blasfeo_processor_feature_string( int features, char* featureString );
+
+/**
+ * Get a string listing the processor features that this library version needs to run.
+ *
+ * @param featureString - Character array to store the feature string in
+ */
+void blasfeo_processor_library_string( char* featureString );
+
+#endif  // BLASFEO_PROCESSOR_FEATURES_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_aux.h b/third_party/acados/include/blasfeo/include/blasfeo_s_aux.h
new file mode 100644
index 0000000000..539268849c
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/blasfeo_s_aux.h
@@ -0,0 +1,166 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef BLASFEO_S_AUX_H_
+#define BLASFEO_S_AUX_H_
+
+
+
+#include <stdlib.h>
+
+#include "blasfeo_s_aux_old.h"
+#include "blasfeo_common.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+/************************************************
+* d_aux_lib.c
+************************************************/
+
+// returns the memory size (in bytes) needed for a smat
+size_t blasfeo_memsize_smat(int m, int n);
+size_t blasfeo_memsize_smat_ps(int ps, int m, int n);
+// returns the memory size (in bytes) needed for the diagonal of a smat
+size_t blasfeo_memsize_diag_smat(int m, int n);
+// returns the memory size (in bytes) needed for a svec
+size_t blasfeo_memsize_svec(int m);
+// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated)
+void blasfeo_create_smat(int m, int n, struct blasfeo_smat *sA, void *memory);
+void blasfeo_create_smat_ps(int ps, int m, int n, struct blasfeo_smat *sA, void *memory);
+// create a strvec for a vector of size m by using memory passed by a pointer (pointer is not updated)
+void blasfeo_create_svec(int m, struct blasfeo_svec *sA, void *memory);
+void blasfeo_pack_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_pack_l_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_pack_u_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_pack_tran_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_pack_svec(int m, float *x, int xi, struct blasfeo_svec *sa, int ai);
+void blasfeo_unpack_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj, float *A, int lda);
+void blasfeo_unpack_tran_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj, float *A, int lda);
+void blasfeo_unpack_svec(int m, struct blasfeo_svec *sa, int ai, float *x, int xi);
+//void s_cast_mat2strmat(float *A, struct blasfeo_smat *sA);
+//void s_cast_diag_mat2strmat(float *dA, struct blasfeo_smat *sA);
+//void s_cast_vec2vecmat(float *a, struct blasfeo_svec *sa);
+
+// ge
+void blasfeo_sgese(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_sgecpsc(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+void blasfeo_sgecp(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+void blasfeo_sgesc(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_sgein1(float a, struct blasfeo_smat *sA, int ai, int aj);
+float blasfeo_sgeex1(struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_sgead(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+void blasfeo_sgetr(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+// tr
+void blasfeo_strcp_l(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+void blasfeo_strtr_l(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+void blasfeo_strtr_u(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+// dia
+void blasfeo_sdiare(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_sdiaex(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi);
+void blasfeo_sdiain(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_sdiain_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
+void blasfeo_sdiaex_sp(int kmax, float alpha, int *idx, struct blasfeo_smat *sD, int di, int dj, struct blasfeo_svec *sx, int xi);
+void blasfeo_sdiaad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_sdiaad_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
+void blasfeo_sdiaadin_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, int *idx, struct blasfeo_smat *sD, int di, int dj);
+// row
+void blasfeo_srowin(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_srowex(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi);
+void blasfeo_srowad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_srowad_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
+void blasfeo_srowsw(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+void blasfeo_srowpe(int kmax, int *ipiv, struct blasfeo_smat *sA);
+void blasfeo_srowpei(int kmax, int *ipiv, struct blasfeo_smat *sA);
+// col
+void blasfeo_scolex(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi);
+void blasfeo_scolin(int kmax, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_scolad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_scolsc(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_scolsw(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+void blasfeo_scolpe(int kmax, int *ipiv, struct blasfeo_smat *sA);
+void blasfeo_scolpei(int kmax, int *ipiv, struct blasfeo_smat *sA);
+// vec
+void blasfeo_svecse(int m, float alpha, struct blasfeo_svec *sx, int xi);
+void blasfeo_sveccp(int m, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci);
+void blasfeo_svecsc(int m, float alpha, struct blasfeo_svec *sa, int ai);
+void blasfeo_sveccpsc(int m, float alpha, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci);
+void blasfeo_svecad(int m, float alpha, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci);
+void blasfeo_svecin1(float a, struct blasfeo_svec *sx, int xi);
+float blasfeo_svecex1(struct blasfeo_svec *sx, int xi);
+void blasfeo_svecad_sp(int m, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_svec *sz, int zi);
+void blasfeo_svecin_sp(int m, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_svec *sz, int zi);
+void blasfeo_svecex_sp(int m, float alpha, int *idx, struct blasfeo_svec *sx, int x, struct blasfeo_svec *sz, int zi);
+void blasfeo_sveccl(int m, struct blasfeo_svec *sxm, int xim, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sxp, int xip, struct blasfeo_svec *sz, int zi);
+void blasfeo_sveccl_mask(int m, struct blasfeo_svec *sxm, int xim, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sxp, int xip, struct blasfeo_svec *sz, int zi, struct blasfeo_svec *sm, int mi);
+void blasfeo_svecze(int m, struct blasfeo_svec *sm, int mi, struct blasfeo_svec *sv, int vi, struct blasfeo_svec *se, int ei);
+void blasfeo_svecnrm_inf(int m, struct blasfeo_svec *sx, int xi, float *ptr_norm);
+void blasfeo_svecnrm_2(int m, struct blasfeo_svec *sx, int xi, float *ptr_norm);
+void blasfeo_svecpe(int kmax, int *ipiv, struct blasfeo_svec *sx, int xi);
+void blasfeo_svecpei(int kmax, int *ipiv, struct blasfeo_svec *sx, int xi);
+
+
+
+/*
+* Explicitly panel-major matrix format
+*/
+
+// returns the memory size (in bytes) needed for a dmat
+size_t blasfeo_pm_memsize_smat(int ps, int m, int n);
+// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated)
+void blasfeo_pm_create_smat(int ps, int m, int n, struct blasfeo_pm_smat *sA, void *memory);
+
+
+
+/*
+* Explicitly column-major matrix format
+*/
+
+// returns the memory size (in bytes) needed for a dmat
+size_t blasfeo_cm_memsize_smat(int m, int n);
+// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated)
+void blasfeo_cm_create_smat(int m, int n, struct blasfeo_pm_smat *sA, void *memory);
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BLASFEO_S_AUX_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_aux_ext_dep.h b/third_party/acados/include/blasfeo/include/blasfeo_s_aux_ext_dep.h
new file mode 100644
index 0000000000..5209d20d37
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/blasfeo_s_aux_ext_dep.h
@@ -0,0 +1,141 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef BLASFEO_S_AUX_EXT_DEP_H_
+#define BLASFEO_S_AUX_EXT_DEP_H_
+
+
+
+#include <stdio.h>
+
+
+
+#include "blasfeo_common.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+#ifdef EXT_DEP
+
+/************************************************
+* s_aux_extern_depend_lib.c
+************************************************/
+
+/* column-major matrices */
+
+// dynamically allocate row*col floats of memory and set accordingly a pointer to float; set allocated memory to zero
+void s_zeros(float **pA, int row, int col);
+// dynamically allocate row*col floats of memory aligned to 64-byte boundaries and set accordingly a pointer to float; set allocated memory to zero
+void s_zeros_align(float **pA, int row, int col);
+// dynamically allocate size bytes of memory aligned to 64-byte boundaries and set accordingly a pointer to float; set allocated memory to zero
+void s_zeros_align_bytes(float **pA, int size);
+// free the memory allocated by d_zeros
+void s_free(float *pA);
+// free the memory allocated by d_zeros_align or d_zeros_align_bytes
+void s_free_align(float *pA);
+// print a column-major matrix
+void s_print_mat(int m, int n, float *A, int lda);
+// print the transposed of a column-major matrix
+void s_print_tran_mat(int row, int col, float *A, int lda);
+// print to file a column-major matrix
+void s_print_to_file_mat(FILE *file, int row, int col, float *A, int lda);
+// print to file a column-major matrix in exponential format
+void s_print_to_file_exp_mat(FILE *file, int row, int col, float *A, int lda);
+// print to string a column-major matrix
+void s_print_to_string_mat(char **buf_out, int row, int col, float *A, int lda);
+// print to file the transposed of a column-major matrix
+void s_print_tran_to_file_mat(FILE *file, int row, int col, float *A, int lda);
+// print to file the transposed of a column-major matrix in exponential format
+void s_print_tran_to_file_exp_mat(FILE *file, int row, int col, float *A, int lda);
+// print in exponential notation a column-major matrix
+void s_print_exp_mat(int m, int n, float *A, int lda);
+// print in exponential notation the transposed of a column-major matrix
+void s_print_exp_tran_mat(int row, int col, float *A, int lda);
+
+/* strmat and strvec */
+
+// create a strmat for a matrix of size m*n by dynamically allocating memory
+void blasfeo_allocate_smat(int m, int n, struct blasfeo_smat *sA);
+// create a strvec for a vector of size m by dynamically allocating memory
+void blasfeo_allocate_svec(int m, struct blasfeo_svec *sa);
+// free the memory allocated by blasfeo_allocate_dmat
+void blasfeo_free_smat(struct blasfeo_smat *sA);
+// free the memory allocated by blasfeo_allocate_dvec
+void blasfeo_free_svec(struct blasfeo_svec *sa);
+// print a strmat
+void blasfeo_print_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj);
+// print in exponential notation a strmat
+void blasfeo_print_exp_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj);
+// print to file a strmat
+void blasfeo_print_to_file_smat(FILE *file, int m, int n, struct blasfeo_smat *sA, int ai, int aj);
+// print to file a strmat in exponential format
+void blasfeo_print_to_file_exp_smat(FILE *file, int m, int n, struct blasfeo_smat *sA, int ai, int aj);
+// print to string a strmat
+void blasfeo_print_to_string_smat(char **buf_out, int m, int n, struct blasfeo_smat *sA, int ai, int aj);
+// print the transpose of a strmat
+void blasfeo_print_tran_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj);
+// print a strvec
+void blasfeo_print_svec(int m, struct blasfeo_svec *sa, int ai);
+// print in exponential notation a strvec
+void blasfeo_print_exp_svec(int m, struct blasfeo_svec *sa, int ai);
+// print to file a strvec
+void blasfeo_print_to_file_svec(FILE *file, int m, struct blasfeo_svec *sa, int ai);
+// print to string a strvec
+void blasfeo_print_to_string_svec(char **buf_out, int m, struct blasfeo_svec *sa, int ai);
+// print the transposed of a strvec
+void blasfeo_print_tran_svec(int m, struct blasfeo_svec *sa, int ai);
+// print in exponential notation the transposed of a strvec
+void blasfeo_print_exp_tran_svec(int m, struct blasfeo_svec *sa, int ai);
+// print to file the transposed of a strvec
+void blasfeo_print_to_file_tran_svec(FILE *file, int m, struct blasfeo_svec *sa, int ai);
+// print to string the transposed of a strvec
+void blasfeo_print_to_string_tran_svec(char **buf_out, int m, struct blasfeo_svec *sa, int ai);
+
+#endif // EXT_DEP
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+
+
+#endif  // BLASFEO_S_AUX_EXT_DEP_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_aux_ext_dep_ref.h b/third_party/acados/include/blasfeo/include/blasfeo_s_aux_ext_dep_ref.h
new file mode 100644
index 0000000000..6640e20a40
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/blasfeo_s_aux_ext_dep_ref.h
@@ -0,0 +1,82 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef BLASFEO_S_AUX_EXT_DEP_REF_H_
+#define BLASFEO_S_AUX_EXT_DEP_REF_H_
+
+#if defined(EXT_DEP)
+
+
+
+#include <stdio.h>
+
+#include "blasfeo_common.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// expose reference BLASFEO for testing
+// see blasfeo_s_aux_exp_dep.h for help
+
+void blasfeo_print_smat_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj);
+void blasfeo_allocate_smat_ref(int m, int n, struct blasfeo_smat_ref *sA);
+void blasfeo_allocate_svec_ref(int m, struct blasfeo_svec_ref *sa);
+void blasfeo_free_smat_ref(struct blasfeo_smat_ref *sA);
+void blasfeo_free_svec_ref(struct blasfeo_svec_ref *sa);
+void blasfeo_print_smat_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj);
+void blasfeo_print_exp_smat_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj);
+void blasfeo_print_to_file_smat_ref(FILE *file, int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj);
+void blasfeo_print_to_file_exp_smat_ref(FILE *file, int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj);
+void blasfeo_print_to_string_smat_ref(char **buf_out, int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj);
+void blasfeo_print_svec(int m, struct blasfeo_svec *sa, int ai);
+void blasfeo_print_exp_svec(int m, struct blasfeo_svec *sa, int ai);
+void blasfeo_print_to_file_svec(FILE *file, int m, struct blasfeo_svec *sa, int ai);
+void blasfeo_print_to_string_svec(char **buf_out, int m, struct blasfeo_svec *sa, int ai);
+void blasfeo_print_tran_svec(int m, struct blasfeo_svec *sa, int ai);
+void blasfeo_print_exp_tran_svec(int m, struct blasfeo_svec *sa, int ai);
+void blasfeo_print_to_file_tran_svec(FILE *file, int m, struct blasfeo_svec *sa, int ai);
+void blasfeo_print_to_string_tran_svec(char **buf_out, int m, struct blasfeo_svec *sa, int ai);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+
+
+#endif  // EXT_DEP
+
+#endif  // BLASFEO_S_AUX_EXT_DEP_REF_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_aux_old.h b/third_party/acados/include/blasfeo/include/blasfeo_s_aux_old.h
new file mode 100644
index 0000000000..5c6db37bab
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/blasfeo_s_aux_old.h
@@ -0,0 +1,64 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+// TODO remove
+//
+void strcp_l_lib(int m, float alpha, int offsetA, float *A, int sda, int offsetB, float *B, int sdb);
+void sgead_lib(int m, int n, float alpha, int offsetA, float *A, int sda, int offsetB, float *B, int sdb);
+void sgetr_lib(int m, int n, float alpha, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc);
+void strtr_l_lib(int m, float alpha, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc);
+void strtr_u_lib(int m, float alpha, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc);
+void sdiareg_lib(int kmax, float reg, int offset, float *pD, int sdd);
+void sdiain_sqrt_lib(int kmax, float *x, int offset, float *pD, int sdd);
+void sdiaex_lib(int kmax, float alpha, int offset, float *pD, int sdd, float *x);
+void sdiaad_lib(int kmax, float alpha, float *x, int offset, float *pD, int sdd);
+void sdiain_libsp(int kmax, int *idx, float alpha, float *x, float *pD, int sdd);
+void sdiaex_libsp(int kmax, int *idx, float alpha, float *pD, int sdd, float *x);
+void sdiaad_libsp(int kmax, int *idx, float alpha, float *x, float *pD, int sdd);
+void sdiaadin_libsp(int kmax, int *idx, float alpha, float *x, float *y, float *pD, int sdd);
+void srowin_lib(int kmax, float alpha, float *x, float *pD);
+void srowex_lib(int kmax, float alpha, float *pD, float *x);
+void srowad_lib(int kmax, float alpha, float *x, float *pD);
+void srowin_libsp(int kmax, float alpha, int *idx, float *x, float *pD);
+void srowad_libsp(int kmax, int *idx, float alpha, float *x, float *pD);
+void srowadin_libsp(int kmax, int *idx, float alpha, float *x, float *y, float *pD);
+void srowsw_lib(int kmax, float *pA, float *pC);
+void scolin_lib(int kmax, float *x, int offset, float *pD, int sdd);
+void scolad_lib(int kmax, float alpha, float *x, int offset, float *pD, int sdd);
+void scolin_libsp(int kmax, int *idx, float *x, float *pD, int sdd);
+void scolad_libsp(int kmax, float alpha, int *idx, float *x, float *pD, int sdd);
+void scolsw_lib(int kmax, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc);
+void svecin_libsp(int kmax, int *idx, float *x, float *y);
+void svecad_libsp(int kmax, int *idx, float alpha, float *x, float *y);
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_aux_ref.h b/third_party/acados/include/blasfeo/include/blasfeo_s_aux_ref.h
new file mode 100644
index 0000000000..f6e16a9577
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/blasfeo_s_aux_ref.h
@@ -0,0 +1,145 @@
+
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef BLASFEO_S_AUX_REF_H_
+#define BLASFEO_S_AUX_REF_H_
+
+
+
+#include <stdlib.h>
+
+#include "blasfeo_s_aux_old.h"
+#include "blasfeo_common.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+/************************************************
+* d_aux_lib.c
+************************************************/
+
+// returns the memory size (in bytes) needed for a smat
+size_t blasfeo_ref_memsize_smat(int m, int n);
+size_t blasfeo_ref_memsize_smat_ps(int ps, int m, int n);
+// returns the memory size (in bytes) needed for the diagonal of a smat
+size_t blasfeo_ref_memsize_diag_smat(int m, int n);
+// returns the memory size (in bytes) needed for a svec
+size_t blasfeo_ref_memsize_svec(int m);
+// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated)
+void blasfeo_ref_create_smat(int m, int n, struct blasfeo_smat *sA, void *memory);
+void blasfeo_ref_create_smat_ps(int ps, int m, int n, struct blasfeo_smat *sA, void *memory);
+// create a strvec for a vector of size m by using memory passed by a pointer (pointer is not updated)
+void blasfeo_ref_create_svec(int m, struct blasfeo_svec *sA, void *memory);
+void blasfeo_ref_pack_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_ref_pack_l_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sB, int bi, int bj);
+void blasfeo_ref_pack_l_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sB, int bi, int bj);
+void blasfeo_ref_pack_tran_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_ref_pack_svec(int m, float *x, int xi, struct blasfeo_svec *sa, int ai);
+void blasfeo_ref_unpack_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj, float *A, int lda);
+void blasfeo_ref_unpack_tran_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj, float *A, int lda);
+void blasfeo_ref_unpack_svec(int m, struct blasfeo_svec *sa, int ai, float *x, int xi);
+void ref_s_cast_mat2strmat(float *A, struct blasfeo_smat *sA);
+void ref_s_cast_diag_mat2strmat(float *dA, struct blasfeo_smat *sA);
+void ref_s_cast_vec2vecmat(float *a, struct blasfeo_svec *sa);
+
+// ge
+void blasfeo_ref_sgese(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_ref_sgecpsc(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+void blasfeo_ref_sgecp(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+void blasfeo_ref_sgesc(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_ref_sgein1(float a, struct blasfeo_smat *sA, int ai, int aj);
+float blasfeo_ref_sgeex1(struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_ref_sgead(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+void blasfeo_ref_sgetr(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+// tr
+void blasfeo_ref_strcp_l(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+void blasfeo_ref_strtr_l(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+void blasfeo_ref_strtr_u(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+// dia
+void blasfeo_ref_sdiare(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_ref_sdiaex(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi);
+void blasfeo_ref_sdiain(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_ref_sdiain_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
+void blasfeo_ref_sdiaex_sp(int kmax, float alpha, int *idx, struct blasfeo_smat *sD, int di, int dj, struct blasfeo_svec *sx, int xi);
+void blasfeo_ref_sdiaad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_ref_sdiaad_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
+void blasfeo_ref_sdiaadin_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, int *idx, struct blasfeo_smat *sD, int di, int dj);
+// row
+void blasfeo_ref_srowin(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_ref_srowex(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi);
+void blasfeo_ref_srowad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_ref_srowad_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
+void blasfeo_ref_srowsw(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+void blasfeo_ref_srowpe(int kmax, int *ipiv, struct blasfeo_smat *sA);
+void blasfeo_ref_srowpei(int kmax, int *ipiv, struct blasfeo_smat *sA);
+// col
+void blasfeo_ref_scolex(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi);
+void blasfeo_ref_scolin(int kmax, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_ref_scolad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_ref_scolsc(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj);
+void blasfeo_ref_scolsw(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+void blasfeo_ref_scolpe(int kmax, int *ipiv, struct blasfeo_smat *sA);
+void blasfeo_ref_scolpei(int kmax, int *ipiv, struct blasfeo_smat *sA);
+// vec
+void blasfeo_ref_svecse(int m, float alpha, struct blasfeo_svec *sx, int xi);
+void blasfeo_ref_sveccp(int m, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci);
+void blasfeo_ref_svecsc(int m, float alpha, struct blasfeo_svec *sa, int ai);
+void blasfeo_ref_sveccpsc(int m, float alpha, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci);
+void blasfeo_ref_svecad(int m, float alpha, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci);
+void blasfeo_ref_svecin1(float a, struct blasfeo_svec *sx, int xi);
+float blasfeo_ref_svecex1(struct blasfeo_svec *sx, int xi);
+void blasfeo_ref_svecad_sp(int m, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_svec *sz, int zi);
+void blasfeo_ref_svecin_sp(int m, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_svec *sz, int zi);
+void blasfeo_ref_svecex_sp(int m, float alpha, int *idx, struct blasfeo_svec *sx, int x, struct blasfeo_svec *sz, int zi);
+void blasfeo_ref_sveccl(int m, struct blasfeo_svec *sxm, int xim, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sxp, int xip, struct blasfeo_svec *sz, int zi);
+void blasfeo_ref_sveccl_mask(int m, struct blasfeo_svec *sxm, int xim, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sxp, int xip, struct blasfeo_svec *sz, int zi, struct blasfeo_svec *sm, int mi);
+void blasfeo_ref_svecze(int m, struct blasfeo_svec *sm, int mi, struct blasfeo_svec *sv, int vi, struct blasfeo_svec *se, int ei);
+void blasfeo_ref_svecnrm_inf(int m, struct blasfeo_svec *sx, int xi, float *ptr_norm);
+void blasfeo_ref_svecpe(int kmax, int *ipiv, struct blasfeo_svec *sx, int xi);
+void blasfeo_ref_svecpei(int kmax, int *ipiv, struct blasfeo_svec *sx, int xi);
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BLASFEO_S_AUX_REF_H_
+
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_aux_test.h b/third_party/acados/include/blasfeo/include/blasfeo_s_aux_test.h
new file mode 100644
index 0000000000..08d9a14a6a
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/blasfeo_s_aux_test.h
@@ -0,0 +1,177 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef BLASFEO_S_AUX_TEST_H_
+#define BLASFEO_S_AUX_TEST_H_
+
+#include <stdio.h>
+
+#include "blasfeo_common.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+/************************************************
+* d_aux_lib.c
+************************************************/
+
+int test_blasfeo_memsize_smat(int m, int n);
+int test_blasfeo_memsize_diag_smat(int m, int n);
+int test_blasfeo_memsize_svec(int m);
+
+void test_blasfeo_create_smat(int m, int n, struct blasfeo_smat *sA, void *memory);
+void test_blasfeo_create_svec(int m, struct blasfeo_svec *sA, void *memory);
+
+void test_blasfeo_pack_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj);
+void test_blasfeo_pack_svec(int m, float *x, int xi, struct blasfeo_svec *sa, int ai);
+void test_blasfeo_pack_tran_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj);
+void test_blasfeo_unpack_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj, float *A, int lda);
+void test_blasfeo_unpack_svec(int m, struct blasfeo_svec *sa, int ai, float *x, int xi);
+void test_blasfeo_unpack_tran_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj, float *A, int lda);
+
+void test_s_cast_mat2strmat(float *A, struct blasfeo_smat *sA);
+void test_s_cast_diag_mat2strmat(float *dA, struct blasfeo_smat *sA);
+void test_s_cast_vec2vecmat(float *a, struct blasfeo_svec *sa);
+// copy and scale
+void test_blasfeo_sgecpsc(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+void test_blasfeo_sgecp(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+void test_blasfeo_sgesc(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj);
+
+// void test_blasfeo_sgein1(float a, struct blasfeo_smat *sA, int ai, int aj);
+// float test_blasfeo_sgeex1(struct blasfeo_smat *sA, int ai, int aj);
+// void test_blasfeo_svecin1(float a, struct blasfeo_svec *sx, int xi);
+// float test_blasfeo_svecex1(struct blasfeo_svec *sx, int xi);
+
+// // A <= alpha
+// void test_blasfeo_sgese(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj);
+// // a <= alpha
+// void test_blasfeo_svecse(int m, float alpha, struct blasfeo_svec *sx, int xi);
+
+
+// void test_blasfeo_sveccp(int m, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci);
+// void test_blasfeo_svecsc(int m, float alpha, struct blasfeo_svec *sa, int ai);
+
+// void test_strcp_l_lib(int m, float alpha, int offsetA, float *A, int sda, int offsetB, float *B, int sdb);
+// void test_blasfeo_strcp_l(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+
+// void test_sgead_lib(int m, int n, float alpha, int offsetA, float *A, int sda, int offsetB, float *B, int sdb);
+// void test_blasfeo_sgead(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+// void test_blasfeo_svecad(int m, float alpha, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci);
+
+// void test_sgetr_lib(int m, int n, float alpha, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc);
+// void test_blasfeo_sgetr(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+
+// void test_strtr_l_lib(int m, float alpha, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc);
+// void test_blasfeo_strtr_l(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+// void test_strtr_u_lib(int m, float alpha, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc);
+// void test_blasfeo_strtr_u(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+
+// void test_sdiareg_lib(int kmax, float reg, int offset, float *pD, int sdd);
+// void test_blasfeo_sdiaex(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi);
+// void test_blasfeo_sdiain(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
+// void test_sdiain_sqrt_lib(int kmax, float *x, int offset, float *pD, int sdd);
+// void test_sdiaex_lib(int kmax, float alpha, int offset, float *pD, int sdd, float *x);
+// void test_sdiaad_lib(int kmax, float alpha, float *x, int offset, float *pD, int sdd);
+// void test_sdiain_libsp(int kmax, int *idx, float alpha, float *x, float *pD, int sdd);
+// void test_blasfeo_sdiain_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
+// void test_sdiaex_libsp(int kmax, int *idx, float alpha, float *pD, int sdd, float *x);
+// void test_blasfeo_sdiaex_sp(int kmax, float alpha, int *idx, struct blasfeo_smat *sD, int di, int dj, struct blasfeo_svec *sx, int xi);
+// void test_blasfeo_sdiaad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
+// void test_sdiaad_libsp(int kmax, int *idx, float alpha, float *x, float *pD, int sdd);
+// void test_blasfeo_sdiaad_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
+// void test_sdiaadin_libsp(int kmax, int *idx, float alpha, float *x, float *y, float *pD, int sdd);
+// void test_blasfeo_sdiaadin_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, int *idx, struct blasfeo_smat *sD, int di, int dj);
+// void test_srowin_lib(int kmax, float alpha, float *x, float *pD);
+// void test_blasfeo_srowin(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
+// void test_srowex_lib(int kmax, float alpha, float *pD, float *x);
+// void test_blasfeo_srowex(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi);
+// void test_srowad_lib(int kmax, float alpha, float *x, float *pD);
+// void test_blasfeo_srowad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
+// void test_srowin_libsp(int kmax, float alpha, int *idx, float *x, float *pD);
+// void test_srowad_libsp(int kmax, int *idx, float alpha, float *x, float *pD);
+// void test_blasfeo_srowad_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj);
+// void test_srowadin_libsp(int kmax, int *idx, float alpha, float *x, float *y, float *pD);
+// void test_srowsw_lib(int kmax, float *pA, float *pC);
+// void test_blasfeo_srowsw(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+// void test_blasfeo_srowpe(int kmax, int *ipiv, struct blasfeo_smat *sA);
+// void test_scolin_lib(int kmax, float *x, int offset, float *pD, int sdd);
+// void test_blasfeo_scolin(int kmax, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj);
+// void test_scolad_lib(int kmax, float alpha, float *x, int offset, float *pD, int sdd);
+// void test_scolin_libsp(int kmax, int *idx, float *x, float *pD, int sdd);
+// void test_scolad_libsp(int kmax, float alpha, int *idx, float *x, float *pD, int sdd);
+// void test_scolsw_lib(int kmax, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc);
+// void test_blasfeo_scolsw(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj);
+// void test_blasfeo_scolpe(int kmax, int *ipiv, struct blasfeo_smat *sA);
+// void test_svecin_libsp(int kmax, int *idx, float *x, float *y);
+// void test_svecad_libsp(int kmax, int *idx, float alpha, float *x, float *y);
+// void test_blasfeo_svecad_sp(int m, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_svec *sz, int zi);
+// void test_blasfeo_svecin_sp(int m, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_svec *sz, int zi);
+// void test_blasfeo_svecex_sp(int m, float alpha, int *idx, struct blasfeo_svec *sx, int x, struct blasfeo_svec *sz, int zi);
+// void test_blasfeo_sveccl(int m, struct blasfeo_svec *sxm, int xim, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sxp, int xip, struct blasfeo_svec *sz, int zi);
+// void test_blasfeo_sveccl_mask(int m, struct blasfeo_svec *sxm, int xim, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sxp, int xip, struct blasfeo_svec *sz, int zi, struct blasfeo_svec *sm, int mi);
+// void test_blasfeo_svecze(int m, struct blasfeo_svec *sm, int mi, struct blasfeo_svec *sv, int vi, struct blasfeo_svec *se, int ei);
+// void test_blasfeo_svecnrm_inf(int m, struct blasfeo_svec *sx, int xi, float *ptr_norm);
+// void test_blasfeo_svecpe(int kmax, int *ipiv, struct blasfeo_svec *sx, int xi);
+
+
+// ext_dep
+
+void test_blasfeo_allocate_smat(int m, int n, struct blasfeo_smat *sA);
+void test_blasfeo_allocate_svec(int m, struct blasfeo_svec *sa);
+
+void test_blasfeo_free_smat(struct blasfeo_smat *sA);
+void test_blasfeo_free_svec(struct blasfeo_svec *sa);
+
+void test_blasfeo_print_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj);
+void test_blasfeo_print_svec(int m, struct blasfeo_svec *sa, int ai);
+void test_blasfeo_print_tran_svec(int m, struct blasfeo_svec *sa, int ai);
+
+void test_blasfeo_print_to_file_smat(FILE *file, int m, int n, struct blasfeo_smat *sA, int ai, int aj);
+void test_blasfeo_print_to_file_svec(FILE *file, int m, struct blasfeo_svec *sa, int ai);
+void test_blasfeo_print_to_file_tran_svec(FILE *file, int m, struct blasfeo_svec *sa, int ai);
+
+void test_blasfeo_print_exp_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj);
+void test_blasfeo_print_exp_svec(int m, struct blasfeo_svec *sa, int ai);
+void test_blasfeo_print_exp_tran_svec(int m, struct blasfeo_svec *sa, int ai);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BLASFEO_S_AUX_TEST_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_blas.h b/third_party/acados/include/blasfeo/include/blasfeo_s_blas.h
new file mode 100644
index 0000000000..200f1f51b1
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/blasfeo_s_blas.h
@@ -0,0 +1,46 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef BLASFEO_S_BLAS_H_
+#define BLASFEO_S_BLAS_H_
+
+
+
+#include "blasfeo_s_blasfeo_api.h"
+#include "blasfeo_s_blas_api.h"
+
+
+
+#endif  // BLASFEO_S_BLAS_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_blas_api.h b/third_party/acados/include/blasfeo/include/blasfeo_s_blas_api.h
new file mode 100644
index 0000000000..d0fa2245c5
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/blasfeo_s_blas_api.h
@@ -0,0 +1,117 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+
+#ifndef BLASFEO_S_BLAS_API_H_
+#define BLASFEO_S_BLAS_API_H_
+
+
+
+#include "blasfeo_target.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+#ifdef BLAS_API
+
+
+
+#ifdef FORTRAN_BLAS_API
+
+
+
+// BLAS 1
+//
+void saxpy_(int *n, float *alpha, float *x, int *incx, float *y, int *incy);
+//
+float sdot_(int *n, float *x, int *incx, float *y, int *incy);
+
+// BLAS 3
+//
+void sgemm_(char *ta, char *tb, int *m, int *n, int *k, float *alpha, float *A, int *lda, float *B, int *ldb, float *beta, float *C, int *ldc);
+//
+void strsm_(char *side, char *uplo, char *transa, char *diag, int *m, int *n, float *alpha, float *A, int *lda, float *B, int *ldb);
+
+
+
+// LAPACK
+//
+void spotrf_(char *uplo, int *m, float *A, int *lda, int *info);
+
+
+
+#else // BLASFEO_API
+
+
+
+// BLAS 1
+//
+void blas_saxpy(int *n, float *alpha, float *x, int *incx, float *y, int *incy);
+//
+float blas_sdot(int *n, float *x, int *incx, float *y, int *incy);
+
+// BLAS 3
+//
+void blas_sgemm(char *ta, char *tb, int *m, int *n, int *k, float *alpha, float *A, int *lda, float *B, int *ldb, float *beta, float *C, int *ldc);
+//
+void blas_strsm(char *side, char *uplo, char *transa, char *diag, int *m, int *n, float *alpha, float *A, int *lda, float *B, int *ldb);
+
+
+
+// LAPACK
+//
+void blas_spotrf(char *uplo, int *m, float *A, int *lda, int *info);
+
+
+
+#endif // BLASFEO_API
+
+
+
+#endif // BLAS_API
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BLASFEO_S_BLAS_API_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_api.h b/third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_api.h
new file mode 100644
index 0000000000..72c19dcdc0
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_api.h
@@ -0,0 +1,268 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef BLASFEO_S_BLASFEO_API_H_
+#define BLASFEO_S_BLASFEO_API_H_
+
+
+
+#include "blasfeo_common.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+//
+// level 1 BLAS
+//
+
+// z = y + alpha*x
+void blasfeo_saxpy(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
+// z = beta*y + alpha*x
+void blasfeo_saxpby(int kmax, float alpha, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
+// z = x .* y
+void blasfeo_svecmul(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
+// z += x .* y
+void blasfeo_svecmulacc(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
+// z = x .* y, return sum(z) = x^T * y
+float blasfeo_svecmuldot(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
+// return x^T * y
+float blasfeo_sdot(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi);
+// construct givens plane rotation
+void blasfeo_srotg(float a, float b, float *c, float *s);
+// apply plane rotation [a b] [c -s; s; c] to the aj0 and aj1 columns of A at row index ai
+void blasfeo_scolrot(int m, struct blasfeo_smat *sA, int ai, int aj0, int aj1, float c, float s);
+// apply plane rotation [c s; -s c] [a; b] to the ai0 and ai1 rows of A at column index aj
+void blasfeo_srowrot(int m, struct blasfeo_smat *sA, int ai0, int ai1, int aj, float c, float s);
+
+
+
+//
+// level 2 BLAS
+//
+
+// dense
+
+// z <= beta * y + alpha * A * x
+void blasfeo_sgemv_n(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
+// z <= beta * y + alpha * A' * x
+void blasfeo_sgemv_t(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
+// z <= inv( A ) * x, A (m)x(n)
+void blasfeo_strsv_lnn_mn(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z <= inv( A' ) * x, A (m)x(n)
+void blasfeo_strsv_ltn_mn(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, not_unit
+void blasfeo_strsv_lnn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, unit
+void blasfeo_strsv_lnu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z <= inv( A' ) * x, A (m)x(m) lower, transposed, not_unit
+void blasfeo_strsv_ltn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z <= inv( A' ) * x, A (m)x(m) lower, transposed, unit
+void blasfeo_strsv_ltu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z <= inv( A' ) * x, A (m)x(m) upper, not_transposed, not_unit
+void blasfeo_strsv_unn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z <= inv( A' ) * x, A (m)x(m) upper, transposed, not_unit
+void blasfeo_strsv_utn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z <= beta * y + alpha * A * x ; A upper triangular
+void blasfeo_strmv_unn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z <= A' * x ; A upper triangular
+void blasfeo_strmv_utn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z <= A * x ; A lower triangular
+void blasfeo_strmv_lnn(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z <= A' * x ; A lower triangular
+void blasfeo_strmv_ltn(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z_n <= beta_n * y_n + alpha_n * A  * x_n
+// z_t <= beta_t * y_t + alpha_t * A' * x_t
+void blasfeo_sgemv_nt(int m, int n, float alpha_n, float alpha_t, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx_n, int xi_n, struct blasfeo_svec *sx_t, int xi_t, float beta_n, float beta_t, struct blasfeo_svec *sy_n, int yi_n, struct blasfeo_svec *sy_t, int yi_t, struct blasfeo_svec *sz_n, int zi_n, struct blasfeo_svec *sz_t, int zi_t);
+// z <= beta * y + alpha * A * x, where A is symmetric and only the lower triangular patr of A is accessed
+void blasfeo_ssymv_l(int m, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
+void blasfeo_ssymv_l_mn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
+
+// diagonal
+
+// z <= beta * y + alpha * A * x, A diagonal
+void blasfeo_sgemv_d(int m, float alpha, struct blasfeo_svec *sA, int ai, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
+
+
+
+//
+// level 3 BLAS
+//
+
+// dense
+
+// D <= beta * C + alpha * A * B
+void blasfeo_sgemm_nn(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= beta * C + alpha * A * B^T
+void blasfeo_sgemm_nt(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= beta * C + alpha * A^T * B
+void blasfeo_sgemm_tn(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= beta * C + alpha * A^T * B
+void blasfeo_sgemm_tt(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= beta * C + alpha * A * B^T ; C, D lower triangular
+void blasfeo_ssyrk_ln(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+void blasfeo_ssyrk_ln_mn(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= beta * C + alpha * A^T * B ; C, D lower triangular
+void blasfeo_ssyrk_lt(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= beta * C + alpha * A * B^T ; C, D upper triangular
+void blasfeo_ssyrk_un(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= beta * C + alpha * A^T * B ; C, D upper triangular
+void blasfeo_ssyrk_ut(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * B * A^T ; B upper triangular
+void blasfeo_strmm_rutn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * B * A ; A lower triangular
+void blasfeo_strmm_rlnn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * A^{-1} * B , with A lower triangular employint explicit inverse of diagonal
+void blasfeo_strsm_llnn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * A^{-1} * B , with A lower triangular with unit diagonal
+void blasfeo_strsm_llnu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * A^{-T} * B , with A lower triangular employint explicit inverse of diagonal
+void blasfeo_strsm_lltn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * A^{-T} * B , with A lower triangular with unit diagonal
+void blasfeo_strsm_lltu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * A^{-1} * B , with A upper triangular employing explicit inverse of diagonal
+void blasfeo_strsm_lunn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * A^{-1} * B , with A upper triangular withunit diagonal
+void blasfeo_strsm_lunu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * A^{-T} * B , with A upper triangular employing explicit inverse of diagonal
+void blasfeo_strsm_lutn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * A^{-T} * B , with A upper triangular withunit diagonal
+void blasfeo_strsm_lutu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * B * A^{-1} , with A lower triangular employing explicit inverse of diagonal
+void blasfeo_strsm_rlnn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * B * A^{-1} , with A lower triangular with unit diagonal
+void blasfeo_strsm_rlnu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * B * A^{-T} , with A lower triangular employing explicit inverse of diagonal
+void blasfeo_strsm_rltn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * B * A^{-T} , with A lower triangular with unit diagonal
+void blasfeo_strsm_rltu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * B * A^{-1} , with A upper triangular employing explicit inverse of diagonal
+void blasfeo_strsm_runn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * B * A^{-1} , with A upper triangular with unit diagonal
+void blasfeo_strsm_runu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * B * A^{-T} , with A upper triangular employing explicit inverse of diagonal
+void blasfeo_strsm_rutn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * B * A^{-T} , with A upper triangular with unit diagonal
+void blasfeo_strsm_rutu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+
+// diagonal
+
+// D <= alpha * A * B + beta * C, with A diagonal (stored as strvec)
+void sgemm_diag_left_ib(int m, int n, float alpha, float *dA, float *pB, int sdb, float beta, float *pC, int sdc, float *pD, int sdd);
+void blasfeo_sgemm_dn(int m, int n, float alpha, struct blasfeo_svec *sA, int ai, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * A * B + beta * C, with B diagonal (stored as strvec)
+void blasfeo_sgemm_nd(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sB, int bi, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+
+
+
+//
+// LAPACK
+//
+
+// D <= chol( C ) ; C, D lower triangular
+void blasfeo_spotrf_l(int m, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+void blasfeo_spotrf_l_mn(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= chol( C ) ; C, D upper triangular
+void blasfeo_spotrf_u(int m, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= chol( C + A * B' ) ; C, D lower triangular
+void blasfeo_ssyrk_spotrf_ln(int m, int k, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+void blasfeo_ssyrk_spotrf_ln_mn(int m, int n, int k, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= lu( C ) ; no pivoting
+void blasfeo_sgetrf_np(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= lu( C ) ; row pivoting
+void blasfeo_sgetrf_rp(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, int *ipiv);
+// D <= qr( C )
+void blasfeo_sgeqrf(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work);
+int blasfeo_sgeqrf_worksize(int m, int n); // in bytes
+// D <= Q factor, where C is the output of the LQ factorization
+int blasfeo_sorglq_worksize(int m, int n, int k); // in bytes
+void blasfeo_sorglq(int m, int n, int k, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work);
+// D <= lq( C )
+void blasfeo_sgelqf(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work);
+int blasfeo_sgelqf_worksize(int m, int n); // in bytes
+// D <= lq( C ), positive diagonal elements
+void blasfeo_sgelqf_pd(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work);
+// [L, A] <= lq( [L, A] ), positive diagonal elements, array of matrices, with
+// L lower triangular, of size (m)x(m)
+// A full, of size (m)x(n1)
+void blasfeo_sgelqf_pd_la(int m, int n1, struct blasfeo_smat *sL, int li, int lj, struct blasfeo_smat *sA, int ai, int aj, void *work);
+// [L, L, A] <= lq( [L, L, A] ), positive diagonal elements, array of matrices, with:
+// L lower triangular, of size (m)x(m)
+// A full, of size (m)x(n1)
+void blasfeo_sgelqf_pd_lla(int m, int n1, struct blasfeo_smat *sL0, int l0i, int l0j, struct blasfeo_smat *sL1, int l1i, int l1j, struct blasfeo_smat *sA, int ai, int aj, void *work);
+
+
+
+
+//
+// BLAS API helper functions
+//
+
+#if ( defined(BLAS_API) & defined(MF_PANELMAJ) )
+// BLAS 3
+void blasfeo_cm_sgemm_nn(int m, int n, int k, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, float beta, struct blasfeo_cm_smat *sC, int ci, int cj, struct blasfeo_cm_smat *sD, int di, int dj);
+void blasfeo_cm_sgemm_nt(int m, int n, int k, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, float beta, struct blasfeo_cm_smat *sC, int ci, int cj, struct blasfeo_cm_smat *sD, int di, int dj);
+void blasfeo_cm_sgemm_tn(int m, int n, int k, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, float beta, struct blasfeo_cm_smat *sC, int ci, int cj, struct blasfeo_cm_smat *sD, int di, int dj);
+void blasfeo_cm_sgemm_tt(int m, int n, int k, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, float beta, struct blasfeo_cm_smat *sC, int ci, int cj, struct blasfeo_cm_smat *sD, int di, int dj);
+void blasfeo_cm_strsm_llnn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
+void blasfeo_cm_strsm_llnu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
+void blasfeo_cm_strsm_lltn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
+void blasfeo_cm_strsm_lltu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
+void blasfeo_cm_strsm_lunn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
+void blasfeo_cm_strsm_lunu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
+void blasfeo_cm_strsm_lutn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
+void blasfeo_cm_strsm_lutu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
+void blasfeo_cm_strsm_rlnn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
+void blasfeo_cm_strsm_rlnu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
+void blasfeo_cm_strsm_rltn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
+void blasfeo_cm_strsm_rltu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
+void blasfeo_cm_strsm_runn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
+void blasfeo_cm_strsm_runu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
+void blasfeo_cm_strsm_rutn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
+void blasfeo_cm_strsm_rutu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj);
+// LAPACK
+void blasfeo_cm_spotrf_l(int m, struct blasfeo_cm_smat *sC, int ci, int cj, struct blasfeo_cm_smat *sD, int di, int dj);
+void blasfeo_cm_spotrf_u(int m, struct blasfeo_cm_smat *sC, int ci, int cj, struct blasfeo_cm_smat *sD, int di, int dj);
+#endif
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BLASFEO_S_BLASFEO_API_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_api_ref.h b/third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_api_ref.h
new file mode 100644
index 0000000000..f429a79dc3
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_api_ref.h
@@ -0,0 +1,135 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef BLASFEO_S_BLASFEO_API_REF_H_
+#define BLASFEO_S_BLASFEO_API_REF_H_
+
+#include "blasfeo_common.h"
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+// expose reference BLASFEO for testing
+
+// --- level 1
+
+void blasfeo_saxpy_ref(int kmax, float alpha, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi);
+void blasfeo_saxpby_ref(int kmax, float alpha, struct blasfeo_svec_ref *sx, int xi, float beta, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi);
+void blasfeo_svecmul_ref(int m, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi);
+void blasfeo_svecmulacc_ref(int m, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi);
+float blasfeo_svecmuldot_ref(int m, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi);
+float blasfeo_sdot_ref(int m, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sy, int yi);
+void blasfeo_srotg_ref(float a, float b, float *c, float *s);
+void blasfeo_scolrot_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj0, int aj1, float c, float s);
+void blasfeo_srowrot_ref(int m, struct blasfeo_smat_ref *sA, int ai0, int ai1, int aj, float c, float s);
+
+
+// --- level 2
+
+// dense
+void blasfeo_sgemv_n_ref(int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, float beta, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi);
+void blasfeo_sgemv_t_ref(int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, float beta, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi);
+void blasfeo_strsv_lnn_mn_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
+void blasfeo_strsv_ltn_mn_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
+void blasfeo_strsv_lnn_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
+void blasfeo_strsv_lnu_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
+void blasfeo_strsv_ltn_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
+void blasfeo_strsv_ltu_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
+void blasfeo_strsv_unn_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
+void blasfeo_strsv_utn_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
+void blasfeo_strmv_unn_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
+void blasfeo_strmv_utn_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
+void blasfeo_strmv_lnn_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
+void blasfeo_strmv_ltn_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
+void blasfeo_strmv_lnu_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
+void blasfeo_strmv_ltu_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi);
+void blasfeo_sgemv_nt_ref(int m, int n, float alpha_n, float alpha_t, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx_n, int xi_n, struct blasfeo_svec_ref *sx_t, int xi_t, float beta_n, float beta_t, struct blasfeo_svec_ref *sy_n, int yi_n, struct blasfeo_svec_ref *sy_t, int yi_t, struct blasfeo_svec_ref *sz_n, int zi_n, struct blasfeo_svec_ref *sz_t, int zi_t);
+void blasfeo_ssymv_l_ref(int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, float beta, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi);
+
+// diagonal
+void blasfeo_sgemv_d_ref(int m, float alpha, struct blasfeo_svec_ref *sA, int ai, struct blasfeo_svec_ref *sx, int xi, float beta, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi);
+
+
+// --- level 3
+
+// dense
+void blasfeo_sgemm_nn_ref( int m, int n, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
+void blasfeo_sgemm_nt_ref( int m, int n, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
+void blasfeo_sgemm_tn_ref(int m, int n, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
+void blasfeo_sgemm_tt_ref(int m, int n, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
+
+void blasfeo_ssyrk_ln_mn_ref( int m, int n, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
+void blasfeo_ssyrk_ln_ref( int m, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
+void blasfeo_ssyrk_lt_ref( int m, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
+void blasfeo_ssyrk_un_ref( int m, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
+void blasfeo_ssyrk_ut_ref( int m, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
+
+void blasfeo_strmm_rutn_ref( int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sD, int di, int dj);
+void blasfeo_strmm_rlnn_ref( int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sD, int di, int dj);
+void blasfeo_strsm_rltn_ref( int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sD, int di, int dj);
+void blasfeo_strsm_rltu_ref( int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sD, int di, int dj);
+void blasfeo_strsm_rutn_ref( int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sD, int di, int dj);
+void blasfeo_strsm_llnu_ref( int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sD, int di, int dj);
+void blasfeo_strsm_lunn_ref( int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sD, int di, int dj);
+
+// diagonal
+void dgemm_diag_left_lib_ref(int m, int n, float alpha, float *dA, float *pB, int sdb, float beta, float *pC, int sdc, float *pD, int sdd);
+void blasfeo_sgemm_dn_ref(int m, int n, float alpha, struct blasfeo_svec_ref *sA, int ai, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
+void blasfeo_sgemm_nd_ref(int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sB, int bi, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
+
+// --- lapack
+
+void blasfeo_sgetrf_nopivot_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
+void blasfeo_sgetrf_rowpivot_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj, int *ipiv);
+void blasfeo_spotrf_l_ref(int m, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
+void blasfeo_spotrf_l_mn_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
+void blasfeo_ssyrk_dpotrf_ln_ref(int m, int k, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
+void blasfeo_ssyrk_dpotrf_ln_mn_ref(int m, int n, int k, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
+void blasfeo_sgetrf_nopivot_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj);
+void blasfeo_sgetrf_rowpivot_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj, int *ipiv);
+void blasfeo_sgeqrf_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj, void *work);
+void blasfeo_sgelqf_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj, void *work);
+void blasfeo_sgelqf_pd_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj, void *work);
+void blasfeo_sgelqf_pd_la_ref(int m, int n1, struct blasfeo_smat_ref *sL, int li, int lj, struct blasfeo_smat_ref *sA, int ai, int aj, void *work);
+void blasfeo_sgelqf_pd_lla_ref(int m, int n1, struct blasfeo_smat_ref *sL0, int l0i, int l0j, struct blasfeo_smat_ref *sL1, int l1i, int l1j, struct blasfeo_smat_ref *sA, int ai, int aj, void *work);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BLASFEO_S_BLASFEO_API_REF_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_ref_api.h b/third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_ref_api.h
new file mode 100644
index 0000000000..db8b28d3b7
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_ref_api.h
@@ -0,0 +1,235 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef BLASFEO_S_BLASFEO_REF_API_H_
+#define BLASFEO_S_BLASFEO_REF_API_H_
+
+
+
+#include "blasfeo_common.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+//
+// level 1 BLAS
+//
+
+// z = y + alpha*x
+void blasfeo_ref_saxpy(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
+// z = beta*y + alpha*x
+void blasfeo_ref_saxpby(int kmax, float alpha, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
+// z = x .* y
+void blasfeo_ref_svecmul(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
+// z += x .* y
+void blasfeo_ref_svecmulacc(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
+// z = x .* y, return sum(z) = x^T * y
+float blasfeo_ref_svecmuldot(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
+// return x^T * y
+float blasfeo_ref_sdot(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi);
+// construct givens plane rotation
+void blasfeo_ref_srotg(float a, float b, float *c, float *s);
+// apply plane rotation [a b] [c -s; s; c] to the aj0 and aj1 columns of A at row index ai
+void blasfeo_ref_scolrot(int m, struct blasfeo_smat *sA, int ai, int aj0, int aj1, float c, float s);
+// apply plane rotation [c s; -s c] [a; b] to the ai0 and ai1 rows of A at column index aj
+void blasfeo_ref_srowrot(int m, struct blasfeo_smat *sA, int ai0, int ai1, int aj, float c, float s);
+
+
+
+//
+// level 2 BLAS
+//
+
+// dense
+
+// z <= beta * y + alpha * A * x
+void blasfeo_ref_sgemv_n(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
+// z <= beta * y + alpha * A' * x
+void blasfeo_ref_sgemv_t(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
+// z <= inv( A ) * x, A (m)x(n)
+void blasfeo_ref_strsv_lnn_mn(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z <= inv( A' ) * x, A (m)x(n)
+void blasfeo_ref_strsv_ltn_mn(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, not_unit
+void blasfeo_ref_strsv_lnn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, unit
+void blasfeo_ref_strsv_lnu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z <= inv( A' ) * x, A (m)x(m) lower, transposed, not_unit
+void blasfeo_ref_strsv_ltn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z <= inv( A' ) * x, A (m)x(m) lower, transposed, unit
+void blasfeo_ref_strsv_ltu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z <= inv( A' ) * x, A (m)x(m) upper, not_transposed, not_unit
+void blasfeo_ref_strsv_unn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z <= inv( A' ) * x, A (m)x(m) upper, transposed, not_unit
+void blasfeo_ref_strsv_utn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z <= beta * y + alpha * A * x ; A upper triangular
+void blasfeo_ref_strmv_unn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z <= A' * x ; A upper triangular
+void blasfeo_ref_strmv_utn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z <= A * x ; A lower triangular
+void blasfeo_ref_strmv_lnn(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z <= A' * x ; A lower triangular
+void blasfeo_ref_strmv_ltn(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
+// z_n <= beta_n * y_n + alpha_n * A  * x_n
+// z_t <= beta_t * y_t + alpha_t * A' * x_t
+void blasfeo_ref_sgemv_nt(int m, int n, float alpha_n, float alpha_t, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx_n, int xi_n, struct blasfeo_svec *sx_t, int xi_t, float beta_n, float beta_t, struct blasfeo_svec *sy_n, int yi_n, struct blasfeo_svec *sy_t, int yi_t, struct blasfeo_svec *sz_n, int zi_n, struct blasfeo_svec *sz_t, int zi_t);
+// z <= beta * y + alpha * A * x, where A is symmetric and only the lower triangular patr of A is accessed
+void blasfeo_ref_ssymv_l(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
+
+// diagonal
+
+// z <= beta * y + alpha * A * x, A diagonal
+void blasfeo_ref_sgemv_d(int m, float alpha, struct blasfeo_svec *sA, int ai, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi);
+
+
+
+//
+// level 3 BLAS
+//
+
+// dense
+
+// D <= beta * C + alpha * A * B
+void blasfeo_ref_sgemm_nn(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= beta * C + alpha * A * B^T
+void blasfeo_ref_sgemm_nt(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= beta * C + alpha * A^T * B
+void blasfeo_ref_sgemm_tn(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= beta * C + alpha * A^T * B
+void blasfeo_ref_sgemm_tt(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= beta * C + alpha * A * B^T ; C, D lower triangular
+void blasfeo_ref_ssyrk_ln(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+void blasfeo_ref_ssyrk_ln_mn(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= beta * C + alpha * A^T * B ; C, D lower triangular
+void blasfeo_ref_ssyrk_lt(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= beta * C + alpha * A * B^T ; C, D upper triangular
+void blasfeo_ref_ssyrk_un(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= beta * C + alpha * A^T * B ; C, D upper triangular
+void blasfeo_ref_ssyrk_ut(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * B * A^T ; B upper triangular
+void blasfeo_ref_strmm_rutn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * B * A ; A lower triangular
+void blasfeo_ref_strmm_rlnn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * A^{-1} * B , with A lower triangular employint explicit inverse of diagonal
+void blasfeo_ref_strsm_llnn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * A^{-1} * B , with A lower triangular with unit diagonal
+void blasfeo_ref_strsm_llnu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * A^{-T} * B , with A lower triangular employint explicit inverse of diagonal
+void blasfeo_ref_strsm_lltn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * A^{-T} * B , with A lower triangular with unit diagonal
+void blasfeo_ref_strsm_lltu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * A^{-1} * B , with A upper triangular employing explicit inverse of diagonal
+void blasfeo_ref_strsm_lunn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * A^{-1} * B , with A upper triangular withunit diagonal
+void blasfeo_ref_strsm_lunu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * A^{-T} * B , with A upper triangular employing explicit inverse of diagonal
+void blasfeo_ref_strsm_lutn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * A^{-T} * B , with A upper triangular withunit diagonal
+void blasfeo_ref_strsm_lutu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * B * A^{-1} , with A lower triangular employing explicit inverse of diagonal
+void blasfeo_ref_strsm_rlnn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * B * A^{-1} , with A lower triangular with unit diagonal
+void blasfeo_ref_strsm_rlnu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * B * A^{-T} , with A lower triangular employing explicit inverse of diagonal
+void blasfeo_ref_strsm_rltn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * B * A^{-T} , with A lower triangular with unit diagonal
+void blasfeo_ref_strsm_rltu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * B * A^{-1} , with A upper triangular employing explicit inverse of diagonal
+void blasfeo_ref_strsm_runn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * B * A^{-1} , with A upper triangular with unit diagonal
+void blasfeo_ref_strsm_runu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * B * A^{-T} , with A upper triangular employing explicit inverse of diagonal
+void blasfeo_ref_strsm_rutn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * B * A^{-T} , with A upper triangular with unit diagonal
+void blasfeo_ref_strsm_rutu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj);
+
+// diagonal
+
+// D <= alpha * A * B + beta * C, with A diagonal (stored as strvec)
+void sgemm_diag_left_ib(int m, int n, float alpha, float *dA, float *pB, int sdb, float beta, float *pC, int sdc, float *pD, int sdd);
+void blasfeo_ref_sgemm_dn(int m, int n, float alpha, struct blasfeo_svec *sA, int ai, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= alpha * A * B + beta * C, with B diagonal (stored as strvec)
+void blasfeo_ref_sgemm_nd(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sB, int bi, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+
+
+
+//
+// LAPACK
+//
+
+// D <= chol( C ) ; C, D lower triangular
+void blasfeo_ref_spotrf_l(int m, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+void blasfeo_ref_spotrf_l_mn(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= chol( C ) ; C, D upper triangular
+void blasfeo_ref_spotrf_u(int m, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= chol( C + A * B' ) ; C, D lower triangular
+void blasfeo_ref_ssyrk_spotrf_ln(int m, int k, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+void blasfeo_ref_ssyrk_spotrf_ln_mn(int m, int n, int k, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= lu( C ) ; no pivoting
+void blasfeo_ref_sgetrf_np(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj);
+// D <= lu( C ) ; row pivoting
+void blasfeo_ref_sgetrf_rp(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, int *ipiv);
+// D <= qr( C )
+void blasfeo_ref_sgeqrf(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work);
+int blasfeo_ref_sgeqrf_worksize(int m, int n); // in bytes
+// D <= Q factor, where C is the output of the LQ factorization
+int blasfeo_ref_sorglq_worksize(int m, int n, int k); // in bytes
+void blasfeo_ref_sorglq(int m, int n, int k, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work);
+// D <= lq( C )
+void blasfeo_ref_sgelqf(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work);
+int blasfeo_ref_sgelqf_worksize(int m, int n); // in bytes
+// D <= lq( C ), positive diagonal elements
+void blasfeo_ref_sgelqf_pd(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work);
+// [L, A] <= lq( [L, A] ), positive diagonal elements, array of matrices, with
+// L lower triangular, of size (m)x(m)
+// A full, of size (m)x(n1)
+void blasfeo_ref_sgelqf_pd_la(int m, int n1, struct blasfeo_smat *sL, int li, int lj, struct blasfeo_smat *sA, int ai, int aj, void *work);
+// [L, L, A] <= lq( [L, L, A] ), positive diagonal elements, array of matrices, with:
+// L lower triangular, of size (m)x(m)
+// A full, of size (m)x(n1)
+void blasfeo_ref_sgelqf_pd_lla(int m, int n1, struct blasfeo_smat *sL0, int l0i, int l0j, struct blasfeo_smat *sL1, int l1i, int l1j, struct blasfeo_smat *sA, int ai, int aj, void *work);
+
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BLASFEO_S_BLASFEO_REF_API_H_
+
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_kernel.h b/third_party/acados/include/blasfeo/include/blasfeo_s_kernel.h
new file mode 100644
index 0000000000..dcbde989cc
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/blasfeo_s_kernel.h
@@ -0,0 +1,682 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef BLASFEO_S_KERNEL_H_
+#define BLASFEO_S_KERNEL_H_
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+// utils
+void blasfeo_align_2MB(void *ptr, void **ptr_align);
+void blasfeo_align_4096_byte(void *ptr, void **ptr_align);
+void blasfeo_align_64_byte(void *ptr, void **ptr_align);
+
+
+
+//
+// lib8
+//
+
+// 24x4
+void kernel_sgemm_nt_24x4_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
+void kernel_sgemm_nt_24x4_vs_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn);
+void kernel_sgemm_nt_24x4_gen_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
+void kernel_sgemm_nn_24x4_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd);
+void kernel_sgemm_nn_24x4_vs_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn);
+void kernel_sgemm_nn_24x4_gen_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
+void kernel_ssyrk_nt_l_24x4_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
+void kernel_ssyrk_nt_l_24x4_vs_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn);
+void kernel_ssyrk_nt_l_20x4_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
+void kernel_ssyrk_nt_l_20x4_vs_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn);
+void kernel_spotrf_nt_l_24x4_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
+void kernel_spotrf_nt_l_24x4_vs_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn);
+void kernel_spotrf_nt_l_20x4_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
+void kernel_spotrf_nt_l_20x4_vs_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn);
+void kernel_strsm_nt_rl_inv_24x4_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E);
+void kernel_strsm_nt_rl_inv_24x4_vs_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E, int km, int kn);
+void kernel_sgemm_strsm_nt_rl_inv_24x4_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E);
+void kernel_sgemm_strsm_nt_rl_inv_24x4_vs_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E, int km, int kn);
+void kernel_ssyrk_spotrf_nt_l_20x4_vs_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn);
+void kernel_ssyrk_spotrf_nt_l_20x4_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
+void kernel_ssyrk_spotrf_nt_l_24x4_vs_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn);
+void kernel_ssyrk_spotrf_nt_l_24x4_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
+void kernel_strmm_nn_rl_24x4_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *D, int sdd);
+void kernel_strmm_nn_rl_24x4_vs_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *D, int sdd, int km, int kn);
+
+// 16x8
+void kernel_sgemm_nt_16x8_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, float *spil);
+
+// 16x4
+void kernel_sgemm_nt_16x4_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
+void kernel_sgemm_nt_16x4_vs_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn);
+void kernel_sgemm_nt_16x4_gen_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
+void kernel_sgemm_nn_16x4_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd);
+void kernel_sgemm_nn_16x4_vs_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn);
+void kernel_sgemm_nn_16x4_gen_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
+void kernel_ssyrk_nt_l_16x4_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
+void kernel_ssyrk_nt_l_16x4_vs_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn);
+void kernel_ssyrk_nt_l_12x4_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
+void kernel_ssyrk_nt_l_12x4_vs_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn);
+void kernel_spotrf_nt_l_16x4_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
+void kernel_spotrf_nt_l_16x4_vs_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn);
+void kernel_spotrf_nt_l_12x4_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
+void kernel_spotrf_nt_l_12x4_vs_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn);
+void kernel_strsm_nt_rl_inv_16x4_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E);
+void kernel_strsm_nt_rl_inv_16x4_vs_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E, int km, int kn);
+void kernel_sgemm_strsm_nt_rl_inv_16x4_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E);
+void kernel_sgemm_strsm_nt_rl_inv_16x4_vs_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E, int km, int kn);
+void kernel_ssyrk_spotrf_nt_l_12x4_vs_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn);
+void kernel_ssyrk_spotrf_nt_l_12x4_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
+void kernel_ssyrk_spotrf_nt_l_16x4_vs_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn);
+void kernel_ssyrk_spotrf_nt_l_16x4_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
+void kernel_strmm_nn_rl_16x4_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *D, int sdd);
+void kernel_strmm_nn_rl_16x4_vs_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *D, int sdd, int km, int kn);
+void kernel_strmm_nn_rl_16x4_gen_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
+
+// 8x8
+void kernel_sgemm_nt_8x8_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D);
+void kernel_sgemm_nt_8x8_vs_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D, int km, int kn);
+void kernel_sgemm_nt_8x8_gen_lib8(int k, float *alpha, float *A, float *B, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
+void kernel_sgemm_nn_8x8_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, float *C, float *D);
+void kernel_sgemm_nn_8x8_vs_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, float *C, float *D, int km, int kn);
+void kernel_sgemm_nn_8x8_gen_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
+void kernel_ssyrk_nt_l_8x8_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D);
+void kernel_ssyrk_nt_l_8x8_vs_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D, int km, int kn);
+void kernel_spotrf_nt_l_8x8_lib8(int k, float *A, float *B, float *C, float *D, float *inv_diag_D);
+void kernel_spotrf_nt_l_8x8_vs_lib8(int k, float *A, float *B, float *C, float *D, float *inv_diag_D, int km, int kn);
+void kernel_strsm_nt_rl_inv_8x8_lib8(int k, float *A, float *B, float *C, float *D, float *E, float *inv_diag_E);
+void kernel_strsm_nt_rl_inv_8x8_vs_lib8(int k, float *A, float *B, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
+void kernel_sgemm_strsm_nt_rl_inv_8x8_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *E, float *inv_diag_E);
+void kernel_sgemm_strsm_nt_rl_inv_8x8_vs_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
+void kernel_ssyrk_spotrf_nt_l_8x8_vs_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *inv_diag_D, int km, int kn);
+void kernel_ssyrk_spotrf_nt_l_8x8_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *inv_diag_D);
+
+// 8x4
+void kernel_sgemm_nt_8x4_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D);
+void kernel_sgemm_nt_8x4_vs_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D, int km, int kn);
+void kernel_sgemm_nt_8x4_gen_lib8(int k, float *alpha, float *A, float *B, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
+void kernel_sgemm_nn_8x4_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, float *C, float *D);
+void kernel_sgemm_nn_8x4_vs_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, float *C, float *D, int km, int kn);
+void kernel_sgemm_nn_8x4_gen_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
+//void kernel_ssyrk_nt_l_8x4_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D);
+void kernel_ssyrk_nt_l_8x4_vs_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D, int km, int kn);
+void kernel_spotrf_nt_l_8x4_lib8(int k, float *A, float *B, float *C, float *D, float *inv_diag_D);
+void kernel_spotrf_nt_l_8x4_vs_lib8(int k, float *A, float *B, float *C, float *D, float *inv_diag_D, int km, int kn);
+void kernel_strsm_nt_rl_inv_8x4_lib8(int k, float *A, float *B, float *C, float *D, float *E, float *inv_diag_E);
+void kernel_strsm_nt_rl_inv_8x4_vs_lib8(int k, float *A, float *B, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
+void kernel_sgemm_strsm_nt_rl_inv_8x4_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *E, float *inv_diag_E);
+void kernel_sgemm_strsm_nt_rl_inv_8x4_vs_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
+void kernel_ssyrk_spotrf_nt_l_8x4_vs_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *inv_diag_D, int km, int kn);
+void kernel_ssyrk_spotrf_nt_l_8x4_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *inv_diag_D);
+void kernel_strmm_nn_rl_8x4_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *D);
+void kernel_strmm_nn_rl_8x4_vs_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *D, int km, int kn);
+void kernel_strmm_nn_rl_8x4_gen_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
+void kernel_strmm_nt_ru_8x4_lib8(int k, float *alpha, float *A, float *B, float *D);
+void kernel_strmm_nt_ru_8x4_vs_lib8(int k, float *alpha, float *A, float *B, float *D, int km, int kn);
+
+// 4x8
+void kernel_sgemm_nt_4x8_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D);
+void kernel_sgemm_nt_4x8_vs_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D, int km, int kn);
+void kernel_sgemm_nt_4x8_gen_lib8(int k, float *alpha, float *A, float *B, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
+void kernel_strsm_nt_rl_inv_4x8_lib8(int k, float *A, float *B, float *C, float *D, float *E, float *inv_diag_E);
+void kernel_strsm_nt_rl_inv_4x8_vs_lib8(int k, float *A, float *B, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
+
+// 8
+void kernel_sgemv_n_8_lib8(int k, float *alpha, float *A, float *x, float *beta, float *y, float *z);
+void kernel_sgemv_n_8_vs_lib8(int k, float *alpha, float *A, float *x, float *beta, float *y, float *z, int k1);
+void kernel_sgemv_n_8_gen_lib8(int kmax, float *alpha, float *A, float *x, float *beta, float *y, float *z, int k0, int k1);
+void kernel_sgemv_t_8_lib8(int k, float *alpha, int offsetA, float *A, int sda, float *x, float *beta, float *y, float *z);
+void kernel_sgemv_t_8_vs_lib8(int k, float *alpha, int offsetA, float *A, int sda, float *x, float *beta, float *y, float *z, int k1);
+void kernel_sgemv_t_4_lib8(int k, float *alpha, int offsetA, float *A, int sda, float *x, float *beta, float *y, float *z);
+void kernel_sgemv_t_4_vs_lib8(int k, float *alpha, int offsetA, float *A, int sda, float *x, float *beta, float *y, float *z, int k1);
+void kernel_strsv_ln_inv_8_lib8(int k, float *A, float *inv_diag_A, float *x, float *y, float *z);
+void kernel_strsv_ln_inv_8_vs_lib8(int k, float *A, float *inv_diag_A, float *x, float *y, float *z, int km, int kn);
+void kernel_strsv_lt_inv_8_lib8(int k, float *A, int sda, float *inv_diag_A, float *x, float *y, float *z);
+void kernel_strsv_lt_inv_8_vs_lib8(int k, float *A, int sda, float *inv_diag_A, float *x, float *y, float *z, int km, int kn);
+void kernel_sgemv_nt_4_lib8(int kmax, float *alpha_n, float *alpha_t, float *A, int sda, float *x_n, float *x_t, float *beta_t, float *y_t, float *z_n, float *z_t);
+void kernel_sgemv_nt_4_vs_lib8(int kmax, float *alpha_n, float *alpha_t, float *A, int sda, float *x_n, float *x_t, float *beta_t, float *y_t, float *z_n, float *z_t, int km);
+void kernel_ssymv_l_4l_lib8(int kmax, float *alpha, float *A, int sda, float *x, float *z);
+void kernel_ssymv_l_4r_lib8(int kmax, float *alpha, float *A, int sda, float *x, float *z);
+void kernel_ssymv_l_4l_gen_lib8(int kmax, float *alpha, int offA, float *A, int sda, float *x, float *z, int km);
+void kernel_ssymv_l_4r_gen_lib8(int kmax, float *alpha, int offA, float *A, int sda, float *x, float *z, int km);
+
+// -------- aux
+
+// ---- copy
+
+// lib4
+//
+void kernel_sgecpsc_4_0_lib4(int kmax, float *alpha, float *A, float *B);
+void kernel_sgecp_4_0_lib4(int kmax, float *A, float *B);
+
+void kernel_sgecpsc_4_1_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
+void kernel_sgecp_4_1_lib4(int kmax, float *A0, int sda, float *B);
+void kernel_sgecpsc_4_2_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
+void kernel_sgecp_4_2_lib4(int kmax, float *A0, int sda, float *B);
+void kernel_sgecpsc_4_3_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
+void kernel_sgecp_4_3_lib4(int kmax, float *A0, int sda, float *B);
+
+void kernel_sgecpsc_3_0_lib4(int kmax, float *alpha, float *A, float *B);
+void kernel_sgecp_3_0_lib4(int kmax, float *A, float *B);
+void kernel_sgecpsc_3_2_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
+void kernel_sgecp_3_2_lib4(int kmax, float *A0, int sda, float *B);
+void kernel_sgecpsc_3_3_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
+void kernel_sgecp_3_3_lib4(int kmax, float *A0, int sda, float *B);
+
+void kernel_sgecpsc_2_0_lib4(int kmax, float *alpha, float *A, float *B);
+void kernel_sgecp_2_0_lib4(int kmax, float *A, float *B);
+void kernel_sgecpsc_2_3_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
+void kernel_sgecp_2_3_lib4(int kmax, float *A0, int sda, float *B);
+
+void kernel_sgecpsc_1_0_lib4(int kmax, float *alpha, float *A, float *B);
+void kernel_sgecp_1_0_lib4(int kmax, float *A, float *B);
+
+// lib8
+//
+void kernel_sgecp_8_0_lib8(int m, float *A, float *B);
+void kernel_sgecp_8_0_gen_lib8(int m, float *A, float *B, int m1);
+void kernel_sgecp_8_0_gen_u_lib8(int m, float *A, float *B, int m1);
+
+void kernel_sgesc_8_0_lib8(int m, float *alpha, float *A);
+void kernel_sgesc_8_0_gen_lib8(int m, float *alpha, float *A, int m1);
+void kernel_sgesc_8_0_gen_u_lib8(int m, float *alpha, float *A, int m1);
+
+void kernel_sgecpsc_8_0_lib8(int m, float *alpha, float *A, float *B);
+void kernel_sgecpsc_8_0_gen_lib8(int m, float *alpha, float *A, float *B, int m1);
+void kernel_sgecpsc_8_0_gen_u_lib8(int m, float *alpha, float *A, float *B, int m1);
+
+void kernel_sgecp_8_1_lib8(int m, float *A, int sda, float *B);
+void kernel_sgecp_8_1_gen_lib8(int m, float *A, int sda, float *B, int m1);
+void kernel_sgecpsc_8_1_lib8(int m, float *alpha, float *A, int sda, float *B);
+void kernel_sgecpsc_8_1_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
+
+void kernel_sgecp_8_2_lib8(int m, float *A, int sda, float *B);
+void kernel_sgecp_8_2_gen_lib8(int m, float *A, int sda, float *B, int m1);
+void kernel_sgecpsc_8_2_lib8(int m, float *alpha, float *A, int sda, float *B);
+void kernel_sgecpsc_8_2_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
+
+void kernel_sgecp_8_3_lib8(int m, float *A, int sda, float *B);
+void kernel_sgecp_8_3_gen_lib8(int m, float *A, int sda, float *B, int m1);
+void kernel_sgecpsc_8_3_lib8(int m, float *alpha, float *A, int sda, float *B);
+void kernel_sgecpsc_8_3_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
+
+void kernel_sgecp_8_4_lib8(int m, float *A, int sda, float *B);
+void kernel_sgecp_8_4_gen_lib8(int m, float *A, int sda, float *B, int m1);
+void kernel_sgecpsc_8_4_lib8(int m, float *alpha, float *A, int sda, float *B);
+void kernel_sgecpsc_8_4_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
+
+void kernel_sgecp_8_5_lib8(int m, float *A, int sda, float *B);
+void kernel_sgecp_8_5_gen_lib8(int m, float *A, int sda, float *B, int m1);
+void kernel_sgecpsc_8_5_lib8(int m, float *alpha, float *A, int sda, float *B);
+void kernel_sgecpsc_8_5_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
+
+void kernel_sgecp_8_6_lib8(int m, float *A, int sda, float *B);
+void kernel_sgecp_8_6_gen_lib8(int m, float *A, int sda, float *B, int m1);
+void kernel_sgecpsc_8_6_lib8(int m, float *alpha, float *A, int sda, float *B);
+void kernel_sgecpsc_8_6_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
+
+void kernel_sgecp_8_7_lib8(int m, float *A, int sda, float *B);
+void kernel_sgecp_8_7_gen_lib8(int m, float *A, int sda, float *B, int m1);
+void kernel_sgecpsc_8_7_lib8(int m, float *alpha, float *A, int sda, float *B);
+void kernel_sgecpsc_8_7_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
+
+// transpose
+//
+void kernel_sgetr_8_0_lib8(int m, float *A, int sda, float *B);
+void kernel_sgetr_8_0_gen_lib8(int m, float *A, int sda, float *B, int m1);
+void kernel_sgetr_8_1_lib8(int m, float *A, int sda, float *B);
+void kernel_sgetr_8_1_gen_lib8(int m, float *A, int sda, float *B, int m1);
+void kernel_sgetr_8_2_lib8(int m, float *A, int sda, float *B);
+void kernel_sgetr_8_2_gen_lib8(int m, float *A, int sda, float *B, int m1);
+void kernel_sgetr_8_3_lib8(int m, float *A, int sda, float *B);
+void kernel_sgetr_8_3_gen_lib8(int m, float *A, int sda, float *B, int m1);
+void kernel_sgetr_8_4_lib8(int m, float *A, int sda, float *B);
+void kernel_sgetr_8_4_gen_lib8(int m, float *A, int sda, float *B, int m1);
+void kernel_sgetr_8_5_lib8(int m, float *A, int sda, float *B);
+void kernel_sgetr_8_5_gen_lib8(int m, float *A, int sda, float *B, int m1);
+void kernel_sgetr_8_6_lib8(int m, float *A, int sda, float *B);
+void kernel_sgetr_8_6_gen_lib8(int m, float *A, int sda, float *B, int m1);
+void kernel_sgetr_8_7_lib8(int m, float *A, int sda, float *B);
+void kernel_sgetr_8_7_gen_lib8(int m, float *A, int sda, float *B, int m1);
+
+// add
+//
+void kernel_sgead_8_0_lib8(int m, float *alpha, float *A, float *B);
+void kernel_sgead_8_0_gen_lib8(int m, float *alpha, float *A, float *B, int m1);
+void kernel_sgead_8_1_lib8(int m, float *alpha, float *A, int sda, float *B);
+void kernel_sgead_8_1_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
+void kernel_sgead_8_2_lib8(int m, float *alpha, float *A, int sda, float *B);
+void kernel_sgead_8_2_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
+void kernel_sgead_8_3_lib8(int m, float *alpha, float *A, int sda, float *B);
+void kernel_sgead_8_3_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
+void kernel_sgead_8_4_lib8(int m, float *alpha, float *A, int sda, float *B);
+void kernel_sgead_8_4_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
+void kernel_sgead_8_5_lib8(int m, float *alpha, float *A, int sda, float *B);
+void kernel_sgead_8_5_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
+void kernel_sgead_8_6_lib8(int m, float *alpha, float *A, int sda, float *B);
+void kernel_sgead_8_6_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
+void kernel_sgead_8_7_lib8(int m, float *alpha, float *A, int sda, float *B);
+void kernel_sgead_8_7_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1);
+
+
+//
+// lib4
+//
+
+
+
+// level 2 BLAS
+// 4
+void kernel_sgemv_n_4_lib4(int k, float *alpha, float *A, float *x, float *beta, float *y, float *z);
+void kernel_sgemv_n_4_vs_lib4(int k, float *alpha, float *A, float *x, float *beta, float *y, float *z, int k1);
+void kernel_sgemv_n_4_gen_lib4(int kmax, float *alpha, float *A, float *x, float *beta, float *y, float *z, int k0, int k1);
+void kernel_sgemv_t_4_lib4(int k, float *alpha, int offsetA, float *A, int sda, float *x, float *beta, float *y, float *z);
+void kernel_sgemv_t_4_vs_lib4(int k, float *alpha, int offsetA, float *A, int sda, float *x, float *beta, float *y, float *z, int k1);
+void kernel_strsv_ln_inv_4_lib4(int k, float *A, float *inv_diag_A, float *x, float *y, float *z);
+void kernel_strsv_ln_inv_4_vs_lib4(int k, float *A, float *inv_diag_A, float *x, float *y, float *z, int km, int kn);
+void kernel_strsv_lt_inv_4_lib4(int k, float *A, int sda, float *inv_diag_A, float *x, float *y, float *z);
+void kernel_strsv_lt_inv_3_lib4(int k, float *A, int sda, float *inv_diag_A, float *x, float *y, float *z);
+void kernel_strsv_lt_inv_2_lib4(int k, float *A, int sda, float *inv_diag_A, float *x, float *y, float *z);
+void kernel_strsv_lt_inv_1_lib4(int k, float *A, int sda, float *inv_diag_A, float *x, float *y, float *z);
+void kernel_strmv_un_4_lib4(int k, float *A, float *x, float *z);
+void kernel_strmv_ut_4_lib4(int k, float *A, int sda, float *x, float *z);
+void kernel_strmv_ut_4_vs_lib4(int k, float *A, int sda, float *x, float *z, int km);
+void kernel_sgemv_nt_6_lib4(int kmax, float *alpha_n, float *alpha_t, float *A, int sda, float *x_n, float *x_t, float *beta_t, float *y_t, float *z_n, float *z_t);
+void kernel_sgemv_nt_4_lib4(int kmax, float *alpha_n, float *alpha_t, float *A, int sda, float *x_n, float *x_t, float *beta_t, float *y_t, float *z_n, float *z_t);
+void kernel_sgemv_nt_4_vs_lib4(int kmax, float *alpha_n, float *alpha_t, float *A, int sda, float *x_n, float *x_t, float *beta_t, float *y_t, float *z_n, float *z_t, int km);
+void kernel_ssymv_l_4_lib4(int kmax, float *alpha, float *A, int sda, float *x_n, float *z_n);
+void kernel_ssymv_l_4_gen_lib4(int kmax, float *alpha, int offA, float *A, int sda, float *x_n, float *z_n, int km);
+
+
+
+// level 3 BLAS
+// 12x4
+void kernel_sgemm_nt_16x4_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd); //
+void kernel_sgemm_nt_16x4_vs_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int m1, int n1); //
+void kernel_strsm_nt_rl_inv_16x4_lib4(int k, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E);
+void kernel_strsm_nt_rl_inv_16x4_vs_lib4(int k, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E, int m1, int n1);
+// 12x4
+void kernel_sgemm_nt_12x4_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd); //
+void kernel_sgemm_nt_12x4_vs_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int m1, int n1); //
+void kernel_strsm_nt_rl_inv_12x4_lib4(int k, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E);
+void kernel_strsm_nt_rl_inv_12x4_vs_lib4(int k, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E, int m1, int n1);
+// 8x8
+void kernel_sgemm_nt_8x8_lib4(int k, float *alpha, float *A, int sda, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd); //
+void kernel_sgemm_nt_8x8_vs_lib4(int k, float *alpha, float *A, int sda, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd, int m1, int n1); //
+void kernel_sgemm_nn_8x8_lib4(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd); //
+void kernel_sgemm_nn_8x8_vs_lib4(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd, int m1, int n1); //
+// 8x4
+void kernel_sgemm_nt_8x4_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd); //
+void kernel_sgemm_nt_8x4_vs_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int m1, int n1); //
+void kernel_sgemm_nn_8x4_lib4(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd); //
+void kernel_sgemm_nn_8x4_vs_lib4(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd, int m1, int n1); //
+void kernel_ssyrk_nt_l_8x4_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd); //
+void kernel_ssyrk_nt_l_8x4_vs_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn); //
+void kernel_strsm_nt_rl_inv_8x4_lib4(int k, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E);
+void kernel_strsm_nt_rl_inv_8x4_vs_lib4(int k, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E, int m1, int n1);
+// 4x4
+void kernel_sgemm_nt_4x4_lib4(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D); //
+void kernel_sgemm_nt_4x4_vs_lib4(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D, int km, int kn); //
+void kernel_sgemm_nt_4x4_gen_lib4(int k, float *alpha, float *A, float *B, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int k0, int k1);
+void kernel_sgemm_nn_4x4_lib4(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, float *C, float *D); //
+void kernel_sgemm_nn_4x4_vs_lib4(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, float *C, float *D, int km, int kn); //
+void kernel_sgemm_nn_4x4_gen_lib4(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1); //
+void kernel_ssyrk_nt_l_4x4_lib4(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D); //
+void kernel_ssyrk_nt_l_4x4_vs_lib4(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D, int km, int kn); //
+void kernel_ssyrk_nt_l_4x4_gen_lib4(int k, float *alpha, float *A, float *B, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
+void kernel_strmm_nt_ru_4x4_lib4(int k, float *alpha, float *A, float *B, float *D); //
+void kernel_strmm_nt_ru_4x4_vs_lib4(int k, float *alpha, float *A, float *B, float *D, int km, int kn); //
+void kernel_strmm_nn_rl_4x4_lib4(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *D);
+void kernel_strmm_nn_rl_4x4_gen_lib4(int k, float *alpha, float *A, int offsetB, float *B, int sdb, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1);
+void kernel_strsm_nt_rl_inv_4x4_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E, float *inv_diag_E);
+void kernel_strsm_nt_rl_inv_4x4_vs_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
+void kernel_strsm_nt_rl_one_4x4_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E);
+void kernel_strsm_nt_rl_one_4x4_vs_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E, int km, int kn);
+void kernel_strsm_nt_ru_inv_4x4_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E, float *inv_diag_E);
+void kernel_strsm_nt_ru_inv_4x4_vs_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
+void kernel_strsm_nt_ru_one_4x4_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E);
+void kernel_strsm_nt_ru_one_4x4_vs_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E, int km, int kn);
+void kernel_strsm_nn_ru_inv_4x4_lib4(int k, float *A, float *B, int sdb, float *beta, float *C, float *D, float *E, float *inv_diag_E);
+void kernel_strsm_nn_ru_inv_4x4_vs_lib4(int k, float *A, float *B, int sdb, float *beta, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
+void kernel_strsm_nn_ll_one_4x4_lib4(int k, float *A, float *B, int sdb, float *C, float *D, float *E);
+void kernel_strsm_nn_ll_one_4x4_vs_lib4(int k, float *A, float *B, int sdb, float *C, float *D, float *E, int km, int kn);
+void kernel_strsm_nn_lu_inv_4x4_lib4(int kmax, float *A, float *B, int sdb, float *C, float *D, float *E, float *inv_diag_E);
+void kernel_strsm_nn_lu_inv_4x4_vs_lib4(int kmax, float *A, float *B, int sdb, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
+// diag
+void kernel_sgemm_diag_right_4_a0_lib4(int kmax, float *alpha, float *A, int sda, float *B, float *D, int sdd);
+void kernel_sgemm_diag_right_4_lib4(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
+void kernel_sgemm_diag_right_3_lib4(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
+void kernel_sgemm_diag_right_2_lib4(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
+void kernel_sgemm_diag_right_1_lib4(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd);
+void kernel_sgemm_diag_left_4_a0_lib4(int kmax, float *alpha, float *A, float *B, float *D);
+void kernel_sgemm_diag_left_4_lib4(int kmax, float *alpha, float *A, float *B, float *beta, float *C, float *D);
+void kernel_sgemm_diag_left_3_lib4(int kmax, float *alpha, float *A, float *B, float *beta, float *C, float *D);
+void kernel_sgemm_diag_left_2_lib4(int kmax, float *alpha, float *A, float *B, float *beta, float *C, float *D);
+void kernel_sgemm_diag_left_1_lib4(int kmax, float *alpha, float *A, float *B, float *beta, float *C, float *D);
+
+
+
+// LAPACK
+// 16x4
+void kernel_spotrf_nt_l_16x4_lib4(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
+void kernel_spotrf_nt_l_16x4_vs_lib4(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int m1, int n1);
+// 12x4
+void kernel_spotrf_nt_l_12x4_lib4(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
+void kernel_spotrf_nt_l_12x4_vs_lib4(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int m1, int n1);
+// 8x4
+void kernel_spotrf_nt_l_8x4_lib4(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D);
+void kernel_spotrf_nt_l_8x4_vs_lib4(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int m1, int n1);
+// 4x4
+void kernel_spotrf_nt_l_4x4_lib4(int k, float *A, float *B, float *C, float *D, float *inv_diag_D);
+void kernel_spotrf_nt_l_4x4_vs_lib4(int k, float *A, float *B, float *C, float *D, float *inv_diag_D, int km, int kn);
+void kernel_sgetrf_nn_4x4_lib4(int k, float *A, float *B, int sdb, float *C, float *D, float *inv_diag_D);
+void kernel_sgetrf_nn_4x4_vs_lib4(int k, float *A, float *B, int sdb, float *C, float *D, float *inv_diag_D, int km, int kn);
+void kernel_sgetrf_pivot_4_lib4(int m, float *pA, int sda, float *inv_diag_A, int* ipiv);
+void kernel_sgetrf_pivot_4_vs_lib4(int m, int n, float *pA, int sda, float *inv_diag_A, int* ipiv);
+
+
+
+// merged routines
+// 4x4
+void kernel_sgemm_strsm_nt_rl_inv_4x4_lib4(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *E, float *inv_diag_E);
+void kernel_sgemm_strsm_nt_rl_inv_4x4_vs_lib4(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *E, float *inv_diag_E, int km, int kn);
+void kernel_ssyrk_spotrf_nt_l_4x4_vs_lib4(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *inv_diag_D, int km, int kn);
+void kernel_ssyrk_spotrf_nt_l_4x4_lib4(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *inv_diag_D);
+
+
+
+// auxiliary routines
+void kernel_strcp_l_4_0_lib4(int kmax, float *A, float *B);
+void kernel_strcp_l_4_1_lib4(int kmax, float *A0, int sda, float *B);
+void kernel_strcp_l_4_2_lib4(int kmax, float *A0, int sda, float *B);
+void kernel_strcp_l_4_3_lib4(int kmax, float *A0, int sda, float *B);
+void kernel_strcp_l_3_0_lib4(int kmax, float *A, float *B);
+void kernel_strcp_l_3_2_lib4(int kmax, float *A0, int sda, float *B);
+void kernel_strcp_l_3_3_lib4(int kmax, float *A0, int sda, float *B);
+void kernel_strcp_l_2_0_lib4(int kmax, float *A, float *B);
+void kernel_strcp_l_2_3_lib4(int kmax, float *A0, int sda, float *B);
+void kernel_strcp_l_1_0_lib4(int kmax, float *A, float *B);
+void kernel_sgead_4_0_lib4(int kmax, float *alpha, float *A, float *B);
+void kernel_sgead_4_1_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
+void kernel_sgead_4_2_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
+void kernel_sgead_4_3_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
+void kernel_sgead_3_0_lib4(int kmax, float *alpha, float *A, float *B);
+void kernel_sgead_3_2_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
+void kernel_sgead_3_3_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
+void kernel_sgead_2_0_lib4(int kmax, float *alpha, float *A, float *B);
+void kernel_sgead_2_3_lib4(int kmax, float *alpha, float *A0, int sda, float *B);
+void kernel_sgead_1_0_lib4(int kmax, float *alpha, float *A, float *B);
+// TODO
+void kernel_sgeset_4_lib4(int kmax, float alpha, float *A);
+void kernel_strset_4_lib4(int kmax, float alpha, float *A);
+void kernel_sgetr_4_lib4(int tri, int kmax, int kna, float alpha, float *A, float *C, int sdc);
+void kernel_sgetr_3_lib4(int tri, int kmax, int kna, float alpha, float *A, float *C, int sdc);
+void kernel_sgetr_2_lib4(int tri, int kmax, int kna, float alpha, float *A, float *C, int sdc);
+void kernel_sgetr_1_lib4(int tri, int kmax, int kna, float alpha, float *A, float *C, int sdc);
+
+
+
+// pack
+// 24 lib 8
+void kernel_spack_nn_24_lib8(int kmax, float *A, int lda, float *B, int sdb);
+void kernel_spack_nn_24_vs_lib8(int kmax, float *A, int lda, float *B, int sdb, int m1);
+// 16 lib 8
+void kernel_spack_nn_16_lib8(int kmax, float *A, int lda, float *B, int sdb);
+void kernel_spack_nn_16_vs_lib8(int kmax, float *A, int lda, float *B, int sdb, int m1);
+// 8 lib 8
+void kernel_spack_nn_8_lib8(int kmax, float *A, int lda, float *B);
+void kernel_spack_nn_8_vs_lib8(int kmax, float *A, int lda, float *B, int m1);
+void kernel_spack_tn_8_lib8(int kmax, float *A, int lda, float *B);
+void kernel_spack_tn_8_vs_lib8(int kmax, float *A, int lda, float *B, int m1);
+void kernel_spack_tt_8_lib8(int kmax, float *A, int lda, float *B, int sdb);
+void kernel_spack_tt_8_vs_lib8(int kmax, float *A, int lda, float *B, int sdb, int m1);
+// 8 lib 4
+void kernel_spack_nn_8_lib4(int kmax, float *A, int lda, float *B, int sdb);
+void kernel_spack_nn_8_vs_lib4(int kmax, float *A, int lda, float *B, int sdb, int m1);
+//void kernel_spack_tt_8_lib4(int kmax, float *A, int lda, float *B, int sdb);
+// 4
+void kernel_spack_nn_4_lib4(int kmax, float *A, int lda, float *B);
+void kernel_spack_nn_4_vs_lib4(int kmax, float *A, int lda, float *B, int m1);
+void kernel_spack_tn_4_lib4(int kmax, float *A, int lda, float *B);
+void kernel_spack_tn_4_vs_lib4(int kmax, float *A, int lda, float *B, int m1);
+void kernel_spack_tt_4_lib4(int kmax, float *A, int lda, float *B, int sdb);
+void kernel_spack_tt_4_vs_lib4(int kmax, float *A, int lda, float *B, int sdb, int m1);
+// unpack
+// 8
+void kernel_sunpack_nn_8_lib4(int kmax, float *A, int sda, float *B, int ldb);
+void kernel_sunpack_nn_8_vs_lib4(int kmax, float *A, int sda, float *B, int ldb, int m1);
+//void kernel_sunpack_tt_8_lib4(int kmax, float *A, int sda, float *B, int ldb);
+// 4
+void kernel_sunpack_nn_4_lib4(int kmax, float *A, float *B, int ldb);
+void kernel_sunpack_nn_4_vs_lib4(int kmax, float *A, float *B, int ldb, int m1);
+void kernel_sunpack_nt_4_lib4(int kmax, float *A, float *B, int ldb);
+void kernel_sunpack_nt_4_vs_lib4(int kmax, float *A, float *B, int ldb, int m1);
+void kernel_sunpack_tt_4_lib4(int kmax, float *A, int sda, float *B, int ldb);
+
+// panel copy
+// 4
+void kernel_spacp_nt_4_lib4(int kmax, float *A, int offsetB, float *B, int sdb);
+void kernel_spacp_tn_4_lib4(int kmax, int offsetA, float *A, int sda, float *B);
+void kernel_spacp_nn_4_lib4(int kmax, int offsetA, float *A, int sda, float *B);
+void kernel_spacp_nn_4_vs_lib4(int kmax, int offsetA, float *A, int sda, float *B, int m1);
+
+
+
+/************************************************
+* BLAS API kernels
+************************************************/
+
+//#if defined(BLAS_API)
+
+// A, B panel-major bs=8; C, D column-major
+// 24x4
+void kernel_sgemm_nt_24x4_lib88cc(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nt_24x4_vs_lib88cc(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+// 16x4
+void kernel_sgemm_nt_16x4_lib88cc(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nt_16x4_vs_lib88cc(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+// 8x8
+void kernel_sgemm_nt_8x8_lib88cc(int kmax, float *alpha, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nt_8x8_vs_lib88cc(int kmax, float *alpha, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+void kernel_spotrf_nt_l_8x8_lib88cc(int kmax, float *A, float *B, float *C, int ldc, float *D, int ldd, float *dD);
+void kernel_spotrf_nt_l_8x8_vs_lib88cc(int kmax, float *A, float *B, float *C, int ldc, float *D, int ldd, float *dD, int m1, int n1);
+void kernel_strsm_nt_rl_inv_8x8_lib88ccc(int kmax, float *A, float *B, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE);
+void kernel_strsm_nt_rl_inv_8x8_vs_lib88ccc(int kmax, float *A, float *B, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE, int m1, int n1);
+// 8x4
+void kernel_sgemm_nt_8x4_lib88cc(int kmax, float *alpha, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nt_8x4_vs_lib88cc(int kmax, float *alpha, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+
+// A, B panel-major bs=4; C, D column-major
+// 8x8
+void kernel_sgemm_nt_8x8_lib44cc(int kmax, float *alpha, float *A, int sda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd);
+// 8x4
+void kernel_sgemm_nt_8x4_lib44cc(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nt_8x4_vs_lib44cc(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+void kernel_spotrf_nt_l_8x4_lib44cc(int kmax, float *A, int sda, float *B, float *C, int ldc, float *D, int ldd, float *dD);
+void kernel_strsm_nt_rl_inv_8x4_lib44ccc(int kmax, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE);
+void kernel_strsm_nt_rl_inv_8x4_vs_lib44ccc(int kmax, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE, int m1, int n1);
+// 4x4
+void kernel_sgemm_nt_4x4_lib44cc(int kmax, float *alpha, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nt_4x4_vs_lib44cc(int kmax, float *alpha, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+void kernel_strsm_nt_rl_inv_4x4_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, float *dE);
+void kernel_strsm_nt_rl_inv_4x4_vs_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, float *dE, int m1, int n1);
+void kernel_strsm_nt_rl_inv_4x4_lib44ccc(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE);
+void kernel_strsm_nt_rl_inv_4x4_vs_lib44ccc(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE, int m1, int n1);
+void kernel_strsm_nt_rl_one_4x4_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E);
+void kernel_strsm_nt_rl_one_4x4_vs_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, int m1, int n1);
+void kernel_strsm_nt_ru_inv_4x4_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, float *dE);
+void kernel_strsm_nt_ru_inv_4x4_vs_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, float *dE, int m1, int n1);
+void kernel_strsm_nt_ru_one_4x4_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E);
+void kernel_strsm_nt_ru_one_4x4_vs_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, int m1, int n1);
+void kernel_spotrf_nt_l_4x4_lib44cc(int kmax, float *A, float *B, float *C, int ldc, float *D, int ldd, float *dD);
+void kernel_spotrf_nt_l_4x4_vs_lib44cc(int kmax, float *A, float *B, float *C, int ldc, float *D, int ldd, float *dD, int m1, int n1);
+
+// B panel-major bs=8; A, C, D column-major
+// 8x8
+void kernel_sgemm_nt_8x8_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nt_8x8_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+void kernel_sgemm_tt_8x8_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_tt_8x8_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+// 4x8
+void kernel_sgemm_nt_4x8_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nt_4x8_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+void kernel_sgemm_tt_4x8_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_tt_4x8_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+
+// B panel-major bs=4; A, C, D column-major
+// 8x8
+void kernel_sgemm_nt_8x8_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nt_8x8_vs_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+void kernel_sgemm_tt_8x8_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_tt_8x8_vs_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+// 4x8
+void kernel_sgemm_nt_4x8_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nt_4x8_vs_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+void kernel_sgemm_tt_4x8_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_tt_4x8_vs_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+// 4x4
+void kernel_sgemm_nt_4x4_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nt_4x4_vs_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+void kernel_sgemm_tt_4x4_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_tt_4x4_vs_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+
+// A panel-major bs=8; B, C, D column-major
+// 24x4
+void kernel_sgemm_nn_24x4_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nn_24x4_vs_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+void kernel_sgemm_nt_24x4_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nt_24x4_vs_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+// 16x4
+void kernel_sgemm_nn_16x4_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nn_16x4_vs_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+void kernel_sgemm_nt_16x4_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nt_16x4_vs_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+// 8x8
+void kernel_sgemm_nn_8x8_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nn_8x8_vs_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+void kernel_sgemm_nt_8x8_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nt_8x8_vs_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+// 8x4
+void kernel_sgemm_nn_8x4_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nn_8x4_vs_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+void kernel_sgemm_nt_8x4_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nt_8x4_vs_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+
+// A panel-major bs=4; B, C, D column-major
+// 8x8
+void kernel_sgemm_nn_8x8_lib4ccc(int kmax, float *alpha, float *A, int sda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nt_8x8_lib4ccc(int kmax, float *alpha, float *A, int sda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
+// 8x4
+void kernel_sgemm_nn_8x4_lib4ccc(int kmax, float *alpha, float *A, int sda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nn_8x4_vs_lib4ccc(int kmax, float *alpha, float *A, int sda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+void kernel_sgemm_nt_8x4_lib4ccc(int kmax, float *alpha, float *A, int sda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nt_8x4_vs_lib4ccc(int kmax, float *alpha, float *A, int sda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+// 4x4
+void kernel_sgemm_nn_4x4_lib4ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nn_4x4_vs_lib4ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+void kernel_sgemm_nt_4x4_lib4ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nt_4x4_vs_lib4ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+void kernel_strsm_nn_rl_inv_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE);
+void kernel_strsm_nn_rl_inv_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE, int m1, int n1);
+void kernel_strsm_nn_rl_one_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde);
+void kernel_strsm_nn_rl_one_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, int m1, int n1);
+void kernel_strsm_nt_rl_inv_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE);
+void kernel_strsm_nt_rl_inv_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE, int m1, int n1);
+void kernel_strsm_nt_rl_one_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde);
+void kernel_strsm_nt_rl_one_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, int m1, int n1);
+void kernel_strsm_nn_ru_inv_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE);
+void kernel_strsm_nn_ru_inv_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE, int m1, int n1);
+void kernel_strsm_nn_ru_one_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde);
+void kernel_strsm_nn_ru_one_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, int m1, int n1);
+void kernel_strsm_nt_ru_inv_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE);
+void kernel_strsm_nt_ru_inv_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE, int m1, int n1);
+void kernel_strsm_nt_ru_one_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde);
+void kernel_strsm_nt_ru_one_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, int m1, int n1);
+
+// A, C, D panel-major; B, E column-major
+// TODO merge with above
+// 4x4
+void kernel_strsm_nn_rl_inv_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE);
+void kernel_strsm_nn_rl_inv_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE, int m1, int n1);
+void kernel_strsm_nn_rl_one_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde);
+void kernel_strsm_nn_rl_one_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, int m1, int n1);
+void kernel_strsm_nn_ru_inv_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE);
+void kernel_strsm_nn_ru_inv_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE, int m1, int n1);
+void kernel_strsm_nn_ru_one_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde);
+void kernel_strsm_nn_ru_one_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, int m1, int n1);
+void kernel_strsm_nt_rl_inv_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE);
+void kernel_strsm_nt_rl_inv_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE, int m1, int n1);
+void kernel_strsm_nt_rl_one_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde);
+void kernel_strsm_nt_rl_one_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, int m1, int n1);
+void kernel_strsm_nt_ru_inv_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE);
+void kernel_strsm_nt_ru_inv_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE, int m1, int n1);
+void kernel_strsm_nt_ru_one_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde);
+void kernel_strsm_nt_ru_one_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, int m1, int n1);
+
+// A, B, C, D column-major
+void kernel_sgemm_nn_4x4_libcccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nn_4x4_vs_libcccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+void kernel_sgemm_nt_4x4_libcccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_nt_4x4_vs_libcccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+void kernel_sgemm_tt_4x4_libcccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd);
+void kernel_sgemm_tt_4x4_vs_libcccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1);
+
+// vector
+void kernel_sdot_11_lib(int n, float *x, float *y, float *res);
+void kernel_saxpy_11_lib(int n, float *alpha, float *x, float *y);
+
+
+//#endif // BLAS_API
+
+
+
+// larger kernels
+// 24
+void kernel_sgemm_nt_24xn_p0_lib88cc(int n, int k, float *alpha, float *A, int sda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, float *A_p, float *B_p);
+
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // BLASFEO_S_KERNEL_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_stdlib.h b/third_party/acados/include/blasfeo/include/blasfeo_stdlib.h
new file mode 100644
index 0000000000..9bd248b1d4
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/blasfeo_stdlib.h
@@ -0,0 +1,62 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef BLASFEO_STDLIB_H_
+#define BLASFEO_STDLIB_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+#include <stdlib.h>
+
+//
+void blasfeo_malloc(void **ptr, size_t size);
+//
+void blasfeo_malloc_align(void **ptr, size_t size);
+//
+void blasfeo_free(void *ptr);
+//
+void blasfeo_free_align(void *ptr);
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // BLASFEO_STDLIB_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_target.h b/third_party/acados/include/blasfeo/include/blasfeo_target.h
new file mode 100644
index 0000000000..51f617a649
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/blasfeo_target.h
@@ -0,0 +1,73 @@
+#ifndef TARGET_X64_INTEL_HASWELL
+#define TARGET_X64_INTEL_HASWELL
+#endif
+
+#ifndef TARGET_NEED_FEATURE_AVX2
+#define TARGET_NEED_FEATURE_AVX2 1
+#endif
+
+#ifndef TARGET_NEED_FEATURE_FMA
+#define TARGET_NEED_FEATURE_FMA 1
+#endif
+
+#ifndef TARGET_NEED_FEATURE_SSE3
+/* #undef TARGET_NEED_FEATURE_SSE3 */
+#endif
+
+#ifndef TARGET_NEED_FEATURE_AVX
+/* #undef TARGET_NEED_FEATURE_AVX */
+#endif
+
+#ifndef TARGET_NEED_FEATURE_VFPv3
+/* #undef TARGET_NEED_FEATURE_VFPv3 */
+#endif
+
+#ifndef TARGET_NEED_FEATURE_NEON
+/* #undef TARGET_NEED_FEATURE_NEON */
+#endif
+
+#ifndef TARGET_NEED_FEATURE_VFPv4
+/* #undef TARGET_NEED_FEATURE_VFPv4 */
+#endif
+
+#ifndef TARGET_NEED_FEATURE_NEONv2
+/* #undef TARGET_NEED_FEATURE_NEONv2 */
+#endif
+
+#ifndef LA_HIGH_PERFORMANCE
+#define LA_HIGH_PERFORMANCE
+#endif
+
+#ifndef MF_PANELMAJ
+#define MF_PANELMAJ
+#endif
+
+#ifndef EXT_DEP
+#define ON 1
+#define OFF 0
+#if ON==ON
+#define EXT_DEP
+#endif
+#undef ON
+#undef OFF
+#endif
+
+#ifndef BLAS_API
+#define ON 1
+#define OFF 0
+#if OFF==ON
+#define BLAS_API
+#endif
+#undef ON
+#undef OFF
+#endif
+
+#ifndef FORTRAN_BLAS_API
+#define ON 1
+#define OFF 0
+#if OFF==ON
+#define FORTRAN_BLAS_API
+#endif
+#undef ON
+#undef OFF
+#endif
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_timing.h b/third_party/acados/include/blasfeo/include/blasfeo_timing.h
new file mode 100644
index 0000000000..5671b888fe
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/blasfeo_timing.h
@@ -0,0 +1,114 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef BLASFEO_TIMING_H_
+#define BLASFEO_TIMING_H_
+
+//#include <stdbool.h>
+
+#if (defined _WIN32 || defined _WIN64) && !(defined __MINGW32__ || defined __MINGW64__)
+
+	/* Use Windows QueryPerformanceCounter for timing. */
+	#include <Windows.h>
+
+	/** A structure for keeping internal timer data. */
+	typedef struct blasfeo_timer_ {
+		LARGE_INTEGER tic;
+		LARGE_INTEGER toc;
+		LARGE_INTEGER freq;
+	} blasfeo_timer;
+
+#elif(defined __APPLE__)
+
+	#include <mach/mach_time.h>
+
+	/** A structure for keeping internal timer data. */
+	typedef struct blasfeo_timer_ {
+		uint64_t tic;
+		uint64_t toc;
+		mach_timebase_info_data_t tinfo;
+	} blasfeo_timer;
+
+#elif(defined __DSPACE__)
+
+	#include <brtenv.h>
+
+	typedef struct blasfeo_timer_ {
+		double time;
+	} blasfeo_timer;
+
+#elif(defined __XILINX_NONE_ELF__ || defined __XILINX_ULTRASCALE_NONE_ELF_JAILHOUSE__)
+
+	#include "xtime_l.h"
+
+	typedef struct blasfeo_timer_ {
+		uint64_t tic;
+		uint64_t toc;
+	} blasfeo_timer;
+
+#else
+
+	/* Use POSIX clock_gettime() for timing on non-Windows machines. */
+	#include <time.h>
+
+	#if __STDC_VERSION__ >= 199901L  // C99 Mode
+
+		#include <sys/stat.h>
+		#include <sys/time.h>
+
+		typedef struct blasfeo_timer_ {
+			struct timeval tic;
+			struct timeval toc;
+		} blasfeo_timer;
+
+	#else  // ANSI C Mode
+
+		/** A structure for keeping internal timer data. */
+		typedef struct blasfeo_timer_ {
+			struct timespec tic;
+			struct timespec toc;
+		} blasfeo_timer;
+
+	#endif  // __STDC_VERSION__ >= 199901L
+
+#endif  // (defined _WIN32 || defined _WIN64)
+
+/** A function for measurement of the current time. */
+void blasfeo_tic(blasfeo_timer* t);
+
+/** A function which returns the elapsed time. */
+double blasfeo_toc(blasfeo_timer* t);
+
+#endif  // BLASFEO_TIMING_H_
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_v_aux_ext_dep.h b/third_party/acados/include/blasfeo/include/blasfeo_v_aux_ext_dep.h
new file mode 100644
index 0000000000..1598551185
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/blasfeo_v_aux_ext_dep.h
@@ -0,0 +1,83 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef BLASFEO_V_AUX_EXT_DEP_H_
+#define BLASFEO_V_AUX_EXT_DEP_H_
+
+
+
+#include "blasfeo_target.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+/************************************************
+* d_aux_extern_depend_lib.c
+************************************************/
+
+#ifdef EXT_DEP
+
+void v_zeros(void **ptrA, int size);
+// dynamically allocate size bytes of memory aligned to 64-byte boundaries and set accordingly a pointer to void; set allocated memory to zero
+void v_zeros_align(void **ptrA, int size);
+// free the memory allocated by v_zeros
+void v_free(void *ptrA);
+// free the memory allocated by v_zeros_aligned
+void v_free_align(void *ptrA);
+// dynamically allocate size bytes of memory and set accordingly a pointer to char; set allocated memory to zero
+void c_zeros(char **ptrA, int size);
+// dynamically allocate size bytes of memory aligned to 64-byte boundaries and set accordingly a pointer to char; set allocated memory to zero
+void c_zeros_align(char **ptrA, int size);
+// free the memory allocated by c_zeros
+void c_free(char *ptrA);
+// free the memory allocated by c_zeros_aligned
+void c_free_align(char *ptrA);
+
+#endif // EXT_DEP
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+
+
+#endif  // BLASFEO_V_AUX_EXT_DEP_H_
diff --git a/third_party/acados/include/blasfeo/include/d_blas.h b/third_party/acados/include/blasfeo/include/d_blas.h
new file mode 100644
index 0000000000..d6f8786721
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/d_blas.h
@@ -0,0 +1,77 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+// headers to reference BLAS and LAPACK routines employed in BLASFEO WR
+
+// level 1
+double ddot_(int *m, double *x, int *incx, double *y, int *incy);
+void dcopy_(int *m, double *x, int *incx, double *y, int *incy);
+void daxpy_(int *m, double *alpha, double *x, int *incx, double *y, int *incy);
+void dscal_(int *m, double *alpha, double *x, int *incx);
+void drot_(int *m, double *x, int *incx, double *y, int *incy, double *c, double *s);
+void drotg_(double *a, double *b, double *c, double *s);
+
+// level 2
+void dgemv_(char *ta, int *m, int *n, double *alpha, double *A, int *lda, double *x, int *incx, double *beta, double *y, int *incy);
+void dsymv_(char *uplo, int *m, double *alpha, double *A, int *lda, double *x, int *incx, double *beta, double *y, int *incy);
+void dtrmv_(char *uplo, char *trans, char *diag, int *n, double *A, int *lda, double *x, int *incx);
+void dtrsv_(char *uplo, char *trans, char *diag, int *n, double *A, int *lda, double *x, int *incx);
+void dger_(int *m, int *n, double *alpha, double *x, int *incx, double *y, int *incy, double *A, int *lda);
+
+// level 3
+void dgemm_(char *ta, char *tb, int *m, int *n, int *k, double *alpha, double *A, int *lda, double *B, int *ldb, double *beta, double *C, int *ldc);
+void dsyrk_(char *uplo, char *trans, int *n, int *k, double *alpha, double *A, int *lda, double *beta, double *C, int *ldc);
+void dtrmm_(char *side, char *uplo, char *trans, char *diag, int *m, int *n, double *alpha, double *A, int *lda, double *B, int *ldb);
+void dtrsm_(char *side, char *uplo, char *trans, char *diag, int *m, int *n, double *alpha, double *A, int *lda, double *B, int *ldb);
+
+// lapack
+void dpotrf_(char *uplo, int *m, double *A, int *lda, int *info);
+void dgetrf_(int *m, int *n, double *A, int *lda, int *ipiv, int *info);
+void dgeqrf_(int *m, int *n, double *A, int *lda, double *tau, double *work, int *lwork, int *info);
+void dgeqr2_(int *m, int *n, double *A, int *lda, double *tau, double *work, int *info);
+void dgelqf_(int *m, int *n, double *A, int *lda, double *tau, double *work, int *lwork, int *info);
+void dorglq_(int *m, int *n, int *k, double *A, int *lda, double *tau, double *work, int *lwork, int *info);
+
+
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/third_party/acados/include/blasfeo/include/d_blas_64.h b/third_party/acados/include/blasfeo/include/d_blas_64.h
new file mode 100644
index 0000000000..4f40d00dfb
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/d_blas_64.h
@@ -0,0 +1,73 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+// headers to reference BLAS and LAPACK routines employed in BLASFEO WR
+
+// level 1
+double ddot_(long long *m, double *x, long long *incx, double *y, long long *incy);
+void dcopy_(long long *m, double *x, long long *incx, double *y, long long *incy);
+void daxpy_(long long *m, double *alpha, double *x, long long *incx, double *y, long long *incy);
+void dscal_(long long *m, double *alpha, double *x, long long *incx);
+
+// level 2
+void dgemv_(char *ta, long long *m, long long *n, double *alpha, double *A, long long *lda, double *x, long long *incx, double *beta, double *y, long long *incy);
+void dsymv_(char *uplo, long long *m, double *alpha, double *A, long long *lda, double *x, long long *incx, double *beta, double *y, long long *incy);
+void dtrmv_(char *uplo, char *trans, char *diag, long long *n, double *A, long long *lda, double *x, long long *incx);
+void dtrsv_(char *uplo, char *trans, char *diag, long long *n, double *A, long long *lda, double *x, long long *incx);
+void dger_(long long *m, long long *n, double *alpha, double *x, long long *incx, double *y, long long *incy, double *A, long long *lda);
+
+// level 3
+void dgemm_(char *ta, char *tb, long long *m, long long *n, long long *k, double *alpha, double *A, long long *lda, double *B, long long *ldb, double *beta, double *C, long long *ldc);
+void dsyrk_(char *uplo, char *trans, long long *n, long long *k, double *alpha, double *A, long long *lda, double *beta, double *C, long long *ldc);
+void dtrmm_(char *side, char *uplo, char *trans, char *diag, long long *m, long long *n, double *alpha, double *A, long long *lda, double *B, long long *ldb);
+void dtrsm_(char *side, char *uplo, char *trans, char *diag, long long *m, long long *n, double *alpha, double *A, long long *lda, double *B, long long *ldb);
+
+// lapack
+void dpotrf_(char *uplo, long long *m, double *A, long long *lda, long long *info);
+void dgetrf_(long long *m, long long *n, double *A, long long *lda, long long *ipiv, long long *info);
+void dgeqrf_(long long *m, long long *n, double *A, long long *lda, double *tau, double *work, long long *lwork, long long *info);
+void dgeqr2_(long long *m, long long *n, double *A, long long *lda, double *tau, double *work, long long *info);
+
+
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/third_party/acados/include/blasfeo/include/s_blas.h b/third_party/acados/include/blasfeo/include/s_blas.h
new file mode 100644
index 0000000000..58b2bb0a1a
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/s_blas.h
@@ -0,0 +1,77 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+// headers to reference BLAS and LAPACK routines employed in BLASFEO WR
+
+// level 1
+float sdot_(int *m, float *x, int *incx, float *y, int *incy);
+void scopy_(int *m, float *x, int *incx, float *y, int *incy);
+void saxpy_(int *m, float *alpha, float *x, int *incx, float *y, int *incy);
+void sscal_(int *m, float *alpha, float *x, int *incx);
+void srot_(int *m, float *x, int *incx, float *y, int *incy, float *c, float *s);
+void srotg_(float *a, float *b, float *c, float *s);
+
+// level 2
+void sgemv_(char *ta, int *m, int *n, float *alpha, float *A, int *lda, float *x, int *incx, float *beta, float *y, int *incy);
+void ssymv_(char *uplo, int *m, float *alpha, float *A, int *lda, float *x, int *incx, float *beta, float *y, int *incy);
+void strmv_(char *uplo, char *trans, char *diag, int *n, float *A, int *lda, float *x, int *incx);
+void strsv_(char *uplo, char *trans, char *diag, int *n, float *A, int *lda, float *x, int *incx);
+void sger_(int *m, int *n, float *alpha, float *x, int *incx, float *y, int *incy, float *A, int *lda);
+
+// level 3
+void sgemm_(char *ta, char *tb, int *m, int *n, int *k, float *alpha, float *A, int *lda, float *B, int *ldb, float *beta, float *C, int *ldc);
+void ssyrk_(char *uplo, char *trans, int *n, int *k, float *alpha, float *A, int *lda, float *beta, float *C, int *ldc);
+void strmm_(char *side, char *uplo, char *transa, char *diag, int *m, int *n, float *alpha, float *A, int *lda, float *B, int *ldb);
+void strsm_(char *side, char *uplo, char *transa, char *diag, int *m, int *n, float *alpha, float *A, int *lda, float *B, int *ldb);
+
+// lapack
+void spotrf_(char *uplo, int *m, float *A, int *lda, int *info);
+void sgetrf_(int *m, int *n, float *A, int *lda, int *ipiv, int *info);
+void sgeqrf_(int *m, int *n, float *A, int *lda, float *tau, float *work, int *lwork, int *info);
+void sgeqr2_(int *m, int *n, float *A, int *lda, float *tau, float *work, int *info);
+void sgelqf_(int *m, int *n, float *A, int *lda, float *tau, float *work, int *lwork, int *info);
+void sorglq_(int *m, int *n, int *k, float *A, int *lda, float *tau, float *work, int *lwork, int *info);
+
+
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/third_party/acados/include/blasfeo/include/s_blas_64.h b/third_party/acados/include/blasfeo/include/s_blas_64.h
new file mode 100644
index 0000000000..b9efab6c23
--- /dev/null
+++ b/third_party/acados/include/blasfeo/include/s_blas_64.h
@@ -0,0 +1,73 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of BLASFEO.                                                                   *
+*                                                                                                 *
+* BLASFEO -- BLAS For Embedded Optimization.                                                      *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+// headers to reference BLAS and LAPACK routines employed in BLASFEO WR
+
+// level 1
+float sdot_(long long *m, float *x, long long *incx, float *y, long long *incy);
+void scopy_(long long *m, float *x, long long *incx, float *y, long long *incy);
+void saxpy_(long long *m, float *alpha, float *x, long long *incx, float *y, long long *incy);
+void sscal_(long long *m, float *alpha, float *x, long long *incx);
+
+// level 2
+void sgemv_(char *ta, long long *m, long long *n, float *alpha, float *A, long long *lda, float *x, long long *incx, float *beta, float *y, long long *incy);
+void ssymv_(char *uplo, long long *m, float *alpha, float *A, long long *lda, float *x, long long *incx, float *beta, float *y, long long *incy);
+void strmv_(char *uplo, char *trans, char *diag, long long *n, float *A, long long *lda, float *x, long long *incx);
+void strsv_(char *uplo, char *trans, char *diag, long long *n, float *A, long long *lda, float *x, long long *incx);
+void sger_(long long *m, long long *n, float *alpha, float *x, long long *incx, float *y, long long *incy, float *A, long long *lda);
+
+// level 3
+void sgemm_(char *ta, char *tb, long long *m, long long *n, long long *k, float *alpha, float *A, long long *lda, float *B, long long *ldb, float *beta, float *C, long long *ldc);
+void ssyrk_(char *uplo, char *trans, long long *n, long long *k, float *alpha, float *A, long long *lda, float *beta, float *C, long long *ldc);
+void strmm_(char *side, char *uplo, char *transa, char *diag, long long *m, long long *n, float *alpha, float *A, long long *lda, float *B, long long *ldb);
+void strsm_(char *side, char *uplo, char *transa, char *diag, long long *m, long long *n, float *alpha, float *A, long long *lda, float *B, long long *ldb);
+
+// lapack
+void spotrf_(char *uplo, long long *m, float *A, long long *lda, long long *info);
+void sgetrf_(long long *m, long long *n, float *A, long long *lda, long long *ipiv, long long *info);
+void sgeqrf_(long long *m, long long *n, float *A, long long *lda, float *tau, float *work, long long *lwork, long long *info);
+void sgeqr2_(long long *m, long long *n, float *A, long long *lda, float *tau, float *work, long long *info);
+
+
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/third_party/acados/include/hpipm/include/hpipm_aux_mem.h b/third_party/acados/include/hpipm/include/hpipm_aux_mem.h
new file mode 100644
index 0000000000..7bd3d7e8bc
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_aux_mem.h
@@ -0,0 +1,52 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_AUX_MEM_H_
+#define HPIPM_AUX_MEM_H_
+
+#include "hpipm_common.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void hpipm_zero_memset(hpipm_size_t memsize, void *mem);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif // HPIPM_AUX_MEM_H_
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_aux_string.h b/third_party/acados/include/hpipm/include/hpipm_aux_string.h
new file mode 100644
index 0000000000..804cba5dc1
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_aux_string.h
@@ -0,0 +1,50 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_AUX_STRING_H_
+#define HPIPM_AUX_STRING_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define MAX_STR_LEN 5
+int hpipm_strcmp(char *str1, char *str2);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif // HPIPM_AUX_STRING_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_common.h b/third_party/acados/include/hpipm/include/hpipm_common.h
new file mode 100644
index 0000000000..0cc96a7b50
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_common.h
@@ -0,0 +1,76 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+
+#ifndef HPIPM_COMMON_H_
+#define HPIPM_COMMON_H_
+
+#include <stddef.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef size_t hpipm_size_t;
+
+enum hpipm_mode
+	{
+	SPEED_ABS, // focus on speed, absolute IPM formulation
+	SPEED, // focus on speed, relative IPM formulation
+	BALANCE, // balanced mode, relative IPM formulation
+	ROBUST, // focus on robustness, relative IPM formulation
+	};
+
+enum hpipm_status
+	{
+	SUCCESS, // found solution satisfying accuracy tolerance
+	MAX_ITER, // maximum iteration number reached
+	MIN_STEP, // minimum step length reached
+	NAN_SOL, // NaN in solution detected
+	INCONS_EQ, // unconsistent equality constraints
+	};
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_COMMON_H_
+
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_cast_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_d_cast_qcqp.h
new file mode 100644
index 0000000000..0e4c41f221
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_cast_qcqp.h
@@ -0,0 +1,71 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+
+#ifndef HPIPM_D_CAST_QCQP_H_
+#define HPIPM_D_CAST_QCQP_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_d_dense_qcqp.h"
+#include "hpipm_d_dense_qcqp_sol.h"
+#include "hpipm_d_ocp_qcqp.h"
+#include "hpipm_d_ocp_qcqp_dim.h"
+#include "hpipm_d_ocp_qcqp_sol.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+//
+void d_cast_qcqp_compute_dim(struct d_ocp_qcqp_dim *ocp_dim, struct d_dense_qcqp_dim *dense_dim);
+//
+void d_cast_qcqp_cond(struct d_ocp_qcqp *ocp_qp, struct d_dense_qcqp *dense_qp);
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_D_CAST_QCQP_H_
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_cond.h b/third_party/acados/include/hpipm/include/hpipm_d_cond.h
new file mode 100644
index 0000000000..5900a2ab10
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_cond.h
@@ -0,0 +1,135 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+
+#ifndef HPIPM_D_COND_H_
+#define HPIPM_D_COND_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_d_dense_qp.h"
+#include "hpipm_d_dense_qp_sol.h"
+#include "hpipm_d_ocp_qp.h"
+#include "hpipm_d_ocp_qp_dim.h"
+#include "hpipm_d_ocp_qp_sol.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct d_cond_qp_arg
+	{
+	int cond_last_stage; // condense last stage
+	int cond_alg; // condensing algorithm: 0 N2-nx3, 1 N3-nx2
+	int comp_prim_sol; // primal solution (v)
+	int comp_dual_sol_eq; // dual solution equality constr (pi)
+	int comp_dual_sol_ineq; // dual solution inequality constr (lam t)
+	int square_root_alg; // square root algorithm (faster but requires RSQ>0)
+	hpipm_size_t memsize;
+	};
+
+
+
+struct d_cond_qp_ws
+	{
+	struct blasfeo_dmat *Gamma;
+	struct blasfeo_dmat *GammaQ;
+	struct blasfeo_dmat *L;
+	struct blasfeo_dmat *Lx;
+	struct blasfeo_dmat *AL;
+	struct blasfeo_dvec *Gammab;
+	struct blasfeo_dvec *l;
+	struct blasfeo_dvec *tmp_nbgM;
+	struct blasfeo_dvec *tmp_nuxM;
+	int bs; // block size
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t d_cond_qp_arg_memsize();
+//
+void d_cond_qp_arg_create(struct d_cond_qp_arg *cond_arg, void *mem);
+//
+void d_cond_qp_arg_set_default(struct d_cond_qp_arg *cond_arg);
+// condensing algorithm: 0 N2-nx3, 1 N3-nx2
+void d_cond_qp_arg_set_cond_alg(int cond_alg, struct d_cond_qp_arg *cond_arg);
+// set riccati-like algorithm: 0 classical, 1 square-root
+void d_cond_qp_arg_set_ric_alg(int ric_alg, struct d_cond_qp_arg *cond_arg);
+// condense last stage: 0 last stage disregarded, 1 last stage condensed too
+void d_cond_qp_arg_set_cond_last_stage(int cond_last_stage, struct d_cond_qp_arg *cond_arg);
+//
+void d_cond_qp_arg_set_comp_prim_sol(int value, struct d_cond_qp_arg *cond_arg);
+//
+void d_cond_qp_arg_set_comp_dual_sol_eq(int value, struct d_cond_qp_arg *cond_arg);
+//
+void d_cond_qp_arg_set_comp_dual_sol_ineq(int value, struct d_cond_qp_arg *cond_arg);
+
+//
+void d_cond_qp_compute_dim(struct d_ocp_qp_dim *ocp_dim, struct d_dense_qp_dim *dense_dim);
+//
+hpipm_size_t d_cond_qp_ws_memsize(struct d_ocp_qp_dim *ocp_dim, struct d_cond_qp_arg *cond_arg);
+//
+void d_cond_qp_ws_create(struct d_ocp_qp_dim *ocp_dim, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws, void *mem);
+//
+void d_cond_qp_cond(struct d_ocp_qp *ocp_qp, struct d_dense_qp *dense_qp, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
+//
+void d_cond_qp_cond_lhs(struct d_ocp_qp *ocp_qp, struct d_dense_qp *dense_qp, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
+//
+void d_cond_qp_cond_rhs(struct d_ocp_qp *ocp_qp, struct d_dense_qp *dense_qp, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
+//
+void d_cond_qp_expand_sol(struct d_ocp_qp *ocp_qp, struct d_dense_qp_sol *dense_qp_sol, struct d_ocp_qp_sol *ocp_qp_sol, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
+// TODO remove
+void d_cond_qp_expand_primal_sol(struct d_ocp_qp *ocp_qp, struct d_dense_qp_sol *dense_qp_sol, struct d_ocp_qp_sol *ocp_qp_sol, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
+
+//
+void d_cond_qp_update(int *idxc, struct d_ocp_qp *ocp_qp, struct d_dense_qp *dense_qp, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_D_COND_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_cond_aux.h b/third_party/acados/include/hpipm/include/hpipm_d_cond_aux.h
new file mode 100644
index 0000000000..73afba3c7e
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_cond_aux.h
@@ -0,0 +1,92 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+
+#ifndef HPIPM_D_COND_AUX_H_
+#define HPIPM_D_COND_AUX_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+//
+void d_cond_BAbt(struct d_ocp_qp *ocp_qp, struct blasfeo_dmat *BAbt2, struct blasfeo_dvec *b, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
+//
+void d_cond_BAt(struct d_ocp_qp *ocp_qp, struct blasfeo_dmat *BAbt2, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
+//
+void d_cond_b(struct d_ocp_qp *ocp_qp, struct blasfeo_dvec *b, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
+//
+void d_cond_RSQrq(struct d_ocp_qp *ocp_qp, struct blasfeo_dmat *RSQrq2, struct blasfeo_dvec *rq, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
+//
+void d_cond_RSQ(struct d_ocp_qp *ocp_qp, struct blasfeo_dmat *RSQrq2, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
+//
+void d_cond_rq(struct d_ocp_qp *ocp_qp, struct blasfeo_dvec *rq, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
+//
+void d_cond_DCtd(struct d_ocp_qp *ocp_qp, int *idxb2, struct blasfeo_dmat *DCt2, struct blasfeo_dvec *d2, struct blasfeo_dvec *d_mask2, int *idxs_rev2, struct blasfeo_dvec *Z2, struct blasfeo_dvec *z, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
+//
+void d_cond_DCt(struct d_ocp_qp *ocp_qp, int *idxb2, struct blasfeo_dmat *DCt2, int *idxs_rev2, struct blasfeo_dvec *Z2, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
+//
+void d_cond_d(struct d_ocp_qp *ocp_qp, struct blasfeo_dvec *d2, struct blasfeo_dvec *d_mask2, struct blasfeo_dvec *z, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
+//
+void d_expand_sol(struct d_ocp_qp *ocp_qp, struct d_dense_qp_sol *dense_qp_sol, struct d_ocp_qp_sol *ocp_qp_so, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
+//
+void d_expand_primal_sol(struct d_ocp_qp *ocp_qp, struct d_dense_qp_sol *dense_qp_sol, struct d_ocp_qp_sol *ocp_qp_so, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
+
+//
+void d_update_cond_BAbt(int *idxc, struct d_ocp_qp *ocp_qp, struct blasfeo_dmat *BAbt2, struct blasfeo_dvec *b, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
+//
+void d_update_cond_RSQrq_N2nx3(int *idxc, struct d_ocp_qp *ocp_qp, struct blasfeo_dmat *RSQrq2, struct blasfeo_dvec *rq, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
+//
+void d_update_cond_DCtd(int *idxc, struct d_ocp_qp *ocp_qp, int *idxb2, struct blasfeo_dmat *DCt2, struct blasfeo_dvec *d2, int *idxs2, struct blasfeo_dvec *Z2, struct blasfeo_dvec *z, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_D_COND_AUX_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_cond_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_d_cond_qcqp.h
new file mode 100644
index 0000000000..266567bb8d
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_cond_qcqp.h
@@ -0,0 +1,129 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+
+#ifndef HPIPM_D_COND_QCQP_H_
+#define HPIPM_D_COND_QCQP_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_d_dense_qcqp.h"
+#include "hpipm_d_dense_qcqp_sol.h"
+#include "hpipm_d_ocp_qcqp.h"
+#include "hpipm_d_ocp_qcqp_dim.h"
+#include "hpipm_d_ocp_qcqp_sol.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct d_cond_qcqp_arg
+	{
+	struct d_cond_qp_arg *qp_arg;
+	int cond_last_stage; // condense last stage
+//	int cond_variant; // TODO
+	int comp_prim_sol; // primal solution (v)
+	int comp_dual_sol_eq; // dual solution equality constr (pi)
+	int comp_dual_sol_ineq; // dual solution equality constr (lam t)
+	int square_root_alg; // square root algorithm (faster but requires RSQ>0)
+	hpipm_size_t memsize;
+	};
+
+
+
+struct d_cond_qcqp_ws
+	{
+	struct d_cond_qp_ws *qp_ws;
+	struct blasfeo_dmat *hess_array; // TODO remove
+	struct blasfeo_dmat *zero_hess; // TODO remove
+	struct blasfeo_dvec *grad_array; // TODO remove
+	struct blasfeo_dvec *zero_grad; // TODO remove
+	struct blasfeo_dvec *tmp_nvc;
+	struct blasfeo_dvec *tmp_nuxM;
+	struct blasfeo_dmat *GammaQ;
+	struct blasfeo_dmat *tmp_DCt;
+	struct blasfeo_dmat *tmp_nuM_nxM;
+//	struct blasfeo_dvec *d_qp;
+//	struct blasfeo_dvec *d_mask_qp;
+	hpipm_size_t memsize;
+	};
+
+
+//
+hpipm_size_t d_cond_qcqp_arg_memsize();
+//
+void d_cond_qcqp_arg_create(struct d_cond_qcqp_arg *cond_arg, void *mem);
+//
+void d_cond_qcqp_arg_set_default(struct d_cond_qcqp_arg *cond_arg);
+// set riccati-like algorithm: 0 classical, 1 square-root
+void d_cond_qcqp_arg_set_ric_alg(int ric_alg, struct d_cond_qcqp_arg *cond_arg);
+// condense last stage: 0 last stage disregarded, 1 last stage condensed too
+void d_cond_qcqp_arg_set_cond_last_stage(int cond_last_stage, struct d_cond_qcqp_arg *cond_arg);
+
+//
+void d_cond_qcqp_compute_dim(struct d_ocp_qcqp_dim *ocp_dim, struct d_dense_qcqp_dim *dense_dim);
+//
+hpipm_size_t d_cond_qcqp_ws_memsize(struct d_ocp_qcqp_dim *ocp_dim, struct d_cond_qcqp_arg *cond_arg);
+//
+void d_cond_qcqp_ws_create(struct d_ocp_qcqp_dim *ocp_dim, struct d_cond_qcqp_arg *cond_arg, struct d_cond_qcqp_ws *cond_ws, void *mem);
+//
+void d_cond_qcqp_qc(struct d_ocp_qcqp *ocp_qp, struct blasfeo_dmat *Hq2, int *Hq_nzero2, struct blasfeo_dmat *Ct2, struct blasfeo_dvec *d2, struct d_cond_qcqp_arg *cond_arg, struct d_cond_qcqp_ws *cond_ws);
+//
+void d_cond_qcqp_qc_lhs(struct d_ocp_qcqp *ocp_qp, struct blasfeo_dmat *Hq2, int *Hq_nzero2, struct blasfeo_dmat *Ct2, struct d_cond_qcqp_arg *cond_arg, struct d_cond_qcqp_ws *cond_ws);
+//
+void d_cond_qcqp_qc_rhs(struct d_ocp_qcqp *ocp_qp, struct blasfeo_dvec *d2, struct d_cond_qcqp_arg *cond_arg, struct d_cond_qcqp_ws *cond_ws);
+//
+void d_cond_qcqp_cond(struct d_ocp_qcqp *ocp_qp, struct d_dense_qcqp *dense_qp, struct d_cond_qcqp_arg *cond_arg, struct d_cond_qcqp_ws *cond_ws);
+//
+void d_cond_qcqp_cond_rhs(struct d_ocp_qcqp *ocp_qp, struct d_dense_qcqp *dense_qp, struct d_cond_qcqp_arg *cond_arg, struct d_cond_qcqp_ws *cond_ws);
+//
+void d_cond_qcqp_cond_lhs(struct d_ocp_qcqp *ocp_qp, struct d_dense_qcqp *dense_qp, struct d_cond_qcqp_arg *cond_arg, struct d_cond_qcqp_ws *cond_ws);
+//
+void d_cond_qcqp_expand_sol(struct d_ocp_qcqp *ocp_qp, struct d_dense_qcqp_sol *dense_qp_sol, struct d_ocp_qcqp_sol *ocp_qp_sol, struct d_cond_qcqp_arg *cond_arg, struct d_cond_qcqp_ws *cond_ws);
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_D_COND_QCQP_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_core_qp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_d_core_qp_ipm.h
new file mode 100644
index 0000000000..f39d9a9b50
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_core_qp_ipm.h
@@ -0,0 +1,101 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_D_CORE_QP_IPM_
+#define HPIPM_D_CORE_QP_IPM_
+
+#include "hpipm_common.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+struct d_core_qp_ipm_workspace
+	{
+	double *v; // primal variables
+	double *pi; // equality constraints multipliers
+	double *lam; // inequality constraints multipliers
+	double *t; // inequality constraints slacks
+	double *t_inv; // inverse of t
+	double *v_bkp; // backup of primal variables
+	double *pi_bkp; // backup of equality constraints multipliers
+	double *lam_bkp; // backup of inequality constraints multipliers
+	double *t_bkp; // backup of inequality constraints slacks
+	double *dv; // step in v
+	double *dpi; // step in pi
+	double *dlam; // step in lam
+	double *dt; // step in t
+	double *res_g; // q-residuals
+	double *res_b; // b-residuals
+	double *res_d; // d-residuals
+	double *res_m; // m-residuals
+	double *res_m_bkp; // m-residuals
+	double *Gamma; // Hessian update
+	double *gamma; // gradient update
+	double alpha; // step length
+	double alpha_prim; // step length
+	double alpha_dual; // step length
+	double sigma; // centering XXX
+	double mu; // duality measuere
+	double mu_aff; // affine duality measuere
+	double nc_inv; // 1.0/nc, where nc is the total number of inequality constraints
+	double nc_mask_inv; // 1.0/nc_mask
+	double lam_min; // min value in lam vector
+	double t_min; // min value in t vector
+	double t_min_inv; // inverse of min value in t vector
+	double tau_min; // min value of barrier parameter
+	int nv; // number of primal variables
+	int ne; // number of equality constraints
+	int nc; // (twice the) number of (two-sided) inequality constraints
+	int nc_mask; // total number of ineq constr after masking
+	int split_step; // use different step for primal and dual variables
+	int t_lam_min; // clip t and lam also in solution, or only in Gamma computation
+	hpipm_size_t memsize; // memory size (in bytes) of workspace
+	};
+
+
+
+//
+hpipm_size_t d_memsize_core_qp_ipm(int nv, int ne, int nc);
+//
+void d_create_core_qp_ipm(int nv, int ne, int nc, struct d_core_qp_ipm_workspace *workspace, void *mem);
+//
+void d_core_qp_ipm(struct d_core_qp_ipm_workspace *workspace);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif // HPIPM_D_CORE_QP_IPM_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_core_qp_ipm_aux.h b/third_party/acados/include/hpipm/include/hpipm_d_core_qp_ipm_aux.h
new file mode 100644
index 0000000000..30cc824bad
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_core_qp_ipm_aux.h
@@ -0,0 +1,68 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_S_CORE_QP_IPM_AUX_
+#define HPIPM_S_CORE_QP_IPM_AUX_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+//
+void d_compute_Gamma_gamma_qp(double *res_d, double *res_m, struct d_core_qp_ipm_workspace *rws);
+//
+void d_compute_gamma_qp(double *res_d, double *res_m, struct d_core_qp_ipm_workspace *rws);
+//
+void d_compute_lam_t_qp(double *res_d, double *res_m, double *dlam, double *dt, struct d_core_qp_ipm_workspace *rws);
+//
+void d_compute_alpha_qp(struct d_core_qp_ipm_workspace *rws);
+//
+void d_update_var_qp(struct d_core_qp_ipm_workspace *rws);
+//
+void d_compute_mu_aff_qp(struct d_core_qp_ipm_workspace *rws);
+//
+void d_backup_res_m(struct d_core_qp_ipm_workspace *rws);
+//
+void d_compute_centering_correction_qp(struct d_core_qp_ipm_workspace *rws);
+//
+void d_compute_centering_qp(struct d_core_qp_ipm_workspace *rws);
+//
+void d_compute_tau_min_qp(struct d_core_qp_ipm_workspace *rws);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif // HPIPM_S_CORE_QP_IPM_AUX_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp.h
new file mode 100644
index 0000000000..3da5716493
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp.h
@@ -0,0 +1,199 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+
+#ifndef HPIPM_D_DENSE_QCQP_H_
+#define HPIPM_D_DENSE_QCQP_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_d_dense_qcqp_dim.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct d_dense_qcqp
+	{
+	struct d_dense_qcqp_dim *dim;
+	struct blasfeo_dmat *Hv; // hessian of cost & vector work space
+	struct blasfeo_dmat *A; // equality constraint matrix
+	struct blasfeo_dmat *Ct; // inequality constraints matrix
+	struct blasfeo_dmat *Hq; // hessians of quadratic constraints
+	struct blasfeo_dvec *gz; // gradient of cost & gradient of slacks
+	struct blasfeo_dvec *b; // equality constraint vector
+	struct blasfeo_dvec *d; // inequality constraints vector
+	struct blasfeo_dvec *d_mask; // inequality constraints mask vector
+	struct blasfeo_dvec *m; // rhs of complementarity condition
+	struct blasfeo_dvec *Z; // (diagonal) hessian of slacks
+	int *idxb; // indices of box constrained variables within [u; x]
+	int *idxs_rev; // index of soft constraints (reverse storage)
+	int *Hq_nzero; // for each int, the last 3 bits ...abc, {a,b,c}=0 => {R,S,Q}=0
+	hpipm_size_t memsize; // memory size in bytes
+	};
+
+
+
+//
+hpipm_size_t d_dense_qcqp_memsize(struct d_dense_qcqp_dim *dim);
+//
+void d_dense_qcqp_create(struct d_dense_qcqp_dim *dim, struct d_dense_qcqp *qp, void *memory);
+
+//
+void d_dense_qcqp_set(char *field, void *value, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_H(double *H, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_g(double *g, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_A(double *A, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_b(double *b, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_idxb(int *idxb, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_lb(double *lb, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_lb_mask(double *lb, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_ub(double *ub, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_ub_mask(double *ub, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_C(double *C, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_lg(double *lg, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_lg_mask(double *lg, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_ug(double *ug, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_ug_mask(double *ug, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_Hq(double *Hq, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_gq(double *gq, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_uq(double *uq, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_uq_mask(double *uq, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_idxs(int *idxs, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_idxs_rev(int *idxs_rev, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_Zl(double *Zl, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_Zu(double *Zu, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_zl(double *zl, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_zu(double *zu, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_ls(double *ls, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_ls_mask(double *ls, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_us(double *us, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_set_us_mask(double *us, struct d_dense_qcqp *qp);
+
+// getters (COLMAJ)
+
+void d_dense_qcqp_get_H(struct d_dense_qcqp *qp, double *H);
+//
+void d_dense_qcqp_get_g(struct d_dense_qcqp *qp, double *g);
+//
+void d_dense_qcqp_get_A(struct d_dense_qcqp *qp, double *A);
+//
+void d_dense_qcqp_get_b(struct d_dense_qcqp *qp, double *b);
+//
+void d_dense_qcqp_get_idxb(struct d_dense_qcqp *qp, int *idxb);
+//
+void d_dense_qcqp_get_lb(struct d_dense_qcqp *qp, double *lb);
+//
+void d_dense_qcqp_get_lb_mask(struct d_dense_qcqp *qp, double *lb);
+//
+void d_dense_qcqp_get_ub(struct d_dense_qcqp *qp, double *ub);
+//
+void d_dense_qcqp_get_ub_mask(struct d_dense_qcqp *qp, double *ub);
+//
+void d_dense_qcqp_get_C(struct d_dense_qcqp *qp, double *C);
+//
+void d_dense_qcqp_get_lg(struct d_dense_qcqp *qp, double *lg);
+//
+void d_dense_qcqp_get_lg_mask(struct d_dense_qcqp *qp, double *lg);
+//
+void d_dense_qcqp_get_ug(struct d_dense_qcqp *qp, double *ug);
+//
+void d_dense_qcqp_get_ug_mask(struct d_dense_qcqp *qp, double *ug);
+//
+void d_dense_qcqp_get_idxs(struct d_dense_qcqp *qp, int *idxs);
+//
+void d_dense_qcqp_get_idxs_rev(struct d_dense_qcqp *qp, int *idxs_rev);
+//
+void d_dense_qcqp_get_Zl(struct d_dense_qcqp *qp, double *Zl);
+//
+void d_dense_qcqp_get_Zu(struct d_dense_qcqp *qp, double *Zu);
+//
+void d_dense_qcqp_get_zl(struct d_dense_qcqp *qp, double *zl);
+//
+void d_dense_qcqp_get_zu(struct d_dense_qcqp *qp, double *zu);
+//
+void d_dense_qcqp_get_ls(struct d_dense_qcqp *qp, double *ls);
+//
+void d_dense_qcqp_get_ls_mask(struct d_dense_qcqp *qp, double *ls);
+//
+void d_dense_qcqp_get_us(struct d_dense_qcqp *qp, double *us);
+//
+void d_dense_qcqp_get_us_mask(struct d_dense_qcqp *qp, double *us);
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_D_DENSE_QCQP_H_
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_dim.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_dim.h
new file mode 100644
index 0000000000..fa8c574a1e
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_dim.h
@@ -0,0 +1,98 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_D_DENSE_QCQP_DIM_H_
+#define HPIPM_D_DENSE_QCQP_DIM_H_
+
+#include "hpipm_common.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct d_dense_qcqp_dim
+	{
+	struct d_dense_qp_dim *qp_dim; // dim of qp approximation
+	int nv;  // number of variables
+	int ne;  // number of equality constraints
+	int nb;  // number of box constraints
+	int ng;  // number of general constraints
+	int nq;  // number of quadratic constraints
+	int nsb; // number of softened box constraints
+	int nsg; // number of softened general constraints
+	int nsq; // number of softened quadratic constraints
+	int ns;  // number of softened constraints (nsb+nsg+nsq) TODO number of slacks
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t d_dense_qcqp_dim_memsize();
+//
+void d_dense_qcqp_dim_create(struct d_dense_qcqp_dim *dim, void *memory);
+//
+void d_dense_qcqp_dim_set(char *field_name, int value, struct d_dense_qcqp_dim *dim);
+//
+void d_dense_qcqp_dim_set_nv(int value, struct d_dense_qcqp_dim *dim);
+//
+void d_dense_qcqp_dim_set_ne(int value, struct d_dense_qcqp_dim *dim);
+//
+void d_dense_qcqp_dim_set_nb(int value, struct d_dense_qcqp_dim *dim);
+//
+void d_dense_qcqp_dim_set_ng(int value, struct d_dense_qcqp_dim *dim);
+//
+void d_dense_qcqp_dim_set_nq(int value, struct d_dense_qcqp_dim *dim);
+//
+void d_dense_qcqp_dim_set_nsb(int value, struct d_dense_qcqp_dim *dim);
+//
+void d_dense_qcqp_dim_set_nsg(int value, struct d_dense_qcqp_dim *dim);
+//
+void d_dense_qcqp_dim_set_nsq(int value, struct d_dense_qcqp_dim *dim);
+//
+void d_dense_qcqp_dim_set_ns(int value, struct d_dense_qcqp_dim *dim);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+
+#endif // HPIPM_D_DENSE_QCQP_DIM_H_
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_ipm.h
new file mode 100644
index 0000000000..fa3f98fa79
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_ipm.h
@@ -0,0 +1,193 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+
+#ifndef HPIPM_D_DENSE_QCQP_IPM_H_
+#define HPIPM_D_DENSE_QCQP_IPM_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include <hpipm_common.h>
+#include <hpipm_d_dense_qcqp_dim.h>
+#include <hpipm_d_dense_qcqp.h>
+#include <hpipm_d_dense_qcqp_res.h>
+#include <hpipm_d_dense_qcqp_sol.h>
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct d_dense_qcqp_ipm_arg
+	{
+	struct d_dense_qp_ipm_arg *qp_arg;
+	double mu0; // initial value for duality measure
+	double alpha_min; // exit cond on step length
+	double res_g_max; // exit cond on inf norm of residuals
+	double res_b_max; // exit cond on inf norm of residuals
+	double res_d_max; // exit cond on inf norm of residuals
+	double res_m_max; // exit cond on inf norm of residuals
+	double reg_prim; // reg of primal hessian
+	double reg_dual; // reg of dual hessian
+	double lam_min; // min value in lam vector
+	double t_min; // min value in t vector
+	int iter_max; // exit cond in iter number
+	int stat_max; // iterations saved in stat
+	int pred_corr; // Mehrotra's predictor-corrector IPM algirthm
+	int cond_pred_corr; // conditional Mehrotra's predictor-corrector
+	int scale; // scale hessian
+	int itref_pred_max; // max number of iterative refinement steps for predictor step
+	int itref_corr_max; // max number of iterative refinement steps for corrector step
+	int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
+	int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq
+	int abs_form; // absolute IPM formulation
+	int comp_res_exit; // compute residuals on exit (only for abs_form==1)
+	int comp_res_pred; // compute residuals of prediction
+	int split_step; // use different step for primal and dual variables
+	int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
+	int mode;
+	hpipm_size_t memsize;
+	};
+
+
+
+struct d_dense_qcqp_ipm_ws
+	{
+	struct d_dense_qp_ipm_ws *qp_ws;
+	struct d_dense_qp *qp;
+	struct d_dense_qp_sol *qp_sol;
+	struct d_dense_qcqp_res_ws *qcqp_res_ws;
+	struct d_dense_qcqp_res *qcqp_res;
+	struct blasfeo_dvec *tmp_nv;
+	int iter; // iteration number
+	int status;
+	hpipm_size_t memsize; // memory size (in bytes) of workspace
+	};
+
+
+
+//
+hpipm_size_t d_dense_qcqp_ipm_arg_memsize(struct d_dense_qcqp_dim *dim);
+//
+void d_dense_qcqp_ipm_arg_create(struct d_dense_qcqp_dim *dim, struct d_dense_qcqp_ipm_arg *arg, void *mem);
+//
+void d_dense_qcqp_ipm_arg_set_default(enum hpipm_mode mode, struct d_dense_qcqp_ipm_arg *arg);
+//
+void d_dense_qcqp_ipm_arg_set(char *field, void *value, struct d_dense_qcqp_ipm_arg *arg);
+//
+void d_dense_qcqp_ipm_arg_set_iter_max(int *iter_max, struct d_dense_qcqp_ipm_arg *arg);
+//
+void d_dense_qcqp_ipm_arg_set_alpha_min(double *alpha_min, struct d_dense_qcqp_ipm_arg *arg);
+//
+void d_dense_qcqp_ipm_arg_set_mu0(double *mu0, struct d_dense_qcqp_ipm_arg *arg);
+//
+void d_dense_qcqp_ipm_arg_set_tol_stat(double *tol_stat, struct d_dense_qcqp_ipm_arg *arg);
+//
+void d_dense_qcqp_ipm_arg_set_tol_eq(double *tol_eq, struct d_dense_qcqp_ipm_arg *arg);
+//
+void d_dense_qcqp_ipm_arg_set_tol_ineq(double *tol_ineq, struct d_dense_qcqp_ipm_arg *arg);
+//
+void d_dense_qcqp_ipm_arg_set_tol_comp(double *tol_comp, struct d_dense_qcqp_ipm_arg *arg);
+//
+void d_dense_qcqp_ipm_arg_set_reg_prim(double *reg, struct d_dense_qcqp_ipm_arg *arg);
+//
+void d_dense_qcqp_ipm_arg_set_reg_dual(double *reg, struct d_dense_qcqp_ipm_arg *arg);
+//
+void d_dense_qcqp_ipm_arg_set_warm_start(int *warm_start, struct d_dense_qcqp_ipm_arg *arg);
+//
+void d_dense_qcqp_ipm_arg_set_pred_corr(int *pred_corr, struct d_dense_qcqp_ipm_arg *arg);
+//
+void d_dense_qcqp_ipm_arg_set_cond_pred_corr(int *cond_pred_corr, struct d_dense_qcqp_ipm_arg *arg);
+//
+void d_dense_qcqp_ipm_arg_set_comp_res_pred(int *comp_res_pred, struct d_dense_qcqp_ipm_arg *arg);
+//
+void d_dense_qcqp_ipm_arg_set_comp_res_exit(int *comp_res_exit, struct d_dense_qcqp_ipm_arg *arg);
+//
+void d_dense_qcqp_ipm_arg_set_lam_min(double *value, struct d_dense_qcqp_ipm_arg *arg);
+//
+void d_dense_qcqp_ipm_arg_set_t_min(double *value, struct d_dense_qcqp_ipm_arg *arg);
+//
+void d_dense_qcqp_ipm_arg_set_split_step(int *value, struct d_dense_qcqp_ipm_arg *arg);
+//
+void d_dense_qcqp_ipm_arg_set_t_lam_min(int *value, struct d_dense_qcqp_ipm_arg *arg);
+
+//
+hpipm_size_t d_dense_qcqp_ipm_ws_memsize(struct d_dense_qcqp_dim *qp_dim, struct d_dense_qcqp_ipm_arg *arg);
+//
+void d_dense_qcqp_ipm_ws_create(struct d_dense_qcqp_dim *qp_dim, struct d_dense_qcqp_ipm_arg *arg, struct d_dense_qcqp_ipm_ws *ws, void *mem);
+//
+void d_dense_qcqp_ipm_get(char *field, struct d_dense_qcqp_ipm_ws *ws, void *value);
+//
+void d_dense_qcqp_ipm_get_status(struct d_dense_qcqp_ipm_ws *ws, int *status);
+//
+void d_dense_qcqp_ipm_get_iter(struct d_dense_qcqp_ipm_ws *ws, int *iter);
+//
+void d_dense_qcqp_ipm_get_max_res_stat(struct d_dense_qcqp_ipm_ws *ws, double *res_stat);
+//
+void d_dense_qcqp_ipm_get_max_res_eq(struct d_dense_qcqp_ipm_ws *ws, double *res_eq);
+//
+void d_dense_qcqp_ipm_get_max_res_ineq(struct d_dense_qcqp_ipm_ws *ws, double *res_ineq);
+//
+void d_dense_qcqp_ipm_get_max_res_comp(struct d_dense_qcqp_ipm_ws *ws, double *res_comp);
+//
+void d_dense_qcqp_ipm_get_stat(struct d_dense_qcqp_ipm_ws *ws, double **stat);
+//
+void d_dense_qcqp_ipm_get_stat_m(struct d_dense_qcqp_ipm_ws *ws, int *stat_m);
+//
+void d_dense_qcqp_init_var(struct d_dense_qcqp *qp, struct d_dense_qcqp_sol *qp_sol, struct d_dense_qcqp_ipm_arg *arg, struct d_dense_qcqp_ipm_ws *ws);
+//
+void d_dense_qcqp_ipm_solve(struct d_dense_qcqp *qp, struct d_dense_qcqp_sol *qp_sol, struct d_dense_qcqp_ipm_arg *arg, struct d_dense_qcqp_ipm_ws *ws);
+#if 0
+//
+void d_dense_qcqp_ipm_predict(struct d_dense_qcqp *qp, struct d_dense_qcqp_sol *qp_sol, struct d_dense_qcqp_ipm_arg *arg, struct d_dense_qcqp_ipm_ws *ws);
+//
+void d_dense_qcqp_ipm_sens(struct d_dense_qcqp *qp, struct d_dense_qcqp_sol *qp_sol, struct d_dense_qcqp_ipm_arg *arg, struct d_dense_qcqp_ipm_ws *ws);
+#endif
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_D_DENSE_QCQP_IPM_H_
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_res.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_res.h
new file mode 100644
index 0000000000..a76f16215e
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_res.h
@@ -0,0 +1,107 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_D_DENSE_QCQP_RES_H_
+#define HPIPM_D_DENSE_QCQP_RES_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include <hpipm_d_dense_qcqp_dim.h>
+#include <hpipm_d_dense_qcqp.h>
+#include <hpipm_d_dense_qcqp_sol.h>
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct d_dense_qcqp_res
+	{
+	struct d_dense_qcqp_dim *dim;
+	struct blasfeo_dvec *res_g; // q-residuals
+	struct blasfeo_dvec *res_b; // b-residuals
+	struct blasfeo_dvec *res_d; // d-residuals
+	struct blasfeo_dvec *res_m; // m-residuals
+	double res_max[4]; // infinity norm of residuals
+	double res_mu; // mu-residual
+	hpipm_size_t memsize;
+	};
+
+
+
+struct d_dense_qcqp_res_ws
+	{
+	struct blasfeo_dvec *tmp_nv; // work space of size nv
+	struct blasfeo_dvec *tmp_nbgq; // work space of size nbM+ngM+nqM
+	struct blasfeo_dvec *tmp_ns; // work space of size nsM
+	struct blasfeo_dvec *q_fun; // value for evaluation of quadr constr
+	struct blasfeo_dvec *q_adj; // value for adjoint of quadr constr
+	int use_q_fun; // reuse cached value for evaluation of quadr constr
+	int use_q_adj; // reuse cached value for adjoint of quadr constr
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t d_dense_qcqp_res_memsize(struct d_dense_qcqp_dim *dim);
+//
+void d_dense_qcqp_res_create(struct d_dense_qcqp_dim *dim, struct d_dense_qcqp_res *res, void *mem);
+//
+hpipm_size_t d_dense_qcqp_res_ws_memsize(struct d_dense_qcqp_dim *dim);
+//
+void d_dense_qcqp_res_ws_create(struct d_dense_qcqp_dim *dim, struct d_dense_qcqp_res_ws *workspace, void *mem);
+//
+void d_dense_qcqp_res_compute(struct d_dense_qcqp *qp, struct d_dense_qcqp_sol *qp_sol, struct d_dense_qcqp_res *res, struct d_dense_qcqp_res_ws *ws);
+//
+void d_dense_qcqp_res_compute_inf_norm(struct d_dense_qcqp_res *res);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+#endif // HPIPM_D_DENSE_QCQP_RES_H_
+
+
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_sol.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_sol.h
new file mode 100644
index 0000000000..6c697a8e69
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_sol.h
@@ -0,0 +1,85 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+
+#ifndef HPIPM_D_DENSE_QCQP_SOL_H_
+#define HPIPM_D_DENSE_QCQP_SOL_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_d_dense_qcqp_dim.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct d_dense_qcqp_sol
+	{
+	struct d_dense_qcqp_dim *dim;
+	struct blasfeo_dvec *v;
+	struct blasfeo_dvec *pi;
+	struct blasfeo_dvec *lam;
+	struct blasfeo_dvec *t;
+	void *misc;
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t d_dense_qcqp_sol_memsize(struct d_dense_qcqp_dim *dim);
+//
+void d_dense_qcqp_sol_create(struct d_dense_qcqp_dim *dim, struct d_dense_qcqp_sol *qp_sol, void *memory);
+//
+void d_dense_qcqp_sol_get_v(struct d_dense_qcqp_sol *qp_sol, double *v);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_D_DENSE_QCQP_SOL_H_
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_utils.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_utils.h
new file mode 100644
index 0000000000..a34218bae4
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_utils.h
@@ -0,0 +1,82 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_D_DENSE_QCQP_UTILS_H_
+#define HPIPM_D_DENSE_QCQP_UTILS_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_d_dense_qcqp_dim.h"
+#include "hpipm_d_dense_qcqp.h"
+#include "hpipm_d_dense_qcqp_sol.h"
+//#include "hpipm_d_dense_qcqp_ipm.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+//
+void d_dense_qcqp_dim_print(struct d_dense_qcqp_dim *qp_dim);
+//
+//void d_dense_qcqp_dim_codegen(char *file_name, char *mode, struct d_dense_qcqp_dim *qp_dim);
+//
+void d_dense_qcqp_print(struct d_dense_qcqp_dim *qp_dim, struct d_dense_qcqp *qp);
+//
+//void d_dense_qcqp_codegen(char *file_name, char *mode, struct d_dense_qcqp_dim *qp_dim, struct d_dense_qcqp *qp);
+//
+void d_dense_qcqp_sol_print(struct d_dense_qcqp_dim *qp_dim, struct d_dense_qcqp_sol *dense_qcqp_sol);
+//
+//void d_dense_qcqp_ipm_arg_codegen(char *file_name, char *mode, struct d_dense_qcqp_dim *qp_dim, struct d_dense_qcqp_ipm_arg *arg);
+//
+void d_dense_qcqp_res_print(struct d_dense_qcqp_dim *qp_dim, struct d_dense_qcqp_res *dense_qcqp_res);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+
+#endif // HPIPM_D_DENSE_QCQP_UTILS_H_
+
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp.h
new file mode 100644
index 0000000000..02fba5a922
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp.h
@@ -0,0 +1,207 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+
+#ifndef HPIPM_D_DENSE_QP_H_
+#define HPIPM_D_DENSE_QP_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_d_dense_qp_dim.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct d_dense_qp
+	{
+	struct d_dense_qp_dim *dim;
+	struct blasfeo_dmat *Hv; // hessian of cost & vector work space
+	struct blasfeo_dmat *A; // equality constraint matrix
+	struct blasfeo_dmat *Ct; // inequality constraints matrix
+	struct blasfeo_dvec *gz; // gradient of cost & gradient of slacks
+	struct blasfeo_dvec *b; // equality constraint vector
+	struct blasfeo_dvec *d; // inequality constraints vector
+	struct blasfeo_dvec *d_mask; // inequality constraints mask vector
+	struct blasfeo_dvec *m; // rhs of complementarity condition
+	struct blasfeo_dvec *Z; // (diagonal) hessian of slacks
+	int *idxb; // indices of box constrained variables within [u; x]
+	int *idxs_rev; // index of soft constraints (reverse storage)
+	hpipm_size_t memsize; // memory size in bytes
+	};
+
+
+
+//
+hpipm_size_t d_dense_qp_memsize(struct d_dense_qp_dim *dim);
+//
+void d_dense_qp_create(struct d_dense_qp_dim *dim, struct d_dense_qp *qp, void *memory);
+
+// setters - colmaj
+//
+void d_dense_qp_set_all(double *H, double *g, double *A, double *b, int *idxb, double *d_lb, double *d_ub, double *C, double *d_lg, double *d_ug, double *Zl, double *Zu, double *zl, double *zu, int *idxs, double *d_ls, double *d_us, struct d_dense_qp *qp);
+//
+void d_dense_qp_get_all(struct d_dense_qp *qp, double *H, double *g, double *A, double *b, int *idxb, double *d_lb, double *d_ub, double *C, double *d_lg, double *d_ug, double *Zl, double *Zu, double *zl, double *zu, int *idxs, double *d_ls, double *d_us);
+//
+void d_dense_qp_set(char *field, void *value, struct d_dense_qp *qp);
+//
+void d_dense_qp_set_H(double *H, struct d_dense_qp *qp);
+//
+void d_dense_qp_set_g(double *g, struct d_dense_qp *qp);
+//
+void d_dense_qp_set_A(double *A, struct d_dense_qp *qp);
+//
+void d_dense_qp_set_b(double *b, struct d_dense_qp *qp);
+//
+void d_dense_qp_set_idxb(int *idxb, struct d_dense_qp *qp);
+//
+void d_dense_qp_set_Jb(double *Jb, struct d_dense_qp *qp);
+//
+void d_dense_qp_set_lb(double *lb, struct d_dense_qp *qp);
+//
+void d_dense_qp_set_lb_mask(double *lb, struct d_dense_qp *qp);
+//
+void d_dense_qp_set_ub(double *ub, struct d_dense_qp *qp);
+//
+void d_dense_qp_set_ub_mask(double *ub, struct d_dense_qp *qp);
+//
+void d_dense_qp_set_C(double *C, struct d_dense_qp *qp);
+//
+void d_dense_qp_set_lg(double *lg, struct d_dense_qp *qp);
+//
+void d_dense_qp_set_lg_mask(double *lg, struct d_dense_qp *qp);
+//
+void d_dense_qp_set_ug(double *ug, struct d_dense_qp *qp);
+//
+void d_dense_qp_set_ug_mask(double *ug, struct d_dense_qp *qp);
+//
+void d_dense_qp_set_idxs(int *idxs, struct d_dense_qp *qp);
+//
+void d_dense_qp_set_idxs_rev(int *idxs_rev, struct d_dense_qp *qp);
+//
+void d_dense_qp_set_Jsb(double *Jsb, struct d_dense_qp *qp);
+//
+void d_dense_qp_set_Jsg(double *Jsg, struct d_dense_qp *qp);
+//
+void d_dense_qp_set_Zl(double *Zl, struct d_dense_qp *qp);
+//
+void d_dense_qp_set_Zu(double *Zu, struct d_dense_qp *qp);
+//
+void d_dense_qp_set_zl(double *zl, struct d_dense_qp *qp);
+//
+void d_dense_qp_set_zu(double *zu, struct d_dense_qp *qp);
+//
+void d_dense_qp_set_ls(double *ls, struct d_dense_qp *qp);
+//
+void d_dense_qp_set_ls_mask(double *ls, struct d_dense_qp *qp);
+//
+void d_dense_qp_set_us(double *us, struct d_dense_qp *qp);
+//
+void d_dense_qp_set_us_mask(double *us, struct d_dense_qp *qp);
+
+// getters - colmaj
+//
+void d_dense_qp_get_H(struct d_dense_qp *qp, double *H);
+//
+void d_dense_qp_get_g(struct d_dense_qp *qp, double *g);
+//
+void d_dense_qp_get_A(struct d_dense_qp *qp, double *A);
+//
+void d_dense_qp_get_b(struct d_dense_qp *qp, double *b);
+//
+void d_dense_qp_get_idxb(struct d_dense_qp *qp, int *idxb);
+//
+void d_dense_qp_get_lb(struct d_dense_qp *qp, double *lb);
+//
+void d_dense_qp_get_lb_mask(struct d_dense_qp *qp, double *lb);
+//
+void d_dense_qp_get_ub(struct d_dense_qp *qp, double *ub);
+//
+void d_dense_qp_get_ub_mask(struct d_dense_qp *qp, double *ub);
+//
+void d_dense_qp_get_C(struct d_dense_qp *qp, double *C);
+//
+void d_dense_qp_get_lg(struct d_dense_qp *qp, double *lg);
+//
+void d_dense_qp_get_lg_mask(struct d_dense_qp *qp, double *lg);
+//
+void d_dense_qp_get_ug(struct d_dense_qp *qp, double *ug);
+//
+void d_dense_qp_get_ug_mask(struct d_dense_qp *qp, double *ug);
+//
+void d_dense_qp_get_idxs(struct d_dense_qp *qp, int *idxs);
+//
+void d_dense_qp_get_idxs_rev(struct d_dense_qp *qp, int *idxs_rev);
+//
+void d_dense_qp_get_Zl(struct d_dense_qp *qp, double *Zl);
+//
+void d_dense_qp_get_Zu(struct d_dense_qp *qp, double *Zu);
+//
+void d_dense_qp_get_zl(struct d_dense_qp *qp, double *zl);
+//
+void d_dense_qp_get_zu(struct d_dense_qp *qp, double *zu);
+//
+void d_dense_qp_get_ls(struct d_dense_qp *qp, double *ls);
+//
+void d_dense_qp_get_ls_mask(struct d_dense_qp *qp, double *ls);
+//
+void d_dense_qp_get_us(struct d_dense_qp *qp, double *us);
+//
+void d_dense_qp_get_us_mask(struct d_dense_qp *qp, double *us);
+
+// setters - rowmaj
+//
+void d_dense_qp_set_all_rowmaj(double *H, double *g, double *A, double *b, int *idxb, double *d_lb, double *d_ub, double *C, double *d_lg, double *d_ug, double *Zl, double *Zu, double *zl, double *zu, int *idxs, double *d_ls, double *d_us, struct d_dense_qp *qp);
+
+// getters - rowmaj
+//
+void d_dense_qp_get_all_rowmaj(struct d_dense_qp *qp, double *H, double *g, double *A, double *b, int *idxb, double *d_lb, double *d_ub, double *C, double *d_lg, double *d_ug, double *Zl, double *Zu, double *zl, double *zu, int *idxs, double *d_ls, double *d_us);
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_D_DENSE_QP_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_dim.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_dim.h
new file mode 100644
index 0000000000..98a551f312
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_dim.h
@@ -0,0 +1,92 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_D_DENSE_QP_DIM_H_
+#define HPIPM_D_DENSE_QP_DIM_H_
+
+#include "hpipm_common.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct d_dense_qp_dim
+	{
+	int nv;  // number of variables
+	int ne;  // number of equality constraints
+	int nb;  // number of box constraints
+	int ng;  // number of general constraints
+	int nsb; // number of softened box constraints
+	int nsg; // number of softened general constraints
+	int ns;  // number of softened constraints (nsb+nsg)
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t d_dense_qp_dim_memsize();
+//
+void d_dense_qp_dim_create(struct d_dense_qp_dim *qp_dim, void *memory);
+//
+void d_dense_qp_dim_set_all(int nv, int ne, int nb, int ng, int nsb, int nsg, struct d_dense_qp_dim *dim);
+//
+void d_dense_qp_dim_set(char *field_name, int value, struct d_dense_qp_dim *dim);
+//
+void d_dense_qp_dim_set_nv(int value, struct d_dense_qp_dim *dim);
+//
+void d_dense_qp_dim_set_ne(int value, struct d_dense_qp_dim *dim);
+//
+void d_dense_qp_dim_set_nb(int value, struct d_dense_qp_dim *dim);
+//
+void d_dense_qp_dim_set_ng(int value, struct d_dense_qp_dim *dim);
+//
+void d_dense_qp_dim_set_nsb(int value, struct d_dense_qp_dim *dim);
+//
+void d_dense_qp_dim_set_nsg(int value, struct d_dense_qp_dim *dim);
+//
+void d_dense_qp_dim_set_ns(int value, struct d_dense_qp_dim *dim);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+
+#endif // HPIPM_D_DENSE_QP_DIM_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_ipm.h
new file mode 100644
index 0000000000..e6e5d5d9b5
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_ipm.h
@@ -0,0 +1,260 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+
+#ifndef HPIPM_D_DENSE_QP_IPM_H_
+#define HPIPM_D_DENSE_QP_IPM_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include <hpipm_common.h>
+#include <hpipm_d_dense_qp_dim.h>
+#include <hpipm_d_dense_qp.h>
+#include <hpipm_d_dense_qp_res.h>
+#include <hpipm_d_dense_qp_sol.h>
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct d_dense_qp_ipm_arg
+	{
+	double mu0; // initial value for duality measure
+	double alpha_min; // exit cond on step length
+	double res_g_max; // exit cond on inf norm of residuals
+	double res_b_max; // exit cond on inf norm of residuals
+	double res_d_max; // exit cond on inf norm of residuals
+	double res_m_max; // exit cond on inf norm of residuals
+	double reg_prim; // reg of primal hessian
+	double reg_dual; // reg of dual hessian
+	double lam_min; // min value in lam vector
+	double t_min; // min value in t vector
+	double tau_min; // min value of barrier parameter
+	int iter_max; // exit cond in iter number
+	int stat_max; // iterations saved in stat
+	int pred_corr; // Mehrotra's predictor-corrector IPM algirthm
+	int cond_pred_corr; // conditional Mehrotra's predictor-corrector
+	int scale; // scale hessian
+	int itref_pred_max; // max number of iterative refinement steps for predictor step
+	int itref_corr_max; // max number of iterative refinement steps for corrector step
+	int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
+	int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq
+	int abs_form; // absolute IPM formulation
+	int comp_res_exit; // compute residuals on exit (only for abs_form==1)
+	int comp_res_pred; // compute residuals of prediction
+	int kkt_fact_alg; // 0 null-space, 1 schur-complement
+	int remove_lin_dep_eq; // 0 do not, 1 do check and remove linearly dependent equality constraints
+	int compute_obj; // compute obj on exit
+	int split_step; // use different steps for primal and dual variables
+	int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
+	int mode;
+	hpipm_size_t memsize;
+	};
+
+
+
+struct d_dense_qp_ipm_ws
+	{
+	struct d_core_qp_ipm_workspace *core_workspace;
+	struct d_dense_qp_res_ws *res_ws;
+	struct d_dense_qp_sol *sol_step;
+	struct d_dense_qp_sol *sol_itref;
+	struct d_dense_qp *qp_step;
+	struct d_dense_qp *qp_itref;
+	struct d_dense_qp_res *res;
+	struct d_dense_qp_res *res_itref;
+	struct d_dense_qp_res *res_step;
+	struct blasfeo_dvec *Gamma; //
+	struct blasfeo_dvec *gamma; //
+	struct blasfeo_dvec *Zs_inv; //
+	struct blasfeo_dmat *Lv; //
+	struct blasfeo_dmat *AL; //
+	struct blasfeo_dmat *Le; //
+	struct blasfeo_dmat *Ctx; //
+	struct blasfeo_dvec *lv; //
+	struct blasfeo_dvec *sv; // scale for Lv
+	struct blasfeo_dvec *se; // scale for Le
+	struct blasfeo_dvec *tmp_nbg; // work space of size nb+ng
+	struct blasfeo_dvec *tmp_ns; // work space of size ns
+	struct blasfeo_dmat *lq0;
+	struct blasfeo_dmat *lq1;
+	struct blasfeo_dvec *tmp_m;
+	struct blasfeo_dmat *A_LQ;
+	struct blasfeo_dmat *A_Q;
+	struct blasfeo_dmat *Zt;
+	struct blasfeo_dmat *ZtH;
+	struct blasfeo_dmat *ZtHZ;
+	struct blasfeo_dvec *xy;
+	struct blasfeo_dvec *Yxy;
+	struct blasfeo_dvec *xz;
+	struct blasfeo_dvec *tmp_nv;
+	struct blasfeo_dvec *tmp_2ns;
+	struct blasfeo_dvec *tmp_nv2ns;
+	struct blasfeo_dmat *A_li; // A of linearly independent equality constraints
+	struct blasfeo_dvec *b_li; // b of linearly independent equality constraints
+	struct blasfeo_dmat *A_bkp; // pointer to backup A
+	struct blasfeo_dvec *b_bkp; // pointer to backup b
+	struct blasfeo_dmat *Ab_LU;
+	double *stat; // convergence statistics
+	int *ipiv_v;
+	int *ipiv_e;
+	int *ipiv_e1;
+	void *lq_work0;
+	void *lq_work1;
+	void *lq_work_null;
+	void *orglq_work_null;
+	int iter; // iteration number
+	int stat_max; // iterations saved in stat
+	int stat_m; // numer of recorded stat per ipm iter
+	int scale;
+	int use_hess_fact;
+	int use_A_fact;
+	int status;
+	int lq_fact; // cache from arg
+	int mask_constr; // use constr mask
+	int ne_li; // number of linearly independent equality constraints
+	int ne_bkp; // ne backup
+	hpipm_size_t memsize; // memory size (in bytes) of workspace
+	};
+
+
+
+//
+hpipm_size_t d_dense_qp_ipm_arg_memsize(struct d_dense_qp_dim *dim);
+//
+void d_dense_qp_ipm_arg_create(struct d_dense_qp_dim *dim, struct d_dense_qp_ipm_arg *arg, void *mem);
+//
+void d_dense_qp_ipm_arg_set_default(enum hpipm_mode mode, struct d_dense_qp_ipm_arg *arg);
+//
+void d_dense_qp_ipm_arg_set(char *field, void *value, struct d_dense_qp_ipm_arg *arg);
+//
+void d_dense_qp_ipm_arg_set_iter_max(int *iter_max, struct d_dense_qp_ipm_arg *arg);
+//
+void d_dense_qp_ipm_arg_set_alpha_min(double *alpha_min, struct d_dense_qp_ipm_arg *arg);
+//
+void d_dense_qp_ipm_arg_set_mu0(double *mu0, struct d_dense_qp_ipm_arg *arg);
+//
+void d_dense_qp_ipm_arg_set_tol_stat(double *tol_stat, struct d_dense_qp_ipm_arg *arg);
+//
+void d_dense_qp_ipm_arg_set_tol_eq(double *tol_eq, struct d_dense_qp_ipm_arg *arg);
+//
+void d_dense_qp_ipm_arg_set_tol_ineq(double *tol_ineq, struct d_dense_qp_ipm_arg *arg);
+//
+void d_dense_qp_ipm_arg_set_tol_comp(double *tol_comp, struct d_dense_qp_ipm_arg *arg);
+//
+void d_dense_qp_ipm_arg_set_reg_prim(double *reg, struct d_dense_qp_ipm_arg *arg);
+//
+void d_dense_qp_ipm_arg_set_reg_dual(double *reg, struct d_dense_qp_ipm_arg *arg);
+//
+void d_dense_qp_ipm_arg_set_warm_start(int *warm_start, struct d_dense_qp_ipm_arg *arg);
+//
+void d_dense_qp_ipm_arg_set_pred_corr(int *pred_corr, struct d_dense_qp_ipm_arg *arg);
+//
+void d_dense_qp_ipm_arg_set_cond_pred_corr(int *cond_pred_corr, struct d_dense_qp_ipm_arg *arg);
+//
+void d_dense_qp_ipm_arg_set_comp_res_pred(int *comp_res_pred, struct d_dense_qp_ipm_arg *arg);
+//
+void d_dense_qp_ipm_arg_set_comp_res_exit(int *comp_res_exit, struct d_dense_qp_ipm_arg *arg);
+//
+void d_dense_qp_ipm_arg_set_lam_min(double *value, struct d_dense_qp_ipm_arg *arg);
+//
+void d_dense_qp_ipm_arg_set_t_min(double *value, struct d_dense_qp_ipm_arg *arg);
+//
+void d_dense_qp_ipm_arg_set_tau_min(double *value, struct d_dense_qp_ipm_arg *arg);
+//
+void d_dense_qp_ipm_arg_set_kkt_fact_alg(int *value, struct d_dense_qp_ipm_arg *arg);
+//
+void d_dense_qp_ipm_arg_set_remove_lin_dep_eq(int *value, struct d_dense_qp_ipm_arg *arg);
+//
+void d_dense_qp_ipm_arg_set_compute_obj(int *value, struct d_dense_qp_ipm_arg *arg);
+//
+void d_dense_qp_ipm_arg_set_t_lam_min(int *value, struct d_dense_qp_ipm_arg *arg);
+
+//
+void d_dense_qp_ipm_arg_set_split_step(int *value, struct d_dense_qp_ipm_arg *arg);
+
+//
+hpipm_size_t d_dense_qp_ipm_ws_memsize(struct d_dense_qp_dim *qp_dim, struct d_dense_qp_ipm_arg *arg);
+//
+void d_dense_qp_ipm_ws_create(struct d_dense_qp_dim *qp_dim, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws, void *mem);
+//
+void d_dense_qp_ipm_get(char *field, struct d_dense_qp_ipm_ws *ws, void *value);
+//
+void d_dense_qp_ipm_get_status(struct d_dense_qp_ipm_ws *ws, int *status);
+//
+void d_dense_qp_ipm_get_iter(struct d_dense_qp_ipm_ws *ws, int *iter);
+//
+void d_dense_qp_ipm_get_max_res_stat(struct d_dense_qp_ipm_ws *ws, double *res_stat);
+//
+void d_dense_qp_ipm_get_max_res_eq(struct d_dense_qp_ipm_ws *ws, double *res_eq);
+//
+void d_dense_qp_ipm_get_max_res_ineq(struct d_dense_qp_ipm_ws *ws, double *res_ineq);
+//
+void d_dense_qp_ipm_get_max_res_comp(struct d_dense_qp_ipm_ws *ws, double *res_comp);
+//
+void d_dense_qp_ipm_get_stat(struct d_dense_qp_ipm_ws *ws, double **stat);
+//
+void d_dense_qp_ipm_get_stat_m(struct d_dense_qp_ipm_ws *ws, int *stat_m);
+//
+void d_dense_qp_init_var(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
+//
+void d_dense_qp_ipm_abs_step(int kk, struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
+//
+void d_dense_qp_ipm_delta_step(int kk, struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
+//
+void d_dense_qp_ipm_solve(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
+//
+void d_dense_qp_ipm_predict(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
+//
+void d_dense_qp_ipm_sens(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
+//
+void d_dense_qp_compute_step_length(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_D_DENSE_QP_IPM_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_kkt.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_kkt.h
new file mode 100644
index 0000000000..6d05779f4b
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_kkt.h
@@ -0,0 +1,72 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+
+#ifndef HPIPM_D_DENSE_QP_KKT_H_
+#define HPIPM_D_DENSE_QP_KKT_H_
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+//
+void d_fact_solve_kkt_unconstr_dense_qp(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
+//
+void d_fact_solve_kkt_step_dense_qp(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
+//
+void d_fact_lq_solve_kkt_step_dense_qp(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
+//
+void d_solve_kkt_step_dense_qp(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
+//
+void d_dense_qp_remove_lin_dep_eq(struct d_dense_qp *qp, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
+//
+void d_dense_qp_restore_lin_dep_eq(struct d_dense_qp *qp, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
+//
+void d_dense_qp_compute_obj(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_D_DENSE_QP_KKT_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_res.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_res.h
new file mode 100644
index 0000000000..7c2023257a
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_res.h
@@ -0,0 +1,105 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_D_DENSE_QP_RES_H_
+#define HPIPM_D_DENSE_QP_RES_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include <hpipm_d_dense_qp_dim.h>
+#include <hpipm_d_dense_qp.h>
+#include <hpipm_d_dense_qp_sol.h>
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct d_dense_qp_res
+	{
+	struct d_dense_qp_dim *dim;
+	struct blasfeo_dvec *res_g; // q-residuals
+	struct blasfeo_dvec *res_b; // b-residuals
+	struct blasfeo_dvec *res_d; // d-residuals
+	struct blasfeo_dvec *res_m; // m-residuals
+	double res_max[4]; // max of residuals
+	double res_mu; // mu-residual
+	hpipm_size_t memsize;
+	};
+
+
+
+struct d_dense_qp_res_ws
+	{
+	struct blasfeo_dvec *tmp_nbg; // work space of size nbM+ngM
+	struct blasfeo_dvec *tmp_ns; // work space of size nsM
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t d_dense_qp_res_memsize(struct d_dense_qp_dim *dim);
+//
+void d_dense_qp_res_create(struct d_dense_qp_dim *dim, struct d_dense_qp_res *res, void *mem);
+//
+hpipm_size_t d_dense_qp_res_ws_memsize(struct d_dense_qp_dim *dim);
+//
+void d_dense_qp_res_ws_create(struct d_dense_qp_dim *dim, struct d_dense_qp_res_ws *workspace, void *mem);
+//
+void d_dense_qp_res_compute(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_res *res, struct d_dense_qp_res_ws *ws);
+//
+void d_dense_qp_res_compute_lin(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_sol *qp_step, struct d_dense_qp_res *res, struct d_dense_qp_res_ws *ws);
+//
+void d_dense_qp_res_compute_inf_norm(struct d_dense_qp_res *res);
+//
+void d_dense_qp_res_get_all(struct d_dense_qp_res *res, double *res_g, double *res_ls, double *res_us, double *res_b, double *res_d_lb, double *res_d_ub, double *res_d_lg, double *res_d_ug, double *res_d_ls, double *res_d_us, double *res_m_lb, double *res_m_ub, double *res_m_lg, double *res_m_ug, double *res_m_ls, double *res_m_us);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+#endif // HPIPM_D_DENSE_QP_RES_H_
+
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_sol.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_sol.h
new file mode 100644
index 0000000000..aaa3fdb0e4
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_sol.h
@@ -0,0 +1,94 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+
+#ifndef HPIPM_D_DENSE_QP_SOL_H_
+#define HPIPM_D_DENSE_QP_SOL_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_d_dense_qp_dim.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct d_dense_qp_sol
+	{
+	struct d_dense_qp_dim *dim;
+	struct blasfeo_dvec *v;
+	struct blasfeo_dvec *pi;
+	struct blasfeo_dvec *lam;
+	struct blasfeo_dvec *t;
+	void *misc;
+	double obj;
+	int valid_obj;
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t d_dense_qp_sol_memsize(struct d_dense_qp_dim *dim);
+//
+void d_dense_qp_sol_create(struct d_dense_qp_dim *dim, struct d_dense_qp_sol *qp_sol, void *memory);
+//
+void d_dense_qp_sol_get_all(struct d_dense_qp_sol *qp_sol, double *v, double *ls, double *us, double *pi, double *lam_lb, double *lam_ub, double *lam_lg, double *lam_ug, double *lam_ls, double *lam_us);
+//
+void d_dense_qp_sol_get(char *field, struct d_dense_qp_sol *sol, void *value);
+//
+void d_dense_qp_sol_get_v(struct d_dense_qp_sol *sol, double *v);
+//
+void d_dense_qp_sol_get_valid_obj(struct d_dense_qp_sol *sol, int *valid_obj);
+//
+void d_dense_qp_sol_get_obj(struct d_dense_qp_sol *sol, double *obj);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_D_DENSE_QP_SOL_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_utils.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_utils.h
new file mode 100644
index 0000000000..ccb77aaca3
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_utils.h
@@ -0,0 +1,83 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_D_DENSE_QP_UTILS_H_
+#define HPIPM_D_DENSE_QP_UTILS_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_d_dense_qp_dim.h"
+#include "hpipm_d_dense_qp.h"
+#include "hpipm_d_dense_qp_sol.h"
+#include "hpipm_d_dense_qp_ipm.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+//
+void d_dense_qp_dim_print(struct d_dense_qp_dim *qp_dim);
+//
+//void d_dense_qp_dim_codegen(char *file_name, char *mode, struct d_dense_qp_dim *qp_dim);
+//
+void d_dense_qp_print(struct d_dense_qp_dim *qp_dim, struct d_dense_qp *qp);
+//
+//void d_dense_qp_codegen(char *file_name, char *mode, struct d_dense_qp_dim *qp_dim, struct d_dense_qp *qp);
+//
+void d_dense_qp_sol_print(struct d_dense_qp_dim *qp_dim, struct d_dense_qp_sol *dense_qp_sol);
+//
+//void d_dense_qp_ipm_arg_codegen(char *file_name, char *mode, struct d_dense_qp_dim *qp_dim, struct d_dense_qp_ipm_arg *arg);
+//
+void d_dense_qp_res_print(struct d_dense_qp_dim *qp_dim, struct d_dense_qp_res *dense_qp_res);
+//
+void d_dense_qp_arg_print(struct d_dense_qp_dim *qp_dim, struct d_dense_qp_ipm_arg *qp_ipm_arg);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+
+#endif // HPIPM_D_DENSE_QP_UTILS_H_
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp.h
new file mode 100644
index 0000000000..240c9b04be
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp.h
@@ -0,0 +1,303 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_D_OCP_QCQP_H_
+#define HPIPM_D_OCP_QCQP_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_d_ocp_qcqp_dim.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct d_ocp_qcqp
+	{
+	struct d_ocp_qcqp_dim *dim;
+	struct blasfeo_dmat *BAbt; // dynamics matrix & vector work space
+	struct blasfeo_dmat *RSQrq; // hessian of cost & vector work space
+	struct blasfeo_dmat *DCt; // inequality constraints matrix
+	struct blasfeo_dmat **Hq; // hessians of quadratic constraints
+	struct blasfeo_dvec *b; // dynamics vector
+	struct blasfeo_dvec *rqz; // gradient of cost & gradient of slacks
+	struct blasfeo_dvec *d; // inequality constraints vector
+	struct blasfeo_dvec *d_mask; // inequality constraints mask vector
+	struct blasfeo_dvec *m; // rhs of complementarity condition
+	struct blasfeo_dvec *Z; // (diagonal) hessian of slacks
+	int **idxb; // indices of box constrained variables within [u; x]
+	int **idxs_rev; // index of soft constraints (reverse storage)
+	int **Hq_nzero; // for each int, the last 3 bits ...abc, {a,b,c}=0 => {R,S,Q}=0
+	hpipm_size_t memsize; // memory size in bytes
+	};
+
+
+
+//
+hpipm_size_t d_ocp_qcqp_strsize();
+//
+hpipm_size_t d_ocp_qcqp_memsize(struct d_ocp_qcqp_dim *dim);
+//
+void d_ocp_qcqp_create(struct d_ocp_qcqp_dim *dim, struct d_ocp_qcqp *qp, void *memory);
+//
+void d_ocp_qcqp_copy_all(struct d_ocp_qcqp *qp_orig, struct d_ocp_qcqp *qp_dest);
+
+// setters
+//
+void d_ocp_qcqp_set_all_zero(struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_rhs_zero(struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set(char *field_name, int stage, void *value, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_el(char *field_name, int stage, int index, void *value, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_A(int stage, double *mat, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_B(int stage, double *mat, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_b(int stage, double *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_Q(int stage, double *mat, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_S(int stage, double *mat, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_R(int stage, double *mat, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_q(int stage, double *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_r(int stage, double *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_lb(int stage, double *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_lb_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_ub(int stage, double *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_ub_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_lbx(int stage, double *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_lbx_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_el_lbx(int stage, int index, double *elem, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_ubx(int stage, double *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_ubx_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_el_ubx(int stage, int index, double *elem, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_lbu(int stage, double *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_lbu_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_ubu(int stage, double *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_ubu_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_idxb(int stage, int *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_idxbx(int stage, int *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_Jbx(int stage, double *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_idxbu(int stage, int *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_Jbu(int stage, double *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_C(int stage, double *mat, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_D(int stage, double *mat, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_lg(int stage, double *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_lg_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_ug(int stage, double *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_ug_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_Qq(int stage, double *mat, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_Sq(int stage, double *mat, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_Rq(int stage, double *mat, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_qq(int stage, double *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_rq(int stage, double *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_uq(int stage, double *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_uq_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_Zl(int stage, double *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_Zu(int stage, double *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_zl(int stage, double *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_zu(int stage, double *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_lls(int stage, double *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_lls_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_lus(int stage, double *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_lus_mask(int stage, double *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_idxs(int stage, int *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_idxs_rev(int stage, int *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_Jsbu(int stage, double *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_Jsbx(int stage, double *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_Jsg(int stage, double *vec, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_set_Jsq(int stage, double *vec, struct d_ocp_qcqp *qp);
+
+// getters
+//
+void d_ocp_qcqp_get(char *field, int stage, struct d_ocp_qcqp *qp, void *value);
+//
+void d_ocp_qcqp_get_A(int stage, struct d_ocp_qcqp *qp, double *mat);
+//
+void d_ocp_qcqp_get_B(int stage, struct d_ocp_qcqp *qp, double *mat);
+//
+void d_ocp_qcqp_get_b(int stage, struct d_ocp_qcqp *qp, double *vec);
+//
+void d_ocp_qcqp_get_Q(int stage, struct d_ocp_qcqp *qp, double *mat);
+//
+void d_ocp_qcqp_get_S(int stage, struct d_ocp_qcqp *qp, double *mat);
+//
+void d_ocp_qcqp_get_R(int stage, struct d_ocp_qcqp *qp, double *mat);
+//
+void d_ocp_qcqp_get_q(int stage, struct d_ocp_qcqp *qp, double *vec);
+//
+void d_ocp_qcqp_get_r(int stage, struct d_ocp_qcqp *qp, double *vec);
+//
+void d_ocp_qcqp_get_ub(int stage, struct d_ocp_qcqp *qp, double *vec);
+//
+void d_ocp_qcqp_get_ub_mask(int stage, struct d_ocp_qcqp *qp, double *vec);
+//
+void d_ocp_qcqp_get_lb(int stage, struct d_ocp_qcqp *qp, double *vec);
+//
+void d_ocp_qcqp_get_lb_mask(int stage, struct d_ocp_qcqp *qp, double *vec);
+//
+void d_ocp_qcqp_get_lbx(int stage, struct d_ocp_qcqp *qp, double *vec);
+//
+void d_ocp_qcqp_get_lbx_mask(int stage, struct d_ocp_qcqp *qp, double *vec);
+//
+void d_ocp_qcqp_get_ubx(int stage, struct d_ocp_qcqp *qp, double *vec);
+//
+void d_ocp_qcqp_get_ubx_mask(int stage, struct d_ocp_qcqp *qp, double *vec);
+//
+void d_ocp_qcqp_get_lbu(int stage, struct d_ocp_qcqp *qp, double *vec);
+//
+void d_ocp_qcqp_get_lbu_mask(int stage, struct d_ocp_qcqp *qp, double *vec);
+//
+void d_ocp_qcqp_get_ubu(int stage, struct d_ocp_qcqp *qp, double *vec);
+//
+void d_ocp_qcqp_get_ubu_mask(int stage, struct d_ocp_qcqp *qp, double *vec);
+//
+void d_ocp_qcqp_get_idxb(int stage, struct d_ocp_qcqp *qp, int *vec);
+//
+//void d_ocp_qcqp_get_idxbx(int stage, struct d_ocp_qcqp *qp, int *vec);
+//
+//void d_ocp_qcqp_get_Jbx(int stage, struct d_ocp_qcqp *qp, double *vec);
+//
+//void d_ocp_qcqp_get_idxbu(int stage, struct d_ocp_qcqp *qp, int *vec);
+//
+//void d_ocp_qcqp_get_Jbu(int stage, struct d_ocp_qcqp *qp, double *vec);
+//
+void d_ocp_qcqp_get_C(int stage, struct d_ocp_qcqp *qp, double *mat);
+//
+void d_ocp_qcqp_get_D(int stage, struct d_ocp_qcqp *qp, double *mat);
+//
+void d_ocp_qcqp_get_lg(int stage, struct d_ocp_qcqp *qp, double *vec);
+//
+void d_ocp_qcqp_get_lg_mask(int stage, struct d_ocp_qcqp *qp, double *vec);
+//
+void d_ocp_qcqp_get_ug(int stage, struct d_ocp_qcqp *qp, double *vec);
+//
+void d_ocp_qcqp_get_ug_mask(int stage, struct d_ocp_qcqp *qp, double *vec);
+//
+void d_ocp_qcqp_get_Zl(int stage, struct d_ocp_qcqp *qp, double *vec);
+//
+void d_ocp_qcqp_get_Zu(int stage, struct d_ocp_qcqp *qp, double *vec);
+//
+void d_ocp_qcqp_get_zl(int stage, struct d_ocp_qcqp *qp, double *vec);
+//
+void d_ocp_qcqp_get_zu(int stage, struct d_ocp_qcqp *qp, double *vec);
+//
+void d_ocp_qcqp_get_lls(int stage, struct d_ocp_qcqp *qp, double *vec);
+//
+void d_ocp_qcqp_get_lls_mask(int stage, struct d_ocp_qcqp *qp, double *vec);
+//
+void d_ocp_qcqp_get_lus(int stage, struct d_ocp_qcqp *qp, double *vec);
+//
+void d_ocp_qcqp_get_lus_mask(int stage, struct d_ocp_qcqp *qp, double *vec);
+// XXX only valid if there is one slack per softed constraint !!!
+void d_ocp_qcqp_get_idxs(int stage, struct d_ocp_qcqp *qp, int *vec);
+//
+void d_ocp_qcqp_get_idxs_rev(int stage, struct d_ocp_qcqp *qp, int *vec);
+//
+//void d_ocp_qcqp_get_Jsbu(int stage, struct d_ocp_qcqp *qp, float *vec);
+//
+//void d_ocp_qcqp_get_Jsbx(int stage, struct d_ocp_qcqp *qp, float *vec);
+//
+//void d_ocp_qcqp_get_Jsg(int stage, struct d_ocp_qcqp *qp, float *vec);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+
+#endif // HPIPM_D_OCP_QCQP_H_
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_dim.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_dim.h
new file mode 100644
index 0000000000..268628a2b2
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_dim.h
@@ -0,0 +1,118 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_D_OCP_QCQP_DIM_H_
+#define HPIPM_D_OCP_QCQP_DIM_H_
+
+#include "hpipm_common.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct d_ocp_qcqp_dim
+	{
+	struct d_ocp_qp_dim *qp_dim; // dim of qp approximation
+	int *nx; // number of states
+	int *nu; // number of inputs
+	int *nb; // number of box constraints
+	int *nbx; // number of (two-sided) state box constraints
+	int *nbu; // number of (two-sided) input box constraints
+	int *ng; // number of (two-sided) general constraints
+	int *nq; // number of (upper) quadratic constraints
+	int *ns; // number of soft constraints
+	int *nsbx; // number of (two-sided) soft state box constraints
+	int *nsbu; // number of (two-sided) soft input box constraints
+	int *nsg; // number of (two-sided) soft general constraints
+	int *nsq; // number of (upper) soft quadratic constraints
+	int N; // horizon length
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t d_ocp_qcqp_dim_strsize();
+//
+hpipm_size_t d_ocp_qcqp_dim_memsize(int N);
+//
+void d_ocp_qcqp_dim_create(int N, struct d_ocp_qcqp_dim *qp_dim, void *memory);
+//
+void d_ocp_qcqp_dim_copy_all(struct d_ocp_qcqp_dim *dim_orig, struct d_ocp_qcqp_dim *dim_dest);
+//
+void d_ocp_qcqp_dim_set(char *field, int stage, int value, struct d_ocp_qcqp_dim *dim);
+//
+void d_ocp_qcqp_dim_set_nx(int stage, int value, struct d_ocp_qcqp_dim *dim);
+//
+void d_ocp_qcqp_dim_set_nu(int stage, int value, struct d_ocp_qcqp_dim *dim);
+//
+void d_ocp_qcqp_dim_set_nbx(int stage, int value, struct d_ocp_qcqp_dim *dim);
+//
+void d_ocp_qcqp_dim_set_nbu(int stage, int value, struct d_ocp_qcqp_dim *dim);
+//
+void d_ocp_qcqp_dim_set_ng(int stage, int value, struct d_ocp_qcqp_dim *dim);
+//
+void d_ocp_qcqp_dim_set_nq(int stage, int value, struct d_ocp_qcqp_dim *dim);
+//
+void d_ocp_qcqp_dim_set_ns(int stage, int value, struct d_ocp_qcqp_dim *dim);
+//
+void d_ocp_qcqp_dim_set_nsbx(int stage, int value, struct d_ocp_qcqp_dim *dim);
+//
+void d_ocp_qcqp_dim_set_nsbu(int stage, int value, struct d_ocp_qcqp_dim *dim);
+//
+void d_ocp_qcqp_dim_set_nsg(int stage, int value, struct d_ocp_qcqp_dim *dim);
+//
+void d_ocp_qcqp_dim_set_nsq(int stage, int value, struct d_ocp_qcqp_dim *dim);
+//
+void d_ocp_qcqp_dim_get(struct d_ocp_qcqp_dim *dim, char *field, int stage, int *value);
+//
+void d_ocp_qcqp_dim_get_N(struct d_ocp_qcqp_dim *dim, int *value);
+//
+void d_ocp_qcqp_dim_get_nx(struct d_ocp_qcqp_dim *dim, int stage, int *value);
+//
+void d_ocp_qcqp_dim_get_nu(struct d_ocp_qcqp_dim *dim, int stage, int *value);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+
+#endif // HPIPM_D_OCP_QCQP_DIM_H_
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_ipm.h
new file mode 100644
index 0000000000..99f2329dcc
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_ipm.h
@@ -0,0 +1,190 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_D_OCP_QCQP_IPM_H_
+#define HPIPM_D_OCP_QCQP_IPM_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include <hpipm_common.h>
+#include <hpipm_d_ocp_qcqp_dim.h>
+#include <hpipm_d_ocp_qp.h>
+#include <hpipm_d_ocp_qcqp_res.h>
+#include <hpipm_d_ocp_qcqp_sol.h>
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct d_ocp_qcqp_ipm_arg
+	{
+	struct d_ocp_qp_ipm_arg *qp_arg;
+	double mu0; // initial value for complementarity slackness
+	double alpha_min; // exit cond on step length
+	double res_g_max; // exit cond on inf norm of residuals
+	double res_b_max; // exit cond on inf norm of residuals
+	double res_d_max; // exit cond on inf norm of residuals
+	double res_m_max; // exit cond on inf norm of residuals
+	double reg_prim; // reg of primal hessian
+	double lam_min; // min value in lam vector
+	double t_min; // min value in t vector
+	int iter_max; // exit cond in iter number
+	int stat_max; // iterations saved in stat
+	int pred_corr; // use Mehrotra's predictor-corrector IPM algirthm
+	int cond_pred_corr; // conditional Mehrotra's predictor-corrector
+	int itref_pred_max; // max number of iterative refinement steps for predictor step
+	int itref_corr_max; // max number of iterative refinement steps for corrector step
+	int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
+	int square_root_alg; // 0 classical Riccati, 1 square-root Riccati
+	int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq (for square_root_alg==1)
+	int abs_form; // absolute IPM formulation
+	int comp_dual_sol_eq; // dual solution of equality constrains (only for abs_form==1)
+	int comp_res_exit; // compute residuals on exit (only for abs_form==1 and comp_dual_sol_eq==1)
+	int comp_res_pred; // compute residuals of prediction
+	int split_step; // use different step for primal and dual variables
+	int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
+	int mode;
+	hpipm_size_t memsize;
+	};
+
+
+
+struct d_ocp_qcqp_ipm_ws
+	{
+	struct d_ocp_qp_ipm_ws *qp_ws;
+	struct d_ocp_qp *qp;
+	struct d_ocp_qp_sol *qp_sol;
+	struct d_ocp_qcqp_res_ws *qcqp_res_ws;
+	struct d_ocp_qcqp_res *qcqp_res;
+	struct blasfeo_dvec *tmp_nuxM;
+	int iter; // iteration number
+	int status;
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t d_ocp_qcqp_ipm_arg_strsize();
+//
+hpipm_size_t d_ocp_qcqp_ipm_arg_memsize(struct d_ocp_qcqp_dim *ocp_dim);
+//
+void d_ocp_qcqp_ipm_arg_create(struct d_ocp_qcqp_dim *ocp_dim, struct d_ocp_qcqp_ipm_arg *arg, void *mem);
+//
+void d_ocp_qcqp_ipm_arg_set_default(enum hpipm_mode mode, struct d_ocp_qcqp_ipm_arg *arg);
+//
+void d_ocp_qcqp_ipm_arg_set(char *field, void *value, struct d_ocp_qcqp_ipm_arg *arg);
+// set maximum number of iterations
+void d_ocp_qcqp_ipm_arg_set_iter_max(int *value, struct d_ocp_qcqp_ipm_arg *arg);
+// set minimum step lenght
+void d_ocp_qcqp_ipm_arg_set_alpha_min(double *value, struct d_ocp_qcqp_ipm_arg *arg);
+// set initial value of barrier parameter
+void d_ocp_qcqp_ipm_arg_set_mu0(double *value, struct d_ocp_qcqp_ipm_arg *arg);
+// set exit tolerance on stationarity condition
+void d_ocp_qcqp_ipm_arg_set_tol_stat(double *value, struct d_ocp_qcqp_ipm_arg *arg);
+// set exit tolerance on equality constr
+void d_ocp_qcqp_ipm_arg_set_tol_eq(double *value, struct d_ocp_qcqp_ipm_arg *arg);
+// set exit tolerance on inequality constr
+void d_ocp_qcqp_ipm_arg_set_tol_ineq(double *value, struct d_ocp_qcqp_ipm_arg *arg);
+// set exit tolerance on complementarity condition
+void d_ocp_qcqp_ipm_arg_set_tol_comp(double *value, struct d_ocp_qcqp_ipm_arg *arg);
+// set regularization of primal variables
+void d_ocp_qcqp_ipm_arg_set_reg_prim(double *value, struct d_ocp_qcqp_ipm_arg *arg);
+// set warm start: 0 no warm start, 1 primal var
+void d_ocp_qcqp_ipm_arg_set_warm_start(int *value, struct d_ocp_qcqp_ipm_arg *arg);
+// Mehrotra's predictor-corrector IPM algorithm: 0 no predictor-corrector, 1 use predictor-corrector
+void d_ocp_qcqp_ipm_arg_set_pred_corr(int *value, struct d_ocp_qcqp_ipm_arg *arg);
+// conditional predictor-corrector: 0 no conditinal predictor-corrector, 1 conditional predictor-corrector
+void d_ocp_qcqp_ipm_arg_set_cond_pred_corr(int *value, struct d_ocp_qcqp_ipm_arg *arg);
+// set riccati algorithm: 0 classic, 1 square-root
+void d_ocp_qcqp_ipm_arg_set_ric_alg(int *value, struct d_ocp_qcqp_ipm_arg *arg);
+// compute residuals after solution
+void d_ocp_qcqp_ipm_arg_set_comp_res_exit(int *value, struct d_ocp_qcqp_ipm_arg *arg);
+// compute residuals of prediction
+void d_ocp_qcqp_ipm_arg_set_comp_res_pred(int *value, struct d_ocp_qcqp_ipm_arg *arg);
+// min value of lam in the solution
+void d_ocp_qcqp_ipm_arg_set_lam_min(double *value, struct d_ocp_qcqp_ipm_arg *arg);
+// min value of t in the solution
+void d_ocp_qcqp_ipm_arg_set_t_min(double *value, struct d_ocp_qcqp_ipm_arg *arg);
+// use different step for primal and dual variables
+void d_ocp_qcqp_ipm_arg_set_split_step(int *value, struct d_ocp_qcqp_ipm_arg *arg);
+// clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
+void d_ocp_qcqp_ipm_arg_set_t_lam_min(int *value, struct d_ocp_qcqp_ipm_arg *arg);
+
+//
+hpipm_size_t d_ocp_qcqp_ipm_ws_strsize();
+//
+hpipm_size_t d_ocp_qcqp_ipm_ws_memsize(struct d_ocp_qcqp_dim *ocp_dim, struct d_ocp_qcqp_ipm_arg *arg);
+//
+void d_ocp_qcqp_ipm_ws_create(struct d_ocp_qcqp_dim *ocp_dim, struct d_ocp_qcqp_ipm_arg *arg, struct d_ocp_qcqp_ipm_ws *ws, void *mem);
+//
+void d_ocp_qcqp_ipm_get(char *field, struct d_ocp_qcqp_ipm_ws *ws, void *value);
+//
+void d_ocp_qcqp_ipm_get_status(struct d_ocp_qcqp_ipm_ws *ws, int *status);
+//
+void d_ocp_qcqp_ipm_get_iter(struct d_ocp_qcqp_ipm_ws *ws, int *iter);
+//
+void d_ocp_qcqp_ipm_get_max_res_stat(struct d_ocp_qcqp_ipm_ws *ws, double *res_stat);
+//
+void d_ocp_qcqp_ipm_get_max_res_eq(struct d_ocp_qcqp_ipm_ws *ws, double *res_eq);
+//
+void d_ocp_qcqp_ipm_get_max_res_ineq(struct d_ocp_qcqp_ipm_ws *ws, double *res_ineq);
+//
+void d_ocp_qcqp_ipm_get_max_res_comp(struct d_ocp_qcqp_ipm_ws *ws, double *res_comp);
+//
+void d_ocp_qcqp_ipm_get_stat(struct d_ocp_qcqp_ipm_ws *ws, double **stat);
+//
+void d_ocp_qcqp_ipm_get_stat_m(struct d_ocp_qcqp_ipm_ws *ws, int *stat_m);
+//
+void d_ocp_qcqp_init_var(struct d_ocp_qcqp *qp, struct d_ocp_qcqp_sol *qp_sol, struct d_ocp_qcqp_ipm_arg *arg, struct d_ocp_qcqp_ipm_ws *ws);
+//
+void d_ocp_qcqp_ipm_solve(struct d_ocp_qcqp *qp, struct d_ocp_qcqp_sol *qp_sol, struct d_ocp_qcqp_ipm_arg *arg, struct d_ocp_qcqp_ipm_ws *ws);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+#endif // HPIPM_D_OCP_QCQP_IPM_H_
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_res.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_res.h
new file mode 100644
index 0000000000..077f134677
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_res.h
@@ -0,0 +1,114 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_D_OCP_QCQP_RES_H_
+#define HPIPM_D_OCP_QCQP_RES_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include <hpipm_common.h>
+#include <hpipm_d_ocp_qcqp_dim.h>
+#include <hpipm_d_ocp_qcqp.h>
+#include <hpipm_d_ocp_qcqp_sol.h>
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct d_ocp_qcqp_res
+	{
+	struct d_ocp_qcqp_dim *dim;
+	struct blasfeo_dvec *res_g; // q-residuals
+	struct blasfeo_dvec *res_b; // b-residuals
+	struct blasfeo_dvec *res_d; // d-residuals
+	struct blasfeo_dvec *res_m; // m-residuals
+	double res_max[4]; // max of residuals
+	double res_mu; // mu-residual
+	hpipm_size_t memsize;
+	};
+
+
+
+struct d_ocp_qcqp_res_ws
+	{
+	struct blasfeo_dvec *tmp_nuxM; // work space of size nuM+nxM
+	struct blasfeo_dvec *tmp_nbgqM; // work space of size nbM+ngM+nqM
+	struct blasfeo_dvec *tmp_nsM; // work space of size nsM
+	struct blasfeo_dvec *q_fun; // value for evaluation of quadr constr
+	struct blasfeo_dvec *q_adj; // value for adjoint of quadr constr
+	int use_q_fun; // reuse cached value for evaluation of quadr constr
+	int use_q_adj; // reuse cached value for adjoint of quadr constr
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t d_ocp_qcqp_res_memsize(struct d_ocp_qcqp_dim *ocp_dim);
+//
+void d_ocp_qcqp_res_create(struct d_ocp_qcqp_dim *ocp_dim, struct d_ocp_qcqp_res *res, void *mem);
+//
+hpipm_size_t d_ocp_qcqp_res_ws_memsize(struct d_ocp_qcqp_dim *ocp_dim);
+//
+void d_ocp_qcqp_res_ws_create(struct d_ocp_qcqp_dim *ocp_dim, struct d_ocp_qcqp_res_ws *workspace, void *mem);
+//
+void d_ocp_qcqp_res_compute(struct d_ocp_qcqp *qp, struct d_ocp_qcqp_sol *qp_sol, struct d_ocp_qcqp_res *res, struct d_ocp_qcqp_res_ws *ws);
+//
+void d_ocp_qcqp_res_compute_inf_norm(struct d_ocp_qcqp_res *res);
+//
+void d_ocp_qcqp_res_get_max_res_stat(struct d_ocp_qcqp_res *res, double *value);
+//
+void d_ocp_qcqp_res_get_max_res_eq(struct d_ocp_qcqp_res *res, double *value);
+//
+void d_ocp_qcqp_res_get_max_res_ineq(struct d_ocp_qcqp_res *res, double *value);
+//
+void d_ocp_qcqp_res_get_max_res_comp(struct d_ocp_qcqp_res *res, double *value);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+#endif // HPIPM_D_OCP_QCQP_RES_H_
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_sol.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_sol.h
new file mode 100644
index 0000000000..68adbfce2d
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_sol.h
@@ -0,0 +1,114 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_D_OCP_QCQP_SOL_H_
+#define HPIPM_D_OCP_QCQP_SOL_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_d_ocp_qcqp_dim.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct d_ocp_qcqp_sol
+	{
+	struct d_ocp_qcqp_dim *dim;
+	struct blasfeo_dvec *ux;
+	struct blasfeo_dvec *pi;
+	struct blasfeo_dvec *lam;
+	struct blasfeo_dvec *t;
+	hpipm_size_t memsize; // memory size in bytes
+	};
+
+
+
+//
+hpipm_size_t d_ocp_qcqp_sol_strsize();
+//
+hpipm_size_t d_ocp_qcqp_sol_memsize(struct d_ocp_qcqp_dim *dim);
+//
+void d_ocp_qcqp_sol_create(struct d_ocp_qcqp_dim *dim, struct d_ocp_qcqp_sol *qp_sol, void *memory);
+//
+void d_ocp_qcqp_sol_copy_all(struct d_ocp_qcqp_sol *qp_sol_orig, struct d_ocp_qcqp_sol *qp_sol_dest);
+//
+void d_ocp_qcqp_sol_get(char *field, int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec);
+//
+void d_ocp_qcqp_sol_get_u(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec);
+//
+void d_ocp_qcqp_sol_get_x(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec);
+//
+void d_ocp_qcqp_sol_get_sl(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec);
+//
+void d_ocp_qcqp_sol_get_su(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec);
+//
+void d_ocp_qcqp_sol_get_pi(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec);
+//
+void d_ocp_qcqp_sol_get_lam_lb(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec);
+//
+void d_ocp_qcqp_sol_get_lam_ub(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec);
+//
+void d_ocp_qcqp_sol_get_lam_lg(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec);
+//
+void d_ocp_qcqp_sol_get_lam_ug(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec);
+//
+void d_ocp_qcqp_sol_set(char *field, int stage, double *vec, struct d_ocp_qcqp_sol *qp_sol);
+//
+void d_ocp_qcqp_sol_set_u(int stage, double *vec, struct d_ocp_qcqp_sol *qp_sol);
+//
+void d_ocp_qcqp_sol_set_x(int stage, double *vec, struct d_ocp_qcqp_sol *qp_sol);
+//
+void d_ocp_qcqp_sol_set_sl(int stage, double *vec, struct d_ocp_qcqp_sol *qp_sol);
+//
+void d_ocp_qcqp_sol_set_su(int stage, double *vec, struct d_ocp_qcqp_sol *qp_sol);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+
+#endif // HPIPM_D_OCP_QCQP_SOL_H_
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_utils.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_utils.h
new file mode 100644
index 0000000000..00248f1dbe
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_utils.h
@@ -0,0 +1,81 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_D_OCP_QCQP_UTILS_H_
+#define HPIPM_D_OCP_QCQP_UTILS_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_d_ocp_qcqp_dim.h"
+#include "hpipm_d_ocp_qp.h"
+#include "hpipm_d_ocp_qcqp_sol.h"
+#include "hpipm_d_ocp_qcqp_ipm.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+//
+void d_ocp_qcqp_dim_print(struct d_ocp_qcqp_dim *qcqp_dim);
+//
+void d_ocp_qcqp_dim_codegen(char *file_name, char *mode, struct d_ocp_qcqp_dim *qcqp_dim);
+//
+void d_ocp_qcqp_print(struct d_ocp_qcqp_dim *qcqp_dim, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_codegen(char *file_name, char *mode, struct d_ocp_qcqp_dim *qcqp_dim, struct d_ocp_qcqp *qp);
+//
+void d_ocp_qcqp_sol_print(struct d_ocp_qcqp_dim *qcqp_dim, struct d_ocp_qcqp_sol *ocp_qcqp_sol);
+//
+void d_ocp_qcqp_ipm_arg_codegen(char *file_name, char *mode, struct d_ocp_qcqp_dim *qcqp_dim, struct d_ocp_qcqp_ipm_arg *arg);
+//
+void d_ocp_qcqp_res_print(struct d_ocp_qcqp_dim *qcqp_dim, struct d_ocp_qcqp_res *ocp_qcqp_res);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+
+#endif // HPIPM_D_OCP_QCQP_UTILS_H_
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp.h
new file mode 100644
index 0000000000..ca26cdba34
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp.h
@@ -0,0 +1,306 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_D_OCP_QP_H_
+#define HPIPM_D_OCP_QP_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_d_ocp_qp_dim.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct d_ocp_qp
+	{
+	struct d_ocp_qp_dim *dim;
+	struct blasfeo_dmat *BAbt; // dynamics matrix & vector work space
+	struct blasfeo_dmat *RSQrq; // hessian of cost & vector work space
+	struct blasfeo_dmat *DCt; // inequality constraints matrix
+	struct blasfeo_dvec *b; // dynamics vector
+	struct blasfeo_dvec *rqz; // gradient of cost & gradient of slacks
+	struct blasfeo_dvec *d; // inequality constraints vector
+	struct blasfeo_dvec *d_mask; // inequality constraints mask vector
+	struct blasfeo_dvec *m; // rhs of complementarity condition
+	struct blasfeo_dvec *Z; // (diagonal) hessian of slacks
+	int **idxb; // indices of box constrained variables within [u; x]
+	int **idxs_rev; // index of soft constraints (reverse storage)
+	int **idxe; // indices of constraints within [bu, bx, g] that are equalities, subset of [0, ..., nbu+nbx+ng-1]
+	int *diag_H_flag; // flag the fact that Hessian is diagonal
+	hpipm_size_t memsize; // memory size in bytes
+	};
+
+
+
+//
+hpipm_size_t d_ocp_qp_strsize();
+//
+hpipm_size_t d_ocp_qp_memsize(struct d_ocp_qp_dim *dim);
+//
+void d_ocp_qp_create(struct d_ocp_qp_dim *dim, struct d_ocp_qp *qp, void *memory);
+//
+void d_ocp_qp_copy_all(struct d_ocp_qp *qp_orig, struct d_ocp_qp *qp_dest);
+
+// setters
+//
+void d_ocp_qp_set_all_zero(struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_rhs_zero(struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_all(double **A, double **B, double **b, double **Q, double **S, double **R, double **q, double **r, int **idxbx, double **lbx, double **ubx, int **idxbu, double **lbu, double **ubu, double **C, double **D, double **lg, double **ug, double **Zl, double **Zu, double **zl, double **zu, int **idxs, double **ls, double **us, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_all_rowmaj(double **A, double **B, double **b, double **Q, double **S, double **R, double **q, double **r, int **idxbx, double **lbx, double **ubx, int **idxbu, double **lbu, double **ubu, double **C, double **D, double **lg, double **ug, double **Zl, double **Zu, double **zl, double **zu, int **idxs, double **ls, double **us, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set(char *field_name, int stage, void *value, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_el(char *field_name, int stage, int index, void *value, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_A(int stage, double *mat, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_B(int stage, double *mat, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_b(int stage, double *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_Q(int stage, double *mat, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_S(int stage, double *mat, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_R(int stage, double *mat, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_q(int stage, double *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_r(int stage, double *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_lb(int stage, double *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_lb_mask(int stage, double *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_ub(int stage, double *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_ub_mask(int stage, double *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_lbx(int stage, double *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_lbx_mask(int stage, double *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_el_lbx(int stage, int index, double *elem, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_ubx(int stage, double *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_ubx_mask(int stage, double *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_el_ubx(int stage, int index, double *elem, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_lbu(int stage, double *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_lbu_mask(int stage, double *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_ubu(int stage, double *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_ubu_mask(int stage, double *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_idxb(int stage, int *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_idxbx(int stage, int *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_Jbx(int stage, double *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_idxbu(int stage, int *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_Jbu(int stage, double *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_C(int stage, double *mat, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_D(int stage, double *mat, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_lg(int stage, double *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_lg_mask(int stage, double *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_ug(int stage, double *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_ug_mask(int stage, double *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_Zl(int stage, double *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_Zu(int stage, double *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_zl(int stage, double *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_zu(int stage, double *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_lls(int stage, double *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_lls_mask(int stage, double *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_lus(int stage, double *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_lus_mask(int stage, double *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_idxs(int stage, int *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_idxs_rev(int stage, int *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_Jsbu(int stage, double *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_Jsbx(int stage, double *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_Jsg(int stage, double *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_idxe(int stage, int *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_idxbxe(int stage, int *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_idxbue(int stage, int *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_idxge(int stage, int *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_Jbxe(int stage, double *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_Jbue(int stage, double *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_Jge(int stage, double *vec, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_set_diag_H_flag(int stage, int *value, struct d_ocp_qp *qp);
+
+// getters
+//
+void d_ocp_qp_get(char *field, int stage, struct d_ocp_qp *qp, void *value);
+//
+void d_ocp_qp_get_A(int stage, struct d_ocp_qp *qp, double *mat);
+//
+void d_ocp_qp_get_B(int stage, struct d_ocp_qp *qp, double *mat);
+//
+void d_ocp_qp_get_b(int stage, struct d_ocp_qp *qp, double *vec);
+//
+void d_ocp_qp_get_Q(int stage, struct d_ocp_qp *qp, double *mat);
+//
+void d_ocp_qp_get_S(int stage, struct d_ocp_qp *qp, double *mat);
+//
+void d_ocp_qp_get_R(int stage, struct d_ocp_qp *qp, double *mat);
+//
+void d_ocp_qp_get_q(int stage, struct d_ocp_qp *qp, double *vec);
+//
+void d_ocp_qp_get_r(int stage, struct d_ocp_qp *qp, double *vec);
+//
+void d_ocp_qp_get_ub(int stage, struct d_ocp_qp *qp, double *vec);
+//
+void d_ocp_qp_get_ub_mask(int stage, struct d_ocp_qp *qp, double *vec);
+//
+void d_ocp_qp_get_lb(int stage, struct d_ocp_qp *qp, double *vec);
+//
+void d_ocp_qp_get_lb_mask(int stage, struct d_ocp_qp *qp, double *vec);
+//
+void d_ocp_qp_get_lbx(int stage, struct d_ocp_qp *qp, double *vec);
+//
+void d_ocp_qp_get_lbx_mask(int stage, struct d_ocp_qp *qp, double *vec);
+//
+void d_ocp_qp_get_ubx(int stage, struct d_ocp_qp *qp, double *vec);
+//
+void d_ocp_qp_get_ubx_mask(int stage, struct d_ocp_qp *qp, double *vec);
+//
+void d_ocp_qp_get_lbu(int stage, struct d_ocp_qp *qp, double *vec);
+//
+void d_ocp_qp_get_lbu_mask(int stage, struct d_ocp_qp *qp, double *vec);
+//
+void d_ocp_qp_get_ubu(int stage, struct d_ocp_qp *qp, double *vec);
+//
+void d_ocp_qp_get_ubu_mask(int stage, struct d_ocp_qp *qp, double *vec);
+//
+void d_ocp_qp_get_idxb(int stage, struct d_ocp_qp *qp, int *vec);
+//
+//void d_ocp_qp_get_idxbx(int stage, struct d_ocp_qp *qp, int *vec);
+//
+//void d_ocp_qp_get_Jbx(int stage, struct d_ocp_qp *qp, double *vec);
+//
+//void d_ocp_qp_get_idxbu(int stage, struct d_ocp_qp *qp, int *vec);
+//
+//void d_ocp_qp_get_Jbu(int stage, struct d_ocp_qp *qp, double *vec);
+//
+void d_ocp_qp_get_C(int stage, struct d_ocp_qp *qp, double *mat);
+//
+void d_ocp_qp_get_D(int stage, struct d_ocp_qp *qp, double *mat);
+//
+void d_ocp_qp_get_lg(int stage, struct d_ocp_qp *qp, double *vec);
+//
+void d_ocp_qp_get_lg_mask(int stage, struct d_ocp_qp *qp, double *vec);
+//
+void d_ocp_qp_get_ug(int stage, struct d_ocp_qp *qp, double *vec);
+//
+void d_ocp_qp_get_ug_mask(int stage, struct d_ocp_qp *qp, double *vec);
+//
+void d_ocp_qp_get_Zl(int stage, struct d_ocp_qp *qp, double *vec);
+//
+void d_ocp_qp_get_Zu(int stage, struct d_ocp_qp *qp, double *vec);
+//
+void d_ocp_qp_get_zl(int stage, struct d_ocp_qp *qp, double *vec);
+//
+void d_ocp_qp_get_zu(int stage, struct d_ocp_qp *qp, double *vec);
+//
+void d_ocp_qp_get_lls(int stage, struct d_ocp_qp *qp, double *vec);
+//
+void d_ocp_qp_get_lls_mask(int stage, struct d_ocp_qp *qp, double *vec);
+//
+void d_ocp_qp_get_lus(int stage, struct d_ocp_qp *qp, double *vec);
+//
+void d_ocp_qp_get_lus_mask(int stage, struct d_ocp_qp *qp, double *vec);
+// XXX only valid if there is one slack per softed constraint !!!
+void d_ocp_qp_get_idxs(int stage, struct d_ocp_qp *qp, int *vec);
+//
+void d_ocp_qp_get_idxs_rev(int stage, struct d_ocp_qp *qp, int *vec);
+//
+//void d_ocp_qp_get_Jsbu(int stage, struct d_ocp_qp *qp, float *vec);
+//
+//void d_ocp_qp_get_Jsbx(int stage, struct d_ocp_qp *qp, float *vec);
+//
+//void d_ocp_qp_get_Jsg(int stage, struct d_ocp_qp *qp, float *vec);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+
+#endif // HPIPM_D_OCP_QP_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_dim.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_dim.h
new file mode 100644
index 0000000000..dcfb801d31
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_dim.h
@@ -0,0 +1,142 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_D_OCP_QP_DIM_H_
+#define HPIPM_D_OCP_QP_DIM_H_
+
+#include "hpipm_common.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct d_ocp_qp_dim
+	{
+	int *nx; // number of states
+	int *nu; // number of inputs
+	int *nb; // number of box constraints
+	int *nbx; // number of state box constraints
+	int *nbu; // number of input box constraints
+	int *ng; // number of general constraints
+	int *ns; // number of soft constraints
+	int *nsbx; // number of soft state box constraints
+	int *nsbu; // number of soft input box constraints
+	int *nsg; // number of soft general constraints
+	int *nbxe; // number of state box constraints which are equality
+	int *nbue; // number of input box constraints which are equality
+	int *nge; // number of general constraints which are equality
+	int N; // horizon length
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t d_ocp_qp_dim_strsize();
+//
+hpipm_size_t d_ocp_qp_dim_memsize(int N);
+//
+void d_ocp_qp_dim_create(int N, struct d_ocp_qp_dim *qp_dim, void *memory);
+//
+void d_ocp_qp_dim_copy_all(struct d_ocp_qp_dim *dim_orig, struct d_ocp_qp_dim *dim_dest);
+//
+void d_ocp_qp_dim_set_all(int *nx, int *nu, int *nbx, int *nbu, int *ng, int *nsbx, int *nsbu, int *nsg, struct d_ocp_qp_dim *dim);
+//
+void d_ocp_qp_dim_set(char *field, int stage, int value, struct d_ocp_qp_dim *dim);
+//
+void d_ocp_qp_dim_set_nx(int stage, int value, struct d_ocp_qp_dim *dim);
+//
+void d_ocp_qp_dim_set_nu(int stage, int value, struct d_ocp_qp_dim *dim);
+//
+void d_ocp_qp_dim_set_nbx(int stage, int value, struct d_ocp_qp_dim *dim);
+//
+void d_ocp_qp_dim_set_nbu(int stage, int value, struct d_ocp_qp_dim *dim);
+//
+void d_ocp_qp_dim_set_ng(int stage, int value, struct d_ocp_qp_dim *dim);
+//
+void d_ocp_qp_dim_set_ns(int stage, int value, struct d_ocp_qp_dim *dim);
+//
+void d_ocp_qp_dim_set_nsbx(int stage, int value, struct d_ocp_qp_dim *dim);
+//
+void d_ocp_qp_dim_set_nsbu(int stage, int value, struct d_ocp_qp_dim *dim);
+//
+void d_ocp_qp_dim_set_nsg(int stage, int value, struct d_ocp_qp_dim *dim);
+//
+void d_ocp_qp_dim_set_nbxe(int stage, int value, struct d_ocp_qp_dim *dim);
+//
+void d_ocp_qp_dim_set_nbue(int stage, int value, struct d_ocp_qp_dim *dim);
+//
+void d_ocp_qp_dim_set_nge(int stage, int value, struct d_ocp_qp_dim *dim);
+//
+void d_ocp_qp_dim_get(struct d_ocp_qp_dim *dim, char *field, int stage, int *value);
+//
+void d_ocp_qp_dim_get_N(struct d_ocp_qp_dim *dim, int *value);
+//
+void d_ocp_qp_dim_get_nx(struct d_ocp_qp_dim *dim, int stage, int *value);
+//
+void d_ocp_qp_dim_get_nu(struct d_ocp_qp_dim *dim, int stage, int *value);
+//
+void d_ocp_qp_dim_get_nbx(struct d_ocp_qp_dim *dim, int stage, int *value);
+//
+void d_ocp_qp_dim_get_nbu(struct d_ocp_qp_dim *dim, int stage, int *value);
+//
+void d_ocp_qp_dim_get_ng(struct d_ocp_qp_dim *dim, int stage, int *value);
+//
+void d_ocp_qp_dim_get_ns(struct d_ocp_qp_dim *dim, int stage, int *value);
+//
+void d_ocp_qp_dim_get_nsbx(struct d_ocp_qp_dim *dim, int stage, int *value);
+//
+void d_ocp_qp_dim_get_nsbu(struct d_ocp_qp_dim *dim, int stage, int *value);
+//
+void d_ocp_qp_dim_get_nsg(struct d_ocp_qp_dim *dim, int stage, int *value);
+//
+void d_ocp_qp_dim_get_nbxe(struct d_ocp_qp_dim *dim, int stage, int *value);
+//
+void d_ocp_qp_dim_get_nbue(struct d_ocp_qp_dim *dim, int stage, int *value);
+//
+void d_ocp_qp_dim_get_nge(struct d_ocp_qp_dim *dim, int stage, int *value);
+
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+
+#endif // HPIPM_D_OCP_QP_DIM_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_ipm.h
new file mode 100644
index 0000000000..d2a2833f22
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_ipm.h
@@ -0,0 +1,250 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_D_OCP_QP_IPM_H_
+#define HPIPM_D_OCP_QP_IPM_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include <hpipm_common.h>
+#include <hpipm_d_ocp_qp_dim.h>
+#include <hpipm_d_ocp_qp.h>
+#include <hpipm_d_ocp_qp_res.h>
+#include <hpipm_d_ocp_qp_sol.h>
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct d_ocp_qp_ipm_arg
+	{
+	double mu0; // initial value for complementarity slackness
+	double alpha_min; // exit cond on step length
+	double res_g_max; // exit cond on inf norm of residuals
+	double res_b_max; // exit cond on inf norm of residuals
+	double res_d_max; // exit cond on inf norm of residuals
+	double res_m_max; // exit cond on inf norm of residuals
+	double reg_prim; // reg of primal hessian
+	double lam_min; // min value in lam vector
+	double t_min; // min value in t vector
+	double tau_min; // min value of barrier parameter
+	int iter_max; // exit cond in iter number
+	int stat_max; // iterations saved in stat
+	int pred_corr; // use Mehrotra's predictor-corrector IPM algirthm
+	int cond_pred_corr; // conditional Mehrotra's predictor-corrector
+	int itref_pred_max; // max number of iterative refinement steps for predictor step
+	int itref_corr_max; // max number of iterative refinement steps for corrector step
+	int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
+	int square_root_alg; // 0 classical Riccati, 1 square-root Riccati
+	int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq (for square_root_alg==1)
+	int abs_form; // absolute IPM formulation
+	int comp_dual_sol_eq; // dual solution of equality constraints (only for abs_form==1)
+	int comp_res_exit; // compute residuals on exit (only for abs_form==1 and comp_dual_sol_eq==1)
+	int comp_res_pred; // compute residuals of prediction
+	int split_step; // use different steps for primal and dual variables
+	int var_init_scheme; // variables initialization scheme
+	int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
+	int mode;
+	hpipm_size_t memsize;
+	};
+
+
+
+struct d_ocp_qp_ipm_ws
+	{
+	double qp_res[4]; // infinity norm of residuals
+	struct d_core_qp_ipm_workspace *core_workspace;
+	struct d_ocp_qp_dim *dim; // cache dim
+	struct d_ocp_qp_res_ws *res_workspace;
+	struct d_ocp_qp_sol *sol_step;
+	struct d_ocp_qp_sol *sol_itref;
+	struct d_ocp_qp *qp_step;
+	struct d_ocp_qp *qp_itref;
+	struct d_ocp_qp_res *res_itref;
+	struct d_ocp_qp_res *res;
+	struct blasfeo_dvec *Gamma; // hessian update
+	struct blasfeo_dvec *gamma; // hessian update
+	struct blasfeo_dvec *tmp_nuxM; // work space of size nxM
+	struct blasfeo_dvec *tmp_nbgM; // work space of size nbM+ngM
+	struct blasfeo_dvec *tmp_nsM; // work space of size nsM
+	struct blasfeo_dvec *Pb; // Pb
+	struct blasfeo_dvec *Zs_inv;
+	struct blasfeo_dvec *tmp_m;
+	struct blasfeo_dvec *l; // cache linear part for _get_ric_xxx
+	struct blasfeo_dmat *L;
+	struct blasfeo_dmat *Ls;
+	struct blasfeo_dmat *P;
+	struct blasfeo_dmat *Lh;
+	struct blasfeo_dmat *AL;
+	struct blasfeo_dmat *lq0;
+	struct blasfeo_dmat *tmp_nxM_nxM;
+	double *stat; // convergence statistics
+	int *use_hess_fact;
+	void *lq_work0;
+	int iter; // iteration number
+	int stat_max; // iterations saved in stat
+	int stat_m; // number of recorded stat per IPM iter
+	int use_Pb;
+	int status; // solver status
+	int square_root_alg; // cache from arg
+	int lq_fact; // cache from arg
+	int mask_constr; // use constr mask
+	int valid_ric_vec; // meaningful riccati vectors
+	int valid_ric_p; // form of riccati p: 0 p*inv(L), 1 p
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t d_ocp_qp_ipm_arg_strsize();
+//
+hpipm_size_t d_ocp_qp_ipm_arg_memsize(struct d_ocp_qp_dim *ocp_dim);
+//
+void d_ocp_qp_ipm_arg_create(struct d_ocp_qp_dim *ocp_dim, struct d_ocp_qp_ipm_arg *arg, void *mem);
+//
+void d_ocp_qp_ipm_arg_set_default(enum hpipm_mode mode, struct d_ocp_qp_ipm_arg *arg);
+//
+void d_ocp_qp_ipm_arg_set(char *field, void *value, struct d_ocp_qp_ipm_arg *arg);
+// set maximum number of iterations
+void d_ocp_qp_ipm_arg_set_iter_max(int *iter_max, struct d_ocp_qp_ipm_arg *arg);
+// set minimum step lenght
+void d_ocp_qp_ipm_arg_set_alpha_min(double *alpha_min, struct d_ocp_qp_ipm_arg *arg);
+// set initial value of barrier parameter
+void d_ocp_qp_ipm_arg_set_mu0(double *mu0, struct d_ocp_qp_ipm_arg *arg);
+// set exit tolerance on stationarity condition
+void d_ocp_qp_ipm_arg_set_tol_stat(double *tol_stat, struct d_ocp_qp_ipm_arg *arg);
+// set exit tolerance on equality constr
+void d_ocp_qp_ipm_arg_set_tol_eq(double *tol_eq, struct d_ocp_qp_ipm_arg *arg);
+// set exit tolerance on inequality constr
+void d_ocp_qp_ipm_arg_set_tol_ineq(double *tol_ineq, struct d_ocp_qp_ipm_arg *arg);
+// set exit tolerance on complementarity condition
+void d_ocp_qp_ipm_arg_set_tol_comp(double *tol_comp, struct d_ocp_qp_ipm_arg *arg);
+// set regularization of primal variables
+void d_ocp_qp_ipm_arg_set_reg_prim(double *tol_comp, struct d_ocp_qp_ipm_arg *arg);
+// set warm start: 0 no warm start, 1 primal var
+void d_ocp_qp_ipm_arg_set_warm_start(int *warm_start, struct d_ocp_qp_ipm_arg *arg);
+// Mehrotra's predictor-corrector IPM algorithm: 0 no predictor-corrector, 1 use predictor-corrector
+void d_ocp_qp_ipm_arg_set_pred_corr(int *pred_corr, struct d_ocp_qp_ipm_arg *arg);
+// conditional predictor-corrector: 0 no conditinal predictor-corrector, 1 conditional predictor-corrector
+void d_ocp_qp_ipm_arg_set_cond_pred_corr(int *value, struct d_ocp_qp_ipm_arg *arg);
+// set riccati algorithm: 0 classic, 1 square-root
+void d_ocp_qp_ipm_arg_set_ric_alg(int *value, struct d_ocp_qp_ipm_arg *arg);
+// dual solution of equality constraints (only for abs_form==1)
+void d_ocp_qp_ipm_arg_set_comp_dual_sol_eq(int *value, struct d_ocp_qp_ipm_arg *arg);
+// compute residuals after solution
+void d_ocp_qp_ipm_arg_set_comp_res_exit(int *value, struct d_ocp_qp_ipm_arg *arg);
+// compute residuals of prediction
+void d_ocp_qp_ipm_arg_set_comp_res_pred(int *value, struct d_ocp_qp_ipm_arg *arg);
+// min value of lam in the solution
+void d_ocp_qp_ipm_arg_set_lam_min(double *value, struct d_ocp_qp_ipm_arg *arg);
+// min value of t in the solution
+void d_ocp_qp_ipm_arg_set_t_min(double *value, struct d_ocp_qp_ipm_arg *arg);
+// min value of tau in the solution
+void d_ocp_qp_ipm_arg_set_tau_min(double *value, struct d_ocp_qp_ipm_arg *arg);
+// set split step: 0 same step, 1 different step for primal and dual variables
+void d_ocp_qp_ipm_arg_set_split_step(int *value, struct d_ocp_qp_ipm_arg *arg);
+// variables initialization scheme
+void d_ocp_qp_ipm_arg_set_var_init_scheme(int *value, struct d_ocp_qp_ipm_arg *arg);
+// clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
+void d_ocp_qp_ipm_arg_set_t_lam_min(int *value, struct d_ocp_qp_ipm_arg *arg);
+
+//
+hpipm_size_t d_ocp_qp_ipm_ws_strsize();
+//
+hpipm_size_t d_ocp_qp_ipm_ws_memsize(struct d_ocp_qp_dim *ocp_dim, struct d_ocp_qp_ipm_arg *arg);
+//
+void d_ocp_qp_ipm_ws_create(struct d_ocp_qp_dim *ocp_dim, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws, void *mem);
+//
+void d_ocp_qp_ipm_get(char *field, struct d_ocp_qp_ipm_ws *ws, void *value);
+//
+void d_ocp_qp_ipm_get_status(struct d_ocp_qp_ipm_ws *ws, int *status);
+//
+void d_ocp_qp_ipm_get_iter(struct d_ocp_qp_ipm_ws *ws, int *iter);
+//
+void d_ocp_qp_ipm_get_max_res_stat(struct d_ocp_qp_ipm_ws *ws, double *res_stat);
+//
+void d_ocp_qp_ipm_get_max_res_eq(struct d_ocp_qp_ipm_ws *ws, double *res_eq);
+//
+void d_ocp_qp_ipm_get_max_res_ineq(struct d_ocp_qp_ipm_ws *ws, double *res_ineq);
+//
+void d_ocp_qp_ipm_get_max_res_comp(struct d_ocp_qp_ipm_ws *ws, double *res_comp);
+//
+void d_ocp_qp_ipm_get_stat(struct d_ocp_qp_ipm_ws *ws, double **stat);
+//
+void d_ocp_qp_ipm_get_stat_m(struct d_ocp_qp_ipm_ws *ws, int *stat_m);
+//
+void d_ocp_qp_ipm_get_ric_Lr(struct d_ocp_qp *qp, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws, int stage, double *Lr);
+//
+void d_ocp_qp_ipm_get_ric_Ls(struct d_ocp_qp *qp, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws, int stage, double *Ls);
+//
+void d_ocp_qp_ipm_get_ric_P(struct d_ocp_qp *qp, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws, int stage, double *P);
+//
+void d_ocp_qp_ipm_get_ric_lr(struct d_ocp_qp *qp, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws, int stage, double *lr);
+//
+void d_ocp_qp_ipm_get_ric_p(struct d_ocp_qp *qp, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws, int stage, double *p);
+// feedback control gain in the form u = K x + k
+void d_ocp_qp_ipm_get_ric_K(struct d_ocp_qp *qp, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws, int stage, double *K);
+// feedback control gain in the form u = K x + k
+void d_ocp_qp_ipm_get_ric_k(struct d_ocp_qp *qp, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws, int stage, double *k);
+//
+void d_ocp_qp_init_var(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws);
+//
+void d_ocp_qp_ipm_abs_step(int kk, struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws);
+//
+void d_ocp_qp_ipm_delta_step(int kk, struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws);
+//
+void d_ocp_qp_ipm_solve(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws);
+//
+void d_ocp_qp_ipm_predict(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws);
+//
+void d_ocp_qp_ipm_sens(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws);
+
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+#endif // HPIPM_D_OCP_QP_IPM_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_kkt.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_kkt.h
new file mode 100644
index 0000000000..19dcec32ca
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_kkt.h
@@ -0,0 +1,66 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_D_OCP_QP_KKT_H_
+#define HPIPM_D_OCP_QP_KKT_H_
+
+#include <hpipm_common.h>
+#include <hpipm_d_ocp_qp.h>
+#include <hpipm_d_ocp_qp_sol.h>
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+//
+void d_ocp_qp_fact_solve_kkt_unconstr(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws);
+//
+void d_ocp_qp_fact_solve_kkt_step(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws);
+//
+void d_ocp_qp_fact_lq_solve_kkt_step(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws);
+//
+void d_ocp_qp_solve_kkt_step(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+#endif // HPIPM_D_OCP_QP_KKT_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_red.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_red.h
new file mode 100644
index 0000000000..f0482b0444
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_red.h
@@ -0,0 +1,117 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_D_OCP_QP_RED_H_
+#define HPIPM_D_OCP_QP_RED_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include <hpipm_d_ocp_qp_dim.h>
+#include <hpipm_d_ocp_qp.h>
+#include <hpipm_d_ocp_qp_sol.h>
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct d_ocp_qp_reduce_eq_dof_arg
+	{
+	double lam_min;
+	double t_min;
+	int alias_unchanged; // do not keep copy unchanged stage
+	int comp_prim_sol; // primal solution (v)
+	int comp_dual_sol_eq; // dual solution equality constr (pi)
+	int comp_dual_sol_ineq; // dual solution inequality constr (lam t)
+	hpipm_size_t memsize; // memory size in bytes
+	};
+
+
+
+struct d_ocp_qp_reduce_eq_dof_ws
+	{
+	struct blasfeo_dvec *tmp_nuxM;
+	struct blasfeo_dvec *tmp_nbgM;
+	int *e_imask_ux;
+	int *e_imask_d;
+	hpipm_size_t memsize; // memory size in bytes
+	};
+
+
+
+//
+void d_ocp_qp_dim_reduce_eq_dof(struct d_ocp_qp_dim *dim, struct d_ocp_qp_dim *dim_red);
+//
+hpipm_size_t d_ocp_qp_reduce_eq_dof_arg_memsize();
+//
+void d_ocp_qp_reduce_eq_dof_arg_create(struct d_ocp_qp_reduce_eq_dof_arg *arg, void *mem);
+//
+void d_ocp_qp_reduce_eq_dof_arg_set_default(struct d_ocp_qp_reduce_eq_dof_arg *arg);
+//
+void d_ocp_qp_reduce_eq_dof_arg_set_alias_unchanged(struct d_ocp_qp_reduce_eq_dof_arg *arg, int value);
+//
+void d_ocp_qp_reduce_eq_dof_arg_set_comp_prim_sol(struct d_ocp_qp_reduce_eq_dof_arg *arg, int value);
+//
+void d_ocp_qp_reduce_eq_dof_arg_set_comp_dual_sol_eq(struct d_ocp_qp_reduce_eq_dof_arg *arg, int value);
+//
+void d_ocp_qp_reduce_eq_dof_arg_set_comp_dual_sol_ineq(struct d_ocp_qp_reduce_eq_dof_arg *arg, int value);
+//
+hpipm_size_t d_ocp_qp_reduce_eq_dof_ws_memsize(struct d_ocp_qp_dim *dim);
+//
+void d_ocp_qp_reduce_eq_dof_ws_create(struct d_ocp_qp_dim *dim, struct d_ocp_qp_reduce_eq_dof_ws *work, void *mem);
+//
+void d_ocp_qp_reduce_eq_dof(struct d_ocp_qp *qp, struct d_ocp_qp *qp_red, struct d_ocp_qp_reduce_eq_dof_arg *arg, struct d_ocp_qp_reduce_eq_dof_ws *work);
+//
+void d_ocp_qp_reduce_eq_dof_lhs(struct d_ocp_qp *qp, struct d_ocp_qp *qp_red, struct d_ocp_qp_reduce_eq_dof_arg *arg, struct d_ocp_qp_reduce_eq_dof_ws *work);
+//
+void d_ocp_qp_reduce_eq_dof_rhs(struct d_ocp_qp *qp, struct d_ocp_qp *qp_red, struct d_ocp_qp_reduce_eq_dof_arg *arg, struct d_ocp_qp_reduce_eq_dof_ws *work);
+//
+void d_ocp_qp_restore_eq_dof(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol_red, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_reduce_eq_dof_arg *arg, struct d_ocp_qp_reduce_eq_dof_ws *work);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+
+#endif // HPIPM_D_OCP_QP_RED_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_res.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_res.h
new file mode 100644
index 0000000000..061c5729cd
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_res.h
@@ -0,0 +1,112 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_D_OCP_QP_RES_H_
+#define HPIPM_D_OCP_QP_RES_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include <hpipm_common.h>
+#include <hpipm_d_ocp_qp_dim.h>
+#include <hpipm_d_ocp_qp.h>
+#include <hpipm_d_ocp_qp_sol.h>
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct d_ocp_qp_res
+	{
+	struct d_ocp_qp_dim *dim;
+	struct blasfeo_dvec *res_g; // q-residuals
+	struct blasfeo_dvec *res_b; // b-residuals
+	struct blasfeo_dvec *res_d; // d-residuals
+	struct blasfeo_dvec *res_m; // m-residuals
+	double res_max[4]; // max of residuals
+	double res_mu; // mu-residual
+	hpipm_size_t memsize;
+	};
+
+
+
+struct d_ocp_qp_res_ws
+	{
+	struct blasfeo_dvec *tmp_nbgM; // work space of size nbM+ngM
+	struct blasfeo_dvec *tmp_nsM; // work space of size nsM
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t d_ocp_qp_res_memsize(struct d_ocp_qp_dim *ocp_dim);
+//
+void d_ocp_qp_res_create(struct d_ocp_qp_dim *ocp_dim, struct d_ocp_qp_res *res, void *mem);
+//
+hpipm_size_t d_ocp_qp_res_ws_memsize(struct d_ocp_qp_dim *ocp_dim);
+//
+void d_ocp_qp_res_ws_create(struct d_ocp_qp_dim *ocp_dim, struct d_ocp_qp_res_ws *workspace, void *mem);
+//
+void d_ocp_qp_res_compute(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_res *res, struct d_ocp_qp_res_ws *ws);
+//
+void d_ocp_qp_res_compute_lin(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_sol *qp_step, struct d_ocp_qp_res *res, struct d_ocp_qp_res_ws *ws);
+//
+void d_ocp_qp_res_compute_inf_norm(struct d_ocp_qp_res *res);
+//
+void d_ocp_qp_res_get_all(struct d_ocp_qp_res *res, double **res_r, double **res_q, double **res_ls, double **res_us, double **res_b, double **res_d_lb, double **res_d_ub, double **res_d_lg, double **res_d_ug, double **res_d_ls, double **res_d_us, double **res_m_lb, double **res_m_ub, double **res_m_lg, double **res_m_ug, double **res_m_ls, double **res_m_us);
+//
+void d_ocp_qp_res_get_max_res_stat(struct d_ocp_qp_res *res, double *value);
+//
+void d_ocp_qp_res_get_max_res_eq(struct d_ocp_qp_res *res, double *value);
+//
+void d_ocp_qp_res_get_max_res_ineq(struct d_ocp_qp_res *res, double *value);
+//
+void d_ocp_qp_res_get_max_res_comp(struct d_ocp_qp_res *res, double *value);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+#endif // HPIPM_D_OCP_QP_RES_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_sol.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_sol.h
new file mode 100644
index 0000000000..eb91f3a7b1
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_sol.h
@@ -0,0 +1,128 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_D_OCP_QP_SOL_H_
+#define HPIPM_D_OCP_QP_SOL_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_d_ocp_qp_dim.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct d_ocp_qp_sol
+	{
+	struct d_ocp_qp_dim *dim;
+	struct blasfeo_dvec *ux;
+	struct blasfeo_dvec *pi;
+	struct blasfeo_dvec *lam;
+	struct blasfeo_dvec *t;
+	void *misc;
+	hpipm_size_t memsize; // memory size in bytes
+	};
+
+
+
+//
+hpipm_size_t d_ocp_qp_sol_strsize();
+//
+hpipm_size_t d_ocp_qp_sol_memsize(struct d_ocp_qp_dim *dim);
+//
+void d_ocp_qp_sol_create(struct d_ocp_qp_dim *dim, struct d_ocp_qp_sol *qp_sol, void *memory);
+//
+void d_ocp_qp_sol_copy_all(struct d_ocp_qp_sol *qp_sol_orig, struct d_ocp_qp_sol *qp_sol_dest);
+//
+void d_ocp_qp_sol_get_all(struct d_ocp_qp_sol *qp_sol, double **u, double **x, double **ls, double **us, double **pi, double **lam_lb, double **lam_ub, double **lam_lg, double **lam_ug, double **lam_ls, double **lam_us);
+//
+void d_ocp_qp_sol_get_all_rowmaj(struct d_ocp_qp_sol *qp_sol, double **u, double **x, double **ls, double **us, double **pi, double **lam_lb, double **lam_ub, double **lam_lg, double **lam_ug, double **lam_ls, double **lam_us);
+//
+void d_ocp_qp_sol_set_all(double **u, double **x, double **ls, double **us, double **pi, double **lam_lb, double **lam_ub, double **lam_lg, double **lam_ug, double **lam_ls, double **lam_us, struct d_ocp_qp_sol *qp_sol);
+//
+void d_ocp_qp_sol_get(char *field, int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
+//
+void d_ocp_qp_sol_get_u(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
+//
+void d_ocp_qp_sol_get_x(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
+//
+void d_ocp_qp_sol_get_sl(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
+//
+void d_ocp_qp_sol_get_su(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
+//
+void d_ocp_qp_sol_get_pi(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
+//
+void d_ocp_qp_sol_get_lam_lb(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
+//
+void d_ocp_qp_sol_get_lam_lbu(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
+//
+void d_ocp_qp_sol_get_lam_lbx(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
+//
+void d_ocp_qp_sol_get_lam_ub(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
+//
+void d_ocp_qp_sol_get_lam_ubu(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
+//
+void d_ocp_qp_sol_get_lam_ubx(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
+//
+void d_ocp_qp_sol_get_lam_lg(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
+//
+void d_ocp_qp_sol_get_lam_ug(int stage, struct d_ocp_qp_sol *qp_sol, double *vec);
+//
+void d_ocp_qp_sol_set(char *field, int stage, double *vec, struct d_ocp_qp_sol *qp_sol);
+//
+void d_ocp_qp_sol_set_u(int stage, double *vec, struct d_ocp_qp_sol *qp_sol);
+//
+void d_ocp_qp_sol_set_x(int stage, double *vec, struct d_ocp_qp_sol *qp_sol);
+//
+void d_ocp_qp_sol_set_sl(int stage, double *vec, struct d_ocp_qp_sol *qp_sol);
+//
+void d_ocp_qp_sol_set_su(int stage, double *vec, struct d_ocp_qp_sol *qp_sol);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+
+#endif // HPIPM_D_OCP_QP_SOL_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_utils.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_utils.h
new file mode 100644
index 0000000000..217e9d94ae
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_utils.h
@@ -0,0 +1,82 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_D_OCP_QP_UTILS_H_
+#define HPIPM_D_OCP_QP_UTILS_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_d_ocp_qp_dim.h"
+#include "hpipm_d_ocp_qp.h"
+#include "hpipm_d_ocp_qp_sol.h"
+#include "hpipm_d_ocp_qp_ipm.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+//
+void d_ocp_qp_dim_print(struct d_ocp_qp_dim *qp_dim);
+//
+void d_ocp_qp_dim_codegen(char *file_name, char *mode, struct d_ocp_qp_dim *qp_dim);
+//
+void d_ocp_qp_print(struct d_ocp_qp_dim *qp_dim, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_codegen(char *file_name, char *mode, struct d_ocp_qp_dim *qp_dim, struct d_ocp_qp *qp);
+//
+void d_ocp_qp_sol_print(struct d_ocp_qp_dim *qp_dim, struct d_ocp_qp_sol *ocp_qp_sol);
+//
+void d_ocp_qp_ipm_arg_print(struct d_ocp_qp_dim *qp_dim, struct d_ocp_qp_ipm_arg *arg);
+//
+void d_ocp_qp_ipm_arg_codegen(char *file_name, char *mode, struct d_ocp_qp_dim *qp_dim, struct d_ocp_qp_ipm_arg *arg);
+//
+void d_ocp_qp_res_print(struct d_ocp_qp_dim *qp_dim, struct d_ocp_qp_res *ocp_qp_res);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+
+#endif // HPIPM_D_OCP_QP_UTILS_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_part_cond.h b/third_party/acados/include/hpipm/include/hpipm_d_part_cond.h
new file mode 100644
index 0000000000..1c5f785035
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_part_cond.h
@@ -0,0 +1,115 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+
+#ifndef HPIPM_D_PART_COND_H_
+#define HPIPM_D_PART_COND_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_common.h"
+#include "hpipm_d_cond.h"
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct d_part_cond_qp_arg
+	{
+	struct d_cond_qp_arg *cond_arg;
+	int N2;
+	hpipm_size_t memsize;
+	};
+
+
+
+struct d_part_cond_qp_ws
+	{
+	struct d_cond_qp_ws *cond_workspace;
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t d_part_cond_qp_arg_memsize(int N2);
+//
+void d_part_cond_qp_arg_create(int N2, struct d_part_cond_qp_arg *cond_arg, void *mem);
+//
+void d_part_cond_qp_arg_set_default(struct d_part_cond_qp_arg *cond_arg);
+// set riccati-like algorithm: 0 classical, 1 squre-root
+void d_part_cond_qp_arg_set_ric_alg(int ric_alg, struct d_part_cond_qp_arg *cond_arg);
+//
+void d_part_cond_qp_arg_set_comp_prim_sol(int value, struct d_part_cond_qp_arg *cond_arg);
+//
+void d_part_cond_qp_arg_set_comp_dual_sol_eq(int value, struct d_part_cond_qp_arg *cond_arg);
+//
+void d_part_cond_qp_arg_set_comp_dual_sol_ineq(int value, struct d_part_cond_qp_arg *cond_arg);
+
+//
+void d_part_cond_qp_compute_block_size(int N, int N2, int *block_size);
+//
+void d_part_cond_qp_compute_dim(struct d_ocp_qp_dim *ocp_dim, int *block_size, struct d_ocp_qp_dim *part_dense_dim);
+//
+hpipm_size_t d_part_cond_qp_ws_memsize(struct d_ocp_qp_dim *ocp_dim, int *block_size, struct d_ocp_qp_dim *part_dense_dim, struct d_part_cond_qp_arg *cond_arg);
+//
+void d_part_cond_qp_ws_create(struct d_ocp_qp_dim *ocp_dim, int *block_size, struct d_ocp_qp_dim *part_dense_dim, struct d_part_cond_qp_arg *cond_arg, struct d_part_cond_qp_ws *cond_ws, void *mem);
+//
+void d_part_cond_qp_cond(struct d_ocp_qp *ocp_qp, struct d_ocp_qp *part_dense_qp, struct d_part_cond_qp_arg *cond_arg, struct d_part_cond_qp_ws *cond_ws);
+//
+void d_part_cond_qp_cond_lhs(struct d_ocp_qp *ocp_qp, struct d_ocp_qp *part_dense_qp, struct d_part_cond_qp_arg *cond_arg, struct d_part_cond_qp_ws *cond_ws);
+//
+void d_part_cond_qp_cond_rhs(struct d_ocp_qp *ocp_qp, struct d_ocp_qp *part_dense_qp, struct d_part_cond_qp_arg *cond_arg, struct d_part_cond_qp_ws *cond_ws);
+//
+void d_part_cond_qp_expand_sol(struct d_ocp_qp *ocp_qp, struct d_ocp_qp *part_dense_qp, struct d_ocp_qp_sol *part_dense_qp_sol, struct d_ocp_qp_sol *ocp_qp_sol, struct d_part_cond_qp_arg *cond_arg, struct d_part_cond_qp_ws *cond_ws);
+
+//
+void d_part_cond_qp_update(int *idxc, struct d_ocp_qp *ocp_qp, struct d_ocp_qp *part_dense_qp, struct d_part_cond_qp_arg *cond_arg, struct d_part_cond_qp_ws *cond_ws);
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_D_PART_COND_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_part_cond_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_d_part_cond_qcqp.h
new file mode 100644
index 0000000000..2d6624e5bb
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_part_cond_qcqp.h
@@ -0,0 +1,106 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+
+#ifndef HPIPM_D_PART_COND_QCQP_H_
+#define HPIPM_D_PART_COND_QCQP_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_d_cond_qcqp.h"
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct d_part_cond_qcqp_arg
+	{
+	struct d_cond_qcqp_arg *cond_arg;
+	int N2;
+	hpipm_size_t memsize;
+	};
+
+
+
+struct d_part_cond_qcqp_ws
+	{
+	struct d_cond_qcqp_ws *cond_ws;
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t d_part_cond_qcqp_arg_memsize(int N2);
+//
+void d_part_cond_qcqp_arg_create(int N2, struct d_part_cond_qcqp_arg *cond_arg, void *mem);
+//
+void d_part_cond_qcqp_arg_set_default(struct d_part_cond_qcqp_arg *cond_arg);
+// set riccati-like algorithm: 0 classical, 1 squre-root
+void d_part_cond_qcqp_arg_set_ric_alg(int ric_alg, struct d_part_cond_qcqp_arg *cond_arg);
+
+//
+void d_part_cond_qcqp_compute_block_size(int N, int N2, int *block_size);
+//
+void d_part_cond_qcqp_compute_dim(struct d_ocp_qcqp_dim *ocp_dim, int *block_size, struct d_ocp_qcqp_dim *part_dense_dim);
+//
+hpipm_size_t d_part_cond_qcqp_ws_memsize(struct d_ocp_qcqp_dim *ocp_dim, int *block_size, struct d_ocp_qcqp_dim *part_dense_dim, struct d_part_cond_qcqp_arg *cond_arg);
+//
+void d_part_cond_qcqp_ws_create(struct d_ocp_qcqp_dim *ocp_dim, int *block_size, struct d_ocp_qcqp_dim *part_dense_dim, struct d_part_cond_qcqp_arg *cond_arg, struct d_part_cond_qcqp_ws *cond_ws, void *mem);
+//
+void d_part_cond_qcqp_cond(struct d_ocp_qcqp *ocp_qp, struct d_ocp_qcqp *part_dense_qp, struct d_part_cond_qcqp_arg *cond_arg, struct d_part_cond_qcqp_ws *cond_ws);
+//
+void d_part_cond_qcqp_cond_lhs(struct d_ocp_qcqp *ocp_qp, struct d_ocp_qcqp *part_dense_qp, struct d_part_cond_qcqp_arg *cond_arg, struct d_part_cond_qcqp_ws *cond_ws);
+//
+void d_part_cond_qcqp_cond_rhs(struct d_ocp_qcqp *ocp_qp, struct d_ocp_qcqp *part_dense_qp, struct d_part_cond_qcqp_arg *cond_arg, struct d_part_cond_qcqp_ws *cond_ws);
+//
+void d_part_cond_qcqp_expand_sol(struct d_ocp_qcqp *ocp_qp, struct d_ocp_qcqp *part_dense_qp, struct d_ocp_qcqp_sol *part_dense_qp_sol, struct d_ocp_qcqp_sol *ocp_qp_sol, struct d_part_cond_qcqp_arg *cond_arg, struct d_part_cond_qcqp_ws *cond_ws);
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_D_PART_COND_H_
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_sim_erk.h b/third_party/acados/include/hpipm/include/hpipm_d_sim_erk.h
new file mode 100644
index 0000000000..320b66bb28
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_sim_erk.h
@@ -0,0 +1,122 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_D_SIM_ERK_H_
+#define HPIPM_D_SIM_ERK_H_
+
+#include "hpipm_common.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+struct d_sim_erk_arg
+	{
+	struct d_sim_rk_data *rk_data; // integrator data
+	double h; // step size
+	int steps; // number of steps
+//	int for_sens; // compute adjoint sensitivities
+//	int adj_sens; // compute adjoint sensitivities
+	hpipm_size_t memsize;
+	};
+
+
+
+struct d_sim_erk_ws
+	{
+	void (*ode)(int t, double *x, double *p, void *ode_args, double *xdot); // function pointer to ode
+	void (*vde_for)(int t, double *x, double *p, void *ode_args, double *xdot); // function pointer to forward vde
+	void (*vde_adj)(int t, double *adj_in, void *ode_args, double *adj_out); // function pointer to adjoint vde
+	void *ode_args; // pointer to ode args
+	struct d_sim_erk_arg *erk_arg; // erk arg
+	double *K; // internal variables
+	double *x_for; // states and forward sensitivities
+	double *x_traj; // states at all steps
+	double *l; // adjoint sensitivities
+	double *p; // parameter
+	double *x_tmp; // temporary states and forward sensitivities
+	double *adj_in;
+	double *adj_tmp;
+	int nx; // number of states
+	int np; // number of parameters
+	int nf; // number of forward sensitivities
+	int na; // number of adjoint sensitivities
+	int nf_max; // max number of forward sensitivities
+	int na_max; // max number of adjoint sensitivities
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t d_sim_erk_arg_memsize();
+//
+void d_sim_erk_arg_create(struct d_sim_erk_arg *erk_arg, void *mem);
+//
+void d_sim_erk_arg_set_all(struct d_sim_rk_data *rk_data, double h, int steps, struct d_sim_erk_arg *erk_arg);
+
+//
+hpipm_size_t d_sim_erk_ws_memsize(struct d_sim_erk_arg *erk_arg, int nx, int np, int nf_max, int na_max);
+//
+void d_sim_erk_ws_create(struct d_sim_erk_arg *erk_arg, int nx, int np, int nf_max, int na_max, struct d_sim_erk_ws *work, void *memory);
+//
+void d_sim_erk_ws_set_all(int nf, int na, double *x, double *fs, double *bs, double *p, void (*ode)(int t, double *x, double *p, void *ode_args, double *xdot), void (*vde_for)(int t, double *x, double *p, void *ode_args, double *xdot), void (*vde_adj)(int t, double *adj_in, void *ode_args, double *adj_out), void *ode_args, struct d_sim_erk_ws *work);
+// number of directions for forward sensitivities
+void d_sim_erk_ws_set_nf(int *nf, struct d_sim_erk_ws *work);
+// parameters (e.g. inputs)
+void d_sim_erk_ws_set_p(double *p, struct d_sim_erk_ws *work);
+// state
+void d_sim_erk_ws_set_x(double *x, struct d_sim_erk_ws *work);
+// forward sensitivities
+void d_sim_erk_ws_set_fs(double *fs, struct d_sim_erk_ws *work);
+// ode funtion
+void d_sim_erk_ws_set_ode(void (*ode)(int t, double *x, double *p, void *ode_args, double *xdot), struct d_sim_erk_ws *work);
+// forward vde function
+void d_sim_erk_ws_set_vde_for(void (*ode)(int t, double *x, double *p, void *ode_args, double *xdot), struct d_sim_erk_ws *work);
+// ode_args, passed straight to the ode/vde_for/vde_adj functions
+void d_sim_erk_ws_set_ode_args(void *ode_args, struct d_sim_erk_ws *work);
+// state
+void d_sim_erk_ws_get_x(struct d_sim_erk_ws *work, double *x);
+// forward sensitivities
+void d_sim_erk_ws_get_fs(struct d_sim_erk_ws *work, double *fs);
+//
+void d_sim_erk_solve(struct d_sim_erk_arg *arg, struct d_sim_erk_ws *work);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif // HPIPM_D_SIM_ERK_H_
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_sim_rk.h b/third_party/acados/include/hpipm/include/hpipm_d_sim_rk.h
new file mode 100644
index 0000000000..a50dcbb491
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_sim_rk.h
@@ -0,0 +1,71 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_D_SIM_RK_H_
+#define HPIPM_D_SIM_RK_H_
+
+#include "hpipm_common.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+struct d_sim_rk_data
+	{
+	double *A_rk; // A in butcher tableau
+	double *B_rk; // b in butcher tableau
+	double *C_rk; // c in butcher tableau
+	int expl; // erk vs irk
+	int ns; // number of stages
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t d_sim_rk_data_memsize(int ns);
+//
+void d_sim_rk_data_create(int ns, struct d_sim_rk_data *rk_data, void *memory);
+//
+void d_sim_rk_data_init_default(char *field, struct d_sim_rk_data *rk_data);
+//
+void d_sim_rk_data_set_all(int expl, double *A_rk, double *B_rk, double *C_rk, struct d_sim_rk_data *rk_data);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif // HPIPM_D_SIM_RK_H_
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp.h
new file mode 100644
index 0000000000..f36b51a064
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp.h
@@ -0,0 +1,213 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_D_TREE_OCP_QCQP_H_
+#define HPIPM_D_TREE_OCP_QCQP_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_common.h"
+#include "hpipm_d_tree_ocp_qcqp_dim.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct d_tree_ocp_qcqp
+	{
+	struct d_tree_ocp_qcqp_dim *dim;
+	struct blasfeo_dmat *BAbt; // Nn-1
+	struct blasfeo_dmat *RSQrq; // Nn
+	struct blasfeo_dmat *DCt; // Nn
+	struct blasfeo_dmat **Hq; // Nn
+	struct blasfeo_dvec *b; // Nn-1
+	struct blasfeo_dvec *rqz; // Nn
+	struct blasfeo_dvec *d; // Nn
+	struct blasfeo_dvec *d_mask; // Nn
+	struct blasfeo_dvec *m; // Nn
+	struct blasfeo_dvec *Z; // Nn
+	int **idxb; // indices of box constrained variables within [u; x] // Nn
+	int **idxs_rev; // index of soft constraints
+	hpipm_size_t memsize; // memory size in bytes
+	};
+
+
+
+//
+hpipm_size_t d_tree_ocp_qcqp_memsize(struct d_tree_ocp_qcqp_dim *dim);
+//
+void d_tree_ocp_qcqp_create(struct d_tree_ocp_qcqp_dim *dim, struct d_tree_ocp_qcqp *qp, void *memory);
+//
+void d_tree_ocp_qcqp_set_all(double **A, double **B, double **b, double **Q, double **S, double **R, double **q, double **r, int **idxb, double **d_lb, double **d_ub, double **C, double **D, double **d_lg, double **d_ug, double **Zl, double **Zu, double **zl, double **zu, int **idxs, double **d_ls, double **d_us, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set(char *field_name, int node_edge, void *value, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_A(int edge, double *mat, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_B(int edge, double *mat, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_b(int edge, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_Q(int node, double *mat, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_S(int node, double *mat, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_R(int node, double *mat, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_q(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_r(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_lb(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_lb_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_ub(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_ub_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_lbx(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_lbx_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_ubx(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_ubx_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_lbu(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_lbu_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_ubu(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_ubu_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_idxb(int node, int *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_idxbx(int node, int *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_Jbx(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_idxbu(int node, int *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_Jbu(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_C(int node, double *mat, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_D(int node, double *mat, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_lg(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_lg_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_ug(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_ug_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_Qq(int node, double *mat, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_Sq(int node, double *mat, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_Rq(int node, double *mat, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_qq(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_rq(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_uq(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_uq_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_Zl(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_Zu(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_zl(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_zu(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_lls(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_lls_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_lus(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_lus_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_idxs(int node, int *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_idxs_rev(int node, int *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_Jsbu(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_Jsbx(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_Jsg(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_set_Jsq(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+//void d_tree_ocp_qcqp_set_idxe(int node, int *vec, struct d_tree_ocp_qcqp *qp);
+//
+//void d_tree_ocp_qcqp_set_idxbxe(int node, int *vec, struct d_tree_ocp_qcqp *qp);
+//
+//void d_tree_ocp_qcqp_set_idxbue(int node, int *vec, struct d_tree_ocp_qcqp *qp);
+//
+//void d_tree_ocp_qcqp_set_idxge(int node, int *vec, struct d_tree_ocp_qcqp *qp);
+//
+//void d_tree_ocp_qcqp_set_Jbxe(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+//void d_tree_ocp_qcqp_set_Jbue(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+//void d_tree_ocp_qcqp_set_Jge(int node, double *vec, struct d_tree_ocp_qcqp *qp);
+//
+//void d_tree_ocp_qcqp_set_diag_H_flag(int node, int *value, struct d_tree_ocp_qcqp *qp);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_D_TREE_OCP_QCQP_H_
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_dim.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_dim.h
new file mode 100644
index 0000000000..257b82b252
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_dim.h
@@ -0,0 +1,117 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_D_TREE_OCP_QCQP_DIM_H_
+#define HPIPM_D_TREE_OCP_QCQP_DIM_H_
+
+#include "hpipm_common.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct d_tree_ocp_qcqp_dim
+	{
+	struct d_tree_ocp_qp_dim *qp_dim; // dim of qp approximation
+	struct tree *ttree; // tree describing node conndection
+	int *nx; // number of states // Nn
+	int *nu; // number of inputs // Nn
+	int *nb; // number of box constraints // Nn
+	int *nbx; // number of state box constraints // Nn
+	int *nbu; // number of input box constraints // Nn
+	int *ng; // number of general constraints // Nn
+	int *nq; // number of (upper) quadratic constraints
+	int *ns; // number of soft constraints // Nn
+	int *nsbx; // number of soft state box constraints
+	int *nsbu; // number of soft input box constraints
+	int *nsg; // number of soft general constraints
+	int *nsq; // number of (upper) soft quadratic constraints
+	int Nn; // number of nodes
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t d_tree_ocp_qcqp_dim_strsize();
+//
+hpipm_size_t d_tree_ocp_qcqp_dim_memsize(int Nn);
+//
+void d_tree_ocp_qcqp_dim_create(int Nn, struct d_tree_ocp_qcqp_dim *qp_dim, void *memory);
+//
+void d_tree_ocp_qcqp_dim_set_tree(struct tree *ttree, struct d_tree_ocp_qcqp_dim *dim);
+//
+void d_tree_ocp_qcqp_dim_set(char *field, int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
+//
+void d_tree_ocp_qcqp_dim_set_nx(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
+//
+void d_tree_ocp_qcqp_dim_set_nu(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
+//
+void d_tree_ocp_qcqp_dim_set_nbx(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
+//
+void d_tree_ocp_qcqp_dim_set_nbu(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
+//
+void d_tree_ocp_qcqp_dim_set_ng(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
+//
+void d_tree_ocp_qcqp_dim_set_nq(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
+//
+void d_tree_ocp_qcqp_dim_set_ns(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
+//
+void d_tree_ocp_qcqp_dim_set_nsbx(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
+//
+void d_tree_ocp_qcqp_dim_set_nsbu(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
+//
+void d_tree_ocp_qcqp_dim_set_nsg(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
+//
+void d_tree_ocp_qcqp_dim_set_nsq(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
+//
+//void d_tree_ocp_qcqp_dim_set_nbxe(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
+//
+//void d_tree_ocp_qcqp_dim_set_nbue(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
+//
+//void d_tree_ocp_qcqp_dim_set_nge(int stage, int value, struct d_tree_ocp_qcqp_dim *dim);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+
+#endif // HPIPM_D_TREE_OCP_QCQP_DIM_H_
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_ipm.h
new file mode 100644
index 0000000000..4a0fed1067
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_ipm.h
@@ -0,0 +1,191 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_D_TREE_OCP_QCQP_IPM_H_
+#define HPIPM_D_TREE_OCP_QCQP_IPM_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include <hpipm_common.h>
+#include <hpipm_d_tree_ocp_qcqp_dim.h>
+#include <hpipm_d_tree_ocp_qp.h>
+#include <hpipm_d_tree_ocp_qcqp_res.h>
+#include <hpipm_d_tree_ocp_qcqp_sol.h>
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct d_tree_ocp_qcqp_ipm_arg
+	{
+	struct d_tree_ocp_qp_ipm_arg *qp_arg;
+	double mu0; // initial value for complementarity slackness
+	double alpha_min; // exit cond on step length
+	double res_g_max; // exit cond on inf norm of residuals
+	double res_b_max; // exit cond on inf norm of residuals
+	double res_d_max; // exit cond on inf norm of residuals
+	double res_m_max; // exit cond on inf norm of residuals
+	double reg_prim; // reg of primal hessian
+	double lam_min; // min value in lam vector
+	double t_min; // min value in t vector
+	int iter_max; // exit cond in iter number
+	int stat_max; // iterations saved in stat
+	int pred_corr; // use Mehrotra's predictor-corrector IPM algirthm
+	int cond_pred_corr; // conditional Mehrotra's predictor-corrector
+	int itref_pred_max; // max number of iterative refinement steps for predictor step
+	int itref_corr_max; // max number of iterative refinement steps for corrector step
+	int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
+//	int square_root_alg; // 0 classical Riccati, 1 square-root Riccati
+	int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq (for square_root_alg==1)
+	int abs_form; // absolute IPM formulation
+	int comp_dual_sol_eq; // dual solution of equality constrains (only for abs_form==1)
+	int comp_res_exit; // compute residuals on exit (only for abs_form==1 and comp_dual_sol_eq==1)
+//	int comp_res_pred; // compute residuals of prediction
+	int split_step; // use different step for primal and dual variables
+	int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
+	int mode;
+	hpipm_size_t memsize;
+	};
+
+
+
+struct d_tree_ocp_qcqp_ipm_ws
+	{
+	struct d_tree_ocp_qp_ipm_ws *qp_ws;
+	struct d_tree_ocp_qp *qp;
+	struct d_tree_ocp_qp_sol *qp_sol;
+	struct d_tree_ocp_qcqp_res_ws *qcqp_res_ws;
+	struct d_tree_ocp_qcqp_res *qcqp_res;
+	struct blasfeo_dvec *tmp_nuxM;
+	int iter; // iteration number
+	int status;
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t d_tree_ocp_qcqp_ipm_arg_strsize();
+//
+hpipm_size_t d_tree_ocp_qcqp_ipm_arg_memsize(struct d_tree_ocp_qcqp_dim *ocp_dim);
+//
+void d_tree_ocp_qcqp_ipm_arg_create(struct d_tree_ocp_qcqp_dim *ocp_dim, struct d_tree_ocp_qcqp_ipm_arg *arg, void *mem);
+//
+void d_tree_ocp_qcqp_ipm_arg_set_default(enum hpipm_mode mode, struct d_tree_ocp_qcqp_ipm_arg *arg);
+//
+void d_tree_ocp_qcqp_ipm_arg_set(char *field, void *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
+// set maximum number of iterations
+void d_tree_ocp_qcqp_ipm_arg_set_iter_max(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
+// set minimum step lenght
+void d_tree_ocp_qcqp_ipm_arg_set_alpha_min(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
+// set initial value of barrier parameter
+void d_tree_ocp_qcqp_ipm_arg_set_mu0(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
+// set exit tolerance on stationarity condition
+void d_tree_ocp_qcqp_ipm_arg_set_tol_stat(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
+// set exit tolerance on equality constr
+void d_tree_ocp_qcqp_ipm_arg_set_tol_eq(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
+// set exit tolerance on inequality constr
+void d_tree_ocp_qcqp_ipm_arg_set_tol_ineq(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
+// set exit tolerance on complementarity condition
+void d_tree_ocp_qcqp_ipm_arg_set_tol_comp(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
+// set regularization of primal variables
+void d_tree_ocp_qcqp_ipm_arg_set_reg_prim(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
+// set warm start: 0 no warm start, 1 primal var
+void d_tree_ocp_qcqp_ipm_arg_set_warm_start(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
+// Mehrotra's predictor-corrector IPM algorithm: 0 no predictor-corrector, 1 use predictor-corrector
+void d_tree_ocp_qcqp_ipm_arg_set_pred_corr(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
+// conditional predictor-corrector: 0 no conditinal predictor-corrector, 1 conditional predictor-corrector
+void d_tree_ocp_qcqp_ipm_arg_set_cond_pred_corr(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
+// set riccati algorithm: 0 classic, 1 square-root
+//void d_tree_ocp_qcqp_ipm_arg_set_ric_alg(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
+// compute residuals after solution
+void d_tree_ocp_qcqp_ipm_arg_set_comp_res_exit(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
+// compute residuals of prediction
+//void d_tree_ocp_qcqp_ipm_arg_set_comp_res_pred(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
+// min value of lam in the solution
+void d_tree_ocp_qcqp_ipm_arg_set_lam_min(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
+// min value of t in the solution
+void d_tree_ocp_qcqp_ipm_arg_set_t_min(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
+// use different step for primal and dual variables
+void d_tree_ocp_qcqp_ipm_arg_set_split_step(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
+// clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
+void d_tree_ocp_qcqp_ipm_arg_set_t_lam_min(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg);
+
+//
+hpipm_size_t d_tree_ocp_qcqp_ipm_ws_strsize();
+//
+hpipm_size_t d_tree_ocp_qcqp_ipm_ws_memsize(struct d_tree_ocp_qcqp_dim *ocp_dim, struct d_tree_ocp_qcqp_ipm_arg *arg);
+//
+void d_tree_ocp_qcqp_ipm_ws_create(struct d_tree_ocp_qcqp_dim *ocp_dim, struct d_tree_ocp_qcqp_ipm_arg *arg, struct d_tree_ocp_qcqp_ipm_ws *ws, void *mem);
+//
+void d_tree_ocp_qcqp_ipm_get(char *field, struct d_tree_ocp_qcqp_ipm_ws *ws, void *value);
+//
+void d_tree_ocp_qcqp_ipm_get_status(struct d_tree_ocp_qcqp_ipm_ws *ws, int *status);
+//
+void d_tree_ocp_qcqp_ipm_get_iter(struct d_tree_ocp_qcqp_ipm_ws *ws, int *iter);
+//
+void d_tree_ocp_qcqp_ipm_get_max_res_stat(struct d_tree_ocp_qcqp_ipm_ws *ws, double *res_stat);
+//
+void d_tree_ocp_qcqp_ipm_get_max_res_eq(struct d_tree_ocp_qcqp_ipm_ws *ws, double *res_eq);
+//
+void d_tree_ocp_qcqp_ipm_get_max_res_ineq(struct d_tree_ocp_qcqp_ipm_ws *ws, double *res_ineq);
+//
+void d_tree_ocp_qcqp_ipm_get_max_res_comp(struct d_tree_ocp_qcqp_ipm_ws *ws, double *res_comp);
+//
+void d_tree_ocp_qcqp_ipm_get_stat(struct d_tree_ocp_qcqp_ipm_ws *ws, double **stat);
+//
+void d_tree_ocp_qcqp_ipm_get_stat_m(struct d_tree_ocp_qcqp_ipm_ws *ws, int *stat_m);
+//
+void d_tree_ocp_qcqp_init_var(struct d_tree_ocp_qcqp *qp, struct d_tree_ocp_qcqp_sol *qp_sol, struct d_tree_ocp_qcqp_ipm_arg *arg, struct d_tree_ocp_qcqp_ipm_ws *ws);
+//
+void d_tree_ocp_qcqp_ipm_solve(struct d_tree_ocp_qcqp *qp, struct d_tree_ocp_qcqp_sol *qp_sol, struct d_tree_ocp_qcqp_ipm_arg *arg, struct d_tree_ocp_qcqp_ipm_ws *ws);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+#endif // HPIPM_D_TREE_OCP_QCQP_IPM_H_
+
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_res.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_res.h
new file mode 100644
index 0000000000..69eebb1ba4
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_res.h
@@ -0,0 +1,108 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_D_TREE_OCP_QCQP_RES_H_
+#define HPIPM_D_TREE_OCP_QCQP_RES_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include <hpipm_common.h>
+#include <hpipm_d_tree_ocp_qcqp_dim.h>
+#include <hpipm_d_tree_ocp_qcqp.h>
+#include <hpipm_d_tree_ocp_qcqp_sol.h>
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct d_tree_ocp_qcqp_res
+	{
+	struct d_tree_ocp_qcqp_dim *dim;
+	struct blasfeo_dvec *res_g; // q-residuals
+	struct blasfeo_dvec *res_b; // b-residuals
+	struct blasfeo_dvec *res_d; // d-residuals
+	struct blasfeo_dvec *res_m; // m-residuals
+	double res_max[4]; // max of residuals
+	double res_mu; // mu-residual
+	hpipm_size_t memsize;
+	};
+
+
+
+struct d_tree_ocp_qcqp_res_ws
+	{
+	struct blasfeo_dvec *tmp_nuxM; // work space of size nuM+nxM
+	struct blasfeo_dvec *tmp_nbgqM; // work space of size nbM+ngM+nqM
+	struct blasfeo_dvec *tmp_nsM; // work space of size nsM
+	struct blasfeo_dvec *q_fun; // value for evaluation of quadr constr
+	struct blasfeo_dvec *q_adj; // value for adjoint of quadr constr
+	int use_q_fun; // reuse cached value for evaluation of quadr constr
+	int use_q_adj; // reuse cached value for adjoint of quadr constr
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t d_tree_ocp_qcqp_res_memsize(struct d_tree_ocp_qcqp_dim *ocp_dim);
+//
+void d_tree_ocp_qcqp_res_create(struct d_tree_ocp_qcqp_dim *ocp_dim, struct d_tree_ocp_qcqp_res *res, void *mem);
+//
+hpipm_size_t d_tree_ocp_qcqp_res_ws_memsize(struct d_tree_ocp_qcqp_dim *ocp_dim);
+//
+void d_tree_ocp_qcqp_res_ws_create(struct d_tree_ocp_qcqp_dim *ocp_dim, struct d_tree_ocp_qcqp_res_ws *ws, void *mem);
+//
+void d_tree_ocp_qcqp_res_compute(struct d_tree_ocp_qcqp *qp, struct d_tree_ocp_qcqp_sol *qp_sol, struct d_tree_ocp_qcqp_res *res, struct d_tree_ocp_qcqp_res_ws *ws);
+//
+void d_tree_ocp_qcqp_res_compute_inf_norm(struct d_tree_ocp_qcqp_res *res);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+#endif // HPIPM_D_TREE_OCP_QCQP_RES_H_
+
+
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_sol.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_sol.h
new file mode 100644
index 0000000000..cde8de5c51
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_sol.h
@@ -0,0 +1,99 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_D_TREE_OCP_QCQP_SOL_H_
+#define HPIPM_D_TREE_OCP_QCQP_SOL_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_d_tree_ocp_qcqp_dim.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+struct d_tree_ocp_qcqp_sol
+	{
+	struct d_tree_ocp_qcqp_dim *dim;
+	struct blasfeo_dvec *ux;
+	struct blasfeo_dvec *pi;
+	struct blasfeo_dvec *lam;
+	struct blasfeo_dvec *t;
+	void *misc;
+	hpipm_size_t memsize; // memory size in bytes
+	};
+
+
+
+//
+hpipm_size_t d_tree_ocp_qcqp_sol_memsize(struct d_tree_ocp_qcqp_dim *dim);
+//
+void d_tree_ocp_qcqp_sol_create(struct d_tree_ocp_qcqp_dim *dim, struct d_tree_ocp_qcqp_sol *qp_sol, void *memory);
+//
+void d_tree_ocp_qcqp_sol_get(char *field, int node_edge, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
+//
+void d_tree_ocp_qcqp_sol_get_u(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
+//
+void d_tree_ocp_qcqp_sol_get_x(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
+//
+void d_tree_ocp_qcqp_sol_get_sl(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
+//
+void d_tree_ocp_qcqp_sol_get_su(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
+//
+void d_tree_ocp_qcqp_sol_get_pi(int edge, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
+//
+void d_tree_ocp_qcqp_sol_get_lam_lb(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
+//
+void d_tree_ocp_qcqp_sol_get_lam_ub(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
+//
+void d_tree_ocp_qcqp_sol_get_lam_lg(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
+//
+void d_tree_ocp_qcqp_sol_get_lam_ug(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_D_TREE_OCP_QCQP_SOL_H_
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_utils.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_utils.h
new file mode 100644
index 0000000000..5ef04fcf66
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_utils.h
@@ -0,0 +1,84 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_D_TREE_OCP_QP_UTILS_H_
+#define HPIPM_D_TREE_OCP_QP_UTILS_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_d_tree_ocp_qcqp_dim.h"
+#include "hpipm_d_tree_ocp_qcqp.h"
+#include "hpipm_d_tree_ocp_qcqp_sol.h"
+#include "hpipm_d_tree_ocp_qcqp_ipm.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+//
+void d_tree_ocp_qcqp_dim_print(struct d_tree_ocp_qcqp_dim *qp_dim);
+//
+//void d_tree_ocp_qcqp_dim_codegen(char *file_name, char *mode, struct d_tree_ocp_qcqp_dim *qp_dim);
+//
+void d_tree_ocp_qcqp_print(struct d_tree_ocp_qcqp_dim *qp_dim, struct d_tree_ocp_qcqp *qp);
+//
+//void d_tree_ocp_qcqp_codegen(char *file_name, char *mode, struct d_tree_ocp_qcqp_dim *qp_dim, struct d_tree_ocp_qcqp *qp);
+//
+void d_tree_ocp_qcqp_sol_print(struct d_tree_ocp_qcqp_dim *qp_dim, struct d_tree_ocp_qcqp_sol *ocp_qcqp_sol);
+//
+void d_tree_ocp_qcqp_ipm_arg_print(struct d_tree_ocp_qcqp_dim *qp_dim, struct d_tree_ocp_qcqp_ipm_arg *arg);
+//
+//void d_tree_ocp_qcqp_ipm_arg_codegen(char *file_name, char *mode, struct d_tree_ocp_qcqp_dim *qp_dim, struct d_tree_ocp_qcqp_ipm_arg *arg);
+//
+void d_tree_ocp_qcqp_res_print(struct d_tree_ocp_qcqp_dim *qp_dim, struct d_tree_ocp_qcqp_res *ocp_qcqp_res);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+
+#endif // HPIPM_D_TREE_OCP_QP_UTILS_H_
+
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp.h
new file mode 100644
index 0000000000..1666ad7c71
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp.h
@@ -0,0 +1,195 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_D_TREE_OCP_QP_H_
+#define HPIPM_D_TREE_OCP_QP_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_d_tree_ocp_qp_dim.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct d_tree_ocp_qp
+	{
+	struct d_tree_ocp_qp_dim *dim;
+	struct blasfeo_dmat *BAbt; // Nn-1
+	struct blasfeo_dmat *RSQrq; // Nn
+	struct blasfeo_dmat *DCt; // Nn
+	struct blasfeo_dvec *b; // Nn-1
+	struct blasfeo_dvec *rqz; // Nn
+	struct blasfeo_dvec *d; // Nn
+	struct blasfeo_dvec *d_mask; // Nn
+	struct blasfeo_dvec *m; // Nn
+	struct blasfeo_dvec *Z; // Nn
+	int **idxb; // indices of box constrained variables within [u; x] // Nn
+//	int **idxs; // index of soft constraints
+	int **idxs_rev; // index of soft constraints
+	hpipm_size_t memsize; // memory size in bytes
+	};
+
+
+
+//
+hpipm_size_t d_tree_ocp_qp_memsize(struct d_tree_ocp_qp_dim *dim);
+//
+void d_tree_ocp_qp_create(struct d_tree_ocp_qp_dim *dim, struct d_tree_ocp_qp *qp, void *memory);
+//
+void d_tree_ocp_qp_set_all(double **A, double **B, double **b, double **Q, double **S, double **R, double **q, double **r, int **idxb, double **d_lb, double **d_ub, double **C, double **D, double **d_lg, double **d_ug, double **Zl, double **Zu, double **zl, double **zu, int **idxs, double **d_ls, double **d_us, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set(char *field_name, int node_edge, void *value, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_A(int edge, double *mat, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_B(int edge, double *mat, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_b(int edge, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_Q(int node, double *mat, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_S(int node, double *mat, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_R(int node, double *mat, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_q(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_r(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_lb(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_lb_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_ub(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_ub_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_lbx(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_lbx_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_ubx(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_ubx_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_lbu(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_lbu_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_ubu(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_ubu_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_idxb(int node, int *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_idxbx(int node, int *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_Jbx(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_idxbu(int node, int *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_Jbu(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_C(int node, double *mat, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_D(int node, double *mat, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_lg(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_lg_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_ug(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_ug_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_Zl(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_Zu(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_zl(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_zu(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_lls(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_lls_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_lus(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_lus_mask(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_idxs(int node, int *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_idxs_rev(int node, int *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_Jsbu(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_Jsbx(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_set_Jsg(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+//void d_tree_ocp_qp_set_idxe(int node, int *vec, struct d_tree_ocp_qp *qp);
+//
+//void d_tree_ocp_qp_set_idxbxe(int node, int *vec, struct d_tree_ocp_qp *qp);
+//
+//void d_tree_ocp_qp_set_idxbue(int node, int *vec, struct d_tree_ocp_qp *qp);
+//
+//void d_tree_ocp_qp_set_idxge(int node, int *vec, struct d_tree_ocp_qp *qp);
+//
+//void d_tree_ocp_qp_set_Jbxe(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+//void d_tree_ocp_qp_set_Jbue(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+//void d_tree_ocp_qp_set_Jge(int node, double *vec, struct d_tree_ocp_qp *qp);
+//
+//void d_tree_ocp_qp_set_diag_H_flag(int node, int *value, struct d_tree_ocp_qp *qp);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_D_TREE_OCP_QP_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_dim.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_dim.h
new file mode 100644
index 0000000000..659b664594
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_dim.h
@@ -0,0 +1,111 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_D_TREE_OCP_QP_DIM_H_
+#define HPIPM_D_TREE_OCP_QP_DIM_H_
+
+#include "hpipm_common.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct d_tree_ocp_qp_dim
+	{
+	struct tree *ttree; // tree describing node conndection
+	int *nx; // number of states // Nn
+	int *nu; // number of inputs // Nn
+	int *nb; // number of box constraints // Nn
+	int *nbx; // number of state box constraints // Nn
+	int *nbu; // number of input box constraints // Nn
+	int *ng; // number of general constraints // Nn
+	int *ns; // number of soft constraints // Nn
+	int *nsbx; // number of soft state box constraints
+	int *nsbu; // number of soft input box constraints
+	int *nsg; // number of soft general constraints
+	int Nn; // number of nodes
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t d_tree_ocp_qp_dim_strsize();
+//
+hpipm_size_t d_tree_ocp_qp_dim_memsize(int Nn);
+//
+void d_tree_ocp_qp_dim_create(int Nn, struct d_tree_ocp_qp_dim *qp_dim, void *memory);
+//
+void d_tree_ocp_qp_dim_set_all(struct tree *ttree, int *nx, int *nu, int *nbx, int *nbu, int *ng, int *nsbx, int *nsbu, int *nsg, struct d_tree_ocp_qp_dim *dim);
+//
+void d_tree_ocp_qp_dim_set_tree(struct tree *ttree, struct d_tree_ocp_qp_dim *dim);
+//
+void d_tree_ocp_qp_dim_set(char *field, int stage, int value, struct d_tree_ocp_qp_dim *dim);
+//
+void d_tree_ocp_qp_dim_set_nx(int stage, int value, struct d_tree_ocp_qp_dim *dim);
+//
+void d_tree_ocp_qp_dim_set_nu(int stage, int value, struct d_tree_ocp_qp_dim *dim);
+//
+void d_tree_ocp_qp_dim_set_nbx(int stage, int value, struct d_tree_ocp_qp_dim *dim);
+//
+void d_tree_ocp_qp_dim_set_nbu(int stage, int value, struct d_tree_ocp_qp_dim *dim);
+//
+void d_tree_ocp_qp_dim_set_ng(int stage, int value, struct d_tree_ocp_qp_dim *dim);
+//
+void d_tree_ocp_qp_dim_set_ns(int stage, int value, struct d_tree_ocp_qp_dim *dim);
+//
+void d_tree_ocp_qp_dim_set_nsbx(int stage, int value, struct d_tree_ocp_qp_dim *dim);
+//
+void d_tree_ocp_qp_dim_set_nsbu(int stage, int value, struct d_tree_ocp_qp_dim *dim);
+//
+void d_tree_ocp_qp_dim_set_nsg(int stage, int value, struct d_tree_ocp_qp_dim *dim);
+//
+void d_tree_ocp_qp_dim_set_nbxe(int stage, int value, struct d_tree_ocp_qp_dim *dim);
+//
+void d_tree_ocp_qp_dim_set_nbue(int stage, int value, struct d_tree_ocp_qp_dim *dim);
+//
+void d_tree_ocp_qp_dim_set_nge(int stage, int value, struct d_tree_ocp_qp_dim *dim);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+
+#endif // HPIPM_D_TREE_OCP_QP_DIM_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_ipm.h
new file mode 100644
index 0000000000..fb634208ce
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_ipm.h
@@ -0,0 +1,209 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+
+#ifndef HPIPM_D_TREE_OCP_QP_IPM_H_
+#define HPIPM_D_TREE_OCP_QP_IPM_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include <hpipm_common.h>
+#include <hpipm_d_tree_ocp_qp_dim.h>
+#include <hpipm_d_tree_ocp_qp.h>
+#include <hpipm_d_tree_ocp_qp_res.h>
+#include <hpipm_d_tree_ocp_qp_sol.h>
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct d_tree_ocp_qp_ipm_arg
+	{
+	double mu0; // initial value for duality measure
+	double alpha_min; // exit cond on step length
+	double res_g_max; // exit cond on inf norm of residuals
+	double res_b_max; // exit cond on inf norm of residuals
+	double res_d_max; // exit cond on inf norm of residuals
+	double res_m_max; // exit cond on inf norm of residuals
+	double reg_prim; // reg of primal hessian
+	double lam_min; // min value in lam vector
+	double t_min; // min value in t vector
+	double tau_min; // min value of barrier parameter
+	int iter_max; // exit cond in iter number
+	int stat_max; // iterations saved in stat
+	int pred_corr; // use Mehrotra's predictor-corrector IPM algirthm
+	int cond_pred_corr; // conditional Mehrotra's predictor-corrector
+	int itref_pred_max; // max number of iterative refinement steps for predictor step
+	int itref_corr_max; // max number of iterative refinement steps for corrector step
+	int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
+	int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq
+	int abs_form; // absolute IPM formulation
+	int comp_dual_sol_eq; // dual solution (only for abs_form==1)
+	int comp_res_exit; // compute residuals on exit (only for abs_form==1 and comp_dual_sol==1)
+	int split_step; // use different steps for primal and dual variables
+	int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
+	int mode;
+	hpipm_size_t memsize;
+	};
+
+
+
+struct d_tree_ocp_qp_ipm_ws
+	{
+	struct d_core_qp_ipm_workspace *core_workspace;
+	struct d_tree_ocp_qp_res_ws *res_workspace;
+	struct d_tree_ocp_qp_sol *sol_step;
+	struct d_tree_ocp_qp_sol *sol_itref;
+	struct d_tree_ocp_qp *qp_step;
+	struct d_tree_ocp_qp *qp_itref;
+	struct d_tree_ocp_qp_res *res_itref;
+	struct d_tree_ocp_qp_res *res;
+	struct blasfeo_dvec *Gamma; // hessian update
+	struct blasfeo_dvec *gamma; // hessian update
+	struct blasfeo_dvec *tmp_nxM; // work space of size nxM
+	struct blasfeo_dvec *tmp_nbgM; // work space of size nbgM
+	struct blasfeo_dvec *tmp_nsM; // work space of size nsM
+	struct blasfeo_dvec *Pb; // Pb
+	struct blasfeo_dvec *Zs_inv;
+	struct blasfeo_dmat *L;
+	struct blasfeo_dmat *Lh;
+	struct blasfeo_dmat *AL;
+	struct blasfeo_dmat *lq0;
+	struct blasfeo_dvec *tmp_m;
+	double *stat; // convergence statistics
+	int *use_hess_fact;
+	void *lq_work0;
+	double qp_res[4]; // infinity norm of residuals
+	int iter; // iteration number
+	int stat_max; // iterations saved in stat
+	int stat_m; // number of recorded stat per IPM iter
+	int use_Pb;
+	int status; // solver status
+	int lq_fact; // cache from arg
+	int mask_constr; // use constr mask
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t d_tree_ocp_qp_ipm_arg_memsize(struct d_tree_ocp_qp_dim *dim);
+//
+void d_tree_ocp_qp_ipm_arg_create(struct d_tree_ocp_qp_dim *dim, struct d_tree_ocp_qp_ipm_arg *arg, void *mem);
+//
+void d_tree_ocp_qp_ipm_arg_set_default(enum hpipm_mode mode, struct d_tree_ocp_qp_ipm_arg *arg);
+//
+void d_tree_ocp_qp_ipm_arg_set_iter_max(int *iter_max, struct d_tree_ocp_qp_ipm_arg *arg);
+//
+void d_tree_ocp_qp_ipm_arg_set_alpha_min(double *alpha_min, struct d_tree_ocp_qp_ipm_arg *arg);
+//
+void d_tree_ocp_qp_ipm_arg_set_mu0(double *mu0, struct d_tree_ocp_qp_ipm_arg *arg);
+//
+void d_tree_ocp_qp_ipm_arg_set_tol_stat(double *tol_stat, struct d_tree_ocp_qp_ipm_arg *arg);
+//
+void d_tree_ocp_qp_ipm_arg_set_tol_eq(double *tol_eq, struct d_tree_ocp_qp_ipm_arg *arg);
+//
+void d_tree_ocp_qp_ipm_arg_set_tol_ineq(double *tol_ineq, struct d_tree_ocp_qp_ipm_arg *arg);
+//
+void d_tree_ocp_qp_ipm_arg_set_tol_comp(double *tol_comp, struct d_tree_ocp_qp_ipm_arg *arg);
+//
+void d_tree_ocp_qp_ipm_arg_set_reg_prim(double *reg, struct d_tree_ocp_qp_ipm_arg *arg);
+//
+void d_tree_ocp_qp_ipm_arg_set_warm_start(int *warm_start, struct d_tree_ocp_qp_ipm_arg *arg);
+//
+void d_tree_ocp_qp_ipm_arg_set_pred_corr(int *pred_corr, struct d_tree_ocp_qp_ipm_arg *arg);
+//
+void d_tree_ocp_qp_ipm_arg_set_cond_pred_corr(int *value, struct d_tree_ocp_qp_ipm_arg *arg);
+//
+void d_tree_ocp_qp_ipm_arg_set_comp_dual_sol_eq(int *value, struct d_tree_ocp_qp_ipm_arg *arg);
+//
+void d_tree_ocp_qp_ipm_arg_set_comp_res_exit(int *value, struct d_tree_ocp_qp_ipm_arg *arg);
+//
+void d_tree_ocp_qp_ipm_arg_set_lam_min(double *value, struct d_tree_ocp_qp_ipm_arg *arg);
+//
+void d_tree_ocp_qp_ipm_arg_set_t_min(double *value, struct d_tree_ocp_qp_ipm_arg *arg);
+//
+void d_tree_ocp_qp_ipm_arg_set_tau_min(double *value, struct d_tree_ocp_qp_ipm_arg *arg);
+//
+void d_tree_ocp_qp_ipm_arg_set_split_step(int *value, struct d_tree_ocp_qp_ipm_arg *arg);
+//
+void d_tree_ocp_qp_ipm_arg_set_t_lam_min(int *value, struct d_tree_ocp_qp_ipm_arg *arg);
+
+//
+hpipm_size_t d_tree_ocp_qp_ipm_ws_memsize(struct d_tree_ocp_qp_dim *dim, struct d_tree_ocp_qp_ipm_arg *arg);
+//
+void d_tree_ocp_qp_ipm_ws_create(struct d_tree_ocp_qp_dim *dim, struct d_tree_ocp_qp_ipm_arg *arg, struct d_tree_ocp_qp_ipm_ws *ws, void *mem);
+//
+void d_tree_ocp_qp_ipm_get_status(struct d_tree_ocp_qp_ipm_ws *ws, int *status);
+//
+void d_tree_ocp_qp_ipm_get_iter(struct d_tree_ocp_qp_ipm_ws *ws, int *iter);
+//
+void d_tree_ocp_qp_ipm_get_max_res_stat(struct d_tree_ocp_qp_ipm_ws *ws, double *res_stat);
+//
+void d_tree_ocp_qp_ipm_get_max_res_eq(struct d_tree_ocp_qp_ipm_ws *ws, double *res_eq);
+//
+void d_tree_ocp_qp_ipm_get_max_res_ineq(struct d_tree_ocp_qp_ipm_ws *ws, double *res_ineq);
+//
+void d_tree_ocp_qp_ipm_get_max_res_comp(struct d_tree_ocp_qp_ipm_ws *ws, double *res_comp);
+//
+void d_tree_ocp_qp_ipm_get_stat(struct d_tree_ocp_qp_ipm_ws *ws, double **stat);
+//
+void d_tree_ocp_qp_ipm_get_stat_m(struct d_tree_ocp_qp_ipm_ws *ws, int *stat_m);
+//
+void d_tree_ocp_qp_init_var(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_ipm_arg *arg, struct d_tree_ocp_qp_ipm_ws *ws);
+//
+void d_tree_ocp_qp_ipm_abs_step(int kk, struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_ipm_arg *arg, struct d_tree_ocp_qp_ipm_ws *ws);
+//
+void d_tree_ocp_qp_ipm_delta_step(int kk, struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_ipm_arg *arg, struct d_tree_ocp_qp_ipm_ws *ws);
+//
+void d_tree_ocp_qp_ipm_solve(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_ipm_arg *arg, struct d_tree_ocp_qp_ipm_ws *ws);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_D_TREE_OCP_QP_IPM_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_kkt.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_kkt.h
new file mode 100644
index 0000000000..4afd52fe4b
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_kkt.h
@@ -0,0 +1,52 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+//
+void d_tree_ocp_qp_fact_solve_kkt_unconstr(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_ipm_arg *arg, struct d_tree_ocp_qp_ipm_ws *ws);
+//
+void d_tree_ocp_qp_fact_solve_kkt_step(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_ipm_arg *arg, struct d_tree_ocp_qp_ipm_ws *ws);
+//
+void d_tree_ocp_qp_fact_lq_solve_kkt_step(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_ipm_arg *arg, struct d_tree_ocp_qp_ipm_ws *ws);
+//
+void d_tree_ocp_qp_solve_kkt_step(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_ipm_arg *arg, struct d_tree_ocp_qp_ipm_ws *ws);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_res.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_res.h
new file mode 100644
index 0000000000..fe499080ea
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_res.h
@@ -0,0 +1,106 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_D_TREE_OCP_QP_RES_H_
+#define HPIPM_D_TREE_OCP_QP_RES_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include <hpipm_common.h>
+#include <hpipm_d_tree_ocp_qp_dim.h>
+#include <hpipm_d_tree_ocp_qp.h>
+#include <hpipm_d_tree_ocp_qp_sol.h>
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct d_tree_ocp_qp_res
+	{
+	struct d_tree_ocp_qp_dim *dim;
+	struct blasfeo_dvec *res_g; // q-residuals
+	struct blasfeo_dvec *res_b; // b-residuals
+	struct blasfeo_dvec *res_d; // d-residuals
+	struct blasfeo_dvec *res_m; // m-residuals
+	double res_max[4]; // max of residuals
+	double res_mu; // mu-residual
+	hpipm_size_t memsize;
+	};
+
+
+
+struct d_tree_ocp_qp_res_ws
+	{
+	struct blasfeo_dvec *tmp_nbgM; // work space of size nbM+ngM
+	struct blasfeo_dvec *tmp_nsM; // work space of size nsM
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t d_tree_ocp_qp_res_memsize(struct d_tree_ocp_qp_dim *ocp_dim);
+//
+void d_tree_ocp_qp_res_create(struct d_tree_ocp_qp_dim *ocp_dim, struct d_tree_ocp_qp_res *res, void *mem);
+//
+hpipm_size_t d_tree_ocp_qp_res_ws_memsize(struct d_tree_ocp_qp_dim *ocp_dim);
+//
+void d_tree_ocp_qp_res_ws_create(struct d_tree_ocp_qp_dim *ocp_dim, struct d_tree_ocp_qp_res_ws *ws, void *mem);
+//
+void d_tree_ocp_qp_res_get_all(struct d_tree_ocp_qp_res *res, double **res_r, double **res_q, double **res_ls, double **res_us, double **res_b, double **res_d_lb, double **res_d_ub, double **res_d_lg, double **res_d_ug, double **res_d_ls, double **res_d_us, double **res_m_lb, double **res_m_ub, double **res_m_lg, double **res_m_ug, double **res_m_ls, double **res_m_us);
+//
+void d_tree_ocp_qp_res_compute(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_res *res, struct d_tree_ocp_qp_res_ws *ws);
+//
+void d_tree_ocp_qp_res_compute_lin(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_sol *qp_step, struct d_tree_ocp_qp_res *res, struct d_tree_ocp_qp_res_ws *ws);
+//
+void d_tree_ocp_qp_res_compute_inf_norm(struct d_tree_ocp_qp_res *res);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+#endif // HPIPM_D_TREE_OCP_QP_RES_H_
+
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_sol.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_sol.h
new file mode 100644
index 0000000000..343d5e8ca6
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_sol.h
@@ -0,0 +1,100 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_D_TREE_OCP_QP_SOL_H_
+#define HPIPM_D_TREE_OCP_QP_SOL_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_d_tree_ocp_qp_dim.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+struct d_tree_ocp_qp_sol
+	{
+	struct d_tree_ocp_qp_dim *dim;
+	struct blasfeo_dvec *ux;
+	struct blasfeo_dvec *pi;
+	struct blasfeo_dvec *lam;
+	struct blasfeo_dvec *t;
+	void *misc;
+	hpipm_size_t memsize; // memory size in bytes
+	};
+
+
+
+//
+hpipm_size_t d_tree_ocp_qp_sol_memsize(struct d_tree_ocp_qp_dim *dim);
+//
+void d_tree_ocp_qp_sol_create(struct d_tree_ocp_qp_dim *dim, struct d_tree_ocp_qp_sol *qp_sol, void *memory);
+//
+void d_tree_ocp_qp_sol_get_all(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, double **u, double **x, double **ls, double **us, double **pi, double **lam_lb, double **lam_ub, double **lam_lg, double **lam_ug, double **lam_ls, double **lam_us);
+//
+void d_tree_ocp_qp_sol_get(char *field, int node_edge, struct d_tree_ocp_qp_sol *qp_sol, double *vec);
+//
+void d_tree_ocp_qp_sol_get_u(int node, struct d_tree_ocp_qp_sol *qp_sol, double *vec);
+//
+void d_tree_ocp_qp_sol_get_x(int node, struct d_tree_ocp_qp_sol *qp_sol, double *vec);
+//
+void d_tree_ocp_qp_sol_get_sl(int node, struct d_tree_ocp_qp_sol *qp_sol, double *vec);
+//
+void d_tree_ocp_qp_sol_get_su(int node, struct d_tree_ocp_qp_sol *qp_sol, double *vec);
+//
+void d_tree_ocp_qp_sol_get_pi(int edge, struct d_tree_ocp_qp_sol *qp_sol, double *vec);
+//
+void d_tree_ocp_qp_sol_get_lam_lb(int node, struct d_tree_ocp_qp_sol *qp_sol, double *vec);
+//
+void d_tree_ocp_qp_sol_get_lam_ub(int node, struct d_tree_ocp_qp_sol *qp_sol, double *vec);
+//
+void d_tree_ocp_qp_sol_get_lam_lg(int node, struct d_tree_ocp_qp_sol *qp_sol, double *vec);
+//
+void d_tree_ocp_qp_sol_get_lam_ug(int node, struct d_tree_ocp_qp_sol *qp_sol, double *vec);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_D_TREE_OCP_QP_SOL_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_utils.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_utils.h
new file mode 100644
index 0000000000..b689fdc0fa
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_utils.h
@@ -0,0 +1,83 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_D_TREE_OCP_QP_UTILS_H_
+#define HPIPM_D_TREE_OCP_QP_UTILS_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_d_tree_ocp_qp_dim.h"
+#include "hpipm_d_tree_ocp_qp.h"
+#include "hpipm_d_tree_ocp_qp_sol.h"
+#include "hpipm_d_tree_ocp_qp_ipm.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+//
+void d_tree_ocp_qp_dim_print(struct d_tree_ocp_qp_dim *qp_dim);
+//
+//void d_tree_ocp_qp_dim_codegen(char *file_name, char *mode, struct d_tree_ocp_qp_dim *qp_dim);
+//
+void d_tree_ocp_qp_print(struct d_tree_ocp_qp_dim *qp_dim, struct d_tree_ocp_qp *qp);
+//
+//void d_tree_ocp_qp_codegen(char *file_name, char *mode, struct d_tree_ocp_qp_dim *qp_dim, struct d_tree_ocp_qp *qp);
+//
+void d_tree_ocp_qp_sol_print(struct d_tree_ocp_qp_dim *qp_dim, struct d_tree_ocp_qp_sol *ocp_qp_sol);
+//
+void d_tree_ocp_qp_ipm_arg_print(struct d_tree_ocp_qp_dim *qp_dim, struct d_tree_ocp_qp_ipm_arg *arg);
+//
+//void d_tree_ocp_qp_ipm_arg_codegen(char *file_name, char *mode, struct d_tree_ocp_qp_dim *qp_dim, struct d_tree_ocp_qp_ipm_arg *arg);
+//
+void d_tree_ocp_qp_res_print(struct d_tree_ocp_qp_dim *qp_dim, struct d_tree_ocp_qp_res *ocp_qp_res);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+
+#endif // HPIPM_D_TREE_OCP_QP_UTILS_H_
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_m_dense_qp.h b/third_party/acados/include/hpipm/include/hpipm_m_dense_qp.h
new file mode 100644
index 0000000000..8bc101003e
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_m_dense_qp.h
@@ -0,0 +1,68 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+
+
+#ifndef HPIPM_M_DENSE_QP_H_
+#define HPIPM_M_DENSE_QP_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_d_dense_qp.h"
+#include "hpipm_s_dense_qp.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+void cvt_d2s_dense_qp(struct d_dense_qp *qpd, struct s_dense_qp *qps);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_M_DENSE_QP_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_m_dense_qp_dim.h b/third_party/acados/include/hpipm/include/hpipm_m_dense_qp_dim.h
new file mode 100644
index 0000000000..4610321b97
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_m_dense_qp_dim.h
@@ -0,0 +1,68 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+
+
+#ifndef HPIPM_M_DENSE_QP_DIM_H_
+#define HPIPM_M_DENSE_QP_DIM_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_d_dense_qp_dim.h"
+#include "hpipm_s_dense_qp_dim.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+void cvt_d2s_dense_qp_dim(struct d_dense_qp_dim *qpd, struct s_dense_qp_dim *qps);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_M_DENSE_QP_DIM_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_m_ocp_qp.h b/third_party/acados/include/hpipm/include/hpipm_m_ocp_qp.h
new file mode 100644
index 0000000000..95c3dad1aa
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_m_ocp_qp.h
@@ -0,0 +1,49 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void m_cvt_d_ocp_qp_to_s_ocp_qp(struct d_ocp_qp *d_qp, struct s_ocp_qp *s_qp);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
diff --git a/third_party/acados/include/hpipm/include/hpipm_m_ocp_qp_ipm_hard.h b/third_party/acados/include/hpipm/include/hpipm_m_ocp_qp_ipm_hard.h
new file mode 100644
index 0000000000..1c44acee2e
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_m_ocp_qp_ipm_hard.h
@@ -0,0 +1,115 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+struct m_ipm_hard_ocp_qp_workspace
+	{
+	struct d_ipm_hard_core_qp_workspace *core_workspace;
+	struct blasfeo_dvec *dux;
+	struct blasfeo_dvec *dpi;
+	struct blasfeo_dvec *dt_lb;
+	struct blasfeo_dvec *dt_lg;
+	struct blasfeo_svec *sdux; // XXX
+	struct blasfeo_svec *sdpi; // XXX
+	struct blasfeo_dvec *res_g; // q-residuals
+	struct blasfeo_dvec *res_b; // b-residuals
+	struct blasfeo_dvec *res_d; // d-residuals XXX remove ???
+	struct blasfeo_dvec *res_d_lb; // d-residuals
+	struct blasfeo_dvec *res_d_ub; // d-residuals
+	struct blasfeo_dvec *res_d_lg; // d-residuals
+	struct blasfeo_dvec *res_d_ug; // d-residuals
+	struct blasfeo_dvec *res_m; // m-residuals
+	struct blasfeo_dvec *res_m_lb; // m-residuals
+	struct blasfeo_dvec *res_m_ub; // m-residuals
+	struct blasfeo_dvec *res_m_lg; // m-residuals
+	struct blasfeo_dvec *res_m_ug; // m-residuals
+	struct blasfeo_svec *sres_g; // q-residuals // XXX
+	struct blasfeo_svec *sres_b; // b-residuals // XXX
+	struct blasfeo_dvec *Qx_lb; // hessian update
+	struct blasfeo_dvec *Qx_lg; // hessian update
+	struct blasfeo_dvec *qx_lb; // gradient update
+	struct blasfeo_dvec *qx_lg; // gradient update
+	struct blasfeo_svec *sQx_lb; // hessian update // XXX
+	struct blasfeo_svec *sQx_lg; // hessian update // XXX
+	struct blasfeo_svec *sqx_lb; // gradient update // XXX
+	struct blasfeo_svec *sqx_lg; // gradient update // XXX
+	struct blasfeo_dvec *tmp_nbM; // work space of size nbM
+	struct blasfeo_svec *tmp_nxM; // work space of size nxM // XXX
+	struct blasfeo_dvec *tmp_ngM; // work space of size ngM
+	struct blasfeo_svec *Pb; // Pb // XXX
+	struct blasfeo_smat *L; // XXX
+	struct blasfeo_smat *AL; // XXX
+	struct blasfeo_svec *sSx; // scaling
+	struct blasfeo_svec *sSi; // scaling inverted
+	double *stat; // convergence statistics
+	double res_mu; // mu-residual
+	int iter; // iteration number
+	int compute_Pb;
+	int scale;
+	};
+
+
+
+struct m_ipm_hard_ocp_qp_arg
+	{
+	double alpha_min; // exit cond on step length
+	double mu_max; // exit cond on duality measure
+	double mu0; // initial value for duality measure
+	int iter_max; // exit cond in iter number
+	};
+
+
+
+//
+hpipm_size_t m_memsize_ipm_hard_ocp_qp(struct d_ocp_qp *d_qp, struct s_ocp_qp *s_qp, struct m_ipm_hard_ocp_qp_arg *arg);
+//
+void m_create_ipm_hard_ocp_qp(struct d_ocp_qp *d_qp, struct s_ocp_qp *s_qp, struct m_ipm_hard_ocp_qp_arg *arg, struct m_ipm_hard_ocp_qp_workspace *ws, void *mem);
+//
+void m_solve_ipm_hard_ocp_qp(struct d_ocp_qp *d_qp, struct s_ocp_qp *s_qp, struct d_ocp_qp_sol *qp_sol, struct m_ipm_hard_ocp_qp_workspace *ws);
+//
+void m_solve_ipm2_hard_ocp_qp(struct d_ocp_qp *d_qp, struct s_ocp_qp *s_qp, struct d_ocp_qp_sol *qp_sol, struct m_ipm_hard_ocp_qp_workspace *ws);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
diff --git a/third_party/acados/include/hpipm/include/hpipm_m_ocp_qp_kkt.h b/third_party/acados/include/hpipm/include/hpipm_m_ocp_qp_kkt.h
new file mode 100644
index 0000000000..032fe95b1f
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_m_ocp_qp_kkt.h
@@ -0,0 +1,45 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void m_fact_solve_kkt_step_hard_ocp_qp(struct d_ocp_qp *d_qp, struct s_ocp_qp *s_qp, struct m_ipm_hard_ocp_qp_workspace *ws);
+void m_solve_kkt_step_hard_ocp_qp(struct d_ocp_qp *d_qp, struct s_ocp_qp *s_qp, struct m_ipm_hard_ocp_qp_workspace *ws);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_cast_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_s_cast_qcqp.h
new file mode 100644
index 0000000000..ba01ecb3bd
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_cast_qcqp.h
@@ -0,0 +1,72 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+
+#ifndef HPIPM_S_CAST_QCQP_H_
+#define HPIPM_S_CAST_QCQP_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_s_dense_qcqp.h"
+#include "hpipm_s_dense_qcqp_sol.h"
+#include "hpipm_s_ocp_qcqp.h"
+#include "hpipm_s_ocp_qcqp_dim.h"
+#include "hpipm_s_ocp_qcqp_sol.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+//
+void s_cast_qcqp_compute_dim(struct s_ocp_qcqp_dim *ocp_dim, struct s_dense_qcqp_dim *dense_dim);
+//
+void s_cast_qcqp_cond(struct s_ocp_qcqp *ocp_qp, struct s_dense_qcqp *dense_qp);
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_S_CAST_QCQP_H_
+
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_cond.h b/third_party/acados/include/hpipm/include/hpipm_s_cond.h
new file mode 100644
index 0000000000..30116798b7
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_cond.h
@@ -0,0 +1,137 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+
+#ifndef HPIPM_S_COND_H_
+#define HPIPM_S_COND_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_s_dense_qp.h"
+#include "hpipm_s_dense_qp_sol.h"
+#include "hpipm_s_ocp_qp.h"
+#include "hpipm_s_ocp_qp_dim.h"
+#include "hpipm_s_ocp_qp_sol.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_cond_qp_arg
+	{
+	int cond_last_stage; // condense last stage
+	int cond_alg; // condensing algorithm: 0 N2-nx3, 1 N3-nx2
+	int comp_prim_sol; // primal solution (v)
+	int comp_dual_sol_eq; // dual solution equality constr (pi)
+	int comp_dual_sol_ineq; // dual solution inequality constr (lam t)
+	int square_root_alg; // square root algorithm (faster but requires RSQ>0)
+	hpipm_size_t memsize;
+	};
+
+
+
+struct s_cond_qp_ws
+	{
+	struct blasfeo_smat *Gamma;
+	struct blasfeo_smat *GammaQ;
+	struct blasfeo_smat *L;
+	struct blasfeo_smat *Lx;
+	struct blasfeo_smat *AL;
+	struct blasfeo_svec *Gammab;
+	struct blasfeo_svec *l;
+	struct blasfeo_svec *tmp_nbgM;
+	struct blasfeo_svec *tmp_nuxM;
+	int bs; // block size
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t s_cond_qp_arg_memsize();
+//
+void s_cond_qp_arg_create(struct s_cond_qp_arg *cond_arg, void *mem);
+//
+void s_cond_qp_arg_set_default(struct s_cond_qp_arg *cond_arg);
+// condensing algorithm: 0 N2-nx3, 1 N3-nx2
+void s_cond_qp_arg_set_cond_alg(int cond_alg, struct s_cond_qp_arg *cond_arg);
+// set riccati-like algorithm: 0 classical, 1 square-root
+void s_cond_qp_arg_set_ric_alg(int ric_alg, struct s_cond_qp_arg *cond_arg);
+// condense last stage: 0 last stage disregarded, 1 last stage condensed too
+void s_cond_qp_arg_set_cond_last_stage(int cond_last_stage, struct s_cond_qp_arg *cond_arg);
+//
+void s_cond_qp_arg_set_comp_prim_sol(int value, struct s_cond_qp_arg *cond_arg);
+//
+void s_cond_qp_arg_set_comp_dual_sol_eq(int value, struct s_cond_qp_arg *cond_arg);
+//
+void s_cond_qp_arg_set_comp_dual_sol_ineq(int value, struct s_cond_qp_arg *cond_arg);
+
+//
+void s_cond_qp_compute_dim(struct s_ocp_qp_dim *ocp_dim, struct s_dense_qp_dim *dense_dim);
+//
+hpipm_size_t s_cond_qp_ws_memsize(struct s_ocp_qp_dim *ocp_dim, struct s_cond_qp_arg *cond_arg);
+//
+void s_cond_qp_ws_create(struct s_ocp_qp_dim *ocp_dim, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws, void *mem);
+//
+void s_cond_qp_cond(struct s_ocp_qp *ocp_qp, struct s_dense_qp *dense_qp, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
+//
+void s_cond_qp_cond_lhs(struct s_ocp_qp *ocp_qp, struct s_dense_qp *dense_qp, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
+//
+void s_cond_qp_cond_rhs(struct s_ocp_qp *ocp_qp, struct s_dense_qp *dense_qp, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
+//
+void s_cond_qp_expand_sol(struct s_ocp_qp *ocp_qp, struct s_dense_qp_sol *dense_qp_sol, struct s_ocp_qp_sol *ocp_qp_sol, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
+// TODO remove
+void s_cond_qp_expand_primal_sol(struct s_ocp_qp *ocp_qp, struct s_dense_qp_sol *dense_qp_sol, struct s_ocp_qp_sol *ocp_qp_sol, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
+
+//
+void s_cond_qp_update(int *idxc, struct s_ocp_qp *ocp_qp, struct s_dense_qp *dense_qp, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_S_COND_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_cond_aux.h b/third_party/acados/include/hpipm/include/hpipm_s_cond_aux.h
new file mode 100644
index 0000000000..003472ab9f
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_cond_aux.h
@@ -0,0 +1,92 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+
+#ifndef HPIPM_S_COND_AUX_H_
+#define HPIPM_S_COND_AUX_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+//
+void s_cond_BAbt(struct s_ocp_qp *ocp_qp, struct blasfeo_smat *BAbt2, struct blasfeo_svec *b2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
+//
+void s_cond_BAt(struct s_ocp_qp *ocp_qp, struct blasfeo_smat *BAbt2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
+//
+void s_cond_b(struct s_ocp_qp *ocp_qp, struct blasfeo_svec *b2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
+//
+void s_cond_RSQrq(struct s_ocp_qp *ocp_qp, struct blasfeo_smat *RSQrq2, struct blasfeo_svec *rq2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
+//
+void s_cond_RSQ(struct s_ocp_qp *ocp_qp, struct blasfeo_smat *RSQrq2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
+//
+void s_cond_rq(struct s_ocp_qp *ocp_qp, struct blasfeo_svec *rq2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
+//
+void s_cond_DCtd(struct s_ocp_qp *ocp_qp, int *idxb2, struct blasfeo_smat *DCt2, struct blasfeo_svec *d2, struct blasfeo_svec *d_mask2, int *idxs_rev2, struct blasfeo_svec *Z2, struct blasfeo_svec *z2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
+//
+void s_cond_DCt(struct s_ocp_qp *ocp_qp, int *idxb2, struct blasfeo_smat *DCt2, int *idxs_rev2, struct blasfeo_svec *Z2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
+//
+void s_cond_d(struct s_ocp_qp *ocp_qp, struct blasfeo_svec *d2, struct blasfeo_svec *d_mask2, struct blasfeo_svec *z2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
+//
+void s_expand_sol(struct s_ocp_qp *ocp_qp, struct s_dense_qp_sol *dense_qp_sol, struct s_ocp_qp_sol *ocp_qp_sol, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
+//
+void s_expand_primal_sol(struct s_ocp_qp *ocp_qp, struct s_dense_qp_sol *dense_qp_sol, struct s_ocp_qp_sol *ocp_qp_sol, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
+
+//
+void s_update_cond_BAbt(int *idxc, struct s_ocp_qp *ocp_qp, struct blasfeo_smat *BAbt2, struct blasfeo_svec *b2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
+//
+void s_update_cond_RSQrq_N2nx3(int *idxc, struct s_ocp_qp *ocp_qp, struct blasfeo_smat *RSQrq2, struct blasfeo_svec *rq2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
+//
+void s_update_cond_DCtd(int *idxc, struct s_ocp_qp *ocp_qp, int *idxb2, struct blasfeo_smat *DCt2, struct blasfeo_svec *d2, int *idxs2, struct blasfeo_svec *Z2, struct blasfeo_svec *z2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_S_COND_AUX_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_cond_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_s_cond_qcqp.h
new file mode 100644
index 0000000000..c36678abd5
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_cond_qcqp.h
@@ -0,0 +1,130 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+
+#ifndef HPIPM_S_COND_QCQP_H_
+#define HPIPM_S_COND_QCQP_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_s_dense_qcqp.h"
+#include "hpipm_s_dense_qcqp_sol.h"
+#include "hpipm_s_ocp_qcqp.h"
+#include "hpipm_s_ocp_qcqp_dim.h"
+#include "hpipm_s_ocp_qcqp_sol.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_cond_qcqp_arg
+	{
+	struct s_cond_qp_arg *qp_arg;
+	int cond_last_stage; // condense last stage
+//	int cond_variant; // TODO
+	int comp_prim_sol; // primal solution (v)
+	int comp_dual_sol_eq; // dual solution equality constr (pi)
+	int comp_dual_sol_ineq; // dual solution equality constr (lam t)
+	int square_root_alg; // square root algorithm (faster but requires RSQ>0)
+	hpipm_size_t memsize;
+	};
+
+
+
+struct s_cond_qcqp_ws
+	{
+	struct s_cond_qp_ws *qp_ws;
+	struct blasfeo_smat *hess_array; // TODO remove
+	struct blasfeo_smat *zero_hess; // TODO remove
+	struct blasfeo_svec *zero_grad; // TODO remove
+	struct blasfeo_svec *grad_array; // TODO remove
+	struct blasfeo_svec *tmp_nvc;
+	struct blasfeo_svec *tmp_nuxM;
+	struct blasfeo_smat *GammaQ;
+	struct blasfeo_smat *tmp_DCt;
+	struct blasfeo_smat *tmp_nuM_nxM;
+//	struct blasfeo_svec *d_qp;
+//	struct blasfeo_svec *d_mask_qp;
+	hpipm_size_t memsize;
+	};
+
+
+//
+hpipm_size_t s_cond_qcqp_arg_memsize();
+//
+void s_cond_qcqp_arg_create(struct s_cond_qcqp_arg *cond_arg, void *mem);
+//
+void s_cond_qcqp_arg_set_default(struct s_cond_qcqp_arg *cond_arg);
+// set riccati-like algorithm: 0 classical, 1 square-root
+void s_cond_qcqp_arg_set_ric_alg(int ric_alg, struct s_cond_qcqp_arg *cond_arg);
+// condense last stage: 0 last stage disregarded, 1 last stage condensed too
+void s_cond_qcqp_arg_set_cond_last_stage(int cond_last_stage, struct s_cond_qcqp_arg *cond_arg);
+
+//
+void s_cond_qcqp_compute_dim(struct s_ocp_qcqp_dim *ocp_dim, struct s_dense_qcqp_dim *dense_dim);
+//
+hpipm_size_t s_cond_qcqp_ws_memsize(struct s_ocp_qcqp_dim *ocp_dim, struct s_cond_qcqp_arg *cond_arg);
+//
+void s_cond_qcqp_ws_create(struct s_ocp_qcqp_dim *ocp_dim, struct s_cond_qcqp_arg *cond_arg, struct s_cond_qcqp_ws *cond_ws, void *mem);
+//
+void s_cond_qcqp_qc(struct s_ocp_qcqp *ocp_qp, struct blasfeo_smat *Hq2, int *Hq_nzero2, struct blasfeo_smat *Ct2, struct blasfeo_svec *d2, struct s_cond_qcqp_arg *cond_arg, struct s_cond_qcqp_ws *cond_ws);
+//
+void s_cond_qcqp_qc_lhs(struct s_ocp_qcqp *ocp_qp, struct blasfeo_smat *Hq2, int *Hq_nzero2, struct blasfeo_smat *Ct2, struct s_cond_qcqp_arg *cond_arg, struct s_cond_qcqp_ws *cond_ws);
+//
+void s_cond_qcqp_qc_rhs(struct s_ocp_qcqp *ocp_qp, struct blasfeo_svec *d2, struct s_cond_qcqp_arg *cond_arg, struct s_cond_qcqp_ws *cond_ws);
+//
+void s_cond_qcqp_cond(struct s_ocp_qcqp *ocp_qp, struct s_dense_qcqp *dense_qp, struct s_cond_qcqp_arg *cond_arg, struct s_cond_qcqp_ws *cond_ws);
+//
+void s_cond_qcqp_cond_rhs(struct s_ocp_qcqp *ocp_qp, struct s_dense_qcqp *dense_qp, struct s_cond_qcqp_arg *cond_arg, struct s_cond_qcqp_ws *cond_ws);
+//
+void s_cond_qcqp_cond_lhs(struct s_ocp_qcqp *ocp_qp, struct s_dense_qcqp *dense_qp, struct s_cond_qcqp_arg *cond_arg, struct s_cond_qcqp_ws *cond_ws);
+//
+void s_cond_qcqp_expand_sol(struct s_ocp_qcqp *ocp_qp, struct s_dense_qcqp_sol *dense_qp_sol, struct s_ocp_qcqp_sol *ocp_qp_sol, struct s_cond_qcqp_arg *cond_arg, struct s_cond_qcqp_ws *cond_ws);
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_S_COND_QCQP_H_
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_core_qp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_s_core_qp_ipm.h
new file mode 100644
index 0000000000..480392c7d9
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_core_qp_ipm.h
@@ -0,0 +1,101 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_S_CORE_QP_IPM_
+#define HPIPM_S_CORE_QP_IPM_
+
+#include "hpipm_common.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+struct s_core_qp_ipm_workspace
+	{
+	float *v; // primal variables
+	float *pi; // equality constraints multipliers
+	float *lam; // inequality constraints multipliers
+	float *t; // inequality constraints slacks
+	float *t_inv; // inverse of t
+	float *v_bkp; // backup of primal variables
+	float *pi_bkp; // backup of equality constraints multipliers
+	float *lam_bkp; // backup of inequality constraints multipliers
+	float *t_bkp; // backup of inequality constraints slacks
+	float *dv; // step in v
+	float *dpi; // step in pi
+	float *dlam; // step in lam
+	float *dt; // step in t
+	float *res_g; // q-residuals
+	float *res_b; // b-residuals
+	float *res_d; // d-residuals
+	float *res_m; // m-residuals
+	float *res_m_bkp; // m-residuals
+	float *Gamma; // Hessian update
+	float *gamma; // gradient update
+	float alpha_prim; // step length
+	float alpha_dual; // step length
+	float alpha; // step length
+	float sigma; // centering XXX
+	float mu; // duality measuere
+	float mu_aff; // affine duality measuere
+	float nc_inv; // 1.0/nc, where nc is the total number of constraints
+	float nc_mask_inv; // 1.0/nc_mask
+	float lam_min; // min value in lam vector
+	float t_min; // min value in t vector
+	float t_min_inv; // inverse of min value in t vector
+	float tau_min; // min value of barrier parameter
+	int nv; // number of primal variables
+	int ne; // number of equality constraints
+	int nc; // (twice the) number of (two-sided) inequality constraints
+	int nc_mask; // total number of ineq constr after masking
+	int split_step; // use different step for primal and dual variables
+	int t_lam_min; // clip t and lam also in solution, or only in Gamma computation
+	hpipm_size_t memsize; // memory size (in bytes) of workspace
+	};
+
+
+
+//
+hpipm_size_t s_memsize_core_qp_ipm(int nv, int ne, int nc);
+//
+void s_create_core_qp_ipm(int nv, int ne, int nc, struct s_core_qp_ipm_workspace *workspace, void *mem);
+//
+void s_core_qp_ipm(struct s_core_qp_ipm_workspace *workspace);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif // HPIPM_S_CORE_QP_IPM_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_core_qp_ipm_aux.h b/third_party/acados/include/hpipm/include/hpipm_s_core_qp_ipm_aux.h
new file mode 100644
index 0000000000..1ac3d7ede9
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_core_qp_ipm_aux.h
@@ -0,0 +1,68 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_S_CORE_QP_IPM_AUX_
+#define HPIPM_S_CORE_QP_IPM_AUX_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+//
+void s_compute_Gamma_gamma_qp(float *res_d, float *res_m, struct s_core_qp_ipm_workspace *rws);
+//
+void s_compute_gamma_qp(float *res_d, float *res_m, struct s_core_qp_ipm_workspace *rws);
+//
+void s_compute_lam_t_qp(float *res_d, float *res_m, float *dlam, float *dt, struct s_core_qp_ipm_workspace *rws);
+//
+void s_compute_alpha_qp(struct s_core_qp_ipm_workspace *rws);
+//
+void s_update_var_qp(struct s_core_qp_ipm_workspace *rws);
+//
+void s_compute_mu_aff_qp(struct s_core_qp_ipm_workspace *rws);
+//
+void s_backup_res_m(struct s_core_qp_ipm_workspace *rws);
+//
+void s_compute_centering_correction_qp(struct s_core_qp_ipm_workspace *rws);
+//
+void s_compute_centering_qp(struct s_core_qp_ipm_workspace *rws);
+//
+void s_compute_tau_min_qp(struct s_core_qp_ipm_workspace *rws);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif // HPIPM_S_CORE_QP_IPM_AUX_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp.h
new file mode 100644
index 0000000000..d03c065375
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp.h
@@ -0,0 +1,200 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+
+#ifndef HPIPM_S_DENSE_QCQP_H_
+#define HPIPM_S_DENSE_QCQP_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_s_dense_qcqp_dim.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_dense_qcqp
+	{
+	struct s_dense_qcqp_dim *dim;
+	struct blasfeo_smat *Hv; // hessian of cost & vector work space
+	struct blasfeo_smat *A; // equality constraint matrix
+	struct blasfeo_smat *Ct; // inequality constraints matrix
+	struct blasfeo_smat *Hq; // hessians of quadratic constraints
+	struct blasfeo_svec *gz; // gradient of cost & gradient of slacks
+	struct blasfeo_svec *b; // equality constraint vector
+	struct blasfeo_svec *d; // inequality constraints vector
+	struct blasfeo_svec *d_mask; // inequality constraints mask vector
+	struct blasfeo_svec *m; // rhs of complementarity condition
+	struct blasfeo_svec *Z; // (diagonal) hessian of slacks
+	int *idxb; // indices of box constrained variables within [u; x]
+	int *idxs_rev; // index of soft constraints (reverse storage)
+	int *Hq_nzero; // for each int, the last 3 bits ...abc, {a,b,c}=0 => {R,S,Q}=0
+	hpipm_size_t memsize; // memory size in bytes
+	};
+
+
+
+//
+hpipm_size_t s_dense_qcqp_memsize(struct s_dense_qcqp_dim *dim);
+//
+void s_dense_qcqp_create(struct s_dense_qcqp_dim *dim, struct s_dense_qcqp *qp, void *memory);
+
+//
+void s_dense_qcqp_set(char *field, void *value, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_H(float *H, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_g(float *g, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_A(float *A, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_b(float *b, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_idxb(int *idxb, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_lb(float *lb, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_lb_mask(float *lb, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_ub(float *ub, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_ub_mask(float *ub, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_C(float *C, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_lg(float *lg, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_lg_mask(float *lg, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_ug(float *ug, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_ug_mask(float *ug, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_Hq(float *Hq, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_gq(float *gq, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_uq(float *uq, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_uq_mask(float *uq, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_idxs(int *idxs, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_idxs_rev(int *idxs_rev, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_Zl(float *Zl, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_Zu(float *Zu, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_zl(float *zl, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_zu(float *zu, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_ls(float *ls, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_ls_mask(float *ls, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_us(float *us, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_set_us_mask(float *us, struct s_dense_qcqp *qp);
+
+// getters (COLMAJ)
+
+void s_dense_qcqp_get_H(struct s_dense_qcqp *qp, float *H);
+//
+void s_dense_qcqp_get_g(struct s_dense_qcqp *qp, float *g);
+//
+void s_dense_qcqp_get_A(struct s_dense_qcqp *qp, float *A);
+//
+void s_dense_qcqp_get_b(struct s_dense_qcqp *qp, float *b);
+//
+void s_dense_qcqp_get_idxb(struct s_dense_qcqp *qp, int *idxb);
+//
+void s_dense_qcqp_get_lb(struct s_dense_qcqp *qp, float *lb);
+//
+void s_dense_qcqp_get_lb_mask(struct s_dense_qcqp *qp, float *lb);
+//
+void s_dense_qcqp_get_ub(struct s_dense_qcqp *qp, float *ub);
+//
+void s_dense_qcqp_get_ub_mask(struct s_dense_qcqp *qp, float *ub);
+//
+void s_dense_qcqp_get_C(struct s_dense_qcqp *qp, float *C);
+//
+void s_dense_qcqp_get_lg(struct s_dense_qcqp *qp, float *lg);
+//
+void s_dense_qcqp_get_lg_mask(struct s_dense_qcqp *qp, float *lg);
+//
+void s_dense_qcqp_get_ug(struct s_dense_qcqp *qp, float *ug);
+//
+void s_dense_qcqp_get_ug_mask(struct s_dense_qcqp *qp, float *ug);
+//
+void s_dense_qcqp_get_idxs(struct s_dense_qcqp *qp, int *idxs);
+//
+void s_dense_qcqp_get_idxs_rev(struct s_dense_qcqp *qp, int *idxs_rev);
+//
+void s_dense_qcqp_get_Zl(struct s_dense_qcqp *qp, float *Zl);
+//
+void s_dense_qcqp_get_Zu(struct s_dense_qcqp *qp, float *Zu);
+//
+void s_dense_qcqp_get_zl(struct s_dense_qcqp *qp, float *zl);
+//
+void s_dense_qcqp_get_zu(struct s_dense_qcqp *qp, float *zu);
+//
+void s_dense_qcqp_get_ls(struct s_dense_qcqp *qp, float *ls);
+//
+void s_dense_qcqp_get_ls_mask(struct s_dense_qcqp *qp, float *ls);
+//
+void s_dense_qcqp_get_us(struct s_dense_qcqp *qp, float *us);
+//
+void s_dense_qcqp_get_us_mask(struct s_dense_qcqp *qp, float *us);
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_S_DENSE_QCQP_H_
+
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_dim.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_dim.h
new file mode 100644
index 0000000000..04908c2c3a
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_dim.h
@@ -0,0 +1,99 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_S_DENSE_QCQP_DIM_H_
+#define HPIPM_S_DENSE_QCQP_DIM_H_
+
+#include "hpipm_common.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_dense_qcqp_dim
+	{
+	struct s_dense_qp_dim *qp_dim; // dim of qp approximation
+	int nv;  // number of variables
+	int ne;  // number of equality constraints
+	int nb;  // number of box constraints
+	int ng;  // number of general constraints
+	int nq;  // number of quadratic constraints
+	int nsb; // number of softened box constraints
+	int nsg; // number of softened general constraints
+	int nsq; // number of softened quadratic constraints
+	int ns;  // number of softened constraints (nsb+nsg+nsq) TODO number of slacks
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t s_dense_qcqp_dim_memsize();
+//
+void s_dense_qcqp_dim_create(struct s_dense_qcqp_dim *dim, void *memory);
+//
+void s_dense_qcqp_dim_set(char *fiels_name, int value, struct s_dense_qcqp_dim *dim);
+//
+void s_dense_qcqp_dim_set_nv(int value, struct s_dense_qcqp_dim *dim);
+//
+void s_dense_qcqp_dim_set_ne(int value, struct s_dense_qcqp_dim *dim);
+//
+void s_dense_qcqp_dim_set_nb(int value, struct s_dense_qcqp_dim *dim);
+//
+void s_dense_qcqp_dim_set_ng(int value, struct s_dense_qcqp_dim *dim);
+//
+void s_dense_qcqp_dim_set_nq(int value, struct s_dense_qcqp_dim *dim);
+//
+void s_dense_qcqp_dim_set_nsb(int value, struct s_dense_qcqp_dim *dim);
+//
+void s_dense_qcqp_dim_set_nsg(int value, struct s_dense_qcqp_dim *dim);
+//
+void s_dense_qcqp_dim_set_nsq(int value, struct s_dense_qcqp_dim *dim);
+//
+void s_dense_qcqp_dim_set_ns(int value, struct s_dense_qcqp_dim *dim);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+
+#endif // HPIPM_S_DENSE_QCQP_DIM_H_
+
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_ipm.h
new file mode 100644
index 0000000000..8f85768ee3
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_ipm.h
@@ -0,0 +1,204 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+
+#ifndef HPIPM_S_DENSE_QCQP_IPM_H_
+#define HPIPM_S_DENSE_QCQP_IPM_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include <hpipm_common.h>
+#include <hpipm_s_dense_qcqp_dim.h>
+#include <hpipm_s_dense_qcqp.h>
+#include <hpipm_s_dense_qcqp_res.h>
+#include <hpipm_s_dense_qcqp_sol.h>
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_dense_qcqp_ipm_arg
+	{
+	struct s_dense_qp_ipm_arg *qp_arg;
+	float mu0; // initial value for duality measure
+	float alpha_min; // exit cond on step length
+	float res_g_max; // exit cond on inf norm of residuals
+	float res_b_max; // exit cond on inf norm of residuals
+	float res_d_max; // exit cond on inf norm of residuals
+	float res_m_max; // exit cond on inf norm of residuals
+	float reg_prim; // reg of primal hessian
+	float reg_dual; // reg of dual hessian
+	float lam_min; // min value in lam vector
+	float t_min; // min value in t vector
+	int iter_max; // exit cond in iter number
+	int stat_max; // iterations saved in stat
+	int pred_corr; // Mehrotra's predictor-corrector IPM algirthm
+	int cond_pred_corr; // conditional Mehrotra's predictor-corrector
+	int scale; // scale hessian
+	int itref_pred_max; // max number of iterative refinement steps for predictor step
+	int itref_corr_max; // max number of iterative refinement steps for corrector step
+	int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
+	int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq
+	int abs_form; // absolute IPM formulation
+	int comp_res_exit; // compute residuals on exit (only for abs_form==1)
+	int comp_res_pred; // compute residuals of prediction
+	int split_step; // use different step for primal and dual variables
+	int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
+	int mode;
+	hpipm_size_t memsize;
+	};
+
+
+
+struct s_dense_qcqp_ipm_ws
+	{
+//	float qp_res[4]; // infinity norm of residuals
+	struct s_dense_qp_ipm_ws *qp_ws;
+	struct s_dense_qp *qp;
+	struct s_dense_qp_sol *qp_sol;
+	struct s_dense_qcqp_res_ws *qcqp_res_ws;
+	struct s_dense_qcqp_res *qcqp_res;
+	struct blasfeo_svec *tmp_nv;
+//	float *stat; // convergence statistics
+//	void *lq_work0;
+//	void *lq_work1;
+	int iter; // iteration number
+//	int stat_max; // iterations saved in stat
+//	int stat_m; // numer of recorded stat per ipm iter
+//	int scale;
+//	int use_hess_fact;
+	int status;
+	hpipm_size_t memsize; // memory size (in bytes) of workspace
+	};
+
+
+
+//
+hpipm_size_t s_dense_qcqp_ipm_arg_memsize(struct s_dense_qcqp_dim *dim);
+//
+void s_dense_qcqp_ipm_arg_create(struct s_dense_qcqp_dim *dim, struct s_dense_qcqp_ipm_arg *arg, void *mem);
+//
+void s_dense_qcqp_ipm_arg_set_default(enum hpipm_mode mode, struct s_dense_qcqp_ipm_arg *arg);
+//
+void s_dense_qcqp_ipm_arg_set(char *field, void *value, struct s_dense_qcqp_ipm_arg *arg);
+//
+void s_dense_qcqp_ipm_arg_set_iter_max(int *iter_max, struct s_dense_qcqp_ipm_arg *arg);
+//
+void s_dense_qcqp_ipm_arg_set_alpha_min(float *alpha_min, struct s_dense_qcqp_ipm_arg *arg);
+//
+void s_dense_qcqp_ipm_arg_set_mu0(float *mu0, struct s_dense_qcqp_ipm_arg *arg);
+//
+void s_dense_qcqp_ipm_arg_set_tol_stat(float *tol_stat, struct s_dense_qcqp_ipm_arg *arg);
+//
+void s_dense_qcqp_ipm_arg_set_tol_eq(float *tol_eq, struct s_dense_qcqp_ipm_arg *arg);
+//
+void s_dense_qcqp_ipm_arg_set_tol_ineq(float *tol_ineq, struct s_dense_qcqp_ipm_arg *arg);
+//
+void s_dense_qcqp_ipm_arg_set_tol_comp(float *tol_comp, struct s_dense_qcqp_ipm_arg *arg);
+//
+void s_dense_qcqp_ipm_arg_set_reg_prim(float *reg, struct s_dense_qcqp_ipm_arg *arg);
+//
+void s_dense_qcqp_ipm_arg_set_reg_dual(float *reg, struct s_dense_qcqp_ipm_arg *arg);
+//
+void s_dense_qcqp_ipm_arg_set_warm_start(int *warm_start, struct s_dense_qcqp_ipm_arg *arg);
+//
+void s_dense_qcqp_ipm_arg_set_pred_corr(int *pred_corr, struct s_dense_qcqp_ipm_arg *arg);
+//
+void s_dense_qcqp_ipm_arg_set_cond_pred_corr(int *cond_pred_corr, struct s_dense_qcqp_ipm_arg *arg);
+//
+void s_dense_qcqp_ipm_arg_set_comp_res_pred(int *comp_res_pred, struct s_dense_qcqp_ipm_arg *arg);
+//
+void s_dense_qcqp_ipm_arg_set_comp_res_exit(int *comp_res_exit, struct s_dense_qcqp_ipm_arg *arg);
+//
+void s_dense_qcqp_ipm_arg_set_lam_min(float *value, struct s_dense_qcqp_ipm_arg *arg);
+//
+void s_dense_qcqp_ipm_arg_set_t_min(float *value, struct s_dense_qcqp_ipm_arg *arg);
+//
+void s_dense_qcqp_ipm_arg_set_split_step(int *value, struct s_dense_qcqp_ipm_arg *arg);
+//
+void s_dense_qcqp_ipm_arg_set_t_lam_min(int *value, struct s_dense_qcqp_ipm_arg *arg);
+
+//
+hpipm_size_t s_dense_qcqp_ipm_ws_memsize(struct s_dense_qcqp_dim *qp_dim, struct s_dense_qcqp_ipm_arg *arg);
+//
+void s_dense_qcqp_ipm_ws_create(struct s_dense_qcqp_dim *qp_dim, struct s_dense_qcqp_ipm_arg *arg, struct s_dense_qcqp_ipm_ws *ws, void *mem);
+//
+void s_dense_qcqp_ipm_get(char *field, struct s_dense_qcqp_ipm_ws *ws, void *value);
+//
+void s_dense_qcqp_ipm_get_status(struct s_dense_qcqp_ipm_ws *ws, int *status);
+//
+void s_dense_qcqp_ipm_get_iter(struct s_dense_qcqp_ipm_ws *ws, int *iter);
+//
+void s_dense_qcqp_ipm_get_max_res_stat(struct s_dense_qcqp_ipm_ws *ws, float *res_stat);
+//
+void s_dense_qcqp_ipm_get_max_res_eq(struct s_dense_qcqp_ipm_ws *ws, float *res_eq);
+//
+void s_dense_qcqp_ipm_get_max_res_ineq(struct s_dense_qcqp_ipm_ws *ws, float *res_ineq);
+//
+void s_dense_qcqp_ipm_get_max_res_comp(struct s_dense_qcqp_ipm_ws *ws, float *res_comp);
+//
+void s_dense_qcqp_ipm_get_stat(struct s_dense_qcqp_ipm_ws *ws, float **stat);
+//
+void s_dense_qcqp_ipm_get_stat_m(struct s_dense_qcqp_ipm_ws *ws, int *stat_m);
+#if 0
+//
+void s_dense_qcqp_init_var(struct s_dense_qcqp *qp, struct s_dense_qcqp_sol *qp_sol, struct s_dense_qcqp_ipm_arg *arg, struct s_dense_qcqp_ipm_ws *ws);
+#endif
+//
+void s_dense_qcqp_ipm_solve(struct s_dense_qcqp *qp, struct s_dense_qcqp_sol *qp_sol, struct s_dense_qcqp_ipm_arg *arg, struct s_dense_qcqp_ipm_ws *ws);
+#if 0
+//
+void s_dense_qcqp_ipm_predict(struct s_dense_qcqp *qp, struct s_dense_qcqp_sol *qp_sol, struct s_dense_qcqp_ipm_arg *arg, struct s_dense_qcqp_ipm_ws *ws);
+//
+void s_dense_qcqp_ipm_sens(struct s_dense_qcqp *qp, struct s_dense_qcqp_sol *qp_sol, struct s_dense_qcqp_ipm_arg *arg, struct s_dense_qcqp_ipm_ws *ws);
+#endif
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_S_DENSE_QCQP_IPM_H_
+
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_res.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_res.h
new file mode 100644
index 0000000000..779658cc8f
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_res.h
@@ -0,0 +1,108 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_S_DENSE_QCQP_RES_H_
+#define HPIPM_S_DENSE_QCQP_RES_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include <hpipm_s_dense_qcqp_dim.h>
+#include <hpipm_s_dense_qcqp.h>
+#include <hpipm_s_dense_qcqp_sol.h>
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_dense_qcqp_res
+	{
+	struct s_dense_qcqp_dim *dim;
+	struct blasfeo_svec *res_g; // q-residuals
+	struct blasfeo_svec *res_b; // b-residuals
+	struct blasfeo_svec *res_d; // d-residuals
+	struct blasfeo_svec *res_m; // m-residuals
+	float res_max[4]; // infinity norm of residuals
+	float res_mu; // mu-residual
+	hpipm_size_t memsize;
+	};
+
+
+
+struct s_dense_qcqp_res_ws
+	{
+	struct blasfeo_svec *tmp_nv; // work space of size nv
+	struct blasfeo_svec *tmp_nbgq; // work space of size nbM+ngM+nqM
+	struct blasfeo_svec *tmp_ns; // work space of size nsM
+	struct blasfeo_svec *q_fun; // value for evaluation of quadr constr
+	struct blasfeo_svec *q_adj; // value for adjoint of quadr constr
+	int use_q_fun; // reuse cached value for evaluation of quadr constr
+	int use_q_adj; // reuse cached value for adjoint of quadr constr
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t s_dense_qcqp_res_memsize(struct s_dense_qcqp_dim *dim);
+//
+void s_dense_qcqp_res_create(struct s_dense_qcqp_dim *dim, struct s_dense_qcqp_res *res, void *mem);
+//
+hpipm_size_t s_dense_qcqp_res_ws_memsize(struct s_dense_qcqp_dim *dim);
+//
+void s_dense_qcqp_res_ws_create(struct s_dense_qcqp_dim *dim, struct s_dense_qcqp_res_ws *workspace, void *mem);
+//
+void s_dense_qcqp_res_compute(struct s_dense_qcqp *qp, struct s_dense_qcqp_sol *qp_sol, struct s_dense_qcqp_res *res, struct s_dense_qcqp_res_ws *ws);
+//
+void s_dense_qcqp_res_compute_inf_norm(struct s_dense_qcqp_res *res);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+#endif // HPIPM_S_DENSE_QCQP_RES_H_
+
+
+
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_sol.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_sol.h
new file mode 100644
index 0000000000..197a690e52
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_sol.h
@@ -0,0 +1,86 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+
+#ifndef HPIPM_S_DENSE_QCQP_SOL_H_
+#define HPIPM_S_DENSE_QCQP_SOL_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_s_dense_qcqp_dim.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_dense_qcqp_sol
+	{
+	struct s_dense_qcqp_dim *dim;
+	struct blasfeo_svec *v;
+	struct blasfeo_svec *pi;
+	struct blasfeo_svec *lam;
+	struct blasfeo_svec *t;
+	void *misc;
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t s_dense_qcqp_sol_memsize(struct s_dense_qcqp_dim *dim);
+//
+void s_dense_qcqp_sol_create(struct s_dense_qcqp_dim *dim, struct s_dense_qcqp_sol *qp_sol, void *memory);
+//
+void s_dense_qcqp_sol_get_v(struct s_dense_qcqp_sol *qp_sol, float *v);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_S_DENSE_QCQP_SOL_H_
+
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_utils.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_utils.h
new file mode 100644
index 0000000000..4f5aae26eb
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_utils.h
@@ -0,0 +1,83 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_S_DENSE_QCQP_UTILS_H_
+#define HPIPM_S_DENSE_QCQP_UTILS_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_s_dense_qcqp_dim.h"
+#include "hpipm_s_dense_qcqp.h"
+#include "hpipm_s_dense_qcqp_sol.h"
+//#include "hpipm_s_dense_qcqp_ipm.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+//
+void s_dense_qcqp_dim_print(struct s_dense_qcqp_dim *qp_dim);
+//
+//void s_dense_qcqp_dim_codegen(char *file_name, char *mode, struct s_dense_qcqp_dim *qp_dim);
+//
+void s_dense_qcqp_print(struct s_dense_qcqp_dim *qp_dim, struct s_dense_qcqp *qp);
+//
+//void s_dense_qcqp_codegen(char *file_name, char *mode, struct s_dense_qcqp_dim *qp_dim, struct s_dense_qcqp *qp);
+//
+void s_dense_qcqp_sol_print(struct s_dense_qcqp_dim *qp_dim, struct s_dense_qcqp_sol *dense_qcqp_sol);
+//
+//void s_dense_qcqp_ipm_arg_codegen(char *file_name, char *mode, struct s_dense_qcqp_dim *qp_dim, struct s_dense_qcqp_ipm_arg *arg);
+//
+void s_dense_qcqp_res_print(struct s_dense_qcqp_dim *qp_dim, struct s_dense_qcqp_res *dense_qcqp_res);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+
+#endif // HPIPM_S_DENSE_QCQP_UTILS_H_
+
+
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp.h
new file mode 100644
index 0000000000..3c2517fe1b
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp.h
@@ -0,0 +1,207 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+
+#ifndef HPIPM_S_DENSE_QP_H_
+#define HPIPM_S_DENSE_QP_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_s_dense_qp_dim.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_dense_qp
+	{
+	struct s_dense_qp_dim *dim;
+	struct blasfeo_smat *Hv; // hessian & gradient
+	struct blasfeo_smat *A; // dynamics matrix
+	struct blasfeo_smat *Ct; // constraints matrix
+	struct blasfeo_svec *gz; // gradient & gradient of slacks
+	struct blasfeo_svec *b; // dynamics vector
+	struct blasfeo_svec *d; // constraints vector
+	struct blasfeo_svec *d_mask; // inequality constraints mask vector
+	struct blasfeo_svec *m; // rhs of complementarity condition
+	struct blasfeo_svec *Z; // (diagonal) hessian of slacks
+	int *idxb; // indices of box constrained variables within [u; x]
+	int *idxs_rev; // index of soft constraints (reverse storage)
+	hpipm_size_t memsize; // memory size in bytes
+	};
+
+
+
+//
+hpipm_size_t s_dense_qp_memsize(struct s_dense_qp_dim *dim);
+//
+void s_dense_qp_create(struct s_dense_qp_dim *dim, struct s_dense_qp *qp, void *memory);
+
+// setters - colmaj
+//
+void s_dense_qp_set_all(float *H, float *g, float *A, float *b, int *idxb, float *d_lb, float *d_ub, float *C, float *d_lg, float *d_ug, float *Zl, float *Zu, float *zl, float *zu, int *idxs, float *d_ls, float *d_us, struct s_dense_qp *qp);
+//
+void s_dense_qp_get_all(struct s_dense_qp *qp, float *H, float *g, float *A, float *b, int *idxb, float *d_lb, float *d_ub, float *C, float *d_lg, float *d_ug, float *Zl, float *Zu, float *zl, float *zu, int *idxs, float *d_ls, float *d_us);
+//
+void s_dense_qp_set(char *field, void *value, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_H(float *H, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_g(float *g, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_A(float *A, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_b(float *b, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_idxb(int *idxb, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_Jb(float *Jb, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_lb(float *lb, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_lb_mask(float *lb, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_ub(float *ub, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_ub_mask(float *ub, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_C(float *C, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_lg(float *lg, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_lg_mask(float *lg, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_ug(float *ug, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_ug_mask(float *ug, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_idxs(int *idxs, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_idxs_rev(int *idxs_rev, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_Jsb(float *Jsb, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_Jsg(float *Jsg, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_Zl(float *Zl, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_Zu(float *Zu, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_zl(float *zl, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_zu(float *zu, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_ls(float *ls, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_ls_mask(float *ls, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_us(float *us, struct s_dense_qp *qp);
+//
+void s_dense_qp_set_us_mask(float *us, struct s_dense_qp *qp);
+
+// getters - colmaj
+//
+void s_dense_qp_get_H(struct s_dense_qp *qp, float *H);
+//
+void s_dense_qp_get_g(struct s_dense_qp *qp, float *g);
+//
+void s_dense_qp_get_A(struct s_dense_qp *qp, float *A);
+//
+void s_dense_qp_get_b(struct s_dense_qp *qp, float *b);
+//
+void s_dense_qp_get_idxb(struct s_dense_qp *qp, int *idxb);
+//
+void s_dense_qp_get_lb(struct s_dense_qp *qp, float *lb);
+//
+void s_dense_qp_get_lb_mask(struct s_dense_qp *qp, float *lb);
+//
+void s_dense_qp_get_ub(struct s_dense_qp *qp, float *ub);
+//
+void s_dense_qp_get_ub_mask(struct s_dense_qp *qp, float *ub);
+//
+void s_dense_qp_get_C(struct s_dense_qp *qp, float *C);
+//
+void s_dense_qp_get_lg(struct s_dense_qp *qp, float *lg);
+//
+void s_dense_qp_get_lg_mask(struct s_dense_qp *qp, float *lg);
+//
+void s_dense_qp_get_ug(struct s_dense_qp *qp, float *ug);
+//
+void s_dense_qp_get_ug_mask(struct s_dense_qp *qp, float *ug);
+//
+void s_dense_qp_get_idxs(struct s_dense_qp *qp, int *idxs);
+//
+void s_dense_qp_get_idxs_rev(struct s_dense_qp *qp, int *idxs_rev);
+//
+void s_dense_qp_get_Zl(struct s_dense_qp *qp, float *Zl);
+//
+void s_dense_qp_get_Zu(struct s_dense_qp *qp, float *Zu);
+//
+void s_dense_qp_get_zl(struct s_dense_qp *qp, float *zl);
+//
+void s_dense_qp_get_zu(struct s_dense_qp *qp, float *zu);
+//
+void s_dense_qp_get_ls(struct s_dense_qp *qp, float *ls);
+//
+void s_dense_qp_get_ls_mask(struct s_dense_qp *qp, float *ls);
+//
+void s_dense_qp_get_us(struct s_dense_qp *qp, float *us);
+//
+void s_dense_qp_get_us_mask(struct s_dense_qp *qp, float *us);
+
+// setters - rowmaj
+//
+void s_dense_qp_set_all_rowmaj(float *H, float *g, float *A, float *b, int *idxb, float *d_lb, float *d_ub, float *C, float *d_lg, float *d_ug, float *Zl, float *Zu, float *zl, float *zu, int *idxs, float *d_ls, float *d_us, struct s_dense_qp *qp);
+
+// getters - rowmaj
+//
+void s_dense_qp_get_all_rowmaj(struct s_dense_qp *qp, float *H, float *g, float *A, float *b, int *idxb, float *d_lb, float *d_ub, float *C, float *d_lg, float *d_ug, float *Zl, float *Zu, float *zl, float *zu, int *idxs, float *d_ls, float *d_us);
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_S_DENSE_QP_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_dim.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_dim.h
new file mode 100644
index 0000000000..b979d24432
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_dim.h
@@ -0,0 +1,94 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_S_DENSE_QP_DIM_H_
+#define HPIPM_S_DENSE_QP_DIM_H_
+
+#include "hpipm_common.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_dense_qp_dim
+	{
+	int nv;  // number of variables
+	int ne;  // number of equality constraints
+	int nb;  // number of box constraints
+	int ng;  // number of general constraints
+	int nsb; // number of softened box constraints
+	int nsg; // number of softened general constraints
+	int ns;  // number of softened constraints (nsb+nsg)
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t s_dense_qp_dim_memsize();
+//
+void s_dense_qp_dim_create(struct s_dense_qp_dim *qp_dim, void *memory);
+//
+void s_dense_qp_dim_set_all(int nv, int ne, int nb, int ng, int nsb, int nsg, struct s_dense_qp_dim *dim);
+//
+void s_dense_qp_dim_set(char *fiels_name, int value, struct s_dense_qp_dim *dim);
+//
+void s_dense_qp_dim_set_nv(int value, struct s_dense_qp_dim *dim);
+//
+void s_dense_qp_dim_set_ne(int value, struct s_dense_qp_dim *dim);
+//
+void s_dense_qp_dim_set_nb(int value, struct s_dense_qp_dim *dim);
+//
+void s_dense_qp_dim_set_ng(int value, struct s_dense_qp_dim *dim);
+//
+void s_dense_qp_dim_set_nsb(int value, struct s_dense_qp_dim *dim);
+//
+void s_dense_qp_dim_set_nsg(int value, struct s_dense_qp_dim *dim);
+//
+void s_dense_qp_dim_set_ns(int value, struct s_dense_qp_dim *dim);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+
+#endif // HPIPM_S_DENSE_QP_DIM_H_
+
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_ipm.h
new file mode 100644
index 0000000000..f2d56d4529
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_ipm.h
@@ -0,0 +1,260 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+
+#ifndef HPIPM_S_DENSE_QP_IPM_H_
+#define HPIPM_S_DENSE_QP_IPM_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include <hpipm_common.h>
+#include <hpipm_s_dense_qp_dim.h>
+#include <hpipm_s_dense_qp.h>
+#include <hpipm_s_dense_qp_res.h>
+#include <hpipm_s_dense_qp_sol.h>
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_dense_qp_ipm_arg
+	{
+	float mu0; // initial value for duality measure
+	float alpha_min; // exit cond on step length
+	float res_g_max; // exit cond on inf norm of residuals
+	float res_b_max; // exit cond on inf norm of residuals
+	float res_d_max; // exit cond on inf norm of residuals
+	float res_m_max; // exit cond on inf norm of residuals
+	float reg_prim; // reg of primal hessian
+	float reg_dual; // reg of dual hessian
+	float lam_min; // min value in lam vector
+	float t_min; // min value in t vector
+	float tau_min; // min value of barrier parameter
+	int iter_max; // exit cond in iter number
+	int stat_max; // iterations saved in stat
+	int pred_corr; // Mehrotra's predictor-corrector IPM algirthm
+	int cond_pred_corr; // conditional Mehrotra's predictor-corrector
+	int scale; // scale hessian
+	int itref_pred_max; // max number of iterative refinement steps for predictor step
+	int itref_corr_max; // max number of iterative refinement steps for corrector step
+	int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
+	int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq
+	int abs_form; // absolute IPM formulation
+	int comp_res_exit; // compute residuals on exit (only for abs_form==1)
+	int comp_res_pred; // compute residuals of prediction
+	int kkt_fact_alg; // 0 null-space, 1 schur-complement
+	int remove_lin_dep_eq; // 0 do not, 1 do check and remove linearly dependent equality constraints
+	int compute_obj; // compute obj on exit
+	int split_step; // use different steps for primal and dual variables
+	int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
+	int mode;
+	hpipm_size_t memsize;
+	};
+
+
+
+struct s_dense_qp_ipm_ws
+	{
+	struct s_core_qp_ipm_workspace *core_workspace;
+	struct s_dense_qp_res_ws *res_ws;
+	struct s_dense_qp_sol *sol_step;
+	struct s_dense_qp_sol *sol_itref;
+	struct s_dense_qp *qp_step;
+	struct s_dense_qp *qp_itref;
+	struct s_dense_qp_res *res;
+	struct s_dense_qp_res *res_itref;
+	struct s_dense_qp_res *res_step;
+	struct blasfeo_svec *Gamma; //
+	struct blasfeo_svec *gamma; //
+	struct blasfeo_svec *Zs_inv; //
+	struct blasfeo_smat *Lv; //
+	struct blasfeo_smat *AL; //
+	struct blasfeo_smat *Le; //
+	struct blasfeo_smat *Ctx; //
+	struct blasfeo_svec *lv; //
+	struct blasfeo_svec *sv; // scale for Lv
+	struct blasfeo_svec *se; // scale for Le
+	struct blasfeo_svec *tmp_nbg; // work space of size nb+ng
+	struct blasfeo_svec *tmp_ns; // work space of size ns
+	struct blasfeo_smat *lq0;
+	struct blasfeo_smat *lq1;
+	struct blasfeo_svec *tmp_m;
+	struct blasfeo_smat *A_LQ;
+	struct blasfeo_smat *A_Q;
+	struct blasfeo_smat *Zt;
+	struct blasfeo_smat *ZtH;
+	struct blasfeo_smat *ZtHZ;
+	struct blasfeo_svec *xy;
+	struct blasfeo_svec *Yxy;
+	struct blasfeo_svec *xz;
+	struct blasfeo_svec *tmp_nv;
+	struct blasfeo_svec *tmp_2ns;
+	struct blasfeo_svec *tmp_nv2ns;
+	struct blasfeo_smat *A_li; // A of linearly independent equality constraints
+	struct blasfeo_svec *b_li; // b of linearly independent equality constraints
+	struct blasfeo_smat *A_bkp; // pointer to backup A
+	struct blasfeo_svec *b_bkp; // pointer to backup b
+	struct blasfeo_smat *Ab_LU;
+	float *stat; // convergence statistics
+	int *ipiv_v;
+	int *ipiv_e;
+	int *ipiv_e1;
+	void *lq_work0;
+	void *lq_work1;
+	void *lq_work_null;
+	void *orglq_work_null;
+	int iter; // iteration number
+	int stat_max; // iterations saved in stat
+	int stat_m; // numer of recorded stat per ipm iter
+	int scale;
+	int use_hess_fact;
+	int use_A_fact;
+	int status;
+	int lq_fact; // cache from arg
+	int mask_constr; // use constr mask
+	int ne_li; // number of linearly independent equality constraints
+	int ne_bkp; // ne backup
+	hpipm_size_t memsize; // memory size (in bytes) of workspace
+	};
+
+
+
+//
+hpipm_size_t s_dense_qp_ipm_arg_memsize(struct s_dense_qp_dim *qp_dim);
+//
+void s_dense_qp_ipm_arg_create(struct s_dense_qp_dim *qp_dim, struct s_dense_qp_ipm_arg *arg, void *mem);
+//
+void s_dense_qp_ipm_arg_set_default(enum hpipm_mode mode, struct s_dense_qp_ipm_arg *arg);
+//
+void s_dense_qp_ipm_arg_set(char *field, void *value, struct s_dense_qp_ipm_arg *arg);
+//
+void s_dense_qp_ipm_arg_set_iter_max(int *iter_max, struct s_dense_qp_ipm_arg *arg);
+//
+void s_dense_qp_ipm_arg_set_alpha_min(float *alpha_min, struct s_dense_qp_ipm_arg *arg);
+//
+void s_dense_qp_ipm_arg_set_mu0(float *mu0, struct s_dense_qp_ipm_arg *arg);
+//
+void s_dense_qp_ipm_arg_set_tol_stat(float *tol_stat, struct s_dense_qp_ipm_arg *arg);
+//
+void s_dense_qp_ipm_arg_set_tol_eq(float *tol_eq, struct s_dense_qp_ipm_arg *arg);
+//
+void s_dense_qp_ipm_arg_set_tol_ineq(float *tol_ineq, struct s_dense_qp_ipm_arg *arg);
+//
+void s_dense_qp_ipm_arg_set_tol_comp(float *tol_comp, struct s_dense_qp_ipm_arg *arg);
+//
+void s_dense_qp_ipm_arg_set_reg_prim(float *reg, struct s_dense_qp_ipm_arg *arg);
+//
+void s_dense_qp_ipm_arg_set_reg_dual(float *reg, struct s_dense_qp_ipm_arg *arg);
+//
+void s_dense_qp_ipm_arg_set_warm_start(int *warm_start, struct s_dense_qp_ipm_arg *arg);
+//
+void s_dense_qp_ipm_arg_set_pred_corr(int *pred_corr, struct s_dense_qp_ipm_arg *arg);
+//
+void s_dense_qp_ipm_arg_set_cond_pred_corr(int *cond_pred_corr, struct s_dense_qp_ipm_arg *arg);
+//
+void s_dense_qp_ipm_arg_set_comp_res_pred(int *comp_res_pred, struct s_dense_qp_ipm_arg *arg);
+//
+void s_dense_qp_ipm_arg_set_comp_res_exit(int *comp_res_exit, struct s_dense_qp_ipm_arg *arg);
+//
+void s_dense_qp_ipm_arg_set_lam_min(float *value, struct s_dense_qp_ipm_arg *arg);
+//
+void s_dense_qp_ipm_arg_set_t_min(float *value, struct s_dense_qp_ipm_arg *arg);
+//
+void s_dense_qp_ipm_arg_set_tau_min(float *value, struct s_dense_qp_ipm_arg *arg);
+//
+void s_dense_qp_ipm_arg_set_kkt_fact_alg(int *value, struct s_dense_qp_ipm_arg *arg);
+//
+void s_dense_qp_ipm_arg_set_remove_lin_dep_eq(int *value, struct s_dense_qp_ipm_arg *arg);
+//
+void s_dense_qp_ipm_arg_set_compute_obj(int *value, struct s_dense_qp_ipm_arg *arg);
+//
+void s_dense_qp_ipm_arg_set_split_step(int *value, struct s_dense_qp_ipm_arg *arg);
+//
+void s_dense_qp_ipm_arg_set_t_lam_min(int *value, struct s_dense_qp_ipm_arg *arg);
+
+//
+hpipm_size_t s_dense_qp_ipm_ws_memsize(struct s_dense_qp_dim *qp_dim, struct s_dense_qp_ipm_arg *arg);
+//
+void s_dense_qp_ipm_ws_create(struct s_dense_qp_dim *qp_dim, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws, void *mem);
+//
+void s_dense_qp_ipm_get(char *field, struct s_dense_qp_ipm_ws *ws, void *value);
+//
+void s_dense_qp_ipm_get_status(struct s_dense_qp_ipm_ws *ws, int *status);
+//
+void s_dense_qp_ipm_get_iter(struct s_dense_qp_ipm_ws *ws, int *iter);
+//
+void s_dense_qp_ipm_get_max_res_stat(struct s_dense_qp_ipm_ws *ws, float *res_stat);
+//
+void s_dense_qp_ipm_get_max_res_eq(struct s_dense_qp_ipm_ws *ws, float *res_eq);
+//
+void s_dense_qp_ipm_get_max_res_ineq(struct s_dense_qp_ipm_ws *ws, float *res_ineq);
+//
+void s_dense_qp_ipm_get_max_res_comp(struct s_dense_qp_ipm_ws *ws, float *res_comp);
+//
+void s_dense_qp_ipm_get_stat(struct s_dense_qp_ipm_ws *ws, float **stat);
+//
+void s_dense_qp_ipm_get_stat_m(struct s_dense_qp_ipm_ws *ws, int *stat_m);
+//
+void s_dense_qp_init_var(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
+//
+void s_dense_qp_ipm_abs_step(int kk, struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
+//
+void s_dense_qp_ipm_delta_step(int kk, struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
+//
+void s_dense_qp_ipm_solve(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
+//
+void s_dense_qp_ipm_predict(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
+//
+void s_dense_qp_ipm_sens(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
+//
+void s_dense_qp_compute_step_length(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_S_DENSE_QP_IPM_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_kkt.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_kkt.h
new file mode 100644
index 0000000000..260dc0ab21
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_kkt.h
@@ -0,0 +1,72 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+
+#ifndef HPIPM_S_DENSE_QP_KKT_H_
+#define HPIPM_S_DENSE_QP_KKT_H_
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+//
+void s_fact_solve_kkt_unconstr_dense_qp(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
+//
+void s_fact_solve_kkt_step_dense_qp(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
+//
+void s_fact_lq_solve_kkt_step_dense_qp(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
+//
+void s_solve_kkt_step_dense_qp(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
+//
+void s_dense_qp_remove_lin_dep_eq(struct s_dense_qp *qp, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
+//
+void s_dense_qp_restore_lin_dep_eq(struct s_dense_qp *qp, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
+//
+void s_dense_qp_compute_obj(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_S_DENSE_QP_KKT_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_res.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_res.h
new file mode 100644
index 0000000000..06b609c537
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_res.h
@@ -0,0 +1,106 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_S_DENSE_QP_RES_H_
+#define HPIPM_S_DENSE_QP_RES_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include <hpipm_s_dense_qp_dim.h>
+#include <hpipm_s_dense_qp.h>
+#include <hpipm_s_dense_qp_sol.h>
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_dense_qp_res
+	{
+	struct s_dense_qp_dim *dim;
+	struct blasfeo_svec *res_g; // q-residuals
+	struct blasfeo_svec *res_b; // b-residuals
+	struct blasfeo_svec *res_d; // d-residuals
+	struct blasfeo_svec *res_m; // m-residuals
+	float res_max[4]; // max of residuals
+	float res_mu; // mu-residual
+	hpipm_size_t memsize;
+	};
+
+
+
+struct s_dense_qp_res_ws
+	{
+	struct blasfeo_svec *tmp_nbg; // work space of size nbM+ngM
+	struct blasfeo_svec *tmp_ns; // work space of size nsM
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t s_dense_qp_res_memsize(struct s_dense_qp_dim *dim);
+//
+void s_dense_qp_res_create(struct s_dense_qp_dim *dim, struct s_dense_qp_res *res, void *mem);
+//
+hpipm_size_t s_dense_qp_res_ws_memsize(struct s_dense_qp_dim *dim);
+//
+void s_dense_qp_res_ws_create(struct s_dense_qp_dim *dim, struct s_dense_qp_res_ws *workspace, void *mem);
+//
+void s_dense_qp_res_compute(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_res *res, struct s_dense_qp_res_ws *ws);
+//
+void s_dense_qp_res_compute_lin(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_sol *qp_step, struct s_dense_qp_res *res, struct s_dense_qp_res_ws *ws);
+//
+void s_dense_qp_res_compute_inf_norm(struct s_dense_qp_res *res);
+//
+void s_dense_qp_res_get_all(struct s_dense_qp_res *res, float *res_g, float *res_ls, float *res_us, float *res_b, float *res_d_lb, float *res_d_ub, float *res_d_lg, float *res_d_ug, float *res_d_ls, float *res_d_us, float *res_m_lb, float *res_m_ub, float *res_m_lg, float *res_m_ug, float *res_m_ls, float *res_m_us);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+#endif // HPIPM_D_DENSE_QP_RES_H_
+
+
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_sol.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_sol.h
new file mode 100644
index 0000000000..1f40076378
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_sol.h
@@ -0,0 +1,94 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+
+#ifndef HPIPM_S_DENSE_QP_SOL_H_
+#define HPIPM_S_DENSE_QP_SOL_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_s_dense_qp_dim.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_dense_qp_sol
+	{
+	struct s_dense_qp_dim *dim;
+	struct blasfeo_svec *v;
+	struct blasfeo_svec *pi;
+	struct blasfeo_svec *lam;
+	struct blasfeo_svec *t;
+	void *misc;
+	float obj;
+	int valid_obj;
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t s_dense_qp_sol_memsize(struct s_dense_qp_dim *dim);
+//
+void s_dense_qp_sol_create(struct s_dense_qp_dim *dim, struct s_dense_qp_sol *qp_sol, void *memory);
+//
+void s_dense_qp_sol_get_all(struct s_dense_qp_sol *qp_sol, float *v, float *ls, float *us, float *pi, float *lam_lb, float *lam_ub, float *lam_lg, float *lam_ug, float *lam_ls, float *lam_us);
+//
+void s_dense_qp_sol_get(char *field, struct s_dense_qp_sol *sol, void *value);
+//
+void s_dense_qp_sol_get_v(struct s_dense_qp_sol *sol, float *v);
+//
+void s_dense_qp_sol_get_valid_obj(struct s_dense_qp_sol *sol, int *valid_obj);
+//
+void s_dense_qp_sol_get_obj(struct s_dense_qp_sol *sol, float *obj);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_S_DENSE_QP_SOL_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_utils.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_utils.h
new file mode 100644
index 0000000000..3dd93259a5
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_utils.h
@@ -0,0 +1,84 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_S_DENSE_QP_UTILS_H_
+#define HPIPM_S_DENSE_QP_UTILS_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_s_dense_qp_dim.h"
+#include "hpipm_s_dense_qp.h"
+#include "hpipm_s_dense_qp_sol.h"
+#include "hpipm_s_dense_qp_ipm.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+//
+void s_dense_qp_dim_print(struct s_dense_qp_dim *qp_dim);
+//
+//void s_dense_qp_dim_codegen(char *file_name, char *mode, struct s_dense_qp_dim *qp_dim);
+//
+void s_dense_qp_print(struct s_dense_qp_dim *qp_dim, struct s_dense_qp *qp);
+//
+//void s_dense_qp_codegen(char *file_name, char *mode, struct s_dense_qp_dim *qp_dim, struct s_dense_qp *qp);
+//
+void s_dense_qp_sol_print(struct s_dense_qp_dim *qp_dim, struct s_dense_qp_sol *dense_qp_sol);
+//
+//void s_dense_qp_ipm_arg_codegen(char *file_name, char *mode, struct s_dense_qp_dim *qp_dim, struct s_dense_qp_ipm_arg *arg);
+//
+void s_dense_qp_res_print(struct s_dense_qp_dim *qp_dim, struct s_dense_qp_res *dense_qp_res);
+//
+void s_dense_qp_arg_print(struct s_dense_qp_dim *qp_dim, struct s_dense_qp_ipm_arg *qp_ipm_arg);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+
+#endif // HPIPM_S_DENSE_QP_UTILS_H_
+
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp.h
new file mode 100644
index 0000000000..b90b2ac633
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp.h
@@ -0,0 +1,303 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_S_OCP_QCQP_H_
+#define HPIPM_S_OCP_QCQP_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_s_ocp_qcqp_dim.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_ocp_qcqp
+	{
+	struct s_ocp_qcqp_dim *dim;
+	struct blasfeo_smat *BAbt; // dynamics matrix & vector work space
+	struct blasfeo_smat *RSQrq; // hessian of cost & vector work space
+	struct blasfeo_smat *DCt; // inequality constraints matrix
+	struct blasfeo_smat **Hq; // hessians of quadratic constraints
+	struct blasfeo_svec *b; // dynamics vector
+	struct blasfeo_svec *rqz; // gradient of cost & gradient of slacks
+	struct blasfeo_svec *d; // inequality constraints vector
+	struct blasfeo_svec *d_mask; // inequality constraints mask vector
+	struct blasfeo_svec *m; // rhs of complementarity condition
+	struct blasfeo_svec *Z; // (diagonal) hessian of slacks
+	int **idxb; // indices of box constrained variables within [u; x]
+	int **idxs_rev; // index of soft constraints (reverse storage)
+	int **Hq_nzero; // for each int, the last 3 bits ...abc, {a,b,c}=0 => {R,S,Q}=0
+	hpipm_size_t memsize; // memory size in bytes
+	};
+
+
+
+//
+hpipm_size_t s_ocp_qcqp_strsize();
+//
+hpipm_size_t s_ocp_qcqp_memsize(struct s_ocp_qcqp_dim *dim);
+//
+void s_ocp_qcqp_create(struct s_ocp_qcqp_dim *dim, struct s_ocp_qcqp *qp, void *memory);
+//
+void s_ocp_qcqp_copy_all(struct s_ocp_qcqp *qp_orig, struct s_ocp_qcqp *qp_dest);
+
+// setters
+//
+void s_ocp_qcqp_set_all_zero(struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_rhs_zero(struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set(char *fiels_name, int stage, void *value, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_el(char *fiels_name, int stage, int index, void *value, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_A(int stage, float *mat, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_B(int stage, float *mat, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_b(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_Q(int stage, float *mat, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_S(int stage, float *mat, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_R(int stage, float *mat, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_q(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_r(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_lb(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_lb_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_ub(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_ub_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_lbx(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_lbx_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_el_lbx(int stage, int index, float *elem, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_ubx(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_ubx_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_el_ubx(int stage, int index, float *elem, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_lbu(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_lbu_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_ubu(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_ubu_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_idxb(int stage, int *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_idxbx(int stage, int *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_Jbx(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_idxbu(int stage, int *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_Jbu(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_C(int stage, float *mat, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_D(int stage, float *mat, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_lg(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_lg_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_ug(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_ug_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_Qq(int stage, float *mat, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_Sq(int stage, float *mat, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_Rq(int stage, float *mat, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_qq(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_rq(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_uq(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_uq_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_Zl(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_Zu(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_zl(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_zu(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_lls(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_lls_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_lus(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_lus_mask(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_idxs(int stage, int *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_idxs_rev(int stage, int *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_Jsbu(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_Jsbx(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_Jsg(int stage, float *vec, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_set_Jsq(int stage, float *vec, struct s_ocp_qcqp *qp);
+
+// getters
+//
+void s_ocp_qcqp_get(char *field, int stage, struct s_ocp_qcqp *qp, void *value);
+//
+void s_ocp_qcqp_get_A(int stage, struct s_ocp_qcqp *qp, float *mat);
+//
+void s_ocp_qcqp_get_B(int stage, struct s_ocp_qcqp *qp, float *mat);
+//
+void s_ocp_qcqp_get_b(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_Q(int stage, struct s_ocp_qcqp *qp, float *mat);
+//
+void s_ocp_qcqp_get_S(int stage, struct s_ocp_qcqp *qp, float *mat);
+//
+void s_ocp_qcqp_get_R(int stage, struct s_ocp_qcqp *qp, float *mat);
+//
+void s_ocp_qcqp_get_q(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_r(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_ub(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_ub_mask(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_lb(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_lb_mask(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_lbx(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_lbx_mask(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_ubx(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_ubx_mask(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_lbu(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_lbu_mask(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_ubu(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_ubu_mask(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_idxb(int stage, struct s_ocp_qcqp *qp, int *vec);
+//
+//void s_ocp_qcqp_get_idxbx(int stage, struct s_ocp_qcqp *qp, int *vec);
+//
+//void s_ocp_qcqp_get_Jbx(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+//void s_ocp_qcqp_get_idxbu(int stage, struct s_ocp_qcqp *qp, int *vec);
+//
+//void s_ocp_qcqp_get_Jbu(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_C(int stage, struct s_ocp_qcqp *qp, float *mat);
+//
+void s_ocp_qcqp_get_D(int stage, struct s_ocp_qcqp *qp, float *mat);
+//
+void s_ocp_qcqp_get_lg(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_lg_mask(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_ug(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_ug_mask(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_Zl(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_Zu(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_zl(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_zu(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_lls(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_lls_mask(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_lus(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+void s_ocp_qcqp_get_lus_mask(int stage, struct s_ocp_qcqp *qp, float *vec);
+// XXX only valid if there is one slack per softed constraint !!!
+void s_ocp_qcqp_get_idxs(int stage, struct s_ocp_qcqp *qp, int *vec);
+//
+void s_ocp_qcqp_get_idxs_rev(int stage, struct s_ocp_qcqp *qp, int *vec);
+//
+//void s_ocp_qcqp_get_Jsbu(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+//void s_ocp_qcqp_get_Jsbx(int stage, struct s_ocp_qcqp *qp, float *vec);
+//
+//void s_ocp_qcqp_get_Jsg(int stage, struct s_ocp_qcqp *qp, float *vec);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_S_OCP_QCQP_H_
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_dim.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_dim.h
new file mode 100644
index 0000000000..c09903f074
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_dim.h
@@ -0,0 +1,119 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_S_OCP_QCQP_DIM_H_
+#define HPIPM_S_OCP_QCQP_DIM_H_
+
+#include "hpipm_common.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_ocp_qcqp_dim
+	{
+	struct s_ocp_qp_dim *qp_dim; // dim of qp approximation
+	int *nx; // number of states
+	int *nu; // number of inputs
+	int *nb; // number of box constraints
+	int *nbx; // number of (two-sided) state box constraints
+	int *nbu; // number of (two-sided) input box constraints
+	int *ng; // number of (two-sided) general constraints
+	int *nq; // number of (upper) quadratic constraints
+	int *ns; // number of soft constraints
+	int *nsbx; // number of (two-sided) soft state box constraints
+	int *nsbu; // number of (two-sided) soft input box constraints
+	int *nsg; // number of (two-sided) soft general constraints
+	int *nsq; // number of (upper) soft quadratic constraints
+	int N; // horizon length
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t s_ocp_qcqp_dim_strsize();
+//
+hpipm_size_t s_ocp_qcqp_dim_memsize(int N);
+//
+void s_ocp_qcqp_dim_create(int N, struct s_ocp_qcqp_dim *qp_dim, void *memory);
+//
+void s_ocp_qcqp_dim_copy_all(struct s_ocp_qcqp_dim *dim_orig, struct s_ocp_qcqp_dim *dim_dest);
+//
+void s_ocp_qcqp_dim_set(char *field, int stage, int value, struct s_ocp_qcqp_dim *dim);
+//
+void s_ocp_qcqp_dim_set_nx(int stage, int value, struct s_ocp_qcqp_dim *dim);
+//
+void s_ocp_qcqp_dim_set_nu(int stage, int value, struct s_ocp_qcqp_dim *dim);
+//
+void s_ocp_qcqp_dim_set_nbx(int stage, int value, struct s_ocp_qcqp_dim *dim);
+//
+void s_ocp_qcqp_dim_set_nbu(int stage, int value, struct s_ocp_qcqp_dim *dim);
+//
+void s_ocp_qcqp_dim_set_ng(int stage, int value, struct s_ocp_qcqp_dim *dim);
+//
+void s_ocp_qcqp_dim_set_nq(int stage, int value, struct s_ocp_qcqp_dim *dim);
+//
+void s_ocp_qcqp_dim_set_ns(int stage, int value, struct s_ocp_qcqp_dim *dim);
+//
+void s_ocp_qcqp_dim_set_nsbx(int stage, int value, struct s_ocp_qcqp_dim *dim);
+//
+void s_ocp_qcqp_dim_set_nsbu(int stage, int value, struct s_ocp_qcqp_dim *dim);
+//
+void s_ocp_qcqp_dim_set_nsg(int stage, int value, struct s_ocp_qcqp_dim *dim);
+//
+void s_ocp_qcqp_dim_set_nsq(int stage, int value, struct s_ocp_qcqp_dim *dim);
+//
+void s_ocp_qcqp_dim_get(struct s_ocp_qcqp_dim *dim, char *field, int stage, int *value);
+//
+void s_ocp_qcqp_dim_get_N(struct s_ocp_qcqp_dim *dim, int *value);
+//
+void s_ocp_qcqp_dim_get_nx(struct s_ocp_qcqp_dim *dim, int stage, int *value);
+//
+void s_ocp_qcqp_dim_get_nu(struct s_ocp_qcqp_dim *dim, int stage, int *value);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+
+#endif // HPIPM_S_OCP_QCQP_DIM_H_
+
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_ipm.h
new file mode 100644
index 0000000000..c14fc1c9fd
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_ipm.h
@@ -0,0 +1,191 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_S_OCP_QCQP_IPM_H_
+#define HPIPM_S_OCP_QCQP_IPM_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include <hpipm_common.h>
+#include <hpipm_s_ocp_qcqp_dim.h>
+#include <hpipm_s_ocp_qp.h>
+#include <hpipm_s_ocp_qcqp_res.h>
+#include <hpipm_s_ocp_qcqp_sol.h>
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_ocp_qcqp_ipm_arg
+	{
+	struct s_ocp_qp_ipm_arg *qp_arg;
+	float mu0; // initial value for complementarity slackness
+	float alpha_min; // exit cond on step length
+	float res_g_max; // exit cond on inf norm of residuals
+	float res_b_max; // exit cond on inf norm of residuals
+	float res_d_max; // exit cond on inf norm of residuals
+	float res_m_max; // exit cond on inf norm of residuals
+	float reg_prim; // reg of primal hessian
+	float lam_min; // min value in lam vector
+	float t_min; // min value in t vector
+	int iter_max; // exit cond in iter number
+	int stat_max; // iterations saved in stat
+	int pred_corr; // use Mehrotra's predictor-corrector IPM algirthm
+	int cond_pred_corr; // conditional Mehrotra's predictor-corrector
+	int itref_pred_max; // max number of iterative refinement steps for predictor step
+	int itref_corr_max; // max number of iterative refinement steps for corrector step
+	int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
+	int square_root_alg; // 0 classical Riccati, 1 square-root Riccati
+	int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq (for square_root_alg==1)
+	int abs_form; // absolute IPM formulation
+	int comp_dual_sol_eq; // dual solution of equality constraints (only for abs_form==1)
+	int comp_res_exit; // compute residuals on exit (only for abs_form==1 and comp_dual_sol_eq==1)
+	int comp_res_pred; // compute residuals of prediction
+	int split_step; // use different step for primal and dual variables
+	int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
+	int mode;
+	hpipm_size_t memsize;
+	};
+
+
+
+struct s_ocp_qcqp_ipm_ws
+	{
+	struct s_ocp_qp_ipm_ws *qp_ws;
+	struct s_ocp_qp *qp;
+	struct s_ocp_qp_sol *qp_sol;
+	struct s_ocp_qcqp_res_ws *qcqp_res_ws;
+	struct s_ocp_qcqp_res *qcqp_res;
+	struct blasfeo_svec *tmp_nuxM;
+	int iter; // iteration number
+	int status;
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t s_ocp_qcqp_ipm_arg_strsize();
+//
+hpipm_size_t s_ocp_qcqp_ipm_arg_memsize(struct s_ocp_qcqp_dim *ocp_dim);
+//
+void s_ocp_qcqp_ipm_arg_create(struct s_ocp_qcqp_dim *ocp_dim, struct s_ocp_qcqp_ipm_arg *arg, void *mem);
+//
+void s_ocp_qcqp_ipm_arg_set_default(enum hpipm_mode mode, struct s_ocp_qcqp_ipm_arg *arg);
+//
+void s_ocp_qcqp_ipm_arg_set(char *field, void *value, struct s_ocp_qcqp_ipm_arg *arg);
+// set maximum number of iterations
+void s_ocp_qcqp_ipm_arg_set_iter_max(int *value, struct s_ocp_qcqp_ipm_arg *arg);
+// set minimum step lenght
+void s_ocp_qcqp_ipm_arg_set_alpha_min(float *value, struct s_ocp_qcqp_ipm_arg *arg);
+// set initial value of barrier parameter
+void s_ocp_qcqp_ipm_arg_set_mu0(float *value, struct s_ocp_qcqp_ipm_arg *arg);
+// set exit tolerance on stationarity condition
+void s_ocp_qcqp_ipm_arg_set_tol_stat(float *value, struct s_ocp_qcqp_ipm_arg *arg);
+// set exit tolerance on equality constr
+void s_ocp_qcqp_ipm_arg_set_tol_eq(float *value, struct s_ocp_qcqp_ipm_arg *arg);
+// set exit tolerance on inequality constr
+void s_ocp_qcqp_ipm_arg_set_tol_ineq(float *value, struct s_ocp_qcqp_ipm_arg *arg);
+// set exit tolerance on complementarity condition
+void s_ocp_qcqp_ipm_arg_set_tol_comp(float *value, struct s_ocp_qcqp_ipm_arg *arg);
+// set regularization of primal variables
+void s_ocp_qcqp_ipm_arg_set_reg_prim(float *value, struct s_ocp_qcqp_ipm_arg *arg);
+// set warm start: 0 no warm start, 1 primal var
+void s_ocp_qcqp_ipm_arg_set_warm_start(int *value, struct s_ocp_qcqp_ipm_arg *arg);
+// Mehrotra's predictor-corrector IPM algorithm: 0 no predictor-corrector, 1 use predictor-corrector
+void s_ocp_qcqp_ipm_arg_set_pred_corr(int *value, struct s_ocp_qcqp_ipm_arg *arg);
+// conditional predictor-corrector: 0 no conditinal predictor-corrector, 1 conditional predictor-corrector
+void s_ocp_qcqp_ipm_arg_set_cond_pred_corr(int *value, struct s_ocp_qcqp_ipm_arg *arg);
+// set riccati algorithm: 0 classic, 1 square-root
+void s_ocp_qcqp_ipm_arg_set_ric_alg(int *value, struct s_ocp_qcqp_ipm_arg *arg);
+// compute residuals after solution
+void s_ocp_qcqp_ipm_arg_set_comp_res_exit(int *value, struct s_ocp_qcqp_ipm_arg *arg);
+// compute residuals of prediction
+void s_ocp_qcqp_ipm_arg_set_comp_res_pred(int *value, struct s_ocp_qcqp_ipm_arg *arg);
+// min value of lam in the solution
+void s_ocp_qcqp_ipm_arg_set_lam_min(float *value, struct s_ocp_qcqp_ipm_arg *arg);
+// min value of t in the solution
+void s_ocp_qcqp_ipm_arg_set_t_min(float *value, struct s_ocp_qcqp_ipm_arg *arg);
+// use different step for primal and dual variables
+void s_ocp_qcqp_ipm_arg_set_split_step(int *value, struct s_ocp_qcqp_ipm_arg *arg);
+// clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
+void s_ocp_qcqp_ipm_arg_set_t_lam_min(int *value, struct s_ocp_qcqp_ipm_arg *arg);
+
+//
+hpipm_size_t s_ocp_qcqp_ipm_ws_strsize();
+//
+hpipm_size_t s_ocp_qcqp_ipm_ws_memsize(struct s_ocp_qcqp_dim *ocp_dim, struct s_ocp_qcqp_ipm_arg *arg);
+//
+void s_ocp_qcqp_ipm_ws_create(struct s_ocp_qcqp_dim *ocp_dim, struct s_ocp_qcqp_ipm_arg *arg, struct s_ocp_qcqp_ipm_ws *ws, void *mem);
+//
+void s_ocp_qcqp_ipm_get(char *field, struct s_ocp_qcqp_ipm_ws *ws, void *value);
+//
+void s_ocp_qcqp_ipm_get_status(struct s_ocp_qcqp_ipm_ws *ws, int *status);
+//
+void s_ocp_qcqp_ipm_get_iter(struct s_ocp_qcqp_ipm_ws *ws, int *iter);
+//
+void s_ocp_qcqp_ipm_get_max_res_stat(struct s_ocp_qcqp_ipm_ws *ws, float *res_stat);
+//
+void s_ocp_qcqp_ipm_get_max_res_eq(struct s_ocp_qcqp_ipm_ws *ws, float *res_eq);
+//
+void s_ocp_qcqp_ipm_get_max_res_ineq(struct s_ocp_qcqp_ipm_ws *ws, float *res_ineq);
+//
+void s_ocp_qcqp_ipm_get_max_res_comp(struct s_ocp_qcqp_ipm_ws *ws, float *res_comp);
+//
+void s_ocp_qcqp_ipm_get_stat(struct s_ocp_qcqp_ipm_ws *ws, float **stat);
+//
+void s_ocp_qcqp_ipm_get_stat_m(struct s_ocp_qcqp_ipm_ws *ws, int *stat_m);
+//
+void s_ocp_qcqp_init_var(struct s_ocp_qcqp *qp, struct s_ocp_qcqp_sol *qp_sol, struct s_ocp_qcqp_ipm_arg *arg, struct s_ocp_qcqp_ipm_ws *ws);
+//
+void s_ocp_qcqp_ipm_solve(struct s_ocp_qcqp *qp, struct s_ocp_qcqp_sol *qp_sol, struct s_ocp_qcqp_ipm_arg *arg, struct s_ocp_qcqp_ipm_ws *ws);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+#endif // HPIPM_S_OCP_QCQP_IPM_H_
+
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_res.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_res.h
new file mode 100644
index 0000000000..1ceeec93b7
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_res.h
@@ -0,0 +1,115 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_S_OCP_QCQP_RES_H_
+#define HPIPM_S_OCP_QCQP_RES_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include <hpipm_common.h>
+#include <hpipm_s_ocp_qcqp_dim.h>
+#include <hpipm_s_ocp_qcqp.h>
+#include <hpipm_s_ocp_qcqp_sol.h>
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_ocp_qcqp_res
+	{
+	struct s_ocp_qcqp_dim *dim;
+	struct blasfeo_svec *res_g; // q-residuals
+	struct blasfeo_svec *res_b; // b-residuals
+	struct blasfeo_svec *res_d; // d-residuals
+	struct blasfeo_svec *res_m; // m-residuals
+	float res_max[4]; // max of residuals
+	float res_mu; // mu-residual
+	hpipm_size_t memsize;
+	};
+
+
+
+struct s_ocp_qcqp_res_ws
+	{
+	struct blasfeo_svec *tmp_nuxM; // work space of size nuM+nxM
+	struct blasfeo_svec *tmp_nbgqM; // work space of size nbM+ngM+nqM
+	struct blasfeo_svec *tmp_nsM; // work space of size nsM
+	struct blasfeo_svec *q_fun; // value for evaluation of quadr constr
+	struct blasfeo_svec *q_adj; // value for adjoint of quadr constr
+	int use_q_fun; // reuse cached value for evaluation of quadr constr
+	int use_q_adj; // reuse cached value for adjoint of quadr constr
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t s_ocp_qcqp_res_memsize(struct s_ocp_qcqp_dim *ocp_dim);
+//
+void s_ocp_qcqp_res_create(struct s_ocp_qcqp_dim *ocp_dim, struct s_ocp_qcqp_res *res, void *mem);
+//
+hpipm_size_t s_ocp_qcqp_res_ws_memsize(struct s_ocp_qcqp_dim *ocp_dim);
+//
+void s_ocp_qcqp_res_ws_create(struct s_ocp_qcqp_dim *ocp_dim, struct s_ocp_qcqp_res_ws *workspace, void *mem);
+//
+void s_ocp_qcqp_res_compute(struct s_ocp_qcqp *qp, struct s_ocp_qcqp_sol *qp_sol, struct s_ocp_qcqp_res *res, struct s_ocp_qcqp_res_ws *ws);
+//
+void s_ocp_qcqp_res_compute_inf_norm(struct s_ocp_qcqp_res *res);
+//
+void s_ocp_qcqp_res_get_max_res_stat(struct s_ocp_qcqp_res *res, float *value);
+//
+void s_ocp_qcqp_res_get_max_res_eq(struct s_ocp_qcqp_res *res, float *value);
+//
+void s_ocp_qcqp_res_get_max_res_ineq(struct s_ocp_qcqp_res *res, float *value);
+//
+void s_ocp_qcqp_res_get_max_res_comp(struct s_ocp_qcqp_res *res, float *value);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+#endif // HPIPM_S_OCP_QCQP_RES_H_
+
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_sol.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_sol.h
new file mode 100644
index 0000000000..3d58022cc9
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_sol.h
@@ -0,0 +1,115 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_S_OCP_QCQP_SOL_H_
+#define HPIPM_S_OCP_QCQP_SOL_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_s_ocp_qcqp_dim.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_ocp_qcqp_sol
+	{
+	struct s_ocp_qcqp_dim *dim;
+	struct blasfeo_svec *ux;
+	struct blasfeo_svec *pi;
+	struct blasfeo_svec *lam;
+	struct blasfeo_svec *t;
+	hpipm_size_t memsize; // memory size in bytes
+	};
+
+
+
+//
+hpipm_size_t s_ocp_qcqp_sol_strsize();
+//
+hpipm_size_t s_ocp_qcqp_sol_memsize(struct s_ocp_qcqp_dim *dim);
+//
+void s_ocp_qcqp_sol_create(struct s_ocp_qcqp_dim *dim, struct s_ocp_qcqp_sol *qp_sol, void *memory);
+//
+void s_ocp_qcqp_sol_copy_all(struct s_ocp_qcqp_sol *qp_sol_orig, struct s_ocp_qcqp_sol *qp_sol_dest);
+//
+void s_ocp_qcqp_sol_get(char *field, int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec);
+//
+void s_ocp_qcqp_sol_get_u(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec);
+//
+void s_ocp_qcqp_sol_get_x(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec);
+//
+void s_ocp_qcqp_sol_get_sl(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec);
+//
+void s_ocp_qcqp_sol_get_su(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec);
+//
+void s_ocp_qcqp_sol_get_pi(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec);
+//
+void s_ocp_qcqp_sol_get_lam_lb(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec);
+//
+void s_ocp_qcqp_sol_get_lam_ub(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec);
+//
+void s_ocp_qcqp_sol_get_lam_lg(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec);
+//
+void s_ocp_qcqp_sol_get_lam_ug(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec);
+//
+void s_ocp_qcqp_sol_set(char *field, int stage, float *vec, struct s_ocp_qcqp_sol *qp_sol);
+//
+void s_ocp_qcqp_sol_set_u(int stage, float *vec, struct s_ocp_qcqp_sol *qp_sol);
+//
+void s_ocp_qcqp_sol_set_x(int stage, float *vec, struct s_ocp_qcqp_sol *qp_sol);
+//
+void s_ocp_qcqp_sol_set_sl(int stage, float *vec, struct s_ocp_qcqp_sol *qp_sol);
+//
+void s_ocp_qcqp_sol_set_su(int stage, float *vec, struct s_ocp_qcqp_sol *qp_sol);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+
+#endif // HPIPM_S_OCP_QCQP_SOL_H_
+
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_utils.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_utils.h
new file mode 100644
index 0000000000..d64e3aabe7
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_utils.h
@@ -0,0 +1,82 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_S_OCP_QCQP_UTILS_H_
+#define HPIPM_S_OCP_QCQP_UTILS_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_s_ocp_qcqp_dim.h"
+#include "hpipm_s_ocp_qp.h"
+#include "hpipm_s_ocp_qcqp_sol.h"
+#include "hpipm_s_ocp_qcqp_ipm.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+//
+void s_ocp_qcqp_dim_print(struct s_ocp_qcqp_dim *qcqp_dim);
+//
+void s_ocp_qcqp_dim_codegen(char *file_name, char *mode, struct s_ocp_qcqp_dim *qcqp_dim);
+//
+void s_ocp_qcqp_print(struct s_ocp_qcqp_dim *qcqp_dim, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_codegen(char *file_name, char *mode, struct s_ocp_qcqp_dim *qcqp_dim, struct s_ocp_qcqp *qp);
+//
+void s_ocp_qcqp_sol_print(struct s_ocp_qcqp_dim *qcqp_dim, struct s_ocp_qcqp_sol *ocp_qcqp_sol);
+//
+void s_ocp_qcqp_ipm_arg_codegen(char *file_name, char *mode, struct s_ocp_qcqp_dim *qcqp_dim, struct s_ocp_qcqp_ipm_arg *arg);
+//
+void s_ocp_qcqp_res_print(struct s_ocp_qcqp_dim *qcqp_dim, struct s_ocp_qcqp_res *ocp_qcqp_res);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+
+#endif // HPIPM_S_OCP_QCQP_UTILS_H_
+
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp.h
new file mode 100644
index 0000000000..b49191f192
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp.h
@@ -0,0 +1,306 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_S_OCP_QP_H_
+#define HPIPM_S_OCP_QP_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_s_ocp_qp_dim.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_ocp_qp
+	{
+	struct s_ocp_qp_dim *dim;
+	struct blasfeo_smat *BAbt; // dynamics matrix & vector work space
+	struct blasfeo_smat *RSQrq; // hessian of cost & vector work space
+	struct blasfeo_smat *DCt; // inequality constraints matrix
+	struct blasfeo_svec *b; // dynamics vector
+	struct blasfeo_svec *rqz; // gradient of cost & gradient of slacks
+	struct blasfeo_svec *d; // inequality constraints vector
+	struct blasfeo_svec *d_mask; // inequality constraints mask vector
+	struct blasfeo_svec *m; // rhs of complementarity condition
+	struct blasfeo_svec *Z; // (diagonal) hessian of slacks
+	int **idxb; // indices of box constrained variables within [u; x]
+	int **idxs_rev; // index of soft constraints (reverse storage)
+	int **idxe; // indices of constraints within [bu, bx, g] that are equalities, subset of [0, ..., nbu+nbx+ng-1]
+	int *diag_H_flag; // flag the fact that Hessian is diagonal
+	hpipm_size_t memsize; // memory size in bytes
+	};
+
+
+
+//
+hpipm_size_t s_ocp_qp_strsize();
+//
+hpipm_size_t s_ocp_qp_memsize(struct s_ocp_qp_dim *dim);
+//
+void s_ocp_qp_create(struct s_ocp_qp_dim *dim, struct s_ocp_qp *qp, void *memory);
+//
+void s_ocp_qp_copy_all(struct s_ocp_qp *qp_orig, struct s_ocp_qp *qp_dest);
+
+// setters
+//
+void s_ocp_qp_set_all_zero(struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_rhs_zero(struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_all(float **A, float **B, float **b, float **Q, float **S, float **R, float **q, float **r, int **idxbx, float **lbx, float **ubx, int **idxbu, float **lbu, float **ubu, float **C, float **D, float **lg, float **ug, float **Zl, float **Zu, float **zl, float **zu, int **idxs, float **ls, float **us, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_all_rowmaj(float **A, float **B, float **b, float **Q, float **S, float **R, float **q, float **r, int **idxbx, float **lbx, float **ubx, int **idxbu, float **lbu, float **ubu, float **C, float **D, float **lg, float **ug, float **Zl, float **Zu, float **zl, float **zu, int **idxs, float **ls, float **us, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set(char *fiels_name, int stage, void *value, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_el(char *fiels_name, int stage, int index, void *value, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_A(int stage, float *mat, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_B(int stage, float *mat, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_b(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_Q(int stage, float *mat, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_S(int stage, float *mat, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_R(int stage, float *mat, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_q(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_r(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_lb(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_lb_mask(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_ub(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_ub_mask(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_lbx(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_lbx_mask(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_el_lbx(int stage, int index, float *elem, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_ubx(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_ubx_mask(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_el_ubx(int stage, int index, float *elem, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_lbu(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_lbu_mask(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_ubu(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_ubu_mask(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_idxb(int stage, int *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_idxbx(int stage, int *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_Jbx(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_idxbu(int stage, int *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_Jbu(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_C(int stage, float *mat, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_D(int stage, float *mat, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_lg(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_lg_mask(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_ug(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_ug_mask(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_Zl(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_Zu(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_zl(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_zu(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_lls(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_lls_mask(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_lus(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_lus_mask(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_idxs(int stage, int *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_idxs_rev(int stage, int *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_Jsbu(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_Jsbx(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_Jsg(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_idxe(int stage, int *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_idxbxe(int stage, int *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_idxbue(int stage, int *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_idxge(int stage, int *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_Jbxe(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_Jbue(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_Jge(int stage, float *vec, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_set_diag_H_flag(int stage, int *value, struct s_ocp_qp *qp);
+
+// getters
+//
+void s_ocp_qp_get(char *field, int stage, struct s_ocp_qp *qp, void *value);
+//
+void s_ocp_qp_get_A(int stage, struct s_ocp_qp *qp, float *mat);
+//
+void s_ocp_qp_get_B(int stage, struct s_ocp_qp *qp, float *mat);
+//
+void s_ocp_qp_get_b(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_Q(int stage, struct s_ocp_qp *qp, float *mat);
+//
+void s_ocp_qp_get_S(int stage, struct s_ocp_qp *qp, float *mat);
+//
+void s_ocp_qp_get_R(int stage, struct s_ocp_qp *qp, float *mat);
+//
+void s_ocp_qp_get_q(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_r(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_ub(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_ub_mask(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_lb(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_lb_mask(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_lbx(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_lbx_mask(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_ubx(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_ubx_mask(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_lbu(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_lbu_mask(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_ubu(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_ubu_mask(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_idxb(int stage, struct s_ocp_qp *qp, int *vec);
+//
+//void s_ocp_qp_get_idxbx(int stage, struct s_ocp_qp *qp, int *vec);
+//
+//void s_ocp_qp_get_Jbx(int stage, struct s_ocp_qp *qp, float *vec);
+//
+//void s_ocp_qp_get_idxbu(int stage, struct s_ocp_qp *qp, int *vec);
+//
+//void s_ocp_qp_get_Jbu(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_C(int stage, struct s_ocp_qp *qp, float *mat);
+//
+void s_ocp_qp_get_D(int stage, struct s_ocp_qp *qp, float *mat);
+//
+void s_ocp_qp_get_lg(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_lg_mask(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_ug(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_ug_mask(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_Zl(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_Zu(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_zl(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_zu(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_lls(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_lls_mask(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_lus(int stage, struct s_ocp_qp *qp, float *vec);
+//
+void s_ocp_qp_get_lus_mask(int stage, struct s_ocp_qp *qp, float *vec);
+// XXX only valid if there is one slack per softed constraint !!!
+void s_ocp_qp_get_idxs(int stage, struct s_ocp_qp *qp, int *vec);
+//
+void s_ocp_qp_get_idxs_rev(int stage, struct s_ocp_qp *qp, int *vec);
+//
+//void s_ocp_qp_get_Jsbu(int stage, struct s_ocp_qp *qp, float *vec);
+//
+//void s_ocp_qp_get_Jsbx(int stage, struct s_ocp_qp *qp, float *vec);
+//
+//void s_ocp_qp_get_Jsg(int stage, struct s_ocp_qp *qp, float *vec);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_S_OCP_QP_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_dim.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_dim.h
new file mode 100644
index 0000000000..bce80243b3
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_dim.h
@@ -0,0 +1,141 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_S_OCP_QP_DIM_H_
+#define HPIPM_S_OCP_QP_DIM_H_
+
+#include "hpipm_common.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_ocp_qp_dim
+	{
+	int *nx; // number of states
+	int *nu; // number of inputs
+	int *nb; // number of box constraints
+	int *nbx; // number of state box constraints
+	int *nbu; // number of input box constraints
+	int *ng; // number of general constraints
+	int *ns; // number of soft constraints
+	int *nsbx; // number of soft state box constraints
+	int *nsbu; // number of soft input box constraints
+	int *nsg; // number of soft general constraints
+	int *nbxe; // number of state box constraints which are equality
+	int *nbue; // number of input box constraints which are equality
+	int *nge; // number of general constraints which are equality
+	int N; // horizon length
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t s_ocp_qp_dim_strsize();
+//
+hpipm_size_t s_ocp_qp_dim_memsize(int N);
+//
+void s_ocp_qp_dim_create(int N, struct s_ocp_qp_dim *qp_dim, void *memory);
+//
+void s_ocp_qp_dim_copy_all(struct s_ocp_qp_dim *dim_orig, struct s_ocp_qp_dim *dim_dest);
+//
+void s_ocp_qp_dim_set_all(int *nx, int *nu, int *nbx, int *nbu, int *ng, int *nsbx, int *nsbu, int *nsg, struct s_ocp_qp_dim *dim);
+//
+void s_ocp_qp_dim_set(char *field, int stage, int value, struct s_ocp_qp_dim *dim);
+//
+void s_ocp_qp_dim_set_nx(int stage, int value, struct s_ocp_qp_dim *dim);
+//
+void s_ocp_qp_dim_set_nu(int stage, int value, struct s_ocp_qp_dim *dim);
+//
+void s_ocp_qp_dim_set_nbx(int stage, int value, struct s_ocp_qp_dim *dim);
+//
+void s_ocp_qp_dim_set_nbu(int stage, int value, struct s_ocp_qp_dim *dim);
+//
+void s_ocp_qp_dim_set_ng(int stage, int value, struct s_ocp_qp_dim *dim);
+//
+void s_ocp_qp_dim_set_ns(int stage, int value, struct s_ocp_qp_dim *dim);
+//
+void s_ocp_qp_dim_set_nsbx(int stage, int value, struct s_ocp_qp_dim *dim);
+//
+void s_ocp_qp_dim_set_nsbu(int stage, int value, struct s_ocp_qp_dim *dim);
+//
+void s_ocp_qp_dim_set_nsg(int stage, int value, struct s_ocp_qp_dim *dim);
+//
+void s_ocp_qp_dim_set_nbxe(int stage, int value, struct s_ocp_qp_dim *dim);
+//
+void s_ocp_qp_dim_set_nbue(int stage, int value, struct s_ocp_qp_dim *dim);
+//
+void s_ocp_qp_dim_set_nge(int stage, int value, struct s_ocp_qp_dim *dim);
+//
+void s_ocp_qp_dim_get(struct s_ocp_qp_dim *dim, char *field, int stage, int *value);
+//
+void s_ocp_qp_dim_get_N(struct s_ocp_qp_dim *dim, int *value);
+//
+void s_ocp_qp_dim_get_nx(struct s_ocp_qp_dim *dim, int stage, int *value);
+//
+void s_ocp_qp_dim_get_nu(struct s_ocp_qp_dim *dim, int stage, int *value);
+//
+void s_ocp_qp_dim_get_nbx(struct s_ocp_qp_dim *dim, int stage, int *value);
+//
+void s_ocp_qp_dim_get_nbu(struct s_ocp_qp_dim *dim, int stage, int *value);
+//
+void s_ocp_qp_dim_get_ng(struct s_ocp_qp_dim *dim, int stage, int *value);
+//
+void s_ocp_qp_dim_get_ns(struct s_ocp_qp_dim *dim, int stage, int *value);
+//
+void s_ocp_qp_dim_get_nsbx(struct s_ocp_qp_dim *dim, int stage, int *value);
+//
+void s_ocp_qp_dim_get_nsbu(struct s_ocp_qp_dim *dim, int stage, int *value);
+//
+void s_ocp_qp_dim_get_nsg(struct s_ocp_qp_dim *dim, int stage, int *value);
+//
+void s_ocp_qp_dim_get_nbxe(struct s_ocp_qp_dim *dim, int stage, int *value);
+//
+void s_ocp_qp_dim_get_nbue(struct s_ocp_qp_dim *dim, int stage, int *value);
+//
+void s_ocp_qp_dim_get_nge(struct s_ocp_qp_dim *dim, int stage, int *value);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+
+#endif // HPIPM_S_OCP_QP_DIM_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_ipm.h
new file mode 100644
index 0000000000..11f3c47be6
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_ipm.h
@@ -0,0 +1,250 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_S_OCP_QP_IPM_H_
+#define HPIPM_S_OCP_QP_IPM_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include <hpipm_common.h>
+#include <hpipm_s_ocp_qp_dim.h>
+#include <hpipm_s_ocp_qp.h>
+#include <hpipm_s_ocp_qp_res.h>
+#include <hpipm_s_ocp_qp_sol.h>
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_ocp_qp_ipm_arg
+	{
+	float mu0; // initial value for complementarity slackness
+	float alpha_min; // exit cond on step length
+	float res_g_max; // exit cond on inf norm of residuals
+	float res_b_max; // exit cond on inf norm of residuals
+	float res_d_max; // exit cond on inf norm of residuals
+	float res_m_max; // exit cond on inf norm of residuals
+	float reg_prim; // reg of primal hessian
+	float lam_min; // min value in lam vector
+	float t_min; // min value in t vector
+	float tau_min; // min value of barrier parameter
+	int iter_max; // exit cond in iter number
+	int stat_max; // iterations saved in stat
+	int pred_corr; // use Mehrotra's predictor-corrector IPM algirthm
+	int cond_pred_corr; // conditional Mehrotra's predictor-corrector
+	int itref_pred_max; // max number of iterative refinement steps for predictor step
+	int itref_corr_max; // max number of iterative refinement steps for corrector step
+	int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
+	int square_root_alg; // 0 classical Riccati, 1 square-root Riccati
+	int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq (for square_root_alg==1)
+	int abs_form; // absolute IPM formulation
+	int comp_dual_sol_eq; // dual solution of equality constraints (only for abs_form==1)
+	int comp_res_exit; // compute residuals on exit (only for abs_form==1 and comp_dual_sol_eq==1)
+	int comp_res_pred; // compute residuals of prediction
+	int split_step; // use different steps for primal and dual variables
+	int var_init_scheme; // variables initialization scheme
+	int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
+	int mode;
+	hpipm_size_t memsize;
+	};
+
+
+
+struct s_ocp_qp_ipm_ws
+	{
+	struct s_core_qp_ipm_workspace *core_workspace;
+	struct s_ocp_qp_res_ws *res_workspace;
+	struct s_ocp_qp_dim *dim; // cache dim
+	struct s_ocp_qp_sol *sol_step;
+	struct s_ocp_qp_sol *sol_itref;
+	struct s_ocp_qp *qp_step;
+	struct s_ocp_qp *qp_itref;
+	struct s_ocp_qp_res *res;
+	struct s_ocp_qp_res *res_itref;
+	struct blasfeo_svec *Gamma; // hessian update
+	struct blasfeo_svec *gamma; // hessian update
+	struct blasfeo_svec *tmp_nuxM; // work space of size nxM
+	struct blasfeo_svec *tmp_nbgM; // work space of size nbM+ngM
+	struct blasfeo_svec *tmp_nsM; // work space of size nsM
+	struct blasfeo_svec *Pb; // Pb
+	struct blasfeo_svec *Zs_inv;
+	struct blasfeo_svec *tmp_m;
+	struct blasfeo_svec *l; // cache linear part for _get_ric_xxx
+	struct blasfeo_smat *L;
+	struct blasfeo_smat *Ls;
+	struct blasfeo_smat *P;
+	struct blasfeo_smat *Lh;
+	struct blasfeo_smat *AL;
+	struct blasfeo_smat *lq0;
+	struct blasfeo_smat *tmp_nxM_nxM;
+	float *stat; // convergence statistics
+	int *use_hess_fact;
+	void *lq_work0;
+	float qp_res[4]; // infinity norm of residuals
+	int iter; // iteration number
+	int stat_max; // iterations saved in stat
+	int stat_m; // number of recorded stat per IPM iter
+	int use_Pb;
+	int status; // solver status
+	int square_root_alg; // cache from arg
+	int lq_fact; // cache from arg
+	int mask_constr; // use constr mask
+	int valid_ric_vec; // meaningful riccati vectors
+	int valid_ric_p; // form of riccati p: 0 p*inv(L), 1 p
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t s_ocp_qp_ipm_arg_strsize();
+//
+hpipm_size_t s_ocp_qp_ipm_arg_memsize(struct s_ocp_qp_dim *ocp_dim);
+//
+void s_ocp_qp_ipm_arg_create(struct s_ocp_qp_dim *ocp_dim, struct s_ocp_qp_ipm_arg *arg, void *mem);
+//
+void s_ocp_qp_ipm_arg_set_default(enum hpipm_mode mode, struct s_ocp_qp_ipm_arg *arg);
+//
+void s_ocp_qp_ipm_arg_set(char *field, void *value, struct s_ocp_qp_ipm_arg *arg);
+// set maximum number of iterations
+void s_ocp_qp_ipm_arg_set_iter_max(int *iter_max, struct s_ocp_qp_ipm_arg *arg);
+// set minimum step lenght
+void s_ocp_qp_ipm_arg_set_alpha_min(float *alpha_min, struct s_ocp_qp_ipm_arg *arg);
+// set initial value of barrier parameter
+void s_ocp_qp_ipm_arg_set_mu0(float *mu0, struct s_ocp_qp_ipm_arg *arg);
+// set exit tolerance on stationarity condition
+void s_ocp_qp_ipm_arg_set_tol_stat(float *tol_stat, struct s_ocp_qp_ipm_arg *arg);
+// set exit tolerance on equality constr
+void s_ocp_qp_ipm_arg_set_tol_eq(float *tol_eq, struct s_ocp_qp_ipm_arg *arg);
+// set exit tolerance on inequality constr
+void s_ocp_qp_ipm_arg_set_tol_ineq(float *tol_ineq, struct s_ocp_qp_ipm_arg *arg);
+// set exit tolerance on complementarity condition
+void s_ocp_qp_ipm_arg_set_tol_comp(float *tol_comp, struct s_ocp_qp_ipm_arg *arg);
+// set regularization of primal variables
+void s_ocp_qp_ipm_arg_set_reg_prim(float *tol_comp, struct s_ocp_qp_ipm_arg *arg);
+// set warm start: 0 no warm start, 1 primal var
+void s_ocp_qp_ipm_arg_set_warm_start(int *warm_start, struct s_ocp_qp_ipm_arg *arg);
+// Mehrotra's predictor-corrector IPM algorithm: 0 no predictor-corrector, 1 use predictor-corrector
+void s_ocp_qp_ipm_arg_set_pred_corr(int *pred_corr, struct s_ocp_qp_ipm_arg *arg);
+// conditional predictor-corrector: 0 no conditinal predictor-corrector, 1 conditional predictor-corrector
+void s_ocp_qp_ipm_arg_set_cond_pred_corr(int *value, struct s_ocp_qp_ipm_arg *arg);
+// set riccati algorithm: 0 classic, 1 square-root
+void s_ocp_qp_ipm_arg_set_ric_alg(int *alg, struct s_ocp_qp_ipm_arg *arg);
+// dual solution of equality constraints (only for abs_form==1)
+void s_ocp_qp_ipm_arg_set_comp_dual_sol_eq(int *value, struct s_ocp_qp_ipm_arg *arg);
+// compute residuals after solution
+void s_ocp_qp_ipm_arg_set_comp_res_exit(int *value, struct s_ocp_qp_ipm_arg *arg);
+// compute residuals of prediction
+void s_ocp_qp_ipm_arg_set_comp_res_pred(int *alg, struct s_ocp_qp_ipm_arg *arg);
+// min value of lam in the solution
+void s_ocp_qp_ipm_arg_set_lam_min(float *value, struct s_ocp_qp_ipm_arg *arg);
+// min value of t in the solution
+void s_ocp_qp_ipm_arg_set_t_min(float *value, struct s_ocp_qp_ipm_arg *arg);
+// min value of tau in the solution
+void s_ocp_qp_ipm_arg_set_tau_min(float *value, struct s_ocp_qp_ipm_arg *arg);
+// set split step: 0 same step, 1 different step for primal and dual variables
+void s_ocp_qp_ipm_arg_set_split_step(int *value, struct s_ocp_qp_ipm_arg *arg);
+// variables initialization scheme
+void s_ocp_qp_ipm_arg_set_var_init_scheme(int *value, struct s_ocp_qp_ipm_arg *arg);
+// clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
+void s_ocp_qp_ipm_arg_set_t_lam_min(int *value, struct s_ocp_qp_ipm_arg *arg);
+
+//
+hpipm_size_t s_ocp_qp_ipm_ws_strsize();
+//
+hpipm_size_t s_ocp_qp_ipm_ws_memsize(struct s_ocp_qp_dim *ocp_dim, struct s_ocp_qp_ipm_arg *arg);
+//
+void s_ocp_qp_ipm_ws_create(struct s_ocp_qp_dim *ocp_dim, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws, void *mem);
+//
+void s_ocp_qp_ipm_get(char *field, struct s_ocp_qp_ipm_ws *ws, void *value);
+//
+void s_ocp_qp_ipm_get_status(struct s_ocp_qp_ipm_ws *ws, int *status);
+//
+void s_ocp_qp_ipm_get_iter(struct s_ocp_qp_ipm_ws *ws, int *iter);
+//
+void s_ocp_qp_ipm_get_max_res_stat(struct s_ocp_qp_ipm_ws *ws, float *res_stat);
+//
+void s_ocp_qp_ipm_get_max_res_eq(struct s_ocp_qp_ipm_ws *ws, float *res_eq);
+//
+void s_ocp_qp_ipm_get_max_res_ineq(struct s_ocp_qp_ipm_ws *ws, float *res_ineq);
+//
+void s_ocp_qp_ipm_get_max_res_comp(struct s_ocp_qp_ipm_ws *ws, float *res_comp);
+//
+void s_ocp_qp_ipm_get_stat(struct s_ocp_qp_ipm_ws *ws, float **stat);
+//
+void s_ocp_qp_ipm_get_stat_m(struct s_ocp_qp_ipm_ws *ws, int *stat_m);
+//
+void s_ocp_qp_ipm_get_ric_Lr(struct s_ocp_qp *qp, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws, int stage, float *Lr);
+//
+void s_ocp_qp_ipm_get_ric_Ls(struct s_ocp_qp *qp, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws, int stage, float *Ls);
+//
+void s_ocp_qp_ipm_get_ric_P(struct s_ocp_qp *qp, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws, int stage, float *P);
+//
+void s_ocp_qp_ipm_get_ric_lr(struct s_ocp_qp *qp, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws, int stage, float *lr);
+//
+void s_ocp_qp_ipm_get_ric_p(struct s_ocp_qp *qp, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws, int stage, float *p);
+// feedback control gain in the form u = K x + k
+void s_ocp_qp_ipm_get_ric_K(struct s_ocp_qp *qp, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws, int stage, float *K);
+// feedback control gain in the form u = K x + k
+void s_ocp_qp_ipm_get_ric_k(struct s_ocp_qp *qp, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws, int stage, float *k);
+//
+void s_ocp_qp_init_var(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws);
+//
+void s_ocp_qp_ipm_abs_step(int kk, struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws);
+//
+void s_ocp_qp_ipm_delta_step(int kk, struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws);
+//
+void s_ocp_qp_ipm_solve(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws);
+//
+void s_ocp_qp_ipm_predict(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws);
+//
+void s_ocp_qp_ipm_sens(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_S_OCP_QP_IPM_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_kkt.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_kkt.h
new file mode 100644
index 0000000000..3eb1f4aae8
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_kkt.h
@@ -0,0 +1,66 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+#ifndef HPIPM_S_OCP_QP_KKT_H_
+#define HPIPM_S_OCP_QP_KKT_H_
+
+#include <hpipm_common.h>
+#include <hpipm_s_ocp_qp.h>
+#include <hpipm_s_ocp_qp_sol.h>
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+//
+void s_ocp_qp_fact_solve_kkt_unconstr(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws);
+//
+void s_ocp_qp_fact_solve_kkt_step(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws);
+//
+void s_ocp_qp_fact_lq_solve_kkt_step(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws);
+//
+void s_ocp_qp_solve_kkt_step(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+#endif // HPIPM_S_OCP_QP_KKT_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_red.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_red.h
new file mode 100644
index 0000000000..5a7b3b0703
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_red.h
@@ -0,0 +1,118 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_S_OCP_QP_RED_H_
+#define HPIPM_S_OCP_QP_RED_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include <hpipm_s_ocp_qp_dim.h>
+#include <hpipm_s_ocp_qp.h>
+#include <hpipm_s_ocp_qp_sol.h>
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_ocp_qp_reduce_eq_dof_arg
+	{
+	float lam_min;
+	float t_min;
+	int alias_unchanged; // do not keep copy unchanged stage
+	int comp_prim_sol; // primal solution (v)
+	int comp_dual_sol_eq; // dual solution equality constr (pi)
+	int comp_dual_sol_ineq; // dual solution inequality constr (lam t)
+	hpipm_size_t memsize; // memory size in bytes
+	};
+
+
+
+struct s_ocp_qp_reduce_eq_dof_ws
+	{
+	struct blasfeo_svec *tmp_nuxM;
+	struct blasfeo_svec *tmp_nbgM;
+	int *e_imask_ux;
+	int *e_imask_d;
+	hpipm_size_t memsize; // memory size in bytes
+	};
+
+
+
+//
+void s_ocp_qp_dim_reduce_eq_dof(struct s_ocp_qp_dim *dim, struct s_ocp_qp_dim *dim_red);
+//
+hpipm_size_t s_ocp_qp_reduce_eq_dof_arg_memsize();
+//
+void s_ocp_qp_reduce_eq_dof_arg_create(struct s_ocp_qp_reduce_eq_dof_arg *arg, void *mem);
+//
+void s_ocp_qp_reduce_eq_dof_arg_set_default(struct s_ocp_qp_reduce_eq_dof_arg *arg);
+//
+void s_ocp_qp_reduce_eq_dof_arg_set_alias_unchanged(struct s_ocp_qp_reduce_eq_dof_arg *arg, int value);
+//
+void s_ocp_qp_reduce_eq_dof_arg_set_comp_prim_sol(struct s_ocp_qp_reduce_eq_dof_arg *arg, int value);
+//
+void s_ocp_qp_reduce_eq_dof_arg_set_comp_dual_sol_eq(struct s_ocp_qp_reduce_eq_dof_arg *arg, int value);
+//
+void s_ocp_qp_reduce_eq_dof_arg_set_comp_dual_sol_ineq(struct s_ocp_qp_reduce_eq_dof_arg *arg, int value);
+//
+hpipm_size_t s_ocp_qp_reduce_eq_dof_ws_memsize(struct s_ocp_qp_dim *dim);
+//
+void s_ocp_qp_reduce_eq_dof_ws_create(struct s_ocp_qp_dim *dim, struct s_ocp_qp_reduce_eq_dof_ws *work, void *mem);
+//
+void s_ocp_qp_reduce_eq_dof(struct s_ocp_qp *qp, struct s_ocp_qp *qp_red, struct s_ocp_qp_reduce_eq_dof_arg *arg, struct s_ocp_qp_reduce_eq_dof_ws *work);
+//
+void s_ocp_qp_reduce_eq_dof_lhs(struct s_ocp_qp *qp, struct s_ocp_qp *qp_red, struct s_ocp_qp_reduce_eq_dof_arg *arg, struct s_ocp_qp_reduce_eq_dof_ws *work);
+//
+void s_ocp_qp_reduce_eq_dof_rhs(struct s_ocp_qp *qp, struct s_ocp_qp *qp_red, struct s_ocp_qp_reduce_eq_dof_arg *arg, struct s_ocp_qp_reduce_eq_dof_ws *work);
+//
+void s_ocp_qp_restore_eq_dof(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol_red, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_reduce_eq_dof_arg *arg, struct s_ocp_qp_reduce_eq_dof_ws *work);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+
+#endif // HPIPM_S_OCP_QP_RED_H_
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_res.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_res.h
new file mode 100644
index 0000000000..821585da65
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_res.h
@@ -0,0 +1,114 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_S_OCP_QP_RES_H_
+#define HPIPM_S_OCP_QP_RES_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include <hpipm_common.h>
+#include <hpipm_s_ocp_qp_dim.h>
+#include <hpipm_s_ocp_qp.h>
+#include <hpipm_s_ocp_qp_sol.h>
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_ocp_qp_res
+	{
+	struct s_ocp_qp_dim *dim;
+	struct blasfeo_svec *res_g; // q-residuals
+	struct blasfeo_svec *res_b; // b-residuals
+	struct blasfeo_svec *res_d; // d-residuals
+	struct blasfeo_svec *res_m; // m-residuals
+	float res_max[4]; // max of residuals
+	float res_mu; // mu-residual
+	hpipm_size_t memsize;
+	};
+
+
+
+struct s_ocp_qp_res_ws
+	{
+	struct blasfeo_svec *tmp_nbgM; // work space of size nbM+ngM
+	struct blasfeo_svec *tmp_nsM; // work space of size nsM
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t s_ocp_qp_res_memsize(struct s_ocp_qp_dim *ocp_dim);
+//
+void s_ocp_qp_res_create(struct s_ocp_qp_dim *ocp_dim, struct s_ocp_qp_res *res, void *mem);
+//
+hpipm_size_t s_ocp_qp_res_ws_memsize(struct s_ocp_qp_dim *ocp_dim);
+//
+void s_ocp_qp_res_ws_create(struct s_ocp_qp_dim *ocp_dim, struct s_ocp_qp_res_ws *workspace, void *mem);
+//
+void s_ocp_qp_res_compute(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_res *res, struct s_ocp_qp_res_ws *ws);
+//
+void s_ocp_qp_res_compute_lin(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_sol *qp_step, struct s_ocp_qp_res *res, struct s_ocp_qp_res_ws *ws);
+//
+void s_ocp_qp_res_compute_inf_norm(struct s_ocp_qp_res *res);
+//
+void s_ocp_qp_res_get_all(struct s_ocp_qp_res *res, float **res_r, float **res_q, float **res_ls, float **res_us, float **res_b, float **res_d_lb, float **res_d_ub, float **res_d_lg, float **res_d_ug, float **res_d_ls, float **res_d_us, float **res_m_lb, float **res_m_ub, float **res_m_lg, float **res_m_ug, float **res_m_ls, float **res_m_us);
+//
+void s_ocp_qp_res_get_max_res_stat(struct s_ocp_qp_res *res, float *value);
+//
+void s_ocp_qp_res_get_max_res_eq(struct s_ocp_qp_res *res, float *value);
+//
+void s_ocp_qp_res_get_max_res_ineq(struct s_ocp_qp_res *res, float *value);
+//
+void s_ocp_qp_res_get_max_res_comp(struct s_ocp_qp_res *res, float *value);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+#endif // HPIPM_S_OCP_QP_RES_H_
+
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_sol.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_sol.h
new file mode 100644
index 0000000000..94dfa0d003
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_sol.h
@@ -0,0 +1,128 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_S_OCP_QP_SOL_H_
+#define HPIPM_S_OCP_QP_SOL_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_s_ocp_qp_dim.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_ocp_qp_sol
+	{
+	struct s_ocp_qp_dim *dim;
+	struct blasfeo_svec *ux;
+	struct blasfeo_svec *pi;
+	struct blasfeo_svec *lam;
+	struct blasfeo_svec *t;
+	void *misc;
+	hpipm_size_t memsize; // memory size in bytes
+	};
+
+
+
+//
+hpipm_size_t s_ocp_qp_sol_strsize();
+//
+hpipm_size_t s_ocp_qp_sol_memsize(struct s_ocp_qp_dim *dim);
+//
+void s_ocp_qp_sol_create(struct s_ocp_qp_dim *dim, struct s_ocp_qp_sol *qp_sol, void *memory);
+//
+void s_ocp_qp_sol_copy_all(struct s_ocp_qp_sol *qp_sol_orig, struct s_ocp_qp_sol *qp_sol_dest);
+//
+void s_qp_sol_get_all(struct s_ocp_qp_sol *qp_sol, float **u, float **x, float **ls, float **us, float **pi, float **lam_lb, float **lam_ub, float **lam_lg, float **lam_ug, float **lam_ls, float **lam_us);
+//
+void s_qp_sol_get_all_rowmaj(struct s_ocp_qp_sol *qp_sol, float **u, float **x, float **ls, float **us, float **pi, float **lam_lb, float **lam_ub, float **lam_lg, float **lam_ug, float **lam_ls, float **lam_us);
+//
+void s_ocp_qp_sol_set_all(float **u, float **x, float **ls, float **us, float **pi, float **lam_lb, float **lam_ub, float **lam_lg, float **lam_ug, float **lam_ls, float **lam_us, struct s_ocp_qp_sol *qp_sol);
+//
+void s_ocp_qp_sol_get(char *field, int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
+//
+void s_ocp_qp_sol_get_u(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
+//
+void s_ocp_qp_sol_get_x(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
+//
+void s_ocp_qp_sol_get_sl(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
+//
+void s_ocp_qp_sol_get_su(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
+//
+void s_ocp_qp_sol_get_pi(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
+//
+void s_ocp_qp_sol_get_lam_lb(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
+//
+void s_ocp_qp_sol_get_lam_lbu(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
+//
+void s_ocp_qp_sol_get_lam_lbx(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
+//
+void s_ocp_qp_sol_get_lam_ub(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
+//
+void s_ocp_qp_sol_get_lam_ubu(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
+//
+void s_ocp_qp_sol_get_lam_ubx(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
+//
+void s_ocp_qp_sol_get_lam_lg(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
+//
+void s_ocp_qp_sol_get_lam_ug(int stage, struct s_ocp_qp_sol *qp_sol, float *vec);
+//
+void s_ocp_qp_sol_set(char *field, int stage, float *vec, struct s_ocp_qp_sol *qp_sol);
+//
+void s_ocp_qp_sol_set_u(int stage, float *vec, struct s_ocp_qp_sol *qp_sol);
+//
+void s_ocp_qp_sol_set_x(int stage, float *vec, struct s_ocp_qp_sol *qp_sol);
+//
+void s_ocp_qp_sol_set_sl(int stage, float *vec, struct s_ocp_qp_sol *qp_sol);
+//
+void s_ocp_qp_sol_set_su(int stage, float *vec, struct s_ocp_qp_sol *qp_sol);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_S_OCP_QP_SOL_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_utils.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_utils.h
new file mode 100644
index 0000000000..a4f832a5ea
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_utils.h
@@ -0,0 +1,83 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_S_OCP_QP_UTILS_H_
+#define HPIPM_S_OCP_QP_UTILS_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_s_ocp_qp_dim.h"
+#include "hpipm_s_ocp_qp.h"
+#include "hpipm_s_ocp_qp_sol.h"
+#include "hpipm_s_ocp_qp_ipm.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+//
+void s_ocp_qp_dim_print(struct s_ocp_qp_dim *qp_dim);
+//
+void s_ocp_qp_dim_codegen(char *file_name, char *mode, struct s_ocp_qp_dim *qp_dim);
+//
+void s_ocp_qp_print(struct s_ocp_qp_dim *qp_dim, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_codegen(char *file_name, char *mode, struct s_ocp_qp_dim *qp_dim, struct s_ocp_qp *qp);
+//
+void s_ocp_qp_sol_print(struct s_ocp_qp_dim *qp_dim, struct s_ocp_qp_sol *ocp_qp_sol);
+//
+void s_ocp_qp_ipm_arg_print(struct s_ocp_qp_dim *qp_dim, struct s_ocp_qp_ipm_arg *arg);
+//
+void s_ocp_qp_ipm_arg_codegen(char *file_name, char *mode, struct s_ocp_qp_dim *qp_dim, struct s_ocp_qp_ipm_arg *arg);
+//
+void s_ocp_qp_res_print(struct s_ocp_qp_dim *qp_dim, struct s_ocp_qp_res *ocp_qp_res);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+
+#endif // HPIPM_D_OCP_QP_UTILS_H_
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_part_cond.h b/third_party/acados/include/hpipm/include/hpipm_s_part_cond.h
new file mode 100644
index 0000000000..e40511e69f
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_part_cond.h
@@ -0,0 +1,115 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+
+#ifndef HPIPM_S_PART_COND_H_
+#define HPIPM_S_PART_COND_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_s_cond.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_part_cond_qp_arg
+	{
+	struct s_cond_qp_arg *cond_arg;
+	int N2;
+	hpipm_size_t memsize;
+	};
+
+
+
+struct s_part_cond_qp_ws
+	{
+	struct s_cond_qp_ws *cond_workspace;
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t s_part_cond_qp_arg_memsize(int N2);
+//
+void s_part_cond_qp_arg_create(int N2, struct s_part_cond_qp_arg *cond_arg, void *mem);
+//
+void s_part_cond_qp_arg_set_default(struct s_part_cond_qp_arg *cond_arg);
+// set riccati-like algorithm: 0 classical, 1 squre-root
+void s_part_cond_qp_arg_set_ric_alg(int ric_alg, struct s_part_cond_qp_arg *cond_arg);
+//
+void s_part_cond_qp_arg_set_comp_prim_sol(int value, struct s_part_cond_qp_arg *cond_arg);
+//
+void s_part_cond_qp_arg_set_comp_dual_sol_eq(int value, struct s_part_cond_qp_arg *cond_arg);
+//
+void s_part_cond_qp_arg_set_comp_dual_sol_ineq(int value, struct s_part_cond_qp_arg *cond_arg);
+
+//
+void s_part_cond_qp_compute_block_size(int N, int N2, int *block_size);
+//
+void s_part_cond_qp_compute_dim(struct s_ocp_qp_dim *ocp_dim, int *block_size, struct s_ocp_qp_dim *part_dense_dim);
+//
+hpipm_size_t s_part_cond_qp_ws_memsize(struct s_ocp_qp_dim *ocp_dim, int *block_size, struct s_ocp_qp_dim *part_dense_dim, struct s_part_cond_qp_arg *cond_arg);
+//
+void s_part_cond_qp_ws_create(struct s_ocp_qp_dim *ocp_dim, int *block_size, struct s_ocp_qp_dim *part_dense_dim, struct s_part_cond_qp_arg *cond_arg, struct s_part_cond_qp_ws *cond_ws, void *mem);
+//
+void s_part_cond_qp_cond(struct s_ocp_qp *ocp_qp, struct s_ocp_qp *part_dense_qp, struct s_part_cond_qp_arg *cond_arg, struct s_part_cond_qp_ws *cond_ws);
+//
+void s_part_cond_qp_cond_lhs(struct s_ocp_qp *ocp_qp, struct s_ocp_qp *part_dense_qp, struct s_part_cond_qp_arg *cond_arg, struct s_part_cond_qp_ws *cond_ws);
+//
+void s_part_cond_qp_cond_rhs(struct s_ocp_qp *ocp_qp, struct s_ocp_qp *part_dense_qp, struct s_part_cond_qp_arg *cond_arg, struct s_part_cond_qp_ws *cond_ws);
+//
+void s_part_cond_qp_expand_sol(struct s_ocp_qp *ocp_qp, struct s_ocp_qp *part_dense_qp, struct s_ocp_qp_sol *part_dense_qp_sol, struct s_ocp_qp_sol *ocp_qp_sol, struct s_part_cond_qp_arg *cond_arg, struct s_part_cond_qp_ws *cond_ws);
+
+//
+void s_part_cond_qp_update(int *idxc, struct s_ocp_qp *ocp_qp, struct s_ocp_qp *part_dense_qp, struct s_part_cond_qp_arg *cond_arg, struct s_part_cond_qp_ws *cond_ws);
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_S_PART_COND_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_part_cond_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_s_part_cond_qcqp.h
new file mode 100644
index 0000000000..311f7000bf
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_part_cond_qcqp.h
@@ -0,0 +1,107 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+
+#ifndef HPIPM_S_PART_COND_QCQP_H_
+#define HPIPM_S_PART_COND_QCQP_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_s_cond_qcqp.h"
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_part_cond_qcqp_arg
+	{
+	struct s_cond_qcqp_arg *cond_arg;
+	int N2;
+	hpipm_size_t memsize;
+	};
+
+
+
+struct s_part_cond_qcqp_ws
+	{
+	struct s_cond_qcqp_ws *cond_ws;
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t s_part_cond_qcqp_arg_memsize(int N2);
+//
+void s_part_cond_qcqp_arg_create(int N2, struct s_part_cond_qcqp_arg *cond_arg, void *mem);
+//
+void s_part_cond_qcqp_arg_set_default(struct s_part_cond_qcqp_arg *cond_arg);
+// set riccati-like algorithm: 0 classical, 1 squre-root
+void s_part_cond_qcqp_arg_set_ric_alg(int ric_alg, struct s_part_cond_qcqp_arg *cond_arg);
+
+//
+void s_part_cond_qcqp_compute_block_size(int N, int N2, int *block_size);
+//
+void s_part_cond_qcqp_compute_dim(struct s_ocp_qcqp_dim *ocp_dim, int *block_size, struct s_ocp_qcqp_dim *part_dense_dim);
+//
+hpipm_size_t s_part_cond_qcqp_ws_memsize(struct s_ocp_qcqp_dim *ocp_dim, int *block_size, struct s_ocp_qcqp_dim *part_dense_dim, struct s_part_cond_qcqp_arg *cond_arg);
+//
+void s_part_cond_qcqp_ws_create(struct s_ocp_qcqp_dim *ocp_dim, int *block_size, struct s_ocp_qcqp_dim *part_dense_dim, struct s_part_cond_qcqp_arg *cond_arg, struct s_part_cond_qcqp_ws *cond_ws, void *mem);
+//
+void s_part_cond_qcqp_cond(struct s_ocp_qcqp *ocp_qp, struct s_ocp_qcqp *part_dense_qp, struct s_part_cond_qcqp_arg *cond_arg, struct s_part_cond_qcqp_ws *cond_ws);
+//
+void s_part_cond_qcqp_cond_lhs(struct s_ocp_qcqp *ocp_qp, struct s_ocp_qcqp *part_dense_qp, struct s_part_cond_qcqp_arg *cond_arg, struct s_part_cond_qcqp_ws *cond_ws);
+//
+void s_part_cond_qcqp_cond_rhs(struct s_ocp_qcqp *ocp_qp, struct s_ocp_qcqp *part_dense_qp, struct s_part_cond_qcqp_arg *cond_arg, struct s_part_cond_qcqp_ws *cond_ws);
+//
+void s_part_cond_qcqp_expand_sol(struct s_ocp_qcqp *ocp_qp, struct s_ocp_qcqp *part_dense_qp, struct s_ocp_qcqp_sol *part_dense_qp_sol, struct s_ocp_qcqp_sol *ocp_qp_sol, struct s_part_cond_qcqp_arg *cond_arg, struct s_part_cond_qcqp_ws *cond_ws);
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_D_PART_COND_H_
+
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_sim_erk.h b/third_party/acados/include/hpipm/include/hpipm_s_sim_erk.h
new file mode 100644
index 0000000000..1a05ad1a28
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_sim_erk.h
@@ -0,0 +1,121 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_S_SIM_ERK_H_
+#define HPIPM_S_SIM_ERK_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+struct s_sim_erk_arg
+	{
+	struct s_sim_rk_data *rk_data; // integrator data
+	float h; // step size
+	int steps; // number of steps
+//	int for_sens; // compute adjoint sensitivities
+//	int adj_sens; // compute adjoint sensitivities
+	hpipm_size_t memsize;
+	};
+
+
+
+struct s_sim_erk_ws
+	{
+	void (*ode)(int t, float *x, float *p, void *ode_args, float *xdot); // function pointer to ode
+	void (*vde_for)(int t, float *x, float *p, void *ode_args, float *xdot); // function pointer to forward vde
+	void (*vde_adj)(int t, float *adj_in, void *ode_args, float *adj_out); // function pointer to adjoint vde
+	void *ode_args; // pointer to ode args
+	struct s_sim_erk_arg *erk_arg; // erk arg
+	float *K; // internal variables
+	float *x_for; // states and forward sensitivities
+	float *x_traj; // states at all steps
+	float *l; // adjoint sensitivities
+	float *p; // parameter
+	float *x_tmp; // temporary states and forward sensitivities
+	float *adj_in;
+	float *adj_tmp;
+	int nx; // number of states
+	int np; // number of parameters
+	int nf; // number of forward sensitivities
+	int na; // number of adjoint sensitivities
+	int nf_max; // max number of forward sensitivities
+	int na_max; // max number of adjoint sensitivities
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t s_sim_erk_arg_memsize();
+//
+void s_sim_erk_arg_create(struct s_sim_erk_arg *erk_arg, void *mem);
+//
+void s_sim_erk_arg_set_all(struct s_sim_rk_data *rk_data, float h, int steps, struct s_sim_erk_arg *erk_arg);
+
+//
+hpipm_size_t s_sim_erk_ws_memsize(struct s_sim_erk_arg *erk_arg, int nx, int np, int nf_max, int na_max);
+//
+void s_sim_erk_ws_create(struct s_sim_erk_arg *erk_arg, int nx, int np, int nf_max, int na_max, struct s_sim_erk_ws *work, void *memory);
+//
+void s_sim_erk_ws_set_all(int nf, int na, float *x, float *fs, float *bs, float *p, void (*ode)(int t, float *x, float *p, void *ode_args, float *xdot), void (*vde_for)(int t, float *x, float *p, void *ode_args, float *xdot), void (*vde_adj)(int t, float *adj_in, void *ode_args, float *adj_out), void *ode_args, struct s_sim_erk_ws *work);
+// number of directions for forward sensitivities
+void s_sim_erk_ws_set_nf(int *nf, struct s_sim_erk_ws *work);
+// parameters (e.g. inputs)
+void s_sim_erk_ws_set_p(float *p, struct s_sim_erk_ws *work);
+// state
+void s_sim_erk_ws_set_x(float *x, struct s_sim_erk_ws *work);
+// forward sensitivities
+void s_sim_erk_ws_set_fs(float *fs, struct s_sim_erk_ws *work);
+// ode funtion
+void s_sim_erk_ws_set_ode(void (*ode)(int t, float *x, float *p, void *ode_args, float *xdot), struct s_sim_erk_ws *work);
+// forward vde function
+void s_sim_erk_ws_set_vde_for(void (*ode)(int t, float *x, float *p, void *ode_args, float *xdot), struct s_sim_erk_ws *work);
+// ode_args, passed straight to the ode/vde_for/vde_adj functions
+void s_sim_erk_ws_set_ode_args(void *ode_args, struct s_sim_erk_ws *work);
+// state
+void s_sim_erk_ws_get_x(struct s_sim_erk_ws *work, float *x);
+// forward sensitivities
+void s_sim_erk_ws_get_fs(struct s_sim_erk_ws *work, float *fs);
+//
+void s_sim_erk_solve(struct s_sim_erk_arg *arg, struct s_sim_erk_ws *work);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif // HPIPM_D_SIM_ERK_H_
+
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_sim_rk.h b/third_party/acados/include/hpipm/include/hpipm_s_sim_rk.h
new file mode 100644
index 0000000000..53acd71498
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_sim_rk.h
@@ -0,0 +1,72 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_S_SIM_RK_H_
+#define HPIPM_S_SIM_RK_H_
+
+#include "hpipm_common.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+struct s_sim_rk_data
+	{
+	float *A_rk; // A in butcher tableau
+	float *B_rk; // b in butcher tableau
+	float *C_rk; // c in butcher tableau
+	int expl; // erk vs irk
+	int ns; // number of stages
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t s_sim_rk_data_memsize(int ns);
+//
+void s_sim_rk_data_create(int ns, struct s_sim_rk_data *rk_data, void *memory);
+//
+void s_sim_rk_data_init_default(char *field, struct s_sim_rk_data *rk_data);
+//
+void s_sim_rk_data_set_all(int expl, float *A_rk, float *B_rk, float *C_rk, struct s_sim_rk_data *rk_data);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif // HPIPM_S_SIM_RK_H_
+
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp.h
new file mode 100644
index 0000000000..450e992624
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp.h
@@ -0,0 +1,213 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_S_TREE_OCP_QCQP_H_
+#define HPIPM_S_TREE_OCP_QCQP_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_s_tree_ocp_qcqp_dim.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_tree_ocp_qcqp
+	{
+	struct s_tree_ocp_qcqp_dim *dim;
+	struct blasfeo_smat *BAbt; // Nn-1
+	struct blasfeo_smat *RSQrq; // Nn
+	struct blasfeo_smat *DCt; // Nn
+	struct blasfeo_smat **Hq; // Nn
+	struct blasfeo_svec *b; // Nn-1
+	struct blasfeo_svec *rqz; // Nn
+	struct blasfeo_svec *d; // Nn
+	struct blasfeo_svec *d_mask; // Nn
+	struct blasfeo_svec *m; // Nn
+	struct blasfeo_svec *Z; // Nn
+	int **idxb; // indices of box constrained variables within [u; x] // Nn
+	int **idxs_rev; // index of soft constraints
+	hpipm_size_t memsize; // memory size in bytes
+	};
+
+
+
+//
+hpipm_size_t s_tree_ocp_qcqp_memsize(struct s_tree_ocp_qcqp_dim *dim);
+//
+void s_tree_ocp_qcqp_create(struct s_tree_ocp_qcqp_dim *dim, struct s_tree_ocp_qcqp *qp, void *memory);
+//
+void s_tree_ocp_qcqp_set_all(float **A, float **B, float **b, float **Q, float **S, float **R, float **q, float **r, int **idxb, float **d_lb, float **d_ub, float **C, float **D, float **d_lg, float **d_ug, float **Zl, float **Zu, float **zl, float **zu, int **idxs, float **d_ls, float **d_us, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set(char *field_name, int node_edge, void *value, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_A(int edge, float *mat, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_B(int edge, float *mat, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_b(int edge, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_Q(int node, float *mat, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_S(int node, float *mat, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_R(int node, float *mat, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_q(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_r(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_lb(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_lb_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_ub(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_ub_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_lbx(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_lbx_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_ubx(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_ubx_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_lbu(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_lbu_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_ubu(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_ubu_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_idxb(int node, int *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_idxbx(int node, int *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_Jbx(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_idxbu(int node, int *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_Jbu(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_C(int node, float *mat, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_D(int node, float *mat, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_lg(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_lg_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_ug(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_ug_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_Qq(int node, float *mat, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_Sq(int node, float *mat, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_Rq(int node, float *mat, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_qq(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_rq(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_uq(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_uq_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_Zl(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_Zu(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_zl(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_zu(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_lls(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_lls_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_lus(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_lus_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_idxs(int node, int *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_idxs_rev(int node, int *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_Jsbu(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_Jsbx(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_Jsg(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_set_Jsq(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+//void s_tree_ocp_qcqp_set_idxe(int node, int *vec, struct s_tree_ocp_qcqp *qp);
+//
+//void s_tree_ocp_qcqp_set_idxbxe(int node, int *vec, struct s_tree_ocp_qcqp *qp);
+//
+//void s_tree_ocp_qcqp_set_idxbue(int node, int *vec, struct s_tree_ocp_qcqp *qp);
+//
+//void s_tree_ocp_qcqp_set_idxge(int node, int *vec, struct s_tree_ocp_qcqp *qp);
+//
+//void s_tree_ocp_qcqp_set_Jbxe(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+//void s_tree_ocp_qcqp_set_Jbue(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+//void s_tree_ocp_qcqp_set_Jge(int node, float *vec, struct s_tree_ocp_qcqp *qp);
+//
+//void s_tree_ocp_qcqp_set_diag_H_flag(int node, int *value, struct s_tree_ocp_qcqp *qp);
+
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_S_TREE_OCP_QCQP_H_
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_dim.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_dim.h
new file mode 100644
index 0000000000..7a49d51995
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_dim.h
@@ -0,0 +1,118 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_S_TREE_OCP_QCQP_DIM_H_
+#define HPIPM_S_TREE_OCP_QCQP_DIM_H_
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_tree_ocp_qcqp_dim
+	{
+	struct s_tree_ocp_qp_dim *qp_dim; // dim of qp approximation
+	struct tree *ttree; // tree describing node conndection
+	int *nx; // number of states // Nn
+	int *nu; // number of inputs // Nn
+	int *nb; // number of box constraints // Nn
+	int *nbx; // number of state box constraints // Nn
+	int *nbu; // number of input box constraints // Nn
+	int *ng; // number of general constraints // Nn
+	int *nq; // number of (upper) quadratic constraints
+	int *ns; // number of soft constraints // Nn
+	int *nsbx; // number of soft state box constraints
+	int *nsbu; // number of soft input box constraints
+	int *nsg; // number of soft general constraints
+	int *nsq; // number of (upper) soft quadratic constraints
+	int Nn; // number of nodes
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t s_tree_ocp_qcqp_dim_strsize();
+//
+hpipm_size_t s_tree_ocp_qcqp_dim_memsize(int Nn);
+//
+void s_tree_ocp_qcqp_dim_create(int Nn, struct s_tree_ocp_qcqp_dim *qp_dim, void *memory);
+//
+void s_tree_ocp_qcqp_dim_set_tree(struct tree *ttree, struct s_tree_ocp_qcqp_dim *dim);
+//
+void s_tree_ocp_qcqp_dim_set(char *field, int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
+//
+void s_tree_ocp_qcqp_dim_set_nx(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
+//
+void s_tree_ocp_qcqp_dim_set_nu(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
+//
+void s_tree_ocp_qcqp_dim_set_nbx(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
+//
+void s_tree_ocp_qcqp_dim_set_nbu(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
+//
+void s_tree_ocp_qcqp_dim_set_ng(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
+//
+void s_tree_ocp_qcqp_dim_set_nq(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
+//
+void s_tree_ocp_qcqp_dim_set_ns(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
+//
+void s_tree_ocp_qcqp_dim_set_nsbx(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
+//
+void s_tree_ocp_qcqp_dim_set_nsbu(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
+//
+void s_tree_ocp_qcqp_dim_set_nsg(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
+//
+void s_tree_ocp_qcqp_dim_set_nsq(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
+//
+//void s_tree_ocp_qcqp_dim_set_nbxe(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
+//
+//void s_tree_ocp_qcqp_dim_set_nbue(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
+//
+//void s_tree_ocp_qcqp_dim_set_nge(int stage, int value, struct s_tree_ocp_qcqp_dim *dim);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+
+#endif // HPIPM_S_TREE_OCP_QCQP_DIM_H_
+
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_ipm.h
new file mode 100644
index 0000000000..69d65914c5
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_ipm.h
@@ -0,0 +1,192 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_S_TREE_OCP_QCQP_IPM_H_
+#define HPIPM_S_TREE_OCP_QCQP_IPM_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include <hpipm_common.h>
+#include <hpipm_s_tree_ocp_qcqp_dim.h>
+#include <hpipm_s_tree_ocp_qp.h>
+#include <hpipm_s_tree_ocp_qcqp_res.h>
+#include <hpipm_s_tree_ocp_qcqp_sol.h>
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_tree_ocp_qcqp_ipm_arg
+	{
+	struct s_tree_ocp_qp_ipm_arg *qp_arg;
+	float mu0; // initial value for complementarity slackness
+	float alpha_min; // exit cond on step length
+	float res_g_max; // exit cond on inf norm of residuals
+	float res_b_max; // exit cond on inf norm of residuals
+	float res_d_max; // exit cond on inf norm of residuals
+	float res_m_max; // exit cond on inf norm of residuals
+	float reg_prim; // reg of primal hessian
+	float lam_min; // min value in lam vector
+	float t_min; // min value in t vector
+	int iter_max; // exit cond in iter number
+	int stat_max; // iterations saved in stat
+	int pred_corr; // use Mehrotra's predictor-corrector IPM algirthm
+	int cond_pred_corr; // conditional Mehrotra's predictor-corrector
+	int itref_pred_max; // max number of iterative refinement steps for predictor step
+	int itref_corr_max; // max number of iterative refinement steps for corrector step
+	int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
+//	int square_root_alg; // 0 classical Riccati, 1 square-root Riccati
+	int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq (for square_root_alg==1)
+	int abs_form; // absolute IPM formulation
+	int comp_dual_sol_eq; // dual solution of equality constraints (only for abs_form==1)
+	int comp_res_exit; // compute residuals on exit (only for abs_form==1 and comp_dual_sol_eq==1)
+//	int comp_res_pred; // compute residuals of prediction
+	int split_step; // use different step for primal and dual variables
+	int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
+	int mode;
+	hpipm_size_t memsize;
+	};
+
+
+
+struct s_tree_ocp_qcqp_ipm_ws
+	{
+	struct s_tree_ocp_qp_ipm_ws *qp_ws;
+	struct s_tree_ocp_qp *qp;
+	struct s_tree_ocp_qp_sol *qp_sol;
+	struct s_tree_ocp_qcqp_res_ws *qcqp_res_ws;
+	struct s_tree_ocp_qcqp_res *qcqp_res;
+	struct blasfeo_svec *tmp_nuxM;
+	int iter; // iteration number
+	int status;
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t s_tree_ocp_qcqp_ipm_arg_strsize();
+//
+hpipm_size_t s_tree_ocp_qcqp_ipm_arg_memsize(struct s_tree_ocp_qcqp_dim *ocp_dim);
+//
+void s_tree_ocp_qcqp_ipm_arg_create(struct s_tree_ocp_qcqp_dim *ocp_dim, struct s_tree_ocp_qcqp_ipm_arg *arg, void *mem);
+//
+void s_tree_ocp_qcqp_ipm_arg_set_default(enum hpipm_mode mode, struct s_tree_ocp_qcqp_ipm_arg *arg);
+//
+void s_tree_ocp_qcqp_ipm_arg_set(char *field, void *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
+// set maximum number of iterations
+void s_tree_ocp_qcqp_ipm_arg_set_iter_max(int *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
+// set minimum step lenght
+void s_tree_ocp_qcqp_ipm_arg_set_alpha_min(float *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
+// set initial value of barrier parameter
+void s_tree_ocp_qcqp_ipm_arg_set_mu0(float *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
+// set exit tolerance on stationarity condition
+void s_tree_ocp_qcqp_ipm_arg_set_tol_stat(float *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
+// set exit tolerance on equality constr
+void s_tree_ocp_qcqp_ipm_arg_set_tol_eq(float *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
+// set exit tolerance on inequality constr
+void s_tree_ocp_qcqp_ipm_arg_set_tol_ineq(float *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
+// set exit tolerance on complementarity condition
+void s_tree_ocp_qcqp_ipm_arg_set_tol_comp(float *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
+// set regularization of primal variables
+void s_tree_ocp_qcqp_ipm_arg_set_reg_prim(float *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
+// set warm start: 0 no warm start, 1 primal var
+void s_tree_ocp_qcqp_ipm_arg_set_warm_start(int *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
+// Mehrotra's predictor-corrector IPM algorithm: 0 no predictor-corrector, 1 use predictor-corrector
+void s_tree_ocp_qcqp_ipm_arg_set_pred_corr(int *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
+// conditional predictor-corrector: 0 no conditinal predictor-corrector, 1 conditional predictor-corrector
+void s_tree_ocp_qcqp_ipm_arg_set_cond_pred_corr(int *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
+// set riccati algorithm: 0 classic, 1 square-root
+//void s_tree_ocp_qcqp_ipm_arg_set_ric_alg(int *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
+// compute residuals after solution
+void s_tree_ocp_qcqp_ipm_arg_set_comp_res_exit(int *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
+// compute residuals of prediction
+//void s_tree_ocp_qcqp_ipm_arg_set_comp_res_pred(int *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
+// min value of lam in the solution
+void s_tree_ocp_qcqp_ipm_arg_set_lam_min(float *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
+// min value of t in the solution
+void s_tree_ocp_qcqp_ipm_arg_set_t_min(float *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
+// use different step for primal and dual variables
+void s_tree_ocp_qcqp_ipm_arg_set_split_step(int *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
+// clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
+void s_tree_ocp_qcqp_ipm_arg_set_t_lam_min(int *value, struct s_tree_ocp_qcqp_ipm_arg *arg);
+
+//
+hpipm_size_t s_tree_ocp_qcqp_ipm_ws_strsize();
+//
+hpipm_size_t s_tree_ocp_qcqp_ipm_ws_memsize(struct s_tree_ocp_qcqp_dim *ocp_dim, struct s_tree_ocp_qcqp_ipm_arg *arg);
+//
+void s_tree_ocp_qcqp_ipm_ws_create(struct s_tree_ocp_qcqp_dim *ocp_dim, struct s_tree_ocp_qcqp_ipm_arg *arg, struct s_tree_ocp_qcqp_ipm_ws *ws, void *mem);
+//
+void s_tree_ocp_qcqp_ipm_get(char *field, struct s_tree_ocp_qcqp_ipm_ws *ws, void *value);
+//
+void s_tree_ocp_qcqp_ipm_get_status(struct s_tree_ocp_qcqp_ipm_ws *ws, int *status);
+//
+void s_tree_ocp_qcqp_ipm_get_iter(struct s_tree_ocp_qcqp_ipm_ws *ws, int *iter);
+//
+void s_tree_ocp_qcqp_ipm_get_max_res_stat(struct s_tree_ocp_qcqp_ipm_ws *ws, float *res_stat);
+//
+void s_tree_ocp_qcqp_ipm_get_max_res_eq(struct s_tree_ocp_qcqp_ipm_ws *ws, float *res_eq);
+//
+void s_tree_ocp_qcqp_ipm_get_max_res_ineq(struct s_tree_ocp_qcqp_ipm_ws *ws, float *res_ineq);
+//
+void s_tree_ocp_qcqp_ipm_get_max_res_comp(struct s_tree_ocp_qcqp_ipm_ws *ws, float *res_comp);
+//
+void s_tree_ocp_qcqp_ipm_get_stat(struct s_tree_ocp_qcqp_ipm_ws *ws, float **stat);
+//
+void s_tree_ocp_qcqp_ipm_get_stat_m(struct s_tree_ocp_qcqp_ipm_ws *ws, int *stat_m);
+//
+void s_tree_ocp_qcqp_init_var(struct s_tree_ocp_qcqp *qp, struct s_tree_ocp_qcqp_sol *qp_sol, struct s_tree_ocp_qcqp_ipm_arg *arg, struct s_tree_ocp_qcqp_ipm_ws *ws);
+//
+void s_tree_ocp_qcqp_ipm_solve(struct s_tree_ocp_qcqp *qp, struct s_tree_ocp_qcqp_sol *qp_sol, struct s_tree_ocp_qcqp_ipm_arg *arg, struct s_tree_ocp_qcqp_ipm_ws *ws);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+#endif // HPIPM_S_TREE_OCP_QCQP_IPM_H_
+
+
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_res.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_res.h
new file mode 100644
index 0000000000..d0d84a6f23
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_res.h
@@ -0,0 +1,109 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_S_TREE_OCP_QCQP_RES_H_
+#define HPIPM_S_TREE_OCP_QCQP_RES_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include <hpipm_common.h>
+#include <hpipm_s_tree_ocp_qcqp_dim.h>
+#include <hpipm_s_tree_ocp_qcqp.h>
+#include <hpipm_s_tree_ocp_qcqp_sol.h>
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_tree_ocp_qcqp_res
+	{
+	struct s_tree_ocp_qcqp_dim *dim;
+	struct blasfeo_svec *res_g; // q-residuals
+	struct blasfeo_svec *res_b; // b-residuals
+	struct blasfeo_svec *res_d; // d-residuals
+	struct blasfeo_svec *res_m; // m-residuals
+	float res_max[4]; // max of residuals
+	float res_mu; // mu-residual
+	hpipm_size_t memsize;
+	};
+
+
+
+struct s_tree_ocp_qcqp_res_ws
+	{
+	struct blasfeo_svec *tmp_nuxM; // work space of size nuM+nxM
+	struct blasfeo_svec *tmp_nbgqM; // work space of size nbM+ngM+nqM
+	struct blasfeo_svec *tmp_nsM; // work space of size nsM
+	struct blasfeo_svec *q_fun; // value for evaluation of quadr constr
+	struct blasfeo_svec *q_adj; // value for adjoint of quadr constr
+	int use_q_fun; // reuse cached value for evaluation of quadr constr
+	int use_q_adj; // reuse cached value for adjoint of quadr constr
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t s_tree_ocp_qcqp_res_memsize(struct s_tree_ocp_qcqp_dim *ocp_dim);
+//
+void s_tree_ocp_qcqp_res_create(struct s_tree_ocp_qcqp_dim *ocp_dim, struct s_tree_ocp_qcqp_res *res, void *mem);
+//
+hpipm_size_t s_tree_ocp_qcqp_res_ws_memsize(struct s_tree_ocp_qcqp_dim *ocp_dim);
+//
+void s_tree_ocp_qcqp_res_ws_create(struct s_tree_ocp_qcqp_dim *ocp_dim, struct s_tree_ocp_qcqp_res_ws *ws, void *mem);
+//
+void s_tree_ocp_qcqp_res_compute(struct s_tree_ocp_qcqp *qp, struct s_tree_ocp_qcqp_sol *qp_sol, struct s_tree_ocp_qcqp_res *res, struct s_tree_ocp_qcqp_res_ws *ws);
+//
+void s_tree_ocp_qcqp_res_compute_inf_norm(struct s_tree_ocp_qcqp_res *res);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+#endif // HPIPM_S_TREE_OCP_QCQP_RES_H_
+
+
+
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_sol.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_sol.h
new file mode 100644
index 0000000000..47f038c6b3
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_sol.h
@@ -0,0 +1,97 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_S_TREE_OCP_QCQP_SOL_H_
+#define HPIPM_S_TREE_OCP_QCQP_SOL_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_s_tree_ocp_qcqp_dim.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+struct s_tree_ocp_qcqp_sol
+	{
+	struct s_tree_ocp_qcqp_dim *dim;
+	struct blasfeo_svec *ux;
+	struct blasfeo_svec *pi;
+	struct blasfeo_svec *lam;
+	struct blasfeo_svec *t;
+	void *misc;
+	hpipm_size_t memsize; // memory size in bytes
+	};
+
+
+
+//
+hpipm_size_t s_tree_ocp_qcqp_sol_memsize(struct s_tree_ocp_qcqp_dim *dim);
+//
+void s_tree_ocp_qcqp_sol_create(struct s_tree_ocp_qcqp_dim *dim, struct s_tree_ocp_qcqp_sol *qp_sol, void *memory);
+//
+void s_tree_ocp_qcqp_sol_get_u(int node, struct s_tree_ocp_qcqp_sol *qp_sol, float *vec);
+//
+void s_tree_ocp_qcqp_sol_get_x(int node, struct s_tree_ocp_qcqp_sol *qp_sol, float *vec);
+//
+void s_tree_ocp_qcqp_sol_get_sl(int node, struct s_tree_ocp_qcqp_sol *qp_sol, float *vec);
+//
+void s_tree_ocp_qcqp_sol_get_su(int node, struct s_tree_ocp_qcqp_sol *qp_sol, float *vec);
+//
+void s_tree_ocp_qcqp_sol_get_pi(int edge, struct s_tree_ocp_qcqp_sol *qp_sol, float *vec);
+//
+void s_tree_ocp_qcqp_sol_get_lam_lb(int node, struct s_tree_ocp_qcqp_sol *qp_sol, float *vec);
+//
+void s_tree_ocp_qcqp_sol_get_lam_ub(int node, struct s_tree_ocp_qcqp_sol *qp_sol, float *vec);
+//
+void s_tree_ocp_qcqp_sol_get_lam_lg(int node, struct s_tree_ocp_qcqp_sol *qp_sol, float *vec);
+//
+void s_tree_ocp_qcqp_sol_get_lam_ug(int node, struct s_tree_ocp_qcqp_sol *qp_sol, float *vec);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_S_TREE_OCP_QCQP_SOL_H_
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_utils.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_utils.h
new file mode 100644
index 0000000000..79528de1ce
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_utils.h
@@ -0,0 +1,85 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_S_TREE_OCP_QCQP_UTILS_H_
+#define HPIPM_S_TREE_OCP_QCQP_UTILS_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_s_tree_ocp_qcqp_dim.h"
+#include "hpipm_s_tree_ocp_qcqp.h"
+#include "hpipm_s_tree_ocp_qcqp_sol.h"
+#include "hpipm_s_tree_ocp_qcqp_ipm.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+//
+void s_tree_ocp_qcqp_dim_print(struct s_tree_ocp_qcqp_dim *qp_dim);
+//
+//void s_tree_ocp_qcqp_dim_codegen(char *file_name, char *mode, struct s_tree_ocp_qcqp_dim *qp_dim);
+//
+void s_tree_ocp_qcqp_print(struct s_tree_ocp_qcqp_dim *qp_dim, struct s_tree_ocp_qcqp *qp);
+//
+//void s_tree_ocp_qcqp_codegen(char *file_name, char *mode, struct s_tree_ocp_qcqp_dim *qp_dim, struct s_tree_ocp_qcqp *qp);
+//
+void s_tree_ocp_qcqp_sol_print(struct s_tree_ocp_qcqp_dim *qp_dim, struct s_tree_ocp_qcqp_sol *ocp_qcqp_sol);
+//
+void s_tree_ocp_qcqp_ipm_arg_print(struct s_tree_ocp_qcqp_dim *qp_dim, struct s_tree_ocp_qcqp_ipm_arg *arg);
+//
+//void s_tree_ocp_qcqp_ipm_arg_codegen(char *file_name, char *mode, struct s_tree_ocp_qcqp_dim *qp_dim, struct s_tree_ocp_qcqp_ipm_arg *arg);
+//
+void s_tree_ocp_qcqp_res_print(struct s_tree_ocp_qcqp_dim *qp_dim, struct s_tree_ocp_qcqp_res *ocp_qcqp_res);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+
+#endif // HPIPM_S_TREE_OCP_QCQP_UTILS_H_
+
+
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp.h
new file mode 100644
index 0000000000..722b930b9a
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp.h
@@ -0,0 +1,196 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_S_TREE_OCP_QP_H_
+#define HPIPM_S_TREE_OCP_QP_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_s_tree_ocp_qp_dim.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_tree_ocp_qp
+	{
+	struct s_tree_ocp_qp_dim *dim;
+	struct blasfeo_smat *BAbt; // Nn-1
+	struct blasfeo_smat *RSQrq; // Nn
+	struct blasfeo_smat *DCt; // Nn
+	struct blasfeo_svec *b; // Nn-1
+	struct blasfeo_svec *rqz; // Nn
+	struct blasfeo_svec *d; // Nn
+	struct blasfeo_svec *d_mask; // Nn
+	struct blasfeo_svec *m; // Nn
+	struct blasfeo_svec *Z; // Nn
+	int **idxb; // indices of box constrained variables within [u; x] // Nn
+//	int **idxs; // index of soft constraints
+	int **idxs_rev; // index of soft constraints
+	hpipm_size_t memsize; // memory size in bytes
+	};
+
+
+
+//
+hpipm_size_t s_tree_ocp_qp_memsize(struct s_tree_ocp_qp_dim *dim);
+//
+void s_tree_ocp_qp_create(struct s_tree_ocp_qp_dim *dim, struct s_tree_ocp_qp *qp, void *memory);
+//
+void s_tree_ocp_qp_set_all(float **A, float **B, float **b, float **Q, float **S, float **R, float **q, float **r, int **idxb, float **d_lb, float **d_ub, float **C, float **D, float **d_lg, float **d_ug, float **Zl, float **Zu, float **zl, float **zu, int **idxs, float **d_ls, float **d_us, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set(char *field_name, int node_edge, void *value, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_A(int edge, float *mat, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_B(int edge, float *mat, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_b(int edge, float *vec, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_Q(int node, float *mat, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_S(int node, float *mat, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_R(int node, float *mat, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_q(int node, float *vec, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_r(int node, float *vec, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_lb(int node, float *vec, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_lb_mask(int node, float *vec, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_ub(int node, float *vec, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_ub_mask(int node, float *vec, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_lbx(int node, float *vec, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_lbx_mask(int node, float *vec, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_ubx(int node, float *vec, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_ubx_mask(int node, float *vec, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_lbu(int node, float *vec, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_lbu_mask(int node, float *vec, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_ubu(int node, float *vec, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_ubu_mask(int node, float *vec, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_idxb(int node, int *vec, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_idxbx(int node, int *vec, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_Jbx(int node, float *vec, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_idxbu(int node, int *vec, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_Jbu(int node, float *vec, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_C(int node, float *mat, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_D(int node, float *mat, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_lg(int node, float *vec, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_lg_mask(int node, float *vec, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_ug(int node, float *vec, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_ug_mask(int node, float *vec, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_Zl(int node, float *vec, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_Zu(int node, float *vec, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_zl(int node, float *vec, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_zu(int node, float *vec, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_lls(int node, float *vec, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_lls_mask(int node, float *vec, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_lus(int node, float *vec, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_lus_mask(int node, float *vec, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_idxs(int node, int *vec, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_idxs_rev(int node, int *vec, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_Jsbu(int node, float *vec, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_Jsbx(int node, float *vec, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_set_Jsg(int node, float *vec, struct s_tree_ocp_qp *qp);
+//
+//void s_tree_ocp_qp_set_idxe(int node, int *vec, struct s_tree_ocp_qp *qp);
+//
+//void s_tree_ocp_qp_set_idxbxe(int node, int *vec, struct s_tree_ocp_qp *qp);
+//
+//void s_tree_ocp_qp_set_idxbue(int node, int *vec, struct s_tree_ocp_qp *qp);
+//
+//void s_tree_ocp_qp_set_idxge(int node, int *vec, struct s_tree_ocp_qp *qp);
+//
+//void s_tree_ocp_qp_set_Jbxe(int node, float *vec, struct s_tree_ocp_qp *qp);
+//
+//void s_tree_ocp_qp_set_Jbue(int node, float *vec, struct s_tree_ocp_qp *qp);
+//
+//void s_tree_ocp_qp_set_Jge(int node, float *vec, struct s_tree_ocp_qp *qp);
+//
+//void s_tree_ocp_qp_set_diag_H_flag(int node, int *value, struct s_tree_ocp_qp *qp);
+
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_S_TREE_OCP_QP_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_dim.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_dim.h
new file mode 100644
index 0000000000..90df57182b
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_dim.h
@@ -0,0 +1,111 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_S_TREE_OCP_QP_DIM_H_
+#define HPIPM_S_TREE_OCP_QP_DIM_H_
+
+#include "hpipm_common.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_tree_ocp_qp_dim
+	{
+	struct tree *ttree; // tree describing node conndection
+	int *nx; // number of states // Nn
+	int *nu; // number of inputs // Nn
+	int *nb; // number of box constraints // Nn
+	int *nbx; // number of state box constraints // Nn
+	int *nbu; // number of input box constraints // Nn
+	int *ng; // number of general constraints // Nn
+	int *ns; // number of soft constraints // Nn
+	int *nsbx; // number of soft state box constraints
+	int *nsbu; // number of soft input box constraints
+	int *nsg; // number of soft general constraints
+	int Nn; // number of nodes
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t s_tree_ocp_qp_dim_strsize();
+//
+hpipm_size_t s_tree_ocp_qp_dim_memsize(int Nn);
+//
+void s_tree_ocp_qp_dim_create(int Nn, struct s_tree_ocp_qp_dim *qp_dim, void *memory);
+//
+void s_tree_ocp_qp_dim_set_all(struct tree *ttree, int *nx, int *nu, int *nbx, int *nbu, int *ng, int *nsbx, int *nsbu, int *nsg, struct s_tree_ocp_qp_dim *dim);
+//
+void s_tree_ocp_qp_dim_set_tree(struct tree *ttree, struct s_tree_ocp_qp_dim *dim);
+//
+void s_tree_ocp_qp_dim_set(char *field, int stage, int value, struct s_tree_ocp_qp_dim *dim);
+//
+void s_tree_ocp_qp_dim_set_nx(int stage, int value, struct s_tree_ocp_qp_dim *dim);
+//
+void s_tree_ocp_qp_dim_set_nu(int stage, int value, struct s_tree_ocp_qp_dim *dim);
+//
+void s_tree_ocp_qp_dim_set_nbx(int stage, int value, struct s_tree_ocp_qp_dim *dim);
+//
+void s_tree_ocp_qp_dim_set_nbu(int stage, int value, struct s_tree_ocp_qp_dim *dim);
+//
+void s_tree_ocp_qp_dim_set_ng(int stage, int value, struct s_tree_ocp_qp_dim *dim);
+//
+void s_tree_ocp_qp_dim_set_ns(int stage, int value, struct s_tree_ocp_qp_dim *dim);
+//
+void s_tree_ocp_qp_dim_set_nsbx(int stage, int value, struct s_tree_ocp_qp_dim *dim);
+//
+void s_tree_ocp_qp_dim_set_nsbu(int stage, int value, struct s_tree_ocp_qp_dim *dim);
+//
+void s_tree_ocp_qp_dim_set_nsg(int stage, int value, struct s_tree_ocp_qp_dim *dim);
+//
+void s_tree_ocp_qp_dim_set_nbxe(int stage, int value, struct s_tree_ocp_qp_dim *dim);
+//
+void s_tree_ocp_qp_dim_set_nbue(int stage, int value, struct s_tree_ocp_qp_dim *dim);
+//
+void s_tree_ocp_qp_dim_set_nge(int stage, int value, struct s_tree_ocp_qp_dim *dim);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+
+#endif // HPIPM_S_TREE_OCP_QP_DIM_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_ipm.h
new file mode 100644
index 0000000000..f8c26d3173
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_ipm.h
@@ -0,0 +1,208 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+
+#ifndef HPIPM_S_TREE_OCP_QP_IPM_H_
+#define HPIPM_S_TREE_OCP_QP_IPM_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include <hpipm_common.h>
+#include <hpipm_s_tree_ocp_qp_dim.h>
+#include <hpipm_s_tree_ocp_qp.h>
+#include <hpipm_s_tree_ocp_qp_res.h>
+#include <hpipm_s_tree_ocp_qp_sol.h>
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_tree_ocp_qp_ipm_arg
+	{
+	float mu0; // initial value for duality measure
+	float alpha_min; // exit cond on step length
+	float res_g_max; // exit cond on inf norm of residuals
+	float res_b_max; // exit cond on inf norm of residuals
+	float res_d_max; // exit cond on inf norm of residuals
+	float res_m_max; // exit cond on inf norm of residuals
+	float reg_prim; // reg of primal hessian
+	float lam_min; // min value in lam vector
+	float t_min; // min value in t vector
+	float tau_min; // min value of barrier parameter
+	int iter_max; // exit cond in iter number
+	int stat_max; // iterations saved in stat
+	int stat_m; // number of recorded stat per IPM iter
+	int pred_corr; // use Mehrotra's predictor-corrector IPM algirthm
+	int cond_pred_corr; // conditional Mehrotra's predictor-corrector
+	int itref_pred_max; // max number of iterative refinement steps for predictor step
+	int itref_corr_max; // max number of iterative refinement steps for corrector step
+	int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol
+	int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq
+	int abs_form; // absolute IPM formulation
+	int comp_dual_sol_eq; // dual solution (only for abs_form==1)
+	int comp_res_exit; // compute residuals on exit (only for abs_form==1 and comp_dual_sol==1)
+	int split_step; // use different steps for primal and dual variables
+	int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution
+	int mode;
+	hpipm_size_t memsize;
+	};
+
+
+
+struct s_tree_ocp_qp_ipm_ws
+	{
+	struct s_core_qp_ipm_workspace *core_workspace;
+	struct s_tree_ocp_qp_res_ws *res_workspace;
+	struct s_tree_ocp_qp_sol *sol_step;
+	struct s_tree_ocp_qp_sol *sol_itref;
+	struct s_tree_ocp_qp *qp_step;
+	struct s_tree_ocp_qp *qp_itref;
+	struct s_tree_ocp_qp_res *res_itref;
+	struct s_tree_ocp_qp_res *res;
+	struct blasfeo_svec *Gamma; // hessian update
+	struct blasfeo_svec *gamma; // hessian update
+	struct blasfeo_svec *tmp_nxM; // work space of size nxM
+	struct blasfeo_svec *tmp_nbgM; // work space of size nbgM
+	struct blasfeo_svec *tmp_nsM; // work space of size nsM
+	struct blasfeo_svec *Pb; // Pb
+	struct blasfeo_svec *Zs_inv;
+	struct blasfeo_smat *L;
+	struct blasfeo_smat *Lh;
+	struct blasfeo_smat *AL;
+	struct blasfeo_smat *lq0;
+	struct blasfeo_svec *tmp_m;
+	float *stat; // convergence statistics
+	int *use_hess_fact;
+	void *lq_work0;
+	float qp_res[4]; // infinity norm of residuals
+	int iter; // iteration number
+	int stat_max; // iterations saved in stat
+	int stat_m; // number of recorded stat per IPM iter
+	int use_Pb;
+	int status; // solver status
+	int lq_fact; // cache from arg
+	int mask_constr; // use constr mask
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t s_tree_ocp_qp_ipm_arg_memsize(struct s_tree_ocp_qp_dim *dim);
+//
+void s_tree_ocp_qp_ipm_arg_create(struct s_tree_ocp_qp_dim *dim, struct s_tree_ocp_qp_ipm_arg *arg, void *mem);
+//
+void s_tree_ocp_qp_ipm_arg_set_default(enum hpipm_mode mode, struct s_tree_ocp_qp_ipm_arg *arg);
+//
+void s_tree_ocp_qp_ipm_arg_set_iter_max(int *iter_max, struct s_tree_ocp_qp_ipm_arg *arg);
+//
+void s_tree_ocp_qp_ipm_arg_set_alpha_min(float *alpha_min, struct s_tree_ocp_qp_ipm_arg *arg);
+//
+void s_tree_ocp_qp_ipm_arg_set_mu0(float *mu0, struct s_tree_ocp_qp_ipm_arg *arg);
+//
+void s_tree_ocp_qp_ipm_arg_set_tol_stat(float *tol_stat, struct s_tree_ocp_qp_ipm_arg *arg);
+//
+void s_tree_ocp_qp_ipm_arg_set_tol_eq(float *tol_eq, struct s_tree_ocp_qp_ipm_arg *arg);
+//
+void s_tree_ocp_qp_ipm_arg_set_tol_ineq(float *tol_ineq, struct s_tree_ocp_qp_ipm_arg *arg);
+//
+void s_tree_ocp_qp_ipm_arg_set_tol_comp(float *tol_comp, struct s_tree_ocp_qp_ipm_arg *arg);
+//
+void s_tree_ocp_qp_ipm_arg_set_reg_prim(float *reg, struct s_tree_ocp_qp_ipm_arg *arg);
+//
+void s_tree_ocp_qp_ipm_arg_set_warm_start(int *warm_start, struct s_tree_ocp_qp_ipm_arg *arg);
+//
+void s_tree_ocp_qp_ipm_arg_set_pred_corr(int *pred_corr, struct s_tree_ocp_qp_ipm_arg *arg);
+//
+void s_tree_ocp_qp_ipm_arg_set_cond_pred_corr(int *value, struct s_tree_ocp_qp_ipm_arg *arg);
+//
+void s_tree_ocp_qp_ipm_arg_set_comp_dual_sol_eq(int *value, struct s_tree_ocp_qp_ipm_arg *arg);
+//
+void s_tree_ocp_qp_ipm_arg_set_comp_res_exit(int *value, struct s_tree_ocp_qp_ipm_arg *arg);
+//
+void s_tree_ocp_qp_ipm_arg_set_lam_min(float *value, struct s_tree_ocp_qp_ipm_arg *arg);
+//
+void s_tree_ocp_qp_ipm_arg_set_t_min(float *value, struct s_tree_ocp_qp_ipm_arg *arg);
+//
+void s_tree_ocp_qp_ipm_arg_set_tau_min(float *value, struct s_tree_ocp_qp_ipm_arg *arg);
+//
+void s_tree_ocp_qp_ipm_arg_set_split_step(int *value, struct s_tree_ocp_qp_ipm_arg *arg);
+//
+void s_tree_ocp_qp_ipm_arg_set_t_lam_min(int *value, struct s_tree_ocp_qp_ipm_arg *arg);
+
+//
+hpipm_size_t s_tree_ocp_qp_ipm_ws_memsize(struct s_tree_ocp_qp_dim *dim, struct s_tree_ocp_qp_ipm_arg *arg);
+//
+void s_tree_ocp_qp_ipm_ws_create(struct s_tree_ocp_qp_dim *dim, struct s_tree_ocp_qp_ipm_arg *arg, struct s_tree_ocp_qp_ipm_ws *ws, void *mem);
+//
+void s_tree_ocp_qp_ipm_get_status(struct s_tree_ocp_qp_ipm_ws *ws, int *status);
+//
+void s_tree_ocp_qp_ipm_get_iter(struct s_tree_ocp_qp_ipm_ws *ws, int *iter);
+//
+void s_tree_ocp_qp_ipm_get_max_res_stat(struct s_tree_ocp_qp_ipm_ws *ws, float *res_stat);
+//
+void s_tree_ocp_qp_ipm_get_max_res_eq(struct s_tree_ocp_qp_ipm_ws *ws, float *res_eq);
+//
+void s_tree_ocp_qp_ipm_get_max_res_ineq(struct s_tree_ocp_qp_ipm_ws *ws, float *res_ineq);
+//
+void s_tree_ocp_qp_ipm_get_max_res_comp(struct s_tree_ocp_qp_ipm_ws *ws, float *res_comp);
+//
+void s_tree_ocp_qp_ipm_get_stat(struct s_tree_ocp_qp_ipm_ws *ws, float **stat);
+//
+void s_tree_ocp_qp_ipm_get_stat_m(struct s_tree_ocp_qp_ipm_ws *ws, int *stat_m);
+//
+void s_tree_ocp_qp_init_var(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_ipm_arg *arg, struct s_tree_ocp_qp_ipm_ws *ws);
+//
+void s_tree_ocp_qp_ipm_abs_step(int kk, struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_ipm_arg *arg, struct s_tree_ocp_qp_ipm_ws *ws);
+//
+void s_tree_ocp_qp_ipm_delta_step(int kk, struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_ipm_arg *arg, struct s_tree_ocp_qp_ipm_ws *ws);
+//
+void s_tree_ocp_qp_ipm_solve(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_ipm_arg *arg, struct s_tree_ocp_qp_ipm_ws *ws);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_S_TREE_OCP_QP_IPM_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_kkt.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_kkt.h
new file mode 100644
index 0000000000..bcf7354783
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_kkt.h
@@ -0,0 +1,54 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+//
+void s_tree_ocp_qp_fact_solve_kkt_unconstr(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_ipm_arg *arg, struct s_tree_ocp_qp_ipm_ws *ws);
+//
+void s_tree_ocp_qp_fact_solve_kkt_step(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_ipm_arg *arg, struct s_tree_ocp_qp_ipm_ws *ws);
+//
+void s_tree_ocp_qp_fact_lq_solve_kkt_step(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_ipm_arg *arg, struct s_tree_ocp_qp_ipm_ws *ws);
+//
+void s_tree_ocp_qp_solve_kkt_step(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_ipm_arg *arg, struct s_tree_ocp_qp_ipm_ws *ws);
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_res.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_res.h
new file mode 100644
index 0000000000..5c6797204f
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_res.h
@@ -0,0 +1,107 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_S_TREE_OCP_QP_RES_H_
+#define HPIPM_S_TREE_OCP_QP_RES_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include <hpipm_common.h>
+#include <hpipm_s_tree_ocp_qp_dim.h>
+#include <hpipm_s_tree_ocp_qp.h>
+#include <hpipm_s_tree_ocp_qp_sol.h>
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct s_tree_ocp_qp_res
+	{
+	struct s_tree_ocp_qp_dim *dim;
+	struct blasfeo_svec *res_g; // q-residuals
+	struct blasfeo_svec *res_b; // b-residuals
+	struct blasfeo_svec *res_d; // d-residuals
+	struct blasfeo_svec *res_m; // m-residuals
+	float res_max[4]; // max of residuals
+	float res_mu; // mu-residual
+	hpipm_size_t memsize;
+	};
+
+
+
+struct s_tree_ocp_qp_res_ws
+	{
+	struct blasfeo_svec *tmp_nbgM; // work space of size nbM+ngM
+	struct blasfeo_svec *tmp_nsM; // work space of size nsM
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t s_tree_ocp_qp_res_memsize(struct s_tree_ocp_qp_dim *ocp_dim);
+//
+void s_tree_ocp_qp_res_create(struct s_tree_ocp_qp_dim *ocp_dim, struct s_tree_ocp_qp_res *res, void *mem);
+//
+hpipm_size_t s_tree_ocp_qp_res_ws_memsize(struct s_tree_ocp_qp_dim *ocp_dim);
+//
+void s_tree_ocp_qp_res_ws_create(struct s_tree_ocp_qp_dim *ocp_dim, struct s_tree_ocp_qp_res_ws *ws, void *mem);
+//
+void s_tree_ocp_qp_res_get_all(struct s_tree_ocp_qp_res *res, float **res_r, float **res_q, float **res_ls, float **res_us, float **res_b, float **res_d_lb, float **res_d_ub, float **res_d_lg, float **res_d_ug, float **res_d_ls, float **res_d_us, float **res_m_lb, float **res_m_ub, float **res_m_lg, float **res_m_ug, float **res_m_ls, float **res_m_us);
+//
+void s_tree_ocp_qp_res_compute(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_res *res, struct s_tree_ocp_qp_res_ws *ws);
+//
+void s_tree_ocp_qp_res_compute_lin(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_sol *qp_step, struct s_tree_ocp_qp_res *res, struct s_tree_ocp_qp_res_ws *ws);
+//
+void s_tree_ocp_qp_res_compute_inf_norm(struct s_tree_ocp_qp_res *res);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+#endif // HPIPM_S_TREE_OCP_QP_RES_H_
+
+
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_sol.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_sol.h
new file mode 100644
index 0000000000..71e887675b
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_sol.h
@@ -0,0 +1,98 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_S_TREE_OCP_QP_SOL_H_
+#define HPIPM_S_TREE_OCP_QP_SOL_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_s_tree_ocp_qp_dim.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+struct s_tree_ocp_qp_sol
+	{
+	struct s_tree_ocp_qp_dim *dim;
+	struct blasfeo_svec *ux;
+	struct blasfeo_svec *pi;
+	struct blasfeo_svec *lam;
+	struct blasfeo_svec *t;
+	void *misc;
+	hpipm_size_t memsize; // memory size in bytes
+	};
+
+
+
+//
+hpipm_size_t s_tree_ocp_qp_sol_memsize(struct s_tree_ocp_qp_dim *dim);
+//
+void s_tree_ocp_qp_sol_create(struct s_tree_ocp_qp_dim *dim, struct s_tree_ocp_qp_sol *qp_sol, void *memory);
+//
+void s_tree_ocp_qp_sol_get_all(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, float **u, float **x, float **ls, float **us, float **pi, float **lam_lb, float **lam_ub, float **lam_lg, float **lam_ug, float **lam_ls, float **lam_us);
+//
+void s_tree_ocp_qp_sol_get_u(int node, struct s_tree_ocp_qp_sol *qp_sol, float *vec);
+//
+void s_tree_ocp_qp_sol_get_x(int node, struct s_tree_ocp_qp_sol *qp_sol, float *vec);
+//
+void s_tree_ocp_qp_sol_get_sl(int node, struct s_tree_ocp_qp_sol *qp_sol, float *vec);
+//
+void s_tree_ocp_qp_sol_get_su(int node, struct s_tree_ocp_qp_sol *qp_sol, float *vec);
+//
+void s_tree_ocp_qp_sol_get_pi(int edge, struct s_tree_ocp_qp_sol *qp_sol, float *vec);
+//
+void s_tree_ocp_qp_sol_get_lam_lb(int node, struct s_tree_ocp_qp_sol *qp_sol, float *vec);
+//
+void s_tree_ocp_qp_sol_get_lam_ub(int node, struct s_tree_ocp_qp_sol *qp_sol, float *vec);
+//
+void s_tree_ocp_qp_sol_get_lam_lg(int node, struct s_tree_ocp_qp_sol *qp_sol, float *vec);
+//
+void s_tree_ocp_qp_sol_get_lam_ug(int node, struct s_tree_ocp_qp_sol *qp_sol, float *vec);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+
+
+#endif // HPIPM_S_TREE_OCP_QP_SOL_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_utils.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_utils.h
new file mode 100644
index 0000000000..ec1747568f
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_utils.h
@@ -0,0 +1,84 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_S_TREE_OCP_QP_UTILS_H_
+#define HPIPM_S_TREE_OCP_QP_UTILS_H_
+
+
+
+#include <blasfeo_target.h>
+#include <blasfeo_common.h>
+
+#include "hpipm_s_tree_ocp_qp_dim.h"
+#include "hpipm_s_tree_ocp_qp.h"
+#include "hpipm_s_tree_ocp_qp_sol.h"
+#include "hpipm_s_tree_ocp_qp_ipm.h"
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+//
+void s_tree_ocp_qp_dim_print(struct s_tree_ocp_qp_dim *qp_dim);
+//
+//void s_tree_ocp_qp_dim_codegen(char *file_name, char *mode, struct s_tree_ocp_qp_dim *qp_dim);
+//
+void s_tree_ocp_qp_print(struct s_tree_ocp_qp_dim *qp_dim, struct s_tree_ocp_qp *qp);
+//
+//void s_tree_ocp_qp_codegen(char *file_name, char *mode, struct s_tree_ocp_qp_dim *qp_dim, struct s_tree_ocp_qp *qp);
+//
+void s_tree_ocp_qp_sol_print(struct s_tree_ocp_qp_dim *qp_dim, struct s_tree_ocp_qp_sol *ocp_qp_sol);
+//
+void s_tree_ocp_qp_ipm_arg_print(struct s_tree_ocp_qp_dim *qp_dim, struct s_tree_ocp_qp_ipm_arg *arg);
+//
+//void s_tree_ocp_qp_ipm_arg_codegen(char *file_name, char *mode, struct s_tree_ocp_qp_dim *qp_dim, struct s_tree_ocp_qp_ipm_arg *arg);
+//
+void s_tree_ocp_qp_res_print(struct s_tree_ocp_qp_dim *qp_dim, struct s_tree_ocp_qp_res *ocp_qp_res);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+
+#endif // HPIPM_S_TREE_OCP_QP_UTILS_H_
+
+
diff --git a/third_party/acados/include/hpipm/include/hpipm_scenario_tree.h b/third_party/acados/include/hpipm/include/hpipm_scenario_tree.h
new file mode 100644
index 0000000000..a3c77a670a
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_scenario_tree.h
@@ -0,0 +1,70 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_SCENARIO_TREE_H_
+#define HPIPM_SCENARIO_TREE_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct sctree
+	{
+	struct node *root; // pointer to root
+	int *kids; // pointer to array of kids
+	int Nn; // numer of nodes
+	int md; // number of realizations
+	int Nr; // robust horizion
+	int Nh; // control horizion
+	hpipm_size_t memsize;
+	};
+
+
+
+//
+hpipm_size_t sctree_memsize(int md, int Nr, int Nh);
+//
+void sctree_create(int md, int Nr, int Nh, struct sctree *st, void *memory);
+//
+void sctree_cast_to_tree(struct sctree *st, struct tree *tt);
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif // HPIPM_SCENARIO_TREE_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_timing.h b/third_party/acados/include/hpipm/include/hpipm_timing.h
new file mode 100644
index 0000000000..bd0f2dbcb3
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_timing.h
@@ -0,0 +1,67 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+#ifndef HPIPM_TIMING_H_
+#define HPIPM_TIMING_H_
+
+
+
+#include <blasfeo_timing.h>
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+typedef blasfeo_timer hpipm_timer;
+
+
+
+//
+void hpipm_tic(hpipm_timer *t);
+//
+double hpipm_toc(hpipm_timer *t);
+
+
+
+#ifdef __cplusplus
+}	// #extern "C"
+#endif
+
+
+#endif // HPIPM_TIMING_H_
diff --git a/third_party/acados/include/hpipm/include/hpipm_tree.h b/third_party/acados/include/hpipm/include/hpipm_tree.h
new file mode 100644
index 0000000000..f9d69ecddd
--- /dev/null
+++ b/third_party/acados/include/hpipm/include/hpipm_tree.h
@@ -0,0 +1,76 @@
+/**************************************************************************************************
+*                                                                                                 *
+* This file is part of HPIPM.                                                                     *
+*                                                                                                 *
+* HPIPM -- High-Performance Interior Point Method.                                                *
+* Copyright (C) 2019 by Gianluca Frison.                                                          *
+* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              *
+* All rights reserved.                                                                            *
+*                                                                                                 *
+* The 2-Clause BSD License                                                                        *
+*                                                                                                 *
+* Redistribution and use in source and binary forms, with or without                              *
+* modification, are permitted provided that the following conditions are met:                     *
+*                                                                                                 *
+* 1. Redistributions of source code must retain the above copyright notice, this                  *
+*    list of conditions and the following disclaimer.                                             *
+* 2. Redistributions in binary form must reproduce the above copyright notice,                    *
+*    this list of conditions and the following disclaimer in the documentation                    *
+*    and/or other materials provided with the distribution.                                       *
+*                                                                                                 *
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND                 *
+* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED                   *
+* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE                          *
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR                 *
+* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES                  *
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;                    *
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND                     *
+* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT                      *
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS                   *
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.                                    *
+*                                                                                                 *
+* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             *
+*                                                                                                 *
+**************************************************************************************************/
+
+
+#ifndef HPIPM_TREE_H_
+#define HPIPM_TREE_H_
+
+#include "hpipm_common.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+struct node
+	{
+	int *kids;  // 64 bits
+	int idx;    // 32 bits
+	int dad;    // 32 bits
+	int nkids;  // 32 bits
+	int stage;  // 32 bits
+	int real;   // 32 bits
+	int idxkid; // 32 bits // XXX needed ???
+	// total     256 bits
+	};
+
+
+
+struct tree
+	{
+	struct node *root; // pointer to root
+	int *kids; // pointer to array of kids
+	int Nn; // numer of nodes
+	hpipm_size_t memsize;
+	};
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif // HPIPM_TREE_H_
diff --git a/third_party/acados/include/qpOASES_e/Bounds.h b/third_party/acados/include/qpOASES_e/Bounds.h
new file mode 100644
index 0000000000..4e41c1d163
--- /dev/null
+++ b/third_party/acados/include/qpOASES_e/Bounds.h
@@ -0,0 +1,543 @@
+/*
+ *	This file is part of qpOASES.
+ *
+ *	qpOASES -- An Implementation of the Online Active Set Strategy.
+ *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
+ *	Christian Kirches et al. All rights reserved.
+ *
+ *	qpOASES is free software; you can redistribute it and/or
+ *	modify it under the terms of the GNU Lesser General Public
+ *	License as published by the Free Software Foundation; either
+ *	version 2.1 of the License, or (at your option) any later version.
+ *
+ *	qpOASES is distributed in the hope that it will be useful,
+ *	but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *	See the GNU Lesser General Public License for more details.
+ *
+ *	You should have received a copy of the GNU Lesser General Public
+ *	License along with qpOASES; if not, write to the Free Software
+ *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ */
+
+
+/**
+ *	\file include/qpOASES_e/Bounds.h
+ *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
+ *	\version 3.1embedded
+ *	\date 2007-2015
+ *
+ *	Declaration of the Bounds class designed to manage working sets of
+ *	bounds within a QProblem.
+ */
+
+
+#ifndef QPOASES_BOUNDS_H
+#define QPOASES_BOUNDS_H
+
+
+#include <qpOASES_e/Indexlist.h>
+
+
+BEGIN_NAMESPACE_QPOASES
+
+
+/**
+ *	\brief Manages working sets of bounds (= box constraints).
+ *
+ *	This class manages working sets of bounds (= box constraints)
+ *	by storing index sets and other status information.
+ *
+ *	\author Hans Joachim Ferreau
+ *	\version 3.1embedded
+ *	\date 2007-2015
+ */
+typedef struct
+{
+	Indexlist *freee;					/**< Index list of free variables. */
+	Indexlist *fixed;					/**< Index list of fixed variables. */
+
+	Indexlist *shiftedFreee;			/**< Memory for shifting free variables. */
+	Indexlist *shiftedFixed;			/**< Memory for shifting fixed variables. */
+
+	Indexlist *rotatedFreee;			/**< Memory for rotating free variables. */
+	Indexlist *rotatedFixed;			/**< Memory for rotating fixed variables. */
+
+	SubjectToType   *type; 				/**< Type of bounds. */
+	SubjectToStatus *status;			/**< Status of bounds. */
+
+	SubjectToType   *typeTmp;			/**< Temp memory for type of bounds. */
+	SubjectToStatus *statusTmp;			/**< Temp memory for status of bounds. */
+
+	BooleanType noLower;	 			/**< This flag indicates if there is no lower bound on any variable. */
+	BooleanType noUpper;	 			/**< This flag indicates if there is no upper bound on any variable. */
+
+	int n;								/**< Total number of bounds. */
+} Bounds;
+
+int Bounds_calculateMemorySize( int n);
+
+char *Bounds_assignMemory(int n, Bounds **mem, void *raw_memory);
+
+Bounds *Bounds_createMemory( int n );
+
+/** Constructor which takes the number of bounds. */
+void BoundsCON(	Bounds* _THIS,
+				int _n									/**< Number of bounds. */
+				);
+
+/** Copies all members from given rhs object.
+ *  \return SUCCESSFUL_RETURN */
+void BoundsCPY(	Bounds* FROM,
+				Bounds* TO
+				);
+
+
+/** Initialises object with given number of bounds.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_INVALID_ARGUMENTS */
+returnValue Bounds_init(	Bounds* _THIS,
+							int _n					/**< Number of bounds. */
+							);
+
+
+/** Initially adds number of a new (i.e. not yet in the list) bound to
+ *  given index set.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_SETUP_BOUND_FAILED \n
+			RET_INDEX_OUT_OF_BOUNDS \n
+			RET_INVALID_ARGUMENTS */
+returnValue Bounds_setupBound(	Bounds* _THIS,
+								int number,				/**< Number of new bound. */
+								SubjectToStatus _status	/**< Status of new bound. */
+								);
+
+/** Initially adds all numbers of new (i.e. not yet in the list) bounds to
+ *  to the index set of free bounds; the order depends on the SujectToType
+ *  of each index.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_SETUP_BOUND_FAILED */
+returnValue Bounds_setupAllFree(	Bounds* _THIS
+									);
+
+/** Initially adds all numbers of new (i.e. not yet in the list) bounds to
+ *  to the index set of fixed bounds (on their lower bounds);
+ *  the order depends on the SujectToType of each index.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_SETUP_BOUND_FAILED */
+returnValue Bounds_setupAllLower(	Bounds* _THIS
+									);
+
+/** Initially adds all numbers of new (i.e. not yet in the list) bounds to
+ *  to the index set of fixed bounds (on their upper bounds);
+ *  the order depends on the SujectToType of each index.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_SETUP_BOUND_FAILED */
+returnValue Bounds_setupAllUpper(	Bounds* _THIS
+									);
+
+
+/** Moves index of a bound from index list of fixed to that of free bounds.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_MOVING_BOUND_FAILED \n
+			RET_INDEX_OUT_OF_BOUNDS */
+returnValue Bounds_moveFixedToFree(	Bounds* _THIS,
+									int number				/**< Number of bound to be freed. */
+									);
+
+/** Moves index of a bound from index list of free to that of fixed bounds.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_MOVING_BOUND_FAILED \n
+			RET_INDEX_OUT_OF_BOUNDS */
+returnValue Bounds_moveFreeToFixed(	Bounds* _THIS,
+									int number,				/**< Number of bound to be fixed. */
+									SubjectToStatus _status	/**< Status of bound to be fixed. */
+									);
+
+/** Flip fixed bound.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_MOVING_BOUND_FAILED \n
+			RET_INDEX_OUT_OF_BOUNDS */
+returnValue Bounds_flipFixed(	Bounds* _THIS,
+								int number
+								);
+
+/** Swaps the indices of two free bounds within the index set.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_SWAPINDEX_FAILED */
+returnValue Bounds_swapFree(	Bounds* _THIS,
+								int number1,					/**< Number of first bound. */
+								int number2						/**< Number of second bound. */
+								);
+
+
+/** Returns number of variables.
+ *	\return Number of variables. */
+static inline int Bounds_getNV(	Bounds* _THIS
+							);
+
+/** Returns number of implicitly fixed variables.
+ *	\return Number of implicitly fixed variables. */
+static inline int Bounds_getNFV(	Bounds* _THIS
+									);
+
+/** Returns number of bounded (but possibly free) variables.
+ *	\return Number of bounded (but possibly free) variables. */
+static inline int Bounds_getNBV(	Bounds* _THIS
+									);
+
+/** Returns number of unbounded variables.
+ *	\return Number of unbounded variables. */
+static inline int Bounds_getNUV(	Bounds* _THIS
+									);
+
+/** Returns number of free variables.
+ *	\return Number of free variables. */
+static inline int Bounds_getNFR(	Bounds* _THIS
+									);
+
+/** Returns number of fixed variables.
+ *	\return Number of fixed variables. */
+static inline int Bounds_getNFX(	Bounds* _THIS
+									);
+
+
+/** Returns a pointer to free variables index list.
+ *	\return Pointer to free variables index list. */
+static inline Indexlist* Bounds_getFree(	Bounds* _THIS
+											);
+
+/** Returns a pointer to fixed variables index list.
+ *	\return Pointer to fixed variables index list. */
+static inline Indexlist* Bounds_getFixed(	Bounds* _THIS
+											);
+
+
+/** Returns number of bounds with given SubjectTo type.
+ *	\return Number of bounds with given type. */
+static inline int Bounds_getNumberOfType(	Bounds* _THIS,
+											SubjectToType _type	/**< Type of bound. */
+											);
+
+
+/** Returns type of bound.
+ *	\return Type of bound \n
+ 			RET_INDEX_OUT_OF_BOUNDS */
+static inline SubjectToType Bounds_getType(	Bounds* _THIS,
+											int i			/**< Number of bound. */
+											);
+
+/** Returns status of bound.
+ *	\return Status of bound \n
+ 			ST_UNDEFINED */
+static inline SubjectToStatus Bounds_getStatus(	Bounds* _THIS,
+												int i		/**< Number of bound. */
+												);
+
+
+/** Sets type of bound.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_INDEX_OUT_OF_BOUNDS */
+static inline returnValue Bounds_setType(	Bounds* _THIS,
+											int i,				/**< Number of bound. */
+											SubjectToType value	/**< Type of bound. */
+											);
+
+/** Sets status of bound.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_INDEX_OUT_OF_BOUNDS */
+static inline returnValue Bounds_setStatus(	Bounds* _THIS,
+											int i,					/**< Number of bound. */
+											SubjectToStatus value	/**< Status of bound. */
+											);
+
+
+/** Sets status of lower bounds. */
+static inline void Bounds_setNoLower(	Bounds* _THIS,
+										BooleanType _status		/**< Status of lower bounds. */
+										);
+
+/** Sets status of upper bounds. */
+static inline void Bounds_setNoUpper(	Bounds* _THIS,
+										BooleanType _status		/**< Status of upper bounds. */
+										);
+
+
+/** Returns status of lower bounds.
+ *	\return BT_TRUE if there is no lower bound on any variable. */
+static inline BooleanType Bounds_hasNoLower(	Bounds* _THIS
+												);
+
+/** Returns status of upper bounds.
+ *	\return BT_TRUE if there is no upper bound on any variable. */
+static inline BooleanType Bounds_hasNoUpper(	Bounds* _THIS
+												);
+
+
+/** Shifts forward type and status of all bounds by a given
+ *  offset. This offset has to lie within the range [0,n/2] and has to
+ *  be an integer divisor of the total number of bounds n.
+ *  Type and status of the first \<offset\> bounds is thrown away,
+ *  type and status of the last \<offset\> bounds is doubled,
+ *  e.g. for offset = 2: \n
+ *  shift( {b1,b2,b3,b4,b5,b6} ) = {b3,b4,b5,b6,b5,b6}
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_INDEX_OUT_OF_BOUNDS \n
+ 			RET_INVALID_ARGUMENTS \n
+ 			RET_SHIFTING_FAILED */
+returnValue Bounds_shift(	Bounds* _THIS,
+							int offset		/**< Shift offset within the range [0,n/2] and integer divisor of n. */
+							);
+
+/** Rotates forward type and status of all bounds by a given
+ *  offset. This offset has to lie within the range [0,n].
+ *  Example for offset = 2: \n
+ *  rotate( {b1,b2,b3,b4,b5,b6} ) = {b3,b4,b5,b6,b1,b2}
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_INDEX_OUT_OF_BOUNDS \n
+ 			RET_ROTATING_FAILED */
+returnValue Bounds_rotate(	Bounds* _THIS,
+							int offset		/**< Rotation offset within the range [0,n]. */
+							);
+
+
+/** Prints information on bounds object
+ *  (in particular, lists of free and fixed bounds.
+ * \return SUCCESSFUL_RETURN \n
+		   RET_INDEXLIST_CORRUPTED */
+returnValue Bounds_print(	Bounds* _THIS
+							);
+
+
+/** Initially adds all numbers of new (i.e. not yet in the list) bounds to
+ *  to the index set corresponding to the desired status;
+ *  the order depends on the SujectToType of each index.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_SETUP_BOUND_FAILED */
+returnValue Bounds_setupAll(	Bounds* _THIS,
+								SubjectToStatus _status	/**< Desired initial status for all bounds. */
+								);
+
+
+/** Adds the index of a new bound to index set.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_ADDINDEX_FAILED \n
+			RET_INVALID_ARGUMENTS */
+returnValue Bounds_addIndex(	Bounds* _THIS,
+								Indexlist* const indexlist,	/**< Index list to which the new index shall be added. */
+								int newnumber,				/**< Number of new bound. */
+								SubjectToStatus newstatus	/**< Status of new bound. */
+								);
+
+/** Removes the index of a bound from index set.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_REMOVEINDEX_FAILED \n
+			RET_INVALID_ARGUMENTS */
+returnValue Bounds_removeIndex(	Bounds* _THIS,
+								Indexlist* const indexlist,	/**< Index list from which the new index shall be removed. */
+								int removenumber			/**< Number of bound to be removed. */
+								);
+
+/** Swaps the indices of two constraints or bounds within the index set.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_SWAPINDEX_FAILED \n
+			RET_INVALID_ARGUMENTS */
+returnValue Bounds_swapIndex(	Bounds* _THIS,
+								Indexlist* const indexlist,	/**< Index list in which the indices shold be swapped. */
+								int number1,				/**< Number of first bound. */
+								int number2					/**< Number of second bound. */
+								);
+
+
+
+/*
+ *	g e t N u m b e r O f T y p e
+ */
+static inline int Bounds_getNumberOfType( Bounds* _THIS, SubjectToType _type )
+{
+	int i;
+	int numberOfType = 0;
+
+	if ( _THIS->type != 0 )
+	{
+		for( i=0; i<_THIS->n; ++i )
+			if ( _THIS->type[i] == _type )
+				++numberOfType;
+	}
+
+	return numberOfType;
+}
+
+
+/*
+ *	g e t T y p e
+ */
+static inline SubjectToType Bounds_getType( Bounds* _THIS, int i )
+{
+	if ( ( i >= 0 ) && ( i < _THIS->n ) )
+		return _THIS->type[i];
+
+	return ST_UNKNOWN;
+}
+
+
+/*
+ *	g e t S t a t u s
+ */
+static inline SubjectToStatus Bounds_getStatus( Bounds* _THIS, int i )
+{
+	if ( ( i >= 0 ) && ( i < _THIS->n ) )
+		return _THIS->status[i];
+
+	return ST_UNDEFINED;
+}
+
+
+/*
+ *	s e t T y p e
+ */
+static inline returnValue Bounds_setType( Bounds* _THIS, int i, SubjectToType value )
+{
+	if ( ( i >= 0 ) && ( i < _THIS->n ) )
+	{
+		_THIS->type[i] = value;
+		return SUCCESSFUL_RETURN;
+	}
+	else
+		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
+}
+
+
+/*
+ *	s e t S t a t u s
+ */
+static inline returnValue Bounds_setStatus( Bounds* _THIS, int i, SubjectToStatus value )
+{
+	if ( ( i >= 0 ) && ( i < _THIS->n ) )
+	{
+		_THIS->status[i] = value;
+		return SUCCESSFUL_RETURN;
+	}
+	else
+		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
+}
+
+
+/*
+ *	s e t N o L o w e r
+ */
+static inline void Bounds_setNoLower( Bounds* _THIS, BooleanType _status )
+{
+	_THIS->noLower = _status;
+}
+
+
+/*
+ *	s e t N o U p p e r
+ */
+static inline void Bounds_setNoUpper( Bounds* _THIS, BooleanType _status )
+{
+	_THIS->noUpper = _status;
+}
+
+
+/*
+ *	h a s N o L o w e r
+ */
+static inline BooleanType Bounds_hasNoLower( Bounds* _THIS )
+{
+	return _THIS->noLower;
+}
+
+
+/*
+ *	h a s N o U p p p e r
+ */
+static inline BooleanType Bounds_hasNoUpper( Bounds* _THIS )
+{
+	return _THIS->noUpper;
+}
+
+
+
+/*
+ *	g e t N V
+ */
+static inline int Bounds_getNV( Bounds* _THIS )
+{
+ 	return _THIS->n;
+}
+
+
+/*
+ *	g e t N F V
+ */
+static inline int Bounds_getNFV( Bounds* _THIS )
+{
+ 	return Bounds_getNumberOfType( _THIS,ST_EQUALITY );
+}
+
+
+/*
+ *	g e t N B V
+ */
+static inline int Bounds_getNBV( Bounds* _THIS )
+{
+ 	return Bounds_getNumberOfType( _THIS,ST_BOUNDED );
+}
+
+
+/*
+ *	g e t N U V
+ */
+static inline int Bounds_getNUV( Bounds* _THIS )
+{
+	return Bounds_getNumberOfType( _THIS,ST_UNBOUNDED );
+}
+
+
+/*
+ *	g e t N F R
+ */
+static inline int Bounds_getNFR( Bounds* _THIS )
+{
+ 	return Indexlist_getLength( _THIS->freee );
+}
+
+
+/*
+ *	g e t N F X
+ */
+static inline int Bounds_getNFX( Bounds* _THIS )
+{
+	return Indexlist_getLength( _THIS->fixed );
+}
+
+
+/*
+ *	g e t F r e e
+ */
+static inline Indexlist* Bounds_getFree( Bounds* _THIS )
+{
+	return _THIS->freee;
+}
+
+
+/*
+ *	g e t F i x e d
+ */
+static inline Indexlist* Bounds_getFixed( Bounds* _THIS )
+{
+	return _THIS->fixed;
+}
+
+
+END_NAMESPACE_QPOASES
+
+#endif	/* QPOASES_BOUNDS_H */
+
+
+/*
+ *	end of file
+ */
diff --git a/third_party/acados/include/qpOASES_e/Constants.h b/third_party/acados/include/qpOASES_e/Constants.h
new file mode 100644
index 0000000000..0e3dcd19f4
--- /dev/null
+++ b/third_party/acados/include/qpOASES_e/Constants.h
@@ -0,0 +1,134 @@
+/*
+ *	This file is part of qpOASES.
+ *
+ *	qpOASES -- An Implementation of the Online Active Set Strategy.
+ *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
+ *	Christian Kirches et al. All rights reserved.
+ *
+ *	qpOASES is free software; you can redistribute it and/or
+ *	modify it under the terms of the GNU Lesser General Public
+ *	License as published by the Free Software Foundation; either
+ *	version 2.1 of the License, or (at your option) any later version.
+ *
+ *	qpOASES is distributed in the hope that it will be useful,
+ *	but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *	See the GNU Lesser General Public License for more details.
+ *
+ *	You should have received a copy of the GNU Lesser General Public
+ *	License along with qpOASES; if not, write to the Free Software
+ *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ */
+
+
+/**
+ *	\file include/qpOASES_e/Constants.h
+ *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
+ *	\version 3.1embedded
+ *	\date 2007-2015
+ *
+ *	Definition of all global constants.
+ */
+
+
+#ifndef QPOASES_CONSTANTS_H
+#define QPOASES_CONSTANTS_H
+
+
+#include <qpOASES_e/Types.h>
+
+#ifdef __CODE_GENERATION__
+
+  #define CONVERTTOSTRINGAUX(x) #x
+  #define CONVERTTOSTRING(x) CONVERTTOSTRINGAUX(x)
+
+  #ifndef QPOASES_CUSTOM_INTERFACE
+  #include "acado_qpoases3_interface.h"
+  #else
+  #include CONVERTTOSTRING(QPOASES_CUSTOM_INTERFACE)
+  #endif
+
+#endif
+
+
+BEGIN_NAMESPACE_QPOASES
+
+
+#ifndef __EXTERNAL_DIMENSIONS__
+
+  /*#define QPOASES_NVMAX  50
+  #define QPOASES_NCMAX  100*/
+  #define QPOASES_NVMAX  287
+  #define QPOASES_NCMAX  709
+
+#endif /* __EXTERNAL_DIMENSIONS__ */
+
+
+/** Maximum number of variables within a QP formulation.
+ *	Note: this value has to be positive! */
+#define NVMAX  QPOASES_NVMAX
+
+/** Maximum number of constraints within a QP formulation.
+ *	Note: this value has to be positive! */
+#define NCMAX  QPOASES_NCMAX
+
+#if ( QPOASES_NVMAX > QPOASES_NCMAX )
+#define NVCMAX QPOASES_NVMAX
+#else
+#define NVCMAX QPOASES_NCMAX
+#endif
+
+#if ( QPOASES_NVMAX > QPOASES_NCMAX )
+#define NVCMIN QPOASES_NCMAX
+#else
+#define NVCMIN QPOASES_NVMAX
+#endif
+
+
+/** Maximum number of QPs in a sequence solved by means of the OQP interface.
+ *	Note: this value has to be positive! */
+#define NQPMAX 1000
+
+
+/** Numerical value of machine precision (min eps, s.t. 1+eps > 1).
+ *	Note: this value has to be positive! */
+#ifndef __CODE_GENERATION__
+
+  #ifdef __USE_SINGLE_PRECISION__
+  static const real_t QPOASES_EPS = 1.193e-07;
+  #else
+  static const real_t QPOASES_EPS = 2.221e-16;
+  #endif /* __USE_SINGLE_PRECISION__ */
+
+#endif /* __CODE_GENERATION__ */
+
+
+/** Numerical value of zero (for situations in which it would be
+ *	unreasonable to compare with 0.0).
+ *  Note: this value has to be positive! */
+static const real_t QPOASES_ZERO = 1.0e-25;
+
+/** Numerical value of infinity (e.g. for non-existing bounds).
+ *	Note: this value has to be positive! */
+static const real_t QPOASES_INFTY = 1.0e20;
+
+/** Tolerance to used for isEqual, isZero etc.
+ *	Note: this value has to be positive! */
+static const real_t QPOASES_TOL = 1.0e-25;
+
+
+/** Maximum number of characters within a string.
+ *	Note: this value should be at least 41! */
+#define QPOASES_MAX_STRING_LENGTH 160
+
+
+END_NAMESPACE_QPOASES
+
+
+#endif	/* QPOASES_CONSTANTS_H */
+
+
+/*
+ *	end of file
+ */
diff --git a/third_party/acados/include/qpOASES_e/ConstraintProduct.h b/third_party/acados/include/qpOASES_e/ConstraintProduct.h
new file mode 100644
index 0000000000..ddfcfbe5dc
--- /dev/null
+++ b/third_party/acados/include/qpOASES_e/ConstraintProduct.h
@@ -0,0 +1,62 @@
+/*
+ *	This file is part of qpOASES.
+ *
+ *	qpOASES -- An Implementation of the Online Active Set Strategy.
+ *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
+ *	Christian Kirches et al. All rights reserved.
+ *
+ *	qpOASES is free software; you can redistribute it and/or
+ *	modify it under the terms of the GNU Lesser General Public
+ *	License as published by the Free Software Foundation; either
+ *	version 2.1 of the License, or (at your option) any later version.
+ *
+ *	qpOASES is distributed in the hope that it will be useful,
+ *	but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *	See the GNU Lesser General Public License for more details.
+ *
+ *	You should have received a copy of the GNU Lesser General Public
+ *	License along with qpOASES; if not, write to the Free Software
+ *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ */
+
+
+/**
+ *	\file include/qpOASES_e/ConstraintProduct.h
+ *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches (thanks to D. Kwame Minde Kufoalor)
+ *	\version 3.1embedded
+ *	\date 2009-2015
+ *
+ *	Declaration of the ConstraintProduct interface which allows to specify a
+ *	user-defined function for evaluating the constraint product at the 
+ *	current iterate to speed-up QP solution in case of a specially structured
+ *	constraint matrix.
+ */
+
+
+
+#ifndef QPOASES_CONSTRAINT_PRODUCT_H
+#define QPOASES_CONSTRAINT_PRODUCT_H
+
+
+BEGIN_NAMESPACE_QPOASES
+
+
+/** 
+ *	\brief Interface for specifying user-defined evaluations of constraint products.
+ *
+ *	An interface which allows to specify a user-defined function for evaluating the 
+ *	constraint product at the current iterate to speed-up QP solution in case 
+ *	of a specially structured constraint matrix.
+ *
+ *	\author Hans Joachim Ferreau (thanks to Kwame Minde Kufoalor)
+ *	\version 3.1embedded
+ *	\date 2009-2015
+ */
+typedef int(*ConstraintProduct)( int, const real_t* const, real_t* const );
+
+
+END_NAMESPACE_QPOASES
+
+#endif	/* QPOASES_CONSTRAINT_PRODUCT_H */
diff --git a/third_party/acados/include/qpOASES_e/Constraints.h b/third_party/acados/include/qpOASES_e/Constraints.h
new file mode 100644
index 0000000000..8aca10d5d9
--- /dev/null
+++ b/third_party/acados/include/qpOASES_e/Constraints.h
@@ -0,0 +1,535 @@
+/*
+ *	This file is part of qpOASES.
+ *
+ *	qpOASES -- An Implementation of the Online Active Set Strategy.
+ *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
+ *	Christian Kirches et al. All rights reserved.
+ *
+ *	qpOASES is free software; you can redistribute it and/or
+ *	modify it under the terms of the GNU Lesser General Public
+ *	License as published by the Free Software Foundation; either
+ *	version 2.1 of the License, or (at your option) any later version.
+ *
+ *	qpOASES is distributed in the hope that it will be useful,
+ *	but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *	See the GNU Lesser General Public License for more details.
+ *
+ *	You should have received a copy of the GNU Lesser General Public
+ *	License along with qpOASES; if not, write to the Free Software
+ *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ */
+
+
+/**
+ *	\file include/qpOASES_e/Constraints.h
+ *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
+ *	\version 3.1embedded
+ *	\date 2007-2015
+ *
+ *	Declaration of the Constraints class designed to manage working sets of
+ *	constraints within a QProblem.
+ */
+
+
+#ifndef QPOASES_CONSTRAINTS_H
+#define QPOASES_CONSTRAINTS_H
+
+
+#include <qpOASES_e/Indexlist.h>
+
+
+BEGIN_NAMESPACE_QPOASES
+
+
+/**
+ *	\brief Manages working sets of constraints.
+ *
+ *	This class manages working sets of constraints by storing
+ *	index sets and other status information.
+ *
+ *	\author Hans Joachim Ferreau
+ *	\version 3.1embedded
+ *	\date 2007-2015
+ */
+typedef struct
+{
+	Indexlist *active;					/**< Index list of active constraints. */
+	Indexlist *inactive;				/**< Index list of inactive constraints. */
+
+	Indexlist *shiftedActive;			/**< Memory for shifting active constraints. */
+	Indexlist *shiftedInactive;			/**< Memory for shifting inactive constraints. */
+
+	Indexlist *rotatedActive;			/**< Memory for rotating active constraints. */
+	Indexlist *rotatedInactive;			/**< Memory for rotating inactive constraints. */
+
+	SubjectToType   *type; 				/**< Type of constraints. */
+	SubjectToStatus *status;			/**< Status of constraints. */
+
+	SubjectToType   *typeTmp;			/**< Temp memory for type of constraints. */
+	SubjectToStatus *statusTmp;			/**< Temp memory for status of constraints. */
+
+	BooleanType noLower;			 	/**< This flag indicates if there is no lower bound on any variable. */
+	BooleanType noUpper;	 			/**< This flag indicates if there is no upper bound on any variable. */
+
+	int n;								/**< Total number of constraints. */
+} Constraints;
+
+int Constraints_calculateMemorySize( int n);
+
+char *Constraints_assignMemory(int n, Constraints **mem, void *raw_memory);
+
+Constraints *Constraints_createMemory( int n );
+
+/** Constructor which takes the number of constraints. */
+void ConstraintsCON(	Constraints* _THIS,
+						int _n							/**< Number of constraints. */
+						);
+
+/** Copies all members from given rhs object.
+ *  \return SUCCESSFUL_RETURN */
+void ConstraintsCPY(	Constraints* FROM,
+						Constraints* TO
+						);
+
+
+/** Initialises object with given number of constraints.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_INVALID_ARGUMENTS */
+returnValue Constraints_init(	Constraints* _THIS,
+								int _n					/**< Number of constraints. */
+								);
+
+
+/** Initially adds number of a new (i.e. not yet in the list) constraint to
+ *  a given index set.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_SETUP_CONSTRAINT_FAILED \n
+			RET_INDEX_OUT_OF_BOUNDS \n
+			RET_INVALID_ARGUMENTS */
+returnValue Constraints_setupConstraint(	Constraints* _THIS,
+											int number,				/**< Number of new constraint. */
+											SubjectToStatus _status	/**< Status of new constraint. */
+											);
+
+/** Initially adds all enabled numbers of new (i.e. not yet in the list) constraints to
+ *  to the index set of inactive constraints; the order depends on the SujectToType
+ *  of each index. Only disabled constraints are added to index set of disabled constraints!
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_SETUP_CONSTRAINT_FAILED */
+returnValue Constraints_setupAllInactive(	Constraints* _THIS
+											);
+
+/** Initially adds all enabled numbers of new (i.e. not yet in the list) constraints to
+ *  to the index set of active constraints (on their lower bounds); the order depends on the SujectToType
+ *  of each index. Only disabled constraints are added to index set of disabled constraints!
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_SETUP_CONSTRAINT_FAILED */
+returnValue Constraints_setupAllLower(	Constraints* _THIS
+										);
+
+/** Initially adds all enabled numbers of new (i.e. not yet in the list) constraints to
+ *  to the index set of active constraints (on their upper bounds); the order depends on the SujectToType
+ *  of each index. Only disabled constraints are added to index set of disabled constraints!
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_SETUP_CONSTRAINT_FAILED */
+returnValue Constraints_setupAllUpper(	Constraints* _THIS
+										);
+
+
+/** Moves index of a constraint from index list of active to that of inactive constraints.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_MOVING_CONSTRAINT_FAILED */
+returnValue Constraints_moveActiveToInactive(	Constraints* _THIS,
+												int number				/**< Number of constraint to become inactive. */
+												);
+
+/** Moves index of a constraint from index list of inactive to that of active constraints.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_MOVING_CONSTRAINT_FAILED */
+returnValue Constraints_moveInactiveToActive(	Constraints* _THIS,
+												int number,				/**< Number of constraint to become active. */
+												SubjectToStatus _status	/**< Status of constraint to become active. */
+												);
+
+/** Flip fixed constraint.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_MOVING_CONSTRAINT_FAILED \n
+			RET_INDEX_OUT_OF_BOUNDS */
+returnValue Constraints_flipFixed(	Constraints* _THIS,
+									int number
+									);
+
+
+/** Returns the number of constraints.
+ *	\return Number of constraints. */
+static inline int Constraints_getNC(	Constraints* _THIS
+										);
+
+/** Returns the number of implicit equality constraints.
+ *	\return Number of implicit equality constraints. */
+static inline int Constraints_getNEC(	Constraints* _THIS
+										);
+
+/** Returns the number of "real" inequality constraints.
+ *	\return Number of "real" inequality constraints. */
+static inline int Constraints_getNIC(	Constraints* _THIS
+										);
+
+/** Returns the number of unbounded constraints (i.e. without any bounds).
+ *	\return Number of unbounded constraints (i.e. without any bounds). */
+static inline int Constraints_getNUC(	Constraints* _THIS
+										);
+
+/** Returns the number of active constraints.
+ *	\return Number of active constraints. */
+static inline int Constraints_getNAC(	Constraints* _THIS
+										);
+
+/** Returns the number of inactive constraints.
+ *	\return Number of inactive constraints. */
+static inline int Constraints_getNIAC(	Constraints* _THIS
+										);
+
+
+/** Returns a pointer to active constraints index list.
+ *	\return Pointer to active constraints index list. */
+static inline Indexlist* Constraints_getActive(	Constraints* _THIS
+												);
+
+/** Returns a pointer to inactive constraints index list.
+ *	\return Pointer to inactive constraints index list. */
+static inline Indexlist* Constraints_getInactive(	Constraints* _THIS
+													);
+
+
+/** Returns number of constraints with given SubjectTo type.
+ *	\return Number of constraints with given type. */
+static inline int Constraints_getNumberOfType(	Constraints* _THIS,
+												SubjectToType _type	/**< Type of constraints' bound. */
+												);
+
+
+/** Returns type of constraints' bound.
+ *	\return Type of constraints' bound \n
+ 			RET_INDEX_OUT_OF_BOUNDS */
+static inline SubjectToType Constraints_getType(	Constraints* _THIS,
+													int i			/**< Number of constraints' bound. */
+													);
+
+/** Returns status of constraints' bound.
+ *	\return Status of constraints' bound \n
+ 			ST_UNDEFINED */
+static inline SubjectToStatus Constraints_getStatus(	Constraints* _THIS,
+														int i		/**< Number of constraints' bound. */
+														);
+
+
+/** Sets type of constraints' bound.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_INDEX_OUT_OF_BOUNDS */
+static inline returnValue Constraints_setType(	Constraints* _THIS,
+												int i,				/**< Number of constraints' bound. */
+												SubjectToType value	/**< Type of constraints' bound. */
+												);
+
+/** Sets status of constraints' bound.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_INDEX_OUT_OF_BOUNDS */
+static inline returnValue Constraints_setStatus(	Constraints* _THIS,
+													int i,					/**< Number of constraints' bound. */
+													SubjectToStatus value	/**< Status of constraints' bound. */
+													);
+
+
+/** Sets status of lower constraints' bounds. */
+static inline void Constraints_setNoLower(	Constraints* _THIS,
+											BooleanType _status		/**< Status of lower constraints' bounds. */
+											);
+
+/** Sets status of upper constraints' bounds. */
+static inline void Constraints_setNoUpper(	Constraints* _THIS,
+											BooleanType _status		/**< Status of upper constraints' bounds. */
+											);
+
+
+/** Returns status of lower constraints' bounds.
+ *	\return BT_TRUE if there is no lower constraints' bound on any variable. */
+static inline BooleanType Constraints_hasNoLower(	Constraints* _THIS
+													);
+
+/** Returns status of upper bounds.
+ *	\return BT_TRUE if there is no upper constraints' bound on any variable. */
+static inline BooleanType Constraints_hasNoUpper(	Constraints* _THIS
+													);
+
+
+/** Shifts forward type and status of all constraints by a given
+ *  offset. This offset has to lie within the range [0,n/2] and has to
+ *  be an integer divisor of the total number of constraints n.
+ *  Type and status of the first \<offset\> constraints  is thrown away,
+ *  type and status of the last \<offset\> constraints is doubled,
+ *  e.g. for offset = 2: \n
+ *  shift( {c/b1,c/b2,c/b3,c/b4,c/b5,c/b6} ) = {c/b3,c/b4,c/b5,c/b6,c/b5,c/b6}
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_INDEX_OUT_OF_BOUNDS \n
+ 			RET_INVALID_ARGUMENTS \n
+ 			RET_SHIFTING_FAILED */
+returnValue Constraints_shift(	Constraints* _THIS,
+								int offset		/**< Shift offset within the range [0,n/2] and integer divisor of n. */
+								);
+
+/** Rotates forward type and status of all constraints by a given
+ *  offset. This offset has to lie within the range [0,n].
+ *  Example for offset = 2: \n
+ *  rotate( {c1,c2,c3,c4,c5,c6} ) = {c3,c4,c5,c6,c1,c2}
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_INDEX_OUT_OF_BOUNDS \n
+ 			RET_ROTATING_FAILED */
+returnValue Constraints_rotate(	Constraints* _THIS,
+								int offset		/**< Rotation offset within the range [0,n]. */
+								);
+
+
+/** Prints information on constraints object
+ *  (in particular, lists of inactive and active constraints.
+ * \return SUCCESSFUL_RETURN \n
+		   RET_INDEXLIST_CORRUPTED */
+returnValue Constraints_print(	Constraints* _THIS
+								);
+
+
+/** Initially adds all numbers of new (i.e. not yet in the list) bounds to
+ *  to the index set corresponding to the desired status;
+ *  the order depends on the SujectToType of each index.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_SETUP_CONSTRAINT_FAILED */
+returnValue Constraints_setupAll(	Constraints* _THIS,
+									SubjectToStatus _status	/**< Desired initial status for all bounds. */
+									);
+
+
+/** Adds the index of a new constraint to index set.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_ADDINDEX_FAILED \n
+			RET_INVALID_ARGUMENTS */
+returnValue Constraints_addIndex(	Constraints* _THIS,
+									Indexlist* const indexlist,	/**< Index list to which the new index shall be added. */
+									int newnumber,				/**< Number of new constraint. */
+									SubjectToStatus newstatus	/**< Status of new constraint. */
+									);
+
+/** Removes the index of a constraint from index set.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_REMOVEINDEX_FAILED \n
+			RET_INVALID_ARGUMENTS */
+returnValue Constraints_removeIndex(	Constraints* _THIS,
+										Indexlist* const indexlist,	/**< Index list from which the new index shall be removed. */
+										int removenumber			/**< Number of constraint to be removed. */
+										);
+
+/** Swaps the indices of two constraints or bounds within the index set.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_SWAPINDEX_FAILED \n
+			RET_INVALID_ARGUMENTS */
+returnValue Constraints_swapIndex(	Constraints* _THIS,
+									Indexlist* const indexlist,	/**< Index list in which the indices shold be swapped. */
+									int number1,				/**< Number of first constraint. */
+									int number2					/**< Number of second constraint. */
+									);
+
+
+
+/*
+ *	g e t N u m b e r O f T y p e
+ */
+static inline int Constraints_getNumberOfType( Constraints* _THIS, SubjectToType _type )
+{
+	int i;
+	int numberOfType = 0;
+
+	if ( _THIS->type != 0 )
+	{
+		for( i=0; i<_THIS->n; ++i )
+			if ( _THIS->type[i] == _type )
+				++numberOfType;
+	}
+
+	return numberOfType;
+}
+
+
+/*
+ *	g e t T y p e
+ */
+static inline SubjectToType Constraints_getType( Constraints* _THIS, int i )
+{
+	if ( ( i >= 0 ) && ( i < _THIS->n ) )
+		return _THIS->type[i];
+
+	return ST_UNKNOWN;
+}
+
+
+/*
+ *	g e t S t a t u s
+ */
+static inline SubjectToStatus Constraints_getStatus( Constraints* _THIS, int i )
+{
+	if ( ( i >= 0 ) && ( i < _THIS->n ) )
+		return _THIS->status[i];
+
+	return ST_UNDEFINED;
+}
+
+
+/*
+ *	s e t T y p e
+ */
+static inline returnValue Constraints_setType( Constraints* _THIS, int i, SubjectToType value )
+{
+	if ( ( i >= 0 ) && ( i < _THIS->n ) )
+	{
+		_THIS->type[i] = value;
+		return SUCCESSFUL_RETURN;
+	}
+	else
+		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
+}
+
+
+/*
+ *	s e t S t a t u s
+ */
+static inline returnValue Constraints_setStatus( Constraints* _THIS, int i, SubjectToStatus value )
+{
+	if ( ( i >= 0 ) && ( i < _THIS->n ) )
+	{
+		_THIS->status[i] = value;
+		return SUCCESSFUL_RETURN;
+	}
+	else
+		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
+}
+
+
+/*
+ *	s e t N o L o w e r
+ */
+static inline void Constraints_setNoLower( Constraints* _THIS, BooleanType _status )
+{
+	_THIS->noLower = _status;
+}
+
+
+/*
+ *	s e t N o U p p e r
+ */
+static inline void Constraints_setNoUpper( Constraints* _THIS, BooleanType _status )
+{
+	_THIS->noUpper = _status;
+}
+
+
+/*
+ *	h a s N o L o w e r
+ */
+static inline BooleanType Constraints_hasNoLower( Constraints* _THIS )
+{
+	return _THIS->noLower;
+}
+
+
+/*
+ *	h a s N o U p p p e r
+ */
+static inline BooleanType Constraints_hasNoUpper( Constraints* _THIS )
+{
+	return _THIS->noUpper;
+}
+
+
+
+/*
+ *	g e t N C
+ */
+static inline int Constraints_getNC( Constraints* _THIS )
+{
+ 	return _THIS->n;
+}
+
+
+/*
+ *	g e t N E C
+ */
+static inline int Constraints_getNEC( Constraints* _THIS )
+{
+	return Constraints_getNumberOfType( _THIS,ST_EQUALITY );
+}
+
+
+/*
+ *	g e t N I C
+ */
+static inline int Constraints_getNIC( Constraints* _THIS )
+{
+ 	return Constraints_getNumberOfType( _THIS,ST_BOUNDED );
+}
+
+
+/*
+ *	g e t N U C
+ */
+static inline int Constraints_getNUC( Constraints* _THIS )
+{
+ 	return Constraints_getNumberOfType( _THIS,ST_UNBOUNDED );
+}
+
+
+/*
+ *	g e t N A C
+ */
+static inline int Constraints_getNAC( Constraints* _THIS )
+{
+ 	return Indexlist_getLength( _THIS->active );
+}
+
+
+/*
+ *	g e t N I A C
+ */
+static inline int Constraints_getNIAC( Constraints* _THIS )
+{
+	return Indexlist_getLength( _THIS->inactive );
+}
+
+
+
+/*
+ *	g e t A c t i v e
+ */
+static inline Indexlist* Constraints_getActive( Constraints* _THIS )
+{
+	return _THIS->active;
+}
+
+
+/*
+ *	g e t I n a c t i v e
+ */
+static inline Indexlist* Constraints_getInactive( Constraints* _THIS )
+{
+	return _THIS->inactive;
+}
+
+
+END_NAMESPACE_QPOASES
+
+
+#endif	/* QPOASES_CONSTRAINTS_H */
+
+
+/*
+ *	end of file
+ */
diff --git a/third_party/acados/include/qpOASES_e/Flipper.h b/third_party/acados/include/qpOASES_e/Flipper.h
new file mode 100644
index 0000000000..63526a30f3
--- /dev/null
+++ b/third_party/acados/include/qpOASES_e/Flipper.h
@@ -0,0 +1,129 @@
+/*
+ *	This file is part of qpOASES.
+ *
+ *	qpOASES -- An Implementation of the Online Active Set Strategy.
+ *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
+ *	Christian Kirches et al. All rights reserved.
+ *
+ *	qpOASES is free software; you can redistribute it and/or
+ *	modify it under the terms of the GNU Lesser General Public
+ *	License as published by the Free Software Foundation; either
+ *	version 2.1 of the License, or (at your option) any later version.
+ *
+ *	qpOASES is distributed in the hope that it will be useful,
+ *	but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *	See the GNU Lesser General Public License for more details.
+ *
+ *	You should have received a copy of the GNU Lesser General Public
+ *	License along with qpOASES; if not, write to the Free Software
+ *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ */
+
+
+/**
+ *	\file include/qpOASES_e/Flipper.h
+ *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
+ *	\version 3.1embedded
+ *	\date 2007-2015
+ *
+ *	Declaration of the Options class designed to manage user-specified
+ *	options for solving a QProblem.
+ */
+
+
+#ifndef QPOASES_FLIPPER_H
+#define QPOASES_FLIPPER_H
+
+
+#include <qpOASES_e/Bounds.h>
+#include <qpOASES_e/Constraints.h>
+
+
+BEGIN_NAMESPACE_QPOASES
+
+
+/**
+ *	\brief Auxiliary class for storing a copy of the current matrix factorisations.
+ *
+ *	This auxiliary class stores a copy of the current matrix factorisations. It
+ *	is used by the classe QProblemB and QProblem in case flipping bounds are enabled.
+ *
+ *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
+ *	\version 3.1embedded
+ *	\date 2007-2015
+ */
+typedef struct
+{
+	Bounds      *bounds;			/**< Data structure for problem's bounds. */
+	Constraints *constraints;		/**< Data structure for problem's constraints. */
+
+	real_t *R;						/**< Cholesky factor of H (i.e. H = R^T*R). */
+	real_t *Q;						/**< Orthonormal quadratic matrix, A = [0 T]*Q'. */
+	real_t *T;						/**< Reverse triangular matrix, A = [0 T]*Q'. */
+
+	unsigned int nV;				/**< Number of variables. */
+	unsigned int nC;				/**< Number of constraints. */
+} Flipper;
+
+int Flipper_calculateMemorySize( unsigned int nV, unsigned int nC );
+
+char *Flipper_assignMemory( unsigned int nV, unsigned int nC, Flipper **mem, void *raw_memory );
+
+Flipper *Flipper_createMemory( unsigned int nV, unsigned int nC );
+
+/** Constructor which takes the number of bounds and constraints. */
+void FlipperCON(	Flipper* _THIS,
+					unsigned int _nV,		/**< Number of bounds. */
+					unsigned int _nC		/**< Number of constraints. */
+					);
+
+/** Copy constructor (deep copy). */
+void FlipperCPY(	Flipper* FROM,
+					Flipper* TO
+					);
+
+/** Initialises object with given number of bounds and constraints.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_INVALID_ARGUMENTS */
+returnValue Flipper_init(	Flipper* _THIS,
+							unsigned int _nV,	/**< Number of bounds. */
+							unsigned int _nC	/**< Number of constraints. */
+							);
+
+
+/** Copies current values to non-null arguments (assumed to be allocated with consistent size).
+ *	\return SUCCESSFUL_RETURN */
+returnValue Flipper_get(	Flipper* _THIS,
+							Bounds* const _bounds,				/**< Pointer to new bounds. */
+							real_t* const R,					/**< New matrix R. */
+							Constraints* const _constraints,	/**< Pointer to new constraints. */
+							real_t* const _Q,					/**< New matrix Q. */
+							real_t* const _T					/**< New matrix T. */
+							);
+
+/** Assigns new values to non-null arguments.
+ *	\return SUCCESSFUL_RETURN */
+returnValue Flipper_set(	Flipper* _THIS,
+							const Bounds* const _bounds,			/**< Pointer to new bounds. */
+							const real_t* const _R,					/**< New matrix R. */
+							const Constraints* const _constraints,	/**< Pointer to new constraints. */
+							const real_t* const _Q,					/**< New matrix Q. */
+							const real_t* const _T					/**< New matrix T. */
+							);
+
+/** Returns dimension of matrix T.
+ *  \return Dimension of matrix T. */
+unsigned int Flipper_getDimT( Flipper* _THIS );
+
+
+END_NAMESPACE_QPOASES
+
+
+#endif	/* QPOASES_FLIPPER_H */
+
+
+/*
+ *	end of file
+ */
diff --git a/third_party/acados/include/qpOASES_e/Indexlist.h b/third_party/acados/include/qpOASES_e/Indexlist.h
new file mode 100644
index 0000000000..c3026a7ffc
--- /dev/null
+++ b/third_party/acados/include/qpOASES_e/Indexlist.h
@@ -0,0 +1,221 @@
+/*
+ *	This file is part of qpOASES.
+ *
+ *	qpOASES -- An Implementation of the Online Active Set Strategy.
+ *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
+ *	Christian Kirches et al. All rights reserved.
+ *
+ *	qpOASES is free software; you can redistribute it and/or
+ *	modify it under the terms of the GNU Lesser General Public
+ *	License as published by the Free Software Foundation; either
+ *	version 2.1 of the License, or (at your option) any later version.
+ *
+ *	qpOASES is distributed in the hope that it will be useful,
+ *	but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *	See the GNU Lesser General Public License for more details.
+ *
+ *	You should have received a copy of the GNU Lesser General Public
+ *	License along with qpOASES; if not, write to the Free Software
+ *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ */
+
+
+/**
+ *	\file include/qpOASES_e/Indexlist.h
+ *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
+ *	\version 3.1embedded
+ *	\date 2007-2015
+ *
+ *	Declaration of the Indexlist class designed to manage index lists of
+ *	constraints and bounds within a SubjectTo object.
+ */
+
+
+#ifndef QPOASES_INDEXLIST_H
+#define QPOASES_INDEXLIST_H
+
+
+#include <qpOASES_e/Utils.h>
+
+
+BEGIN_NAMESPACE_QPOASES
+
+
+/**
+ *	\brief Stores and manages index lists.
+ *
+ *	This class manages index lists of active/inactive bounds/constraints.
+ *
+ *	\author Hans Joachim Ferreau
+ *	\version 3.1embedded
+ *	\date 2007-2015
+ */
+typedef struct
+{
+	int *number;		/**< Array to store numbers of constraints or bounds. */
+	int *iSort;			/**< Index list to sort vector \a number */
+
+	int	length;			/**< Length of index list. */
+	int	first;			/**< Physical index of first element. */
+	int	last;			/**< Physical index of last element. */
+	int	lastusedindex;	/**< Physical index of last entry in index list. */
+	int	physicallength;	/**< Physical length of index list. */
+} Indexlist;
+
+int Indexlist_calculateMemorySize( int n);
+
+char *Indexlist_assignMemory(int n, Indexlist **mem, void *raw_memory);
+
+Indexlist *Indexlist_createMemory( int n );
+
+/** Constructor which takes the desired physical length of the index list. */
+void IndexlistCON(	Indexlist* _THIS,
+					int n	/**< Physical length of index list. */
+					);
+
+/** Copies all members from given rhs object.
+ *  \return SUCCESSFUL_RETURN */
+void IndexlistCPY(	Indexlist* FROM,
+					Indexlist* TO
+					);
+
+/** Initialises index list of desired physical length.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_INVALID_ARGUMENTS */
+returnValue Indexlist_init(	Indexlist* _THIS,
+							int n		/**< Physical length of index list. */
+							);
+
+/** Creates an array of all numbers within the index set in correct order.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_INDEXLIST_CORRUPTED */
+returnValue Indexlist_getNumberArray(	Indexlist* _THIS,
+										int** const numberarray	/**< Output: Array of numbers (NULL on error). */
+										);
+
+/** Creates an array of all numbers within the index set in correct order.
+ *	\return SUCCESSFUL_RETURN \n
+			RET_INDEXLIST_CORRUPTED */
+returnValue	Indexlist_getISortArray(	Indexlist* _THIS,
+										int** const iSortArray	/**< Output: iSort Array. */
+										);
+
+
+/** Determines the index within the index list at which a given number is stored.
+ *	\return >= 0: Index of given number. \n
+ 			-1: Number not found. */
+int Indexlist_getIndex(	Indexlist* _THIS,
+						int givennumber	/**< Number whose index shall be determined. */
+						);
+
+/** Returns the number stored at a given physical index.
+ *	\return >= 0: Number stored at given physical index. \n
+ 			-RET_INDEXLIST_OUTOFBOUNDS */
+static inline int Indexlist_getNumber(	Indexlist* _THIS,
+										int physicalindex	/**< Physical index of the number to be returned. */
+										);
+
+
+/** Returns the current length of the index list.
+ *	\return Current length of the index list. */
+static inline int Indexlist_getLength(	Indexlist* _THIS
+										);
+
+/** Returns last number within the index list.
+ *	\return Last number within the index list. */
+static inline int Indexlist_getLastNumber(	Indexlist* _THIS
+											);
+
+
+/** Adds number to index list.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_INDEXLIST_MUST_BE_REORDERD \n
+ 			RET_INDEXLIST_EXCEEDS_MAX_LENGTH */
+returnValue Indexlist_addNumber(	Indexlist* _THIS,
+									int addnumber			/**< Number to be added. */
+									);
+
+/** Removes number from index list.
+ *	\return SUCCESSFUL_RETURN */
+returnValue Indexlist_removeNumber(	Indexlist* _THIS,
+									int removenumber	/**< Number to be removed. */
+									);
+
+/** Swaps two numbers within index list.
+ *	\return SUCCESSFUL_RETURN */
+returnValue Indexlist_swapNumbers(	Indexlist* _THIS,
+									int number1,		/**< First number for swapping. */
+									int number2			/**< Second number for swapping. */
+									);
+
+/** Determines if a given number is contained in the index set.
+ *	\return BT_TRUE iff number is contain in the index set */
+static inline BooleanType Indexlist_isMember(	Indexlist* _THIS,
+												int _number		/**< Number to be tested for membership. */
+												);
+
+
+/** Find first index j between -1 and length in sorted list of indices
+ *  iSort such that numbers[iSort[j]] <= i < numbers[iSort[j+1]]. Uses
+ *  bisection.
+ *  \return j. */
+int Indexlist_findInsert(	Indexlist* _THIS,
+							int i
+							);
+
+
+
+/*
+ *	g e t N u m b e r
+ */
+static inline int Indexlist_getNumber( Indexlist* _THIS, int physicalindex )
+{
+	/* consistency check */
+	if ( ( physicalindex < 0 ) || ( physicalindex > _THIS->length ) )
+		return -RET_INDEXLIST_OUTOFBOUNDS;
+
+	return _THIS->number[physicalindex];
+}
+
+
+/*
+ *	g e t L e n g t h
+ */
+static inline int Indexlist_getLength( Indexlist* _THIS )
+{
+	return _THIS->length;
+}
+
+
+/*
+ *	g e t L a s t N u m b e r
+ */
+static inline int Indexlist_getLastNumber( Indexlist* _THIS )
+{
+	return _THIS->number[_THIS->length-1];
+}
+
+
+/*
+ *	g e t L a s t N u m b e r
+ */
+static inline BooleanType Indexlist_isMember( Indexlist* _THIS, int _number )
+{
+	if ( Indexlist_getIndex( _THIS,_number ) >= 0 )
+		return BT_TRUE;
+	else
+		return BT_FALSE;
+}
+
+
+END_NAMESPACE_QPOASES
+
+
+#endif	/* QPOASES_INDEXLIST_H */
+
+
+/*
+ *	end of file
+ */
diff --git a/third_party/acados/include/qpOASES_e/Matrices.h b/third_party/acados/include/qpOASES_e/Matrices.h
new file mode 100644
index 0000000000..1d6da8c3c1
--- /dev/null
+++ b/third_party/acados/include/qpOASES_e/Matrices.h
@@ -0,0 +1,287 @@
+/*
+ *	This file is part of qpOASES.
+ *
+ *	qpOASES -- An Implementation of the Online Active Set Strategy.
+ *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
+ *	Christian Kirches et al. All rights reserved.
+ *
+ *	qpOASES is free software; you can redistribute it and/or
+ *	modify it under the terms of the GNU Lesser General Public
+ *	License as published by the Free Software Foundation; either
+ *	version 2.1 of the License, or (at your option) any later version.
+ *
+ *	qpOASES is distributed in the hope that it will be useful,
+ *	but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *	See the GNU Lesser General Public License for more details.
+ *
+ *	You should have received a copy of the GNU Lesser General Public
+ *	License along with qpOASES; if not, write to the Free Software
+ *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ */
+
+
+/**
+ *	\file include/qpOASES_e/Matrices.h
+ *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
+ *	\version 3.1embedded
+ *	\date 2009-2015
+ *
+ *  Various matrix classes: Abstract base matrix class, dense and sparse matrices,
+ *  including symmetry exploiting specializations.
+ */
+
+
+
+#ifndef QPOASES_MATRICES_H
+#define QPOASES_MATRICES_H
+
+#ifdef __USE_SINGLE_PRECISION__
+
+	// single precision
+	#define GEMM sgemm_
+	#define GEMV sgemv_
+//	#define SYR ssyr_
+//	#define SYR2 ssyr2_
+	#define POTRF spotrf_
+
+#else
+
+	// double precision
+	#define GEMM dgemm_
+	#define GEMV dgemv_
+//	#define SYR  dsyr_
+//	#define SYR2 dsyr2_
+	#define POTRF dpotrf_
+
+#endif /* __USE_SINGLE_PRECISION__ */
+
+
+#ifdef EXTERNAL_BLAS
+	// double precision
+	void dgemm_(char *ta, char *tb, int *m, int *n, int *k, double *alpha, double *A, int *lda, double *B, int ldb, double *beta, double *C, int *ldc);
+	void dgemv_(char *ta, int *m, int *n, double *alpha, double *A, int *lda, double *x, int *incx, double *beta, double *y, int *incy);
+	void dpotrf_(char *uplo, int *m, double *A, int *lda, int *info);
+	// single precision
+	void sgemm_(char *ta, char *tb, int *m, int *n, int *k, float *alpha, float *A, int *lda, float *B, int ldb, float *beta, float *C, int *ldc);
+	void sgemv_(char *ta, int *m, int *n, float *alpha, float *A, int *lda, float *x, int *incx, float *beta, float *y, int *incy);
+	void spotrf_(char *uplo, int *m, float *A, int *lda, int *info);
+#else
+	/** Performs one of the matrix-matrix operation in double precision. */
+	void dgemm_ ( const char*, const char*, const unsigned long*, const unsigned long*, const unsigned long*,
+			const double*, const double*, const unsigned long*, const double*, const unsigned long*,
+			const double*, double*, const unsigned long* );
+	/** Performs one of the matrix-matrix operation in single precision. */
+	void sgemm_ ( const char*, const char*, const unsigned long*, const unsigned long*, const unsigned long*,
+			const float*, const float*, const unsigned long*, const float*, const unsigned long*,
+			const float*, float*, const unsigned long* );
+
+	/** Calculates the Cholesky factorization of a real symmetric positive definite matrix in double precision. */
+	void dpotrf_ ( const char *, const unsigned long *, double *, const unsigned long *, long * );
+	/** Calculates the Cholesky factorization of a real symmetric positive definite matrix in single precision. */
+	void spotrf_ ( const char *, const unsigned long *, float *, const unsigned long *, long * );
+
+#endif
+
+	/** Performs a symmetric rank 1 operation in double precision. */
+//	void dsyr_ ( const char *, const unsigned long *, const double *, const double *,
+//				 const unsigned long *, double *, const unsigned long *);
+	/** Performs a symmetric rank 1 operation in single precision. */
+//	void ssyr_ ( const char *, const unsigned long *, const float *, const float *,
+//				 const unsigned long *, float *, const unsigned long *);
+
+	/** Performs a symmetric rank 2 operation in double precision. */
+//	void dsyr2_ ( const char *, const unsigned long *, const double *, const double *,
+//				  const unsigned long *, const double *, const unsigned long *, double *, const unsigned long *);
+	/** Performs a symmetric rank 2 operation in single precision. */
+//	void ssyr2_ ( const char *, const unsigned long *, const float *, const float *,
+//				  const unsigned long *, const float *, const unsigned long *, float *, const unsigned long *);
+
+
+#include <qpOASES_e/Indexlist.h>
+
+
+BEGIN_NAMESPACE_QPOASES
+
+
+/**
+ *	\brief Interfaces matrix-vector operations tailored to general dense matrices.
+ *
+ *	Dense matrix class (row major format).
+ *
+ *	\author Andreas Potschka, Christian Kirches, Hans Joachim Ferreau
+ *	\version 3.1embedded
+ *	\date 2011-2015
+ */
+typedef struct
+{
+	real_t *val;				/**< Vector of entries. */
+	int nRows;					/**< Number of rows. */
+	int nCols;					/**< Number of columns. */
+	int leaDim;					/**< Leading dimension. */
+} DenseMatrix;
+
+int DenseMatrix_calculateMemorySize( int m, int n );
+
+char *DenseMatrix_assignMemory( int m, int n, DenseMatrix **mem, void *raw_memory );
+
+DenseMatrix *DenseMatrix_createMemory( int m, int n );
+
+/** Constructor from vector of values.
+ *  Caution: Data pointer must be valid throughout lifetime
+ */
+void DenseMatrixCON(	DenseMatrix* _THIS,
+						int m,			/**< Number of rows. */
+						int n,			/**< Number of columns. */
+						int lD,			/**< Leading dimension. */
+						real_t *v		/**< Values. */
+						);
+
+void DenseMatrixCPY(	DenseMatrix* FROM,
+						DenseMatrix* TO
+						);
+
+
+/** Frees all internal memory. */
+void DenseMatrix_free( DenseMatrix* _THIS );
+
+/** Constructor from vector of values.
+ *  Caution: Data pointer must be valid throughout lifetime
+ */
+returnValue DenseMatrix_init(	DenseMatrix* _THIS,
+								int m,			/**< Number of rows. */
+								int n,			/**< Number of columns. */
+								int lD,			/**< Leading dimension. */
+								real_t *v		/**< Values. */
+								);
+
+
+/** Returns i-th diagonal entry.
+ *	\return i-th diagonal entry */
+real_t DenseMatrix_diag(	DenseMatrix* _THIS,
+							int i			/**< Index. */
+							);
+
+/** Checks whether matrix is square and diagonal.
+ *	\return BT_TRUE  iff matrix is square and diagonal; \n
+ *	        BT_FALSE otherwise. */
+BooleanType DenseMatrix_isDiag( DenseMatrix* _THIS );
+
+/** Get the N-norm of the matrix
+ *  \return N-norm of the matrix
+ */
+real_t DenseMatrix_getNorm( DenseMatrix* _THIS,
+							int type			/**< Norm type, 1: one-norm, 2: Euclidean norm. */
+							);
+
+/** Get the N-norm of a row
+ *  \return N-norm of row \a rNum
+ */
+real_t DenseMatrix_getRowNorm(	DenseMatrix* _THIS,
+								int rNum,			/**< Row number. */
+								int type			/**< Norm type, 1: one-norm, 2: Euclidean norm. */
+								);
+
+/** Retrieve indexed entries of matrix row multiplied by alpha.
+ *  \return SUCCESSFUL_RETURN */
+returnValue DenseMatrix_getRow(	DenseMatrix* _THIS,
+								int rNum,						/**< Row number. */
+								const Indexlist* const icols,	/**< Index list specifying columns. */
+								real_t alpha,					/**< Scalar factor. */
+								real_t *row						/**< Output row vector. */
+								);
+
+/** Retrieve indexed entries of matrix column multiplied by alpha.
+ *  \return SUCCESSFUL_RETURN */
+ returnValue DenseMatrix_getCol(	DenseMatrix* _THIS,
+									int cNum,						/**< Column number. */
+									const Indexlist* const irows,	/**< Index list specifying rows. */
+									real_t alpha,					/**< Scalar factor. */
+									real_t *col						/**< Output column vector. */
+									);
+
+/** Evaluate Y=alpha*A*X + beta*Y.
+ *  \return SUCCESSFUL_RETURN. */
+returnValue DenseMatrix_times(	DenseMatrix* _THIS,
+								int xN,					/**< Number of vectors to multiply. */
+								real_t alpha,			/**< Scalar factor for matrix vector product. */
+								const real_t *x,		/**< Input vector to be multiplied. */
+								int xLD,				/**< Leading dimension of input x. */
+								real_t beta,			/**< Scalar factor for y. */
+								real_t *y,				/**< Output vector of results. */
+								int yLD					/**< Leading dimension of output y. */
+								);
+
+/** Evaluate Y=alpha*A'*X + beta*Y.
+ *  \return SUCCESSFUL_RETURN. */
+returnValue DenseMatrix_transTimes(	DenseMatrix* _THIS,
+									int xN,				/**< Number of vectors to multiply. */
+									real_t alpha,		/**< Scalar factor for matrix vector product. */
+									const real_t *x,	/**< Input vector to be multiplied. */
+									int xLD,			/**< Leading dimension of input x. */
+									real_t beta,		/**< Scalar factor for y. */
+									real_t *y,			/**< Output vector of results. */
+									int yLD				/**< Leading dimension of output y. */
+									);
+
+/** Evaluate matrix vector product with submatrix given by Indexlist.
+ *	\return SUCCESSFUL_RETURN */
+ returnValue DenseMatrix_subTimes(	DenseMatrix* _THIS,
+									const Indexlist* const irows,	/**< Index list specifying rows. */
+									const Indexlist* const icols,	/**< Index list specifying columns. */
+									int xN,							/**< Number of vectors to multiply. */
+									real_t alpha,					/**< Scalar factor for matrix vector product. */
+									const real_t *x,				/**< Input vector to be multiplied. */
+									int xLD,						/**< Leading dimension of input x. */
+									real_t beta,					/**< Scalar factor for y. */
+									real_t *y,						/**< Output vector of results. */
+									int yLD,						/**< Leading dimension of output y. */
+									BooleanType yCompr 				/**< Compressed storage for y. */
+									);
+
+/** Evaluate matrix transpose vector product.
+ *	\return SUCCESSFUL_RETURN */
+returnValue DenseMatrix_subTransTimes(	DenseMatrix* _THIS,
+										const Indexlist* const irows,	/**< Index list specifying rows. */
+										const Indexlist* const icols,	/**< Index list specifying columns. */
+										int xN,							/**< Number of vectors to multiply. */
+										real_t alpha,					/**< Scalar factor for matrix vector product. */
+										const real_t *x,				/**< Input vector to be multiplied. */
+										int xLD,						/**< Leading dimension of input x. */
+										real_t beta,					/**< Scalar factor for y. */
+										real_t *y,						/**< Output vector of results. */
+										int yLD							/**< Leading dimension of output y. */
+										);
+
+/** Adds given offset to diagonal of matrix.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_NO_DIAGONAL_AVAILABLE */
+returnValue DenseMatrix_addToDiag(	DenseMatrix* _THIS,
+									real_t alpha		/**< Diagonal offset. */
+									);
+
+/** Prints matrix to screen.
+ *	\return SUCCESSFUL_RETURN */
+returnValue DenseMatrix_print(	DenseMatrix* _THIS
+								);
+
+static inline real_t* DenseMatrix_getVal( DenseMatrix* _THIS ) { return _THIS->val; }
+
+/** Compute bilinear form y = x'*H*x using submatrix given by index list.
+ *	\return SUCCESSFUL_RETURN */
+returnValue DenseMatrix_bilinear(	DenseMatrix* _THIS,
+									const Indexlist* const icols,	/**< Index list specifying columns of x. */
+									int xN,							/**< Number of vectors to multiply. */
+									const real_t *x,				/**< Input vector to be multiplied (uncompressed). */
+									int xLD,						/**< Leading dimension of input x. */
+									real_t *y,						/**< Output vector of results (compressed). */
+									int yLD							/**< Leading dimension of output y. */
+									);
+
+
+
+END_NAMESPACE_QPOASES
+
+
+#endif	/* QPOASES_MATRICES_H */
diff --git a/third_party/acados/include/qpOASES_e/MessageHandling.h b/third_party/acados/include/qpOASES_e/MessageHandling.h
new file mode 100644
index 0000000000..fe5524948a
--- /dev/null
+++ b/third_party/acados/include/qpOASES_e/MessageHandling.h
@@ -0,0 +1,544 @@
+/*
+ *	This file is part of qpOASES.
+ *
+ *	qpOASES -- An Implementation of the Online Active Set Strategy.
+ *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
+ *	Christian Kirches et al. All rights reserved.
+ *
+ *	qpOASES is free software; you can redistribute it and/or
+ *	modify it under the terms of the GNU Lesser General Public
+ *	License as published by the Free Software Foundation; either
+ *	version 2.1 of the License, or (at your option) any later version.
+ *
+ *	qpOASES is distributed in the hope that it will be useful,
+ *	but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *	See the GNU Lesser General Public License for more details.
+ *
+ *	You should have received a copy of the GNU Lesser General Public
+ *	License along with qpOASES; if not, write to the Free Software
+ *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ */
+
+
+/**
+ *	\file include/qpOASES_e/MessageHandling.h
+ *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches (thanks to Leonard Wirsching)
+ *	\version 3.1embedded
+ *	\date 2007-2015
+ *
+ *	Declaration of the MessageHandling class including global return values.
+ */
+
+
+#ifndef QPOASES_MESSAGEHANDLING_H
+#define QPOASES_MESSAGEHANDLING_H
+
+
+#include <stdio.h>
+#include <string.h>
+#include <math.h>
+#include <assert.h>
+
+#include <qpOASES_e/Constants.h>
+
+
+BEGIN_NAMESPACE_QPOASES
+
+
+/** Default file to display messages. */
+#define stdFile stderr
+
+
+/**
+ *	\brief Defines all symbols for global return values.
+ *	
+ *  The enumeration returnValueType defines all symbols for global return values.
+ *	Important: All return values are assumed to be nonnegative!
+ *
+ *	\author Hans Joachim Ferreau
+ */
+typedef enum 
+{
+TERMINAL_LIST_ELEMENT = -1,						/**< Terminal list element, internal usage only! */
+/* miscellaneous */
+SUCCESSFUL_RETURN = 0,							/**< Successful return. */
+RET_DIV_BY_ZERO,		   						/**< Division by zero. */
+RET_INDEX_OUT_OF_BOUNDS,						/**< Index out of bounds. */
+RET_INVALID_ARGUMENTS,							/**< At least one of the arguments is invalid. */
+RET_ERROR_UNDEFINED,							/**< Error number undefined. */
+RET_WARNING_UNDEFINED,							/**< Warning number undefined. */
+RET_INFO_UNDEFINED,								/**< Info number undefined. */
+RET_EWI_UNDEFINED,								/**< Error/warning/info number undefined. */
+RET_AVAILABLE_WITH_LINUX_ONLY,					/**< This function is available under Linux only. */
+RET_UNKNOWN_BUG,								/**< The error occurred is not yet known. */
+RET_PRINTLEVEL_CHANGED,							/**< Print level changed. (10) */
+RET_NOT_YET_IMPLEMENTED,						/**< Requested function is not yet implemented in this version of qpOASES. */
+/* Indexlist */
+RET_INDEXLIST_MUST_BE_REORDERD,					/**< Index list has to be reordered. */
+RET_INDEXLIST_EXCEEDS_MAX_LENGTH,				/**< Index list exceeds its maximal physical length. */
+RET_INDEXLIST_CORRUPTED,						/**< Index list corrupted. */
+RET_INDEXLIST_OUTOFBOUNDS,						/**< Physical index is out of bounds. */
+RET_INDEXLIST_ADD_FAILED,						/**< Adding indices from another index set failed. */
+RET_INDEXLIST_INTERSECT_FAILED,					/**< Intersection with another index set failed. */
+/* SubjectTo / Bounds / Constraints */
+RET_INDEX_ALREADY_OF_DESIRED_STATUS,			/**< Index is already of desired status. (18) */
+RET_ADDINDEX_FAILED,							/**< Adding index to index set failed. */
+RET_REMOVEINDEX_FAILED,							/**< Removing index from index set failed. (20) */
+RET_SWAPINDEX_FAILED,							/**< Cannot swap between different indexsets. */
+RET_NOTHING_TO_DO,								/**< Nothing to do. */
+RET_SETUP_BOUND_FAILED,							/**< Setting up bound index failed. */
+RET_SETUP_CONSTRAINT_FAILED,					/**< Setting up constraint index failed. */
+RET_MOVING_BOUND_FAILED,						/**< Moving bound between index sets failed. */
+RET_MOVING_CONSTRAINT_FAILED,					/**< Moving constraint between index sets failed. */
+RET_SHIFTING_FAILED,							/**< Shifting of bounds/constraints failed. */
+RET_ROTATING_FAILED,							/**< Rotating of bounds/constraints failed. */
+/* QProblem */
+RET_QPOBJECT_NOT_SETUP,							/**< The QP object has not been setup correctly, use another constructor. */
+RET_QP_ALREADY_INITIALISED,						/**< QProblem has already been initialised. (30) */
+RET_NO_INIT_WITH_STANDARD_SOLVER,				/**< Initialisation via extern QP solver is not yet implemented. */
+RET_RESET_FAILED,								/**< Reset failed. */
+RET_INIT_FAILED,								/**< Initialisation failed. */
+RET_INIT_FAILED_TQ,								/**< Initialisation failed due to TQ factorisation. */
+RET_INIT_FAILED_CHOLESKY,						/**< Initialisation failed due to Cholesky decomposition. */
+RET_INIT_FAILED_HOTSTART,						/**< Initialisation failed! QP could not be solved! */
+RET_INIT_FAILED_INFEASIBILITY,					/**< Initial QP could not be solved due to infeasibility! */
+RET_INIT_FAILED_UNBOUNDEDNESS,					/**< Initial QP could not be solved due to unboundedness! */
+RET_INIT_FAILED_REGULARISATION,					/**< Initialisation failed as Hessian matrix could not be regularised. */
+RET_INIT_SUCCESSFUL,							/**< Initialisation done. (40) */
+RET_OBTAINING_WORKINGSET_FAILED,				/**< Failed to obtain working set for auxiliary QP. */
+RET_SETUP_WORKINGSET_FAILED,					/**< Failed to setup working set for auxiliary QP. */
+RET_SETUP_AUXILIARYQP_FAILED,					/**< Failed to setup auxiliary QP for initialised homotopy. */
+RET_NO_CHOLESKY_WITH_INITIAL_GUESS,				/**< Externally computed Cholesky factor cannot be combined with an initial guess. */
+RET_NO_EXTERN_SOLVER,							/**< No extern QP solver available. */
+RET_QP_UNBOUNDED,								/**< QP is unbounded. */
+RET_QP_INFEASIBLE,								/**< QP is infeasible. */
+RET_QP_NOT_SOLVED,								/**< Problems occurred while solving QP with standard solver. */
+RET_QP_SOLVED,									/**< QP successfully solved. */
+RET_UNABLE_TO_SOLVE_QP,							/**< Problems occurred while solving QP. (50) */
+RET_INITIALISATION_STARTED,						/**< Starting problem initialisation... */
+RET_HOTSTART_FAILED,							/**< Unable to perform homotopy due to internal error. */
+RET_HOTSTART_FAILED_TO_INIT,					/**< Unable to initialise problem. */
+RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED,		/**< Unable to perform homotopy as previous QP is not solved. */
+RET_ITERATION_STARTED,							/**< Iteration... */
+RET_SHIFT_DETERMINATION_FAILED,					/**< Determination of shift of the QP data failed. */
+RET_STEPDIRECTION_DETERMINATION_FAILED,			/**< Determination of step direction failed. */
+RET_STEPLENGTH_DETERMINATION_FAILED,			/**< Determination of step direction failed. */
+RET_OPTIMAL_SOLUTION_FOUND,						/**< Optimal solution of neighbouring QP found. */
+RET_HOMOTOPY_STEP_FAILED,						/**< Unable to perform homotopy step. (60) */
+RET_HOTSTART_STOPPED_INFEASIBILITY,				/**< Premature homotopy termination because QP is infeasible. */
+RET_HOTSTART_STOPPED_UNBOUNDEDNESS,				/**< Premature homotopy termination because QP is unbounded. */
+RET_WORKINGSET_UPDATE_FAILED,					/**< Unable to update working sets according to initial guesses. */
+RET_MAX_NWSR_REACHED,							/**< Maximum number of working set recalculations performed. */
+RET_CONSTRAINTS_NOT_SPECIFIED,					/**< Problem does comprise constraints! You also have to specify new constraints' bounds. */
+RET_INVALID_FACTORISATION_FLAG,					/**< Invalid factorisation flag. */
+RET_UNABLE_TO_SAVE_QPDATA,						/**< Unable to save QP data. */
+RET_STEPDIRECTION_FAILED_TQ,					/**< Abnormal termination due to TQ factorisation. */
+RET_STEPDIRECTION_FAILED_CHOLESKY,				/**< Abnormal termination due to Cholesky factorisation. */
+RET_CYCLING_DETECTED,							/**< Cycling detected. (70) */
+RET_CYCLING_NOT_RESOLVED,						/**< Cycling cannot be resolved, QP probably infeasible. */
+RET_CYCLING_RESOLVED,							/**< Cycling probably resolved. */
+RET_STEPSIZE,									/**< For displaying performed stepsize. */
+RET_STEPSIZE_NONPOSITIVE,						/**< For displaying non-positive stepsize. */
+RET_SETUPSUBJECTTOTYPE_FAILED,					/**< Setup of SubjectToTypes failed. */
+RET_ADDCONSTRAINT_FAILED,						/**< Addition of constraint to working set failed. */
+RET_ADDCONSTRAINT_FAILED_INFEASIBILITY,			/**< Addition of constraint to working set failed (due to QP infeasibility). */
+RET_ADDBOUND_FAILED,							/**< Addition of bound to working set failed. */
+RET_ADDBOUND_FAILED_INFEASIBILITY,				/**< Addition of bound to working set failed (due to QP infeasibility). */
+RET_REMOVECONSTRAINT_FAILED,					/**< Removal of constraint from working set failed. (80) */
+RET_REMOVEBOUND_FAILED,							/**< Removal of bound from working set failed. */
+RET_REMOVE_FROM_ACTIVESET,						/**< Removing from active set... */
+RET_ADD_TO_ACTIVESET,							/**< Adding to active set... */
+RET_REMOVE_FROM_ACTIVESET_FAILED,				/**< Removing from active set failed. */
+RET_ADD_TO_ACTIVESET_FAILED,					/**< Adding to active set failed. */
+RET_CONSTRAINT_ALREADY_ACTIVE,					/**< Constraint is already active. */
+RET_ALL_CONSTRAINTS_ACTIVE,						/**< All constraints are active, no further constraint can be added. */
+RET_LINEARLY_DEPENDENT,							/**< New bound/constraint is linearly dependent. */
+RET_LINEARLY_INDEPENDENT,						/**< New bound/constraint is linearly independent. */
+RET_LI_RESOLVED,								/**< Linear independence of active constraint matrix successfully resolved. (90) */
+RET_ENSURELI_FAILED,							/**< Failed to ensure linear independence of active constraint matrix. */
+RET_ENSURELI_FAILED_TQ,							/**< Abnormal termination due to TQ factorisation. */
+RET_ENSURELI_FAILED_NOINDEX,					/**< QP is infeasible. */
+RET_ENSURELI_FAILED_CYCLING,					/**< QP is infeasible. */
+RET_BOUND_ALREADY_ACTIVE,						/**< Bound is already active. */
+RET_ALL_BOUNDS_ACTIVE,							/**< All bounds are active, no further bound can be added. */
+RET_CONSTRAINT_NOT_ACTIVE,						/**< Constraint is not active. */
+RET_BOUND_NOT_ACTIVE,							/**< Bound is not active. */
+RET_HESSIAN_NOT_SPD,							/**< Projected Hessian matrix not positive definite. */
+RET_HESSIAN_INDEFINITE,							/**< Hessian matrix is indefinite. (100) */
+RET_MATRIX_SHIFT_FAILED,						/**< Unable to update matrices or to transform vectors. */
+RET_MATRIX_FACTORISATION_FAILED,				/**< Unable to calculate new matrix factorisations. */
+RET_PRINT_ITERATION_FAILED,						/**< Unable to print information on current iteration. */
+RET_NO_GLOBAL_MESSAGE_OUTPUTFILE,				/**< No global message output file initialised. */
+RET_DISABLECONSTRAINTS_FAILED,					/**< Unable to disbable constraints. */
+RET_ENABLECONSTRAINTS_FAILED,					/**< Unable to enbable constraints. */
+RET_ALREADY_ENABLED,							/**< Bound or constraint is already enabled. */
+RET_ALREADY_DISABLED,							/**< Bound or constraint is already disabled. */
+RET_NO_HESSIAN_SPECIFIED, 						/**< No Hessian matrix has been specified. */
+RET_USING_REGULARISATION,						/**< Using regularisation as Hessian matrix is not positive definite. (110) */
+RET_EPS_MUST_BE_POSITVE,						/**< Eps for regularisation must be sufficiently positive. */
+RET_REGSTEPS_MUST_BE_POSITVE, 					/**< Maximum number of regularisation steps must be non-negative. */
+RET_HESSIAN_ALREADY_REGULARISED,				/**< Hessian has been already regularised. */
+RET_CANNOT_REGULARISE_IDENTITY,					/**< Identity Hessian matrix cannot be regularised. */
+RET_CANNOT_REGULARISE_SPARSE,					/**< Sparse matrix cannot be regularised as diagonal entry is missing. */
+RET_NO_REGSTEP_NWSR,							/**< No additional regularisation step could be performed due to limits. */
+RET_FEWER_REGSTEPS_NWSR,						/**< Fewer additional regularisation steps have been performed due to limits. */
+RET_CHOLESKY_OF_ZERO_HESSIAN, 					/**< Cholesky decomposition of (unregularised) zero Hessian matrix. */
+RET_ZERO_HESSIAN_ASSUMED,						/**< Zero Hessian matrix assumed as null pointer passed without specifying hessianType. */
+RET_CONSTRAINTS_ARE_NOT_SCALED, 				/**< (no longer in use) (120) */
+RET_INITIAL_BOUNDS_STATUS_NYI, 					/**< (no longer in use) */
+RET_ERROR_IN_CONSTRAINTPRODUCT,					/**< Error in user-defined constraint product function. */
+RET_FIX_BOUNDS_FOR_LP,							/**< All initial bounds must be fixed when solving an (unregularised) LP. */
+RET_USE_REGULARISATION_FOR_LP,					/**< Set options.enableRegularisation=BT_TRUE for solving LPs. */
+/* SQProblem */
+RET_UPDATEMATRICES_FAILED,						/**< Unable to update QP matrices. */
+RET_UPDATEMATRICES_FAILED_AS_QP_NOT_SOLVED,		/**< Unable to update matrices as previous QP is not solved. */
+/* Utils */
+RET_UNABLE_TO_OPEN_FILE,						/**< Unable to open file. */
+RET_UNABLE_TO_WRITE_FILE,						/**< Unable to write into file. */
+RET_UNABLE_TO_READ_FILE,						/**< Unable to read from file. */
+RET_FILEDATA_INCONSISTENT,						/**< File contains inconsistent data. (130) */
+/* Options */
+RET_OPTIONS_ADJUSTED,							/**< Options needed to be adjusted for consistency reasons. */
+/* SolutionAnalysis */
+RET_UNABLE_TO_ANALYSE_QPROBLEM, 				/**< Unable to analyse (S)QProblem(B) object. */
+/* Benchmark */
+RET_NWSR_SET_TO_ONE,							/**< Maximum number of working set changes was set to 1. */
+RET_UNABLE_TO_READ_BENCHMARK,					/**< Unable to read benchmark data. */
+RET_BENCHMARK_ABORTED,							/**< Benchmark aborted. */
+RET_INITIAL_QP_SOLVED,							/**< Initial QP solved. */
+RET_QP_SOLUTION_STARTED,						/**< Solving QP... */
+RET_BENCHMARK_SUCCESSFUL,						/**< Benchmark terminated successfully. */
+/* Sparse matrices */
+RET_NO_DIAGONAL_AVAILABLE,						/**< Sparse matrix does not have entries on full diagonal. */
+RET_DIAGONAL_NOT_INITIALISED,					/**< Diagonal data of sparse matrix has not been initialised. (140) */
+/* Dropping of infeasible constraints */
+RET_ENSURELI_DROPPED,							/**< Linear independence resolved by dropping blocking constraint. */
+/* Simple exitflags */
+RET_SIMPLE_STATUS_P1,							/**< QP problem could not be solved within given number of iterations. */
+RET_SIMPLE_STATUS_P0,							/**< QP problem solved. */
+RET_SIMPLE_STATUS_M1,							/**< QP problem could not be solved due to an internal error. */
+RET_SIMPLE_STATUS_M2,							/**< QP problem is infeasible (and thus could not be solved). */
+RET_SIMPLE_STATUS_M3 							/**< QP problem is unbounded (and thus could not be solved). (146) */
+} returnValue;
+
+
+/**
+ *	\brief Data structure for entries in global message list.
+ *	
+ *	Data structure for entries in global message list.
+ *
+ *	\author Hans Joachim Ferreau
+ *	\version 3.1embedded
+ *	\date 2007-2015
+ */
+typedef struct
+{
+	returnValue key;							/**< Global return value. */
+	const char* data;							/**< Corresponding message. */
+	VisibilityStatus globalVisibilityStatus; 	/**< Determines if message can be printed.
+												* 	 If this value is set to VS_HIDDEN, no message is printed! */
+} ReturnValueList;
+
+
+
+/** 
+ *	\brief Handles all kind of error messages, warnings and other information.
+ *
+ *	This class handles all kinds of messages (errors, warnings, infos) initiated
+ *  by qpOASES modules and stores the corresponding global preferences.
+ *
+ *	\author Hans Joachim Ferreau (thanks to Leonard Wirsching)
+ *	\version 3.1embedded
+ *	\date 2007-2015
+ */
+typedef struct
+{
+	VisibilityStatus errorVisibility;		/**< Error messages visible? */
+	VisibilityStatus warningVisibility;		/**< Warning messages visible? */
+	VisibilityStatus infoVisibility;		/**< Info messages visible? */
+
+	FILE* outputFile;						/**< Output file for messages. */
+
+	int errorCount; 						/**< Counts number of errors (for nicer output only). */
+} MessageHandling;
+
+
+
+/** Constructor which takes the desired output file and desired visibility states. */
+void MessageHandlingCON(	MessageHandling* _THIS,
+							FILE* _outputFile,					/**< Output file. */
+							VisibilityStatus _errorVisibility,	/**< Visibility status for error messages. */
+							VisibilityStatus _warningVisibility,/**< Visibility status for warning messages. */
+							VisibilityStatus _infoVisibility	/**< Visibility status for info messages. */
+							);
+
+void MessageHandlingCPY(	MessageHandling* FROM,
+							MessageHandling* TO
+							);
+
+
+/** Prints an error message(a simplified macro THROWERROR is also provided). \n
+ *  Errors are definied as abnormal events which cause an immediate termination of the current (sub) function.
+ *  Errors of a sub function should be commented by the calling function by means of a warning message
+ *  (if this error does not cause an error of the calling function, either)!
+ *  \return Error number returned by sub function call
+ */
+returnValue MessageHandling_throwError(	MessageHandling* _THIS,
+										returnValue Enumber,					/**< Error number returned by sub function call. */
+										const char* additionaltext,				/**< Additional error text (0, if none). */
+										const char* functionname,				/**< Name of function which caused the error. */
+										const char* filename,					/**< Name of file which caused the error. */
+										const unsigned long linenumber,			/**< Number of line which caused the error.incompatible binary file */
+										VisibilityStatus localVisibilityStatus	/**< Determines (locally) if error message can be printed to stderr.
+																			*   If GLOBAL visibility status of the message is set to VS_HIDDEN,
+																			*   no message is printed, anyway! */
+										);
+
+/** Prints a warning message (a simplified macro THROWWARNING is also provided).
+ *  Warnings are definied as abnormal events which does NOT cause an immediate termination of the current (sub) function.
+ *  \return Warning number returned by sub function call
+ */
+returnValue MessageHandling_throwWarning(	MessageHandling* _THIS,
+											returnValue Wnumber,	 				/**< Warning number returned by sub function call. */
+											const char* additionaltext,				/**< Additional warning text (0, if none). */
+											const char* functionname,				/**< Name of function which caused the warning. */
+											const char* filename,   				/**< Name of file which caused the warning. */
+											const unsigned long linenumber,	 		/**< Number of line which caused the warning. */
+											VisibilityStatus localVisibilityStatus	/**< Determines (locally) if warning message can be printed to stderr.
+																					*   If GLOBAL visibility status of the message is set to VS_HIDDEN,
+																					*   no message is printed, anyway! */
+											);
+
+/** Prints a info message (a simplified macro THROWINFO is also provided).
+ *  \return Info number returned by sub function call
+ */
+returnValue MessageHandling_throwInfo(	MessageHandling* _THIS,
+										returnValue Inumber,	 				/**< Info number returned by sub function call. */
+										const char* additionaltext,	 			/**< Additional warning text (0, if none). */
+										const char* functionname,				/**< Name of function which submitted the info. */
+										const char* filename,   				/**< Name of file which submitted the info. */
+										const unsigned long linenumber,			/**< Number of line which submitted the info. */
+										VisibilityStatus localVisibilityStatus	/**< Determines (locally) if info message can be printed to stderr.
+																				*   If GLOBAL visibility status of the message is set to VS_HIDDEN,
+																				*   no message is printed, anyway! */
+										);
+
+
+/** Resets all preferences to default values.
+ *	\return SUCCESSFUL_RETURN */
+returnValue MessageHandling_reset( MessageHandling* _THIS );
+
+
+/** Prints a complete list of all messages to output file.
+ *	\return SUCCESSFUL_RETURN */
+returnValue MessageHandling_listAllMessages( MessageHandling* _THIS );
+
+
+/** Returns visibility status for error messages.
+ *	\return Visibility status for error messages. */
+static inline VisibilityStatus MessageHandling_getErrorVisibilityStatus( MessageHandling* _THIS );
+
+/** Returns visibility status for warning messages.
+ *	\return Visibility status for warning messages. */
+static inline VisibilityStatus MessageHandling_getWarningVisibilityStatus( MessageHandling* _THIS );
+
+/** Returns visibility status for info messages.
+ *	\return Visibility status for info messages. */
+static inline VisibilityStatus MessageHandling_getInfoVisibilityStatus( MessageHandling* _THIS );
+
+/** Returns pointer to output file.
+ *	\return Pointer to output file. */
+static inline FILE* MessageHandling_getOutputFile( MessageHandling* _THIS );
+
+/** Returns error count value.
+ *	\return Error count value. */
+static inline int MessageHandling_getErrorCount( MessageHandling* _THIS );
+
+
+/** Changes visibility status for error messages. */
+static inline void MessageHandling_setErrorVisibilityStatus(	MessageHandling* _THIS,
+														VisibilityStatus _errorVisibility	/**< New visibility status for error messages. */
+														);
+
+/** Changes visibility status for warning messages. */
+static inline void MessageHandling_setWarningVisibilityStatus(	MessageHandling* _THIS,
+																VisibilityStatus _warningVisibility	/**< New visibility status for warning messages. */
+																);
+
+/** Changes visibility status for info messages. */
+static inline void MessageHandling_setInfoVisibilityStatus(	MessageHandling* _THIS,
+															VisibilityStatus _infoVisibility	/**< New visibility status for info messages. */
+															);
+
+/** Changes output file for messages. */
+static inline void MessageHandling_setOutputFile(	MessageHandling* _THIS,
+													FILE* _outputFile	/**< New output file for messages. */
+													);
+
+/** Changes error count.
+ * \return SUCCESSFUL_RETURN \n
+ *		   RET_INVALID_ARGUMENT */
+static inline returnValue MessageHandling_setErrorCount(	MessageHandling* _THIS,
+															int _errorCount	/**< New error count value. */
+															);
+
+/** Provides message text corresponding to given \a returnValue.
+ * \return String containing message text. */
+const char* MessageHandling_getErrorCodeMessage(	MessageHandling* _THIS,
+													const returnValue _returnValue
+													);
+
+
+returnValue MessageHandling_throwMessage(	MessageHandling* _THIS,
+											returnValue RETnumber,	 				/**< Error/warning/info number returned by sub function call. */
+											const char* additionaltext,				/**< Additional warning text (0, if none). */
+											const char* functionname,				/**< Name of function which caused the error/warning/info. */
+											const char* filename,   				/**< Name of file which caused the error/warning/info. */
+											const unsigned long linenumber,			/**< Number of line which caused the error/warning/info. */
+											VisibilityStatus localVisibilityStatus,	/**< Determines (locally) if info message can be printed to stderr.
+																					*   If GLOBAL visibility status of the message is set to VS_HIDDEN,
+																					*   no message is printed, anyway! */
+											const char* RETstring					/**< Leading string of error/warning/info message. */
+											);
+
+
+#ifndef __FILE__
+  /** Ensures that __FILE__ macro is defined. */
+  #define __FILE__ 0
+#endif
+
+#ifndef __LINE__
+  /** Ensures that __LINE__ macro is defined. */
+  #define __LINE__ 0
+#endif
+
+/** Define __FUNC__ macro providing current function for debugging. */
+/*#define __FUNC__ 0*/
+#define __FUNC__ ("(no function name provided)")
+/*#define __FUNC__ __func__*/
+/*#define __FUNC__ __FUNCTION__*/
+
+
+/** Short version of throwError with default values, only returnValue is needed */
+#define THROWERROR(retval) ( MessageHandling_throwError( qpOASES_getGlobalMessageHandler(),(retval),0,__FUNC__,__FILE__,__LINE__,VS_VISIBLE) )
+
+/** Short version of throwWarning with default values, only returnValue is needed */
+#define THROWWARNING(retval) ( MessageHandling_throwWarning( qpOASES_getGlobalMessageHandler(),(retval),0,__FUNC__,__FILE__,__LINE__,VS_VISIBLE) )
+
+/** Short version of throwInfo with default values, only returnValue is needed */
+#define THROWINFO(retval) ( MessageHandling_throwInfo( qpOASES_getGlobalMessageHandler(),(retval),0,__FUNC__,__FILE__,__LINE__,VS_VISIBLE) )
+
+
+/** Returns a pointer to global message handler.
+ *  \return Pointer to global message handler.
+ */
+MessageHandling* qpOASES_getGlobalMessageHandler( );
+
+
+/*
+ *	g e t E r r o r V i s i b i l i t y S t a t u s
+ */
+static inline VisibilityStatus MessageHandling_getErrorVisibilityStatus( MessageHandling* _THIS )
+{
+ 	return _THIS->errorVisibility;
+}
+
+
+/*
+ *	g e t W a r n i n g V i s i b i l i t y S t a t u s
+ */
+static inline VisibilityStatus MessageHandling_getWarningVisibilityStatus( MessageHandling* _THIS )
+{
+ 	return _THIS->warningVisibility;
+}
+
+
+/*
+ *	g e t I n f o V i s i b i l i t y S t a t u s
+ */
+static inline VisibilityStatus MessageHandling_getInfoVisibilityStatus( MessageHandling* _THIS )
+{
+ 	return _THIS->infoVisibility;
+}
+
+
+/*
+ *	g e t O u t p u t F i l e
+ */
+static inline FILE* MessageHandling_getOutputFile( MessageHandling* _THIS )
+{
+ 	return _THIS->outputFile;
+}
+
+
+/*
+ *	g e t E r r o r C o u n t
+ */
+static inline int MessageHandling_getErrorCount( MessageHandling* _THIS )
+{
+ 	return _THIS->errorCount;
+}
+
+
+/*
+ *	s e t E r r o r V i s i b i l i t y S t a t u s
+ */
+static inline void MessageHandling_setErrorVisibilityStatus( MessageHandling* _THIS, VisibilityStatus _errorVisibility )
+{
+ 	_THIS->errorVisibility = _errorVisibility;
+}
+
+
+/*
+ *	s e t W a r n i n g V i s i b i l i t y S t a t u s
+ */
+static inline void MessageHandling_setWarningVisibilityStatus( MessageHandling* _THIS, VisibilityStatus _warningVisibility )
+{
+ 	_THIS->warningVisibility = _warningVisibility;
+}
+
+
+/*
+ *	s e t I n f o V i s i b i l i t y S t a t u s
+ */
+static inline void MessageHandling_setInfoVisibilityStatus( MessageHandling* _THIS, VisibilityStatus _infoVisibility )
+{
+ 	_THIS->infoVisibility = _infoVisibility;
+}
+
+
+/*
+ *	s e t O u t p u t F i l e
+ */
+static inline void MessageHandling_setOutputFile( MessageHandling* _THIS, FILE* _outputFile )
+{
+ 	_THIS->outputFile = _outputFile;
+}
+
+
+/*
+ *	s e t E r r o r C o u n t
+ */
+static inline returnValue MessageHandling_setErrorCount( MessageHandling* _THIS, int _errorCount )
+{
+	if ( _errorCount >= 0 )
+	{
+		_THIS->errorCount = _errorCount;
+		return SUCCESSFUL_RETURN;
+	}
+	else
+		return RET_INVALID_ARGUMENTS;
+}
+
+
+END_NAMESPACE_QPOASES
+
+
+#endif /* QPOASES_MESSAGEHANDLING_H */
+
+
+/*
+ *	end of file
+ */
diff --git a/third_party/acados/include/qpOASES_e/Options.h b/third_party/acados/include/qpOASES_e/Options.h
new file mode 100644
index 0000000000..b471ee0668
--- /dev/null
+++ b/third_party/acados/include/qpOASES_e/Options.h
@@ -0,0 +1,153 @@
+/*
+ *	This file is part of qpOASES.
+ *
+ *	qpOASES -- An Implementation of the Online Active Set Strategy.
+ *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
+ *	Christian Kirches et al. All rights reserved.
+ *
+ *	qpOASES is free software; you can redistribute it and/or
+ *	modify it under the terms of the GNU Lesser General Public
+ *	License as published by the Free Software Foundation; either
+ *	version 2.1 of the License, or (at your option) any later version.
+ *
+ *	qpOASES is distributed in the hope that it will be useful,
+ *	but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *	See the GNU Lesser General Public License for more details.
+ *
+ *	You should have received a copy of the GNU Lesser General Public
+ *	License along with qpOASES; if not, write to the Free Software
+ *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ */
+
+
+/**
+ *	\file include/qpOASES_e/Options.h
+ *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
+ *	\version 3.1embedded
+ *	\date 2007-2015
+ *
+ *	Declaration of the Options class designed to manage user-specified
+ *	options for solving a QProblem.
+ */
+
+
+#ifndef QPOASES_OPTIONS_H
+#define QPOASES_OPTIONS_H
+
+
+#include <qpOASES_e/Utils.h>
+
+
+BEGIN_NAMESPACE_QPOASES
+
+
+/**
+ *	\brief Manages all user-specified options for solving QPs.
+ *
+ *	This class manages all user-specified options used for solving
+ *	quadratic programs.
+ *
+ *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
+ *	\version 3.1embedded
+ *	\date 2007-2015
+ */
+typedef struct
+{
+	PrintLevel printLevel;					/**< Print level. */
+
+	BooleanType enableRamping;				/**< Specifies whether ramping shall be enabled or not. */
+	BooleanType enableFarBounds;			/**< Specifies whether far bounds shall be used or not. */
+	BooleanType enableFlippingBounds;		/**< Specifies whether flipping bounds shall be used or not. */
+	BooleanType enableRegularisation;		/**< Specifies whether Hessian matrix shall be regularised in case semi-definiteness is detected. */
+	BooleanType enableFullLITests;			/**< Specifies whether condition-hardened LI test shall be used or not. */
+	BooleanType enableNZCTests;				/**< Specifies whether nonzero curvature tests shall be used. */
+	int enableDriftCorrection;				/**< Specifies the frequency of drift corrections (0 = off). */
+	int enableCholeskyRefactorisation;		/**< Specifies the frequency of full refactorisation of proj. Hessian (otherwise updates). */
+	BooleanType enableEqualities;			/**< Specifies whether equalities shall be always treated as active constraints. */
+
+	real_t terminationTolerance;			/**< Termination tolerance. */
+	real_t boundTolerance;					/**< Lower/upper (constraints') bound tolerance (an inequality constraint whose lower and upper bounds differ by less is regarded to be an equality constraint). */
+	real_t boundRelaxation;					/**< Offset for relaxing (constraints') bounds at beginning of an initial homotopy. It is also as initial value for far bounds. */
+	real_t epsNum;							/**< Numerator tolerance for ratio tests. */
+	real_t epsDen;							/**< Denominator tolerance for ratio tests. */
+	real_t maxPrimalJump;					/**< Maximum allowed jump in primal variables in nonzero curvature tests. */
+	real_t maxDualJump;						/**< Maximum allowed jump in dual variables in linear independence tests. */
+
+	real_t initialRamping;					/**< Start value for Ramping Strategy. */
+	real_t finalRamping;					/**< Final value for Ramping Strategy. */
+	real_t initialFarBounds;				/**< Initial size of Far Bounds. */
+	real_t growFarBounds;					/**< Factor to grow Far Bounds. */
+	SubjectToStatus initialStatusBounds;	/**< Initial status of bounds at first iteration. */
+	real_t epsFlipping;						/**< Tolerance of squared Cholesky diagonal factor which triggers flipping bound. */
+	int numRegularisationSteps;				/**< Maximum number of successive regularisation steps. */
+	real_t epsRegularisation;				/**< Scaling factor of identity matrix used for Hessian regularisation. */
+	int numRefinementSteps;					/**< Maximum number of iterative refinement steps. */
+	real_t epsIterRef;						/**< Early termination tolerance for iterative refinement. */
+	real_t epsLITests;						/**< Tolerance for linear independence tests. */
+	real_t epsNZCTests;						/**< Tolerance for nonzero curvature tests. */
+
+	BooleanType enableDropInfeasibles;		/**< ... */
+	int    dropBoundPriority;				/**< ... */
+	int    dropEqConPriority;				/**< ... */
+	int    dropIneqConPriority;				/**< ... */
+} Options;
+
+
+void OptionsCON(	Options* _THIS
+					);
+
+/** Copies all members from given rhs object.
+ *  \return SUCCESSFUL_RETURN */
+void OptionsCPY(	Options* FROM,
+					Options* TO
+					);
+
+
+/** Sets all options to default values.
+ *	\return SUCCESSFUL_RETURN */
+returnValue Options_setToDefault(	Options* _THIS
+									);
+
+/** Sets all options to values resulting in maximum reliabilty.
+ *	\return SUCCESSFUL_RETURN */
+returnValue Options_setToReliable(	Options* _THIS
+									);
+
+/** Sets all options to values resulting in minimum solution time.
+ *	\return SUCCESSFUL_RETURN */
+returnValue Options_setToMPC(		Options* _THIS
+									);
+
+/** Same as setToMPC( ), for ensuring backwards compatibility.
+ *	\return SUCCESSFUL_RETURN */
+returnValue Options_setToFast(		Options* _THIS
+									);
+
+
+/** Ensures that all options have consistent values by automatically
+ *	adjusting inconsistent ones.
+ *	Note: This routine cannot (and does not try to) ensure that values
+ *	      are set to reasonable values that make the QP solution work!
+ *	\return SUCCESSFUL_RETURN \n 
+ *		    RET_OPTIONS_ADJUSTED */
+returnValue Options_ensureConsistency(	Options* _THIS
+										);
+
+
+/** Prints values of all options.
+ *	\return SUCCESSFUL_RETURN */
+returnValue Options_print(	Options* _THIS
+							);
+
+
+END_NAMESPACE_QPOASES
+
+
+#endif	/* QPOASES_OPTIONS_H */
+
+
+/*
+ *	end of file
+ */
diff --git a/third_party/acados/include/qpOASES_e/QProblem.h b/third_party/acados/include/qpOASES_e/QProblem.h
new file mode 100644
index 0000000000..3c61a4d596
--- /dev/null
+++ b/third_party/acados/include/qpOASES_e/QProblem.h
@@ -0,0 +1,2369 @@
+/*
+ *	This file is part of qpOASES.
+ *
+ *	qpOASES -- An Implementation of the Online Active Set Strategy.
+ *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
+ *	Christian Kirches et al. All rights reserved.
+ *
+ *	qpOASES is free software; you can redistribute it and/or
+ *	modify it under the terms of the GNU Lesser General Public
+ *	License as published by the Free Software Foundation; either
+ *	version 2.1 of the License, or (at your option) any later version.
+ *
+ *	qpOASES is distributed in the hope that it will be useful,
+ *	but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *	See the GNU Lesser General Public License for more details.
+ *
+ *	You should have received a copy of the GNU Lesser General Public
+ *	License along with qpOASES; if not, write to the Free Software
+ *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ */
+
+
+/**
+ *	\file include/qpOASES_e/QProblem.h
+ *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
+ *	\version 3.1embedded
+ *	\date 2007-2015
+ *
+ *	Declaration of the QProblem class which is able to use the newly
+ *	developed online active set strategy for parametric quadratic programming.
+ */
+
+
+
+#ifndef QPOASES_QPROBLEM_H
+#define QPOASES_QPROBLEM_H
+
+
+#include <qpOASES_e/Bounds.h>
+#include <qpOASES_e/Options.h>
+#include <qpOASES_e/Matrices.h>
+#include <qpOASES_e/Constraints.h>
+#include <qpOASES_e/Flipper.h>
+#include <qpOASES_e/ConstraintProduct.h>
+
+
+BEGIN_NAMESPACE_QPOASES
+
+typedef struct {
+	Bounds *auxiliaryBounds;
+	Constraints *auxiliaryConstraints;
+
+	real_t *ub_new_far;
+	real_t *lb_new_far;
+	real_t *ubA_new_far;
+	real_t *lbA_new_far;
+
+	real_t *g_new;
+	real_t *lb_new;
+	real_t *ub_new;
+	real_t *lbA_new;
+	real_t *ubA_new;
+
+	real_t *g_new2;
+	real_t *lb_new2;
+	real_t *ub_new2;
+	real_t *lbA_new2;
+	real_t *ubA_new2;
+
+	real_t *delta_xFX5;
+	real_t *delta_xFR5;
+	real_t *delta_yAC5;
+	real_t *delta_yFX5;
+
+	real_t *Hx;
+
+	real_t *_H;
+
+	real_t *g_original;
+	real_t *lb_original;
+	real_t *ub_original;
+	real_t *lbA_original;
+	real_t *ubA_original;
+
+	real_t *delta_xFR;
+	real_t *delta_xFX;
+	real_t *delta_yAC;
+	real_t *delta_yFX;
+	real_t *delta_g;
+	real_t *delta_lb;
+	real_t *delta_ub;
+	real_t *delta_lbA;
+	real_t *delta_ubA;
+
+	real_t *gMod;
+
+	real_t *aFR;
+	real_t *wZ;
+
+	real_t *delta_g2;
+	real_t *delta_xFX2;
+	real_t *delta_xFR2;
+	real_t *delta_yAC2;
+	real_t *delta_yFX2;
+	real_t *nul;
+	real_t *Arow;
+
+	real_t *xiC;
+	real_t *xiC_TMP;
+	real_t *xiB;
+	real_t *Arow2;
+	real_t *num;
+
+	real_t *w;
+	real_t *tmp;
+
+	real_t *delta_g3;
+	real_t *delta_xFX3;
+	real_t *delta_xFR3;
+	real_t *delta_yAC3;
+	real_t *delta_yFX3;
+	real_t *nul2;
+
+	real_t *xiC2;
+	real_t *xiC_TMP2;
+	real_t *xiB2;
+	real_t *num2;
+
+	real_t *Hz;
+	real_t *z;
+	real_t *ZHz;
+	real_t *r;
+
+	real_t *tmp2;
+	real_t *Hz2;
+	real_t *z2;
+	real_t *r2;
+	real_t *rhs;
+
+	real_t *delta_xFX4;
+	real_t *delta_xFR4;
+	real_t *delta_yAC4;
+	real_t *delta_yFX4;
+	real_t *nul3;
+	real_t *ek;
+	real_t *x_W;
+	real_t *As;
+	real_t *Ax_W;
+
+	real_t *num3;
+	real_t *den;
+	real_t *delta_Ax_l;
+	real_t *delta_Ax_u;
+	real_t *delta_Ax;
+	real_t *delta_x;
+
+	real_t *_A;
+
+	real_t *grad;
+	real_t *AX;
+} QProblem_ws;
+
+int QProblem_ws_calculateMemorySize( unsigned int nV, unsigned int nC );
+
+char *QProblem_ws_assignMemory( unsigned int nV, unsigned int nC, QProblem_ws **mem, void *raw_memory );
+
+QProblem_ws *QProblem_ws_createMemory( unsigned int nV, unsigned int nC );
+
+/**
+ *	\brief Implements the online active set strategy for QPs with general constraints.
+ *
+ *	A class for setting up and solving quadratic programs. The main feature is
+ *	the possibily to use the newly developed online active set strategy for
+ * 	parametric quadratic programming.
+ *
+ *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
+ *	\version 3.1embedded
+ *	\date 2007-2015
+ */
+typedef struct
+{
+	QProblem_ws *ws;				/**< Workspace */
+	Bounds *bounds;					/**< Data structure for problem's bounds. */
+	Constraints *constraints;		/**< Data structure for problem's constraints. */
+	Flipper *flipper;				/**< Struct for making a temporary copy of the matrix factorisations. */
+
+	DenseMatrix* H;					/**< Hessian matrix pointer. */
+	DenseMatrix* A;					/**< Constraint matrix pointer. */
+
+	Options options;				/**< Struct containing all user-defined options for solving QPs. */
+	TabularOutput tabularOutput;	/**< Struct storing information for tabular output (printLevel == PL_TABULAR). */
+
+	real_t *g;						/**< Gradient. */
+
+	real_t *lb;						/**< Lower bound vector (on variables). */
+	real_t *ub;						/**< Upper bound vector (on variables). */
+	real_t *lbA;					/**< Lower constraints' bound vector. */
+	real_t *ubA;					/**< Upper constraints' bound vector. */
+
+	real_t *R;						/**< Cholesky factor of H (i.e. H = R^T*R). */
+
+	real_t *T;						/**< Reverse triangular matrix, A = [0 T]*Q'. */
+	real_t *Q;						/**< Orthonormal quadratic matrix, A = [0 T]*Q'. */
+
+	real_t *Ax;						/**< Stores the current A*x \n
+									 *	 (for increased efficiency only). */
+	real_t *Ax_l;					/**< Stores the current distance to lower constraints' bounds A*x-lbA \n
+									 *	 (for increased efficiency only). */
+	real_t *Ax_u;					/**< Stores the current distance to lower constraints' bounds ubA-A*x \n
+									 *	 (for increased efficiency only). */
+
+	real_t *x;						/**< Primal solution vector. */
+	real_t *y;						/**< Dual solution vector. */
+
+	real_t *delta_xFR_TMP;			/**< Temporary for determineStepDirection */
+	real_t *tempA;					/**< Temporary for determineStepDirection. */
+	real_t *tempB;					/**< Temporary for determineStepDirection. */
+	real_t *ZFR_delta_xFRz;			/**< Temporary for determineStepDirection. */
+	real_t *delta_xFRy;				/**< Temporary for determineStepDirection. */
+	real_t *delta_xFRz;				/**< Temporary for determineStepDirection. */
+	real_t *delta_yAC_TMP;			/**< Temporary for determineStepDirection. */
+
+	ConstraintProduct constraintProduct;	/**< Pointer to user-defined constraint product function. */
+
+	real_t tau;						/**< Last homotopy step length. */
+	real_t regVal;					/**< Holds the offset used to regularise Hessian matrix (zero by default). */
+
+	real_t ramp0;					/**< Start value for Ramping Strategy. */
+	real_t ramp1;					/**< Final value for Ramping Strategy. */
+
+	QProblemStatus status;			/**< Current status of the solution process. */
+	HessianType hessianType;		/**< Type of Hessian matrix. */
+
+	BooleanType haveCholesky;		/**< Flag indicating whether Cholesky decomposition has already been setup. */
+	BooleanType infeasible;			/**< QP infeasible? */
+	BooleanType unbounded;			/**< QP unbounded? */
+
+	int rampOffset;					/**< Offset index for Ramping. */
+	unsigned int count;				/**< Counts the number of hotstart function calls (internal usage only!). */
+
+	int sizeT;						/**< Matrix T is stored in a (sizeT x sizeT) array. */
+} QProblem;
+
+int QProblem_calculateMemorySize( unsigned int nV, unsigned int nC );
+
+char *QProblem_assignMemory( unsigned int nV, unsigned int nC, QProblem **mem, void *raw_memory );
+
+QProblem *QProblem_createMemory( unsigned int nV, unsigned int nC );
+
+
+/** Constructor which takes the QP dimension and Hessian type
+ *  information. If the Hessian is the zero (i.e. HST_ZERO) or the
+ *  identity matrix (i.e. HST_IDENTITY), respectively, no memory
+ *  is allocated for it and a NULL pointer can be passed for it
+ *  to the init() functions. */
+void QProblemCON(	QProblem* _THIS,
+					int _nV,	  					/**< Number of variables. */
+					int _nC,		  				/**< Number of constraints. */
+					HessianType _hessianType 		/**< Type of Hessian matrix. */
+					);
+
+/** Copies all members from given rhs object.
+ *  \return SUCCESSFUL_RETURN */
+void QProblemCPY(	QProblem* FROM,
+					QProblem* TO
+					);
+
+
+/** Clears all data structures of QProblem except for QP data.
+ *	\return SUCCESSFUL_RETURN \n
+			RET_RESET_FAILED */
+returnValue QProblem_reset( QProblem* _THIS );
+
+
+/** Initialises a QP problem with given QP data and tries to solve it
+ *	using at most nWSR iterations.
+ *
+ *  Note: This function internally calls solveInitialQP for initialisation!
+ *
+ *	\return SUCCESSFUL_RETURN \n
+			RET_INIT_FAILED \n
+			RET_INIT_FAILED_CHOLESKY \n
+			RET_INIT_FAILED_TQ \n
+			RET_INIT_FAILED_HOTSTART \n
+			RET_INIT_FAILED_INFEASIBILITY \n
+			RET_INIT_FAILED_UNBOUNDEDNESS \n
+			RET_MAX_NWSR_REACHED \n
+			RET_INVALID_ARGUMENTS */
+returnValue QProblem_initM(	QProblem* _THIS,
+							DenseMatrix *_H,			/**< Hessian matrix. */
+							const real_t* const _g, 	/**< Gradient vector. */
+							DenseMatrix *_A,  			/**< Constraint matrix. */
+							const real_t* const _lb,	/**< Lower bound vector (on variables). \n
+															 If no lower bounds exist, a NULL pointer can be passed. */
+							const real_t* const _ub,	/**< Upper bound vector (on variables). \n
+															 If no upper bounds exist, a NULL pointer can be passed. */
+							const real_t* const _lbA,	/**< Lower constraints' bound vector. \n
+															 If no lower constraints' bounds exist, a NULL pointer can be passed. */
+							const real_t* const _ubA,	/**< Upper constraints' bound vector. \n
+															 If no lower constraints' bounds exist, a NULL pointer can be passed. */
+							int* nWSR,					/**< Input: Maximum number of working set recalculations when using initial homotopy.
+															 Output: Number of performed working set recalculations. */
+							real_t* const cputime 		/**< Input: Maximum CPU time allowed for QP initialisation. \n
+															 Output: CPU time spent for QP initialisation (if pointer passed). */
+							);
+
+
+/** Initialises a QP problem with given QP data and tries to solve it
+ *	using at most nWSR iterations.
+ *
+ *  Note: This function internally calls solveInitialQP for initialisation!
+ *
+ *	\return SUCCESSFUL_RETURN \n
+			RET_INIT_FAILED \n
+			RET_INIT_FAILED_CHOLESKY \n
+			RET_INIT_FAILED_TQ \n
+			RET_INIT_FAILED_HOTSTART \n
+			RET_INIT_FAILED_INFEASIBILITY \n
+			RET_INIT_FAILED_UNBOUNDEDNESS \n
+			RET_MAX_NWSR_REACHED \n
+			RET_INVALID_ARGUMENTS */
+returnValue QProblem_init(	QProblem* _THIS,
+							real_t* const _H, 			/**< Hessian matrix. \n
+															 If Hessian matrix is trivial, a NULL pointer can be passed. */
+							const real_t* const _g, 	/**< Gradient vector. */
+							real_t* const _A,  			/**< Constraint matrix. */
+							const real_t* const _lb,	/**< Lower bound vector (on variables). \n
+															 If no lower bounds exist, a NULL pointer can be passed. */
+							const real_t* const _ub,	/**< Upper bound vector (on variables). \n
+															 If no upper bounds exist, a NULL pointer can be passed. */
+							const real_t* const _lbA,	/**< Lower constraints' bound vector. \n
+															 If no lower constraints' bounds exist, a NULL pointer can be passed. */
+							const real_t* const _ubA,	/**< Upper constraints' bound vector. \n
+															 If no lower constraints' bounds exist, a NULL pointer can be passed. */
+							int* nWSR,					/**< Input: Maximum number of working set recalculations when using initial homotopy.
+															 Output: Number of performed working set recalculations. */
+							real_t* const cputime 		/**< Input: Maximum CPU time allowed for QP initialisation. \n
+															 Output: CPU time spent for QP initialisation (if pointer passed). */
+							);
+
+/** Initialises a QP problem with given QP data to be read from files and tries to solve it
+ *	using at most nWSR iterations.
+ *
+ *  Note: This function internally calls solveInitialQP for initialisation!
+ *
+ *	\return SUCCESSFUL_RETURN \n
+			RET_INIT_FAILED \n
+			RET_INIT_FAILED_CHOLESKY \n
+			RET_INIT_FAILED_TQ \n
+			RET_INIT_FAILED_HOTSTART \n
+			RET_INIT_FAILED_INFEASIBILITY \n
+			RET_INIT_FAILED_UNBOUNDEDNESS \n
+			RET_MAX_NWSR_REACHED \n
+			RET_UNABLE_TO_READ_FILE */
+returnValue QProblem_initF(	QProblem* _THIS,
+							const char* const H_file,	/**< Name of file where Hessian matrix is stored. \n
+															 If Hessian matrix is trivial, a NULL pointer can be passed. */
+							const char* const g_file,	/**< Name of file where gradient vector is stored. */
+							const char* const A_file,	/**< Name of file where constraint matrix is stored. */
+							const char* const lb_file,	/**< Name of file where lower bound vector. \n
+															If no lower bounds exist, a NULL pointer can be passed. */
+							const char* const ub_file,	/**< Name of file where upper bound vector. \n
+															If no upper bounds exist, a NULL pointer can be passed. */
+							const char* const lbA_file,	/**< Name of file where lower constraints' bound vector. \n
+															If no lower constraints' bounds exist, a NULL pointer can be passed. */
+							const char* const ubA_file,	/**< Name of file where upper constraints' bound vector. \n
+															 If no upper constraints' bounds exist, a NULL pointer can be passed. */
+							int* nWSR,					/**< Input: Maximum number of working set recalculations when using initial homotopy.
+															 Output: Number of performed working set recalculations. */
+							real_t* const cputime	 	/**< Input: Maximum CPU time allowed for QP initialisation. \n
+															 Output: CPU time spent for QP initialisation (if pointer passed). */
+							);
+
+/** Initialises a QP problem with given QP data and tries to solve it
+ *	using at most nWSR iterations. Depending on the parameter constellation it: \n
+ *	1. 0,    0,    0    : starts with xOpt = 0, yOpt = 0 and gB/gC empty (or all implicit equality bounds), \n
+ *	2. xOpt, 0,    0    : starts with xOpt, yOpt = 0 and obtain gB/gC by "clipping", \n
+ *	3. 0,    yOpt, 0    : starts with xOpt = 0, yOpt and obtain gB/gC from yOpt != 0, \n
+ *	4. 0,    0,    gB/gC: starts with xOpt = 0, yOpt = 0 and gB/gC, \n
+ *	5. xOpt, yOpt, 0    : starts with xOpt, yOpt and obtain gB/gC from yOpt != 0, \n
+ *	6. xOpt, 0,    gB/gC: starts with xOpt, yOpt = 0 and gB/gC, \n
+ *	7. xOpt, yOpt, gB/gC: starts with xOpt, yOpt and gB/gC (assume them to be consistent!)
+ *
+ *  Note: This function internally calls solveInitialQP for initialisation!
+ *
+ *	\return SUCCESSFUL_RETURN \n
+			RET_INIT_FAILED \n
+			RET_INIT_FAILED_CHOLESKY \n
+			RET_INIT_FAILED_TQ \n
+			RET_INIT_FAILED_HOTSTART \n
+			RET_INIT_FAILED_INFEASIBILITY \n
+			RET_INIT_FAILED_UNBOUNDEDNESS \n
+			RET_MAX_NWSR_REACHED \n
+			RET_INVALID_ARGUMENTS */
+returnValue QProblem_initMW(	QProblem* _THIS,
+								DenseMatrix *_H, 						/**< Hessian matrix. \n
+														    				 If Hessian matrix is trivial, a NULL pointer can be passed. */
+								const real_t* const _g, 				/**< Gradient vector. */
+								DenseMatrix *_A, 			 			/**< Constraint matrix. */
+								const real_t* const _lb,				/**< Lower bound vector (on variables). \n
+																			 If no lower bounds exist, a NULL pointer can be passed. */
+								const real_t* const _ub,				/**< Upper bound vector (on variables). \n
+																			 If no upper bounds exist, a NULL pointer can be passed. */
+								const real_t* const _lbA,				/**< Lower constraints' bound vector. \n
+																			 If no lower constraints' bounds exist, a NULL pointer can be passed. */
+								const real_t* const _ubA,				/**< Upper constraints' bound vector. \n
+																			 If no lower constraints' bounds exist, a NULL pointer can be passed. */
+								int* nWSR,								/**< Input: Maximum number of working set recalculations when using initial homotopy.
+																		 *	 Output: Number of performed working set recalculations. */
+								real_t* const cputime,					/**< Input: Maximum CPU time allowed for QP initialisation. \n
+																			 Output: CPU time spent for QP initialisation. */
+								const real_t* const xOpt,				/**< Optimal primal solution vector. \n
+																			 (If a null pointer is passed, the old primal solution is kept!) */
+								const real_t* const yOpt,				/**< Optimal dual solution vector. \n
+																			 (If a null pointer is passed, the old dual solution is kept!) */
+								Bounds* const guessedBounds,			/**< Optimal working set of bounds for solution (xOpt,yOpt). */
+								Constraints* const guessedConstraints,	/**< Optimal working set of constraints for solution (xOpt,yOpt). */
+								const real_t* const _R					/**< Pre-computed (upper triangular) Cholesky factor of Hessian matrix.
+																	 		 The Cholesky factor must be stored in a real_t array of size nV*nV
+																			 in row-major format. Note: Only used if xOpt/yOpt and gB are NULL! \n
+																			 (If a null pointer is passed, Cholesky decomposition is computed internally!) */
+								);
+
+/** Initialises a QP problem with given QP data and tries to solve it
+ *	using at most nWSR iterations. Depending on the parameter constellation it: \n
+ *	1. 0,    0,    0    : starts with xOpt = 0, yOpt = 0 and gB/gC empty (or all implicit equality bounds), \n
+ *	2. xOpt, 0,    0    : starts with xOpt, yOpt = 0 and obtain gB/gC by "clipping", \n
+ *	3. 0,    yOpt, 0    : starts with xOpt = 0, yOpt and obtain gB/gC from yOpt != 0, \n
+ *	4. 0,    0,    gB/gC: starts with xOpt = 0, yOpt = 0 and gB/gC, \n
+ *	5. xOpt, yOpt, 0    : starts with xOpt, yOpt and obtain gB/gC from yOpt != 0, \n
+ *	6. xOpt, 0,    gB/gC: starts with xOpt, yOpt = 0 and gB/gC, \n
+ *	7. xOpt, yOpt, gB/gC: starts with xOpt, yOpt and gB/gC (assume them to be consistent!)
+ *
+ *  Note: This function internally calls solveInitialQP for initialisation!
+ *
+ *	\return SUCCESSFUL_RETURN \n
+			RET_INIT_FAILED \n
+			RET_INIT_FAILED_CHOLESKY \n
+			RET_INIT_FAILED_TQ \n
+			RET_INIT_FAILED_HOTSTART \n
+			RET_INIT_FAILED_INFEASIBILITY \n
+			RET_INIT_FAILED_UNBOUNDEDNESS \n
+			RET_MAX_NWSR_REACHED \n
+			RET_INVALID_ARGUMENTS */
+returnValue QProblem_initW(	QProblem* _THIS,
+							real_t* const _H, 						/**< Hessian matrix. \n
+														    			 If Hessian matrix is trivial, a NULL pointer can be passed. */
+							const real_t* const _g, 				/**< Gradient vector. */
+							real_t* const _A,  						/**< Constraint matrix. */
+							const real_t* const _lb,				/**< Lower bound vector (on variables). \n
+																		 If no lower bounds exist, a NULL pointer can be passed. */
+							const real_t* const _ub,				/**< Upper bound vector (on variables). \n
+																		 If no upper bounds exist, a NULL pointer can be passed. */
+							const real_t* const _lbA,				/**< Lower constraints' bound vector. \n
+																		 If no lower constraints' bounds exist, a NULL pointer can be passed. */
+							const real_t* const _ubA,				/**< Upper constraints' bound vector. \n
+																	 If no lower constraints' bounds exist, a NULL pointer can be passed. */
+							int* nWSR,								/**< Input:  Maximum number of working set recalculations when using initial homotopy.
+																	 *	 Output: Number of performed working set recalculations. */
+							real_t* const cputime,					/**< Input:  Maximum CPU time allowed for QP initialisation. \n
+																		 Output: CPU time spent for QP initialisation. */
+							const real_t* const xOpt,				/**< Optimal primal solution vector. \n
+																		 (If a null pointer is passed, the old primal solution is kept!) */
+							const real_t* const yOpt,				/**< Optimal dual solution vector. \n
+																		 (If a null pointer is passed, the old dual solution is kept!) */
+							Bounds* const guessedBounds,			/**< Optimal working set of bounds for solution (xOpt,yOpt). */
+							Constraints* const guessedConstraints,	/**< Optimal working set of constraints for solution (xOpt,yOpt). */
+							const real_t* const _R					/**< Pre-computed (upper triangular) Cholesky factor of Hessian matrix.
+																	 	 The Cholesky factor must be stored in a real_t array of size nV*nV
+																		 in row-major format. Note: Only used if xOpt/yOpt and gB are NULL! \n
+																		 (If a null pointer is passed, Cholesky decomposition is computed internally!) */
+							);
+
+/** Initialises a QP problem with given QP data to be ream from files and tries to solve it
+ *	using at most nWSR iterations. Depending on the parameter constellation it: \n
+ *	1. 0,    0,    0    : starts with xOpt = 0, yOpt = 0 and gB/gC empty (or all implicit equality bounds), \n
+ *	2. xOpt, 0,    0    : starts with xOpt, yOpt = 0 and obtain gB/gC by "clipping", \n
+ *	3. 0,    yOpt, 0    : starts with xOpt = 0, yOpt and obtain gB/gC from yOpt != 0, \n
+ *	4. 0,    0,    gB/gC: starts with xOpt = 0, yOpt = 0 and gB/gC, \n
+ *	5. xOpt, yOpt, 0    : starts with xOpt, yOpt and obtain gB/gC from yOpt != 0, \n
+ *	6. xOpt, 0,    gB/gC: starts with xOpt, yOpt = 0 and gB/gC, \n
+ *	7. xOpt, yOpt, gB/gC: starts with xOpt, yOpt and gB/gC (assume them to be consistent!)
+ *
+ *  Note: This function internally calls solveInitialQP for initialisation!
+ *
+ *	\return SUCCESSFUL_RETURN \n
+			RET_INIT_FAILED \n
+			RET_INIT_FAILED_CHOLESKY \n
+			RET_INIT_FAILED_TQ \n
+			RET_INIT_FAILED_HOTSTART \n
+			RET_INIT_FAILED_INFEASIBILITY \n
+			RET_INIT_FAILED_UNBOUNDEDNESS \n
+			RET_MAX_NWSR_REACHED \n
+			RET_UNABLE_TO_READ_FILE */
+returnValue QProblem_initFW(	QProblem* _THIS,
+								const char* const H_file,				/**< Name of file where Hessian matrix is stored. \n
+														     				 If Hessian matrix is trivial, a NULL pointer can be passed. */
+								const char* const g_file,				/**< Name of file where gradient vector is stored. */
+								const char* const A_file,				/**< Name of file where constraint matrix is stored. */
+								const char* const lb_file,				/**< Name of file where lower bound vector. \n
+																			 If no lower bounds exist, a NULL pointer can be passed. */
+								const char* const ub_file,				/**< Name of file where upper bound vector. \n
+																			 If no upper bounds exist, a NULL pointer can be passed. */
+								const char* const lbA_file,				/**< Name of file where lower constraints' bound vector. \n
+																			 If no lower constraints' bounds exist, a NULL pointer can be passed. */
+								const char* const ubA_file,				/**< Name of file where upper constraints' bound vector. \n
+																			 If no upper constraints' bounds exist, a NULL pointer can be passed. */
+								int* nWSR,								/**< Input:  Maximum number of working set recalculations when using initial homotopy.
+																			 Output: Number of performed working set recalculations. */
+								real_t* const cputime,					/**< Input:  Maximum CPU time allowed for QP initialisation. \n
+																			 Output: CPU time spent for QP initialisation. */
+								const real_t* const xOpt,				/**< Optimal primal solution vector. \n
+																			 (If a null pointer is passed, the old primal solution is kept!) */
+								const real_t* const yOpt,				/**< Optimal dual solution vector. \n
+																			 (If a null pointer is passed, the old dual solution is kept!) */
+								Bounds* const guessedBounds,			/**< Optimal working set of bounds for solution (xOpt,yOpt). */
+								Constraints* const guessedConstraints,	/**< Optimal working set of constraints for solution (xOpt,yOpt). */
+								const char* const R_file				/**< Pre-computed (upper triangular) Cholesky factor of Hessian matrix.
+																		 	 The Cholesky factor must be stored in a real_t array of size nV*nV
+																			 in row-major format. Note: Only used if xOpt/yOpt and gB are NULL! \n
+																			 (If a null pointer is passed, Cholesky decomposition is computed internally!) */
+								);
+
+/** Solves an initialised QP sequence using the online active set strategy.
+ *	QP solution is started from previous solution.
+ *
+ *  Note: This function internally calls solveQP/solveRegularisedQP
+ *        for solving an initialised QP!
+ *
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_MAX_NWSR_REACHED \n
+ 			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
+			RET_HOTSTART_FAILED \n
+			RET_SHIFT_DETERMINATION_FAILED \n
+			RET_STEPDIRECTION_DETERMINATION_FAILED \n
+			RET_STEPLENGTH_DETERMINATION_FAILED \n
+			RET_HOMOTOPY_STEP_FAILED \n
+			RET_HOTSTART_STOPPED_INFEASIBILITY \n
+			RET_HOTSTART_STOPPED_UNBOUNDEDNESS */
+returnValue QProblem_hotstart(	QProblem* _THIS,
+								const real_t* const g_new,		/**< Gradient of neighbouring QP to be solved. */
+								const real_t* const lb_new,		/**< Lower bounds of neighbouring QP to be solved. \n
+											 			 			 If no lower bounds exist, a NULL pointer can be passed. */
+								const real_t* const ub_new,		/**< Upper bounds of neighbouring QP to be solved. \n
+											 			 			 If no upper bounds exist, a NULL pointer can be passed. */
+								const real_t* const lbA_new,	/**< Lower constraints' bounds of neighbouring QP to be solved. \n
+											 			 			 If no lower constraints' bounds exist, a NULL pointer can be passed. */
+								const real_t* const ubA_new,	/**< Upper constraints' bounds of neighbouring QP to be solved. \n
+											 			 			 If no upper constraints' bounds exist, a NULL pointer can be passed. */
+								int* nWSR,						/**< Input:  Maximum number of working set recalculations; \n
+													 				 Output: Number of performed working set recalculations. */
+								real_t* const cputime 			/**< Input:  Maximum CPU time allowed for QP solution. \n
+														 			 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
+								);
+
+/** Solves an initialised QP sequence using the online active set strategy,
+ *	where QP data is read from files. QP solution is started from previous solution.
+ *
+ *  Note: This function internally calls solveQP/solveRegularisedQP
+ *        for solving an initialised QP!
+ *
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_MAX_NWSR_REACHED \n
+ 			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
+			RET_HOTSTART_FAILED \n
+			RET_SHIFT_DETERMINATION_FAILED \n
+			RET_STEPDIRECTION_DETERMINATION_FAILED \n
+			RET_STEPLENGTH_DETERMINATION_FAILED \n
+			RET_HOMOTOPY_STEP_FAILED \n
+			RET_HOTSTART_STOPPED_INFEASIBILITY \n
+			RET_HOTSTART_STOPPED_UNBOUNDEDNESS \n
+			RET_UNABLE_TO_READ_FILE \n
+			RET_INVALID_ARGUMENTS */
+returnValue QProblem_hotstartF(	QProblem* _THIS,
+								const char* const g_file, 	/**< Name of file where gradient, of neighbouring QP to be solved, is stored. */
+								const char* const lb_file, 	/**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n
+											 					 If no lower bounds exist, a NULL pointer can be passed. */
+								const char* const ub_file, 	/**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n
+											 					 If no upper bounds exist, a NULL pointer can be passed. */
+								const char* const lbA_file, /**< Name of file where lower constraints' bounds, of neighbouring QP to be solved, is stored. \n
+											 					 If no lower constraints' bounds exist, a NULL pointer can be passed. */
+								const char* const ubA_file, /**< Name of file where upper constraints' bounds, of neighbouring QP to be solved, is stored. \n
+											 					 If no upper constraints' bounds exist, a NULL pointer can be passed. */
+								int* nWSR, 					/**< Input:  Maximum number of working set recalculations; \n
+																 Output: Number of performed working set recalculations. */
+								real_t* const cputime 		/**< Input:  Maximum CPU time allowed for QP solution. \n
+														 		 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
+								);
+
+/** Solves an initialised QP sequence using the online active set strategy.
+ *	By default, QP solution is started from previous solution. If a guess
+ *	for the working set is provided, an initialised homotopy is performed.
+ *
+ *  Note: This function internally calls solveQP/solveRegularisedQP
+ *        for solving an initialised QP!
+ *
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_MAX_NWSR_REACHED \n
+ 			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
+			RET_HOTSTART_FAILED \n
+			RET_SHIFT_DETERMINATION_FAILED \n
+			RET_STEPDIRECTION_DETERMINATION_FAILED \n
+			RET_STEPLENGTH_DETERMINATION_FAILED \n
+			RET_HOMOTOPY_STEP_FAILED \n
+			RET_HOTSTART_STOPPED_INFEASIBILITY \n
+			RET_HOTSTART_STOPPED_UNBOUNDEDNESS \n
+			RET_SETUP_AUXILIARYQP_FAILED */
+returnValue QProblem_hotstartW(	QProblem* _THIS,
+								const real_t* const g_new,				/**< Gradient of neighbouring QP to be solved. */
+								const real_t* const lb_new,				/**< Lower bounds of neighbouring QP to be solved. \n
+											 						 		 If no lower bounds exist, a NULL pointer can be passed. */
+								const real_t* const ub_new,				/**< Upper bounds of neighbouring QP to be solved. \n
+											 						 		 If no upper bounds exist, a NULL pointer can be passed. */
+								const real_t* const lbA_new,			/**< Lower constraints' bounds of neighbouring QP to be solved. \n
+											 						 		 If no lower constraints' bounds exist, a NULL pointer can be passed. */
+								const real_t* const ubA_new,			/**< Upper constraints' bounds of neighbouring QP to be solved. \n
+											 								 If no upper constraints' bounds exist, a NULL pointer can be passed. */
+								int* nWSR,								/**< Input: Maximum number of working set recalculations; \n
+																			 Output: Number of performed working set recalculations. */
+								real_t* const cputime,					/**< Input: Maximum CPU time allowed for QP solution. \n
+																	 		 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
+								Bounds* const guessedBounds,			/**< Optimal working set of bounds for solution (xOpt,yOpt). \n
+																			 (If a null pointer is passed, the previous working set of bounds is kept!) */
+								Constraints* const guessedConstraints	/**< Optimal working set of constraints for solution (xOpt,yOpt). \n
+																			 (If a null pointer is passed, the previous working set of constraints is kept!) */
+								);
+
+/** Solves an initialised QP sequence using the online active set strategy,
+ *  where QP data is read from files.
+ *	By default, QP solution is started from previous solution. If a guess
+ *	for the working set is provided, an initialised homotopy is performed.
+ *
+ *  Note: This function internally calls solveQP/solveRegularisedQP
+ *        for solving an initialised QP!
+ *
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_MAX_NWSR_REACHED \n
+ 			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
+			RET_HOTSTART_FAILED \n
+			RET_SHIFT_DETERMINATION_FAILED \n
+			RET_STEPDIRECTION_DETERMINATION_FAILED \n
+			RET_STEPLENGTH_DETERMINATION_FAILED \n
+			RET_HOMOTOPY_STEP_FAILED \n
+			RET_HOTSTART_STOPPED_INFEASIBILITY \n
+			RET_HOTSTART_STOPPED_UNBOUNDEDNESS \n
+			RET_SETUP_AUXILIARYQP_FAILED \n
+			RET_UNABLE_TO_READ_FILE \n
+			RET_INVALID_ARGUMENTS */
+returnValue QProblem_hotstartFW(	QProblem* _THIS,
+									const char* const g_file, 				/**< Name of file where gradient, of neighbouring QP to be solved, is stored. */
+									const char* const lb_file, 				/**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n
+											 									 If no lower bounds exist, a NULL pointer can be passed. */
+									const char* const ub_file, 				/**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n
+											 									 If no upper bounds exist, a NULL pointer can be passed. */
+									const char* const lbA_file, 			/**< Name of file where lower constraints' bounds, of neighbouring QP to be solved, is stored. \n
+											 									 If no lower constraints' bounds exist, a NULL pointer can be passed. */
+									const char* const ubA_file, 			/**< Name of file where upper constraints' bounds, of neighbouring QP to be solved, is stored. \n
+											 									 If no upper constraints' bounds exist, a NULL pointer can be passed. */
+									int* nWSR,								/**< Input: Maximum number of working set recalculations; \n
+																 				 Output: Number of performed working set recalculations. */
+									real_t* const cputime,					/**< Input: Maximum CPU time allowed for QP solution. \n
+																	 			 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
+									Bounds* const guessedBounds,			/**< Optimal working set of bounds for solution (xOpt,yOpt). \n
+																				 (If a null pointer is passed, the previous working set of bounds is kept!) */
+									Constraints* const guessedConstraints	/**< Optimal working set of constraints for solution (xOpt,yOpt). \n
+																				 (If a null pointer is passed, the previous working set of constraints is kept!) */
+									);
+
+
+/** Solves using the current working set
+ *	\return SUCCESSFUL_RETURN \n
+ *			RET_STEPDIRECTION_FAILED_TQ \n
+ *			RET_STEPDIRECTION_FAILED_CHOLESKY \n
+ *			RET_INVALID_ARGUMENTS */
+returnValue QProblem_solveCurrentEQP (	QProblem* _THIS,
+										const int n_rhs,		/**< Number of consecutive right hand sides */
+										const real_t* g_in,		/**< Gradient of neighbouring QP to be solved. */
+										const real_t* lb_in,	/**< Lower bounds of neighbouring QP to be solved. \n
+																	 If no lower bounds exist, a NULL pointer can be passed. */
+										const real_t* ub_in,	/**< Upper bounds of neighbouring QP to be solved. \n
+																	 If no upper bounds exist, a NULL pointer can be passed. */
+										const real_t* lbA_in,	/**< Lower constraints' bounds of neighbouring QP to be solved. \n
+																	 If no lower constraints' bounds exist, a NULL pointer can be passed. */
+										const real_t* ubA_in,	/**< Upper constraints' bounds of neighbouring QP to be solved. \n */
+										real_t* x_out,			/**< Output: Primal solution */
+										real_t* y_out			/**< Output: Dual solution */
+										);
+
+
+
+/** Returns current constraints object of the QP (deep copy).
+  *	\return SUCCESSFUL_RETURN \n
+  			RET_QPOBJECT_NOT_SETUP */
+static inline returnValue QProblem_getConstraints(	QProblem* _THIS,
+													Constraints* _constraints	/** Output: Constraints object. */
+													);
+
+
+/** Returns the number of constraints.
+ *	\return Number of constraints. */
+static inline int QProblem_getNC( QProblem* _THIS );
+
+/** Returns the number of (implicitly defined) equality constraints.
+ *	\return Number of (implicitly defined) equality constraints. */
+static inline int QProblem_getNEC( QProblem* _THIS );
+
+/** Returns the number of active constraints.
+ *	\return Number of active constraints. */
+static inline int QProblem_getNAC( QProblem* _THIS );
+
+/** Returns the number of inactive constraints.
+ *	\return Number of inactive constraints. */
+static inline int QProblem_getNIAC( QProblem* _THIS );
+
+/** Returns the dimension of null space.
+ *	\return Dimension of null space. */
+int QProblem_getNZ( QProblem* _THIS );
+
+
+/** Returns the dual solution vector (deep copy).
+ *	\return SUCCESSFUL_RETURN \n
+			RET_QP_NOT_SOLVED */
+returnValue QProblem_getDualSolution(	QProblem* _THIS,
+										real_t* const yOpt	/**< Output: Dual solution vector (if QP has been solved). */
+										);
+
+
+/** Defines user-defined routine for calculating the constraint product A*x
+ *	\return  SUCCESSFUL_RETURN \n */
+returnValue QProblem_setConstraintProduct(	QProblem* _THIS,
+											ConstraintProduct _constraintProduct
+											);
+
+
+/** Prints concise list of properties of the current QP.
+ *	\return  SUCCESSFUL_RETURN \n */
+returnValue QProblem_printProperties( QProblem* _THIS );
+
+
+
+/** Writes a vector with the state of the working set
+*	\return SUCCESSFUL_RETURN */
+returnValue QProblem_getWorkingSet(	QProblem* _THIS,
+									real_t* workingSet	/** Output: array containing state of the working set. */
+									);
+
+/** Writes a vector with the state of the working set of bounds
+ *	\return SUCCESSFUL_RETURN \n
+ *	        RET_INVALID_ARGUMENTS */
+returnValue QProblem_getWorkingSetBounds(	QProblem* _THIS,
+											real_t* workingSetB	/** Output: array containing state of the working set of bounds. */
+											);
+
+/** Writes a vector with the state of the working set of constraints
+ *	\return SUCCESSFUL_RETURN \n
+ *	        RET_INVALID_ARGUMENTS */
+returnValue QProblem_getWorkingSetConstraints(	QProblem* _THIS,
+												real_t* workingSetC	/** Output: array containing state of the working set of constraints. */
+												);
+
+
+/** Returns current bounds object of the QP (deep copy).
+  *	\return SUCCESSFUL_RETURN \n
+  			RET_QPOBJECT_NOT_SETUP */
+static inline returnValue QProblem_getBounds(	QProblem* _THIS,
+												Bounds* _bounds		/** Output: Bounds object. */
+												);
+
+
+/** Returns the number of variables.
+ *	\return Number of variables. */
+static inline int QProblem_getNV( QProblem* _THIS );
+
+/** Returns the number of free variables.
+ *	\return Number of free variables. */
+static inline int QProblem_getNFR( QProblem* _THIS );
+
+/** Returns the number of fixed variables.
+ *	\return Number of fixed variables. */
+static inline int QProblem_getNFX( QProblem* _THIS );
+
+/** Returns the number of implicitly fixed variables.
+ *	\return Number of implicitly fixed variables. */
+static inline int QProblem_getNFV( QProblem* _THIS );
+
+
+/** Returns the optimal objective function value.
+ *	\return finite value: Optimal objective function value (QP was solved) \n
+ 			+infinity:	  QP was not yet solved */
+real_t QProblem_getObjVal( QProblem* _THIS );
+
+/** Returns the objective function value at an arbitrary point x.
+ *	\return Objective function value at point x */
+real_t QProblem_getObjValX(	QProblem* _THIS,
+							const real_t* const _x	/**< Point at which the objective function shall be evaluated. */
+							);
+
+/** Returns the primal solution vector.
+ *	\return SUCCESSFUL_RETURN \n
+			RET_QP_NOT_SOLVED */
+returnValue QProblem_getPrimalSolution(	QProblem* _THIS,
+										real_t* const xOpt	/**< Output: Primal solution vector (if QP has been solved). */
+										);
+
+
+/** Returns status of the solution process.
+ *	\return Status of solution process. */
+static inline QProblemStatus QProblem_getStatus( QProblem* _THIS );
+
+
+/** Returns if the QProblem object is initialised.
+ *	\return BT_TRUE:  QProblem initialised \n
+ 			BT_FALSE: QProblem not initialised */
+static inline BooleanType QProblem_isInitialised( QProblem* _THIS );
+
+/** Returns if the QP has been solved.
+ *	\return BT_TRUE:  QProblem solved \n
+ 			BT_FALSE: QProblem not solved */
+static inline BooleanType QProblem_isSolved( QProblem* _THIS );
+
+/** Returns if the QP is infeasible.
+ *	\return BT_TRUE:  QP infeasible \n
+ 			BT_FALSE: QP feasible (or not known to be infeasible!) */
+static inline BooleanType QProblem_isInfeasible( QProblem* _THIS );
+
+/** Returns if the QP is unbounded.
+ *	\return BT_TRUE:  QP unbounded \n
+ 			BT_FALSE: QP unbounded (or not known to be unbounded!) */
+static inline BooleanType QProblem_isUnbounded( QProblem* _THIS );
+
+
+/** Returns Hessian type flag (type is not determined due to _THIS call!).
+ *	\return Hessian type. */
+static inline HessianType QProblem_getHessianType( QProblem* _THIS );
+
+/** Changes the print level.
+ *	\return SUCCESSFUL_RETURN */
+static inline returnValue QProblem_setHessianType(	QProblem* _THIS,
+													HessianType _hessianType /**< New Hessian type. */
+													);
+
+/** Returns if the QP has been internally regularised.
+ *	\return BT_TRUE:  Hessian is internally regularised for QP solution \n
+ 			BT_FALSE: No internal Hessian regularisation is used for QP solution */
+static inline BooleanType QProblem_usingRegularisation( QProblem* _THIS );
+
+/** Returns current options struct.
+ *	\return Current options struct. */
+static inline Options QProblem_getOptions( QProblem* _THIS );
+
+/** Overrides current options with given ones.
+ *	\return SUCCESSFUL_RETURN */
+static inline returnValue QProblem_setOptions(	QProblem* _THIS,
+												Options _options	/**< New options. */
+												);
+
+/** Returns the print level.
+ *	\return Print level. */
+static inline PrintLevel QProblem_getPrintLevel( QProblem* _THIS );
+
+/** Changes the print level.
+ *	\return SUCCESSFUL_RETURN */
+returnValue QProblem_setPrintLevel(	QProblem* _THIS,
+									PrintLevel _printlevel	/**< New print level. */
+									);
+
+
+/** Returns the current number of QP problems solved.
+ *	\return Number of QP problems solved. */
+static inline unsigned int QProblem_getCount( QProblem* _THIS );
+
+/** Resets QP problem counter (to zero).
+ *	\return SUCCESSFUL_RETURN. */
+static inline returnValue QProblem_resetCounter( QProblem* _THIS );
+
+
+/** Prints a list of all options and their current values.
+ *	\return  SUCCESSFUL_RETURN \n */
+returnValue QProblem_printOptions( QProblem* _THIS );
+
+
+/** Solves a QProblem whose QP data is assumed to be stored in the member variables.
+ *  A guess for its primal/dual optimal solution vectors and the corresponding
+ *  working sets of bounds and constraints can be provided.
+ *  Note: This function is internally called by all init functions!
+ *	\return SUCCESSFUL_RETURN \n
+			RET_INIT_FAILED \n
+			RET_INIT_FAILED_CHOLESKY \n
+			RET_INIT_FAILED_TQ \n
+			RET_INIT_FAILED_HOTSTART \n
+			RET_INIT_FAILED_INFEASIBILITY \n
+			RET_INIT_FAILED_UNBOUNDEDNESS \n
+			RET_MAX_NWSR_REACHED */
+returnValue QProblem_solveInitialQP(	QProblem* _THIS,
+										const real_t* const xOpt,				/**< Optimal primal solution vector.*/
+										const real_t* const yOpt,				/**< Optimal dual solution vector. */
+										Bounds* const guessedBounds,			/**< Optimal working set of bounds for solution (xOpt,yOpt). */
+										Constraints* const guessedConstraints,	/**< Optimal working set of constraints for solution (xOpt,yOpt). */
+										const real_t* const _R,					/**< Pre-computed (upper triangular) Cholesky factor of Hessian matrix. */
+										int* nWSR, 								/**< Input:  Maximum number of working set recalculations; \n
+														 						 *	 Output: Number of performed working set recalculations. */
+										real_t* const cputime					/**< Input:  Maximum CPU time allowed for QP solution. \n
+																	 			 *	 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
+										);
+
+/** Solves QProblem using online active set strategy.
+ *  Note: This function is internally called by all hotstart functions!
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_MAX_NWSR_REACHED \n
+ 			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
+			RET_HOTSTART_FAILED \n
+			RET_SHIFT_DETERMINATION_FAILED \n
+			RET_STEPDIRECTION_DETERMINATION_FAILED \n
+			RET_STEPLENGTH_DETERMINATION_FAILED \n
+			RET_HOMOTOPY_STEP_FAILED \n
+			RET_HOTSTART_STOPPED_INFEASIBILITY \n
+			RET_HOTSTART_STOPPED_UNBOUNDEDNESS */
+returnValue QProblem_solveQP(	QProblem* _THIS,
+								const real_t* const g_new,		/**< Gradient of neighbouring QP to be solved. */
+								const real_t* const lb_new,		/**< Lower bounds of neighbouring QP to be solved. \n
+											 			 			 If no lower bounds exist, a NULL pointer can be passed. */
+								const real_t* const ub_new,		/**< Upper bounds of neighbouring QP to be solved. \n
+											 			 			 If no upper bounds exist, a NULL pointer can be passed. */
+								const real_t* const lbA_new,	/**< Lower constraints' bounds of neighbouring QP to be solved. \n
+											 			 			 If no lower constraints' bounds exist, a NULL pointer can be passed. */
+								const real_t* const ubA_new,	/**< Upper constraints' bounds of neighbouring QP to be solved. \n
+											 			 			 If no upper constraints' bounds exist, a NULL pointer can be passed. */
+								int* nWSR,						/**< Input: Maximum number of working set recalculations; \n
+													 				 Output: Number of performed working set recalculations. */
+								real_t* const cputime,			/**< Input: Maximum CPU time allowed for QP solution. \n
+														 			 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
+								int  nWSRperformed,				/**< Number of working set recalculations already performed to solve
+																	 this QP within previous solveQP() calls. This number is
+																	 always zero, except for successive calls from solveRegularisedQP()
+																	 or when using the far bound strategy. */
+								BooleanType isFirstCall			/**< Indicating whether this is the first call for current QP. */
+								);
+
+
+/** Solves QProblem using online active set strategy.
+ *  Note: This function is internally called by all hotstart functions!
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_MAX_NWSR_REACHED \n
+ 			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
+			RET_HOTSTART_FAILED \n
+			RET_SHIFT_DETERMINATION_FAILED \n
+			RET_STEPDIRECTION_DETERMINATION_FAILED \n
+			RET_STEPLENGTH_DETERMINATION_FAILED \n
+			RET_HOMOTOPY_STEP_FAILED \n
+			RET_HOTSTART_STOPPED_INFEASIBILITY \n
+			RET_HOTSTART_STOPPED_UNBOUNDEDNESS */
+returnValue QProblem_solveRegularisedQP(	QProblem* _THIS,
+											const real_t* const g_new,		/**< Gradient of neighbouring QP to be solved. */
+											const real_t* const lb_new,		/**< Lower bounds of neighbouring QP to be solved. \n
+													 			 				 If no lower bounds exist, a NULL pointer can be passed. */
+											const real_t* const ub_new,		/**< Upper bounds of neighbouring QP to be solved. \n
+													 			 				 If no upper bounds exist, a NULL pointer can be passed. */
+											const real_t* const lbA_new,	/**< Lower constraints' bounds of neighbouring QP to be solved. \n
+													 			 				 If no lower constraints' bounds exist, a NULL pointer can be passed. */
+											const real_t* const ubA_new,	/**< Upper constraints' bounds of neighbouring QP to be solved. \n
+													 			 				 If no upper constraints' bounds exist, a NULL pointer can be passed. */
+											int* nWSR,						/**< Input: Maximum number of working set recalculations; \n
+															 					 Output: Number of performed working set recalculations. */
+											real_t* const cputime,			/**< Input: Maximum CPU time allowed for QP solution. \n
+																 				 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
+											int  nWSRperformed,				/**< Number of working set recalculations already performed to solve
+																				 this QP within previous solveRegularisedQP() calls. This number is
+																				 always zero, except for successive calls when using the far bound strategy. */
+											BooleanType isFirstCall			/**< Indicating whether this is the first call for current QP. */
+											);
+
+
+/** Determines type of existing constraints and bounds (i.e. implicitly fixed, unbounded etc.).
+ *	\return SUCCESSFUL_RETURN \n
+			RET_SETUPSUBJECTTOTYPE_FAILED */
+returnValue QProblem_setupSubjectToType( QProblem* _THIS );
+
+/** Determines type of new constraints and bounds (i.e. implicitly fixed, unbounded etc.).
+ *	\return SUCCESSFUL_RETURN \n
+			RET_SETUPSUBJECTTOTYPE_FAILED */
+returnValue QProblem_setupSubjectToTypeNew(	QProblem* _THIS,
+											const real_t* const lb_new,		/**< New lower bounds. */
+											const real_t* const ub_new,		/**< New upper bounds. */
+											const real_t* const lbA_new,	/**< New lower constraints' bounds. */
+											const real_t* const ubA_new		/**< New upper constraints' bounds. */
+											);
+
+/** Computes the Cholesky decomposition of the projected Hessian (i.e. R^T*R = Z^T*H*Z).
+ *  Note: If Hessian turns out not to be positive definite, the Hessian type
+ *		  is set to HST_SEMIDEF accordingly.
+ *	\return SUCCESSFUL_RETURN \n
+ *			RET_HESSIAN_NOT_SPD \n
+ *			RET_INDEXLIST_CORRUPTED */
+returnValue QProblem_computeProjectedCholesky( QProblem* _THIS );
+
+/** Computes initial Cholesky decomposition of the projected Hessian making
+ *  use of the function setupCholeskyDecomposition() or setupCholeskyDecompositionProjected().
+ *	\return SUCCESSFUL_RETURN \n
+ *			RET_HESSIAN_NOT_SPD \n
+ *			RET_INDEXLIST_CORRUPTED */
+returnValue QProblem_setupInitialCholesky( QProblem* _THIS );
+
+/** Initialises TQ factorisation of A (i.e. A*Q = [0 T]) if NO constraint is active.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_INDEXLIST_CORRUPTED */
+returnValue QProblem_setupTQfactorisation( QProblem* _THIS );
+
+
+/** Obtains the desired working set for the auxiliary initial QP in
+ *  accordance with the user specifications
+ *  (assumes that member AX has already been initialised!)
+ *	\return SUCCESSFUL_RETURN \n
+			RET_OBTAINING_WORKINGSET_FAILED \n
+			RET_INVALID_ARGUMENTS */
+returnValue QProblem_obtainAuxiliaryWorkingSet(	QProblem* _THIS,
+												const real_t* const xOpt,					/**< Optimal primal solution vector.
+																							 *	 If a NULL pointer is passed, all entries are assumed to be zero. */
+												const real_t* const yOpt,					/**< Optimal dual solution vector.
+																							 *	 If a NULL pointer is passed, all entries are assumed to be zero. */
+												Bounds* const guessedBounds,				/**< Guessed working set of bounds for solution (xOpt,yOpt). */
+												Constraints* const guessedConstraints,		/**< Guessed working set for solution (xOpt,yOpt). */
+												Bounds* auxiliaryBounds,					/**< Input: Allocated bound object. \n
+																							 *	 Ouput: Working set of constraints for auxiliary QP. */
+												Constraints* auxiliaryConstraints			/**< Input: Allocated bound object. \n
+																							 *	 Ouput: Working set for auxiliary QP. */
+												);
+
+/** Sets up bound and constraints data structures according to auxiliaryBounds/Constraints.
+ *  (If the working set shall be setup afresh, make sure that
+ *  bounds and constraints data structure have been resetted
+ *  and the TQ factorisation has been initialised!)
+ *	\return SUCCESSFUL_RETURN \n
+			RET_SETUP_WORKINGSET_FAILED \n
+			RET_INVALID_ARGUMENTS \n
+			RET_UNKNOWN_BUG */
+returnValue QProblem_setupAuxiliaryWorkingSet(	QProblem* _THIS,
+												Bounds* const auxiliaryBounds,				/**< Working set of bounds for auxiliary QP. */
+												Constraints* const auxiliaryConstraints,	/**< Working set of constraints for auxiliary QP. */
+												BooleanType setupAfresh						/**< Flag indicating if given working set shall be
+																							 *    setup afresh or by updating the current one. */
+												);
+
+/** Sets up the optimal primal/dual solution of the auxiliary initial QP.
+ *	\return SUCCESSFUL_RETURN */
+returnValue QProblem_setupAuxiliaryQPsolution(	QProblem* _THIS,
+												const real_t* const xOpt,	/**< Optimal primal solution vector.
+																		 	 *	 If a NULL pointer is passed, all entries are set to zero. */
+												const real_t* const yOpt	/**< Optimal dual solution vector.
+																			 *	 If a NULL pointer is passed, all entries are set to zero. */
+												);
+
+/** Sets up gradient of the auxiliary initial QP for given
+ *  optimal primal/dual solution and given initial working set
+ *  (assumes that members X, Y and BOUNDS, CONSTRAINTS have already been initialised!).
+ *	\return SUCCESSFUL_RETURN */
+returnValue QProblem_setupAuxiliaryQPgradient( QProblem* _THIS );
+
+/** Sets up (constraints') bounds of the auxiliary initial QP for given
+ *  optimal primal/dual solution and given initial working set
+ *  (assumes that members X, Y and BOUNDS, CONSTRAINTS have already been initialised!).
+ *	\return SUCCESSFUL_RETURN \n
+			RET_UNKNOWN_BUG */
+returnValue QProblem_setupAuxiliaryQPbounds(	QProblem* _THIS,
+												Bounds* const auxiliaryBounds,				/**< Working set of bounds for auxiliary QP. */
+												Constraints* const auxiliaryConstraints,	/**< Working set of constraints for auxiliary QP. */
+												BooleanType useRelaxation					/**< Flag indicating if inactive (constraints') bounds shall be relaxed. */
+												);
+
+
+/** Adds a constraint to active set.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_ADDCONSTRAINT_FAILED \n
+			RET_ADDCONSTRAINT_FAILED_INFEASIBILITY \n
+			RET_ENSURELI_FAILED */
+returnValue QProblem_addConstraint(	QProblem* _THIS,
+									int number,					/**< Number of constraint to be added to active set. */
+									SubjectToStatus C_status,	/**< Status of new active constraint. */
+									BooleanType updateCholesky,	/**< Flag indicating if Cholesky decomposition shall be updated. */
+									BooleanType ensureLI		/**< Ensure linear independence by exchange rules by default. */
+									);
+
+/** Checks if new active constraint to be added is linearly dependent from
+ *	from row of the active constraints matrix.
+ *	\return	 RET_LINEARLY_DEPENDENT \n
+ 			 RET_LINEARLY_INDEPENDENT \n
+			 RET_INDEXLIST_CORRUPTED */
+returnValue QProblem_addConstraint_checkLI(	QProblem* _THIS,
+											int number			/**< Number of constraint to be added to active set. */
+											);
+
+/** Ensures linear independence of constraint matrix when a new constraint is added.
+ * 	To _THIS end a bound or constraint is removed simultaneously if necessary.
+ *	\return	 SUCCESSFUL_RETURN \n
+ 			 RET_LI_RESOLVED \n
+			 RET_ENSURELI_FAILED \n
+			 RET_ENSURELI_FAILED_TQ \n
+			 RET_ENSURELI_FAILED_NOINDEX \n
+			 RET_REMOVE_FROM_ACTIVESET */
+returnValue QProblem_addConstraint_ensureLI(	QProblem* _THIS,
+												int number,					/**< Number of constraint to be added to active set. */
+												SubjectToStatus C_status	/**< Status of new active bound. */
+												);
+
+/** Adds a bound to active set.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_ADDBOUND_FAILED \n
+			RET_ADDBOUND_FAILED_INFEASIBILITY \n
+			RET_ENSURELI_FAILED */
+returnValue QProblem_addBound(	QProblem* _THIS,
+								int number,					/**< Number of bound to be added to active set. */
+								SubjectToStatus B_status,	/**< Status of new active bound. */
+								BooleanType updateCholesky,	/**< Flag indicating if Cholesky decomposition shall be updated. */
+								BooleanType ensureLI 		/**< Ensure linear independence by exchange rules by default. */
+								);
+
+/** Checks if new active bound to be added is linearly dependent from
+ *	from row of the active constraints matrix.
+ *	\return	 RET_LINEARLY_DEPENDENT \n
+ 			 RET_LINEARLY_INDEPENDENT */
+returnValue QProblem_addBound_checkLI(	QProblem* _THIS,
+										int number			/**< Number of bound to be added to active set. */
+										);
+
+/** Ensures linear independence of constraint matrix when a new bound is added.
+ *	To _THIS end a bound or constraint is removed simultaneously if necessary.
+ *	\return	 SUCCESSFUL_RETURN \n
+ 			 RET_LI_RESOLVED \n
+			 RET_ENSURELI_FAILED \n
+			 RET_ENSURELI_FAILED_TQ \n
+			 RET_ENSURELI_FAILED_NOINDEX \n
+			 RET_REMOVE_FROM_ACTIVESET */
+returnValue QProblem_addBound_ensureLI(	QProblem* _THIS,
+										int number,					/**< Number of bound to be added to active set. */
+										SubjectToStatus B_status	/**< Status of new active bound. */
+										);
+
+/** Removes a constraint from active set.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_CONSTRAINT_NOT_ACTIVE \n
+			RET_REMOVECONSTRAINT_FAILED \n
+			RET_HESSIAN_NOT_SPD */
+returnValue QProblem_removeConstraint(	QProblem* _THIS,
+										int number,						/**< Number of constraint to be removed from active set. */
+										BooleanType updateCholesky,		/**< Flag indicating if Cholesky decomposition shall be updated. */
+										BooleanType allowFlipping,		/**< Flag indicating if flipping bounds are allowed. */
+										BooleanType ensureNZC			/**< Flag indicating if non-zero curvature is ensured by exchange rules. */
+										);
+
+/** Removes a bounds from active set.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_BOUND_NOT_ACTIVE \n
+			RET_HESSIAN_NOT_SPD \n
+			RET_REMOVEBOUND_FAILED */
+returnValue QProblem_removeBound(	QProblem* _THIS,
+									int number,						/**< Number of bound to be removed from active set. */
+									BooleanType updateCholesky,		/**< Flag indicating if Cholesky decomposition shall be updated. */
+									BooleanType allowFlipping,		/**< Flag indicating if flipping bounds are allowed. */
+									BooleanType ensureNZC			/**< Flag indicating if non-zero curvature is ensured by exchange rules. */
+									);
+
+
+/** Performs robustified ratio test yield the maximum possible step length
+ *  along the homotopy path.
+ *	\return  SUCCESSFUL_RETURN */
+returnValue QProblem_performPlainRatioTest(	QProblem* _THIS,
+											int nIdx, 					/**< Number of ratios to be checked. */
+											const int* const idxList, 	/**< Array containing the indices of all ratios to be checked. */
+											const real_t* const num,	/**< Array containing all numerators for performing the ratio test. */
+											const real_t* const den,	/**< Array containing all denominators for performing the ratio test. */
+											real_t epsNum,				/**< Numerator tolerance. */
+											real_t epsDen,				/**< Denominator tolerance. */
+											real_t* t,					/**< Output: Maximum possible step length along the homotopy path. */
+											int* BC_idx 				/**< Output: Index of blocking constraint. */
+											);
+
+
+/** Ensure non-zero curvature by primal jump.
+ *  \return SUCCESSFUL_RETURN \n
+ *          RET_HOTSTART_STOPPED_UNBOUNDEDNESS */
+returnValue QProblem_ensureNonzeroCurvature(	QProblem* _THIS,
+												BooleanType removeBoundNotConstraint,	/**< SubjectTo to be removed is a bound. */
+												int remIdx,								/**< Index of bound/constraint to be removed. */
+												BooleanType* exchangeHappened,			/**< Output: Exchange was necessary to ensure. */
+												BooleanType* addBoundNotConstraint,		/**< SubjectTo to be added is a bound. */
+												int* addIdx,							/**< Index of bound/constraint to be added. */
+												SubjectToStatus* addStatus				/**< Status of bound/constraint to be added. */
+												);
+
+
+/** Solves the system Ta = b or T^Ta = b where T is a reverse upper triangular matrix.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_DIV_BY_ZERO */
+returnValue QProblem_backsolveT(	QProblem* _THIS,
+									const real_t* const b,	/**< Right hand side vector. */
+									BooleanType transposed,	/**< Indicates if the transposed system shall be solved. */
+									real_t* const a 		/**< Output: Solution vector */
+									);
+
+
+/** Determines step direction of the shift of the QP data.
+ *	\return SUCCESSFUL_RETURN */
+returnValue QProblem_determineDataShift(	QProblem* _THIS,
+											const real_t* const g_new,		/**< New gradient vector. */
+											const real_t* const lbA_new,	/**< New lower constraints' bounds. */
+											const real_t* const ubA_new,	/**< New upper constraints' bounds. */
+											const real_t* const lb_new,		/**< New lower bounds. */
+											const real_t* const ub_new,		/**< New upper bounds. */
+											real_t* const delta_g,	 		/**< Output: Step direction of gradient vector. */
+											real_t* const delta_lbA,		/**< Output: Step direction of lower constraints' bounds. */
+											real_t* const delta_ubA,		/**< Output: Step direction of upper constraints' bounds. */
+											real_t* const delta_lb,	 		/**< Output: Step direction of lower bounds. */
+											real_t* const delta_ub,	 		/**< Output: Step direction of upper bounds. */
+											BooleanType* Delta_bC_isZero,	/**< Output: Indicates if active constraints' bounds are to be shifted. */
+											BooleanType* Delta_bB_isZero	/**< Output: Indicates if active bounds are to be shifted. */
+											);
+
+/** Determines step direction of the homotopy path.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_STEPDIRECTION_FAILED_TQ \n
+			RET_STEPDIRECTION_FAILED_CHOLESKY */
+returnValue QProblem_determineStepDirection(	QProblem* _THIS,
+												const real_t* const delta_g,	/**< Step direction of gradient vector. */
+												const real_t* const delta_lbA,	/**< Step direction of lower constraints' bounds. */
+												const real_t* const delta_ubA,	/**< Step direction of upper constraints' bounds. */
+												const real_t* const delta_lb,	/**< Step direction of lower bounds. */
+												const real_t* const delta_ub,	/**< Step direction of upper bounds. */
+												BooleanType Delta_bC_isZero, 	/**< Indicates if active constraints' bounds are to be shifted. */
+												BooleanType Delta_bB_isZero,	/**< Indicates if active bounds are to be shifted. */
+												real_t* const delta_xFX, 		/**< Output: Primal homotopy step direction of fixed variables. */
+												real_t* const delta_xFR,	 	/**< Output: Primal homotopy step direction of free variables. */
+												real_t* const delta_yAC, 		/**< Output: Dual homotopy step direction of active constraints' multiplier. */
+												real_t* const delta_yFX 		/**< Output: Dual homotopy step direction of fixed variables' multiplier. */
+												);
+
+/** Determines the maximum possible step length along the homotopy path
+ *  and performs _THIS step (without changing working set).
+ *	\return SUCCESSFUL_RETURN \n
+ * 			RET_ERROR_IN_CONSTRAINTPRODUCT \n
+ * 			RET_QP_INFEASIBLE */
+returnValue QProblem_performStep(	QProblem* _THIS,
+									const real_t* const delta_g,		/**< Step direction of gradient. */
+									const real_t* const delta_lbA,		/**< Step direction of lower constraints' bounds. */
+									const real_t* const delta_ubA,		/**< Step direction of upper constraints' bounds. */
+									const real_t* const delta_lb,	 	/**< Step direction of lower bounds. */
+									const real_t* const delta_ub,	 	/**< Step direction of upper bounds. */
+									const real_t* const delta_xFX, 		/**< Primal homotopy step direction of fixed variables. */
+									const real_t* const delta_xFR,		/**< Primal homotopy step direction of free variables. */
+									const real_t* const delta_yAC,		/**< Dual homotopy step direction of active constraints' multiplier. */
+									const real_t* const delta_yFX,		/**< Dual homotopy step direction of fixed variables' multiplier. */
+									int* BC_idx, 						/**< Output: Index of blocking constraint. */
+									SubjectToStatus* BC_status,			/**< Output: Status of blocking constraint. */
+									BooleanType* BC_isBound 			/**< Output: Indicates if blocking constraint is a bound. */
+									);
+
+/** Updates the active set.
+ *	\return  SUCCESSFUL_RETURN \n
+ 			 RET_REMOVE_FROM_ACTIVESET_FAILED \n
+			 RET_ADD_TO_ACTIVESET_FAILED */
+returnValue QProblem_changeActiveSet(	QProblem* _THIS,
+										int BC_idx, 				/**< Index of blocking constraint. */
+										SubjectToStatus BC_status,	/**< Status of blocking constraint. */
+										BooleanType BC_isBound 		/**< Indicates if blocking constraint is a bound. */
+										);
+
+
+/** Compute relative length of homotopy in data space for termination
+ *  criterion.
+ *  \return Relative length in data space. */
+real_t QProblem_getRelativeHomotopyLength(	QProblem* _THIS,
+											const real_t* const g_new,		/**< Final gradient. */
+											const real_t* const lb_new,		/**< Final lower variable bounds. */
+											const real_t* const ub_new,		/**< Final upper variable bounds. */
+											const real_t* const lbA_new,	/**< Final lower constraint bounds. */
+											const real_t* const ubA_new		/**< Final upper constraint bounds. */
+											);
+
+
+/** Ramping Strategy to avoid ties. Modifies homotopy start without
+ *  changing current active set.
+ *  \return SUCCESSFUL_RETURN */
+returnValue QProblem_performRamping( QProblem* _THIS );
+
+
+/** ... */
+returnValue QProblem_updateFarBounds(	QProblem* _THIS,
+										real_t curFarBound,				/**< ... */
+										int nRamp,						/**< ... */
+										const real_t* const lb_new,		/**< ... */
+										real_t* const lb_new_far,		/**< ... */
+										const real_t* const ub_new,		/**< ... */
+										real_t* const ub_new_far,		/**< ... */
+										const real_t* const lbA_new,	/**< ... */
+										real_t* const lbA_new_far,		/**< ... */
+										const real_t* const ubA_new,	/**< ... */
+										real_t* const ubA_new_far		/**< ... */
+										);
+
+/** ... */
+returnValue QProblemBCPY_updateFarBounds(	QProblem* _THIS,
+											real_t curFarBound,				/**< ... */
+											int nRamp,						/**< ... */
+											const real_t* const lb_new,		/**< ... */
+											real_t* const lb_new_far,		/**< ... */
+											const real_t* const ub_new,		/**< ... */
+											real_t* const ub_new_far		/**< ... */
+											);
+
+
+
+/** Performs robustified ratio test yield the maximum possible step length
+ *  along the homotopy path.
+ *	\return  SUCCESSFUL_RETURN */
+returnValue QProblem_performRatioTestC(	QProblem* _THIS,
+										int nIdx, 						/**< Number of ratios to be checked. */
+										const int* const idxList, 		/**< Array containing the indices of all ratios to be checked. */
+										Constraints* const subjectTo,	/**< Constraint object corresponding to ratios to be checked. */
+										const real_t* const num,	 	/**< Array containing all numerators for performing the ratio test. */
+										const real_t* const den,		/**< Array containing all denominators for performing the ratio test. */
+										real_t epsNum,					/**< Numerator tolerance. */
+										real_t epsDen,					/**< Denominator tolerance. */
+										real_t* t,						/**< Output: Maximum possible step length along the homotopy path. */
+										int* BC_idx 					/**< Output: Index of blocking constraint. */
+										);
+
+
+/** Drift correction at end of each active set iteration
+ *  \return SUCCESSFUL_RETURN */
+returnValue QProblem_performDriftCorrection( QProblem* _THIS );
+
+
+/** Updates QP vectors, working sets and internal data structures in order to
+	start from an optimal solution corresponding to initial guesses of the working
+	set for bounds and constraints.
+ *	\return SUCCESSFUL_RETURN \n
+ *			RET_SETUP_AUXILIARYQP_FAILED \n
+			RET_INVALID_ARGUMENTS */
+returnValue QProblem_setupAuxiliaryQP(	QProblem* _THIS,
+										Bounds* const guessedBounds,			/**< Initial guess for working set of bounds. */
+										Constraints* const guessedConstraints	/**< Initial guess for working set of constraints. */
+										);
+
+/** Determines if it is more efficient to refactorise the matrices when
+ *  hotstarting or not (i.e. better to update the existing factorisations).
+ *	\return BT_TRUE iff matrices shall be refactorised afresh
+ */
+BooleanType QProblem_shallRefactorise(	QProblem* _THIS,
+										Bounds* const guessedBounds,			/**< Guessed new working set of bounds. */
+										Constraints* const guessedConstraints	/**< Guessed new working set of constraints. */
+										);
+
+/** Setups internal QP data.
+ *	\return SUCCESSFUL_RETURN \n
+			RET_INVALID_ARGUMENTS \n
+			RET_UNKNONW_BUG */
+returnValue QProblem_setupQPdataM(	QProblem* _THIS,
+									DenseMatrix *_H, 			/**< Hessian matrix. \n
+																	 If Hessian matrix is trivial,a NULL pointer can be passed. */
+									const real_t* const _g, 	/**< Gradient vector. */
+									DenseMatrix *_A, 			 /**< Constraint matrix. */
+									const real_t* const _lb,	/**< Lower bound vector (on variables). \n
+																	 If no lower bounds exist, a NULL pointer can be passed. */
+									const real_t* const _ub,	/**< Upper bound vector (on variables). \n
+																	 If no upper bounds exist, a NULL pointer can be passed. */
+									const real_t* const _lbA,	/**< Lower constraints' bound vector. \n
+																	 If no lower constraints' bounds exist, a NULL pointer can be passed. */
+									const real_t* const _ubA	/**< Upper constraints' bound vector. \n
+																	 If no lower constraints' bounds exist, a NULL pointer can be passed. */
+									);
+
+
+/** Sets up dense internal QP data. If the current Hessian is trivial
+ *  (i.e. HST_ZERO or HST_IDENTITY) but a non-trivial one is given,
+ *  memory for Hessian is allocated and it is set to the given one.
+ *	\return SUCCESSFUL_RETURN \n
+			RET_INVALID_ARGUMENTS \n
+			RET_UNKNONW_BUG */
+returnValue QProblem_setupQPdata(	QProblem* _THIS,
+									real_t* const _H, 			/**< Hessian matrix. \n
+																	 If Hessian matrix is trivial,a NULL pointer can be passed. */
+									const real_t* const _g, 	/**< Gradient vector. */
+									real_t* const _A,  			/**< Constraint matrix. */
+									const real_t* const _lb,	/**< Lower bound vector (on variables). \n
+																	 If no lower bounds exist, a NULL pointer can be passed. */
+									const real_t* const _ub,	/**< Upper bound vector (on variables). \n
+																	 If no upper bounds exist, a NULL pointer can be passed. */
+									const real_t* const _lbA,	/**< Lower constraints' bound vector. \n
+																	 If no lower constraints' bounds exist, a NULL pointer can be passed. */
+									const real_t* const _ubA	/**< Upper constraints' bound vector. \n
+																	 If no lower constraints' bounds exist, a NULL pointer can be passed. */
+									);
+
+/** Sets up internal QP data by loading it from files. If the current Hessian
+ *  is trivial (i.e. HST_ZERO or HST_IDENTITY) but a non-trivial one is given,
+ *  memory for Hessian is allocated and it is set to the given one.
+ *	\return SUCCESSFUL_RETURN \n
+			RET_UNABLE_TO_OPEN_FILE \n
+			RET_UNABLE_TO_READ_FILE \n
+			RET_INVALID_ARGUMENTS \n
+			RET_UNKNONW_BUG */
+returnValue QProblem_setupQPdataFromFile(	QProblem* _THIS,
+											const char* const H_file, 	/**< Name of file where Hessian matrix, of neighbouring QP to be solved, is stored. \n
+														     				 If Hessian matrix is trivial,a NULL pointer can be passed. */
+											const char* const g_file, 	/**< Name of file where gradient, of neighbouring QP to be solved, is stored. */
+											const char* const A_file,	/**< Name of file where constraint matrix, of neighbouring QP to be solved, is stored. */
+											const char* const lb_file, 	/**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n
+										 			 						 If no lower bounds exist, a NULL pointer can be passed. */
+											const char* const ub_file, 	/**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n
+										 			 						 If no upper bounds exist, a NULL pointer can be passed. */
+											const char* const lbA_file, /**< Name of file where lower constraints' bounds, of neighbouring QP to be solved, is stored. \n
+										 			 						 If no lower constraints' bounds exist, a NULL pointer can be passed. */
+											const char* const ubA_file	/**< Name of file where upper constraints' bounds, of neighbouring QP to be solved, is stored. \n
+										 			 						 If no upper constraints' bounds exist, a NULL pointer can be passed. */
+											);
+
+/** Loads new QP vectors from files (internal members are not affected!).
+ *	\return SUCCESSFUL_RETURN \n
+			RET_UNABLE_TO_OPEN_FILE \n
+			RET_UNABLE_TO_READ_FILE \n
+			RET_INVALID_ARGUMENTS */
+returnValue QProblem_loadQPvectorsFromFile(	QProblem* _THIS,
+											const char* const g_file, 	/**< Name of file where gradient, of neighbouring QP to be solved, is stored. */
+											const char* const lb_file, 	/**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n
+										 			 						 If no lower bounds exist, a NULL pointer can be passed. */
+											const char* const ub_file, 	/**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n
+										 			 						 If no upper bounds exist, a NULL pointer can be passed. */
+											const char* const lbA_file, /**< Name of file where lower constraints' bounds, of neighbouring QP to be solved, is stored. \n
+										 			 						 If no lower constraints' bounds exist, a NULL pointer can be passed. */
+											const char* const ubA_file, /**< Name of file where upper constraints' bounds, of neighbouring QP to be solved, is stored. \n
+										 			 						 If no upper constraints' bounds exist, a NULL pointer can be passed. */
+											real_t* const g_new,		/**< Output: Gradient of neighbouring QP to be solved. */
+											real_t* const lb_new,		/**< Output: Lower bounds of neighbouring QP to be solved */
+											real_t* const ub_new,		/**< Output: Upper bounds of neighbouring QP to be solved */
+											real_t* const lbA_new,		/**< Output: Lower constraints' bounds of neighbouring QP to be solved */
+											real_t* const ubA_new		/**< Output: Upper constraints' bounds of neighbouring QP to be solved */
+											);
+
+
+/** Prints concise information on the current iteration.
+ *	\return  SUCCESSFUL_RETURN \n */
+returnValue QProblem_printIteration(	QProblem* _THIS,
+										int iter,					/**< Number of current iteration. */
+										int BC_idx, 				/**< Index of blocking constraint. */
+										SubjectToStatus BC_status,	/**< Status of blocking constraint. */
+										BooleanType BC_isBound,		/**< Indicates if blocking constraint is a bound. */
+										real_t homotopyLength,		/**< Current homotopy distance. */
+										BooleanType isFirstCall		/**< Indicating whether this is the first call for current QP. */
+ 										);
+
+
+/** Sets constraint matrix of the QP. \n
+	Note: Also internal vector Ax is recomputed!
+ *	\return SUCCESSFUL_RETURN \n
+ *			RET_INVALID_ARGUMENTS */
+static inline returnValue QProblem_setAM(	QProblem* _THIS,
+											DenseMatrix *A_new	/**< New constraint matrix. */
+											);
+
+/** Sets dense constraint matrix of the QP. \n
+	Note: Also internal vector Ax is recomputed!
+ *	\return SUCCESSFUL_RETURN \n
+ *			RET_INVALID_ARGUMENTS */
+static inline returnValue QProblem_setA(	QProblem* _THIS,
+											real_t* const A_new	/**< New dense constraint matrix (with correct dimension!). */
+											);
+
+
+/** Sets constraints' lower bound vector of the QP.
+ *	\return SUCCESSFUL_RETURN \n
+ *			RET_QPOBJECT_NOT_SETUP */
+static inline returnValue QProblem_setLBA(	QProblem* _THIS,
+											const real_t* const lbA_new	/**< New constraints' lower bound vector (with correct dimension!). */
+											);
+
+/** Changes single entry of lower constraints' bound vector of the QP.
+ *	\return SUCCESSFUL_RETURN  \n
+ *			RET_QPOBJECT_NOT_SETUP \n
+ *			RET_INDEX_OUT_OF_BOUNDS */
+static inline returnValue QProblem_setLBAn(	QProblem* _THIS,
+											int number,		/**< Number of entry to be changed. */
+											real_t value	/**< New value for entry of lower constraints' bound vector (with correct dimension!). */
+											);
+
+/** Sets constraints' upper bound vector of the QP.
+ *	\return SUCCESSFUL_RETURN \n
+ *			RET_QPOBJECT_NOT_SETUP */
+static inline returnValue QProblem_setUBA(	QProblem* _THIS,
+											const real_t* const ubA_new	/**< New constraints' upper bound vector (with correct dimension!). */
+											);
+
+/** Changes single entry of upper constraints' bound vector of the QP.
+ *	\return SUCCESSFUL_RETURN  \n
+ *			RET_QPOBJECT_NOT_SETUP \n
+ *			RET_INDEX_OUT_OF_BOUNDS */
+static inline returnValue QProblem_setUBAn(	QProblem* _THIS,
+											int number,		/**< Number of entry to be changed. */
+											real_t value	/**< New value for entry of upper constraints' bound vector (with correct dimension!). */
+											);
+
+
+/** Decides if lower bounds are smaller than upper bounds
+ *
+ * \return SUCCESSFUL_RETURN \n
+ * 		   RET_QP_INFEASIBLE */
+returnValue QProblem_areBoundsConsistent(	QProblem* _THIS,
+											const real_t* const lb,		/**< Vector of lower bounds*/
+											const real_t* const ub,		/**< Vector of upper bounds*/
+											const real_t* const lbA,	/**< Vector of lower constraints*/
+											const real_t* const ubA		/**< Vector of upper constraints*/
+											);
+
+
+/** Drops the blocking bound/constraint that led to infeasibility, or finds another
+ *  bound/constraint to drop according to drop priorities.
+ *  \return SUCCESSFUL_RETURN \n
+ */
+returnValue QProblem_dropInfeasibles ( 	QProblem* _THIS,
+										int BC_number,				/**< Number of the bound or constraint to be added */
+										SubjectToStatus BC_status, 	/**< New status of the bound or constraint to be added */
+										BooleanType BC_isBound,		/**< Whether a bound or a constraint is to be added */
+										real_t *xiB,
+										real_t *xiC
+										);
+
+
+/** If Hessian type has been set by the user, nothing is done.
+ *  Otherwise the Hessian type is set to HST_IDENTITY, HST_ZERO, or
+ *  HST_POSDEF (default), respectively.
+ *	\return SUCCESSFUL_RETURN \n
+			RET_HESSIAN_INDEFINITE */
+returnValue QProblem_determineHessianType( QProblem* _THIS );
+
+/** Computes the Cholesky decomposition of the (simply projected) Hessian
+ *  (i.e. R^T*R = Z^T*H*Z). It only works in the case where Z is a simple
+ *  projection matrix!
+ *  Note: If Hessian turns out not to be positive definite, the Hessian type
+ *		  is set to HST_SEMIDEF accordingly.
+ *	\return SUCCESSFUL_RETURN \n
+ *			RET_HESSIAN_NOT_SPD \n
+ *			RET_INDEXLIST_CORRUPTED */
+returnValue QProblemBCPY_computeCholesky( QProblem* _THIS );
+
+/** Obtains the desired working set for the auxiliary initial QP in
+ *  accordance with the user specifications
+ *	\return SUCCESSFUL_RETURN \n
+			RET_OBTAINING_WORKINGSET_FAILED \n
+			RET_INVALID_ARGUMENTS */
+returnValue QProblemBCPY_obtainAuxiliaryWorkingSet(	QProblem* _THIS,
+													const real_t* const xOpt,		/**< Optimal primal solution vector.
+																					 *	 If a NULL pointer is passed, all entries are assumed to be zero. */
+													const real_t* const yOpt,		/**< Optimal dual solution vector.
+																					 *	 If a NULL pointer is passed, all entries are assumed to be zero. */
+													Bounds* const guessedBounds,	/**< Guessed working set for solution (xOpt,yOpt). */
+													Bounds* auxiliaryBounds			/**< Input:  Allocated bound object. \n
+																					 *	 Output: Working set for auxiliary QP. */
+													);
+
+
+/** Solves the system Ra = b or R^Ta = b where R is an upper triangular matrix.
+ *	\return SUCCESSFUL_RETURN \n
+			RET_DIV_BY_ZERO */
+returnValue QProblem_backsolveR(	QProblem* _THIS,
+									const real_t* const b,	/**< Right hand side vector. */
+									BooleanType transposed,	/**< Indicates if the transposed system shall be solved. */
+									real_t* const a 		/**< Output: Solution vector */
+									);
+
+/** Solves the system Ra = b or R^Ta = b where R is an upper triangular matrix. \n
+ *  Special variant for the case that _THIS function is called from within "removeBound()".
+ *	\return SUCCESSFUL_RETURN \n
+			RET_DIV_BY_ZERO */
+returnValue QProblem_backsolveRrem(	QProblem* _THIS,
+									const real_t* const b,		/**< Right hand side vector. */
+									BooleanType transposed,		/**< Indicates if the transposed system shall be solved. */
+									BooleanType removingBound,	/**< Indicates if function is called from "removeBound()". */
+									real_t* const a 			/**< Output: Solution vector */
+									);
+
+
+/** Determines step direction of the shift of the QP data.
+ *	\return SUCCESSFUL_RETURN */
+returnValue QProblemBCPY_determineDataShift(	QProblem* _THIS,
+												const real_t* const g_new,		/**< New gradient vector. */
+												const real_t* const lb_new,		/**< New lower bounds. */
+												const real_t* const ub_new,		/**< New upper bounds. */
+												real_t* const delta_g,	 		/**< Output: Step direction of gradient vector. */
+												real_t* const delta_lb,	 		/**< Output: Step direction of lower bounds. */
+												real_t* const delta_ub,	 		/**< Output: Step direction of upper bounds. */
+												BooleanType* Delta_bB_isZero	/**< Output: Indicates if active bounds are to be shifted. */
+												);
+
+
+/** Sets up internal QP data.
+ *	\return SUCCESSFUL_RETURN \n
+			RET_INVALID_ARGUMENTS */
+returnValue QProblemBCPY_setupQPdataM(	QProblem* _THIS,
+										DenseMatrix *_H,	 		/**< Hessian matrix.*/
+										const real_t* const _g,		/**< Gradient vector. */
+										const real_t* const _lb,	/**< Lower bounds (on variables). \n
+																		 If no lower bounds exist, a NULL pointer can be passed. */
+										const real_t* const _ub		/**< Upper bounds (on variables). \n
+																		 If no upper bounds exist, a NULL pointer can be passed. */
+										);
+
+/** Sets up internal QP data. If the current Hessian is trivial
+ *  (i.e. HST_ZERO or HST_IDENTITY) but a non-trivial one is given,
+ *  memory for Hessian is allocated and it is set to the given one.
+ *	\return SUCCESSFUL_RETURN \n
+			RET_INVALID_ARGUMENTS \n
+			RET_NO_HESSIAN_SPECIFIED */
+returnValue QProblemBCPY_setupQPdata(	QProblem* _THIS,
+										real_t* const _H, 			/**< Hessian matrix. \n
+																		 If Hessian matrix is trivial,a NULL pointer can be passed. */
+										const real_t* const _g,		/**< Gradient vector. */
+										const real_t* const _lb,	/**< Lower bounds (on variables). \n
+																		 If no lower bounds exist, a NULL pointer can be passed. */
+										const real_t* const _ub		/**< Upper bounds (on variables). \n
+																		 If no upper bounds exist, a NULL pointer can be passed. */
+										);
+
+/** Sets up internal QP data by loading it from files. If the current Hessian
+ *  is trivial (i.e. HST_ZERO or HST_IDENTITY) but a non-trivial one is given,
+ *  memory for Hessian is allocated and it is set to the given one.
+ *	\return SUCCESSFUL_RETURN \n
+			RET_UNABLE_TO_OPEN_FILE \n
+			RET_UNABLE_TO_READ_FILE \n
+			RET_INVALID_ARGUMENTS \n
+			RET_NO_HESSIAN_SPECIFIED */
+returnValue QProblemBCPY_setupQPdataFromFile(	QProblem* _THIS,
+												const char* const H_file, 	/**< Name of file where Hessian matrix, of neighbouring QP to be solved, is stored. \n
+														     					 If Hessian matrix is trivial,a NULL pointer can be passed. */
+												const char* const g_file, 	/**< Name of file where gradient, of neighbouring QP to be solved, is stored. */
+												const char* const lb_file, 	/**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n
+										 			 							 If no lower bounds exist, a NULL pointer can be passed. */
+												const char* const ub_file 	/**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n
+										 			 							 If no upper bounds exist, a NULL pointer can be passed. */
+												);
+
+/** Loads new QP vectors from files (internal members are not affected!).
+ *	\return SUCCESSFUL_RETURN \n
+			RET_UNABLE_TO_OPEN_FILE \n
+			RET_UNABLE_TO_READ_FILE \n
+			RET_INVALID_ARGUMENTS */
+returnValue QProblemBCPY_loadQPvectorsFromFile(	QProblem* _THIS,
+												const char* const g_file, 	/**< Name of file where gradient, of neighbouring QP to be solved, is stored. */
+												const char* const lb_file, 	/**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n
+										 			 							 If no lower bounds exist, a NULL pointer can be passed. */
+												const char* const ub_file, 	/**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n
+										 			 							 If no upper bounds exist, a NULL pointer can be passed. */
+												real_t* const g_new,		/**< Output: Gradient of neighbouring QP to be solved. */
+												real_t* const lb_new,		/**< Output: Lower bounds of neighbouring QP to be solved */
+												real_t* const ub_new		/**< Output: Upper bounds of neighbouring QP to be solved */
+												);
+
+
+/** Sets internal infeasibility flag and throws given error in case the far bound
+ *	strategy is not enabled (as QP might actually not be infeasible in _THIS case).
+ *	\return RET_HOTSTART_STOPPED_INFEASIBILITY \n
+			RET_ENSURELI_FAILED_CYCLING \n
+			RET_ENSURELI_FAILED_NOINDEX */
+returnValue QProblem_setInfeasibilityFlag(	QProblem* _THIS,
+											returnValue returnvalue,	/**< Returnvalue to be tunneled. */
+											BooleanType doThrowError	/**< Flag forcing to throw an error. */
+											);
+
+
+/** Determines if next QP iteration can be performed within given CPU time limit.
+ *	\return BT_TRUE: CPU time limit is exceeded, stop QP solution. \n
+			BT_FALSE: Sufficient CPU time for next QP iteration. */
+BooleanType QProblem_isCPUtimeLimitExceeded(	QProblem* _THIS,
+												const real_t* const cputime,	/**< Maximum CPU time allowed for QP solution. */
+												real_t starttime,				/**< Start time of current QP solution. */
+												int nWSR						/**< Number of working set recalculations performed so far. */
+												);
+
+
+/** Regularise Hessian matrix by adding a scaled identity matrix to it.
+ *	\return SUCCESSFUL_RETURN \n
+			RET_HESSIAN_ALREADY_REGULARISED */
+returnValue QProblem_regulariseHessian( QProblem* _THIS );
+
+
+/** Sets Hessian matrix of the QP.
+ *	\return SUCCESSFUL_RETURN */
+static inline returnValue QProblem_setHM(	QProblem* _THIS,
+											DenseMatrix* H_new	/**< New Hessian matrix. */
+											);
+
+/** Sets dense Hessian matrix of the QP.
+ *  If a null pointer is passed and
+ *  a) hessianType is HST_IDENTITY, nothing is done,
+ *  b) hessianType is not HST_IDENTITY, Hessian matrix is set to zero.
+ *	\return SUCCESSFUL_RETURN */
+static inline returnValue QProblem_setH(	QProblem* _THIS,
+											real_t* const H_new	/**< New dense Hessian matrix (with correct dimension!). */
+											);
+
+/** Changes gradient vector of the QP.
+ *	\return SUCCESSFUL_RETURN \n
+ *			RET_INVALID_ARGUMENTS */
+static inline returnValue QProblem_setG(	QProblem* _THIS,
+											const real_t* const g_new	/**< New gradient vector (with correct dimension!). */
+											);
+
+/** Changes lower bound vector of the QP.
+ *	\return SUCCESSFUL_RETURN \n
+ *			RET_INVALID_ARGUMENTS */
+static inline returnValue QProblem_setLB(	QProblem* _THIS,
+											const real_t* const lb_new	/**< New lower bound vector (with correct dimension!). */
+											);
+
+/** Changes single entry of lower bound vector of the QP.
+ *	\return SUCCESSFUL_RETURN  \n
+			RET_INDEX_OUT_OF_BOUNDS */
+static inline returnValue QProblem_setLBn(	QProblem* _THIS,
+											int number,		/**< Number of entry to be changed. */
+											real_t value	/**< New value for entry of lower bound vector. */
+											);
+
+/** Changes upper bound vector of the QP.
+ *	\return SUCCESSFUL_RETURN \n
+ *			RET_INVALID_ARGUMENTS */
+static inline returnValue QProblem_setUB(	QProblem* _THIS,
+											const real_t* const ub_new	/**< New upper bound vector (with correct dimension!). */
+											);
+
+/** Changes single entry of upper bound vector of the QP.
+ *	\return SUCCESSFUL_RETURN  \n
+			RET_INDEX_OUT_OF_BOUNDS */
+static inline returnValue QProblem_setUBn(	QProblem* _THIS,
+											int number,		/**< Number of entry to be changed. */
+											real_t value	/**< New value for entry of upper bound vector. */
+											);
+
+
+
+/** Compute relative length of homotopy in data space for termination
+ *  criterion.
+ *  \return Relative length in data space. */
+real_t QProblemBCPY_getRelativeHomotopyLength(	QProblem* _THIS,
+												const real_t* const g_new,	/**< Final gradient. */
+												const real_t* const lb_new,	/**< Final lower variable bounds. */
+												const real_t* const ub_new	/**< Final upper variable bounds. */
+												);
+
+
+
+/** Performs robustified ratio test yield the maximum possible step length
+ *  along the homotopy path.
+ *	\return  SUCCESSFUL_RETURN */
+returnValue QProblem_performRatioTestB(	QProblem* _THIS,
+										int nIdx, 					/**< Number of ratios to be checked. */
+										const int* const idxList, 	/**< Array containing the indices of all ratios to be checked. */
+										Bounds* const subjectTo,	/**< Bound object corresponding to ratios to be checked. */
+										const real_t* const num,	/**< Array containing all numerators for performing the ratio test. */
+										const real_t* const den,	/**< Array containing all denominators for performing the ratio test. */
+										real_t epsNum,				/**< Numerator tolerance. */
+										real_t epsDen,				/**< Denominator tolerance. */
+										real_t* t,					/**< Output: Maximum possible step length along the homotopy path. */
+										int* BC_idx 				/**< Output: Index of blocking constraint. */
+										);
+
+/** Checks whether given ratio is blocking, i.e. limits the maximum step length
+ *  along the homotopy path to a value lower than given one.
+ *	\return  SUCCESSFUL_RETURN */
+static inline BooleanType QProblem_isBlocking(	QProblem* _THIS,
+												real_t num,			/**< Numerator for performing the ratio test. */
+												real_t den,			/**< Denominator for performing the ratio test. */
+												real_t epsNum,		/**< Numerator tolerance. */
+												real_t epsDen,		/**< Denominator tolerance. */
+												real_t* t			/**< Input:  Current maximum step length along the homotopy path,
+																	 *   Output: Updated maximum possible step length along the homotopy path. */
+												);
+
+
+/** ...
+ *	\return SUCCESSFUL_RETURN  \n
+			RET_UNABLE_TO_OPEN_FILE */
+returnValue QProblem_writeQpDataIntoMatFile(	QProblem* _THIS,
+												const char* const filename	/**< Mat file name. */
+												);
+
+/** ...
+*	\return SUCCESSFUL_RETURN  \n
+			RET_UNABLE_TO_OPEN_FILE */
+returnValue QProblem_writeQpWorkspaceIntoMatFile(	QProblem* _THIS,
+													const char* const filename	/**< Mat file name. */
+													);
+
+
+/*
+ *	g e t B o u n d s
+ */
+static inline returnValue QProblem_getBounds( QProblem* _THIS, Bounds* _bounds )
+{
+	int nV = QProblem_getNV( _THIS );
+
+	if ( nV == 0 )
+		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
+
+	_bounds = _THIS->bounds;
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	g e t N V
+ */
+static inline int QProblem_getNV( QProblem* _THIS )
+{
+	return Bounds_getNV( _THIS->bounds );
+}
+
+
+/*
+ *	g e t N F R
+ */
+static inline int QProblem_getNFR( QProblem* _THIS )
+{
+	return Bounds_getNFR( _THIS->bounds );
+}
+
+
+/*
+ *	g e t N F X
+ */
+static inline int QProblem_getNFX( QProblem* _THIS )
+{
+	return Bounds_getNFX( _THIS->bounds );
+}
+
+
+/*
+ *	g e t N F V
+ */
+static inline int QProblem_getNFV( QProblem* _THIS )
+{
+	return Bounds_getNFV( _THIS->bounds );
+}
+
+
+/*
+ *	g e t S t a t u s
+ */
+static inline QProblemStatus QProblem_getStatus( QProblem* _THIS )
+{
+	return _THIS->status;
+}
+
+
+/*
+ *	i s I n i t i a l i s e d
+ */
+static inline BooleanType QProblem_isInitialised( QProblem* _THIS )
+{
+	if ( _THIS->status == QPS_NOTINITIALISED )
+		return BT_FALSE;
+	else
+		return BT_TRUE;
+}
+
+
+/*
+ *	i s S o l v e d
+ */
+static inline BooleanType QProblem_isSolved( QProblem* _THIS )
+{
+	if ( _THIS->status == QPS_SOLVED )
+		return BT_TRUE;
+	else
+		return BT_FALSE;
+}
+
+
+/*
+ *	i s I n f e a s i b l e
+ */
+static inline BooleanType QProblem_isInfeasible( QProblem* _THIS )
+{
+	return _THIS->infeasible;
+}
+
+
+/*
+ *	i s U n b o u n d e d
+ */
+static inline BooleanType QProblem_isUnbounded( QProblem* _THIS )
+{
+	return _THIS->unbounded;
+}
+
+
+/*
+ *	g e t H e s s i a n T y p e
+ */
+static inline HessianType QProblem_getHessianType( QProblem* _THIS )
+{
+	return _THIS->hessianType;
+}
+
+
+/*
+ *	s e t H e s s i a n T y p e
+ */
+static inline returnValue QProblem_setHessianType( QProblem* _THIS, HessianType _hessianType )
+{
+	_THIS->hessianType = _hessianType;
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	u s i n g R e g u l a r i s a t i o n
+ */
+static inline BooleanType QProblem_usingRegularisation( QProblem* _THIS )
+{
+	if ( _THIS->regVal > QPOASES_ZERO )
+		return BT_TRUE;
+	else
+		return BT_FALSE;
+}
+
+
+/*
+ *	g e t O p t i o n s
+ */
+static inline Options QProblem_getOptions( QProblem* _THIS )
+{
+	return _THIS->options;
+}
+
+
+/*
+ *	s e t O p t i o n s
+ */
+static inline returnValue QProblem_setOptions(	QProblem* _THIS,
+												Options _options
+												)
+{
+	OptionsCPY( &_options,&(_THIS->options) );
+	Options_ensureConsistency( &(_THIS->options) );
+
+	QProblem_setPrintLevel( _THIS,_THIS->options.printLevel );
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	g e t P r i n t L e v e l
+ */
+static inline PrintLevel QProblem_getPrintLevel( QProblem* _THIS )
+{
+	return _THIS->options.printLevel;
+}
+
+
+/*
+ *	g e t C o u n t
+ */
+static inline unsigned int QProblem_getCount( QProblem* _THIS )
+{
+	return _THIS->count;
+}
+
+
+/*
+ *	r e s e t C o u n t e r
+ */
+static inline returnValue QProblem_resetCounter( QProblem* _THIS )
+{
+	_THIS->count = 0;
+	return SUCCESSFUL_RETURN;
+}
+
+
+
+/*****************************************************************************
+ *  P R O T E C T E D                                                        *
+ *****************************************************************************/
+
+
+/*
+ *	s e t H
+ */
+static inline returnValue QProblem_setHM( QProblem* _THIS, DenseMatrix* H_new )
+{
+	if ( H_new == 0 )
+		return QProblem_setH( _THIS,(real_t*)0 );
+	else
+		return QProblem_setH( _THIS,DenseMatrix_getVal(H_new) );
+}
+
+
+/*
+ *	s e t H
+ */
+static inline returnValue QProblem_setH( QProblem* _THIS, real_t* const H_new )
+{
+	/* if null pointer is passed, Hessian is set to zero matrix
+	 *                            (or stays identity matrix) */
+	if ( H_new == 0 )
+	{
+		if ( _THIS->hessianType == HST_IDENTITY )
+			return SUCCESSFUL_RETURN;
+
+		_THIS->hessianType = HST_ZERO;
+
+		_THIS->H = 0;
+	}
+	else
+	{
+		DenseMatrixCON( _THIS->H,QProblem_getNV( _THIS ),QProblem_getNV( _THIS ),QProblem_getNV( _THIS ),H_new );
+	}
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	s e t G
+ */
+static inline returnValue QProblem_setG( QProblem* _THIS, const real_t* const g_new )
+{
+	unsigned int nV = (unsigned int)QProblem_getNV( _THIS );
+
+	if ( nV == 0 )
+		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
+
+	if ( g_new == 0 )
+		return THROWERROR( RET_INVALID_ARGUMENTS );
+
+	memcpy( _THIS->g,g_new,nV*sizeof(real_t) );
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	s e t L B
+ */
+static inline returnValue QProblem_setLB( QProblem* _THIS, const real_t* const lb_new )
+{
+	unsigned int i;
+	unsigned int nV = (unsigned int)QProblem_getNV( _THIS );
+
+	if ( nV == 0 )
+		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
+
+	if ( lb_new != 0 )
+	{
+		memcpy( _THIS->lb,lb_new,nV*sizeof(real_t) );
+	}
+	else
+	{
+		/* if no lower bounds are specified, set them to -infinity */
+		for( i=0; i<nV; ++i )
+			_THIS->lb[i] = -QPOASES_INFTY;
+	}
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	s e t L B
+ */
+static inline returnValue QProblem_setLBn( QProblem* _THIS, int number, real_t value )
+{
+	int nV = QProblem_getNV( _THIS );
+
+	if ( nV == 0 )
+		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
+
+	if ( ( number >= 0 ) && ( number < nV ) )
+	{
+		_THIS->lb[number] = value;
+		return SUCCESSFUL_RETURN;
+	}
+	else
+	{
+		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
+	}
+}
+
+
+/*
+ *	s e t U B
+ */
+static inline returnValue QProblem_setUB( QProblem* _THIS, const real_t* const ub_new )
+{
+	unsigned int i;
+	unsigned int nV = (unsigned int)QProblem_getNV( _THIS );
+
+	if ( nV == 0 )
+		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
+
+	if ( ub_new != 0 )
+	{
+		memcpy( _THIS->ub,ub_new,nV*sizeof(real_t) );
+	}
+	else
+	{
+		/* if no upper bounds are specified, set them to infinity */
+		for( i=0; i<nV; ++i )
+			_THIS->ub[i] = QPOASES_INFTY;
+	}
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	s e t U B
+ */
+static inline returnValue QProblem_setUBn( QProblem* _THIS, int number, real_t value )
+{
+	int nV = QProblem_getNV( _THIS );
+
+	if ( nV == 0 )
+		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
+
+	if ( ( number >= 0 ) && ( number < nV ) )
+	{
+		_THIS->ub[number] = value;
+
+		return SUCCESSFUL_RETURN;
+	}
+	else
+	{
+		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
+	}
+}
+
+
+
+/*
+ * i s B l o c k i n g
+ */
+static inline BooleanType QProblem_isBlocking(	QProblem* _THIS,
+												real_t num,
+												real_t den,
+												real_t epsNum,
+												real_t epsDen,
+												real_t* t
+												)
+{
+	if ( ( den >= epsDen ) && ( num >= epsNum ) )
+	{
+		if ( num < (*t)*den )
+			return BT_TRUE;
+	}
+
+	return BT_FALSE;
+}
+
+
+
+/*
+ *	g e t C o n s t r a i n t s
+ */
+static inline returnValue QProblem_getConstraints( QProblem* _THIS, Constraints* _constraints )
+{
+	int nV = QProblem_getNV( _THIS );
+
+	if ( nV == 0 )
+		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
+
+	ConstraintsCPY( _THIS->constraints,_constraints );
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+
+/*
+ *	g e t N C
+ */
+static inline int QProblem_getNC( QProblem* _THIS )
+{
+	return Constraints_getNC( _THIS->constraints );
+}
+
+
+/*
+ *	g e t N E C
+ */
+static inline int QProblem_getNEC( QProblem* _THIS )
+{
+	return Constraints_getNEC( _THIS->constraints );
+}
+
+
+/*
+ *	g e t N A C
+ */
+static inline int QProblem_getNAC( QProblem* _THIS )
+{
+	return Constraints_getNAC( _THIS->constraints );
+}
+
+
+/*
+ *	g e t N I A C
+ */
+static inline int QProblem_getNIAC( QProblem* _THIS )
+{
+	return Constraints_getNIAC( _THIS->constraints );
+}
+
+
+
+/*****************************************************************************
+ *  P R O T E C T E D                                                        *
+ *****************************************************************************/
+
+
+/*
+ *	s e t A
+ */
+static inline returnValue QProblem_setAM( QProblem* _THIS, DenseMatrix *A_new )
+{
+	if ( A_new == 0 )
+		return QProblem_setA( _THIS,(real_t*)0 );
+	else
+		return QProblem_setA( _THIS,DenseMatrix_getVal(A_new) );
+}
+
+
+/*
+ *	s e t A
+ */
+static inline returnValue QProblem_setA( QProblem* _THIS, real_t* const A_new )
+{
+	int j;
+	int nV = QProblem_getNV( _THIS );
+	int nC = QProblem_getNC( _THIS );
+
+	if ( nV == 0 )
+		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
+
+	if ( A_new == 0 )
+		return THROWERROR( RET_INVALID_ARGUMENTS );
+
+	DenseMatrixCON( _THIS->A,QProblem_getNC( _THIS ),QProblem_getNV( _THIS ),QProblem_getNV( _THIS ),A_new );
+
+	DenseMatrix_times( _THIS->A,1, 1.0, _THIS->x, nV, 0.0, _THIS->Ax, nC);
+
+	for( j=0; j<nC; ++j )
+	{
+		_THIS->Ax_u[j] = _THIS->ubA[j] - _THIS->Ax[j];
+		_THIS->Ax_l[j] = _THIS->Ax[j] - _THIS->lbA[j];
+
+		/* (ckirches) disable constraints with empty rows */
+		if ( qpOASES_isZero( DenseMatrix_getRowNorm( _THIS->A,j,2 ),QPOASES_ZERO ) == BT_TRUE )
+			Constraints_setType( _THIS->constraints,j,ST_DISABLED );
+	}
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	s e t L B A
+ */
+static inline returnValue QProblem_setLBA( QProblem* _THIS, const real_t* const lbA_new )
+{
+	unsigned int i;
+	unsigned int nV = (unsigned int)QProblem_getNV( _THIS );
+	unsigned int nC = (unsigned int)QProblem_getNC( _THIS );
+
+	if ( nV == 0 )
+		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
+
+	if ( lbA_new != 0 )
+	{
+		memcpy( _THIS->lbA,lbA_new,nC*sizeof(real_t) );
+	}
+	else
+	{
+		/* if no lower constraints' bounds are specified, set them to -infinity */
+		for( i=0; i<nC; ++i )
+			_THIS->lbA[i] = -QPOASES_INFTY;
+	}
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	s e t L B A
+ */
+static inline returnValue QProblem_setLBAn( QProblem* _THIS, int number, real_t value )
+{
+	int nV = QProblem_getNV( _THIS );
+	int nC = QProblem_getNC( _THIS );
+
+	if ( nV == 0 )
+		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
+
+	if ( ( number >= 0 ) && ( number < nC ) )
+	{
+		_THIS->lbA[number] = value;
+		return SUCCESSFUL_RETURN;
+	}
+	else
+		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
+}
+
+
+/*
+ *	s e t U B A
+ */
+static inline returnValue QProblem_setUBA( QProblem* _THIS, const real_t* const ubA_new )
+{
+	unsigned int i;
+	unsigned int nV = (unsigned int)QProblem_getNV( _THIS );
+	unsigned int nC = (unsigned int)QProblem_getNC( _THIS );
+
+	if ( nV == 0 )
+		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
+
+	if ( ubA_new != 0 )
+	{
+		memcpy( _THIS->ubA,ubA_new,nC*sizeof(real_t) );
+	}
+	else
+	{
+		/* if no upper constraints' bounds are specified, set them to infinity */
+		for( i=0; i<nC; ++i )
+			_THIS->ubA[i] = QPOASES_INFTY;
+	}
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	s e t U B A
+ */
+static inline returnValue QProblem_setUBAn( QProblem* _THIS, int number, real_t value )
+{
+	int nV = QProblem_getNV( _THIS );
+	int nC = QProblem_getNC( _THIS );
+
+	if ( nV == 0 )
+		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
+
+	if ( ( number >= 0 ) && ( number < nC ) )
+	{
+		_THIS->ubA[number] = value;
+		return SUCCESSFUL_RETURN;
+	}
+	else
+		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
+}
+
+
+END_NAMESPACE_QPOASES
+
+
+#endif	/* QPOASES_QPROBLEM_H */
+
+
+/*
+ *	end of file
+ */
diff --git a/third_party/acados/include/qpOASES_e/QProblemB.h b/third_party/acados/include/qpOASES_e/QProblemB.h
new file mode 100644
index 0000000000..ee5157dda7
--- /dev/null
+++ b/third_party/acados/include/qpOASES_e/QProblemB.h
@@ -0,0 +1,1641 @@
+/*
+ *	This file is part of qpOASES.
+ *
+ *	qpOASES -- An Implementation of the Online Active Set Strategy.
+ *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
+ *	Christian Kirches et al. All rights reserved.
+ *
+ *	qpOASES is free software; you can redistribute it and/or
+ *	modify it under the terms of the GNU Lesser General Public
+ *	License as published by the Free Software Foundation; either
+ *	version 2.1 of the License, or (at your option) any later version.
+ *
+ *	qpOASES is distributed in the hope that it will be useful,
+ *	but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *	See the GNU Lesser General Public License for more details.
+ *
+ *	You should have received a copy of the GNU Lesser General Public
+ *	License along with qpOASES; if not, write to the Free Software
+ *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ */
+
+
+/**
+ *	\file include/qpOASES_e/QProblemB.h
+ *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
+ *	\version 3.1embedded
+ *	\date 2007-2015
+ *
+ *	Declaration of the QProblemB class which is able to use the newly
+ *	developed online active set strategy for parametric quadratic programming
+ *	for problems with (simple) bounds only.
+ */
+
+
+
+#ifndef QPOASES_QPROBLEMB_H
+#define QPOASES_QPROBLEMB_H
+
+
+#include <qpOASES_e/Bounds.h>
+#include <qpOASES_e/Options.h>
+#include <qpOASES_e/Matrices.h>
+#include <qpOASES_e/Flipper.h>
+
+
+BEGIN_NAMESPACE_QPOASES
+
+typedef struct {
+	Bounds *emptyBounds;
+	Bounds *auxiliaryBounds;
+
+	real_t *ub_new_far;
+	real_t *lb_new_far;
+
+	real_t *g_new;
+	real_t *lb_new;
+	real_t *ub_new;
+
+	real_t *g_new2;
+	real_t *lb_new2;
+	real_t *ub_new2;
+
+	real_t *Hx;
+
+	real_t *_H;
+
+	real_t *g_original;
+	real_t *lb_original;
+	real_t *ub_original;
+
+	real_t *delta_xFR;
+	real_t *delta_xFX;
+	real_t *delta_yFX;
+	real_t *delta_g;
+	real_t *delta_lb;
+	real_t *delta_ub;
+
+	real_t *gMod;
+
+	real_t *num;
+	real_t *den;
+
+	real_t *rhs;
+	real_t *r;
+} QProblemB_ws;
+
+int QProblemB_ws_calculateMemorySize( unsigned int nV );
+
+char *QProblemB_ws_assignMemory( unsigned int nV, QProblemB_ws **mem, void *raw_memory );
+
+QProblemB_ws *QProblemB_ws_createMemory( unsigned int nV );
+
+
+/**
+ *	\brief Implements the online active set strategy for box-constrained QPs.
+ *
+ *	Class for setting up and solving quadratic programs with bounds (= box constraints) only.
+ *	The main feature is the possibility to use the newly developed online active set strategy
+ *	for parametric quadratic programming.
+ *
+ *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
+ *	\version 3.1embedded
+ *	\date 2007-2015
+ */
+typedef struct
+{
+	QProblemB_ws *ws;
+	Bounds *bounds;					/**< Data structure for problem's bounds. */
+	Flipper *flipper;				/**< Struct for making a temporary copy of the matrix factorisations. */
+
+	DenseMatrix* H;					/**< Hessian matrix pointer. */
+
+	Options options;				/**< Struct containing all user-defined options for solving QPs. */
+	TabularOutput tabularOutput;	/**< Struct storing information for tabular output (printLevel == PL_TABULAR). */
+
+	real_t *g;						/**< Gradient. */
+	real_t *lb;						/**< Lower bound vector (on variables). */
+	real_t *ub;						/**< Upper bound vector (on variables). */
+
+	real_t *R;						/**< Cholesky factor of H (i.e. H = R^T*R). */
+
+	real_t *x;						/**< Primal solution vector. */
+	real_t *y;						/**< Dual solution vector. */
+
+	real_t *delta_xFR_TMP;			/**< Temporary for determineStepDirection */
+
+	real_t tau;						/**< Last homotopy step length. */
+	real_t regVal;					/**< Holds the offset used to regularise Hessian matrix (zero by default). */
+
+	real_t ramp0;					/**< Start value for Ramping Strategy. */
+	real_t ramp1;					/**< Final value for Ramping Strategy. */
+
+	QProblemStatus status;			/**< Current status of the solution process. */
+	HessianType hessianType;		/**< Type of Hessian matrix. */
+
+	BooleanType haveCholesky;		/**< Flag indicating whether Cholesky decomposition has already been setup. */
+	BooleanType infeasible;			/**< QP infeasible? */
+	BooleanType unbounded;			/**< QP unbounded? */
+
+	int rampOffset;					/**< Offset index for Ramping. */
+	unsigned int count;				/**< Counts the number of hotstart function calls (internal usage only!). */
+} QProblemB;
+
+int QProblemB_calculateMemorySize( unsigned int nV );
+
+char *QProblemB_assignMemory( unsigned int nV, QProblemB **mem, void *raw_memory );
+
+QProblemB *QProblemB_createMemory( unsigned int nV );
+
+
+/** Constructor which takes the QP dimension and Hessian type
+ *  information. If the Hessian is the zero (i.e. HST_ZERO) or the
+ *  identity matrix (i.e. HST_IDENTITY), respectively, no memory
+ *  is allocated for it and a NULL pointer can be passed for it
+ *  to the init() functions. */
+void QProblemBCON(	QProblemB* _THIS,
+					int _nV,						/**< Number of variables. */
+					HessianType _hessianType		/**< Type of Hessian matrix. */
+					);
+
+void QProblemBCPY(	QProblemB* FROM,
+					QProblemB* TO
+					);
+
+
+/** Clears all data structures of QProblemB except for QP data.
+ *	\return SUCCESSFUL_RETURN \n
+			RET_RESET_FAILED */
+returnValue QProblemB_reset( QProblemB* _THIS );
+
+
+/** Initialises a simply bounded QP problem with given QP data and tries to solve it
+ *	using at most nWSR iterations.
+ *
+ *  Note: This function internally calls solveInitialQP for initialisation!
+ *
+ *	\return SUCCESSFUL_RETURN \n
+			RET_INIT_FAILED \n
+			RET_INIT_FAILED_CHOLESKY \n
+			RET_INIT_FAILED_HOTSTART \n
+			RET_INIT_FAILED_INFEASIBILITY \n
+			RET_INIT_FAILED_UNBOUNDEDNESS \n
+			RET_MAX_NWSR_REACHED \n
+			RET_INVALID_ARGUMENTS */
+returnValue QProblemB_initM(	QProblemB* _THIS,
+								DenseMatrix *_H,	 		/**< Hessian matrix. */
+								const real_t* const _g,		/**< Gradient vector. */
+								const real_t* const _lb,	/**< Lower bounds (on variables). \n
+																 If no lower bounds exist, a NULL pointer can be passed. */
+								const real_t* const _ub,	/**< Upper bounds (on variables). \n
+																 If no upper bounds exist, a NULL pointer can be passed. */
+								int* nWSR, 					/**< Input: Maximum number of working set recalculations when using initial homotopy. \n
+																 Output: Number of performed working set recalculations. */
+		 						real_t* const cputime 		/**< Input: Maximum CPU time allowed for QP initialisation. \n
+																 Output: CPU time spent for QP initialisation (if pointer passed). */
+								);
+
+/** Initialises a simply bounded QP problem with given QP data and tries to solve it
+ *	using at most nWSR iterations.
+ *
+ *  Note: This function internally calls solveInitialQP for initialisation!
+ *
+ *	\return SUCCESSFUL_RETURN \n
+			RET_INIT_FAILED \n
+			RET_INIT_FAILED_CHOLESKY \n
+			RET_INIT_FAILED_HOTSTART \n
+			RET_INIT_FAILED_INFEASIBILITY \n
+			RET_INIT_FAILED_UNBOUNDEDNESS \n
+			RET_MAX_NWSR_REACHED \n
+			RET_INVALID_ARGUMENTS */
+returnValue QProblemB_init(	QProblemB* _THIS,
+							real_t* const _H, 			/**< Hessian matrix. \n
+															 If Hessian matrix is trivial, a NULL pointer can be passed. */
+							const real_t* const _g,		/**< Gradient vector. */
+							const real_t* const _lb,	/**< Lower bounds (on variables). \n
+															 If no lower bounds exist, a NULL pointer can be passed. */
+							const real_t* const _ub,	/**< Upper bounds (on variables). \n
+															 If no upper bounds exist, a NULL pointer can be passed. */
+							int* nWSR, 					/**< Input: Maximum number of working set recalculations when using initial homotopy. \n
+															 Output: Number of performed working set recalculations. */
+		 					real_t* const cputime 		/**< Input: Maximum CPU time allowed for QP initialisation. \n
+															 Output: CPU time spent for QP initialisation (if pointer passed). */
+							);
+
+/** Initialises a simply bounded QP problem with given QP data to be read from files and solves it
+ *	using at most nWSR iterations.
+ *
+ *  Note: This function internally calls solveInitialQP for initialisation!
+ *
+ *	\return SUCCESSFUL_RETURN \n
+			RET_INIT_FAILED \n
+			RET_INIT_FAILED_CHOLESKY \n
+			RET_INIT_FAILED_HOTSTART \n
+			RET_INIT_FAILED_INFEASIBILITY \n
+			RET_INIT_FAILED_UNBOUNDEDNESS \n
+			RET_MAX_NWSR_REACHED \n
+			RET_UNABLE_TO_READ_FILE */
+returnValue QProblemB_initF(	QProblemB* _THIS,
+								const char* const H_file, 	/**< Name of file where Hessian matrix is stored. \n
+																 If Hessian matrix is trivial, a NULL pointer can be passed. */
+								const char* const g_file,  	/**< Name of file where gradient vector is stored. */
+								const char* const lb_file, 	/**< Name of file where lower bound vector. \n
+																 If no lower bounds exist, a NULL pointer can be passed. */
+								const char* const ub_file, 	/**< Name of file where upper bound vector. \n
+																 If no upper bounds exist, a NULL pointer can be passed. */
+								int* nWSR, 					/**< Input: Maximum number of working set recalculations when using initial homotopy. \n
+																 Output: Number of performed working set recalculations. */
+		 						real_t* const cputime 		/**< Input: Maximum CPU time allowed for QP initialisation. \n
+																 Output: CPU time spent for QP initialisation (if pointer passed). */
+								);
+
+/** Initialises a simply bounded QP problem with given QP data and tries to solve it
+ *	using at most nWSR iterations. Depending on the parameter constellation it: \n
+ *	1. 0,    0,    0 : starts with xOpt = 0, yOpt = 0 and gB empty (or all implicit equality bounds), \n
+ *	2. xOpt, 0,    0 : starts with xOpt, yOpt = 0 and obtain gB by "clipping", \n
+ *	3. 0,    yOpt, 0 : starts with xOpt = 0, yOpt and obtain gB from yOpt != 0, \n
+ *	4. 0,    0,    gB: starts with xOpt = 0, yOpt = 0 and gB, \n
+ *	5. xOpt, yOpt, 0 : starts with xOpt, yOpt and obtain gB from yOpt != 0, \n
+ *	6. xOpt, 0,    gB: starts with xOpt, yOpt = 0 and gB, \n
+ *	7. xOpt, yOpt, gB: starts with xOpt, yOpt and gB (assume them to be consistent!)
+ *
+ *  Note: This function internally calls solveInitialQP for initialisation!
+ *
+ *	\return SUCCESSFUL_RETURN \n
+			RET_INIT_FAILED \n
+			RET_INIT_FAILED_CHOLESKY \n
+			RET_INIT_FAILED_HOTSTART \n
+			RET_INIT_FAILED_INFEASIBILITY \n
+			RET_INIT_FAILED_UNBOUNDEDNESS \n
+			RET_MAX_NWSR_REACHED \n
+			RET_INVALID_ARGUMENTS */
+returnValue QProblemB_initMW(	QProblemB* _THIS,
+								DenseMatrix *_H,				/**< Hessian matrix. */
+								const real_t* const _g,			/**< Gradient vector. */
+								const real_t* const _lb,		/**< Lower bounds (on variables). \n
+																	 If no lower bounds exist, a NULL pointer can be passed. */
+								const real_t* const _ub,		/**< Upper bounds (on variables). \n
+																	 If no upper bounds exist, a NULL pointer can be passed. */
+								int* nWSR, 						/**< Input: Maximum number of working set recalculations when using initial homotopy. \n
+																	 Output: Number of performed working set recalculations. */
+		 						real_t* const cputime,			/**< Input: Maximum CPU time allowed for QP initialisation. \n
+													 				 Output: CPU time spent for QP initialisation. */
+								const real_t* const xOpt,		/**< Optimal primal solution vector. A NULL pointer can be passed. \n
+																	 (If a null pointer is passed, the old primal solution is kept!) */
+								const real_t* const yOpt,		/**< Optimal dual solution vector. A NULL pointer can be passed. \n
+																	 (If a null pointer is passed, the old dual solution is kept!) */
+								Bounds* const guessedBounds,	/**< Optimal working set of bounds for solution (xOpt,yOpt). \n
+																	 (If a null pointer is passed, all bounds are assumed inactive!) */
+								const real_t* const _R			/**< Pre-computed (upper triangular) Cholesky factor of Hessian matrix.
+																 	 The Cholesky factor must be stored in a real_t array of size nV*nV
+																	 in row-major format. Note: Only used if xOpt/yOpt and gB are NULL! \n
+																	 (If a null pointer is passed, Cholesky decomposition is computed internally!) */
+								);
+
+/** Initialises a simply bounded QP problem with given QP data and tries to solve it
+ *	using at most nWSR iterations. Depending on the parameter constellation it: \n
+ *	1. 0,    0,    0 : starts with xOpt = 0, yOpt = 0 and gB empty (or all implicit equality bounds), \n
+ *	2. xOpt, 0,    0 : starts with xOpt, yOpt = 0 and obtain gB by "clipping", \n
+ *	3. 0,    yOpt, 0 : starts with xOpt = 0, yOpt and obtain gB from yOpt != 0, \n
+ *	4. 0,    0,    gB: starts with xOpt = 0, yOpt = 0 and gB, \n
+ *	5. xOpt, yOpt, 0 : starts with xOpt, yOpt and obtain gB from yOpt != 0, \n
+ *	6. xOpt, 0,    gB: starts with xOpt, yOpt = 0 and gB, \n
+ *	7. xOpt, yOpt, gB: starts with xOpt, yOpt and gB (assume them to be consistent!)
+ *
+ *  Note: This function internally calls solveInitialQP for initialisation!
+ *
+ *	\return SUCCESSFUL_RETURN \n
+			RET_INIT_FAILED \n
+			RET_INIT_FAILED_CHOLESKY \n
+			RET_INIT_FAILED_HOTSTART \n
+			RET_INIT_FAILED_INFEASIBILITY \n
+			RET_INIT_FAILED_UNBOUNDEDNESS \n
+			RET_MAX_NWSR_REACHED \n
+			RET_INVALID_ARGUMENTS */
+returnValue QProblemB_initW(	QProblemB* _THIS,
+								real_t* const _H, 				/**< Hessian matrix. \n
+																	 If Hessian matrix is trivial, a NULL pointer can be passed. */
+								const real_t* const _g,			/**< Gradient vector. */
+								const real_t* const _lb,		/**< Lower bounds (on variables). \n
+																	 If no lower bounds exist, a NULL pointer can be passed. */
+								const real_t* const _ub,		/**< Upper bounds (on variables). \n
+																	 If no upper bounds exist, a NULL pointer can be passed. */
+								int* nWSR, 						/**< Input: Maximum number of working set recalculations when using initial homotopy. \n
+																	 Output: Number of performed working set recalculations. */
+		 						real_t* const cputime,			/**< Input: Maximum CPU time allowed for QP initialisation. \n
+													 				 Output: CPU time spent for QP initialisation. */
+								const real_t* const xOpt,		/**< Optimal primal solution vector. A NULL pointer can be passed. \n
+																	 (If a null pointer is passed, the old primal solution is kept!) */
+								const real_t* const yOpt,		/**< Optimal dual solution vector. A NULL pointer can be passed. \n
+																	 (If a null pointer is passed, the old dual solution is kept!) */
+								Bounds* const guessedBounds,	/**< Optimal working set of bounds for solution (xOpt,yOpt). \n
+																	 (If a null pointer is passed, all bounds are assumed inactive!) */
+								const real_t* const _R			/**< Pre-computed (upper triangular) Cholesky factor of Hessian matrix.
+																 	 The Cholesky factor must be stored in a real_t array of size nV*nV
+																	 in row-major format. Note: Only used if xOpt/yOpt and gB are NULL! \n
+																	 (If a null pointer is passed, Cholesky decomposition is computed internally!) */
+								);
+
+/** Initialises a simply bounded QP problem with given QP data to be read from files and solves it
+ *	using at most nWSR iterations. Depending on the parameter constellation it: \n
+ *	1. 0,    0,    0 : starts with xOpt = 0, yOpt = 0 and gB empty (or all implicit equality bounds), \n
+ *	2. xOpt, 0,    0 : starts with xOpt, yOpt = 0 and obtain gB by "clipping", \n
+ *	3. 0,    yOpt, 0 : starts with xOpt = 0, yOpt and obtain gB from yOpt != 0, \n
+ *	4. 0,    0,    gB: starts with xOpt = 0, yOpt = 0 and gB, \n
+ *	5. xOpt, yOpt, 0 : starts with xOpt, yOpt and obtain gB from yOpt != 0, \n
+ *	6. xOpt, 0,    gB: starts with xOpt, yOpt = 0 and gB, \n
+ *	7. xOpt, yOpt, gB: starts with xOpt, yOpt and gB (assume them to be consistent!)
+ *
+ *  Note: This function internally calls solveInitialQP for initialisation!
+ *
+ *	\return SUCCESSFUL_RETURN \n
+			RET_INIT_FAILED \n
+			RET_INIT_FAILED_CHOLESKY \n
+			RET_INIT_FAILED_HOTSTART \n
+			RET_INIT_FAILED_INFEASIBILITY \n
+			RET_INIT_FAILED_UNBOUNDEDNESS \n
+			RET_MAX_NWSR_REACHED \n
+			RET_UNABLE_TO_READ_FILE */
+returnValue QProblemB_initFW(	QProblemB* _THIS,
+								const char* const H_file, 		/**< Name of file where Hessian matrix is stored. \n
+																	 If Hessian matrix is trivial, a NULL pointer can be passed. */
+								const char* const g_file,  		/**< Name of file where gradient vector is stored. */
+								const char* const lb_file, 		/**< Name of file where lower bound vector. \n
+																	 If no lower bounds exist, a NULL pointer can be passed. */
+								const char* const ub_file, 		/**< Name of file where upper bound vector. \n
+																	 If no upper bounds exist, a NULL pointer can be passed. */
+								int* nWSR, 						/**< Input: Maximum number of working set recalculations when using initial homotopy. \n
+																	 Output: Number of performed working set recalculations. */
+		 						real_t* const cputime,			/**< Input: Maximum CPU time allowed for QP initialisation. \n
+													 				 Output: CPU time spent for QP initialisation. */
+								const real_t* const xOpt,		/**< Optimal primal solution vector. A NULL pointer can be passed. \n
+																	 (If a null pointer is passed, the old primal solution is kept!) */
+								const real_t* const yOpt,		/**< Optimal dual solution vector. A NULL pointer can be passed. \n
+																	 (If a null pointer is passed, the old dual solution is kept!) */
+								Bounds* const guessedBounds,	/**< Optimal working set of bounds for solution (xOpt,yOpt). \n
+																	 (If a null pointer is passed, all bounds are assumed inactive!) */
+								const char* const R_file		/**< Name of the file where a pre-computed (upper triangular) Cholesky factor
+																	 of the Hessian matrix is stored. \n
+																	 (If a null pointer is passed, Cholesky decomposition is computed internally!) */
+								);
+
+
+/** Solves an initialised QP sequence using the online active set strategy.
+ *	By default, QP solution is started from previous solution.
+ *
+ *  Note: This function internally calls solveQP/solveRegularisedQP
+ *        for solving an initialised QP!
+ *
+ *	\return SUCCESSFUL_RETURN \n
+			RET_MAX_NWSR_REACHED \n
+			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
+			RET_HOTSTART_FAILED \n
+			RET_SHIFT_DETERMINATION_FAILED \n
+			RET_STEPDIRECTION_DETERMINATION_FAILED \n
+			RET_STEPLENGTH_DETERMINATION_FAILED \n
+			RET_HOMOTOPY_STEP_FAILED \n
+			RET_HOTSTART_STOPPED_INFEASIBILITY \n
+			RET_HOTSTART_STOPPED_UNBOUNDEDNESS */
+returnValue QProblemB_hotstart(	QProblemB* _THIS,
+								const real_t* const g_new,	/**< Gradient of neighbouring QP to be solved. */
+								const real_t* const lb_new,	/**< Lower bounds of neighbouring QP to be solved. \n
+											 					 If no lower bounds exist, a NULL pointer can be passed. */
+								const real_t* const ub_new,	/**< Upper bounds of neighbouring QP to be solved. \n
+											 					 If no upper bounds exist, a NULL pointer can be passed. */
+								int* nWSR,					/**< Input: Maximum number of working set recalculations; \n
+																 Output: Number of performed working set recalculations. */
+								real_t* const cputime 		/**< Input: Maximum CPU time allowed for QP solution. \n
+																 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
+								);
+
+/** Solves an initialised QP sequence using the online active set strategy,
+ *  where QP data is read from files. QP solution is started from previous solution.
+ *
+ *  Note: This function internally calls solveQP/solveRegularisedQP
+ *        for solving an initialised QP!
+ *
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_MAX_NWSR_REACHED \n
+ 			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
+			RET_HOTSTART_FAILED \n
+			RET_SHIFT_DETERMINATION_FAILED \n
+			RET_STEPDIRECTION_DETERMINATION_FAILED \n
+			RET_STEPLENGTH_DETERMINATION_FAILED \n
+			RET_HOMOTOPY_STEP_FAILED \n
+			RET_HOTSTART_STOPPED_INFEASIBILITY \n
+			RET_HOTSTART_STOPPED_UNBOUNDEDNESS \n
+			RET_UNABLE_TO_READ_FILE \n
+			RET_INVALID_ARGUMENTS */
+returnValue QProblemB_hotstartF(	QProblemB* _THIS,
+									const char* const g_file, 	/**< Name of file where gradient, of neighbouring QP to be solved, is stored. */
+									const char* const lb_file, 	/**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n
+											 						 If no lower bounds exist, a NULL pointer can be passed. */
+									const char* const ub_file, 	/**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n
+											 						 If no upper bounds exist, a NULL pointer can be passed. */
+									int* nWSR, 					/**< Input: Maximum number of working set recalculations; \n
+																	 Output: Number of performed working set recalculations. */
+									real_t* const cputime 	 	/**< Input: Maximum CPU time allowed for QP solution. \n
+																	 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
+									);
+
+/** Solves an initialised QP sequence using the online active set strategy.
+ *	By default, QP solution is started from previous solution. If a guess
+ *	for the working set is provided, an initialised homotopy is performed.
+ *
+ *  Note: This function internally calls solveQP/solveRegularisedQP
+ *        for solving an initialised QP!
+ *
+ *	\return SUCCESSFUL_RETURN \n
+			RET_MAX_NWSR_REACHED \n
+			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
+			RET_HOTSTART_FAILED \n
+			RET_SHIFT_DETERMINATION_FAILED \n
+			RET_STEPDIRECTION_DETERMINATION_FAILED \n
+			RET_STEPLENGTH_DETERMINATION_FAILED \n
+			RET_HOMOTOPY_STEP_FAILED \n
+			RET_HOTSTART_STOPPED_INFEASIBILITY \n
+			RET_HOTSTART_STOPPED_UNBOUNDEDNESS \n
+			RET_SETUP_AUXILIARYQP_FAILED */
+returnValue QProblemB_hotstartW(	QProblemB* _THIS,
+									const real_t* const g_new,	/**< Gradient of neighbouring QP to be solved. */
+									const real_t* const lb_new,	/**< Lower bounds of neighbouring QP to be solved. \n
+											 						 If no lower bounds exist, a NULL pointer can be passed. */
+									const real_t* const ub_new,	/**< Upper bounds of neighbouring QP to be solved. \n
+											 						 If no upper bounds exist, a NULL pointer can be passed. */
+									int* nWSR,					/**< Input: Maximum number of working set recalculations; \n
+																	 Output: Number of performed working set recalculations. */
+									real_t* const cputime,		/**< Input: Maximum CPU time allowed for QP solution. \n
+														 			 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
+									Bounds* const guessedBounds	/**< Optimal working set of bounds for solution (xOpt,yOpt). \n
+																	 (If a null pointer is passed, the previous working set is kept!) */
+									);
+
+/** Solves an initialised QP sequence using the online active set strategy,
+ *  where QP data is read from files.
+ *	By default, QP solution is started from previous solution. If a guess
+ *	for the working set is provided, an initialised homotopy is performed.
+ *
+ *  Note: This function internally calls solveQP/solveRegularisedQP
+ *        for solving an initialised QP!
+ *
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_MAX_NWSR_REACHED \n
+ 			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
+			RET_HOTSTART_FAILED \n
+			RET_SHIFT_DETERMINATION_FAILED \n
+			RET_STEPDIRECTION_DETERMINATION_FAILED \n
+			RET_STEPLENGTH_DETERMINATION_FAILED \n
+			RET_HOMOTOPY_STEP_FAILED \n
+			RET_HOTSTART_STOPPED_INFEASIBILITY \n
+			RET_HOTSTART_STOPPED_UNBOUNDEDNESS \n
+			RET_UNABLE_TO_READ_FILE \n
+			RET_INVALID_ARGUMENTS \n
+			RET_SETUP_AUXILIARYQP_FAILED */
+returnValue QProblemB_hotstartFW(	QProblemB* _THIS,
+									const char* const g_file,	/**< Name of file where gradient, of neighbouring QP to be solved, is stored. */
+									const char* const lb_file,	/**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n
+											 						 If no lower bounds exist, a NULL pointer can be passed. */
+									const char* const ub_file, 	/**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n
+											 						 If no upper bounds exist, a NULL pointer can be passed. */
+									int* nWSR,					/**< Input:  Maximum number of working set recalculations; \n
+																	 Output: Number of performed working set recalculations. */
+									real_t* const cputime,		/**< Input:  Maximum CPU time allowed for QP solution. \n
+														 			 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
+									Bounds* const guessedBounds	/**< Optimal working set of bounds for solution (xOpt,yOpt). \n
+																	 (If a null pointer is passed, the previous working set is kept!) */
+									);
+
+
+/** Writes a vector with the state of the working set
+ *	\return SUCCESSFUL_RETURN \n
+ *	        RET_INVALID_ARGUMENTS */
+returnValue QProblemB_getWorkingSet(	QProblemB* _THIS,
+										real_t* workingSet		/** Output: array containing state of the working set. */
+										);
+
+/** Writes a vector with the state of the working set of bounds
+ *	\return SUCCESSFUL_RETURN \n
+ *	        RET_INVALID_ARGUMENTS */
+returnValue QProblemB_getWorkingSetBounds(	QProblemB* _THIS,
+											real_t* workingSetB	/** Output: array containing state of the working set of bounds. */
+											);
+
+/** Writes a vector with the state of the working set of constraints
+ *	\return SUCCESSFUL_RETURN \n
+ *	        RET_INVALID_ARGUMENTS */
+returnValue QProblemB_getWorkingSetConstraints(	QProblemB* _THIS,
+												real_t* workingSetC	/** Output: array containing state of the working set of constraints. */
+												);
+
+
+/** Returns current bounds object of the QP (deep copy).
+  *	\return SUCCESSFUL_RETURN \n
+  			RET_QPOBJECT_NOT_SETUP */
+static inline returnValue QProblemB_getBounds(	QProblemB* _THIS,
+												Bounds* _bounds	/** Output: Bounds object. */
+												);
+
+
+/** Returns the number of variables.
+ *	\return Number of variables. */
+static inline int QProblemB_getNV( QProblemB* _THIS );
+
+/** Returns the number of free variables.
+ *	\return Number of free variables. */
+static inline int QProblemB_getNFR( QProblemB* _THIS );
+
+/** Returns the number of fixed variables.
+ *	\return Number of fixed variables. */
+static inline int QProblemB_getNFX( QProblemB* _THIS );
+
+/** Returns the number of implicitly fixed variables.
+ *	\return Number of implicitly fixed variables. */
+static inline int QProblemB_getNFV( QProblemB* _THIS );
+
+/** Returns the dimension of null space.
+ *	\return Dimension of null space. */
+int QProblemB_getNZ( QProblemB* _THIS );
+
+
+/** Returns the optimal objective function value.
+ *	\return finite value: Optimal objective function value (QP was solved) \n
+ 			+infinity:	  QP was not yet solved */
+real_t QProblemB_getObjVal( QProblemB* _THIS );
+
+/** Returns the objective function value at an arbitrary point x.
+ *	\return Objective function value at point x */
+real_t QProblemB_getObjValX(	QProblemB* _THIS,
+								const real_t* const _x	/**< Point at which the objective function shall be evaluated. */
+								);
+
+/** Returns the primal solution vector.
+ *	\return SUCCESSFUL_RETURN \n
+			RET_QP_NOT_SOLVED */
+returnValue QProblemB_getPrimalSolution(	QProblemB* _THIS,
+											real_t* const xOpt			/**< Output: Primal solution vector (if QP has been solved). */
+											);
+
+/** Returns the dual solution vector.
+ *	\return SUCCESSFUL_RETURN \n
+			RET_QP_NOT_SOLVED */
+returnValue QProblemB_getDualSolution(	QProblemB* _THIS,
+										real_t* const yOpt	/**< Output: Dual solution vector (if QP has been solved). */
+										);
+
+
+/** Returns status of the solution process.
+ *	\return Status of solution process. */
+static inline QProblemStatus QProblemB_getStatus( QProblemB* _THIS );
+
+
+/** Returns if the QProblem object is initialised.
+ *	\return BT_TRUE:  QProblemB initialised \n
+ 			BT_FALSE: QProblemB not initialised */
+static inline BooleanType QProblemB_isInitialised( QProblemB* _THIS );
+
+/** Returns if the QP has been solved.
+ *	\return BT_TRUE:  QProblemB solved \n
+ 			BT_FALSE: QProblemB not solved */
+static inline BooleanType QProblemB_isSolved( QProblemB* _THIS );
+
+/** Returns if the QP is infeasible.
+ *	\return BT_TRUE:  QP infeasible \n
+ 			BT_FALSE: QP feasible (or not known to be infeasible!) */
+static inline BooleanType QProblemB_isInfeasible( QProblemB* _THIS );
+
+/** Returns if the QP is unbounded.
+ *	\return BT_TRUE:  QP unbounded \n
+ 			BT_FALSE: QP unbounded (or not known to be unbounded!) */
+static inline BooleanType QProblemB_isUnbounded( QProblemB* _THIS );
+
+
+/** Returns Hessian type flag (type is not determined due to _THIS call!).
+ *	\return Hessian type. */
+static inline HessianType QProblemB_getHessianType( QProblemB* _THIS );
+
+/** Changes the print level.
+ *	\return SUCCESSFUL_RETURN */
+static inline returnValue QProblemB_setHessianType(	QProblemB* _THIS,
+													HessianType _hessianType /**< New Hessian type. */
+													);
+
+/** Returns if the QP has been internally regularised.
+ *	\return BT_TRUE:  Hessian is internally regularised for QP solution \n
+ 			BT_FALSE: No internal Hessian regularisation is used for QP solution */
+static inline BooleanType QProblemB_usingRegularisation( QProblemB* _THIS );
+
+/** Returns current options struct.
+ *	\return Current options struct. */
+static inline Options QProblemB_getOptions( QProblemB* _THIS );
+
+/** Overrides current options with given ones.
+ *	\return SUCCESSFUL_RETURN */
+static inline returnValue QProblemB_setOptions(	QProblemB* _THIS,
+												Options _options	/**< New options. */
+												);
+
+/** Returns the print level.
+ *	\return Print level. */
+static inline PrintLevel QProblemB_getPrintLevel( QProblemB* _THIS );
+
+/** Changes the print level.
+ *	\return SUCCESSFUL_RETURN */
+returnValue QProblemB_setPrintLevel(	QProblemB* _THIS,
+										PrintLevel _printlevel	/**< New print level. */
+										);
+
+/** Returns the current number of QP problems solved.
+ *	\return Number of QP problems solved. */
+static inline unsigned int QProblemB_getCount( QProblemB* _THIS );
+
+/** Resets QP problem counter (to zero).
+ *	\return SUCCESSFUL_RETURN. */
+static inline returnValue QProblemB_resetCounter( QProblemB* _THIS );
+
+
+/** Prints concise list of properties of the current QP.
+ *	\return  SUCCESSFUL_RETURN \n */
+returnValue QProblemB_printProperties( QProblemB* _THIS );
+
+/** Prints a list of all options and their current values.
+ *	\return  SUCCESSFUL_RETURN \n */
+returnValue QProblemB_printOptions( QProblemB* _THIS );
+
+
+/** If Hessian type has been set by the user, nothing is done.
+ *  Otherwise the Hessian type is set to HST_IDENTITY, HST_ZERO, or
+ *  HST_POSDEF (default), respectively.
+ *	\return SUCCESSFUL_RETURN \n
+			RET_HESSIAN_INDEFINITE */
+returnValue QProblemB_determineHessianType( QProblemB* _THIS );
+
+/** Determines type of existing constraints and bounds (i.e. implicitly fixed, unbounded etc.).
+ *	\return SUCCESSFUL_RETURN \n
+			RET_SETUPSUBJECTTOTYPE_FAILED */
+returnValue QProblemB_setupSubjectToType( QProblemB* _THIS );
+
+/** Determines type of new constraints and bounds (i.e. implicitly fixed, unbounded etc.).
+ *	\return SUCCESSFUL_RETURN \n
+			RET_SETUPSUBJECTTOTYPE_FAILED */
+returnValue QProblemB_setupSubjectToTypeNew(	QProblemB* _THIS,
+												const real_t* const lb_new,	/**< New lower bounds. */
+												const real_t* const ub_new	/**< New upper bounds. */
+												);
+
+/** Computes the Cholesky decomposition of the (simply projected) Hessian
+ *  (i.e. R^T*R = Z^T*H*Z). It only works in the case where Z is a simple
+ *  projection matrix!
+ *  Note: If Hessian turns out not to be positive definite, the Hessian type
+ *		  is set to HST_SEMIDEF accordingly.
+ *	\return SUCCESSFUL_RETURN \n
+ *			RET_HESSIAN_NOT_SPD \n
+ *			RET_INDEXLIST_CORRUPTED */
+returnValue QProblemB_computeCholesky( QProblemB* _THIS );
+
+/** Computes initial Cholesky decomposition of the projected Hessian making
+ *  use of the function setupCholeskyDecomposition() or setupCholeskyDecompositionProjected().
+ *	\return SUCCESSFUL_RETURN \n
+ *			RET_HESSIAN_NOT_SPD \n
+ *			RET_INDEXLIST_CORRUPTED */
+returnValue QProblemB_setupInitialCholesky( QProblemB* _THIS );
+
+
+/** Obtains the desired working set for the auxiliary initial QP in
+ *  accordance with the user specifications
+ *	\return SUCCESSFUL_RETURN \n
+			RET_OBTAINING_WORKINGSET_FAILED \n
+			RET_INVALID_ARGUMENTS */
+returnValue QProblemB_obtainAuxiliaryWorkingSet(	QProblemB* _THIS,
+													const real_t* const xOpt,		/**< Optimal primal solution vector.
+																					 *	 If a NULL pointer is passed, all entries are assumed to be zero. */
+													const real_t* const yOpt,		/**< Optimal dual solution vector.
+																					 *	 If a NULL pointer is passed, all entries are assumed to be zero. */
+													Bounds* const guessedBounds,	/**< Guessed working set for solution (xOpt,yOpt). */
+													Bounds* auxiliaryBounds			/**< Input: Allocated bound object. \n
+																					 *	 Ouput: Working set for auxiliary QP. */
+													);
+
+/** Decides if lower bounds are smaller than upper bounds
+ *
+ * \return SUCCESSFUL_RETURN \n
+ * 		   RET_QP_INFEASIBLE */
+returnValue QProblemB_areBoundsConsistent(	QProblemB* _THIS,
+											const real_t* const lb, /**< Vector of lower bounds*/
+											const real_t* const ub  /**< Vector of upper bounds*/
+											);
+
+/** Solves the system Ra = b or R^Ta = b where R is an upper triangular matrix.
+ *	\return SUCCESSFUL_RETURN \n
+			RET_DIV_BY_ZERO */
+returnValue QProblemB_backsolveR(	QProblemB* _THIS,
+									const real_t* const b,	/**< Right hand side vector. */
+									BooleanType transposed,	/**< Indicates if the transposed system shall be solved. */
+									real_t* const a 		/**< Output: Solution vector */
+									);
+
+/** Solves the system Ra = b or R^Ta = b where R is an upper triangular matrix. \n
+ *  Special variant for the case that _THIS function is called from within "removeBound()".
+ *	\return SUCCESSFUL_RETURN \n
+			RET_DIV_BY_ZERO */
+returnValue QProblemB_backsolveRrem(	QProblemB* _THIS,
+										const real_t* const b,		/**< Right hand side vector. */
+										BooleanType transposed,		/**< Indicates if the transposed system shall be solved. */
+										BooleanType removingBound,	/**< Indicates if function is called from "removeBound()". */
+										real_t* const a 			/**< Output: Solution vector */
+										);
+
+
+/** Determines step direction of the shift of the QP data.
+ *	\return SUCCESSFUL_RETURN */
+returnValue QProblemB_determineDataShift(	QProblemB* _THIS,
+											const real_t* const g_new,	/**< New gradient vector. */
+											const real_t* const lb_new,	/**< New lower bounds. */
+											const real_t* const ub_new,	/**< New upper bounds. */
+											real_t* const delta_g,	 	/**< Output: Step direction of gradient vector. */
+											real_t* const delta_lb,	 	/**< Output: Step direction of lower bounds. */
+											real_t* const delta_ub,	 	/**< Output: Step direction of upper bounds. */
+											BooleanType* Delta_bB_isZero/**< Output: Indicates if active bounds are to be shifted. */
+											);
+
+
+/** Sets up internal QP data.
+ *	\return SUCCESSFUL_RETURN \n
+			RET_INVALID_ARGUMENTS */
+returnValue QProblemB_setupQPdataM(	QProblemB* _THIS,
+									DenseMatrix *_H,	 		/**< Hessian matrix.*/
+									const real_t* const _g,		/**< Gradient vector. */
+									const real_t* const _lb,	/**< Lower bounds (on variables). \n
+																	 If no lower bounds exist, a NULL pointer can be passed. */
+									const real_t* const _ub		/**< Upper bounds (on variables). \n
+																	 If no upper bounds exist, a NULL pointer can be passed. */
+									);
+
+/** Sets up internal QP data. If the current Hessian is trivial
+ *  (i.e. HST_ZERO or HST_IDENTITY) but a non-trivial one is given,
+ *  memory for Hessian is allocated and it is set to the given one.
+ *	\return SUCCESSFUL_RETURN \n
+			RET_INVALID_ARGUMENTS \n
+			RET_NO_HESSIAN_SPECIFIED */
+returnValue QProblemB_setupQPdata(	QProblemB* _THIS,
+									real_t* const _H, 			/**< Hessian matrix. \n
+																	 If Hessian matrix is trivial,a NULL pointer can be passed. */
+									const real_t* const _g,		/**< Gradient vector. */
+									const real_t* const _lb,	/**< Lower bounds (on variables). \n
+																	 If no lower bounds exist, a NULL pointer can be passed. */
+									const real_t* const _ub		/**< Upper bounds (on variables). \n
+																	 If no upper bounds exist, a NULL pointer can be passed. */
+									);
+
+/** Sets up internal QP data by loading it from files. If the current Hessian
+ *  is trivial (i.e. HST_ZERO or HST_IDENTITY) but a non-trivial one is given,
+ *  memory for Hessian is allocated and it is set to the given one.
+ *	\return SUCCESSFUL_RETURN \n
+			RET_UNABLE_TO_OPEN_FILE \n
+			RET_UNABLE_TO_READ_FILE \n
+			RET_INVALID_ARGUMENTS \n
+			RET_NO_HESSIAN_SPECIFIED */
+returnValue QProblemB_setupQPdataFromFile(	QProblemB* _THIS,
+											const char* const H_file, 	/**< Name of file where Hessian matrix, of neighbouring QP to be solved, is stored. \n
+														     				 If Hessian matrix is trivial,a NULL pointer can be passed. */
+											const char* const g_file, 	/**< Name of file where gradient, of neighbouring QP to be solved, is stored. */
+											const char* const lb_file, 	/**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n
+										 			 						 If no lower bounds exist, a NULL pointer can be passed. */
+											const char* const ub_file 	/**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n
+										 			 						 If no upper bounds exist, a NULL pointer can be passed. */
+											);
+
+/** Loads new QP vectors from files (internal members are not affected!).
+ *	\return SUCCESSFUL_RETURN \n
+			RET_UNABLE_TO_OPEN_FILE \n
+			RET_UNABLE_TO_READ_FILE \n
+			RET_INVALID_ARGUMENTS */
+returnValue QProblemB_loadQPvectorsFromFile(	QProblemB* _THIS,
+												const char* const g_file, 	/**< Name of file where gradient, of neighbouring QP to be solved, is stored. */
+												const char* const lb_file, 	/**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n
+										 			 							 If no lower bounds exist, a NULL pointer can be passed. */
+												const char* const ub_file, 	/**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n
+										 			 							 If no upper bounds exist, a NULL pointer can be passed. */
+												real_t* const g_new,		/**< Output: Gradient of neighbouring QP to be solved. */
+												real_t* const lb_new,		/**< Output: Lower bounds of neighbouring QP to be solved */
+												real_t* const ub_new		/**< Output: Upper bounds of neighbouring QP to be solved */
+												);
+
+
+/** Sets internal infeasibility flag and throws given error in case the far bound
+ *	strategy is not enabled (as QP might actually not be infeasible in _THIS case).
+ *	\return RET_HOTSTART_STOPPED_INFEASIBILITY \n
+			RET_ENSURELI_FAILED_CYCLING \n
+			RET_ENSURELI_FAILED_NOINDEX */
+returnValue QProblemB_setInfeasibilityFlag(	QProblemB* _THIS,
+											returnValue returnvalue,	/**< Returnvalue to be tunneled. */
+											BooleanType doThrowError	/**< Flag forcing to throw an error. */
+											);
+
+
+/** Determines if next QP iteration can be performed within given CPU time limit.
+ *	\return BT_TRUE: CPU time limit is exceeded, stop QP solution. \n
+			BT_FALSE: Sufficient CPU time for next QP iteration. */
+BooleanType QProblemB_isCPUtimeLimitExceeded(	QProblemB* _THIS,
+												const real_t* const cputime,	/**< Maximum CPU time allowed for QP solution. */
+												real_t starttime,				/**< Start time of current QP solution. */
+												int nWSR						/**< Number of working set recalculations performed so far. */
+												);
+
+
+/** Regularise Hessian matrix by adding a scaled identity matrix to it.
+ *	\return SUCCESSFUL_RETURN \n
+			RET_HESSIAN_ALREADY_REGULARISED */
+returnValue QProblemB_regulariseHessian( QProblemB* _THIS );
+
+
+/** Sets Hessian matrix of the QP.
+ *	\return SUCCESSFUL_RETURN */
+static inline returnValue QProblemB_setHM(	QProblemB* _THIS,
+											DenseMatrix* H_new	/**< New Hessian matrix. */
+											);
+
+/** Sets dense Hessian matrix of the QP.
+ *  If a null pointer is passed and
+ *  a) hessianType is HST_IDENTITY, nothing is done,
+ *  b) hessianType is not HST_IDENTITY, Hessian matrix is set to zero.
+ *	\return SUCCESSFUL_RETURN */
+static inline returnValue QProblemB_setH(	QProblemB* _THIS,
+											real_t* const H_new	/**< New dense Hessian matrix (with correct dimension!). */
+											);
+
+/** Changes gradient vector of the QP.
+ *	\return SUCCESSFUL_RETURN \n
+ *			RET_INVALID_ARGUMENTS */
+static inline returnValue QProblemB_setG(	QProblemB* _THIS,
+											const real_t* const g_new	/**< New gradient vector (with correct dimension!). */
+											);
+
+/** Changes lower bound vector of the QP.
+ *	\return SUCCESSFUL_RETURN \n
+ *			RET_QPOBJECT_NOT_SETUP */
+static inline returnValue QProblemB_setLB(	QProblemB* _THIS,
+											const real_t* const lb_new	/**< New lower bound vector (with correct dimension!). */
+											);
+
+/** Changes single entry of lower bound vector of the QP.
+ *	\return SUCCESSFUL_RETURN  \n
+ *			RET_QPOBJECT_NOT_SETUP \n
+ *			RET_INDEX_OUT_OF_BOUNDS */
+static inline returnValue QProblemB_setLBn(	QProblemB* _THIS,
+											int number,		/**< Number of entry to be changed. */
+											real_t value	/**< New value for entry of lower bound vector. */
+											);
+
+/** Changes upper bound vector of the QP.
+ *	\return SUCCESSFUL_RETURN \n
+ *			RET_QPOBJECT_NOT_SETUP */
+static inline returnValue QProblemB_setUB(	QProblemB* _THIS,
+											const real_t* const ub_new	/**< New upper bound vector (with correct dimension!). */
+											);
+
+/** Changes single entry of upper bound vector of the QP.
+ *	\return SUCCESSFUL_RETURN  \n
+ *			RET_QPOBJECT_NOT_SETUP \n
+ *			RET_INDEX_OUT_OF_BOUNDS */
+static inline returnValue QProblemB_setUBn(	QProblemB* _THIS,
+											int number,		/**< Number of entry to be changed. */
+											real_t value	/**< New value for entry of upper bound vector. */
+											);
+
+
+/** Computes parameters for the Givens matrix G for which [x,y]*G = [z,0]
+ *	\return SUCCESSFUL_RETURN */
+static inline void QProblemB_computeGivens(	real_t xold,	/**< Matrix entry to be normalised. */
+											real_t yold,	/**< Matrix entry to be annihilated. */
+											real_t* xnew,	/**< Output: Normalised matrix entry. */
+											real_t* ynew,	/**< Output: Annihilated matrix entry. */
+											real_t* c,		/**< Output: Cosine entry of Givens matrix. */
+											real_t* s 		/**< Output: Sine entry of Givens matrix. */
+											);
+
+/** Applies Givens matrix determined by c and s (cf. computeGivens).
+ *	\return SUCCESSFUL_RETURN */
+static inline void QProblemB_applyGivens(	real_t c,		/**< Cosine entry of Givens matrix. */
+											real_t s,		/**< Sine entry of Givens matrix. */
+											real_t nu, 		/**< Further factor: s/(1+c). */
+											real_t xold,	/**< Matrix entry to be transformed corresponding to
+															 *	 the normalised entry of the original matrix. */
+											real_t yold, 	/**< Matrix entry to be transformed corresponding to
+															 *	 the annihilated entry of the original matrix. */
+											real_t* xnew,	/**< Output: Transformed matrix entry corresponding to
+															 *	 the normalised entry of the original matrix. */
+											real_t* ynew	/**< Output: Transformed matrix entry corresponding to
+															 *	 the annihilated entry of the original matrix. */
+											);
+
+
+
+/** Compute relative length of homotopy in data space for termination
+ *  criterion.
+ *  \return Relative length in data space. */
+real_t QProblemB_getRelativeHomotopyLength(	QProblemB* _THIS,
+											const real_t* const g_new,	/**< Final gradient. */
+											const real_t* const lb_new,	/**< Final lower variable bounds. */
+											const real_t* const ub_new	/**< Final upper variable bounds. */
+											);
+
+/** Ramping Strategy to avoid ties. Modifies homotopy start without
+ *  changing current active set.
+ *  \return SUCCESSFUL_RETURN */
+returnValue QProblemB_performRamping( QProblemB* _THIS );
+
+
+/** ... */
+returnValue QProblemB_updateFarBounds(	QProblemB* _THIS,
+										real_t curFarBound,				/**< ... */
+										int nRamp,						/**< ... */
+										const real_t* const lb_new,		/**< ... */
+										real_t* const lb_new_far,		/**< ... */
+										const real_t* const ub_new,		/**< ... */
+										real_t* const ub_new_far		/**< ... */
+										);
+
+
+
+/** Performs robustified ratio test yield the maximum possible step length
+ *  along the homotopy path.
+ *	\return  SUCCESSFUL_RETURN */
+returnValue QProblemB_performRatioTestB(	QProblemB* _THIS,
+											int nIdx, 					/**< Number of ratios to be checked. */
+											const int* const idxList, 	/**< Array containing the indices of all ratios to be checked. */
+											Bounds* const subjectTo,	/**< Bound object corresponding to ratios to be checked. */
+											const real_t* const num,	/**< Array containing all numerators for performing the ratio test. */
+											const real_t* const den,	/**< Array containing all denominators for performing the ratio test. */
+											real_t epsNum,				/**< Numerator tolerance. */
+											real_t epsDen,				/**< Denominator tolerance. */
+											real_t* t,					/**< Output: Maximum possible step length along the homotopy path. */
+											int* BC_idx 				/**< Output: Index of blocking constraint. */
+											);
+
+/** Checks whether given ratio is blocking, i.e. limits the maximum step length
+ *  along the homotopy path to a value lower than given one.
+ *	\return  SUCCESSFUL_RETURN */
+static inline BooleanType QProblemB_isBlocking(	QProblemB* _THIS,
+												real_t num,		/**< Numerator for performing the ratio test. */
+												real_t den,		/**< Denominator for performing the ratio test. */
+												real_t epsNum,	/**< Numerator tolerance. */
+												real_t epsDen,	/**< Denominator tolerance. */
+												real_t* t		/**< Input:  Current maximum step length along the homotopy path,
+																 *   Output: Updated maximum possible step length along the homotopy path. */
+												);
+
+
+/** Solves a QProblemB whose QP data is assumed to be stored in the member variables.
+ *  A guess for its primal/dual optimal solution vectors and the corresponding
+ *  optimal working set can be provided.
+ *  Note: This function is internally called by all init functions!
+ *	\return SUCCESSFUL_RETURN \n
+			RET_INIT_FAILED \n
+			RET_INIT_FAILED_CHOLESKY \n
+			RET_INIT_FAILED_HOTSTART \n
+			RET_INIT_FAILED_INFEASIBILITY \n
+			RET_INIT_FAILED_UNBOUNDEDNESS \n
+			RET_MAX_NWSR_REACHED */
+returnValue QProblemB_solveInitialQP(	QProblemB* _THIS,
+										const real_t* const xOpt,		/**< Optimal primal solution vector.*/
+										const real_t* const yOpt,		/**< Optimal dual solution vector. */
+										Bounds* const guessedBounds,	/**< Optimal working set of bounds for solution (xOpt,yOpt). */
+										const real_t* const _R,			/**< Pre-computed (upper triangular) Cholesky factor of Hessian matrix. */
+										int* nWSR, 						/**< Input:  Maximum number of working set recalculations; \n
+														 				 *	 Output: Number of performed working set recalculations. */
+										real_t* const cputime			/**< Input:  Maximum CPU time allowed for QP solution. \n
+														 				 *	 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
+										);
+
+/** Solves an initialised QProblemB using online active set strategy.
+ *  Note: This function is internally called by all hotstart functions!
+ *	\return SUCCESSFUL_RETURN \n
+			RET_MAX_NWSR_REACHED \n
+			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
+			RET_HOTSTART_FAILED \n
+			RET_SHIFT_DETERMINATION_FAILED \n
+			RET_STEPDIRECTION_DETERMINATION_FAILED \n
+			RET_STEPLENGTH_DETERMINATION_FAILED \n
+			RET_HOMOTOPY_STEP_FAILED \n
+			RET_HOTSTART_STOPPED_INFEASIBILITY \n
+			RET_HOTSTART_STOPPED_UNBOUNDEDNESS */
+returnValue QProblemB_solveQP(	QProblemB* _THIS,
+								const real_t* const g_new,	/**< Gradient of neighbouring QP to be solved. */
+								const real_t* const lb_new,	/**< Lower bounds of neighbouring QP to be solved. \n
+											 					 If no lower bounds exist, a NULL pointer can be passed. */
+								const real_t* const ub_new,	/**< Upper bounds of neighbouring QP to be solved. \n
+											 					 If no upper bounds exist, a NULL pointer can be passed. */
+								int* nWSR,					/**< Input: Maximum number of working set recalculations; \n
+																 Output: Number of performed working set recalculations. */
+								real_t* const cputime,		/**< Input: Maximum CPU time allowed for QP solution. \n
+																 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
+								int  nWSRperformed,			/**< Number of working set recalculations already performed to solve
+																 this QP within previous solveQP() calls. This number is
+																 always zero, except for successive calls from solveRegularisedQP()
+																 or when using the far bound strategy. */
+								BooleanType isFirstCall		/**< Indicating whether this is the first call for current QP. */
+								);
+
+
+/** Solves an initialised QProblemB using online active set strategy.
+ *  Note: This function is internally called by all hotstart functions!
+ *	\return SUCCESSFUL_RETURN \n
+			RET_MAX_NWSR_REACHED \n
+			RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n
+			RET_HOTSTART_FAILED \n
+			RET_SHIFT_DETERMINATION_FAILED \n
+			RET_STEPDIRECTION_DETERMINATION_FAILED \n
+			RET_STEPLENGTH_DETERMINATION_FAILED \n
+			RET_HOMOTOPY_STEP_FAILED \n
+			RET_HOTSTART_STOPPED_INFEASIBILITY \n
+			RET_HOTSTART_STOPPED_UNBOUNDEDNESS */
+returnValue QProblemB_solveRegularisedQP(	QProblemB* _THIS,
+											const real_t* const g_new,	/**< Gradient of neighbouring QP to be solved. */
+											const real_t* const lb_new,	/**< Lower bounds of neighbouring QP to be solved. \n
+													 						 If no lower bounds exist, a NULL pointer can be passed. */
+											const real_t* const ub_new,	/**< Upper bounds of neighbouring QP to be solved. \n
+													 						 If no upper bounds exist, a NULL pointer can be passed. */
+											int* nWSR,					/**< Input: Maximum number of working set recalculations; \n
+																			 Output: Number of performed working set recalculations. */
+											real_t* const cputime,		/**< Input: Maximum CPU time allowed for QP solution. \n
+																			 Output: CPU time spent for QP solution (or to perform nWSR iterations). */
+											int  nWSRperformed,			/**< Number of working set recalculations already performed to solve
+																			 this QP within previous solveRegularisedQP() calls. This number is
+																			 always zero, except for successive calls when using the far bound strategy. */
+											BooleanType isFirstCall		/**< Indicating whether this is the first call for current QP. */
+											);
+
+
+/** Sets up bound data structure according to auxiliaryBounds.
+ *  (If the working set shall be setup afresh, make sure that
+ *  bounds data structure has been resetted!)
+ *	\return SUCCESSFUL_RETURN \n
+			RET_SETUP_WORKINGSET_FAILED \n
+			RET_INVALID_ARGUMENTS \n
+			RET_UNKNOWN_BUG */
+returnValue QProblemB_setupAuxiliaryWorkingSet(	QProblemB* _THIS,
+												Bounds* const auxiliaryBounds,	/**< Working set for auxiliary QP. */
+												BooleanType setupAfresh			/**< Flag indicating if given working set shall be
+																				 *    setup afresh or by updating the current one. */
+												);
+
+/** Sets up the optimal primal/dual solution of the auxiliary initial QP.
+ *	\return SUCCESSFUL_RETURN */
+returnValue QProblemB_setupAuxiliaryQPsolution(	QProblemB* _THIS,
+												const real_t* const xOpt,	/**< Optimal primal solution vector.
+																		 	 *	 If a NULL pointer is passed, all entries are set to zero. */
+												const real_t* const yOpt	/**< Optimal dual solution vector.
+																			 *	 If a NULL pointer is passed, all entries are set to zero. */
+												);
+
+/** Sets up gradient of the auxiliary initial QP for given
+ *  optimal primal/dual solution and given initial working set
+ *  (assumes that members X, Y and BOUNDS have already been (ialised!).
+ *	\return SUCCESSFUL_RETURN */
+returnValue QProblemB_setupAuxiliaryQPgradient( QProblemB* _THIS );
+
+/** Sets up bounds of the auxiliary initial QP for given
+ *  optimal primal/dual solution and given initial working set
+ *  (assumes that members X, Y and BOUNDS have already been initialised!).
+ *	\return SUCCESSFUL_RETURN \n
+			RET_UNKNOWN_BUG */
+returnValue QProblemB_setupAuxiliaryQPbounds(	QProblemB* _THIS,
+												BooleanType useRelaxation	/**< Flag indicating if inactive bounds shall be relaxed. */
+												);
+
+
+/** Updates QP vectors, working sets and internal data structures in order to
+	start from an optimal solution corresponding to initial guesses of the working
+	set for bounds
+ *	\return SUCCESSFUL_RETURN \n
+ *			RET_SETUP_AUXILIARYQP_FAILED */
+returnValue QProblemB_setupAuxiliaryQP(	QProblemB* _THIS,
+										Bounds* const guessedBounds	/**< Initial guess for working set of bounds. */
+										);
+
+/** Determines step direction of the homotopy path.
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_STEPDIRECTION_FAILED_CHOLESKY */
+returnValue QProblemB_determineStepDirection(	QProblemB* _THIS,
+												const real_t* const delta_g,	/**< Step direction of gradient vector. */
+												const real_t* const delta_lb,	/**< Step direction of lower bounds. */
+												const real_t* const delta_ub,	/**< Step direction of upper bounds. */
+												BooleanType Delta_bB_isZero,	/**< Indicates if active bounds are to be shifted. */
+												real_t* const delta_xFX, 		/**< Output: Primal homotopy step direction of fixed variables. */
+												real_t* const delta_xFR,	 	/**< Output: Primal homotopy step direction of free variables. */
+												real_t* const delta_yFX 		/**< Output: Dual homotopy step direction of fixed variables' multiplier. */
+												);
+
+/** Determines the maximum possible step length along the homotopy path
+ *  and performs _THIS step (without changing working set).
+ *	\return SUCCESSFUL_RETURN \n
+ *			RET_QP_INFEASIBLE \n
+ */
+returnValue QProblemB_performStep(	QProblemB* _THIS,
+									const real_t* const delta_g,	/**< Step direction of gradient. */
+									const real_t* const delta_lb,	/**< Step direction of lower bounds. */
+									const real_t* const delta_ub,	/**< Step direction of upper bounds. */
+									const real_t* const delta_xFX, 	/**< Primal homotopy step direction of fixed variables. */
+									const real_t* const delta_xFR,	/**< Primal homotopy step direction of free variables. */
+									const real_t* const delta_yFX,	/**< Dual homotopy step direction of fixed variables' multiplier. */
+									int* BC_idx, 					/**< Output: Index of blocking constraint. */
+									SubjectToStatus* BC_status		/**< Output: Status of blocking constraint. */
+									);
+
+/** Updates active set.
+ *	\return  SUCCESSFUL_RETURN \n
+ 			 RET_REMOVE_FROM_ACTIVESET_FAILED \n
+			 RET_ADD_TO_ACTIVESET_FAILED */
+returnValue QProblemB_changeActiveSet(	QProblemB* _THIS,
+										int BC_idx, 				/**< Index of blocking constraint. */
+										SubjectToStatus BC_status 	/**< Status of blocking constraint. */
+										);
+
+/** Drift correction at end of each active set iteration
+ *  \return SUCCESSFUL_RETURN */
+returnValue QProblemB_performDriftCorrection( QProblemB* _THIS );
+
+/** Determines if it is more efficient to refactorise the matrices when
+ *  hotstarting or not (i.e. better to update the existing factorisations).
+ *	\return BT_TRUE iff matrices shall be refactorised afresh
+ */
+BooleanType QProblemB_shallRefactorise(	QProblemB* _THIS,
+										Bounds* const guessedBounds	/**< Guessed new working set. */
+										);
+
+
+/** Adds a bound to active set (specialised version for the case where no constraints exist).
+ *	\return SUCCESSFUL_RETURN \n
+ 			RET_ADDBOUND_FAILED */
+returnValue QProblemB_addBound(	QProblemB* _THIS,
+								int number,					/**< Number of bound to be added to active set. */
+								SubjectToStatus B_status,	/**< Status of new active bound. */
+								BooleanType updateCholesky	/**< Flag indicating if Cholesky decomposition shall be updated. */
+								);
+
+/** Removes a bounds from active set (specialised version for the case where no constraints exist).
+ *	\return SUCCESSFUL_RETURN \n
+			RET_HESSIAN_NOT_SPD \n
+			RET_REMOVEBOUND_FAILED */
+returnValue QProblemB_removeBound(	QProblemB* _THIS,
+									int number,					/**< Number of bound to be removed from active set. */
+									BooleanType updateCholesky	/**< Flag indicating if Cholesky decomposition shall be updated. */
+									);
+
+
+/** Prints concise information on the current iteration.
+ *	\return  SUCCESSFUL_RETURN \n */
+returnValue QProblemB_printIteration(	QProblemB* _THIS,
+										int iter,					/**< Number of current iteration. */
+										int BC_idx, 				/**< Index of blocking bound. */
+										SubjectToStatus BC_status,	/**< Status of blocking bound. */
+										real_t homotopyLength,		/**< Current homotopy distance. */
+										BooleanType isFirstCall		/**< Indicating whether this is the first call for current QP. */
+										);
+
+
+
+/*
+ *	g e t B o u n d s
+ */
+static inline returnValue QProblemB_getBounds( QProblemB* _THIS, Bounds* _bounds )
+{
+	int nV = QProblemB_getNV( _THIS );
+
+	if ( nV == 0 )
+		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
+
+	_bounds = _THIS->bounds;
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	g e t N V
+ */
+static inline int QProblemB_getNV( QProblemB* _THIS )
+{
+	return Bounds_getNV( _THIS->bounds );
+}
+
+
+/*
+ *	g e t N F R
+ */
+static inline int QProblemB_getNFR( QProblemB* _THIS )
+{
+	return Bounds_getNFR( _THIS->bounds );
+}
+
+
+/*
+ *	g e t N F X
+ */
+static inline int QProblemB_getNFX( QProblemB* _THIS )
+{
+	return Bounds_getNFX( _THIS->bounds );
+}
+
+
+/*
+ *	g e t N F V
+ */
+static inline int QProblemB_getNFV( QProblemB* _THIS )
+{
+	return Bounds_getNFV( _THIS->bounds );
+}
+
+
+/*
+ *	g e t S t a t u s
+ */
+static inline QProblemStatus QProblemB_getStatus( QProblemB* _THIS )
+{
+	return _THIS->status;
+}
+
+
+/*
+ *	i s I n i t i a l i s e d
+ */
+static inline BooleanType QProblemB_isInitialised( QProblemB* _THIS )
+{
+	if ( _THIS->status == QPS_NOTINITIALISED )
+		return BT_FALSE;
+	else
+		return BT_TRUE;
+}
+
+
+/*
+ *	i s S o l v e d
+ */
+static inline BooleanType QProblemB_isSolved( QProblemB* _THIS )
+{
+	if ( _THIS->status == QPS_SOLVED )
+		return BT_TRUE;
+	else
+		return BT_FALSE;
+}
+
+
+/*
+ *	i s I n f e a s i b l e
+ */
+static inline BooleanType QProblemB_isInfeasible( QProblemB* _THIS )
+{
+	return _THIS->infeasible;
+}
+
+
+/*
+ *	i s U n b o u n d e d
+ */
+static inline BooleanType QProblemB_isUnbounded( QProblemB* _THIS )
+{
+	return _THIS->unbounded;
+}
+
+
+/*
+ *	g e t H e s s i a n T y p e
+ */
+static inline HessianType QProblemB_getHessianType( QProblemB* _THIS )
+{
+	return _THIS->hessianType;
+}
+
+
+/*
+ *	s e t H e s s i a n T y p e
+ */
+static inline returnValue QProblemB_setHessianType( QProblemB* _THIS, HessianType _hessianType )
+{
+	_THIS->hessianType = _hessianType;
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	u s i n g R e g u l a r i s a t i o n
+ */
+static inline BooleanType QProblemB_usingRegularisation( QProblemB* _THIS )
+{
+	if ( _THIS->regVal > QPOASES_ZERO )
+		return BT_TRUE;
+	else
+		return BT_FALSE;
+}
+
+
+/*
+ *	g e t O p t i o n s
+ */
+static inline Options QProblemB_getOptions( QProblemB* _THIS )
+{
+	return _THIS->options;
+}
+
+
+/*
+ *	s e t O p t i o n s
+ */
+static inline returnValue QProblemB_setOptions(	QProblemB* _THIS,
+												Options _options
+												)
+{
+	OptionsCPY( &_options,&(_THIS->options) );
+	Options_ensureConsistency( &(_THIS->options) );
+
+	QProblemB_setPrintLevel( _THIS,_THIS->options.printLevel );
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	g e t P r i n t L e v e l
+ */
+static inline PrintLevel QProblemB_getPrintLevel( QProblemB* _THIS )
+{
+	return _THIS->options.printLevel;
+}
+
+
+
+/*
+ *	g e t C o u n t
+ */
+static inline unsigned int QProblemB_getCount( QProblemB* _THIS )
+{
+	return _THIS->count;
+}
+
+
+/*
+ *	r e s e t C o u n t e r
+ */
+static inline returnValue QProblemB_resetCounter( QProblemB* _THIS )
+{
+	_THIS->count = 0;
+	return SUCCESSFUL_RETURN;
+}
+
+
+
+/*****************************************************************************
+ *  P R O T E C T E D                                                        *
+ *****************************************************************************/
+
+
+/*
+ *	s e t H
+ */
+static inline returnValue QProblemB_setHM( QProblemB* _THIS, DenseMatrix* H_new )
+{
+	if ( H_new == 0 )
+		return QProblemB_setH( _THIS,(real_t*)0 );
+	else
+		return QProblemB_setH( _THIS,DenseMatrix_getVal(H_new) );
+}
+
+
+/*
+ *	s e t H
+ */
+static inline returnValue QProblemB_setH( QProblemB* _THIS, real_t* const H_new )
+{
+	/* if null pointer is passed, Hessian is set to zero matrix
+	 *                            (or stays identity matrix) */
+	if ( H_new == 0 )
+	{
+		if ( _THIS->hessianType == HST_IDENTITY )
+			return SUCCESSFUL_RETURN;
+
+		_THIS->hessianType = HST_ZERO;
+
+		_THIS->H = 0;
+	}
+	else
+	{
+		DenseMatrixCON( _THIS->H,QProblemB_getNV( _THIS ),QProblemB_getNV( _THIS ),QProblemB_getNV( _THIS ),H_new );
+	}
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	s e t G
+ */
+static inline returnValue QProblemB_setG( QProblemB* _THIS, const real_t* const g_new )
+{
+	unsigned int nV = (unsigned int)QProblemB_getNV( _THIS );
+
+	if ( nV == 0 )
+		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
+
+	if ( g_new == 0 )
+		return THROWERROR( RET_INVALID_ARGUMENTS );
+
+	memcpy( _THIS->g,g_new,nV*sizeof(real_t) );
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	s e t L B
+ */
+static inline returnValue QProblemB_setLB( QProblemB* _THIS, const real_t* const lb_new )
+{
+	unsigned int i;
+	unsigned int nV = (unsigned int)QProblemB_getNV( _THIS );
+
+	if ( nV == 0 )
+		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
+
+	if ( lb_new != 0 )
+	{
+		memcpy( _THIS->lb,lb_new,nV*sizeof(real_t) );
+	}
+	else
+	{
+		/* if no lower bounds are specified, set them to -infinity */
+		for( i=0; i<nV; ++i )
+			_THIS->lb[i] = -QPOASES_INFTY;
+	}
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	s e t L B
+ */
+static inline returnValue QProblemB_setLBn( QProblemB* _THIS, int number, real_t value )
+{
+	int nV = QProblemB_getNV( _THIS );
+
+	if ( nV == 0 )
+		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
+
+	if ( ( number >= 0 ) && ( number < nV ) )
+	{
+		_THIS->lb[number] = value;
+		return SUCCESSFUL_RETURN;
+	}
+	else
+	{
+		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
+	}
+}
+
+
+/*
+ *	s e t U B
+ */
+static inline returnValue QProblemB_setUB( QProblemB* _THIS, const real_t* const ub_new )
+{
+	unsigned int i;
+	unsigned int nV = (unsigned int)QProblemB_getNV( _THIS );
+
+	if ( nV == 0 )
+		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
+
+	if ( ub_new != 0 )
+	{
+		memcpy( _THIS->ub,ub_new,nV*sizeof(real_t) );
+	}
+	else
+	{
+		/* if no upper bounds are specified, set them to infinity */
+		for( i=0; i<nV; ++i )
+			_THIS->ub[i] = QPOASES_INFTY;
+	}
+
+	return SUCCESSFUL_RETURN;
+}
+
+
+/*
+ *	s e t U B
+ */
+static inline returnValue QProblemB_setUBn( QProblemB* _THIS, int number, real_t value )
+{
+	int nV = QProblemB_getNV( _THIS );
+
+	if ( nV == 0 )
+		return THROWERROR( RET_QPOBJECT_NOT_SETUP );
+
+	if ( ( number >= 0 ) && ( number < nV ) )
+	{
+		_THIS->ub[number] = value;
+
+		return SUCCESSFUL_RETURN;
+	}
+	else
+	{
+		return THROWERROR( RET_INDEX_OUT_OF_BOUNDS );
+	}
+}
+
+
+/*
+ *	c o m p u t e G i v e n s
+ */
+static inline void QProblemB_computeGivens(	real_t xold, real_t yold,
+											real_t* xnew, real_t* ynew, real_t* c, real_t* s
+											)
+{
+	real_t t, mu;
+
+	if ( fabs( yold ) <= QPOASES_ZERO )
+	{
+		*c = 1.0;
+		*s = 0.0;
+
+		*xnew = xold;
+		*ynew = yold;
+	}
+	else
+	{
+		mu = fabs( xold );
+		if ( fabs( yold ) > mu )
+			mu = fabs( yold );
+
+		t = mu * sqrt( (xold/mu)*(xold/mu) + (yold/mu)*(yold/mu) );
+
+		if ( xold < 0.0 )
+		t = -t;
+
+		*c = xold/t;
+		*s = yold/t;
+		*xnew = t;
+		*ynew = 0.0;
+	}
+
+	return;
+}
+
+
+/*
+ *	a p p l y G i v e n s
+ */
+static inline void QProblemB_applyGivens(	real_t c, real_t s, real_t nu, real_t xold, real_t yold,
+											real_t* xnew, real_t* ynew
+											)
+{
+	#ifdef __USE_THREE_MULTS_GIVENS__
+
+	/* Givens plane rotation requiring only three multiplications,
+	 * cf. Hammarling, S.: A note on modifications to the givens plane rotation.
+	 * J. Inst. Maths Applics, 13:215-218, 1974. */
+	*xnew = xold*c + yold*s;
+	*ynew = (*xnew+xold)*nu - yold;
+
+	#else
+
+	/* Usual Givens plane rotation requiring four multiplications. */
+	*xnew =  c*xold + s*yold;
+	*ynew = -s*xold + c*yold;
+
+	#endif
+
+	return;
+}
+
+
+/*
+ * i s B l o c k i n g
+ */
+static inline BooleanType QProblemB_isBlocking(	QProblemB* _THIS,
+												real_t num,
+												real_t den,
+												real_t epsNum,
+												real_t epsDen,
+												real_t* t
+												)
+{
+	if ( ( den >= epsDen ) && ( num >= epsNum ) )
+	{
+		if ( num < (*t)*den )
+			return BT_TRUE;
+	}
+
+	return BT_FALSE;
+}
+
+
+END_NAMESPACE_QPOASES
+
+
+#endif	/* QPOASES_QPROBLEMB_H */
+
+
+/*
+ *	end of file
+ */
diff --git a/third_party/acados/include/qpOASES_e/Types.h b/third_party/acados/include/qpOASES_e/Types.h
new file mode 100644
index 0000000000..1e452097f8
--- /dev/null
+++ b/third_party/acados/include/qpOASES_e/Types.h
@@ -0,0 +1,310 @@
+/*
+ *	This file is part of qpOASES.
+ *
+ *	qpOASES -- An Implementation of the Online Active Set Strategy.
+ *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
+ *	Christian Kirches et al. All rights reserved.
+ *
+ *	qpOASES is free software; you can redistribute it and/or
+ *	modify it under the terms of the GNU Lesser General Public
+ *	License as published by the Free Software Foundation; either
+ *	version 2.1 of the License, or (at your option) any later version.
+ *
+ *	qpOASES is distributed in the hope that it will be useful,
+ *	but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *	See the GNU Lesser General Public License for more details.
+ *
+ *	You should have received a copy of the GNU Lesser General Public
+ *	License along with qpOASES; if not, write to the Free Software
+ *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ */
+
+
+/**
+ *	\file include/qpOASES_e/Types.h
+ *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
+ *	\version 3.1embedded
+ *	\date 2007-2015
+ *
+ *	Declaration of all non-built-in types (except for classes).
+ */
+
+
+#ifndef QPOASES_TYPES_H
+#define QPOASES_TYPES_H
+
+#ifdef USE_ACADOS_TYPES
+#include "acados/utils/types.h"
+#endif
+
+/* If your compiler does not support the snprintf() function,
+ * uncomment the following line and try to compile again. */
+/* #define __NO_SNPRINTF__ */
+
+
+/* Uncomment the following line for setting the __DSPACE__ flag. */
+/* #define __DSPACE__ */
+
+/* Uncomment the following line for setting the __XPCTARGET__ flag. */
+/* #define __XPCTARGET__ */
+
+
+/* Uncomment the following line for setting the __NO_FMATH__ flag. */
+/* #define __NO_FMATH__ */
+
+/* Uncomment the following line to enable debug information. */
+/* #define __DEBUG__ */
+
+/* Uncomment the following line to enable suppress any kind of console output. */
+/* #define __SUPPRESSANYOUTPUT__ */
+
+
+/** Forces to always include all implicitly fixed bounds and all equality constraints
+ *  into the initial working set when setting up an auxiliary QP. */
+#define __ALWAYS_INITIALISE_WITH_ALL_EQUALITIES__
+
+/* Uncomment the following line to activate the use of an alternative Givens
+ * plane rotation requiring only three multiplications. */
+/* #define __USE_THREE_MULTS_GIVENS__ */
+
+/* Uncomment the following line to activate the use of single precision arithmetic. */
+/* #define __USE_SINGLE_PRECISION__ */
+
+/* The inline keyword is skipped by default as it is not part of the C90 standard.
+ * However, by uncommenting the following line, use of the inline keyword can be enforced. */
+/* #define __USE_INLINE__ */
+
+
+/* Work-around for Borland BCC 5.5 compiler. */
+#ifdef __BORLANDC__
+#if __BORLANDC__ < 0x0561
+  #define __STDC__ 1
+#endif
+#endif
+
+
+/* Work-around for Microsoft compilers. */
+#ifdef _MSC_VER
+  #define __NO_SNPRINTF__
+  #pragma warning( disable : 4061 4100 4250 4514 4996 )
+#endif
+
+
+/* Apply pre-processor settings when using qpOASES within auto-generated code. */
+#ifdef __CODE_GENERATION__
+  #define __NO_COPYRIGHT__
+  #define __EXTERNAL_DIMENSIONS__
+#endif /* __CODE_GENERATION__ */
+
+
+/* Avoid using static variables declaration within functions. */
+#ifdef __NO_STATIC__
+  #define myStatic
+#else
+  #define myStatic static
+#endif /* __NO_STATIC__ */
+
+
+/* Skip inline keyword if not specified otherwise. */
+#ifndef __USE_INLINE__
+  #define inline
+#endif
+
+
+/* Avoid any printing on embedded platforms. */
+#if defined(__DSPACE__) || defined(__XPCTARGET__)
+  #define __SUPPRESSANYOUTPUT__
+  #define __NO_SNPRINTF__
+#endif
+
+
+#ifdef __NO_SNPRINTF__
+  #if (!defined(_MSC_VER)) || defined(__DSPACE__) || defined(__XPCTARGET__)
+    /* If snprintf is not available, provide an empty implementation... */
+    int snprintf( char* s, size_t n, const char* format, ... );
+  #else
+	/* ... or substitute snprintf by _snprintf for Microsoft compilers. */
+    #define snprintf _snprintf
+  #endif
+#endif /* __NO_SNPRINTF__ */
+
+
+/** Macro for switching on/off the beginning of the qpOASES namespace definition. */
+#define BEGIN_NAMESPACE_QPOASES
+
+/** Macro for switching on/off the end of the qpOASES namespace definition. */
+#define END_NAMESPACE_QPOASES
+
+/** Macro for switching on/off the use of the qpOASES namespace. */
+#define USING_NAMESPACE_QPOASES
+
+/** Macro for switching on/off references to the qpOASES namespace. */
+#define REFER_NAMESPACE_QPOASES /*::*/
+
+
+/** Macro for accessing the Cholesky factor R. */
+#define RR( I,J )  _THIS->R[(I)+nV*(J)]
+
+/** Macro for accessing the orthonormal matrix Q of the QT factorisation. */
+#define QQ( I,J )  _THIS->Q[(I)+nV*(J)]
+
+/** Macro for accessing the triangular matrix T of the QT factorisation. */
+#define TT( I,J )  _THIS->T[(I)*nVC_min+(J)]
+
+
+
+BEGIN_NAMESPACE_QPOASES
+
+
+/** Defines real_t for facilitating switching between double and float. */
+
+#ifndef USE_ACADOS_TYPES
+#ifndef __CODE_GENERATION__
+
+  #ifdef __USE_SINGLE_PRECISION__
+  typedef float real_t;
+  #else
+  typedef double real_t;
+  #endif /* __USE_SINGLE_PRECISION__ */
+
+#endif /* __CODE_GENERATION__ */
+#endif /* USE_ACADOS_TYPES */
+
+/** Summarises all possible logical values. */
+typedef enum
+{
+	BT_FALSE = 0,				/**< Logical value for "false". */
+	BT_TRUE						/**< Logical value for "true". */
+} BooleanType;
+
+
+/** Summarises all possible print levels. Print levels are used to describe
+ *	the desired amount of output during runtime of qpOASES. */
+typedef enum
+{
+	PL_DEBUG_ITER = -2,			/**< Full tabular debugging output. */
+	PL_TABULAR,					/**< Tabular output. */
+	PL_NONE,					/**< No output. */
+	PL_LOW,						/**< Print error messages only. */
+	PL_MEDIUM,					/**< Print error and warning messages as well as concise info messages. */
+	PL_HIGH						/**< Print all messages with full details. */
+} PrintLevel;
+
+
+/** Defines visibility status of a message. */
+typedef enum
+{
+	VS_HIDDEN,					/**< Message not visible. */
+	VS_VISIBLE					/**< Message visible. */
+} VisibilityStatus;
+
+
+/** Summarises all possible states of the (S)QProblem(B) object during the
+solution process of a QP sequence. */
+typedef enum
+{
+	QPS_NOTINITIALISED,			/**< QProblem object is freshly instantiated or reset. */
+	QPS_PREPARINGAUXILIARYQP,	/**< An auxiliary problem is currently setup, either at the very beginning
+								 *   via an initial homotopy or after changing the QP matrices. */
+	QPS_AUXILIARYQPSOLVED,		/**< An auxilary problem was solved, either at the very beginning
+								 *   via an initial homotopy or after changing the QP matrices. */
+	QPS_PERFORMINGHOMOTOPY,		/**< A homotopy according to the main idea of the online active
+								 *   set strategy is performed. */
+	QPS_HOMOTOPYQPSOLVED,		/**< An intermediate QP along the homotopy path was solved. */
+	QPS_SOLVED					/**< The solution of the actual QP was found. */
+} QProblemStatus;
+
+
+/** Summarises all possible types of the QP's Hessian matrix. */
+typedef enum
+{
+	HST_ZERO,				/**< Hessian is zero matrix (i.e. LP formulation). */
+	HST_IDENTITY,			/**< Hessian is identity matrix. */
+	HST_POSDEF,				/**< Hessian is (strictly) positive definite. */
+	HST_POSDEF_NULLSPACE,	/**< Hessian is positive definite on null space of active bounds/constraints. */
+	HST_SEMIDEF,			/**< Hessian is positive semi-definite. */
+	HST_INDEF,				/**< Hessian is indefinite. */
+	HST_UNKNOWN				/**< Hessian type is unknown. */
+} HessianType;
+
+
+/** Summarises all possible types of bounds and constraints. */
+typedef enum
+{
+	ST_UNBOUNDED,		/**< Bound/constraint is unbounded. */
+	ST_BOUNDED,			/**< Bound/constraint is bounded but not fixed. */
+	ST_EQUALITY,		/**< Bound/constraint is fixed (implicit equality bound/constraint). */
+	ST_DISABLED,		/**< Bound/constraint is disabled (i.e. ignored when solving QP). */
+	ST_UNKNOWN			/**< Type of bound/constraint unknown. */
+} SubjectToType;
+
+
+/** Summarises all possible states of bounds and constraints. */
+typedef enum
+{
+	ST_LOWER = -1,			/**< Bound/constraint is at its lower bound. */
+	ST_INACTIVE,			/**< Bound/constraint is inactive. */
+	ST_UPPER,				/**< Bound/constraint is at its upper bound. */
+	ST_INFEASIBLE_LOWER,	/**< (to be documented) */
+	ST_INFEASIBLE_UPPER,	/**< (to be documented) */
+	ST_UNDEFINED			/**< Status of bound/constraint undefined. */
+} SubjectToStatus;
+
+
+/**
+ *	\brief Stores internal information for tabular (debugging) output.
+ *
+ *	Struct storing internal information for tabular (debugging) output
+ *	when using the (S)QProblem(B) objects.
+ *
+ *	\author Hans Joachim Ferreau
+ *	\version 3.1embedded
+ *	\date 2013-2015
+ */
+typedef struct
+{
+	int idxAddB;		/**< Index of bound that has been added to working set. */
+	int idxRemB;		/**< Index of bound that has been removed from working set. */
+	int idxAddC;		/**< Index of constraint that has been added to working set. */
+	int idxRemC;		/**< Index of constraint that has been removed from working set. */
+	int excAddB;		/**< Flag indicating whether a bound has been added to working set to keep a regular projected Hessian. */
+	int excRemB;		/**< Flag indicating whether a bound has been removed from working set to keep a regular projected Hessian. */
+	int excAddC;		/**< Flag indicating whether a constraint has been added to working set to keep a regular projected Hessian. */
+	int excRemC;		/**< Flag indicating whether a constraint has been removed from working set to keep a regular projected Hessian. */
+} TabularOutput;
+
+/**
+ *	\brief Struct containing the variable header for mat file.
+ *
+ *	Struct storing the header of a variable to be stored in
+ *	Matlab's binary format (using the outdated Level 4 variant
+ *  for simplictiy).
+ *
+ *  Note, this code snippet has been inspired from the document
+ *  "Matlab(R) MAT-file Format, R2013b" by MathWorks
+ *
+ *	\author Hans Joachim Ferreau
+ *	\version 3.1embedded
+ *	\date 2013-2015
+ */
+typedef struct
+{
+	long numericFormat;		/**< Flag indicating numerical format. */
+	long nRows;				/**< Number of rows. */
+	long nCols;				/**< Number of rows. */
+	long imaginaryPart;		/**< (to be documented) */
+	long nCharName;			/**< Number of character in name. */
+} MatMatrixHeader;
+
+
+END_NAMESPACE_QPOASES
+
+
+#endif	/* QPOASES_TYPES_H */
+
+
+/*
+ *	end of file
+ */
diff --git a/third_party/acados/include/qpOASES_e/UnitTesting.h b/third_party/acados/include/qpOASES_e/UnitTesting.h
new file mode 100644
index 0000000000..3fb31129a5
--- /dev/null
+++ b/third_party/acados/include/qpOASES_e/UnitTesting.h
@@ -0,0 +1,79 @@
+/*
+ *	This file is part of qpOASES.
+ *
+ *	qpOASES -- An Implementation of the Online Active Set Strategy.
+ *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
+ *	Christian Kirches et al. All rights reserved.
+ *
+ *	qpOASES is free software; you can redistribute it and/or
+ *	modify it under the terms of the GNU Lesser General Public
+ *	License as published by the Free Software Foundation; either
+ *	version 2.1 of the License, or (at your option) any later version.
+ *
+ *	qpOASES is distributed in the hope that it will be useful,
+ *	but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *	See the GNU Lesser General Public License for more details.
+ *
+ *	You should have received a copy of the GNU Lesser General Public
+ *	License along with qpOASES; if not, write to the Free Software
+ *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ */
+
+
+/**
+ *	\file include/qpOASES_e/UnitTesting.h
+ *	\author Hans Joachim Ferreau
+ *	\version 3.1embedded
+ *	\date 2014-2015
+ *
+ *	Definition of auxiliary functions/macros for unit testing.
+ */
+
+
+#ifndef QPOASES_UNIT_TESTING_H
+#define QPOASES_UNIT_TESTING_H
+
+
+#ifndef TEST_TOL_FACTOR
+#define TEST_TOL_FACTOR 1
+#endif
+
+
+/** Return value for tests that passed. */
+#define TEST_PASSED 0
+
+/** Return value for tests that failed. */
+#define TEST_FAILED 1
+
+/** Return value for tests that could not run due to missing external data. */
+#define TEST_DATA_NOT_FOUND 99
+
+
+/** Macro verifying that two numerical values are equal in order to pass unit test. */
+#define QPOASES_TEST_FOR_EQUAL( x,y ) if ( REFER_NAMESPACE_QPOASES isEqual( (x),(y) ) == BT_FALSE ) { return TEST_FAILED; }
+
+/** Macro verifying that two numerical values are close to each other in order to pass unit test. */
+#define QPOASES_TEST_FOR_NEAR( x,y )  if ( REFER_NAMESPACE_QPOASES getAbs((x)-(y)) / REFER_NAMESPACE_QPOASES getMax( 1.0,REFER_NAMESPACE_QPOASES getAbs(x) ) >= 1e-10 ) { return TEST_FAILED; }
+
+/** Macro verifying that first quantity is lower or equal than second one in order to pass unit test. */
+#define QPOASES_TEST_FOR_TOL( x,tol )  if ( (x) > (tol)*(TEST_TOL_FACTOR) ) { return TEST_FAILED; }
+
+/** Macro verifying that a logical expression holds in order to pass unit test. */
+#define QPOASES_TEST_FOR_TRUE( x )  if ( (x) == 0 ) { return TEST_FAILED; }
+
+
+
+BEGIN_NAMESPACE_QPOASES
+
+
+END_NAMESPACE_QPOASES
+
+
+#endif	/* QPOASES_UNIT_TESTING_H */
+
+
+/*
+ *	end of file
+ */
diff --git a/third_party/acados/include/qpOASES_e/Utils.h b/third_party/acados/include/qpOASES_e/Utils.h
new file mode 100644
index 0000000000..75e45a56a0
--- /dev/null
+++ b/third_party/acados/include/qpOASES_e/Utils.h
@@ -0,0 +1,500 @@
+/*
+ *	This file is part of qpOASES.
+ *
+ *	qpOASES -- An Implementation of the Online Active Set Strategy.
+ *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
+ *	Christian Kirches et al. All rights reserved.
+ *
+ *	qpOASES is free software; you can redistribute it and/or
+ *	modify it under the terms of the GNU Lesser General Public
+ *	License as published by the Free Software Foundation; either
+ *	version 2.1 of the License, or (at your option) any later version.
+ *
+ *	qpOASES is distributed in the hope that it will be useful,
+ *	but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *	See the GNU Lesser General Public License for more details.
+ *
+ *	You should have received a copy of the GNU Lesser General Public
+ *	License along with qpOASES; if not, write to the Free Software
+ *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ */
+
+
+/**
+ *	\file include/qpOASES_e/Utils.h
+ *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
+ *	\version 3.1embedded
+ *	\date 2007-2015
+ *
+ *	Declaration of some utilities for working with the different QProblem classes.
+ */
+
+
+#ifndef QPOASES_UTILS_H
+#define QPOASES_UTILS_H
+
+#include <qpOASES_e/MessageHandling.h>
+
+
+BEGIN_NAMESPACE_QPOASES
+
+
+/** Prints a vector.
+ * \return SUCCESSFUL_RETURN */
+returnValue qpOASES_printV(	const real_t* const v,	/**< Vector to be printed. */
+							int n					/**< Length of vector. */
+							);
+
+/** Prints a permuted vector.
+ * \return SUCCESSFUL_RETURN */
+returnValue qpOASES_printPV(	const real_t* const v,		/**< Vector to be printed. */
+								int n,						/**< Length of vector. */
+								const int* const V_idx		/**< Pemutation vector. */
+								);
+
+/** Prints a named vector.
+ * \return SUCCESSFUL_RETURN */
+returnValue qpOASES_printNV(	const real_t* const v,	/**< Vector to be printed. */
+								int n,					/**< Length of vector. */
+								const char* name		/** Name of vector. */
+								);
+
+/** Prints a matrix.
+ * \return SUCCESSFUL_RETURN */
+returnValue qpOASES_printM(	const real_t* const M,	/**< Matrix to be printed. */
+							int nrow,				/**< Row number of matrix. */
+							int ncol				/**< Column number of matrix. */
+							);
+
+/** Prints a permuted matrix.
+ * \return SUCCESSFUL_RETURN */
+returnValue qpOASES_printPM(	const real_t* const M,		/**< Matrix to be printed. */
+								int nrow,					/**< Row number of matrix. */
+								int ncol	,				/**< Column number of matrix. */
+								const int* const ROW_idx,	/**< Row pemutation vector. */
+								const int* const COL_idx	/**< Column pemutation vector. */
+								);
+
+/** Prints a named matrix.
+ * \return SUCCESSFUL_RETURN */
+returnValue qpOASES_printNM(	const real_t* const M,	/**< Matrix to be printed. */
+								int nrow,				/**< Row number of matrix. */
+								int ncol,				/**< Column number of matrix. */
+								const char* name		/** Name of matrix. */
+								);
+
+/** Prints an index array.
+ * \return SUCCESSFUL_RETURN */
+returnValue qpOASES_printI(	const int* const _index,	/**< Index array to be printed. */
+							int n						/**< Length of index array. */
+							);
+
+/** Prints a named index array.
+ * \return SUCCESSFUL_RETURN */
+returnValue qpOASES_printNI(	const int* const _index,	/**< Index array to be printed. */
+								int n,						/**< Length of index array. */
+								const char* name			/**< Name of index array. */
+								);
+
+
+/** Prints a string to desired output target (useful also for MATLAB output!).
+ * \return SUCCESSFUL_RETURN */
+returnValue qpOASES_myPrintf(	const char* s	/**< String to be written. */
+								);
+
+
+/** Prints qpOASES copyright notice.
+ * \return SUCCESSFUL_RETURN */
+returnValue qpOASES_printCopyrightNotice( );
+
+
+/** Reads a real_t matrix from file.
+ * \return SUCCESSFUL_RETURN \n
+ 		   RET_UNABLE_TO_OPEN_FILE \n
+		   RET_UNABLE_TO_READ_FILE */
+returnValue qpOASES_readFromFileM(	real_t* data,				/**< Matrix to be read from file. */
+									int nrow,					/**< Row number of matrix. */
+									int ncol,					/**< Column number of matrix. */
+									const char* datafilename	/**< Data file name. */
+									);
+
+/** Reads a real_t vector from file.
+ * \return SUCCESSFUL_RETURN \n
+ 		   RET_UNABLE_TO_OPEN_FILE \n
+		   RET_UNABLE_TO_READ_FILE */
+returnValue qpOASES_readFromFileV(	real_t* data,				/**< Vector to be read from file. */
+									int n,						/**< Length of vector. */
+									const char* datafilename	/**< Data file name. */
+									);
+
+/** Reads an integer (column) vector from file.
+ * \return SUCCESSFUL_RETURN \n
+ 		   RET_UNABLE_TO_OPEN_FILE \n
+		   RET_UNABLE_TO_READ_FILE */
+returnValue qpOASES_readFromFileI(	int* data,					/**< Vector to be read from file. */
+									int n,						/**< Length of vector. */
+									const char* datafilename	/**< Data file name. */
+									);
+
+
+/** Writes a real_t matrix into a file.
+ * \return SUCCESSFUL_RETURN \n
+ 		   RET_UNABLE_TO_OPEN_FILE  */
+returnValue qpOASES_writeIntoFileM(	const real_t* const data,	/**< Matrix to be written into file. */
+									int nrow,					/**< Row number of matrix. */
+									int ncol,					/**< Column number of matrix. */
+									const char* datafilename,	/**< Data file name. */
+									BooleanType append			/**< Indicates if data shall be appended if the file already exists (otherwise it is overwritten). */
+									);
+
+/** Writes a real_t vector into a file.
+ * \return SUCCESSFUL_RETURN \n
+ 		   RET_UNABLE_TO_OPEN_FILE  */
+returnValue qpOASES_writeIntoFileV(	const real_t* const data,	/**< Vector to be written into file. */
+									int n,						/**< Length of vector. */
+									const char* datafilename,	/**< Data file name. */
+									BooleanType append			/**< Indicates if data shall be appended if the file already exists (otherwise it is overwritten). */
+									);
+
+/** Writes an integer (column) vector into a file.
+ * \return SUCCESSFUL_RETURN \n
+ 		   RET_UNABLE_TO_OPEN_FILE */
+returnValue qpOASES_writeIntoFileI(	const int* const integer,	/**< Integer vector to be written into file. */
+									int n,						/**< Length of vector. */
+									const char* datafilename,	/**< Data file name. */
+									BooleanType append			/**< Indicates if integer shall be appended if the file already exists (otherwise it is overwritten). */
+									);
+
+/** Writes a real_t matrix/vector into a Matlab binary file.
+ * \return SUCCESSFUL_RETURN \n
+		   RET_INVALID_ARGUMENTS
+ 		   RET_UNABLE_TO_WRITE_FILE */
+returnValue qpOASES_writeIntoMatFile(	FILE* const matFile,		/**< Pointer to Matlab binary file. */
+										const real_t* const data,	/**< Data to be written into file. */
+										int nRows,					/**< Row number of matrix. */
+										int nCols, 					/**< Column number of matrix. */
+										const char* name			/**< Matlab name of matrix/vector to be stored. */
+ 										);
+
+/** Writes in integer matrix/vector into a Matlab binary file.
+ * \return SUCCESSFUL_RETURN \n
+		   RET_INVALID_ARGUMENTS
+ 		   RET_UNABLE_TO_WRITE_FILE */
+returnValue qpOASES_writeIntoMatFileI(	FILE* const matFile,		/**< Pointer to Matlab binary file. */
+										const int* const data,		/**< Data to be written into file. */
+										int nRows,					/**< Row number of matrix. */
+										int nCols,					/**< Column number of matrix. */
+										const char* name			/**< Matlab name of matrix/vector to be stored. */
+ 										);
+
+
+/** Returns the current system time.
+ * \return current system time */
+real_t qpOASES_getCPUtime( );
+
+
+/** Returns the N-norm of a vector.
+ * \return >= 0.0: successful */
+real_t qpOASES_getNorm(	const real_t* const v,	/**< Vector. */
+						int n,					/**< Vector's dimension. */
+						int type				/**< Norm type, 1: one-norm, 2: Euclidean norm. */
+						);
+
+/** Tests whether two real-valued arguments are (numerically) equal.
+ * \return	BT_TRUE:  arguments differ not more than TOL \n
+		 	BT_FALSE: arguments differ more than TOL */
+static inline BooleanType qpOASES_isEqual(	real_t x,	/**< First real number. */
+											real_t y,	/**< Second real number. */
+											real_t TOL	/**< Tolerance for comparison. */
+											);
+
+
+/** Tests whether a real-valued argument is (numerically) zero.
+ * \return	BT_TRUE:  argument differs from 0.0 not more than TOL \n
+		 	BT_FALSE: argument differs from 0.0 more than TOL */
+static inline BooleanType qpOASES_isZero(	real_t x,			/**< Real number. */
+											real_t TOL			/**< Tolerance for comparison. */
+											);
+
+
+/** Returns sign of a real-valued argument.
+ * \return	 1.0: argument is non-negative \n
+		 	-1.0: argument is negative */
+static inline real_t qpOASES_getSign(	real_t arg	/**< real-valued argument whose sign is to be determined. */
+										);
+
+
+/** Returns maximum of two integers.
+ * \return	Maximum of two integers */
+static inline int qpOASES_getMaxI(	int x,	/**< First integer. */
+									int y	/**< Second integer. */
+									);
+
+
+/** Returns minimum of two integers.
+ * \return	Minimum of two integers */
+static inline int qpOASES_getMinI(	int x,	/**< First integer. */
+									int y	/**< Second integer. */
+									);
+
+
+/** Returns maximum of two reals.
+ * \return	Maximum of two reals */
+static inline real_t qpOASES_getMax(	real_t x,	/**< First real number. */
+										real_t y	/**< Second real number. */
+										);
+
+
+/** Returns minimum of two reals.
+ * \return	Minimum of two reals */
+static inline real_t qpOASES_getMin(	real_t x,	/**< First real number. */
+										real_t y	/**< Second real number. */
+										);
+
+
+/** Returns the absolute value of a real_t-valued argument.
+ * \return	Absolute value of a real_t-valued argument */
+static inline real_t qpOASES_getAbs(	real_t x	/**< real_t-valued argument. */
+										);
+
+/** Returns the square-root of a real number.
+ * \return	Square-root of a real number */
+static inline real_t qpOASES_getSqrt(	real_t x	/**< Non-negative real number. */
+										);
+
+
+/** Computes the maximum violation of the KKT optimality conditions
+ *	of given iterate for given QP data. */
+returnValue qpOASES_getKktViolation(	int nV,						/**< Number of variables. */
+										int nC,						/**< Number of constraints. */
+										const real_t* const H,		/**< Hessian matrix (may be NULL if Hessian is zero or identity matrix). */
+										const real_t* const g,		/**< Gradient vector. */
+										const real_t* const A,		/**< Constraint matrix. */
+										const real_t* const lb,		/**< Lower bound vector (on variables). */
+										const real_t* const ub,		/**< Upper bound vector (on variables). */
+										const real_t* const lbA,	/**< Lower constraints' bound vector. */
+										const real_t* const ubA,	/**< Upper constraints' bound vector. */
+										const real_t* const x,		/**< Primal trial vector. */
+										const real_t* const y,		/**< Dual trial vector. */
+										real_t* const _stat,		/**< Output: maximum value of stationarity condition residual. */
+										real_t* const feas,			/**< Output: maximum value of primal feasibility violation. */
+										real_t* const cmpl			/**< Output: maximum value of complementarity residual. */
+										);
+
+/** Computes the maximum violation of the KKT optimality conditions
+ *	of given iterate for given QP data. */
+returnValue qpOASES_getKktViolationSB(	int nV,						/**< Number of variables. */
+										const real_t* const H,		/**< Hessian matrix (may be NULL if Hessian is zero or identity matrix). */
+										const real_t* const g,		/**< Gradient vector. */
+										const real_t* const lb,		/**< Lower bound vector (on variables). */
+										const real_t* const ub,		/**< Upper bound vector (on variables). */
+										const real_t* const x,		/**< Primal trial vector. */
+										const real_t* const y,		/**< Dual trial vector. */
+										real_t* const _stat,		/**< Output: maximum value of stationarity condition residual. */
+										real_t* const feas,			/**< Output: maximum value of primal feasibility violation. */
+										real_t* const cmpl			/**< Output: maximum value of complementarity residual. */
+										);
+
+
+/** Writes a value of BooleanType into a string.
+ * \return SUCCESSFUL_RETURN */
+returnValue qpOASES_convertBooleanTypeToString(	BooleanType value, 		/**< Value to be written. */
+												char* const string		/**< Input: String of sufficient size, \n
+																			Output: String containing value. */
+												);
+
+/** Writes a value of SubjectToStatus into a string.
+ * \return SUCCESSFUL_RETURN */
+returnValue qpOASES_convertSubjectToStatusToString(	SubjectToStatus value,	/**< Value to be written. */
+													char* const string		/**< Input: String of sufficient size, \n
+																				Output: String containing value. */
+													);
+
+/** Writes a value of PrintLevel into a string.
+ * \return SUCCESSFUL_RETURN */
+returnValue qpOASES_convertPrintLevelToString(	PrintLevel value, 		/**< Value to be written. */
+												char* const string		/**< Input: String of sufficient size, \n
+																			Output: String containing value. */
+												);
+
+
+/** Converts a returnValue from an QProblem(B) object into a more 
+ *	simple status flag.
+ *
+ * \return  0: QP problem solved
+ *          1: QP could not be solved within given number of iterations
+ *         -1: QP could not be solved due to an internal error
+ *         -2: QP is infeasible (and thus could not be solved)
+ *         -3: QP is unbounded (and thus could not be solved)
+ */
+int qpOASES_getSimpleStatus(	returnValue returnvalue, 	/**< ReturnValue to be analysed. */
+								BooleanType doPrintStatus	/**< Flag indicating whether simple status shall be printed to screen. */
+								);
+
+/** Normalises QP constraints.
+ * \return SUCCESSFUL_RETURN \n
+ *		   RET_INVALID_ARGUMENTS */
+returnValue qpOASES_normaliseConstraints(	int nV,			/**< Number of variables. */
+											int nC, 		/**< Number of constraints. */
+											real_t* A,		/**< Input:  Constraint matrix, \n
+																 Output: Normalised constraint matrix. */
+											real_t* lbA,	/**< Input:  Constraints' lower bound vector, \n
+																 Output: Normalised constraints' lower bound vector. */
+											real_t* ubA,	/**< Input:  Constraints' upper bound vector, \n
+																 Output: Normalised constraints' upper bound vector. */
+											int type		/**< Norm type, 1: one-norm, 2: Euclidean norm. */
+											);
+
+
+#ifdef __DEBUG__
+/** Writes matrix with given dimension into specified file. */
+void gdb_printmat(	const char *fname,			/**< File name. */
+					real_t *M,					/**< Matrix to be written. */
+					int n,						/**< Number of rows. */
+					int m,						/**< Number of columns. */
+					int ldim					/**< Leading dimension. */
+					);
+#endif /* __DEBUG__ */
+
+
+#if defined(__DSPACE__) || defined(__XPCTARGET__) 
+void __cxa_pure_virtual( void );
+#endif /* __DSPACE__ || __XPCTARGET__*/ 
+
+
+
+/*
+ *   i s E q u a l
+ */
+static inline BooleanType qpOASES_isEqual(	real_t x,
+											real_t y,
+											real_t TOL
+											)
+{
+    if ( qpOASES_getAbs(x-y) <= TOL )
+		return BT_TRUE;
+	else
+		return BT_FALSE;
+}
+
+
+/*
+ *   i s Z e r o
+ */
+static inline BooleanType qpOASES_isZero(	real_t x,
+											real_t TOL
+											)
+{
+    if ( qpOASES_getAbs(x) <= TOL )
+		return BT_TRUE;
+	else
+		return BT_FALSE;
+}
+
+
+/*
+ *   g e t S i g n
+ */
+static inline real_t qpOASES_getSign(	real_t arg
+										)
+{
+	if ( arg >= 0.0 )
+		return 1.0;
+	else
+		return -1.0;
+}
+
+
+
+/*
+ *   g e t M a x
+ */
+static inline int qpOASES_getMaxI(	int x,
+									int y
+									)
+{
+    return (y<x) ? x : y;
+}
+
+
+/*
+ *   g e t M i n
+ */
+static inline int qpOASES_getMinI(	int x,
+									int y
+									)
+{
+    return (y>x) ? x : y;
+}
+
+
+/*
+ *   g e t M a x
+ */
+static inline real_t qpOASES_getMax(	real_t x,
+										real_t y
+										)
+{
+	#ifdef __NO_FMATH__
+    return (y<x) ? x : y;
+	#else
+	return (y<x) ? x : y;
+	/*return fmax(x,y); seems to be slower */
+	#endif
+}
+
+
+/*
+ *   g e t M i n
+ */
+static inline real_t qpOASES_getMin(	real_t x,
+										real_t y
+										)
+{
+	#ifdef __NO_FMATH__
+    return (y>x) ? x : y;
+	#else
+	return (y>x) ? x : y;
+	/*return fmin(x,y); seems to be slower */
+	#endif
+}
+
+
+/*
+ *   g e t A b s
+ */
+static inline real_t qpOASES_getAbs(	real_t x
+										)
+{
+	#ifdef __NO_FMATH__
+	return (x>=0.0) ? x : -x;
+	#else
+	return fabs(x);
+	#endif
+}
+
+/*
+ *   g e t S q r t
+ */
+static inline real_t qpOASES_getSqrt(	real_t x
+										)
+{
+    #ifdef __NO_FMATH__
+	return sqrt(x); /* put your custom sqrt-replacement here */
+	#else
+	return sqrt(x);
+	#endif
+}
+
+
+END_NAMESPACE_QPOASES
+
+
+#endif	/* QPOASES_UTILS_H */
+
+
+/*
+ *	end of file
+ */
diff --git a/third_party/acados/include/qpOASES_e/extras/OQPinterface.h b/third_party/acados/include/qpOASES_e/extras/OQPinterface.h
new file mode 100644
index 0000000000..da59ea9db6
--- /dev/null
+++ b/third_party/acados/include/qpOASES_e/extras/OQPinterface.h
@@ -0,0 +1,227 @@
+/*
+ *	This file is part of qpOASES.
+ *
+ *	qpOASES -- An Implementation of the Online Active Set Strategy.
+ *	Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
+ *	Christian Kirches et al. All rights reserved.
+ *
+ *	qpOASES is free software; you can redistribute it and/or
+ *	modify it under the terms of the GNU Lesser General Public
+ *	License as published by the Free Software Foundation; either
+ *	version 2.1 of the License, or (at your option) any later version.
+ *
+ *	qpOASES is distributed in the hope that it will be useful,
+ *	but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *	See the GNU Lesser General Public License for more details.
+ *
+ *	You should have received a copy of the GNU Lesser General Public
+ *	License along with qpOASES; if not, write to the Free Software
+ *	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ */
+
+
+/**
+ *	\file include/qpOASES_e/extras/OQPinterface.h
+ *	\author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches
+ *	\version 3.1embedded
+ *	\date 2007-2015
+ *
+ *	Declaration of an interface comprising several utility functions
+ *	for solving test problems from the Online QP Benchmark Collection
+ *	(This collection is no longer maintained, see
+ *	http://www.qpOASES.org/onlineQP for a backup).
+ */
+
+
+#ifndef QPOASES_OQPINTERFACE_H
+#define QPOASES_OQPINTERFACE_H
+
+
+#include <qpOASES_e/Utils.h>
+#include <qpOASES_e/Options.h>
+
+#include <qpOASES_e/QProblemB.h>
+#include <qpOASES_e/QProblem.h>
+
+
+BEGIN_NAMESPACE_QPOASES
+
+typedef struct {
+	QProblem *qp;
+
+	DenseMatrix *H;
+	DenseMatrix *A;
+
+	real_t *x;
+	real_t *y;
+} OQPbenchmark_ws;
+
+int OQPbenchmark_ws_calculateMemorySize( unsigned int nV, unsigned int nC );
+
+char *OQPbenchmark_ws_assignMemory( unsigned int nV, unsigned int nC, OQPbenchmark_ws **mem, void *raw_memory );
+
+OQPbenchmark_ws *OQPbenchmark_ws_createMemory( unsigned int nV, unsigned int nC );
+
+typedef struct {
+	QProblemB *qp;
+
+	DenseMatrix *H;
+
+	real_t *x;
+	real_t *y;
+} OQPbenchmarkB_ws;
+
+int OQPbenchmarkB_ws_calculateMemorySize( unsigned int nV );
+
+char *OQPbenchmarkB_ws_assignMemory( unsigned int nV, OQPbenchmarkB_ws **mem, void *raw_memory );
+
+OQPbenchmarkB_ws *OQPbenchmarkB_ws_createMemory( unsigned int nV );
+
+typedef struct {
+	OQPbenchmark_ws *qp_ws;
+	OQPbenchmarkB_ws *qpB_ws;
+
+	real_t *H;
+	real_t *g;
+	real_t *A;
+	real_t *lb;
+	real_t *ub;
+	real_t *lbA;
+	real_t *ubA;
+} OQPinterface_ws;
+
+int OQPinterface_ws_calculateMemorySize( unsigned int nV, unsigned int nC, unsigned int nQP  );
+
+char *OQPinterface_ws_assignMemory( unsigned int nV, unsigned int nC, unsigned int nQP, OQPinterface_ws **mem, void *raw_memory );
+
+OQPinterface_ws *OQPinterface_ws_createMemory( unsigned int nV, unsigned int nC, unsigned int nQP );
+
+/** Reads dimensions of an Online QP Benchmark problem from file.
+ * \return SUCCESSFUL_RETURN \n
+		   RET_UNABLE_TO_READ_FILE \n
+		   RET_FILEDATA_INCONSISTENT */
+returnValue readOQPdimensions(	const char* path,	/**< Full path of the data files (without trailing slash!). */
+								int* nQP,			/**< Output: Number of QPs. */
+								int* nV,			/**< Output: Number of variables. */
+								int* nC,			/**< Output: Number of constraints. */
+								int* nEC			/**< Output: Number of equality constraints. */
+								);
+
+/** Reads data of an Online QP Benchmark problem from file.
+ *  This function allocates the required memory for all data; after successfully calling it,
+ *  you have to free this memory yourself!
+ * \return SUCCESSFUL_RETURN \n
+		   RET_INVALID_ARGUMENTS \n
+		   RET_UNABLE_TO_READ_FILE \n
+		   RET_FILEDATA_INCONSISTENT */
+returnValue readOQPdata(	const char* path,	/**< Full path of the data files (without trailing slash!). */
+							int* nQP,			/**< Output: Number of QPs. */
+							int* nV,			/**< Output: Number of variables. */
+							int* nC,			/**< Output: Number of constraints. */
+							int* nEC,			/**< Output: Number of equality constraints. */
+							real_t* H,		 	/**< Output: Hessian matrix. */
+							real_t* g,		 	/**< Output: Sequence of gradient vectors. */
+							real_t* A,		 	/**< Output: Constraint matrix. */
+							real_t* lb,			/**< Output: Sequence of lower bound vectors (on variables). */
+							real_t* ub,			/**< Output: Sequence of upper bound vectors (on variables). */
+							real_t* lbA,		/**< Output: Sequence of lower constraints' bound vectors. */
+							real_t* ubA,		/**< Output: Sequence of upper constraints' bound vectors. */
+							real_t* xOpt,		/**< Output: Sequence of primal solution vectors
+												 *           (not read if a null pointer is passed). */
+							real_t* yOpt,		/**< Output: Sequence of dual solution vectors
+												 *           (not read if a null pointer is passed). */
+							real_t* objOpt		/**< Output: Sequence of optimal objective function values
+												 *           (not read if a null pointer is passed). */
+							);
+
+
+/** Solves an Online QP Benchmark problem as specified by the arguments.
+ *  The maximum deviations from the given optimal solution as well as the
+ *  maximum CPU time to solve each QP are determined.
+ * \return SUCCESSFUL_RETURN \n
+ 		   RET_BENCHMARK_ABORTED */
+returnValue solveOQPbenchmark(	int nQP,					/**< Number of QPs. */
+								int nV,						/**< Number of variables. */
+								int nC,						/**< Number of constraints. */
+								int nEC,					/**< Number of equality constraints. */
+								real_t* _H,					/**< Hessian matrix. */
+								const real_t* const g,		/**< Sequence of gradient vectors. */
+								real_t* _A,					/**< Constraint matrix. */
+								const real_t* const lb,		/**< Sequence of lower bound vectors (on variables). */
+								const real_t* const ub,		/**< Sequence of upper bound vectors (on variables). */
+								const real_t* const lbA,	/**< Sequence of lower constraints' bound vectors. */
+								const real_t* const ubA,	/**< Sequence of upper constraints' bound vectors. */
+								BooleanType isSparse,		/**< Shall convert matrices to sparse format before solution? */
+								BooleanType useHotstarts,	/**< Shall QP solution be hotstarted? */
+								const Options* options,		/**< QP solver options to be used while solving benchmark problems. */
+								int maxAllowedNWSR, 		/**< Maximum number of working set recalculations to be performed. */
+								real_t* maxNWSR,			/**< Output: Maximum number of performed working set recalculations. */
+								real_t* avgNWSR,			/**< Output: Average number of performed working set recalculations. */
+								real_t* maxCPUtime,			/**< Output: Maximum CPU time required for solving each QP. */
+								real_t* avgCPUtime,			/**< Output: Average CPU time required for solving each QP. */
+								real_t* maxStationarity,	/**< Output: Maximum residual of stationarity condition. */
+								real_t* maxFeasibility,		/**< Output: Maximum residual of primal feasibility condition. */
+								real_t* maxComplementarity,	/**< Output: Maximum residual of complementarity condition. */
+								OQPbenchmark_ws *work	    /**< Workspace. */
+								);
+
+/** Solves an Online QP Benchmark problem (without constraints) as specified
+ *  by the arguments. The maximum deviations from the given optimal solution
+ *  as well as the maximum CPU time to solve each QP are determined.
+ * \return SUCCESSFUL_RETURN \n
+ 		   RET_BENCHMARK_ABORTED */
+returnValue solveOQPbenchmarkB(	int nQP,					/**< Number of QPs. */
+								int nV,						/**< Number of variables. */
+								real_t* _H,					/**< Hessian matrix. */
+								const real_t* const g,		/**< Sequence of gradient vectors. */
+								const real_t* const lb,		/**< Sequence of lower bound vectors (on variables). */
+								const real_t* const ub,		/**< Sequence of upper bound vectors (on variables). */
+								BooleanType isSparse,		/**< Shall convert matrices to sparse format before solution? */
+								BooleanType useHotstarts,	/**< Shall QP solution be hotstarted? */
+								const Options* options,		/**< QP solver options to be used while solving benchmark problems. */
+								int maxAllowedNWSR, 		/**< Maximum number of working set recalculations to be performed. */
+								real_t* maxNWSR,			/**< Output: Maximum number of performed working set recalculations. */
+								real_t* avgNWSR,			/**< Output: Average number of performed working set recalculations. */
+								real_t* maxCPUtime,			/**< Output: Maximum CPU time required for solving each QP. */
+								real_t* avgCPUtime,			/**< Output: Average CPU time required for solving each QP. */
+								real_t* maxStationarity,	/**< Output: Maximum residual of stationarity condition. */
+								real_t* maxFeasibility,		/**< Output: Maximum residual of primal feasibility condition. */
+								real_t* maxComplementarity,	/**< Output: Maximum residual of complementarity condition. */
+								OQPbenchmarkB_ws *work	    /**< Workspace. */
+								);
+
+
+/** Runs an Online QP Benchmark problem and determines the maximum
+ *  violation of the KKT optimality conditions as well as the
+ *  maximum and average number of iterations and CPU time to solve
+ *	each QP.
+ *
+ * \return SUCCESSFUL_RETURN \n
+		   RET_UNABLE_TO_READ_BENCHMARK \n
+ 		   RET_BENCHMARK_ABORTED */
+returnValue runOQPbenchmark(	const char* path,			/**< Full path of the benchmark files (without trailing slash!). */
+								BooleanType isSparse,		/**< Shall convert matrices to sparse format before solution? */
+								BooleanType useHotstarts,	/**< Shall QP solution be hotstarted? */
+								const Options* options,		/**< QP solver options to be used while solving benchmark problems. */
+								int maxAllowedNWSR, 		/**< Maximum number of working set recalculations to be performed. */
+								real_t* maxNWSR,			/**< Output: Maximum number of performed working set recalculations. */
+								real_t* avgNWSR,			/**< Output: Average number of performed working set recalculations. */
+								real_t* maxCPUtime,			/**< Output: Maximum CPU time required for solving each QP. */
+								real_t* avgCPUtime,			/**< Output: Average CPU time required for solving each QP. */
+								real_t* maxStationarity,	/**< Output: Maximum residual of stationarity condition. */
+								real_t* maxFeasibility,		/**< Output: Maximum residual of primal feasibility condition. */
+								real_t* maxComplementarity,	/**< Output: Maximum residual of complementarity condition. */
+								OQPinterface_ws* work       /**< Workspace. */
+								);
+
+END_NAMESPACE_QPOASES
+
+
+#endif	/* QPOASES_OQPINTERFACE_H */
+
+
+/*
+ *	end of file
+ */
diff --git a/phonelibs/acados/larch64/lib/libacados.so b/third_party/acados/larch64/lib/libacados.so
similarity index 100%
rename from phonelibs/acados/larch64/lib/libacados.so
rename to third_party/acados/larch64/lib/libacados.so
diff --git a/phonelibs/acados/larch64/lib/libblasfeo.so b/third_party/acados/larch64/lib/libblasfeo.so
similarity index 100%
rename from phonelibs/acados/larch64/lib/libblasfeo.so
rename to third_party/acados/larch64/lib/libblasfeo.so
diff --git a/phonelibs/acados/larch64/lib/libhpipm.so b/third_party/acados/larch64/lib/libhpipm.so
similarity index 100%
rename from phonelibs/acados/larch64/lib/libhpipm.so
rename to third_party/acados/larch64/lib/libhpipm.so
diff --git a/phonelibs/acados/larch64/lib/libqpOASES_e.so b/third_party/acados/larch64/lib/libqpOASES_e.so
similarity index 100%
rename from phonelibs/acados/larch64/lib/libqpOASES_e.so
rename to third_party/acados/larch64/lib/libqpOASES_e.so
diff --git a/phonelibs/acados/larch64/lib/libqpOASES_e.so.3.1 b/third_party/acados/larch64/lib/libqpOASES_e.so.3.1
similarity index 100%
rename from phonelibs/acados/larch64/lib/libqpOASES_e.so.3.1
rename to third_party/acados/larch64/lib/libqpOASES_e.so.3.1
diff --git a/phonelibs/acados/larch64/t_renderer b/third_party/acados/larch64/t_renderer
similarity index 100%
rename from phonelibs/acados/larch64/t_renderer
rename to third_party/acados/larch64/t_renderer
diff --git a/phonelibs/acados/x86_64/lib/libacados.so b/third_party/acados/x86_64/lib/libacados.so
similarity index 100%
rename from phonelibs/acados/x86_64/lib/libacados.so
rename to third_party/acados/x86_64/lib/libacados.so
diff --git a/phonelibs/acados/x86_64/lib/libblasfeo.so b/third_party/acados/x86_64/lib/libblasfeo.so
similarity index 100%
rename from phonelibs/acados/x86_64/lib/libblasfeo.so
rename to third_party/acados/x86_64/lib/libblasfeo.so
diff --git a/phonelibs/acados/x86_64/lib/libhpipm.so b/third_party/acados/x86_64/lib/libhpipm.so
similarity index 100%
rename from phonelibs/acados/x86_64/lib/libhpipm.so
rename to third_party/acados/x86_64/lib/libhpipm.so
diff --git a/phonelibs/acados/x86_64/lib/libqpOASES_e.so b/third_party/acados/x86_64/lib/libqpOASES_e.so
similarity index 100%
rename from phonelibs/acados/x86_64/lib/libqpOASES_e.so
rename to third_party/acados/x86_64/lib/libqpOASES_e.so
diff --git a/phonelibs/acados/x86_64/lib/libqpOASES_e.so.3.1 b/third_party/acados/x86_64/lib/libqpOASES_e.so.3.1
similarity index 100%
rename from phonelibs/acados/x86_64/lib/libqpOASES_e.so.3.1
rename to third_party/acados/x86_64/lib/libqpOASES_e.so.3.1
diff --git a/phonelibs/acados/x86_64/t_renderer b/third_party/acados/x86_64/t_renderer
similarity index 100%
rename from phonelibs/acados/x86_64/t_renderer
rename to third_party/acados/x86_64/t_renderer
diff --git a/third_party/android_frameworks_native/get.txt b/third_party/android_frameworks_native/get.txt
new file mode 100644
index 0000000000..277bdcb6a8
--- /dev/null
+++ b/third_party/android_frameworks_native/get.txt
@@ -0,0 +1,3 @@
+git clone https://github.com/CyanogenMod/android_frameworks_native.git && cd android_frameworks_native
+git reset --hard b22bca465e55618a949d9cbdea665a1a3a831241
+cp -r include ~/one/third_party/android_frameworks_native/
diff --git a/third_party/android_frameworks_native/include/android/asset_manager.h b/third_party/android_frameworks_native/include/android/asset_manager.h
new file mode 100644
index 0000000000..d65483968e
--- /dev/null
+++ b/third_party/android_frameworks_native/include/android/asset_manager.h
@@ -0,0 +1,215 @@
+/*
+ * Copyright (C) 2010 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+/**
+ * @addtogroup Asset
+ * @{
+ */
+
+/**
+ * @file asset_manager.h
+ */
+
+#ifndef ANDROID_ASSET_MANAGER_H
+#define ANDROID_ASSET_MANAGER_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+struct AAssetManager;
+/**
+ * {@link AAssetManager} provides access to an application's raw assets by
+ * creating {@link AAsset} objects.
+ *
+ * AAssetManager is a wrapper to the low-level native implementation
+ * of the java {@link AAssetManager}, a pointer can be obtained using
+ * AAssetManager_fromJava().
+ *
+ * The asset hierarchy may be examined like a filesystem, using
+ * {@link AAssetDir} objects to peruse a single directory.
+ *
+ * A native {@link AAssetManager} pointer may be shared across multiple threads.
+ */
+typedef struct AAssetManager AAssetManager;
+
+struct AAssetDir;
+/**
+ * {@link AAssetDir} provides access to a chunk of the asset hierarchy as if
+ * it were a single directory. The contents are populated by the
+ * {@link AAssetManager}.
+ *
+ * The list of files will be sorted in ascending order by ASCII value.
+ */
+typedef struct AAssetDir AAssetDir;
+
+struct AAsset;
+/**
+ * {@link AAsset} provides access to a read-only asset.
+ *
+ * {@link AAsset} objects are NOT thread-safe, and should not be shared across
+ * threads.
+ */
+typedef struct AAsset AAsset;
+
+/** Available access modes for opening assets with {@link AAssetManager_open} */
+enum {
+    /** No specific information about how data will be accessed. **/
+    AASSET_MODE_UNKNOWN      = 0,
+    /** Read chunks, and seek forward and backward. */
+    AASSET_MODE_RANDOM       = 1,
+    /** Read sequentially, with an occasional forward seek. */
+    AASSET_MODE_STREAMING    = 2,
+    /** Caller plans to ask for a read-only buffer with all data. */
+    AASSET_MODE_BUFFER       = 3
+};
+
+
+/**
+ * Open the named directory within the asset hierarchy.  The directory can then
+ * be inspected with the AAssetDir functions.  To open the top-level directory,
+ * pass in "" as the dirName.
+ *
+ * The object returned here should be freed by calling AAssetDir_close().
+ */
+AAssetDir* AAssetManager_openDir(AAssetManager* mgr, const char* dirName);
+
+/**
+ * Open an asset.
+ *
+ * The object returned here should be freed by calling AAsset_close().
+ */
+AAsset* AAssetManager_open(AAssetManager* mgr, const char* filename, int mode);
+
+/**
+ * Iterate over the files in an asset directory.  A NULL string is returned
+ * when all the file names have been returned.
+ *
+ * The returned file name is suitable for passing to AAssetManager_open().
+ *
+ * The string returned here is owned by the AssetDir implementation and is not
+ * guaranteed to remain valid if any other calls are made on this AAssetDir
+ * instance.
+ */
+const char* AAssetDir_getNextFileName(AAssetDir* assetDir);
+
+/**
+ * Reset the iteration state of AAssetDir_getNextFileName() to the beginning.
+ */
+void AAssetDir_rewind(AAssetDir* assetDir);
+
+/**
+ * Close an opened AAssetDir, freeing any related resources.
+ */
+void AAssetDir_close(AAssetDir* assetDir);
+
+/**
+ * Attempt to read 'count' bytes of data from the current offset.
+ *
+ * Returns the number of bytes read, zero on EOF, or < 0 on error.
+ */
+int AAsset_read(AAsset* asset, void* buf, size_t count);
+
+/**
+ * Seek to the specified offset within the asset data.  'whence' uses the
+ * same constants as lseek()/fseek().
+ *
+ * Returns the new position on success, or (off_t) -1 on error.
+ */
+off_t AAsset_seek(AAsset* asset, off_t offset, int whence);
+
+/**
+ * Seek to the specified offset within the asset data.  'whence' uses the
+ * same constants as lseek()/fseek().
+ *
+ * Uses 64-bit data type for large files as opposed to the 32-bit type used
+ * by AAsset_seek.
+ *
+ * Returns the new position on success, or (off64_t) -1 on error.
+ */
+off64_t AAsset_seek64(AAsset* asset, off64_t offset, int whence);
+
+/**
+ * Close the asset, freeing all associated resources.
+ */
+void AAsset_close(AAsset* asset);
+
+/**
+ * Get a pointer to a buffer holding the entire contents of the assset.
+ *
+ * Returns NULL on failure.
+ */
+const void* AAsset_getBuffer(AAsset* asset);
+
+/**
+ * Report the total size of the asset data.
+ */
+off_t AAsset_getLength(AAsset* asset);
+
+/**
+ * Report the total size of the asset data. Reports the size using a 64-bit
+ * number insted of 32-bit as AAsset_getLength.
+ */
+off64_t AAsset_getLength64(AAsset* asset);
+
+/**
+ * Report the total amount of asset data that can be read from the current position.
+ */
+off_t AAsset_getRemainingLength(AAsset* asset);
+
+/**
+ * Report the total amount of asset data that can be read from the current position.
+ *
+ * Uses a 64-bit number instead of a 32-bit number as AAsset_getRemainingLength does.
+ */
+off64_t AAsset_getRemainingLength64(AAsset* asset);
+
+/**
+ * Open a new file descriptor that can be used to read the asset data. If the
+ * start or length cannot be represented by a 32-bit number, it will be
+ * truncated. If the file is large, use AAsset_openFileDescriptor64 instead.
+ *
+ * Returns < 0 if direct fd access is not possible (for example, if the asset is
+ * compressed).
+ */
+int AAsset_openFileDescriptor(AAsset* asset, off_t* outStart, off_t* outLength);
+
+/**
+ * Open a new file descriptor that can be used to read the asset data.
+ *
+ * Uses a 64-bit number for the offset and length instead of 32-bit instead of
+ * as AAsset_openFileDescriptor does.
+ *
+ * Returns < 0 if direct fd access is not possible (for example, if the asset is
+ * compressed).
+ */
+int AAsset_openFileDescriptor64(AAsset* asset, off64_t* outStart, off64_t* outLength);
+
+/**
+ * Returns whether this asset's internal buffer is allocated in ordinary RAM (i.e. not
+ * mmapped).
+ */
+int AAsset_isAllocated(AAsset* asset);
+
+
+
+#ifdef __cplusplus
+};
+#endif
+
+#endif      // ANDROID_ASSET_MANAGER_H
+
+/** @} */
diff --git a/third_party/android_frameworks_native/include/android/asset_manager_jni.h b/third_party/android_frameworks_native/include/android/asset_manager_jni.h
new file mode 100644
index 0000000000..dcee17e10f
--- /dev/null
+++ b/third_party/android_frameworks_native/include/android/asset_manager_jni.h
@@ -0,0 +1,50 @@
+/*
+ * Copyright (C) 2010 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+/**
+ * @addtogroup Asset
+ * @{
+ */
+
+/**
+ * @file asset_manager_jni.h
+ */
+
+#ifndef ANDROID_ASSET_MANAGER_JNI_H
+#define ANDROID_ASSET_MANAGER_JNI_H
+
+#include <android/asset_manager.h>
+#include <jni.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * Given a Dalvik AssetManager object, obtain the corresponding native AAssetManager
+ * object.  Note that the caller is responsible for obtaining and holding a VM reference
+ * to the jobject to prevent its being garbage collected while the native object is
+ * in use.
+ */
+AAssetManager* AAssetManager_fromJava(JNIEnv* env, jobject assetManager);
+
+#ifdef __cplusplus
+};
+#endif
+
+#endif      // ANDROID_ASSET_MANAGER_JNI_H
+
+/** @} */
diff --git a/third_party/android_frameworks_native/include/android/bitmap.h b/third_party/android_frameworks_native/include/android/bitmap.h
new file mode 100644
index 0000000000..261e64fac9
--- /dev/null
+++ b/third_party/android_frameworks_native/include/android/bitmap.h
@@ -0,0 +1,112 @@
+/*
+ * Copyright (C) 2009 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+/**
+ * @addtogroup Bitmap
+ * @{
+ */
+
+/**
+ * @file bitmap.h
+ */
+
+#ifndef ANDROID_BITMAP_H
+#define ANDROID_BITMAP_H
+
+#include <stdint.h>
+#include <jni.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/** AndroidBitmap functions result code. */
+enum {
+    /** Operation was successful. */
+    ANDROID_BITMAP_RESULT_SUCCESS           = 0,
+    /** Bad parameter. */
+    ANDROID_BITMAP_RESULT_BAD_PARAMETER     = -1,
+    /** JNI exception occured. */
+    ANDROID_BITMAP_RESULT_JNI_EXCEPTION     = -2,
+    /** Allocation failed. */
+    ANDROID_BITMAP_RESULT_ALLOCATION_FAILED = -3,
+};
+
+/** Backward compatibility: this macro used to be misspelled. */
+#define ANDROID_BITMAP_RESUT_SUCCESS ANDROID_BITMAP_RESULT_SUCCESS
+
+/** Bitmap pixel format. */
+enum AndroidBitmapFormat {
+    /** No format. */
+    ANDROID_BITMAP_FORMAT_NONE      = 0,
+    /** Red: 8 bits, Green: 8 bits, Blue: 8 bits, Alpha: 8 bits. **/
+    ANDROID_BITMAP_FORMAT_RGBA_8888 = 1,
+    /** Red: 5 bits, Green: 6 bits, Blue: 5 bits. **/
+    ANDROID_BITMAP_FORMAT_RGB_565   = 4,
+    /** Red: 4 bits, Green: 4 bits, Blue: 4 bits, Alpha: 4 bits. **/
+    ANDROID_BITMAP_FORMAT_RGBA_4444 = 7,
+    /** Deprecated. */
+    ANDROID_BITMAP_FORMAT_A_8       = 8,
+};
+
+/** Bitmap info, see AndroidBitmap_getInfo(). */
+typedef struct {
+    /** The bitmap width in pixels. */
+    uint32_t    width;
+    /** The bitmap height in pixels. */
+    uint32_t    height;
+    /** The number of byte per row. */
+    uint32_t    stride;
+    /** The bitmap pixel format. See {@link AndroidBitmapFormat} */
+    int32_t     format;
+    /** Unused. */
+    uint32_t    flags;      // 0 for now
+} AndroidBitmapInfo;
+
+/**
+ * Given a java bitmap object, fill out the AndroidBitmapInfo struct for it.
+ * If the call fails, the info parameter will be ignored.
+ */
+int AndroidBitmap_getInfo(JNIEnv* env, jobject jbitmap,
+                          AndroidBitmapInfo* info);
+
+/**
+ * Given a java bitmap object, attempt to lock the pixel address.
+ * Locking will ensure that the memory for the pixels will not move
+ * until the unlockPixels call, and ensure that, if the pixels had been
+ * previously purged, they will have been restored.
+ *
+ * If this call succeeds, it must be balanced by a call to
+ * AndroidBitmap_unlockPixels, after which time the address of the pixels should
+ * no longer be used.
+ *
+ * If this succeeds, *addrPtr will be set to the pixel address. If the call
+ * fails, addrPtr will be ignored.
+ */
+int AndroidBitmap_lockPixels(JNIEnv* env, jobject jbitmap, void** addrPtr);
+
+/**
+ * Call this to balance a successful call to AndroidBitmap_lockPixels.
+ */
+int AndroidBitmap_unlockPixels(JNIEnv* env, jobject jbitmap);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
+
+/** @} */
diff --git a/third_party/android_frameworks_native/include/android/configuration.h b/third_party/android_frameworks_native/include/android/configuration.h
new file mode 100644
index 0000000000..81f71a92cb
--- /dev/null
+++ b/third_party/android_frameworks_native/include/android/configuration.h
@@ -0,0 +1,708 @@
+/*
+ * Copyright (C) 2010 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+/**
+ * @addtogroup Configuration
+ * @{
+ */
+
+/**
+ * @file configuration.h
+ */
+
+#ifndef ANDROID_CONFIGURATION_H
+#define ANDROID_CONFIGURATION_H
+
+#include <android/asset_manager.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+struct AConfiguration;
+/**
+ * {@link AConfiguration} is an opaque type used to get and set
+ * various subsystem configurations.
+ *
+ * A {@link AConfiguration} pointer can be obtained using:
+ * - AConfiguration_new()
+ * - AConfiguration_fromAssetManager()
+ */
+typedef struct AConfiguration AConfiguration;
+
+
+/**
+ * Define flags and constants for various subsystem configurations.
+ */
+enum {
+    /** Orientation: not specified. */
+    ACONFIGURATION_ORIENTATION_ANY  = 0x0000,
+    /**
+     * Orientation: value corresponding to the
+     * <a href="@dacRoot/guide/topics/resources/providing-resources.html#OrientationQualifier">port</a>
+     * resource qualifier.
+     */
+    ACONFIGURATION_ORIENTATION_PORT = 0x0001,
+    /**
+     * Orientation: value corresponding to the
+     * <a href="@dacRoot/guide/topics/resources/providing-resources.html#OrientationQualifier">land</a>
+     * resource qualifier.
+     */
+    ACONFIGURATION_ORIENTATION_LAND = 0x0002,
+    /** @deprecated Not currently supported or used. */
+    ACONFIGURATION_ORIENTATION_SQUARE = 0x0003,
+
+    /** Touchscreen: not specified. */
+    ACONFIGURATION_TOUCHSCREEN_ANY  = 0x0000,
+    /**
+     * Touchscreen: value corresponding to the
+     * <a href="@dacRoot/guide/topics/resources/providing-resources.html#TouchscreenQualifier">notouch</a>
+     * resource qualifier.
+     */
+    ACONFIGURATION_TOUCHSCREEN_NOTOUCH  = 0x0001,
+    /** @deprecated Not currently supported or used. */
+    ACONFIGURATION_TOUCHSCREEN_STYLUS  = 0x0002,
+    /**
+     * Touchscreen: value corresponding to the
+     * <a href="@dacRoot/guide/topics/resources/providing-resources.html#TouchscreenQualifier">finger</a>
+     * resource qualifier.
+     */
+    ACONFIGURATION_TOUCHSCREEN_FINGER  = 0x0003,
+
+    /** Density: default density. */
+    ACONFIGURATION_DENSITY_DEFAULT = 0,
+    /**
+     * Density: value corresponding to the
+     * <a href="@dacRoot/guide/topics/resources/providing-resources.html#DensityQualifier">ldpi</a>
+     * resource qualifier.
+     */
+    ACONFIGURATION_DENSITY_LOW = 120,
+    /**
+     * Density: value corresponding to the
+     * <a href="@dacRoot/guide/topics/resources/providing-resources.html#DensityQualifier">mdpi</a>
+     * resource qualifier.
+     */
+    ACONFIGURATION_DENSITY_MEDIUM = 160,
+    /**
+     * Density: value corresponding to the
+     * <a href="@dacRoot/guide/topics/resources/providing-resources.html#DensityQualifier">tvdpi</a>
+     * resource qualifier.
+     */
+    ACONFIGURATION_DENSITY_TV = 213,
+    /**
+     * Density: value corresponding to the
+     * <a href="@dacRoot/guide/topics/resources/providing-resources.html#DensityQualifier">hdpi</a>
+     * resource qualifier.
+     */
+    ACONFIGURATION_DENSITY_HIGH = 240,
+    /**
+     * Density: value corresponding to the
+     * <a href="@dacRoot/guide/topics/resources/providing-resources.html#DensityQualifier">xhdpi</a>
+     * resource qualifier.
+     */
+    ACONFIGURATION_DENSITY_XHIGH = 320,
+    /**
+     * Density: value corresponding to the
+     * <a href="@dacRoot/guide/topics/resources/providing-resources.html#DensityQualifier">xxhdpi</a>
+     * resource qualifier.
+     */
+    ACONFIGURATION_DENSITY_XXHIGH = 480,
+    /**
+     * Density: value corresponding to the
+     * <a href="@dacRoot/guide/topics/resources/providing-resources.html#DensityQualifier">xxxhdpi</a>
+     * resource qualifier.
+     */
+    ACONFIGURATION_DENSITY_XXXHIGH = 640,
+    /** Density: any density. */
+    ACONFIGURATION_DENSITY_ANY = 0xfffe,
+    /** Density: no density specified. */
+    ACONFIGURATION_DENSITY_NONE = 0xffff,
+
+    /** Keyboard: not specified. */
+    ACONFIGURATION_KEYBOARD_ANY  = 0x0000,
+    /**
+     * Keyboard: value corresponding to the
+     * <a href="@dacRoot/guide/topics/resources/providing-resources.html#ImeQualifier">nokeys</a>
+     * resource qualifier.
+     */
+    ACONFIGURATION_KEYBOARD_NOKEYS  = 0x0001,
+    /**
+     * Keyboard: value corresponding to the
+     * <a href="@dacRoot/guide/topics/resources/providing-resources.html#ImeQualifier">qwerty</a>
+     * resource qualifier.
+     */
+    ACONFIGURATION_KEYBOARD_QWERTY  = 0x0002,
+    /**
+     * Keyboard: value corresponding to the
+     * <a href="@dacRoot/guide/topics/resources/providing-resources.html#ImeQualifier">12key</a>
+     * resource qualifier.
+     */
+    ACONFIGURATION_KEYBOARD_12KEY  = 0x0003,
+
+    /** Navigation: not specified. */
+    ACONFIGURATION_NAVIGATION_ANY  = 0x0000,
+    /**
+     * Navigation: value corresponding to the
+     * <a href="@@dacRoot/guide/topics/resources/providing-resources.html#NavigationQualifier">nonav</a>
+     * resource qualifier.
+     */
+    ACONFIGURATION_NAVIGATION_NONAV  = 0x0001,
+    /**
+     * Navigation: value corresponding to the
+     * <a href="@dacRoot/guide/topics/resources/providing-resources.html#NavigationQualifier">dpad</a>
+     * resource qualifier.
+     */
+    ACONFIGURATION_NAVIGATION_DPAD  = 0x0002,
+    /**
+     * Navigation: value corresponding to the
+     * <a href="@dacRoot/guide/topics/resources/providing-resources.html#NavigationQualifier">trackball</a>
+     * resource qualifier.
+     */
+    ACONFIGURATION_NAVIGATION_TRACKBALL  = 0x0003,
+    /**
+     * Navigation: value corresponding to the
+     * <a href="@dacRoot/guide/topics/resources/providing-resources.html#NavigationQualifier">wheel</a>
+     * resource qualifier.
+     */
+    ACONFIGURATION_NAVIGATION_WHEEL  = 0x0004,
+
+    /** Keyboard availability: not specified. */
+    ACONFIGURATION_KEYSHIDDEN_ANY = 0x0000,
+    /**
+     * Keyboard availability: value corresponding to the
+     * <a href="@dacRoot/guide/topics/resources/providing-resources.html#KeyboardAvailQualifier">keysexposed</a>
+     * resource qualifier.
+     */
+    ACONFIGURATION_KEYSHIDDEN_NO = 0x0001,
+    /**
+     * Keyboard availability: value corresponding to the
+     * <a href="@dacRoot/guide/topics/resources/providing-resources.html#KeyboardAvailQualifier">keyshidden</a>
+     * resource qualifier.
+     */
+    ACONFIGURATION_KEYSHIDDEN_YES = 0x0002,
+    /**
+     * Keyboard availability: value corresponding to the
+     * <a href="@dacRoot/guide/topics/resources/providing-resources.html#KeyboardAvailQualifier">keyssoft</a>
+     * resource qualifier.
+     */
+    ACONFIGURATION_KEYSHIDDEN_SOFT = 0x0003,
+
+    /** Navigation availability: not specified. */
+    ACONFIGURATION_NAVHIDDEN_ANY = 0x0000,
+    /**
+     * Navigation availability: value corresponding to the
+     * <a href="@dacRoot/guide/topics/resources/providing-resources.html#NavAvailQualifier">navexposed</a>
+     * resource qualifier.
+     */
+    ACONFIGURATION_NAVHIDDEN_NO = 0x0001,
+    /**
+     * Navigation availability: value corresponding to the
+     * <a href="@dacRoot/guide/topics/resources/providing-resources.html#NavAvailQualifier">navhidden</a>
+     * resource qualifier.
+     */
+    ACONFIGURATION_NAVHIDDEN_YES = 0x0002,
+
+    /** Screen size: not specified. */
+    ACONFIGURATION_SCREENSIZE_ANY  = 0x00,
+    /**
+     * Screen size: value indicating the screen is at least
+     * approximately 320x426 dp units, corresponding to the
+     * <a href="@dacRoot/guide/topics/resources/providing-resources.html#ScreenSizeQualifier">small</a>
+     * resource qualifier.
+     */
+    ACONFIGURATION_SCREENSIZE_SMALL = 0x01,
+    /**
+     * Screen size: value indicating the screen is at least
+     * approximately 320x470 dp units, corresponding to the
+     * <a href="@dacRoot/guide/topics/resources/providing-resources.html#ScreenSizeQualifier">normal</a>
+     * resource qualifier.
+     */
+    ACONFIGURATION_SCREENSIZE_NORMAL = 0x02,
+    /**
+     * Screen size: value indicating the screen is at least
+     * approximately 480x640 dp units, corresponding to the
+     * <a href="@dacRoot/guide/topics/resources/providing-resources.html#ScreenSizeQualifier">large</a>
+     * resource qualifier.
+     */
+    ACONFIGURATION_SCREENSIZE_LARGE = 0x03,
+    /**
+     * Screen size: value indicating the screen is at least
+     * approximately 720x960 dp units, corresponding to the
+     * <a href="@dacRoot/guide/topics/resources/providing-resources.html#ScreenSizeQualifier">xlarge</a>
+     * resource qualifier.
+     */
+    ACONFIGURATION_SCREENSIZE_XLARGE = 0x04,
+
+    /** Screen layout: not specified. */
+    ACONFIGURATION_SCREENLONG_ANY = 0x00,
+    /**
+     * Screen layout: value that corresponds to the
+     * <a href="@dacRoot/guide/topics/resources/providing-resources.html#ScreenAspectQualifier">notlong</a>
+     * resource qualifier.
+     */
+    ACONFIGURATION_SCREENLONG_NO = 0x1,
+    /**
+     * Screen layout: value that corresponds to the
+     * <a href="@dacRoot/guide/topics/resources/providing-resources.html#ScreenAspectQualifier">long</a>
+     * resource qualifier.
+     */
+    ACONFIGURATION_SCREENLONG_YES = 0x2,
+
+    ACONFIGURATION_SCREENROUND_ANY = 0x00,
+    ACONFIGURATION_SCREENROUND_NO = 0x1,
+    ACONFIGURATION_SCREENROUND_YES = 0x2,
+
+    /** UI mode: not specified. */
+    ACONFIGURATION_UI_MODE_TYPE_ANY = 0x00,
+    /**
+     * UI mode: value that corresponds to
+     * <a href="@dacRoot/guide/topics/resources/providing-resources.html#UiModeQualifier">no
+     * UI mode type</a> resource qualifier specified.
+     */
+    ACONFIGURATION_UI_MODE_TYPE_NORMAL = 0x01,
+    /**
+     * UI mode: value that corresponds to
+     * <a href="@dacRoot/guide/topics/resources/providing-resources.html#UiModeQualifier">desk</a> resource qualifier specified.
+     */
+    ACONFIGURATION_UI_MODE_TYPE_DESK = 0x02,
+    /**
+     * UI mode: value that corresponds to
+     * <a href="@dacRoot/guide/topics/resources/providing-resources.html#UiModeQualifier">car</a> resource qualifier specified.
+     */
+    ACONFIGURATION_UI_MODE_TYPE_CAR = 0x03,
+    /**
+     * UI mode: value that corresponds to
+     * <a href="@dacRoot/guide/topics/resources/providing-resources.html#UiModeQualifier">television</a> resource qualifier specified.
+     */
+    ACONFIGURATION_UI_MODE_TYPE_TELEVISION = 0x04,
+    /**
+     * UI mode: value that corresponds to
+     * <a href="@dacRoot/guide/topics/resources/providing-resources.html#UiModeQualifier">appliance</a> resource qualifier specified.
+     */
+    ACONFIGURATION_UI_MODE_TYPE_APPLIANCE = 0x05,
+    /**
+     * UI mode: value that corresponds to
+     * <a href="@dacRoot/guide/topics/resources/providing-resources.html#UiModeQualifier">watch</a> resource qualifier specified.
+     */
+    ACONFIGURATION_UI_MODE_TYPE_WATCH = 0x06,
+
+    /** UI night mode: not specified.*/
+    ACONFIGURATION_UI_MODE_NIGHT_ANY = 0x00,
+    /**
+     * UI night mode: value that corresponds to
+     * <a href="@dacRoot/guide/topics/resources/providing-resources.html#NightQualifier">notnight</a> resource qualifier specified.
+     */
+    ACONFIGURATION_UI_MODE_NIGHT_NO = 0x1,
+    /**
+     * UI night mode: value that corresponds to
+     * <a href="@dacRoot/guide/topics/resources/providing-resources.html#NightQualifier">night</a> resource qualifier specified.
+     */
+    ACONFIGURATION_UI_MODE_NIGHT_YES = 0x2,
+
+    /** Screen width DPI: not specified. */
+    ACONFIGURATION_SCREEN_WIDTH_DP_ANY = 0x0000,
+
+    /** Screen height DPI: not specified. */
+    ACONFIGURATION_SCREEN_HEIGHT_DP_ANY = 0x0000,
+
+    /** Smallest screen width DPI: not specified.*/
+    ACONFIGURATION_SMALLEST_SCREEN_WIDTH_DP_ANY = 0x0000,
+
+    /** Layout direction: not specified. */
+    ACONFIGURATION_LAYOUTDIR_ANY  = 0x00,
+    /**
+     * Layout direction: value that corresponds to
+     * <a href="@dacRoot/guide/topics/resources/providing-resources.html#LayoutDirectionQualifier">ldltr</a> resource qualifier specified.
+     */
+    ACONFIGURATION_LAYOUTDIR_LTR  = 0x01,
+    /**
+     * Layout direction: value that corresponds to
+     * <a href="@dacRoot/guide/topics/resources/providing-resources.html#LayoutDirectionQualifier">ldrtl</a> resource qualifier specified.
+     */
+    ACONFIGURATION_LAYOUTDIR_RTL  = 0x02,
+
+    /**
+     * Bit mask for
+     * <a href="@dacRoot/guide/topics/resources/providing-resources.html#MccQualifier">mcc</a>
+     * configuration.
+     */
+    ACONFIGURATION_MCC = 0x0001,
+    /**
+     * Bit mask for
+     * <a href="@dacRoot/guide/topics/resources/providing-resources.html#MccQualifier">mnc</a>
+     * configuration.
+     */
+    ACONFIGURATION_MNC = 0x0002,
+    /**
+     * Bit mask for
+     * <a href="{@docRoot}guide/topics/resources/providing-resources.html#LocaleQualifier">locale</a>
+     * configuration.
+     */
+    ACONFIGURATION_LOCALE = 0x0004,
+    /**
+     * Bit mask for
+     * <a href="@dacRoot/guide/topics/resources/providing-resources.html#TouchscreenQualifier">touchscreen</a>
+     * configuration.
+     */
+    ACONFIGURATION_TOUCHSCREEN = 0x0008,
+    /**
+     * Bit mask for
+     * <a href="@dacRoot/guide/topics/resources/providing-resources.html#ImeQualifier">keyboard</a>
+     * configuration.
+     */
+    ACONFIGURATION_KEYBOARD = 0x0010,
+    /**
+     * Bit mask for
+     * <a href="@dacRoot/guide/topics/resources/providing-resources.html#KeyboardAvailQualifier">keyboardHidden</a>
+     * configuration.
+     */
+    ACONFIGURATION_KEYBOARD_HIDDEN = 0x0020,
+    /**
+     * Bit mask for
+     * <a href="@dacRoot/guide/topics/resources/providing-resources.html#NavigationQualifier">navigation</a>
+     * configuration.
+     */
+    ACONFIGURATION_NAVIGATION = 0x0040,
+    /**
+     * Bit mask for
+     * <a href="@dacRoot/guide/topics/resources/providing-resources.html#OrientationQualifier">orientation</a>
+     * configuration.
+     */
+    ACONFIGURATION_ORIENTATION = 0x0080,
+    /**
+     * Bit mask for
+     * <a href="@dacRoot/guide/topics/resources/providing-resources.html#DensityQualifier">density</a>
+     * configuration.
+     */
+    ACONFIGURATION_DENSITY = 0x0100,
+    /**
+     * Bit mask for
+     * <a href="@dacRoot/guide/topics/resources/providing-resources.html#ScreenSizeQualifier">screen size</a>
+     * configuration.
+     */
+    ACONFIGURATION_SCREEN_SIZE = 0x0200,
+    /**
+     * Bit mask for
+     * <a href="@dacRoot/guide/topics/resources/providing-resources.html#VersionQualifier">platform version</a>
+     * configuration.
+     */
+    ACONFIGURATION_VERSION = 0x0400,
+    /**
+     * Bit mask for screen layout configuration.
+     */
+    ACONFIGURATION_SCREEN_LAYOUT = 0x0800,
+    /**
+     * Bit mask for
+     * <a href="@dacRoot/guide/topics/resources/providing-resources.html#UiModeQualifier">ui mode</a>
+     * configuration.
+     */
+    ACONFIGURATION_UI_MODE = 0x1000,
+    /**
+     * Bit mask for
+     * <a href="@dacRoot/guide/topics/resources/providing-resources.html#SmallestScreenWidthQualifier">smallest screen width</a>
+     * configuration.
+     */
+    ACONFIGURATION_SMALLEST_SCREEN_SIZE = 0x2000,
+    /**
+     * Bit mask for
+     * <a href="@dacRoot/guide/topics/resources/providing-resources.html#LayoutDirectionQualifier">layout direction</a>
+     * configuration.
+     */
+    ACONFIGURATION_LAYOUTDIR = 0x4000,
+    ACONFIGURATION_SCREEN_ROUND = 0x8000,
+    /**
+     * Constant used to to represent MNC (Mobile Network Code) zero.
+     * 0 cannot be used, since it is used to represent an undefined MNC.
+     */
+    ACONFIGURATION_MNC_ZERO = 0xffff,
+};
+
+/**
+ * Create a new AConfiguration, initialized with no values set.
+ */
+AConfiguration* AConfiguration_new();
+
+/**
+ * Free an AConfiguration that was previously created with
+ * AConfiguration_new().
+ */
+void AConfiguration_delete(AConfiguration* config);
+
+/**
+ * Create and return a new AConfiguration based on the current configuration in
+ * use in the given {@link AAssetManager}.
+ */
+void AConfiguration_fromAssetManager(AConfiguration* out, AAssetManager* am);
+
+/**
+ * Copy the contents of 'src' to 'dest'.
+ */
+void AConfiguration_copy(AConfiguration* dest, AConfiguration* src);
+
+/**
+ * Return the current MCC set in the configuration.  0 if not set.
+ */
+int32_t AConfiguration_getMcc(AConfiguration* config);
+
+/**
+ * Set the current MCC in the configuration.  0 to clear.
+ */
+void AConfiguration_setMcc(AConfiguration* config, int32_t mcc);
+
+/**
+ * Return the current MNC set in the configuration.  0 if not set.
+ */
+int32_t AConfiguration_getMnc(AConfiguration* config);
+
+/**
+ * Set the current MNC in the configuration.  0 to clear.
+ */
+void AConfiguration_setMnc(AConfiguration* config, int32_t mnc);
+
+/**
+ * Return the current language code set in the configuration.  The output will
+ * be filled with an array of two characters.  They are not 0-terminated.  If
+ * a language is not set, they will be 0.
+ */
+void AConfiguration_getLanguage(AConfiguration* config, char* outLanguage);
+
+/**
+ * Set the current language code in the configuration, from the first two
+ * characters in the string.
+ */
+void AConfiguration_setLanguage(AConfiguration* config, const char* language);
+
+/**
+ * Return the current country code set in the configuration.  The output will
+ * be filled with an array of two characters.  They are not 0-terminated.  If
+ * a country is not set, they will be 0.
+ */
+void AConfiguration_getCountry(AConfiguration* config, char* outCountry);
+
+/**
+ * Set the current country code in the configuration, from the first two
+ * characters in the string.
+ */
+void AConfiguration_setCountry(AConfiguration* config, const char* country);
+
+/**
+ * Return the current ACONFIGURATION_ORIENTATION_* set in the configuration.
+ */
+int32_t AConfiguration_getOrientation(AConfiguration* config);
+
+/**
+ * Set the current orientation in the configuration.
+ */
+void AConfiguration_setOrientation(AConfiguration* config, int32_t orientation);
+
+/**
+ * Return the current ACONFIGURATION_TOUCHSCREEN_* set in the configuration.
+ */
+int32_t AConfiguration_getTouchscreen(AConfiguration* config);
+
+/**
+ * Set the current touchscreen in the configuration.
+ */
+void AConfiguration_setTouchscreen(AConfiguration* config, int32_t touchscreen);
+
+/**
+ * Return the current ACONFIGURATION_DENSITY_* set in the configuration.
+ */
+int32_t AConfiguration_getDensity(AConfiguration* config);
+
+/**
+ * Set the current density in the configuration.
+ */
+void AConfiguration_setDensity(AConfiguration* config, int32_t density);
+
+/**
+ * Return the current ACONFIGURATION_KEYBOARD_* set in the configuration.
+ */
+int32_t AConfiguration_getKeyboard(AConfiguration* config);
+
+/**
+ * Set the current keyboard in the configuration.
+ */
+void AConfiguration_setKeyboard(AConfiguration* config, int32_t keyboard);
+
+/**
+ * Return the current ACONFIGURATION_NAVIGATION_* set in the configuration.
+ */
+int32_t AConfiguration_getNavigation(AConfiguration* config);
+
+/**
+ * Set the current navigation in the configuration.
+ */
+void AConfiguration_setNavigation(AConfiguration* config, int32_t navigation);
+
+/**
+ * Return the current ACONFIGURATION_KEYSHIDDEN_* set in the configuration.
+ */
+int32_t AConfiguration_getKeysHidden(AConfiguration* config);
+
+/**
+ * Set the current keys hidden in the configuration.
+ */
+void AConfiguration_setKeysHidden(AConfiguration* config, int32_t keysHidden);
+
+/**
+ * Return the current ACONFIGURATION_NAVHIDDEN_* set in the configuration.
+ */
+int32_t AConfiguration_getNavHidden(AConfiguration* config);
+
+/**
+ * Set the current nav hidden in the configuration.
+ */
+void AConfiguration_setNavHidden(AConfiguration* config, int32_t navHidden);
+
+/**
+ * Return the current SDK (API) version set in the configuration.
+ */
+int32_t AConfiguration_getSdkVersion(AConfiguration* config);
+
+/**
+ * Set the current SDK version in the configuration.
+ */
+void AConfiguration_setSdkVersion(AConfiguration* config, int32_t sdkVersion);
+
+/**
+ * Return the current ACONFIGURATION_SCREENSIZE_* set in the configuration.
+ */
+int32_t AConfiguration_getScreenSize(AConfiguration* config);
+
+/**
+ * Set the current screen size in the configuration.
+ */
+void AConfiguration_setScreenSize(AConfiguration* config, int32_t screenSize);
+
+/**
+ * Return the current ACONFIGURATION_SCREENLONG_* set in the configuration.
+ */
+int32_t AConfiguration_getScreenLong(AConfiguration* config);
+
+/**
+ * Set the current screen long in the configuration.
+ */
+void AConfiguration_setScreenLong(AConfiguration* config, int32_t screenLong);
+
+/**
+ * Return the current ACONFIGURATION_SCREENROUND_* set in the configuration.
+ */
+int32_t AConfiguration_getScreenRound(AConfiguration* config);
+
+/**
+ * Set the current screen round in the configuration.
+ */
+void AConfiguration_setScreenRound(AConfiguration* config, int32_t screenRound);
+
+/**
+ * Return the current ACONFIGURATION_UI_MODE_TYPE_* set in the configuration.
+ */
+int32_t AConfiguration_getUiModeType(AConfiguration* config);
+
+/**
+ * Set the current UI mode type in the configuration.
+ */
+void AConfiguration_setUiModeType(AConfiguration* config, int32_t uiModeType);
+
+/**
+ * Return the current ACONFIGURATION_UI_MODE_NIGHT_* set in the configuration.
+ */
+int32_t AConfiguration_getUiModeNight(AConfiguration* config);
+
+/**
+ * Set the current UI mode night in the configuration.
+ */
+void AConfiguration_setUiModeNight(AConfiguration* config, int32_t uiModeNight);
+
+/**
+ * Return the current configuration screen width in dp units, or
+ * ACONFIGURATION_SCREEN_WIDTH_DP_ANY if not set.
+ */
+int32_t AConfiguration_getScreenWidthDp(AConfiguration* config);
+
+/**
+ * Set the configuration's current screen width in dp units.
+ */
+void AConfiguration_setScreenWidthDp(AConfiguration* config, int32_t value);
+
+/**
+ * Return the current configuration screen height in dp units, or
+ * ACONFIGURATION_SCREEN_HEIGHT_DP_ANY if not set.
+ */
+int32_t AConfiguration_getScreenHeightDp(AConfiguration* config);
+
+/**
+ * Set the configuration's current screen width in dp units.
+ */
+void AConfiguration_setScreenHeightDp(AConfiguration* config, int32_t value);
+
+/**
+ * Return the configuration's smallest screen width in dp units, or
+ * ACONFIGURATION_SMALLEST_SCREEN_WIDTH_DP_ANY if not set.
+ */
+int32_t AConfiguration_getSmallestScreenWidthDp(AConfiguration* config);
+
+/**
+ * Set the configuration's smallest screen width in dp units.
+ */
+void AConfiguration_setSmallestScreenWidthDp(AConfiguration* config, int32_t value);
+
+/**
+ * Return the configuration's layout direction, or
+ * ACONFIGURATION_LAYOUTDIR_ANY if not set.
+ */
+int32_t AConfiguration_getLayoutDirection(AConfiguration* config);
+
+/**
+ * Set the configuration's layout direction.
+ */
+void AConfiguration_setLayoutDirection(AConfiguration* config, int32_t value);
+
+/**
+ * Perform a diff between two configurations.  Returns a bit mask of
+ * ACONFIGURATION_* constants, each bit set meaning that configuration element
+ * is different between them.
+ */
+int32_t AConfiguration_diff(AConfiguration* config1, AConfiguration* config2);
+
+/**
+ * Determine whether 'base' is a valid configuration for use within the
+ * environment 'requested'.  Returns 0 if there are any values in 'base'
+ * that conflict with 'requested'.  Returns 1 if it does not conflict.
+ */
+int32_t AConfiguration_match(AConfiguration* base, AConfiguration* requested);
+
+/**
+ * Determine whether the configuration in 'test' is better than the existing
+ * configuration in 'base'.  If 'requested' is non-NULL, this decision is based
+ * on the overall configuration given there.  If it is NULL, this decision is
+ * simply based on which configuration is more specific.  Returns non-0 if
+ * 'test' is better than 'base'.
+ *
+ * This assumes you have already filtered the configurations with
+ * AConfiguration_match().
+ */
+int32_t AConfiguration_isBetterThan(AConfiguration* base, AConfiguration* test,
+        AConfiguration* requested);
+
+#ifdef __cplusplus
+};
+#endif
+
+#endif // ANDROID_CONFIGURATION_H
+
+/** @} */
diff --git a/third_party/android_frameworks_native/include/android/input.h b/third_party/android_frameworks_native/include/android/input.h
new file mode 100644
index 0000000000..46cf89c7e1
--- /dev/null
+++ b/third_party/android_frameworks_native/include/android/input.h
@@ -0,0 +1,1317 @@
+/*
+ * Copyright (C) 2010 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+/**
+ * @addtogroup Input
+ * @{
+ */
+
+/**
+ * @file input.h
+ */
+
+#ifndef _ANDROID_INPUT_H
+#define _ANDROID_INPUT_H
+
+/******************************************************************
+ *
+ * IMPORTANT NOTICE:
+ *
+ *   This file is part of Android's set of stable system headers
+ *   exposed by the Android NDK (Native Development Kit).
+ *
+ *   Third-party source AND binary code relies on the definitions
+ *   here to be FROZEN ON ALL UPCOMING PLATFORM RELEASES.
+ *
+ *   - DO NOT MODIFY ENUMS (EXCEPT IF YOU ADD NEW 32-BIT VALUES)
+ *   - DO NOT MODIFY CONSTANTS OR FUNCTIONAL MACROS
+ *   - DO NOT CHANGE THE SIGNATURE OF FUNCTIONS IN ANY WAY
+ *   - DO NOT CHANGE THE LAYOUT OR SIZE OF STRUCTURES
+ */
+
+/*
+ * Structures and functions to receive and process input events in
+ * native code.
+ *
+ * NOTE: These functions MUST be implemented by /system/lib/libui.so
+ */
+
+#include <stdint.h>
+#include <sys/types.h>
+#include <android/keycodes.h>
+#include <android/looper.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * Key states (may be returned by queries about the current state of a
+ * particular key code, scan code or switch).
+ */
+enum {
+    /** The key state is unknown or the requested key itself is not supported. */
+    AKEY_STATE_UNKNOWN = -1,
+
+    /** The key is up. */
+    AKEY_STATE_UP = 0,
+
+    /** The key is down. */
+    AKEY_STATE_DOWN = 1,
+
+    /** The key is down but is a virtual key press that is being emulated by the system. */
+    AKEY_STATE_VIRTUAL = 2
+};
+
+/**
+ * Meta key / modifer state.
+ */
+enum {
+    /** No meta keys are pressed. */
+    AMETA_NONE = 0,
+
+    /** This mask is used to check whether one of the ALT meta keys is pressed. */
+    AMETA_ALT_ON = 0x02,
+
+    /** This mask is used to check whether the left ALT meta key is pressed. */
+    AMETA_ALT_LEFT_ON = 0x10,
+
+    /** This mask is used to check whether the right ALT meta key is pressed. */
+    AMETA_ALT_RIGHT_ON = 0x20,
+
+    /** This mask is used to check whether one of the SHIFT meta keys is pressed. */
+    AMETA_SHIFT_ON = 0x01,
+
+    /** This mask is used to check whether the left SHIFT meta key is pressed. */
+    AMETA_SHIFT_LEFT_ON = 0x40,
+
+    /** This mask is used to check whether the right SHIFT meta key is pressed. */
+    AMETA_SHIFT_RIGHT_ON = 0x80,
+
+    /** This mask is used to check whether the SYM meta key is pressed. */
+    AMETA_SYM_ON = 0x04,
+
+    /** This mask is used to check whether the FUNCTION meta key is pressed. */
+    AMETA_FUNCTION_ON = 0x08,
+
+    /** This mask is used to check whether one of the CTRL meta keys is pressed. */
+    AMETA_CTRL_ON = 0x1000,
+
+    /** This mask is used to check whether the left CTRL meta key is pressed. */
+    AMETA_CTRL_LEFT_ON = 0x2000,
+
+    /** This mask is used to check whether the right CTRL meta key is pressed. */
+    AMETA_CTRL_RIGHT_ON = 0x4000,
+
+    /** This mask is used to check whether one of the META meta keys is pressed. */
+    AMETA_META_ON = 0x10000,
+
+    /** This mask is used to check whether the left META meta key is pressed. */
+    AMETA_META_LEFT_ON = 0x20000,
+
+    /** This mask is used to check whether the right META meta key is pressed. */
+    AMETA_META_RIGHT_ON = 0x40000,
+
+    /** This mask is used to check whether the CAPS LOCK meta key is on. */
+    AMETA_CAPS_LOCK_ON = 0x100000,
+
+    /** This mask is used to check whether the NUM LOCK meta key is on. */
+    AMETA_NUM_LOCK_ON = 0x200000,
+
+    /** This mask is used to check whether the SCROLL LOCK meta key is on. */
+    AMETA_SCROLL_LOCK_ON = 0x400000,
+};
+
+struct AInputEvent;
+/**
+ * Input events.
+ *
+ * Input events are opaque structures.  Use the provided accessors functions to
+ * read their properties.
+ */
+typedef struct AInputEvent AInputEvent;
+
+/**
+ * Input event types.
+ */
+enum {
+    /** Indicates that the input event is a key event. */
+    AINPUT_EVENT_TYPE_KEY = 1,
+
+    /** Indicates that the input event is a motion event. */
+    AINPUT_EVENT_TYPE_MOTION = 2
+};
+
+/**
+ * Key event actions.
+ */
+enum {
+    /** The key has been pressed down. */
+    AKEY_EVENT_ACTION_DOWN = 0,
+
+    /** The key has been released. */
+    AKEY_EVENT_ACTION_UP = 1,
+
+    /**
+     * Multiple duplicate key events have occurred in a row, or a
+     * complex string is being delivered.  The repeat_count property
+     * of the key event contains the number of times the given key
+     * code should be executed.
+     */
+    AKEY_EVENT_ACTION_MULTIPLE = 2
+};
+
+/**
+ * Key event flags.
+ */
+enum {
+    /** This mask is set if the device woke because of this key event. */
+    AKEY_EVENT_FLAG_WOKE_HERE = 0x1,
+
+    /** This mask is set if the key event was generated by a software keyboard. */
+    AKEY_EVENT_FLAG_SOFT_KEYBOARD = 0x2,
+
+    /** This mask is set if we don't want the key event to cause us to leave touch mode. */
+    AKEY_EVENT_FLAG_KEEP_TOUCH_MODE = 0x4,
+
+    /**
+     * This mask is set if an event was known to come from a trusted
+     * part of the system.  That is, the event is known to come from
+     * the user, and could not have been spoofed by a third party
+     * component.
+     */
+    AKEY_EVENT_FLAG_FROM_SYSTEM = 0x8,
+
+    /**
+     * This mask is used for compatibility, to identify enter keys that are
+     * coming from an IME whose enter key has been auto-labelled "next" or
+     * "done".  This allows TextView to dispatch these as normal enter keys
+     * for old applications, but still do the appropriate action when
+     * receiving them.
+     */
+    AKEY_EVENT_FLAG_EDITOR_ACTION = 0x10,
+
+    /**
+     * When associated with up key events, this indicates that the key press
+     * has been canceled.  Typically this is used with virtual touch screen
+     * keys, where the user can slide from the virtual key area on to the
+     * display: in that case, the application will receive a canceled up
+     * event and should not perform the action normally associated with the
+     * key.  Note that for this to work, the application can not perform an
+     * action for a key until it receives an up or the long press timeout has
+     * expired.
+     */
+    AKEY_EVENT_FLAG_CANCELED = 0x20,
+
+    /**
+     * This key event was generated by a virtual (on-screen) hard key area.
+     * Typically this is an area of the touchscreen, outside of the regular
+     * display, dedicated to "hardware" buttons.
+     */
+    AKEY_EVENT_FLAG_VIRTUAL_HARD_KEY = 0x40,
+
+    /**
+     * This flag is set for the first key repeat that occurs after the
+     * long press timeout.
+     */
+    AKEY_EVENT_FLAG_LONG_PRESS = 0x80,
+
+    /**
+     * Set when a key event has AKEY_EVENT_FLAG_CANCELED set because a long
+     * press action was executed while it was down.
+     */
+    AKEY_EVENT_FLAG_CANCELED_LONG_PRESS = 0x100,
+
+    /**
+     * Set for AKEY_EVENT_ACTION_UP when this event's key code is still being
+     * tracked from its initial down.  That is, somebody requested that tracking
+     * started on the key down and a long press has not caused
+     * the tracking to be canceled.
+     */
+    AKEY_EVENT_FLAG_TRACKING = 0x200,
+
+    /**
+     * Set when a key event has been synthesized to implement default behavior
+     * for an event that the application did not handle.
+     * Fallback key events are generated by unhandled trackball motions
+     * (to emulate a directional keypad) and by certain unhandled key presses
+     * that are declared in the key map (such as special function numeric keypad
+     * keys when numlock is off).
+     */
+    AKEY_EVENT_FLAG_FALLBACK = 0x400,
+};
+
+/**
+ * Bit shift for the action bits holding the pointer index as
+ * defined by AMOTION_EVENT_ACTION_POINTER_INDEX_MASK.
+ */
+#define AMOTION_EVENT_ACTION_POINTER_INDEX_SHIFT 8
+
+/** Motion event actions */
+enum {
+    /** Bit mask of the parts of the action code that are the action itself. */
+    AMOTION_EVENT_ACTION_MASK = 0xff,
+
+    /**
+     * Bits in the action code that represent a pointer index, used with
+     * AMOTION_EVENT_ACTION_POINTER_DOWN and AMOTION_EVENT_ACTION_POINTER_UP.  Shifting
+     * down by AMOTION_EVENT_ACTION_POINTER_INDEX_SHIFT provides the actual pointer
+     * index where the data for the pointer going up or down can be found.
+     */
+    AMOTION_EVENT_ACTION_POINTER_INDEX_MASK  = 0xff00,
+
+    /** A pressed gesture has started, the motion contains the initial starting location. */
+    AMOTION_EVENT_ACTION_DOWN = 0,
+
+    /**
+     * A pressed gesture has finished, the motion contains the final release location
+     * as well as any intermediate points since the last down or move event.
+     */
+    AMOTION_EVENT_ACTION_UP = 1,
+
+    /**
+     * A change has happened during a press gesture (between AMOTION_EVENT_ACTION_DOWN and
+     * AMOTION_EVENT_ACTION_UP).  The motion contains the most recent point, as well as
+     * any intermediate points since the last down or move event.
+     */
+    AMOTION_EVENT_ACTION_MOVE = 2,
+
+    /**
+     * The current gesture has been aborted.
+     * You will not receive any more points in it.  You should treat this as
+     * an up event, but not perform any action that you normally would.
+     */
+    AMOTION_EVENT_ACTION_CANCEL = 3,
+
+    /**
+     * A movement has happened outside of the normal bounds of the UI element.
+     * This does not provide a full gesture, but only the initial location of the movement/touch.
+     */
+    AMOTION_EVENT_ACTION_OUTSIDE = 4,
+
+    /**
+     * A non-primary pointer has gone down.
+     * The bits in AMOTION_EVENT_ACTION_POINTER_INDEX_MASK indicate which pointer changed.
+     */
+    AMOTION_EVENT_ACTION_POINTER_DOWN = 5,
+
+    /**
+     * A non-primary pointer has gone up.
+     * The bits in AMOTION_EVENT_ACTION_POINTER_INDEX_MASK indicate which pointer changed.
+     */
+    AMOTION_EVENT_ACTION_POINTER_UP = 6,
+
+    /**
+     * A change happened but the pointer is not down (unlike AMOTION_EVENT_ACTION_MOVE).
+     * The motion contains the most recent point, as well as any intermediate points since
+     * the last hover move event.
+     */
+    AMOTION_EVENT_ACTION_HOVER_MOVE = 7,
+
+    /**
+     * The motion event contains relative vertical and/or horizontal scroll offsets.
+     * Use getAxisValue to retrieve the information from AMOTION_EVENT_AXIS_VSCROLL
+     * and AMOTION_EVENT_AXIS_HSCROLL.
+     * The pointer may or may not be down when this event is dispatched.
+     * This action is always delivered to the winder under the pointer, which
+     * may not be the window currently touched.
+     */
+    AMOTION_EVENT_ACTION_SCROLL = 8,
+
+    /** The pointer is not down but has entered the boundaries of a window or view. */
+    AMOTION_EVENT_ACTION_HOVER_ENTER = 9,
+
+    /** The pointer is not down but has exited the boundaries of a window or view. */
+    AMOTION_EVENT_ACTION_HOVER_EXIT = 10,
+
+    /* One or more buttons have been pressed. */
+    AMOTION_EVENT_ACTION_BUTTON_PRESS = 11,
+
+    /* One or more buttons have been released. */
+    AMOTION_EVENT_ACTION_BUTTON_RELEASE = 12,
+};
+
+/**
+ * Motion event flags.
+ */
+enum {
+    /**
+     * This flag indicates that the window that received this motion event is partly
+     * or wholly obscured by another visible window above it.  This flag is set to true
+     * even if the event did not directly pass through the obscured area.
+     * A security sensitive application can check this flag to identify situations in which
+     * a malicious application may have covered up part of its content for the purpose
+     * of misleading the user or hijacking touches.  An appropriate response might be
+     * to drop the suspect touches or to take additional precautions to confirm the user's
+     * actual intent.
+     */
+    AMOTION_EVENT_FLAG_WINDOW_IS_OBSCURED = 0x1,
+};
+
+/**
+ * Motion event edge touch flags.
+ */
+enum {
+    /** No edges intersected. */
+    AMOTION_EVENT_EDGE_FLAG_NONE = 0,
+
+    /** Flag indicating the motion event intersected the top edge of the screen. */
+    AMOTION_EVENT_EDGE_FLAG_TOP = 0x01,
+
+    /** Flag indicating the motion event intersected the bottom edge of the screen. */
+    AMOTION_EVENT_EDGE_FLAG_BOTTOM = 0x02,
+
+    /** Flag indicating the motion event intersected the left edge of the screen. */
+    AMOTION_EVENT_EDGE_FLAG_LEFT = 0x04,
+
+    /** Flag indicating the motion event intersected the right edge of the screen. */
+    AMOTION_EVENT_EDGE_FLAG_RIGHT = 0x08
+};
+
+/**
+ * Constants that identify each individual axis of a motion event.
+ * @anchor AMOTION_EVENT_AXIS
+ */
+enum {
+    /**
+     * Axis constant: X axis of a motion event.
+     *
+     * - For a touch screen, reports the absolute X screen position of the center of
+     * the touch contact area.  The units are display pixels.
+     * - For a touch pad, reports the absolute X surface position of the center of the touch
+     * contact area. The units are device-dependent.
+     * - For a mouse, reports the absolute X screen position of the mouse pointer.
+     * The units are display pixels.
+     * - For a trackball, reports the relative horizontal displacement of the trackball.
+     * The value is normalized to a range from -1.0 (left) to 1.0 (right).
+     * - For a joystick, reports the absolute X position of the joystick.
+     * The value is normalized to a range from -1.0 (left) to 1.0 (right).
+     */
+    AMOTION_EVENT_AXIS_X = 0,
+    /**
+     * Axis constant: Y axis of a motion event.
+     *
+     * - For a touch screen, reports the absolute Y screen position of the center of
+     * the touch contact area.  The units are display pixels.
+     * - For a touch pad, reports the absolute Y surface position of the center of the touch
+     * contact area. The units are device-dependent.
+     * - For a mouse, reports the absolute Y screen position of the mouse pointer.
+     * The units are display pixels.
+     * - For a trackball, reports the relative vertical displacement of the trackball.
+     * The value is normalized to a range from -1.0 (up) to 1.0 (down).
+     * - For a joystick, reports the absolute Y position of the joystick.
+     * The value is normalized to a range from -1.0 (up or far) to 1.0 (down or near).
+     */
+    AMOTION_EVENT_AXIS_Y = 1,
+    /**
+     * Axis constant: Pressure axis of a motion event.
+     *
+     * - For a touch screen or touch pad, reports the approximate pressure applied to the surface
+     * by a finger or other tool.  The value is normalized to a range from
+     * 0 (no pressure at all) to 1 (normal pressure), although values higher than 1
+     * may be generated depending on the calibration of the input device.
+     * - For a trackball, the value is set to 1 if the trackball button is pressed
+     * or 0 otherwise.
+     * - For a mouse, the value is set to 1 if the primary mouse button is pressed
+     * or 0 otherwise.
+     */
+    AMOTION_EVENT_AXIS_PRESSURE = 2,
+    /**
+     * Axis constant: Size axis of a motion event.
+     *
+     * - For a touch screen or touch pad, reports the approximate size of the contact area in
+     * relation to the maximum detectable size for the device.  The value is normalized
+     * to a range from 0 (smallest detectable size) to 1 (largest detectable size),
+     * although it is not a linear scale. This value is of limited use.
+     * To obtain calibrated size information, see
+     * {@link AMOTION_EVENT_AXIS_TOUCH_MAJOR} or {@link AMOTION_EVENT_AXIS_TOOL_MAJOR}.
+     */
+    AMOTION_EVENT_AXIS_SIZE = 3,
+    /**
+     * Axis constant: TouchMajor axis of a motion event.
+     *
+     * - For a touch screen, reports the length of the major axis of an ellipse that
+     * represents the touch area at the point of contact.
+     * The units are display pixels.
+     * - For a touch pad, reports the length of the major axis of an ellipse that
+     * represents the touch area at the point of contact.
+     * The units are device-dependent.
+     */
+    AMOTION_EVENT_AXIS_TOUCH_MAJOR = 4,
+    /**
+     * Axis constant: TouchMinor axis of a motion event.
+     *
+     * - For a touch screen, reports the length of the minor axis of an ellipse that
+     * represents the touch area at the point of contact.
+     * The units are display pixels.
+     * - For a touch pad, reports the length of the minor axis of an ellipse that
+     * represents the touch area at the point of contact.
+     * The units are device-dependent.
+     *
+     * When the touch is circular, the major and minor axis lengths will be equal to one another.
+     */
+    AMOTION_EVENT_AXIS_TOUCH_MINOR = 5,
+    /**
+     * Axis constant: ToolMajor axis of a motion event.
+     *
+     * - For a touch screen, reports the length of the major axis of an ellipse that
+     * represents the size of the approaching finger or tool used to make contact.
+     * - For a touch pad, reports the length of the major axis of an ellipse that
+     * represents the size of the approaching finger or tool used to make contact.
+     * The units are device-dependent.
+     *
+     * When the touch is circular, the major and minor axis lengths will be equal to one another.
+     *
+     * The tool size may be larger than the touch size since the tool may not be fully
+     * in contact with the touch sensor.
+     */
+    AMOTION_EVENT_AXIS_TOOL_MAJOR = 6,
+    /**
+     * Axis constant: ToolMinor axis of a motion event.
+     *
+     * - For a touch screen, reports the length of the minor axis of an ellipse that
+     * represents the size of the approaching finger or tool used to make contact.
+     * - For a touch pad, reports the length of the minor axis of an ellipse that
+     * represents the size of the approaching finger or tool used to make contact.
+     * The units are device-dependent.
+     *
+     * When the touch is circular, the major and minor axis lengths will be equal to one another.
+     *
+     * The tool size may be larger than the touch size since the tool may not be fully
+     * in contact with the touch sensor.
+     */
+    AMOTION_EVENT_AXIS_TOOL_MINOR = 7,
+    /**
+     * Axis constant: Orientation axis of a motion event.
+     *
+     * - For a touch screen or touch pad, reports the orientation of the finger
+     * or tool in radians relative to the vertical plane of the device.
+     * An angle of 0 radians indicates that the major axis of contact is oriented
+     * upwards, is perfectly circular or is of unknown orientation.  A positive angle
+     * indicates that the major axis of contact is oriented to the right.  A negative angle
+     * indicates that the major axis of contact is oriented to the left.
+     * The full range is from -PI/2 radians (finger pointing fully left) to PI/2 radians
+     * (finger pointing fully right).
+     * - For a stylus, the orientation indicates the direction in which the stylus
+     * is pointing in relation to the vertical axis of the current orientation of the screen.
+     * The range is from -PI radians to PI radians, where 0 is pointing up,
+     * -PI/2 radians is pointing left, -PI or PI radians is pointing down, and PI/2 radians
+     * is pointing right.  See also {@link AMOTION_EVENT_AXIS_TILT}.
+     */
+    AMOTION_EVENT_AXIS_ORIENTATION = 8,
+    /**
+     * Axis constant: Vertical Scroll axis of a motion event.
+     *
+     * - For a mouse, reports the relative movement of the vertical scroll wheel.
+     * The value is normalized to a range from -1.0 (down) to 1.0 (up).
+     *
+     * This axis should be used to scroll views vertically.
+     */
+    AMOTION_EVENT_AXIS_VSCROLL = 9,
+    /**
+     * Axis constant: Horizontal Scroll axis of a motion event.
+     *
+     * - For a mouse, reports the relative movement of the horizontal scroll wheel.
+     * The value is normalized to a range from -1.0 (left) to 1.0 (right).
+     *
+     * This axis should be used to scroll views horizontally.
+     */
+    AMOTION_EVENT_AXIS_HSCROLL = 10,
+    /**
+     * Axis constant: Z axis of a motion event.
+     *
+     * - For a joystick, reports the absolute Z position of the joystick.
+     * The value is normalized to a range from -1.0 (high) to 1.0 (low).
+     * <em>On game pads with two analog joysticks, this axis is often reinterpreted
+     * to report the absolute X position of the second joystick instead.</em>
+     */
+    AMOTION_EVENT_AXIS_Z = 11,
+    /**
+     * Axis constant: X Rotation axis of a motion event.
+     *
+     * - For a joystick, reports the absolute rotation angle about the X axis.
+     * The value is normalized to a range from -1.0 (counter-clockwise) to 1.0 (clockwise).
+     */
+    AMOTION_EVENT_AXIS_RX = 12,
+    /**
+     * Axis constant: Y Rotation axis of a motion event.
+     *
+     * - For a joystick, reports the absolute rotation angle about the Y axis.
+     * The value is normalized to a range from -1.0 (counter-clockwise) to 1.0 (clockwise).
+     */
+    AMOTION_EVENT_AXIS_RY = 13,
+    /**
+     * Axis constant: Z Rotation axis of a motion event.
+     *
+     * - For a joystick, reports the absolute rotation angle about the Z axis.
+     * The value is normalized to a range from -1.0 (counter-clockwise) to 1.0 (clockwise).
+     * On game pads with two analog joysticks, this axis is often reinterpreted
+     * to report the absolute Y position of the second joystick instead.
+     */
+    AMOTION_EVENT_AXIS_RZ = 14,
+    /**
+     * Axis constant: Hat X axis of a motion event.
+     *
+     * - For a joystick, reports the absolute X position of the directional hat control.
+     * The value is normalized to a range from -1.0 (left) to 1.0 (right).
+     */
+    AMOTION_EVENT_AXIS_HAT_X = 15,
+    /**
+     * Axis constant: Hat Y axis of a motion event.
+     *
+     * - For a joystick, reports the absolute Y position of the directional hat control.
+     * The value is normalized to a range from -1.0 (up) to 1.0 (down).
+     */
+    AMOTION_EVENT_AXIS_HAT_Y = 16,
+    /**
+     * Axis constant: Left Trigger axis of a motion event.
+     *
+     * - For a joystick, reports the absolute position of the left trigger control.
+     * The value is normalized to a range from 0.0 (released) to 1.0 (fully pressed).
+     */
+    AMOTION_EVENT_AXIS_LTRIGGER = 17,
+    /**
+     * Axis constant: Right Trigger axis of a motion event.
+     *
+     * - For a joystick, reports the absolute position of the right trigger control.
+     * The value is normalized to a range from 0.0 (released) to 1.0 (fully pressed).
+     */
+    AMOTION_EVENT_AXIS_RTRIGGER = 18,
+    /**
+     * Axis constant: Throttle axis of a motion event.
+     *
+     * - For a joystick, reports the absolute position of the throttle control.
+     * The value is normalized to a range from 0.0 (fully open) to 1.0 (fully closed).
+     */
+    AMOTION_EVENT_AXIS_THROTTLE = 19,
+    /**
+     * Axis constant: Rudder axis of a motion event.
+     *
+     * - For a joystick, reports the absolute position of the rudder control.
+     * The value is normalized to a range from -1.0 (turn left) to 1.0 (turn right).
+     */
+    AMOTION_EVENT_AXIS_RUDDER = 20,
+    /**
+     * Axis constant: Wheel axis of a motion event.
+     *
+     * - For a joystick, reports the absolute position of the steering wheel control.
+     * The value is normalized to a range from -1.0 (turn left) to 1.0 (turn right).
+     */
+    AMOTION_EVENT_AXIS_WHEEL = 21,
+    /**
+     * Axis constant: Gas axis of a motion event.
+     *
+     * - For a joystick, reports the absolute position of the gas (accelerator) control.
+     * The value is normalized to a range from 0.0 (no acceleration)
+     * to 1.0 (maximum acceleration).
+     */
+    AMOTION_EVENT_AXIS_GAS = 22,
+    /**
+     * Axis constant: Brake axis of a motion event.
+     *
+     * - For a joystick, reports the absolute position of the brake control.
+     * The value is normalized to a range from 0.0 (no braking) to 1.0 (maximum braking).
+     */
+    AMOTION_EVENT_AXIS_BRAKE = 23,
+    /**
+     * Axis constant: Distance axis of a motion event.
+     *
+     * - For a stylus, reports the distance of the stylus from the screen.
+     * A value of 0.0 indicates direct contact and larger values indicate increasing
+     * distance from the surface.
+     */
+    AMOTION_EVENT_AXIS_DISTANCE = 24,
+    /**
+     * Axis constant: Tilt axis of a motion event.
+     *
+     * - For a stylus, reports the tilt angle of the stylus in radians where
+     * 0 radians indicates that the stylus is being held perpendicular to the
+     * surface, and PI/2 radians indicates that the stylus is being held flat
+     * against the surface.
+     */
+    AMOTION_EVENT_AXIS_TILT = 25,
+    /**
+     * Axis constant: Generic 1 axis of a motion event.
+     * The interpretation of a generic axis is device-specific.
+     */
+    AMOTION_EVENT_AXIS_GENERIC_1 = 32,
+    /**
+     * Axis constant: Generic 2 axis of a motion event.
+     * The interpretation of a generic axis is device-specific.
+     */
+    AMOTION_EVENT_AXIS_GENERIC_2 = 33,
+    /**
+     * Axis constant: Generic 3 axis of a motion event.
+     * The interpretation of a generic axis is device-specific.
+     */
+    AMOTION_EVENT_AXIS_GENERIC_3 = 34,
+    /**
+     * Axis constant: Generic 4 axis of a motion event.
+     * The interpretation of a generic axis is device-specific.
+     */
+    AMOTION_EVENT_AXIS_GENERIC_4 = 35,
+    /**
+     * Axis constant: Generic 5 axis of a motion event.
+     * The interpretation of a generic axis is device-specific.
+     */
+    AMOTION_EVENT_AXIS_GENERIC_5 = 36,
+    /**
+     * Axis constant: Generic 6 axis of a motion event.
+     * The interpretation of a generic axis is device-specific.
+     */
+    AMOTION_EVENT_AXIS_GENERIC_6 = 37,
+    /**
+     * Axis constant: Generic 7 axis of a motion event.
+     * The interpretation of a generic axis is device-specific.
+     */
+    AMOTION_EVENT_AXIS_GENERIC_7 = 38,
+    /**
+     * Axis constant: Generic 8 axis of a motion event.
+     * The interpretation of a generic axis is device-specific.
+     */
+    AMOTION_EVENT_AXIS_GENERIC_8 = 39,
+    /**
+     * Axis constant: Generic 9 axis of a motion event.
+     * The interpretation of a generic axis is device-specific.
+     */
+    AMOTION_EVENT_AXIS_GENERIC_9 = 40,
+    /**
+     * Axis constant: Generic 10 axis of a motion event.
+     * The interpretation of a generic axis is device-specific.
+     */
+    AMOTION_EVENT_AXIS_GENERIC_10 = 41,
+    /**
+     * Axis constant: Generic 11 axis of a motion event.
+     * The interpretation of a generic axis is device-specific.
+     */
+    AMOTION_EVENT_AXIS_GENERIC_11 = 42,
+    /**
+     * Axis constant: Generic 12 axis of a motion event.
+     * The interpretation of a generic axis is device-specific.
+     */
+    AMOTION_EVENT_AXIS_GENERIC_12 = 43,
+    /**
+     * Axis constant: Generic 13 axis of a motion event.
+     * The interpretation of a generic axis is device-specific.
+     */
+    AMOTION_EVENT_AXIS_GENERIC_13 = 44,
+    /**
+     * Axis constant: Generic 14 axis of a motion event.
+     * The interpretation of a generic axis is device-specific.
+     */
+    AMOTION_EVENT_AXIS_GENERIC_14 = 45,
+    /**
+     * Axis constant: Generic 15 axis of a motion event.
+     * The interpretation of a generic axis is device-specific.
+     */
+    AMOTION_EVENT_AXIS_GENERIC_15 = 46,
+    /**
+     * Axis constant: Generic 16 axis of a motion event.
+     * The interpretation of a generic axis is device-specific.
+     */
+    AMOTION_EVENT_AXIS_GENERIC_16 = 47,
+
+    // NOTE: If you add a new axis here you must also add it to several other files.
+    //       Refer to frameworks/base/core/java/android/view/MotionEvent.java for the full list.
+};
+
+/**
+ * Constants that identify buttons that are associated with motion events.
+ * Refer to the documentation on the MotionEvent class for descriptions of each button.
+ */
+enum {
+    /** primary */
+    AMOTION_EVENT_BUTTON_PRIMARY = 1 << 0,
+    /** secondary */
+    AMOTION_EVENT_BUTTON_SECONDARY = 1 << 1,
+    /** tertiary */
+    AMOTION_EVENT_BUTTON_TERTIARY = 1 << 2,
+    /** back */
+    AMOTION_EVENT_BUTTON_BACK = 1 << 3,
+    /** forward */
+    AMOTION_EVENT_BUTTON_FORWARD = 1 << 4,
+    AMOTION_EVENT_BUTTON_STYLUS_PRIMARY = 1 << 5,
+    AMOTION_EVENT_BUTTON_STYLUS_SECONDARY = 1 << 6,
+};
+
+/**
+ * Constants that identify tool types.
+ * Refer to the documentation on the MotionEvent class for descriptions of each tool type.
+ */
+enum {
+    /** unknown */
+    AMOTION_EVENT_TOOL_TYPE_UNKNOWN = 0,
+    /** finger */
+    AMOTION_EVENT_TOOL_TYPE_FINGER = 1,
+    /** stylus */
+    AMOTION_EVENT_TOOL_TYPE_STYLUS = 2,
+    /** mouse */
+    AMOTION_EVENT_TOOL_TYPE_MOUSE = 3,
+    /** eraser */
+    AMOTION_EVENT_TOOL_TYPE_ERASER = 4,
+};
+
+/**
+ * Input source masks.
+ *
+ * Refer to the documentation on android.view.InputDevice for more details about input sources
+ * and their correct interpretation.
+ */
+enum {
+    /** mask */
+    AINPUT_SOURCE_CLASS_MASK = 0x000000ff,
+
+    /** none */
+    AINPUT_SOURCE_CLASS_NONE = 0x00000000,
+    /** button */
+    AINPUT_SOURCE_CLASS_BUTTON = 0x00000001,
+    /** pointer */
+    AINPUT_SOURCE_CLASS_POINTER = 0x00000002,
+    /** navigation */
+    AINPUT_SOURCE_CLASS_NAVIGATION = 0x00000004,
+    /** position */
+    AINPUT_SOURCE_CLASS_POSITION = 0x00000008,
+    /** joystick */
+    AINPUT_SOURCE_CLASS_JOYSTICK = 0x00000010,
+};
+
+/**
+ * Input sources.
+ */
+enum {
+    /** unknown */
+    AINPUT_SOURCE_UNKNOWN = 0x00000000,
+
+    /** keyboard */
+    AINPUT_SOURCE_KEYBOARD = 0x00000100 | AINPUT_SOURCE_CLASS_BUTTON,
+    /** dpad */
+    AINPUT_SOURCE_DPAD = 0x00000200 | AINPUT_SOURCE_CLASS_BUTTON,
+    /** gamepad */
+    AINPUT_SOURCE_GAMEPAD = 0x00000400 | AINPUT_SOURCE_CLASS_BUTTON,
+    /** touchscreen */
+    AINPUT_SOURCE_TOUCHSCREEN = 0x00001000 | AINPUT_SOURCE_CLASS_POINTER,
+    /** mouse */
+    AINPUT_SOURCE_MOUSE = 0x00002000 | AINPUT_SOURCE_CLASS_POINTER,
+    /** stylus */
+    AINPUT_SOURCE_STYLUS = 0x00004000 | AINPUT_SOURCE_CLASS_POINTER,
+    /** bluetooth stylus */
+    AINPUT_SOURCE_BLUETOOTH_STYLUS = 0x00008000 | AINPUT_SOURCE_STYLUS,
+    /** trackball */
+    AINPUT_SOURCE_TRACKBALL = 0x00010000 | AINPUT_SOURCE_CLASS_NAVIGATION,
+    /** touchpad */
+    AINPUT_SOURCE_TOUCHPAD = 0x00100000 | AINPUT_SOURCE_CLASS_POSITION,
+    /** navigation */
+    AINPUT_SOURCE_TOUCH_NAVIGATION = 0x00200000 | AINPUT_SOURCE_CLASS_NONE,
+    /** gesture sensor (?) */
+    AINPUT_SOURCE_GESTURE_SENSOR = 0x00400000 | AINPUT_SOURCE_CLASS_NONE,
+    /** joystick */
+    AINPUT_SOURCE_JOYSTICK = 0x01000000 | AINPUT_SOURCE_CLASS_JOYSTICK,
+
+    /** any */
+    AINPUT_SOURCE_ANY = 0xffffff00,
+};
+
+/**
+ * Keyboard types.
+ *
+ * Refer to the documentation on android.view.InputDevice for more details.
+ */
+enum {
+    /** none */
+    AINPUT_KEYBOARD_TYPE_NONE = 0,
+    /** non alphabetic */
+    AINPUT_KEYBOARD_TYPE_NON_ALPHABETIC = 1,
+    /** alphabetic */
+    AINPUT_KEYBOARD_TYPE_ALPHABETIC = 2,
+};
+
+/**
+ * Constants used to retrieve information about the range of motion for a particular
+ * coordinate of a motion event.
+ *
+ * Refer to the documentation on android.view.InputDevice for more details about input sources
+ * and their correct interpretation.
+ *
+ * @deprecated These constants are deprecated. Use {@link AMOTION_EVENT_AXIS AMOTION_EVENT_AXIS_*} constants instead.
+ */
+enum {
+    /** x */
+    AINPUT_MOTION_RANGE_X = AMOTION_EVENT_AXIS_X,
+    /** y */
+    AINPUT_MOTION_RANGE_Y = AMOTION_EVENT_AXIS_Y,
+    /** pressure */
+    AINPUT_MOTION_RANGE_PRESSURE = AMOTION_EVENT_AXIS_PRESSURE,
+    /** size */
+    AINPUT_MOTION_RANGE_SIZE = AMOTION_EVENT_AXIS_SIZE,
+    /** touch major */
+    AINPUT_MOTION_RANGE_TOUCH_MAJOR = AMOTION_EVENT_AXIS_TOUCH_MAJOR,
+    /** touch minor */
+    AINPUT_MOTION_RANGE_TOUCH_MINOR = AMOTION_EVENT_AXIS_TOUCH_MINOR,
+    /** tool major */
+    AINPUT_MOTION_RANGE_TOOL_MAJOR = AMOTION_EVENT_AXIS_TOOL_MAJOR,
+    /** tool minor */
+    AINPUT_MOTION_RANGE_TOOL_MINOR = AMOTION_EVENT_AXIS_TOOL_MINOR,
+    /** orientation */
+    AINPUT_MOTION_RANGE_ORIENTATION = AMOTION_EVENT_AXIS_ORIENTATION,
+};
+
+
+/**
+ * Input event accessors.
+ *
+ * Note that most functions can only be used on input events that are of a given type.
+ * Calling these functions on input events of other types will yield undefined behavior.
+ */
+
+/*** Accessors for all input events. ***/
+
+/** Get the input event type. */
+int32_t AInputEvent_getType(const AInputEvent* event);
+
+/** Get the id for the device that an input event came from.
+ *
+ * Input events can be generated by multiple different input devices.
+ * Use the input device id to obtain information about the input
+ * device that was responsible for generating a particular event.
+ *
+ * An input device id of 0 indicates that the event didn't come from a physical device;
+ * other numbers are arbitrary and you shouldn't depend on the values.
+ * Use the provided input device query API to obtain information about input devices.
+ */
+int32_t AInputEvent_getDeviceId(const AInputEvent* event);
+
+/** Get the input event source. */
+int32_t AInputEvent_getSource(const AInputEvent* event);
+
+/*** Accessors for key events only. ***/
+
+/** Get the key event action. */
+int32_t AKeyEvent_getAction(const AInputEvent* key_event);
+
+/** Get the key event flags. */
+int32_t AKeyEvent_getFlags(const AInputEvent* key_event);
+
+/**
+ * Get the key code of the key event.
+ * This is the physical key that was pressed, not the Unicode character.
+ */
+int32_t AKeyEvent_getKeyCode(const AInputEvent* key_event);
+
+/**
+ * Get the hardware key id of this key event.
+ * These values are not reliable and vary from device to device.
+ */
+int32_t AKeyEvent_getScanCode(const AInputEvent* key_event);
+
+/** Get the meta key state. */
+int32_t AKeyEvent_getMetaState(const AInputEvent* key_event);
+
+/**
+ * Get the repeat count of the event.
+ * For both key up an key down events, this is the number of times the key has
+ * repeated with the first down starting at 0 and counting up from there.  For
+ * multiple key events, this is the number of down/up pairs that have occurred.
+ */
+int32_t AKeyEvent_getRepeatCount(const AInputEvent* key_event);
+
+/**
+ * Get the time of the most recent key down event, in the
+ * java.lang.System.nanoTime() time base.  If this is a down event,
+ * this will be the same as eventTime.
+ * Note that when chording keys, this value is the down time of the most recently
+ * pressed key, which may not be the same physical key of this event.
+ */
+int64_t AKeyEvent_getDownTime(const AInputEvent* key_event);
+
+/**
+ * Get the time this event occurred, in the
+ * java.lang.System.nanoTime() time base.
+ */
+int64_t AKeyEvent_getEventTime(const AInputEvent* key_event);
+
+/*** Accessors for motion events only. ***/
+
+/** Get the combined motion event action code and pointer index. */
+int32_t AMotionEvent_getAction(const AInputEvent* motion_event);
+
+/** Get the motion event flags. */
+int32_t AMotionEvent_getFlags(const AInputEvent* motion_event);
+
+/**
+ * Get the state of any meta / modifier keys that were in effect when the
+ * event was generated.
+ */
+int32_t AMotionEvent_getMetaState(const AInputEvent* motion_event);
+
+/** Get the button state of all buttons that are pressed. */
+int32_t AMotionEvent_getButtonState(const AInputEvent* motion_event);
+
+/**
+ * Get a bitfield indicating which edges, if any, were touched by this motion event.
+ * For touch events, clients can use this to determine if the user's finger was
+ * touching the edge of the display.
+ */
+int32_t AMotionEvent_getEdgeFlags(const AInputEvent* motion_event);
+
+/**
+ * Get the time when the user originally pressed down to start a stream of
+ * position events, in the java.lang.System.nanoTime() time base.
+ */
+int64_t AMotionEvent_getDownTime(const AInputEvent* motion_event);
+
+/**
+ * Get the time when this specific event was generated,
+ * in the java.lang.System.nanoTime() time base.
+ */
+int64_t AMotionEvent_getEventTime(const AInputEvent* motion_event);
+
+/**
+ * Get the X coordinate offset.
+ * For touch events on the screen, this is the delta that was added to the raw
+ * screen coordinates to adjust for the absolute position of the containing windows
+ * and views.
+ */
+float AMotionEvent_getXOffset(const AInputEvent* motion_event);
+
+/**
+ * Get the Y coordinate offset.
+ * For touch events on the screen, this is the delta that was added to the raw
+ * screen coordinates to adjust for the absolute position of the containing windows
+ * and views.
+ */
+float AMotionEvent_getYOffset(const AInputEvent* motion_event);
+
+/**
+ * Get the precision of the X coordinates being reported.
+ * You can multiply this number with an X coordinate sample to find the
+ * actual hardware value of the X coordinate.
+ */
+float AMotionEvent_getXPrecision(const AInputEvent* motion_event);
+
+/**
+ * Get the precision of the Y coordinates being reported.
+ * You can multiply this number with a Y coordinate sample to find the
+ * actual hardware value of the Y coordinate.
+ */
+float AMotionEvent_getYPrecision(const AInputEvent* motion_event);
+
+/**
+ * Get the number of pointers of data contained in this event.
+ * Always >= 1.
+ */
+size_t AMotionEvent_getPointerCount(const AInputEvent* motion_event);
+
+/**
+ * Get the pointer identifier associated with a particular pointer
+ * data index in this event.  The identifier tells you the actual pointer
+ * number associated with the data, accounting for individual pointers
+ * going up and down since the start of the current gesture.
+ */
+int32_t AMotionEvent_getPointerId(const AInputEvent* motion_event, size_t pointer_index);
+
+/**
+ * Get the tool type of a pointer for the given pointer index.
+ * The tool type indicates the type of tool used to make contact such as a
+ * finger or stylus, if known.
+ */
+int32_t AMotionEvent_getToolType(const AInputEvent* motion_event, size_t pointer_index);
+
+/**
+ * Get the original raw X coordinate of this event.
+ * For touch events on the screen, this is the original location of the event
+ * on the screen, before it had been adjusted for the containing window
+ * and views.
+ */
+float AMotionEvent_getRawX(const AInputEvent* motion_event, size_t pointer_index);
+
+/**
+ * Get the original raw X coordinate of this event.
+ * For touch events on the screen, this is the original location of the event
+ * on the screen, before it had been adjusted for the containing window
+ * and views.
+ */
+float AMotionEvent_getRawY(const AInputEvent* motion_event, size_t pointer_index);
+
+/**
+ * Get the current X coordinate of this event for the given pointer index.
+ * Whole numbers are pixels; the value may have a fraction for input devices
+ * that are sub-pixel precise.
+ */
+float AMotionEvent_getX(const AInputEvent* motion_event, size_t pointer_index);
+
+/**
+ * Get the current Y coordinate of this event for the given pointer index.
+ * Whole numbers are pixels; the value may have a fraction for input devices
+ * that are sub-pixel precise.
+ */
+float AMotionEvent_getY(const AInputEvent* motion_event, size_t pointer_index);
+
+/**
+ * Get the current pressure of this event for the given pointer index.
+ * The pressure generally ranges from 0 (no pressure at all) to 1 (normal pressure),
+ * although values higher than 1 may be generated depending on the calibration of
+ * the input device.
+ */
+float AMotionEvent_getPressure(const AInputEvent* motion_event, size_t pointer_index);
+
+/**
+ * Get the current scaled value of the approximate size for the given pointer index.
+ * This represents some approximation of the area of the screen being
+ * pressed; the actual value in pixels corresponding to the
+ * touch is normalized with the device specific range of values
+ * and scaled to a value between 0 and 1.  The value of size can be used to
+ * determine fat touch events.
+ */
+float AMotionEvent_getSize(const AInputEvent* motion_event, size_t pointer_index);
+
+/**
+ * Get the current length of the major axis of an ellipse that describes the touch area
+ * at the point of contact for the given pointer index.
+ */
+float AMotionEvent_getTouchMajor(const AInputEvent* motion_event, size_t pointer_index);
+
+/**
+ * Get the current length of the minor axis of an ellipse that describes the touch area
+ * at the point of contact for the given pointer index.
+ */
+float AMotionEvent_getTouchMinor(const AInputEvent* motion_event, size_t pointer_index);
+
+/**
+ * Get the current length of the major axis of an ellipse that describes the size
+ * of the approaching tool for the given pointer index.
+ * The tool area represents the estimated size of the finger or pen that is
+ * touching the device independent of its actual touch area at the point of contact.
+ */
+float AMotionEvent_getToolMajor(const AInputEvent* motion_event, size_t pointer_index);
+
+/**
+ * Get the current length of the minor axis of an ellipse that describes the size
+ * of the approaching tool for the given pointer index.
+ * The tool area represents the estimated size of the finger or pen that is
+ * touching the device independent of its actual touch area at the point of contact.
+ */
+float AMotionEvent_getToolMinor(const AInputEvent* motion_event, size_t pointer_index);
+
+/**
+ * Get the current orientation of the touch area and tool area in radians clockwise from
+ * vertical for the given pointer index.
+ * An angle of 0 degrees indicates that the major axis of contact is oriented
+ * upwards, is perfectly circular or is of unknown orientation.  A positive angle
+ * indicates that the major axis of contact is oriented to the right.  A negative angle
+ * indicates that the major axis of contact is oriented to the left.
+ * The full range is from -PI/2 radians (finger pointing fully left) to PI/2 radians
+ * (finger pointing fully right).
+ */
+float AMotionEvent_getOrientation(const AInputEvent* motion_event, size_t pointer_index);
+
+/** Get the value of the request axis for the given pointer index. */
+float AMotionEvent_getAxisValue(const AInputEvent* motion_event,
+        int32_t axis, size_t pointer_index);
+
+/**
+ * Get the number of historical points in this event.  These are movements that
+ * have occurred between this event and the previous event.  This only applies
+ * to AMOTION_EVENT_ACTION_MOVE events -- all other actions will have a size of 0.
+ * Historical samples are indexed from oldest to newest.
+ */
+size_t AMotionEvent_getHistorySize(const AInputEvent* motion_event);
+
+/**
+ * Get the time that a historical movement occurred between this event and
+ * the previous event, in the java.lang.System.nanoTime() time base.
+ */
+int64_t AMotionEvent_getHistoricalEventTime(const AInputEvent* motion_event,
+        size_t history_index);
+
+/**
+ * Get the historical raw X coordinate of this event for the given pointer index that
+ * occurred between this event and the previous motion event.
+ * For touch events on the screen, this is the original location of the event
+ * on the screen, before it had been adjusted for the containing window
+ * and views.
+ * Whole numbers are pixels; the value may have a fraction for input devices
+ * that are sub-pixel precise.
+ */
+float AMotionEvent_getHistoricalRawX(const AInputEvent* motion_event, size_t pointer_index,
+        size_t history_index);
+
+/**
+ * Get the historical raw Y coordinate of this event for the given pointer index that
+ * occurred between this event and the previous motion event.
+ * For touch events on the screen, this is the original location of the event
+ * on the screen, before it had been adjusted for the containing window
+ * and views.
+ * Whole numbers are pixels; the value may have a fraction for input devices
+ * that are sub-pixel precise.
+ */
+float AMotionEvent_getHistoricalRawY(const AInputEvent* motion_event, size_t pointer_index,
+        size_t history_index);
+
+/**
+ * Get the historical X coordinate of this event for the given pointer index that
+ * occurred between this event and the previous motion event.
+ * Whole numbers are pixels; the value may have a fraction for input devices
+ * that are sub-pixel precise.
+ */
+float AMotionEvent_getHistoricalX(const AInputEvent* motion_event, size_t pointer_index,
+        size_t history_index);
+
+/**
+ * Get the historical Y coordinate of this event for the given pointer index that
+ * occurred between this event and the previous motion event.
+ * Whole numbers are pixels; the value may have a fraction for input devices
+ * that are sub-pixel precise.
+ */
+float AMotionEvent_getHistoricalY(const AInputEvent* motion_event, size_t pointer_index,
+        size_t history_index);
+
+/**
+ * Get the historical pressure of this event for the given pointer index that
+ * occurred between this event and the previous motion event.
+ * The pressure generally ranges from 0 (no pressure at all) to 1 (normal pressure),
+ * although values higher than 1 may be generated depending on the calibration of
+ * the input device.
+ */
+float AMotionEvent_getHistoricalPressure(const AInputEvent* motion_event, size_t pointer_index,
+        size_t history_index);
+
+/**
+ * Get the current scaled value of the approximate size for the given pointer index that
+ * occurred between this event and the previous motion event.
+ * This represents some approximation of the area of the screen being
+ * pressed; the actual value in pixels corresponding to the
+ * touch is normalized with the device specific range of values
+ * and scaled to a value between 0 and 1.  The value of size can be used to
+ * determine fat touch events.
+ */
+float AMotionEvent_getHistoricalSize(const AInputEvent* motion_event, size_t pointer_index,
+        size_t history_index);
+
+/**
+ * Get the historical length of the major axis of an ellipse that describes the touch area
+ * at the point of contact for the given pointer index that
+ * occurred between this event and the previous motion event.
+ */
+float AMotionEvent_getHistoricalTouchMajor(const AInputEvent* motion_event, size_t pointer_index,
+        size_t history_index);
+
+/**
+ * Get the historical length of the minor axis of an ellipse that describes the touch area
+ * at the point of contact for the given pointer index that
+ * occurred between this event and the previous motion event.
+ */
+float AMotionEvent_getHistoricalTouchMinor(const AInputEvent* motion_event, size_t pointer_index,
+        size_t history_index);
+
+/**
+ * Get the historical length of the major axis of an ellipse that describes the size
+ * of the approaching tool for the given pointer index that
+ * occurred between this event and the previous motion event.
+ * The tool area represents the estimated size of the finger or pen that is
+ * touching the device independent of its actual touch area at the point of contact.
+ */
+float AMotionEvent_getHistoricalToolMajor(const AInputEvent* motion_event, size_t pointer_index,
+        size_t history_index);
+
+/**
+ * Get the historical length of the minor axis of an ellipse that describes the size
+ * of the approaching tool for the given pointer index that
+ * occurred between this event and the previous motion event.
+ * The tool area represents the estimated size of the finger or pen that is
+ * touching the device independent of its actual touch area at the point of contact.
+ */
+float AMotionEvent_getHistoricalToolMinor(const AInputEvent* motion_event, size_t pointer_index,
+        size_t history_index);
+
+/**
+ * Get the historical orientation of the touch area and tool area in radians clockwise from
+ * vertical for the given pointer index that
+ * occurred between this event and the previous motion event.
+ * An angle of 0 degrees indicates that the major axis of contact is oriented
+ * upwards, is perfectly circular or is of unknown orientation.  A positive angle
+ * indicates that the major axis of contact is oriented to the right.  A negative angle
+ * indicates that the major axis of contact is oriented to the left.
+ * The full range is from -PI/2 radians (finger pointing fully left) to PI/2 radians
+ * (finger pointing fully right).
+ */
+float AMotionEvent_getHistoricalOrientation(const AInputEvent* motion_event, size_t pointer_index,
+        size_t history_index);
+
+/**
+ * Get the historical value of the request axis for the given pointer index
+ * that occurred between this event and the previous motion event.
+ */
+float AMotionEvent_getHistoricalAxisValue(const AInputEvent* motion_event,
+        int32_t axis, size_t pointer_index, size_t history_index);
+
+
+struct AInputQueue;
+/**
+ * Input queue
+ *
+ * An input queue is the facility through which you retrieve input
+ * events.
+ */
+typedef struct AInputQueue AInputQueue;
+
+/**
+ * Add this input queue to a looper for processing.  See
+ * ALooper_addFd() for information on the ident, callback, and data params.
+ */
+void AInputQueue_attachLooper(AInputQueue* queue, ALooper* looper,
+        int ident, ALooper_callbackFunc callback, void* data);
+
+/**
+ * Remove the input queue from the looper it is currently attached to.
+ */
+void AInputQueue_detachLooper(AInputQueue* queue);
+
+/**
+ * Returns true if there are one or more events available in the
+ * input queue.  Returns 1 if the queue has events; 0 if
+ * it does not have events; and a negative value if there is an error.
+ */
+int32_t AInputQueue_hasEvents(AInputQueue* queue);
+
+/**
+ * Returns the next available event from the queue.  Returns a negative
+ * value if no events are available or an error has occurred.
+ */
+int32_t AInputQueue_getEvent(AInputQueue* queue, AInputEvent** outEvent);
+
+/**
+ * Sends the key for standard pre-dispatching -- that is, possibly deliver
+ * it to the current IME to be consumed before the app.  Returns 0 if it
+ * was not pre-dispatched, meaning you can process it right now.  If non-zero
+ * is returned, you must abandon the current event processing and allow the
+ * event to appear again in the event queue (if it does not get consumed during
+ * pre-dispatching).
+ */
+int32_t AInputQueue_preDispatchEvent(AInputQueue* queue, AInputEvent* event);
+
+/**
+ * Report that dispatching has finished with the given event.
+ * This must be called after receiving an event with AInputQueue_get_event().
+ */
+void AInputQueue_finishEvent(AInputQueue* queue, AInputEvent* event, int handled);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // _ANDROID_INPUT_H
+
+/** @} */
diff --git a/third_party/android_frameworks_native/include/android/keycodes.h b/third_party/android_frameworks_native/include/android/keycodes.h
new file mode 100644
index 0000000000..421abe5477
--- /dev/null
+++ b/third_party/android_frameworks_native/include/android/keycodes.h
@@ -0,0 +1,752 @@
+/*
+ * Copyright (C) 2010 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+/**
+ * @addtogroup Input
+ * @{
+ */
+
+/**
+ * @file keycodes.h
+ */
+
+#ifndef _ANDROID_KEYCODES_H
+#define _ANDROID_KEYCODES_H
+
+/******************************************************************
+ *
+ * IMPORTANT NOTICE:
+ *
+ *   This file is part of Android's set of stable system headers
+ *   exposed by the Android NDK (Native Development Kit).
+ *
+ *   Third-party source AND binary code relies on the definitions
+ *   here to be FROZEN ON ALL UPCOMING PLATFORM RELEASES.
+ *
+ *   - DO NOT MODIFY ENUMS (EXCEPT IF YOU ADD NEW 32-BIT VALUES)
+ *   - DO NOT MODIFY CONSTANTS OR FUNCTIONAL MACROS
+ *   - DO NOT CHANGE THE SIGNATURE OF FUNCTIONS IN ANY WAY
+ *   - DO NOT CHANGE THE LAYOUT OR SIZE OF STRUCTURES
+ */
+
+#include <sys/types.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * Key codes.
+ */
+enum {
+    /** Unknown key code. */
+    AKEYCODE_UNKNOWN         = 0,
+    /** Soft Left key.
+     * Usually situated below the display on phones and used as a multi-function
+     * feature key for selecting a software defined function shown on the bottom left
+     * of the display. */
+    AKEYCODE_SOFT_LEFT       = 1,
+    /** Soft Right key.
+     * Usually situated below the display on phones and used as a multi-function
+     * feature key for selecting a software defined function shown on the bottom right
+     * of the display. */
+    AKEYCODE_SOFT_RIGHT      = 2,
+    /** Home key.
+     * This key is handled by the framework and is never delivered to applications. */
+    AKEYCODE_HOME            = 3,
+    /** Back key. */
+    AKEYCODE_BACK            = 4,
+    /** Call key. */
+    AKEYCODE_CALL            = 5,
+    /** End Call key. */
+    AKEYCODE_ENDCALL         = 6,
+    /** '0' key. */
+    AKEYCODE_0               = 7,
+    /** '1' key. */
+    AKEYCODE_1               = 8,
+    /** '2' key. */
+    AKEYCODE_2               = 9,
+    /** '3' key. */
+    AKEYCODE_3               = 10,
+    /** '4' key. */
+    AKEYCODE_4               = 11,
+    /** '5' key. */
+    AKEYCODE_5               = 12,
+    /** '6' key. */
+    AKEYCODE_6               = 13,
+    /** '7' key. */
+    AKEYCODE_7               = 14,
+    /** '8' key. */
+    AKEYCODE_8               = 15,
+    /** '9' key. */
+    AKEYCODE_9               = 16,
+    /** '*' key. */
+    AKEYCODE_STAR            = 17,
+    /** '#' key. */
+    AKEYCODE_POUND           = 18,
+    /** Directional Pad Up key.
+     * May also be synthesized from trackball motions. */
+    AKEYCODE_DPAD_UP         = 19,
+    /** Directional Pad Down key.
+     * May also be synthesized from trackball motions. */
+    AKEYCODE_DPAD_DOWN       = 20,
+    /** Directional Pad Left key.
+     * May also be synthesized from trackball motions. */
+    AKEYCODE_DPAD_LEFT       = 21,
+    /** Directional Pad Right key.
+     * May also be synthesized from trackball motions. */
+    AKEYCODE_DPAD_RIGHT      = 22,
+    /** Directional Pad Center key.
+     * May also be synthesized from trackball motions. */
+    AKEYCODE_DPAD_CENTER     = 23,
+    /** Volume Up key.
+     * Adjusts the speaker volume up. */
+    AKEYCODE_VOLUME_UP       = 24,
+    /** Volume Down key.
+     * Adjusts the speaker volume down. */
+    AKEYCODE_VOLUME_DOWN     = 25,
+    /** Power key. */
+    AKEYCODE_POWER           = 26,
+    /** Camera key.
+     * Used to launch a camera application or take pictures. */
+    AKEYCODE_CAMERA          = 27,
+    /** Clear key. */
+    AKEYCODE_CLEAR           = 28,
+    /** 'A' key. */
+    AKEYCODE_A               = 29,
+    /** 'B' key. */
+    AKEYCODE_B               = 30,
+    /** 'C' key. */
+    AKEYCODE_C               = 31,
+    /** 'D' key. */
+    AKEYCODE_D               = 32,
+    /** 'E' key. */
+    AKEYCODE_E               = 33,
+    /** 'F' key. */
+    AKEYCODE_F               = 34,
+    /** 'G' key. */
+    AKEYCODE_G               = 35,
+    /** 'H' key. */
+    AKEYCODE_H               = 36,
+    /** 'I' key. */
+    AKEYCODE_I               = 37,
+    /** 'J' key. */
+    AKEYCODE_J               = 38,
+    /** 'K' key. */
+    AKEYCODE_K               = 39,
+    /** 'L' key. */
+    AKEYCODE_L               = 40,
+    /** 'M' key. */
+    AKEYCODE_M               = 41,
+    /** 'N' key. */
+    AKEYCODE_N               = 42,
+    /** 'O' key. */
+    AKEYCODE_O               = 43,
+    /** 'P' key. */
+    AKEYCODE_P               = 44,
+    /** 'Q' key. */
+    AKEYCODE_Q               = 45,
+    /** 'R' key. */
+    AKEYCODE_R               = 46,
+    /** 'S' key. */
+    AKEYCODE_S               = 47,
+    /** 'T' key. */
+    AKEYCODE_T               = 48,
+    /** 'U' key. */
+    AKEYCODE_U               = 49,
+    /** 'V' key. */
+    AKEYCODE_V               = 50,
+    /** 'W' key. */
+    AKEYCODE_W               = 51,
+    /** 'X' key. */
+    AKEYCODE_X               = 52,
+    /** 'Y' key. */
+    AKEYCODE_Y               = 53,
+    /** 'Z' key. */
+    AKEYCODE_Z               = 54,
+    /** ',' key. */
+    AKEYCODE_COMMA           = 55,
+    /** '.' key. */
+    AKEYCODE_PERIOD          = 56,
+    /** Left Alt modifier key. */
+    AKEYCODE_ALT_LEFT        = 57,
+    /** Right Alt modifier key. */
+    AKEYCODE_ALT_RIGHT       = 58,
+    /** Left Shift modifier key. */
+    AKEYCODE_SHIFT_LEFT      = 59,
+    /** Right Shift modifier key. */
+    AKEYCODE_SHIFT_RIGHT     = 60,
+    /** Tab key. */
+    AKEYCODE_TAB             = 61,
+    /** Space key. */
+    AKEYCODE_SPACE           = 62,
+    /** Symbol modifier key.
+     * Used to enter alternate symbols. */
+    AKEYCODE_SYM             = 63,
+    /** Explorer special function key.
+     * Used to launch a browser application. */
+    AKEYCODE_EXPLORER        = 64,
+    /** Envelope special function key.
+     * Used to launch a mail application. */
+    AKEYCODE_ENVELOPE        = 65,
+    /** Enter key. */
+    AKEYCODE_ENTER           = 66,
+    /** Backspace key.
+     * Deletes characters before the insertion point, unlike {@link AKEYCODE_FORWARD_DEL}. */
+    AKEYCODE_DEL             = 67,
+    /** '`' (backtick) key. */
+    AKEYCODE_GRAVE           = 68,
+    /** '-'. */
+    AKEYCODE_MINUS           = 69,
+    /** '=' key. */
+    AKEYCODE_EQUALS          = 70,
+    /** '[' key. */
+    AKEYCODE_LEFT_BRACKET    = 71,
+    /** ']' key. */
+    AKEYCODE_RIGHT_BRACKET   = 72,
+    /** '\' key. */
+    AKEYCODE_BACKSLASH       = 73,
+    /** ';' key. */
+    AKEYCODE_SEMICOLON       = 74,
+    /** ''' (apostrophe) key. */
+    AKEYCODE_APOSTROPHE      = 75,
+    /** '/' key. */
+    AKEYCODE_SLASH           = 76,
+    /** '@' key. */
+    AKEYCODE_AT              = 77,
+    /** Number modifier key.
+     * Used to enter numeric symbols.
+     * This key is not {@link AKEYCODE_NUM_LOCK}; it is more like {@link AKEYCODE_ALT_LEFT}. */
+    AKEYCODE_NUM             = 78,
+    /** Headset Hook key.
+     * Used to hang up calls and stop media. */
+    AKEYCODE_HEADSETHOOK     = 79,
+    /** Camera Focus key.
+     * Used to focus the camera. */
+    AKEYCODE_FOCUS           = 80,
+    /** '+' key. */
+    AKEYCODE_PLUS            = 81,
+    /** Menu key. */
+    AKEYCODE_MENU            = 82,
+    /** Notification key. */
+    AKEYCODE_NOTIFICATION    = 83,
+    /** Search key. */
+    AKEYCODE_SEARCH          = 84,
+    /** Play/Pause media key. */
+    AKEYCODE_MEDIA_PLAY_PAUSE= 85,
+    /** Stop media key. */
+    AKEYCODE_MEDIA_STOP      = 86,
+    /** Play Next media key. */
+    AKEYCODE_MEDIA_NEXT      = 87,
+    /** Play Previous media key. */
+    AKEYCODE_MEDIA_PREVIOUS  = 88,
+    /** Rewind media key. */
+    AKEYCODE_MEDIA_REWIND    = 89,
+    /** Fast Forward media key. */
+    AKEYCODE_MEDIA_FAST_FORWARD = 90,
+    /** Mute key.
+     * Mutes the microphone, unlike {@link AKEYCODE_VOLUME_MUTE}. */
+    AKEYCODE_MUTE            = 91,
+    /** Page Up key. */
+    AKEYCODE_PAGE_UP         = 92,
+    /** Page Down key. */
+    AKEYCODE_PAGE_DOWN       = 93,
+    /** Picture Symbols modifier key.
+     * Used to switch symbol sets (Emoji, Kao-moji). */
+    AKEYCODE_PICTSYMBOLS     = 94,
+    /** Switch Charset modifier key.
+     * Used to switch character sets (Kanji, Katakana). */
+    AKEYCODE_SWITCH_CHARSET  = 95,
+    /** A Button key.
+     * On a game controller, the A button should be either the button labeled A
+     * or the first button on the bottom row of controller buttons. */
+    AKEYCODE_BUTTON_A        = 96,
+    /** B Button key.
+     * On a game controller, the B button should be either the button labeled B
+     * or the second button on the bottom row of controller buttons. */
+    AKEYCODE_BUTTON_B        = 97,
+    /** C Button key.
+     * On a game controller, the C button should be either the button labeled C
+     * or the third button on the bottom row of controller buttons. */
+    AKEYCODE_BUTTON_C        = 98,
+    /** X Button key.
+     * On a game controller, the X button should be either the button labeled X
+     * or the first button on the upper row of controller buttons. */
+    AKEYCODE_BUTTON_X        = 99,
+    /** Y Button key.
+     * On a game controller, the Y button should be either the button labeled Y
+     * or the second button on the upper row of controller buttons. */
+    AKEYCODE_BUTTON_Y        = 100,
+    /** Z Button key.
+     * On a game controller, the Z button should be either the button labeled Z
+     * or the third button on the upper row of controller buttons. */
+    AKEYCODE_BUTTON_Z        = 101,
+    /** L1 Button key.
+     * On a game controller, the L1 button should be either the button labeled L1 (or L)
+     * or the top left trigger button. */
+    AKEYCODE_BUTTON_L1       = 102,
+    /** R1 Button key.
+     * On a game controller, the R1 button should be either the button labeled R1 (or R)
+     * or the top right trigger button. */
+    AKEYCODE_BUTTON_R1       = 103,
+    /** L2 Button key.
+     * On a game controller, the L2 button should be either the button labeled L2
+     * or the bottom left trigger button. */
+    AKEYCODE_BUTTON_L2       = 104,
+    /** R2 Button key.
+     * On a game controller, the R2 button should be either the button labeled R2
+     * or the bottom right trigger button. */
+    AKEYCODE_BUTTON_R2       = 105,
+    /** Left Thumb Button key.
+     * On a game controller, the left thumb button indicates that the left (or only)
+     * joystick is pressed. */
+    AKEYCODE_BUTTON_THUMBL   = 106,
+    /** Right Thumb Button key.
+     * On a game controller, the right thumb button indicates that the right
+     * joystick is pressed. */
+    AKEYCODE_BUTTON_THUMBR   = 107,
+    /** Start Button key.
+     * On a game controller, the button labeled Start. */
+    AKEYCODE_BUTTON_START    = 108,
+    /** Select Button key.
+     * On a game controller, the button labeled Select. */
+    AKEYCODE_BUTTON_SELECT   = 109,
+    /** Mode Button key.
+     * On a game controller, the button labeled Mode. */
+    AKEYCODE_BUTTON_MODE     = 110,
+    /** Escape key. */
+    AKEYCODE_ESCAPE          = 111,
+    /** Forward Delete key.
+     * Deletes characters ahead of the insertion point, unlike {@link AKEYCODE_DEL}. */
+    AKEYCODE_FORWARD_DEL     = 112,
+    /** Left Control modifier key. */
+    AKEYCODE_CTRL_LEFT       = 113,
+    /** Right Control modifier key. */
+    AKEYCODE_CTRL_RIGHT      = 114,
+    /** Caps Lock key. */
+    AKEYCODE_CAPS_LOCK       = 115,
+    /** Scroll Lock key. */
+    AKEYCODE_SCROLL_LOCK     = 116,
+    /** Left Meta modifier key. */
+    AKEYCODE_META_LEFT       = 117,
+    /** Right Meta modifier key. */
+    AKEYCODE_META_RIGHT      = 118,
+    /** Function modifier key. */
+    AKEYCODE_FUNCTION        = 119,
+    /** System Request / Print Screen key. */
+    AKEYCODE_SYSRQ           = 120,
+    /** Break / Pause key. */
+    AKEYCODE_BREAK           = 121,
+    /** Home Movement key.
+     * Used for scrolling or moving the cursor around to the start of a line
+     * or to the top of a list. */
+    AKEYCODE_MOVE_HOME       = 122,
+    /** End Movement key.
+     * Used for scrolling or moving the cursor around to the end of a line
+     * or to the bottom of a list. */
+    AKEYCODE_MOVE_END        = 123,
+    /** Insert key.
+     * Toggles insert / overwrite edit mode. */
+    AKEYCODE_INSERT          = 124,
+    /** Forward key.
+     * Navigates forward in the history stack.  Complement of {@link AKEYCODE_BACK}. */
+    AKEYCODE_FORWARD         = 125,
+    /** Play media key. */
+    AKEYCODE_MEDIA_PLAY      = 126,
+    /** Pause media key. */
+    AKEYCODE_MEDIA_PAUSE     = 127,
+    /** Close media key.
+     * May be used to close a CD tray, for example. */
+    AKEYCODE_MEDIA_CLOSE     = 128,
+    /** Eject media key.
+     * May be used to eject a CD tray, for example. */
+    AKEYCODE_MEDIA_EJECT     = 129,
+    /** Record media key. */
+    AKEYCODE_MEDIA_RECORD    = 130,
+    /** F1 key. */
+    AKEYCODE_F1              = 131,
+    /** F2 key. */
+    AKEYCODE_F2              = 132,
+    /** F3 key. */
+    AKEYCODE_F3              = 133,
+    /** F4 key. */
+    AKEYCODE_F4              = 134,
+    /** F5 key. */
+    AKEYCODE_F5              = 135,
+    /** F6 key. */
+    AKEYCODE_F6              = 136,
+    /** F7 key. */
+    AKEYCODE_F7              = 137,
+    /** F8 key. */
+    AKEYCODE_F8              = 138,
+    /** F9 key. */
+    AKEYCODE_F9              = 139,
+    /** F10 key. */
+    AKEYCODE_F10             = 140,
+    /** F11 key. */
+    AKEYCODE_F11             = 141,
+    /** F12 key. */
+    AKEYCODE_F12             = 142,
+    /** Num Lock key.
+     * This is the Num Lock key; it is different from {@link AKEYCODE_NUM}.
+     * This key alters the behavior of other keys on the numeric keypad. */
+    AKEYCODE_NUM_LOCK        = 143,
+    /** Numeric keypad '0' key. */
+    AKEYCODE_NUMPAD_0        = 144,
+    /** Numeric keypad '1' key. */
+    AKEYCODE_NUMPAD_1        = 145,
+    /** Numeric keypad '2' key. */
+    AKEYCODE_NUMPAD_2        = 146,
+    /** Numeric keypad '3' key. */
+    AKEYCODE_NUMPAD_3        = 147,
+    /** Numeric keypad '4' key. */
+    AKEYCODE_NUMPAD_4        = 148,
+    /** Numeric keypad '5' key. */
+    AKEYCODE_NUMPAD_5        = 149,
+    /** Numeric keypad '6' key. */
+    AKEYCODE_NUMPAD_6        = 150,
+    /** Numeric keypad '7' key. */
+    AKEYCODE_NUMPAD_7        = 151,
+    /** Numeric keypad '8' key. */
+    AKEYCODE_NUMPAD_8        = 152,
+    /** Numeric keypad '9' key. */
+    AKEYCODE_NUMPAD_9        = 153,
+    /** Numeric keypad '/' key (for division). */
+    AKEYCODE_NUMPAD_DIVIDE   = 154,
+    /** Numeric keypad '*' key (for multiplication). */
+    AKEYCODE_NUMPAD_MULTIPLY = 155,
+    /** Numeric keypad '-' key (for subtraction). */
+    AKEYCODE_NUMPAD_SUBTRACT = 156,
+    /** Numeric keypad '+' key (for addition). */
+    AKEYCODE_NUMPAD_ADD      = 157,
+    /** Numeric keypad '.' key (for decimals or digit grouping). */
+    AKEYCODE_NUMPAD_DOT      = 158,
+    /** Numeric keypad ',' key (for decimals or digit grouping). */
+    AKEYCODE_NUMPAD_COMMA    = 159,
+    /** Numeric keypad Enter key. */
+    AKEYCODE_NUMPAD_ENTER    = 160,
+    /** Numeric keypad '=' key. */
+    AKEYCODE_NUMPAD_EQUALS   = 161,
+    /** Numeric keypad '(' key. */
+    AKEYCODE_NUMPAD_LEFT_PAREN = 162,
+    /** Numeric keypad ')' key. */
+    AKEYCODE_NUMPAD_RIGHT_PAREN = 163,
+    /** Volume Mute key.
+     * Mutes the speaker, unlike {@link AKEYCODE_MUTE}.
+     * This key should normally be implemented as a toggle such that the first press
+     * mutes the speaker and the second press restores the original volume. */
+    AKEYCODE_VOLUME_MUTE     = 164,
+    /** Info key.
+     * Common on TV remotes to show additional information related to what is
+     * currently being viewed. */
+    AKEYCODE_INFO            = 165,
+    /** Channel up key.
+     * On TV remotes, increments the television channel. */
+    AKEYCODE_CHANNEL_UP      = 166,
+    /** Channel down key.
+     * On TV remotes, decrements the television channel. */
+    AKEYCODE_CHANNEL_DOWN    = 167,
+    /** Zoom in key. */
+    AKEYCODE_ZOOM_IN         = 168,
+    /** Zoom out key. */
+    AKEYCODE_ZOOM_OUT        = 169,
+    /** TV key.
+     * On TV remotes, switches to viewing live TV. */
+    AKEYCODE_TV              = 170,
+    /** Window key.
+     * On TV remotes, toggles picture-in-picture mode or other windowing functions. */
+    AKEYCODE_WINDOW          = 171,
+    /** Guide key.
+     * On TV remotes, shows a programming guide. */
+    AKEYCODE_GUIDE           = 172,
+    /** DVR key.
+     * On some TV remotes, switches to a DVR mode for recorded shows. */
+    AKEYCODE_DVR             = 173,
+    /** Bookmark key.
+     * On some TV remotes, bookmarks content or web pages. */
+    AKEYCODE_BOOKMARK        = 174,
+    /** Toggle captions key.
+     * Switches the mode for closed-captioning text, for example during television shows. */
+    AKEYCODE_CAPTIONS        = 175,
+    /** Settings key.
+     * Starts the system settings activity. */
+    AKEYCODE_SETTINGS        = 176,
+    /** TV power key.
+     * On TV remotes, toggles the power on a television screen. */
+    AKEYCODE_TV_POWER        = 177,
+    /** TV input key.
+     * On TV remotes, switches the input on a television screen. */
+    AKEYCODE_TV_INPUT        = 178,
+    /** Set-top-box power key.
+     * On TV remotes, toggles the power on an external Set-top-box. */
+    AKEYCODE_STB_POWER       = 179,
+    /** Set-top-box input key.
+     * On TV remotes, switches the input mode on an external Set-top-box. */
+    AKEYCODE_STB_INPUT       = 180,
+    /** A/V Receiver power key.
+     * On TV remotes, toggles the power on an external A/V Receiver. */
+    AKEYCODE_AVR_POWER       = 181,
+    /** A/V Receiver input key.
+     * On TV remotes, switches the input mode on an external A/V Receiver. */
+    AKEYCODE_AVR_INPUT       = 182,
+    /** Red "programmable" key.
+     * On TV remotes, acts as a contextual/programmable key. */
+    AKEYCODE_PROG_RED        = 183,
+    /** Green "programmable" key.
+     * On TV remotes, actsas a contextual/programmable key. */
+    AKEYCODE_PROG_GREEN      = 184,
+    /** Yellow "programmable" key.
+     * On TV remotes, acts as a contextual/programmable key. */
+    AKEYCODE_PROG_YELLOW     = 185,
+    /** Blue "programmable" key.
+     * On TV remotes, acts as a contextual/programmable key. */
+    AKEYCODE_PROG_BLUE       = 186,
+    /** App switch key.
+     * Should bring up the application switcher dialog. */
+    AKEYCODE_APP_SWITCH      = 187,
+    /** Generic Game Pad Button #1.*/
+    AKEYCODE_BUTTON_1        = 188,
+    /** Generic Game Pad Button #2.*/
+    AKEYCODE_BUTTON_2        = 189,
+    /** Generic Game Pad Button #3.*/
+    AKEYCODE_BUTTON_3        = 190,
+    /** Generic Game Pad Button #4.*/
+    AKEYCODE_BUTTON_4        = 191,
+    /** Generic Game Pad Button #5.*/
+    AKEYCODE_BUTTON_5        = 192,
+    /** Generic Game Pad Button #6.*/
+    AKEYCODE_BUTTON_6        = 193,
+    /** Generic Game Pad Button #7.*/
+    AKEYCODE_BUTTON_7        = 194,
+    /** Generic Game Pad Button #8.*/
+    AKEYCODE_BUTTON_8        = 195,
+    /** Generic Game Pad Button #9.*/
+    AKEYCODE_BUTTON_9        = 196,
+    /** Generic Game Pad Button #10.*/
+    AKEYCODE_BUTTON_10       = 197,
+    /** Generic Game Pad Button #11.*/
+    AKEYCODE_BUTTON_11       = 198,
+    /** Generic Game Pad Button #12.*/
+    AKEYCODE_BUTTON_12       = 199,
+    /** Generic Game Pad Button #13.*/
+    AKEYCODE_BUTTON_13       = 200,
+    /** Generic Game Pad Button #14.*/
+    AKEYCODE_BUTTON_14       = 201,
+    /** Generic Game Pad Button #15.*/
+    AKEYCODE_BUTTON_15       = 202,
+    /** Generic Game Pad Button #16.*/
+    AKEYCODE_BUTTON_16       = 203,
+    /** Language Switch key.
+     * Toggles the current input language such as switching between English and Japanese on
+     * a QWERTY keyboard.  On some devices, the same function may be performed by
+     * pressing Shift+Spacebar. */
+    AKEYCODE_LANGUAGE_SWITCH = 204,
+    /** Manner Mode key.
+     * Toggles silent or vibrate mode on and off to make the device behave more politely
+     * in certain settings such as on a crowded train.  On some devices, the key may only
+     * operate when long-pressed. */
+    AKEYCODE_MANNER_MODE     = 205,
+    /** 3D Mode key.
+     * Toggles the display between 2D and 3D mode. */
+    AKEYCODE_3D_MODE         = 206,
+    /** Contacts special function key.
+     * Used to launch an address book application. */
+    AKEYCODE_CONTACTS        = 207,
+    /** Calendar special function key.
+     * Used to launch a calendar application. */
+    AKEYCODE_CALENDAR        = 208,
+    /** Music special function key.
+     * Used to launch a music player application. */
+    AKEYCODE_MUSIC           = 209,
+    /** Calculator special function key.
+     * Used to launch a calculator application. */
+    AKEYCODE_CALCULATOR      = 210,
+    /** Japanese full-width / half-width key. */
+    AKEYCODE_ZENKAKU_HANKAKU = 211,
+    /** Japanese alphanumeric key. */
+    AKEYCODE_EISU            = 212,
+    /** Japanese non-conversion key. */
+    AKEYCODE_MUHENKAN        = 213,
+    /** Japanese conversion key. */
+    AKEYCODE_HENKAN          = 214,
+    /** Japanese katakana / hiragana key. */
+    AKEYCODE_KATAKANA_HIRAGANA = 215,
+    /** Japanese Yen key. */
+    AKEYCODE_YEN             = 216,
+    /** Japanese Ro key. */
+    AKEYCODE_RO              = 217,
+    /** Japanese kana key. */
+    AKEYCODE_KANA            = 218,
+    /** Assist key.
+     * Launches the global assist activity.  Not delivered to applications. */
+    AKEYCODE_ASSIST          = 219,
+    /** Brightness Down key.
+     * Adjusts the screen brightness down. */
+    AKEYCODE_BRIGHTNESS_DOWN = 220,
+    /** Brightness Up key.
+     * Adjusts the screen brightness up. */
+    AKEYCODE_BRIGHTNESS_UP   = 221,
+    /** Audio Track key.
+     * Switches the audio tracks. */
+    AKEYCODE_MEDIA_AUDIO_TRACK = 222,
+    /** Sleep key.
+     * Puts the device to sleep.  Behaves somewhat like {@link AKEYCODE_POWER} but it
+     * has no effect if the device is already asleep. */
+    AKEYCODE_SLEEP           = 223,
+    /** Wakeup key.
+     * Wakes up the device.  Behaves somewhat like {@link AKEYCODE_POWER} but it
+     * has no effect if the device is already awake. */
+    AKEYCODE_WAKEUP          = 224,
+    /** Pairing key.
+     * Initiates peripheral pairing mode. Useful for pairing remote control
+     * devices or game controllers, especially if no other input mode is
+     * available. */
+    AKEYCODE_PAIRING         = 225,
+    /** Media Top Menu key.
+     * Goes to the top of media menu. */
+    AKEYCODE_MEDIA_TOP_MENU  = 226,
+    /** '11' key. */
+    AKEYCODE_11              = 227,
+    /** '12' key. */
+    AKEYCODE_12              = 228,
+    /** Last Channel key.
+     * Goes to the last viewed channel. */
+    AKEYCODE_LAST_CHANNEL    = 229,
+    /** TV data service key.
+     * Displays data services like weather, sports. */
+    AKEYCODE_TV_DATA_SERVICE = 230,
+    /** Voice Assist key.
+     * Launches the global voice assist activity. Not delivered to applications. */
+    AKEYCODE_VOICE_ASSIST    = 231,
+    /** Radio key.
+     * Toggles TV service / Radio service. */
+    AKEYCODE_TV_RADIO_SERVICE = 232,
+    /** Teletext key.
+     * Displays Teletext service. */
+    AKEYCODE_TV_TELETEXT     = 233,
+    /** Number entry key.
+     * Initiates to enter multi-digit channel nubmber when each digit key is assigned
+     * for selecting separate channel. Corresponds to Number Entry Mode (0x1D) of CEC
+     * User Control Code. */
+    AKEYCODE_TV_NUMBER_ENTRY = 234,
+    /** Analog Terrestrial key.
+     * Switches to analog terrestrial broadcast service. */
+    AKEYCODE_TV_TERRESTRIAL_ANALOG = 235,
+    /** Digital Terrestrial key.
+     * Switches to digital terrestrial broadcast service. */
+    AKEYCODE_TV_TERRESTRIAL_DIGITAL = 236,
+    /** Satellite key.
+     * Switches to digital satellite broadcast service. */
+    AKEYCODE_TV_SATELLITE    = 237,
+    /** BS key.
+     * Switches to BS digital satellite broadcasting service available in Japan. */
+    AKEYCODE_TV_SATELLITE_BS = 238,
+    /** CS key.
+     * Switches to CS digital satellite broadcasting service available in Japan. */
+    AKEYCODE_TV_SATELLITE_CS = 239,
+    /** BS/CS key.
+     * Toggles between BS and CS digital satellite services. */
+    AKEYCODE_TV_SATELLITE_SERVICE = 240,
+    /** Toggle Network key.
+     * Toggles selecting broacast services. */
+    AKEYCODE_TV_NETWORK      = 241,
+    /** Antenna/Cable key.
+     * Toggles broadcast input source between antenna and cable. */
+    AKEYCODE_TV_ANTENNA_CABLE = 242,
+    /** HDMI #1 key.
+     * Switches to HDMI input #1. */
+    AKEYCODE_TV_INPUT_HDMI_1 = 243,
+    /** HDMI #2 key.
+     * Switches to HDMI input #2. */
+    AKEYCODE_TV_INPUT_HDMI_2 = 244,
+    /** HDMI #3 key.
+     * Switches to HDMI input #3. */
+    AKEYCODE_TV_INPUT_HDMI_3 = 245,
+    /** HDMI #4 key.
+     * Switches to HDMI input #4. */
+    AKEYCODE_TV_INPUT_HDMI_4 = 246,
+    /** Composite #1 key.
+     * Switches to composite video input #1. */
+    AKEYCODE_TV_INPUT_COMPOSITE_1 = 247,
+    /** Composite #2 key.
+     * Switches to composite video input #2. */
+    AKEYCODE_TV_INPUT_COMPOSITE_2 = 248,
+    /** Component #1 key.
+     * Switches to component video input #1. */
+    AKEYCODE_TV_INPUT_COMPONENT_1 = 249,
+    /** Component #2 key.
+     * Switches to component video input #2. */
+    AKEYCODE_TV_INPUT_COMPONENT_2 = 250,
+    /** VGA #1 key.
+     * Switches to VGA (analog RGB) input #1. */
+    AKEYCODE_TV_INPUT_VGA_1  = 251,
+    /** Audio description key.
+     * Toggles audio description off / on. */
+    AKEYCODE_TV_AUDIO_DESCRIPTION = 252,
+    /** Audio description mixing volume up key.
+     * Louden audio description volume as compared with normal audio volume. */
+    AKEYCODE_TV_AUDIO_DESCRIPTION_MIX_UP = 253,
+    /** Audio description mixing volume down key.
+     * Lessen audio description volume as compared with normal audio volume. */
+    AKEYCODE_TV_AUDIO_DESCRIPTION_MIX_DOWN = 254,
+    /** Zoom mode key.
+     * Changes Zoom mode (Normal, Full, Zoom, Wide-zoom, etc.) */
+    AKEYCODE_TV_ZOOM_MODE    = 255,
+    /** Contents menu key.
+     * Goes to the title list. Corresponds to Contents Menu (0x0B) of CEC User Control
+     * Code */
+    AKEYCODE_TV_CONTENTS_MENU = 256,
+    /** Media context menu key.
+     * Goes to the context menu of media contents. Corresponds to Media Context-sensitive
+     * Menu (0x11) of CEC User Control Code. */
+    AKEYCODE_TV_MEDIA_CONTEXT_MENU = 257,
+    /** Timer programming key.
+     * Goes to the timer recording menu. Corresponds to Timer Programming (0x54) of
+     * CEC User Control Code. */
+    AKEYCODE_TV_TIMER_PROGRAMMING = 258,
+    /** Help key. */
+    AKEYCODE_HELP            = 259,
+    AKEYCODE_NAVIGATE_PREVIOUS = 260,
+    AKEYCODE_NAVIGATE_NEXT   = 261,
+    AKEYCODE_NAVIGATE_IN     = 262,
+    AKEYCODE_NAVIGATE_OUT    = 263,
+    /** Primary stem key for Wear
+     * Main power/reset button on watch. */
+    AKEYCODE_STEM_PRIMARY = 264,
+    /** Generic stem key 1 for Wear */
+    AKEYCODE_STEM_1 = 265,
+    /** Generic stem key 2 for Wear */
+    AKEYCODE_STEM_2 = 266,
+    /** Generic stem key 3 for Wear */
+    AKEYCODE_STEM_3 = 267,
+    AKEYCODE_MEDIA_SKIP_FORWARD = 272,
+    AKEYCODE_MEDIA_SKIP_BACKWARD = 273,
+    AKEYCODE_MEDIA_STEP_FORWARD = 274,
+    AKEYCODE_MEDIA_STEP_BACKWARD = 275,
+    /** Put device to sleep unless a wakelock is held. */
+    AKEYCODE_SOFT_SLEEP = 276
+
+    // NOTE: If you add a new keycode here you must also add it to several other files.
+    //       Refer to frameworks/base/core/java/android/view/KeyEvent.java for the full list.
+};
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // _ANDROID_KEYCODES_H
+
+/** @} */
diff --git a/third_party/android_frameworks_native/include/android/looper.h b/third_party/android_frameworks_native/include/android/looper.h
new file mode 100644
index 0000000000..718f703048
--- /dev/null
+++ b/third_party/android_frameworks_native/include/android/looper.h
@@ -0,0 +1,269 @@
+/*
+ * Copyright (C) 2010 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+/**
+ * @addtogroup Looper
+ * @{
+ */
+
+/**
+ * @file looper.h
+ */
+
+#ifndef ANDROID_LOOPER_H
+#define ANDROID_LOOPER_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+struct ALooper;
+/**
+ * ALooper
+ *
+ * A looper is the state tracking an event loop for a thread.
+ * Loopers do not define event structures or other such things; rather
+ * they are a lower-level facility to attach one or more discrete objects
+ * listening for an event.  An "event" here is simply data available on
+ * a file descriptor: each attached object has an associated file descriptor,
+ * and waiting for "events" means (internally) polling on all of these file
+ * descriptors until one or more of them have data available.
+ *
+ * A thread can have only one ALooper associated with it.
+ */
+typedef struct ALooper ALooper;
+
+/**
+ * Returns the looper associated with the calling thread, or NULL if
+ * there is not one.
+ */
+ALooper* ALooper_forThread();
+
+/** Option for for ALooper_prepare(). */
+enum {
+    /**
+     * This looper will accept calls to ALooper_addFd() that do not
+     * have a callback (that is provide NULL for the callback).  In
+     * this case the caller of ALooper_pollOnce() or ALooper_pollAll()
+     * MUST check the return from these functions to discover when
+     * data is available on such fds and process it.
+     */
+    ALOOPER_PREPARE_ALLOW_NON_CALLBACKS = 1<<0
+};
+
+/**
+ * Prepares a looper associated with the calling thread, and returns it.
+ * If the thread already has a looper, it is returned.  Otherwise, a new
+ * one is created, associated with the thread, and returned.
+ *
+ * The opts may be ALOOPER_PREPARE_ALLOW_NON_CALLBACKS or 0.
+ */
+ALooper* ALooper_prepare(int opts);
+
+/** Result from ALooper_pollOnce() and ALooper_pollAll(). */
+enum {
+    /**
+     * The poll was awoken using wake() before the timeout expired
+     * and no callbacks were executed and no other file descriptors were ready.
+     */
+    ALOOPER_POLL_WAKE = -1,
+
+    /**
+     * Result from ALooper_pollOnce() and ALooper_pollAll():
+     * One or more callbacks were executed.
+     */
+    ALOOPER_POLL_CALLBACK = -2,
+
+    /**
+     * Result from ALooper_pollOnce() and ALooper_pollAll():
+     * The timeout expired.
+     */
+    ALOOPER_POLL_TIMEOUT = -3,
+
+    /**
+     * Result from ALooper_pollOnce() and ALooper_pollAll():
+     * An error occurred.
+     */
+    ALOOPER_POLL_ERROR = -4,
+};
+
+/**
+ * Acquire a reference on the given ALooper object.  This prevents the object
+ * from being deleted until the reference is removed.  This is only needed
+ * to safely hand an ALooper from one thread to another.
+ */
+void ALooper_acquire(ALooper* looper);
+
+/**
+ * Remove a reference that was previously acquired with ALooper_acquire().
+ */
+void ALooper_release(ALooper* looper);
+
+/**
+ * Flags for file descriptor events that a looper can monitor.
+ *
+ * These flag bits can be combined to monitor multiple events at once.
+ */
+enum {
+    /**
+     * The file descriptor is available for read operations.
+     */
+    ALOOPER_EVENT_INPUT = 1 << 0,
+
+    /**
+     * The file descriptor is available for write operations.
+     */
+    ALOOPER_EVENT_OUTPUT = 1 << 1,
+
+    /**
+     * The file descriptor has encountered an error condition.
+     *
+     * The looper always sends notifications about errors; it is not necessary
+     * to specify this event flag in the requested event set.
+     */
+    ALOOPER_EVENT_ERROR = 1 << 2,
+
+    /**
+     * The file descriptor was hung up.
+     * For example, indicates that the remote end of a pipe or socket was closed.
+     *
+     * The looper always sends notifications about hangups; it is not necessary
+     * to specify this event flag in the requested event set.
+     */
+    ALOOPER_EVENT_HANGUP = 1 << 3,
+
+    /**
+     * The file descriptor is invalid.
+     * For example, the file descriptor was closed prematurely.
+     *
+     * The looper always sends notifications about invalid file descriptors; it is not necessary
+     * to specify this event flag in the requested event set.
+     */
+    ALOOPER_EVENT_INVALID = 1 << 4,
+};
+
+/**
+ * For callback-based event loops, this is the prototype of the function
+ * that is called when a file descriptor event occurs.
+ * It is given the file descriptor it is associated with,
+ * a bitmask of the poll events that were triggered (typically ALOOPER_EVENT_INPUT),
+ * and the data pointer that was originally supplied.
+ *
+ * Implementations should return 1 to continue receiving callbacks, or 0
+ * to have this file descriptor and callback unregistered from the looper.
+ */
+typedef int (*ALooper_callbackFunc)(int fd, int events, void* data);
+
+/**
+ * Waits for events to be available, with optional timeout in milliseconds.
+ * Invokes callbacks for all file descriptors on which an event occurred.
+ *
+ * If the timeout is zero, returns immediately without blocking.
+ * If the timeout is negative, waits indefinitely until an event appears.
+ *
+ * Returns ALOOPER_POLL_WAKE if the poll was awoken using wake() before
+ * the timeout expired and no callbacks were invoked and no other file
+ * descriptors were ready.
+ *
+ * Returns ALOOPER_POLL_CALLBACK if one or more callbacks were invoked.
+ *
+ * Returns ALOOPER_POLL_TIMEOUT if there was no data before the given
+ * timeout expired.
+ *
+ * Returns ALOOPER_POLL_ERROR if an error occurred.
+ *
+ * Returns a value >= 0 containing an identifier (the same identifier
+ * `ident` passed to ALooper_addFd()) if its file descriptor has data
+ * and it has no callback function (requiring the caller here to
+ * handle it).  In this (and only this) case outFd, outEvents and
+ * outData will contain the poll events and data associated with the
+ * fd, otherwise they will be set to NULL.
+ *
+ * This method does not return until it has finished invoking the appropriate callbacks
+ * for all file descriptors that were signalled.
+ */
+int ALooper_pollOnce(int timeoutMillis, int* outFd, int* outEvents, void** outData);
+
+/**
+ * Like ALooper_pollOnce(), but performs all pending callbacks until all
+ * data has been consumed or a file descriptor is available with no callback.
+ * This function will never return ALOOPER_POLL_CALLBACK.
+ */
+int ALooper_pollAll(int timeoutMillis, int* outFd, int* outEvents, void** outData);
+
+/**
+ * Wakes the poll asynchronously.
+ *
+ * This method can be called on any thread.
+ * This method returns immediately.
+ */
+void ALooper_wake(ALooper* looper);
+
+/**
+ * Adds a new file descriptor to be polled by the looper.
+ * If the same file descriptor was previously added, it is replaced.
+ *
+ * "fd" is the file descriptor to be added.
+ * "ident" is an identifier for this event, which is returned from ALooper_pollOnce().
+ * The identifier must be >= 0, or ALOOPER_POLL_CALLBACK if providing a non-NULL callback.
+ * "events" are the poll events to wake up on.  Typically this is ALOOPER_EVENT_INPUT.
+ * "callback" is the function to call when there is an event on the file descriptor.
+ * "data" is a private data pointer to supply to the callback.
+ *
+ * There are two main uses of this function:
+ *
+ * (1) If "callback" is non-NULL, then this function will be called when there is
+ * data on the file descriptor.  It should execute any events it has pending,
+ * appropriately reading from the file descriptor.  The 'ident' is ignored in this case.
+ *
+ * (2) If "callback" is NULL, the 'ident' will be returned by ALooper_pollOnce
+ * when its file descriptor has data available, requiring the caller to take
+ * care of processing it.
+ *
+ * Returns 1 if the file descriptor was added or -1 if an error occurred.
+ *
+ * This method can be called on any thread.
+ * This method may block briefly if it needs to wake the poll.
+ */
+int ALooper_addFd(ALooper* looper, int fd, int ident, int events,
+        ALooper_callbackFunc callback, void* data);
+
+/**
+ * Removes a previously added file descriptor from the looper.
+ *
+ * When this method returns, it is safe to close the file descriptor since the looper
+ * will no longer have a reference to it.  However, it is possible for the callback to
+ * already be running or for it to run one last time if the file descriptor was already
+ * signalled.  Calling code is responsible for ensuring that this case is safely handled.
+ * For example, if the callback takes care of removing itself during its own execution either
+ * by returning 0 or by calling this method, then it can be guaranteed to not be invoked
+ * again at any later time unless registered anew.
+ *
+ * Returns 1 if the file descriptor was removed, 0 if none was previously registered
+ * or -1 if an error occurred.
+ *
+ * This method can be called on any thread.
+ * This method may block briefly if it needs to wake the poll.
+ */
+int ALooper_removeFd(ALooper* looper, int fd);
+
+#ifdef __cplusplus
+};
+#endif
+
+#endif // ANDROID_LOOPER_H
+
+/** @} */
diff --git a/third_party/android_frameworks_native/include/android/multinetwork.h b/third_party/android_frameworks_native/include/android/multinetwork.h
new file mode 100644
index 0000000000..6c718c9037
--- /dev/null
+++ b/third_party/android_frameworks_native/include/android/multinetwork.h
@@ -0,0 +1,109 @@
+/*
+ * Copyright (C) 2015 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_MULTINETWORK_H
+#define ANDROID_MULTINETWORK_H
+
+#include <netdb.h>
+#include <stdlib.h>
+#include <sys/cdefs.h>
+
+__BEGIN_DECLS
+
+/**
+ * The corresponding C type for android.net.Network#getNetworkHandle() return
+ * values.  The Java signed long value can be safely cast to a net_handle_t:
+ *
+ *     [C]    ((net_handle_t) java_long_network_handle)
+ *     [C++]  static_cast<net_handle_t>(java_long_network_handle)
+ *
+ * as appropriate.
+ */
+typedef uint64_t net_handle_t;
+
+/**
+ * The value NETWORK_UNSPECIFIED indicates no specific network.
+ *
+ * For some functions (documented below), a previous binding may be cleared
+ * by an invocation with NETWORK_UNSPECIFIED.
+ *
+ * Depending on the context it may indicate an error.  It is expressly
+ * not used to indicate some notion of the "current default network".
+ */
+#define NETWORK_UNSPECIFIED  ((net_handle_t)0)
+
+
+/**
+ * All functions below that return an int return 0 on success or -1
+ * on failure with an appropriate errno value set.
+ */
+
+
+/**
+ * Set the network to be used by the given socket file descriptor.
+ *
+ * To clear a previous socket binding invoke with NETWORK_UNSPECIFIED.
+ *
+ * This is the equivalent of:
+ *
+ *     [ android.net.Network#bindSocket() ]
+ *     https://developer.android.com/reference/android/net/Network.html#bindSocket(java.net.Socket)
+ */
+int android_setsocknetwork(net_handle_t network, int fd);
+
+
+/**
+ * Binds the current process to |network|.  All sockets created in the future
+ * (and not explicitly bound via android_setsocknetwork()) will be bound to
+ * |network|.  All host name resolutions will be limited to |network| as well.
+ * Note that if the network identified by |network| ever disconnects, all
+ * sockets created in this way will cease to work and all host name
+ * resolutions will fail.  This is by design so an application doesn't
+ * accidentally use sockets it thinks are still bound to a particular network.
+ *
+ * To clear a previous process binding invoke with NETWORK_UNSPECIFIED.
+ *
+ * This is the equivalent of:
+ *
+ *     [ android.net.ConnectivityManager#setProcessDefaultNetwork() ]
+ *     https://developer.android.com/reference/android/net/ConnectivityManager.html#setProcessDefaultNetwork(android.net.Network)
+ */
+int android_setprocnetwork(net_handle_t network);
+
+
+/**
+ * Perform hostname resolution via the DNS servers associated with |network|.
+ *
+ * All arguments (apart from |network|) are used identically as those passed
+ * to getaddrinfo(3).  Return and error values are identical to those of
+ * getaddrinfo(3), and in particular gai_strerror(3) can be used as expected.
+ * Similar to getaddrinfo(3):
+ *     - |hints| may be NULL (in which case man page documented defaults apply)
+ *     - either |node| or |service| may be NULL, but not both
+ *     - |res| must not be NULL
+ *
+ * This is the equivalent of:
+ *
+ *     [ android.net.Network#getAllByName() ]
+ *     https://developer.android.com/reference/android/net/Network.html#getAllByName(java.lang.String)
+ */
+int android_getaddrinfofornetwork(net_handle_t network,
+        const char *node, const char *service,
+        const struct addrinfo *hints, struct addrinfo **res);
+
+__END_DECLS
+
+#endif  // ANDROID_MULTINETWORK_H
diff --git a/third_party/android_frameworks_native/include/android/native_activity.h b/third_party/android_frameworks_native/include/android/native_activity.h
new file mode 100644
index 0000000000..d3d99cf7a9
--- /dev/null
+++ b/third_party/android_frameworks_native/include/android/native_activity.h
@@ -0,0 +1,340 @@
+/*
+ * Copyright (C) 2010 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+/**
+ * @addtogroup NativeActivity Native Activity
+ * @{
+ */
+
+/**
+ * @file native_activity.h
+ */
+
+#ifndef ANDROID_NATIVE_ACTIVITY_H
+#define ANDROID_NATIVE_ACTIVITY_H
+
+#include <stdint.h>
+#include <sys/types.h>
+
+#include <jni.h>
+
+#include <android/asset_manager.h>
+#include <android/input.h>
+#include <android/native_window.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * {@link ANativeActivityCallbacks}
+ */
+struct ANativeActivityCallbacks;
+
+/**
+ * This structure defines the native side of an android.app.NativeActivity.
+ * It is created by the framework, and handed to the application's native
+ * code as it is being launched.
+ */
+typedef struct ANativeActivity {
+    /**
+     * Pointer to the callback function table of the native application.
+     * You can set the functions here to your own callbacks.  The callbacks
+     * pointer itself here should not be changed; it is allocated and managed
+     * for you by the framework.
+     */
+    struct ANativeActivityCallbacks* callbacks;
+
+    /**
+     * The global handle on the process's Java VM.
+     */
+    JavaVM* vm;
+
+    /**
+     * JNI context for the main thread of the app.  Note that this field
+     * can ONLY be used from the main thread of the process; that is, the
+     * thread that calls into the ANativeActivityCallbacks.
+     */
+    JNIEnv* env;
+
+    /**
+     * The NativeActivity object handle.
+     *
+     * IMPORTANT NOTE: This member is mis-named. It should really be named
+     * 'activity' instead of 'clazz', since it's a reference to the
+     * NativeActivity instance created by the system for you.
+     *
+     * We unfortunately cannot change this without breaking NDK
+     * source-compatibility.
+     */
+    jobject clazz;
+
+    /**
+     * Path to this application's internal data directory.
+     */
+    const char* internalDataPath;
+
+    /**
+     * Path to this application's external (removable/mountable) data directory.
+     */
+    const char* externalDataPath;
+
+    /**
+     * The platform's SDK version code.
+     */
+    int32_t sdkVersion;
+
+    /**
+     * This is the native instance of the application.  It is not used by
+     * the framework, but can be set by the application to its own instance
+     * state.
+     */
+    void* instance;
+
+    /**
+     * Pointer to the Asset Manager instance for the application.  The application
+     * uses this to access binary assets bundled inside its own .apk file.
+     */
+    AAssetManager* assetManager;
+
+    /**
+     * Available starting with Honeycomb: path to the directory containing
+     * the application's OBB files (if any).  If the app doesn't have any
+     * OBB files, this directory may not exist.
+     */
+    const char* obbPath;
+} ANativeActivity;
+
+/**
+ * These are the callbacks the framework makes into a native application.
+ * All of these callbacks happen on the main thread of the application.
+ * By default, all callbacks are NULL; set to a pointer to your own function
+ * to have it called.
+ */
+typedef struct ANativeActivityCallbacks {
+    /**
+     * NativeActivity has started.  See Java documentation for Activity.onStart()
+     * for more information.
+     */
+    void (*onStart)(ANativeActivity* activity);
+
+    /**
+     * NativeActivity has resumed.  See Java documentation for Activity.onResume()
+     * for more information.
+     */
+    void (*onResume)(ANativeActivity* activity);
+
+    /**
+     * Framework is asking NativeActivity to save its current instance state.
+     * See Java documentation for Activity.onSaveInstanceState() for more
+     * information.  The returned pointer needs to be created with malloc();
+     * the framework will call free() on it for you.  You also must fill in
+     * outSize with the number of bytes in the allocation.  Note that the
+     * saved state will be persisted, so it can not contain any active
+     * entities (pointers to memory, file descriptors, etc).
+     */
+    void* (*onSaveInstanceState)(ANativeActivity* activity, size_t* outSize);
+
+    /**
+     * NativeActivity has paused.  See Java documentation for Activity.onPause()
+     * for more information.
+     */
+    void (*onPause)(ANativeActivity* activity);
+
+    /**
+     * NativeActivity has stopped.  See Java documentation for Activity.onStop()
+     * for more information.
+     */
+    void (*onStop)(ANativeActivity* activity);
+
+    /**
+     * NativeActivity is being destroyed.  See Java documentation for Activity.onDestroy()
+     * for more information.
+     */
+    void (*onDestroy)(ANativeActivity* activity);
+
+    /**
+     * Focus has changed in this NativeActivity's window.  This is often used,
+     * for example, to pause a game when it loses input focus.
+     */
+    void (*onWindowFocusChanged)(ANativeActivity* activity, int hasFocus);
+
+    /**
+     * The drawing window for this native activity has been created.  You
+     * can use the given native window object to start drawing.
+     */
+    void (*onNativeWindowCreated)(ANativeActivity* activity, ANativeWindow* window);
+
+    /**
+     * The drawing window for this native activity has been resized.  You should
+     * retrieve the new size from the window and ensure that your rendering in
+     * it now matches.
+     */
+    void (*onNativeWindowResized)(ANativeActivity* activity, ANativeWindow* window);
+
+    /**
+     * The drawing window for this native activity needs to be redrawn.  To avoid
+     * transient artifacts during screen changes (such resizing after rotation),
+     * applications should not return from this function until they have finished
+     * drawing their window in its current state.
+     */
+    void (*onNativeWindowRedrawNeeded)(ANativeActivity* activity, ANativeWindow* window);
+
+    /**
+     * The drawing window for this native activity is going to be destroyed.
+     * You MUST ensure that you do not touch the window object after returning
+     * from this function: in the common case of drawing to the window from
+     * another thread, that means the implementation of this callback must
+     * properly synchronize with the other thread to stop its drawing before
+     * returning from here.
+     */
+    void (*onNativeWindowDestroyed)(ANativeActivity* activity, ANativeWindow* window);
+
+    /**
+     * The input queue for this native activity's window has been created.
+     * You can use the given input queue to start retrieving input events.
+     */
+    void (*onInputQueueCreated)(ANativeActivity* activity, AInputQueue* queue);
+
+    /**
+     * The input queue for this native activity's window is being destroyed.
+     * You should no longer try to reference this object upon returning from this
+     * function.
+     */
+    void (*onInputQueueDestroyed)(ANativeActivity* activity, AInputQueue* queue);
+
+    /**
+     * The rectangle in the window in which content should be placed has changed.
+     */
+    void (*onContentRectChanged)(ANativeActivity* activity, const ARect* rect);
+
+    /**
+     * The current device AConfiguration has changed.  The new configuration can
+     * be retrieved from assetManager.
+     */
+    void (*onConfigurationChanged)(ANativeActivity* activity);
+
+    /**
+     * The system is running low on memory.  Use this callback to release
+     * resources you do not need, to help the system avoid killing more
+     * important processes.
+     */
+    void (*onLowMemory)(ANativeActivity* activity);
+} ANativeActivityCallbacks;
+
+/**
+ * This is the function that must be in the native code to instantiate the
+ * application's native activity.  It is called with the activity instance (see
+ * above); if the code is being instantiated from a previously saved instance,
+ * the savedState will be non-NULL and point to the saved data.  You must make
+ * any copy of this data you need -- it will be released after you return from
+ * this function.
+ */
+typedef void ANativeActivity_createFunc(ANativeActivity* activity,
+        void* savedState, size_t savedStateSize);
+
+/**
+ * The name of the function that NativeInstance looks for when launching its
+ * native code.  This is the default function that is used, you can specify
+ * "android.app.func_name" string meta-data in your manifest to use a different
+ * function.
+ */
+extern ANativeActivity_createFunc ANativeActivity_onCreate;
+
+/**
+ * Finish the given activity.  Its finish() method will be called, causing it
+ * to be stopped and destroyed.  Note that this method can be called from
+ * *any* thread; it will send a message to the main thread of the process
+ * where the Java finish call will take place.
+ */
+void ANativeActivity_finish(ANativeActivity* activity);
+
+/**
+ * Change the window format of the given activity.  Calls getWindow().setFormat()
+ * of the given activity.  Note that this method can be called from
+ * *any* thread; it will send a message to the main thread of the process
+ * where the Java finish call will take place.
+ */
+void ANativeActivity_setWindowFormat(ANativeActivity* activity, int32_t format);
+
+/**
+ * Change the window flags of the given activity.  Calls getWindow().setFlags()
+ * of the given activity.  Note that this method can be called from
+ * *any* thread; it will send a message to the main thread of the process
+ * where the Java finish call will take place.  See window.h for flag constants.
+ */
+void ANativeActivity_setWindowFlags(ANativeActivity* activity,
+        uint32_t addFlags, uint32_t removeFlags);
+
+/**
+ * Flags for ANativeActivity_showSoftInput; see the Java InputMethodManager
+ * API for documentation.
+ */
+enum {
+    /**
+     * Implicit request to show the input window, not as the result
+     * of a direct request by the user.
+     */
+    ANATIVEACTIVITY_SHOW_SOFT_INPUT_IMPLICIT = 0x0001,
+
+    /**
+     * The user has forced the input method open (such as by
+     * long-pressing menu) so it should not be closed until they
+     * explicitly do so.
+     */
+    ANATIVEACTIVITY_SHOW_SOFT_INPUT_FORCED = 0x0002,
+};
+
+/**
+ * Show the IME while in the given activity.  Calls InputMethodManager.showSoftInput()
+ * for the given activity.  Note that this method can be called from
+ * *any* thread; it will send a message to the main thread of the process
+ * where the Java finish call will take place.
+ */
+void ANativeActivity_showSoftInput(ANativeActivity* activity, uint32_t flags);
+
+/**
+ * Flags for ANativeActivity_hideSoftInput; see the Java InputMethodManager
+ * API for documentation.
+ */
+enum {
+    /**
+     * The soft input window should only be hidden if it was not
+     * explicitly shown by the user.
+     */
+    ANATIVEACTIVITY_HIDE_SOFT_INPUT_IMPLICIT_ONLY = 0x0001,
+    /**
+     * The soft input window should normally be hidden, unless it was
+     * originally shown with {@link ANATIVEACTIVITY_SHOW_SOFT_INPUT_FORCED}.
+     */
+    ANATIVEACTIVITY_HIDE_SOFT_INPUT_NOT_ALWAYS = 0x0002,
+};
+
+/**
+ * Hide the IME while in the given activity.  Calls InputMethodManager.hideSoftInput()
+ * for the given activity.  Note that this method can be called from
+ * *any* thread; it will send a message to the main thread of the process
+ * where the Java finish call will take place.
+ */
+void ANativeActivity_hideSoftInput(ANativeActivity* activity, uint32_t flags);
+
+#ifdef __cplusplus
+};
+#endif
+
+#endif // ANDROID_NATIVE_ACTIVITY_H
+
+/** @} */
diff --git a/third_party/android_frameworks_native/include/android/native_window.h b/third_party/android_frameworks_native/include/android/native_window.h
new file mode 100644
index 0000000000..cf07f1afad
--- /dev/null
+++ b/third_party/android_frameworks_native/include/android/native_window.h
@@ -0,0 +1,150 @@
+/*
+ * Copyright (C) 2010 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+/**
+ * @addtogroup NativeActivity Native Activity
+ * @{
+ */
+
+/**
+ * @file native_window.h
+ */
+
+#ifndef ANDROID_NATIVE_WINDOW_H
+#define ANDROID_NATIVE_WINDOW_H
+
+#include <android/rect.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * Pixel formats that a window can use.
+ */
+enum {
+    /** Red: 8 bits, Green: 8 bits, Blue: 8 bits, Alpha: 8 bits. **/
+    WINDOW_FORMAT_RGBA_8888          = 1,
+    /** Red: 8 bits, Green: 8 bits, Blue: 8 bits, Unused: 8 bits. **/
+    WINDOW_FORMAT_RGBX_8888          = 2,
+    /** Red: 5 bits, Green: 6 bits, Blue: 5 bits. **/
+    WINDOW_FORMAT_RGB_565            = 4,
+};
+
+struct ANativeWindow;
+/**
+ * {@link ANativeWindow} is opaque type that provides access to a native window.
+ *
+ * A pointer can be obtained using ANativeWindow_fromSurface().
+ */
+typedef struct ANativeWindow ANativeWindow;
+
+/**
+ * {@link ANativeWindow} is a struct that represents a windows buffer.
+ *
+ * A pointer can be obtained using ANativeWindow_lock().
+ */
+typedef struct ANativeWindow_Buffer {
+    // The number of pixels that are show horizontally.
+    int32_t width;
+
+    // The number of pixels that are shown vertically.
+    int32_t height;
+
+    // The number of *pixels* that a line in the buffer takes in
+    // memory.  This may be >= width.
+    int32_t stride;
+
+    // The format of the buffer.  One of WINDOW_FORMAT_*
+    int32_t format;
+
+    // The actual bits.
+    void* bits;
+
+    // Do not touch.
+    uint32_t reserved[6];
+} ANativeWindow_Buffer;
+
+/**
+ * Acquire a reference on the given ANativeWindow object.  This prevents the object
+ * from being deleted until the reference is removed.
+ */
+void ANativeWindow_acquire(ANativeWindow* window);
+
+/**
+ * Remove a reference that was previously acquired with ANativeWindow_acquire().
+ */
+void ANativeWindow_release(ANativeWindow* window);
+
+/**
+ * Return the current width in pixels of the window surface.  Returns a
+ * negative value on error.
+ */
+int32_t ANativeWindow_getWidth(ANativeWindow* window);
+
+/**
+ * Return the current height in pixels of the window surface.  Returns a
+ * negative value on error.
+ */
+int32_t ANativeWindow_getHeight(ANativeWindow* window);
+
+/**
+ * Return the current pixel format of the window surface.  Returns a
+ * negative value on error.
+ */
+int32_t ANativeWindow_getFormat(ANativeWindow* window);
+
+/**
+ * Change the format and size of the window buffers.
+ *
+ * The width and height control the number of pixels in the buffers, not the
+ * dimensions of the window on screen.  If these are different than the
+ * window's physical size, then it buffer will be scaled to match that size
+ * when compositing it to the screen.
+ *
+ * For all of these parameters, if 0 is supplied then the window's base
+ * value will come back in force.
+ *
+ * width and height must be either both zero or both non-zero.
+ *
+ */
+int32_t ANativeWindow_setBuffersGeometry(ANativeWindow* window,
+        int32_t width, int32_t height, int32_t format);
+
+/**
+ * Lock the window's next drawing surface for writing.
+ * inOutDirtyBounds is used as an in/out parameter, upon entering the
+ * function, it contains the dirty region, that is, the region the caller
+ * intends to redraw. When the function returns, inOutDirtyBounds is updated
+ * with the actual area the caller needs to redraw -- this region is often
+ * extended by ANativeWindow_lock.
+ */
+int32_t ANativeWindow_lock(ANativeWindow* window, ANativeWindow_Buffer* outBuffer,
+        ARect* inOutDirtyBounds);
+
+/**
+ * Unlock the window's drawing surface after previously locking it,
+ * posting the new buffer to the display.
+ */
+int32_t ANativeWindow_unlockAndPost(ANativeWindow* window);
+
+#ifdef __cplusplus
+};
+#endif
+
+#endif // ANDROID_NATIVE_WINDOW_H
+
+/** @} */
diff --git a/third_party/android_frameworks_native/include/android/native_window_jni.h b/third_party/android_frameworks_native/include/android/native_window_jni.h
new file mode 100644
index 0000000000..60a36c3f27
--- /dev/null
+++ b/third_party/android_frameworks_native/include/android/native_window_jni.h
@@ -0,0 +1,51 @@
+/*
+ * Copyright (C) 2010 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+/**
+ * @addtogroup NativeActivity Native Activity
+ * @{
+ */
+
+/**
+ * @file native_window_jni.h
+ */
+
+#ifndef ANDROID_NATIVE_WINDOW_JNI_H
+#define ANDROID_NATIVE_WINDOW_JNI_H
+
+#include <android/native_window.h>
+
+#include <jni.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * Return the ANativeWindow associated with a Java Surface object,
+ * for interacting with it through native code.  This acquires a reference
+ * on the ANativeWindow that is returned; be sure to use ANativeWindow_release()
+ * when done with it so that it doesn't leak.
+ */
+ANativeWindow* ANativeWindow_fromSurface(JNIEnv* env, jobject surface);
+
+#ifdef __cplusplus
+};
+#endif
+
+#endif // ANDROID_NATIVE_WINDOW_H
+
+/** @} */
diff --git a/third_party/android_frameworks_native/include/android/obb.h b/third_party/android_frameworks_native/include/android/obb.h
new file mode 100644
index 0000000000..4c6d9d7bad
--- /dev/null
+++ b/third_party/android_frameworks_native/include/android/obb.h
@@ -0,0 +1,76 @@
+/*
+ * Copyright (C) 2010 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+/**
+ * @addtogroup Storage
+ * @{
+ */
+
+/**
+ * @file obb.h
+ */
+
+#ifndef ANDROID_OBB_H
+#define ANDROID_OBB_H
+
+#include <sys/types.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+struct AObbInfo;
+/** {@link AObbInfo} is an opaque type representing information for obb storage. */
+typedef struct AObbInfo AObbInfo;
+
+/** Flag for an obb file, returned by AObbInfo_getFlags(). */
+enum {
+    /** overlay */
+    AOBBINFO_OVERLAY = 0x0001,
+};
+
+/**
+ * Scan an OBB and get information about it.
+ */
+AObbInfo* AObbScanner_getObbInfo(const char* filename);
+
+/**
+ * Destroy the AObbInfo object. You must call this when finished with the object.
+ */
+void AObbInfo_delete(AObbInfo* obbInfo);
+
+/**
+ * Get the package name for the OBB.
+ */
+const char* AObbInfo_getPackageName(AObbInfo* obbInfo);
+
+/**
+ * Get the version of an OBB file.
+ */
+int32_t AObbInfo_getVersion(AObbInfo* obbInfo);
+
+/**
+ * Get the flags of an OBB file.
+ */
+int32_t AObbInfo_getFlags(AObbInfo* obbInfo);
+
+#ifdef __cplusplus
+};
+#endif
+
+#endif      // ANDROID_OBB_H
+
+/** @} */
diff --git a/third_party/android_frameworks_native/include/android/rect.h b/third_party/android_frameworks_native/include/android/rect.h
new file mode 100644
index 0000000000..80741c0442
--- /dev/null
+++ b/third_party/android_frameworks_native/include/android/rect.h
@@ -0,0 +1,62 @@
+/*
+ * Copyright (C) 2010 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+/**
+ * @addtogroup NativeActivity Native Activity
+ * @{
+ */
+
+/**
+ * @file rect.h
+ */
+
+#ifndef ANDROID_RECT_H
+#define ANDROID_RECT_H
+
+#include <stdint.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * {@link ARect} is a struct that represents a rectangular window area.
+ *
+ * It is used with {@link
+ * ANativeActivityCallbacks::onContentRectChanged} event callback and
+ * ANativeWindow_lock() function.
+ */
+typedef struct ARect {
+#ifdef __cplusplus
+    typedef int32_t value_type;
+#endif
+    /** left position */
+    int32_t left;
+    /** top position */
+    int32_t top;
+    /** left position */
+    int32_t right;
+    /** bottom position */
+    int32_t bottom;
+} ARect;
+
+#ifdef __cplusplus
+};
+#endif
+
+#endif // ANDROID_RECT_H
+
+/** @} */
diff --git a/third_party/android_frameworks_native/include/android/sensor.h b/third_party/android_frameworks_native/include/android/sensor.h
new file mode 100644
index 0000000000..73928ea76f
--- /dev/null
+++ b/third_party/android_frameworks_native/include/android/sensor.h
@@ -0,0 +1,475 @@
+/*
+ * Copyright (C) 2010 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+/**
+ * @addtogroup Sensor
+ * @{
+ */
+
+/**
+ * @file sensor.h
+ */
+
+#ifndef ANDROID_SENSOR_H
+#define ANDROID_SENSOR_H
+
+/******************************************************************
+ *
+ * IMPORTANT NOTICE:
+ *
+ *   This file is part of Android's set of stable system headers
+ *   exposed by the Android NDK (Native Development Kit).
+ *
+ *   Third-party source AND binary code relies on the definitions
+ *   here to be FROZEN ON ALL UPCOMING PLATFORM RELEASES.
+ *
+ *   - DO NOT MODIFY ENUMS (EXCEPT IF YOU ADD NEW 32-BIT VALUES)
+ *   - DO NOT MODIFY CONSTANTS OR FUNCTIONAL MACROS
+ *   - DO NOT CHANGE THE SIGNATURE OF FUNCTIONS IN ANY WAY
+ *   - DO NOT CHANGE THE LAYOUT OR SIZE OF STRUCTURES
+ */
+
+/**
+ * Structures and functions to receive and process sensor events in
+ * native code.
+ *
+ */
+
+#include <sys/types.h>
+
+#include <android/looper.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+/**
+ * Sensor types.
+ * (keep in sync with hardware/sensor.h)
+ */
+enum {
+    /**
+     * {@link ASENSOR_TYPE_ACCELEROMETER}
+     * reporting-mode: continuous
+     *
+     *  All values are in SI units (m/s^2) and measure the acceleration of the
+     *  device minus the force of gravity.
+     */
+    ASENSOR_TYPE_ACCELEROMETER      = 1,
+    /**
+     * {@link ASENSOR_TYPE_MAGNETIC_FIELD}
+     * reporting-mode: continuous
+     *
+     *  All values are in micro-Tesla (uT) and measure the geomagnetic
+     *  field in the X, Y and Z axis.
+     */
+    ASENSOR_TYPE_MAGNETIC_FIELD     = 2,
+    /**
+     * {@link ASENSOR_TYPE_GYROSCOPE}
+     * reporting-mode: continuous
+     *
+     *  All values are in radians/second and measure the rate of rotation
+     *  around the X, Y and Z axis.
+     */
+    ASENSOR_TYPE_GYROSCOPE          = 4,
+    /**
+     * {@link ASENSOR_TYPE_LIGHT}
+     * reporting-mode: on-change
+     *
+     * The light sensor value is returned in SI lux units.
+     */
+    ASENSOR_TYPE_LIGHT              = 5,
+    /**
+     * {@link ASENSOR_TYPE_PROXIMITY}
+     * reporting-mode: on-change
+     *
+     * The proximity sensor which turns the screen off and back on during calls is the
+     * wake-up proximity sensor. Implement wake-up proximity sensor before implementing
+     * a non wake-up proximity sensor. For the wake-up proximity sensor set the flag
+     * SENSOR_FLAG_WAKE_UP.
+     * The value corresponds to the distance to the nearest object in centimeters.
+     */
+    ASENSOR_TYPE_PROXIMITY          = 8
+};
+
+/**
+ * Sensor accuracy measure.
+ */
+enum {
+    /** no contact */
+    ASENSOR_STATUS_NO_CONTACT       = -1,
+    /** unreliable */
+    ASENSOR_STATUS_UNRELIABLE       = 0,
+    /** low accuracy */
+    ASENSOR_STATUS_ACCURACY_LOW     = 1,
+    /** medium accuracy */
+    ASENSOR_STATUS_ACCURACY_MEDIUM  = 2,
+    /** high accuracy */
+    ASENSOR_STATUS_ACCURACY_HIGH    = 3
+};
+
+/**
+ * Sensor Reporting Modes.
+ */
+enum {
+    /** continuous reporting */
+    AREPORTING_MODE_CONTINUOUS = 0,
+    /** reporting on change */
+    AREPORTING_MODE_ON_CHANGE = 1,
+    /** on shot reporting */
+    AREPORTING_MODE_ONE_SHOT = 2,
+    /** special trigger reporting */
+    AREPORTING_MODE_SPECIAL_TRIGGER = 3
+};
+
+/*
+ * A few useful constants
+ */
+
+/** Earth's gravity in m/s^2 */
+#define ASENSOR_STANDARD_GRAVITY            (9.80665f)
+/** Maximum magnetic field on Earth's surface in uT */
+#define ASENSOR_MAGNETIC_FIELD_EARTH_MAX    (60.0f)
+/** Minimum magnetic field on Earth's surface in uT*/
+#define ASENSOR_MAGNETIC_FIELD_EARTH_MIN    (30.0f)
+
+/**
+ * A sensor event.
+ */
+
+/* NOTE: Must match hardware/sensors.h */
+typedef struct ASensorVector {
+    union {
+        float v[3];
+        struct {
+            float x;
+            float y;
+            float z;
+        };
+        struct {
+            float azimuth;
+            float pitch;
+            float roll;
+        };
+    };
+    int8_t status;
+    uint8_t reserved[3];
+} ASensorVector;
+
+typedef struct AMetaDataEvent {
+    int32_t what;
+    int32_t sensor;
+} AMetaDataEvent;
+
+typedef struct AUncalibratedEvent {
+  union {
+    float uncalib[3];
+    struct {
+      float x_uncalib;
+      float y_uncalib;
+      float z_uncalib;
+    };
+  };
+  union {
+    float bias[3];
+    struct {
+      float x_bias;
+      float y_bias;
+      float z_bias;
+    };
+  };
+} AUncalibratedEvent;
+
+typedef struct AHeartRateEvent {
+  float bpm;
+  int8_t status;
+} AHeartRateEvent;
+
+/* NOTE: Must match hardware/sensors.h */
+typedef struct ASensorEvent {
+    int32_t version; /* sizeof(struct ASensorEvent) */
+    int32_t sensor;
+    int32_t type;
+    int32_t reserved0;
+    int64_t timestamp;
+    union {
+        union {
+            float           data[16];
+            ASensorVector   vector;
+            ASensorVector   acceleration;
+            ASensorVector   magnetic;
+            float           temperature;
+            float           distance;
+            float           light;
+            float           pressure;
+            float           relative_humidity;
+            AUncalibratedEvent uncalibrated_gyro;
+            AUncalibratedEvent uncalibrated_magnetic;
+            AMetaDataEvent meta_data;
+            AHeartRateEvent heart_rate;
+        };
+        union {
+            uint64_t        data[8];
+            uint64_t        step_counter;
+        } u64;
+    };
+
+    uint32_t flags;
+    int32_t reserved1[3];
+} ASensorEvent;
+
+struct ASensorManager;
+/**
+ * {@link ASensorManager} is an opaque type to manage sensors and
+ * events queues.
+ *
+ * {@link ASensorManager} is a singleton that can be obtained using
+ * ASensorManager_getInstance().
+ *
+ * This file provides a set of functions that uses {@link
+ * ASensorManager} to access and list hardware sensors, and
+ * create and destroy event queues:
+ * - ASensorManager_getSensorList()
+ * - ASensorManager_getDefaultSensor()
+ * - ASensorManager_getDefaultSensorEx()
+ * - ASensorManager_createEventQueue()
+ * - ASensorManager_destroyEventQueue()
+ */
+typedef struct ASensorManager ASensorManager;
+
+
+struct ASensorEventQueue;
+/**
+ * {@link ASensorEventQueue} is an opaque type that provides access to
+ * {@link ASensorEvent} from hardware sensors.
+ *
+ * A new {@link ASensorEventQueue} can be obtained using ASensorManager_createEventQueue().
+ *
+ * This file provides a set of functions to enable and disable
+ * sensors, check and get events, and set event rates on a {@link
+ * ASensorEventQueue}.
+ * - ASensorEventQueue_enableSensor()
+ * - ASensorEventQueue_disableSensor()
+ * - ASensorEventQueue_hasEvents()
+ * - ASensorEventQueue_getEvents()
+ * - ASensorEventQueue_setEventRate()
+ */
+typedef struct ASensorEventQueue ASensorEventQueue;
+
+struct ASensor;
+/**
+ * {@link ASensor} is an opaque type that provides information about
+ * an hardware sensors.
+ *
+ * A {@link ASensor} pointer can be obtained using
+ * ASensorManager_getDefaultSensor(),
+ * ASensorManager_getDefaultSensorEx() or from a {@link ASensorList}.
+ *
+ * This file provides a set of functions to access properties of a
+ * {@link ASensor}:
+ * - ASensor_getName()
+ * - ASensor_getVendor()
+ * - ASensor_getType()
+ * - ASensor_getResolution()
+ * - ASensor_getMinDelay()
+ * - ASensor_getFifoMaxEventCount()
+ * - ASensor_getFifoReservedEventCount()
+ * - ASensor_getStringType()
+ * - ASensor_getReportingMode()
+ * - ASensor_isWakeUpSensor()
+ */
+typedef struct ASensor ASensor;
+/**
+ * {@link ASensorRef} is a type for constant pointers to {@link ASensor}.
+ *
+ * This is used to define entry in {@link ASensorList} arrays.
+ */
+typedef ASensor const* ASensorRef;
+/**
+ * {@link ASensorList} is an array of reference to {@link ASensor}.
+ *
+ * A {@link ASensorList} can be initialized using ASensorManager_getSensorList().
+ */
+typedef ASensorRef const* ASensorList;
+
+/*****************************************************************************/
+
+/**
+ * Get a reference to the sensor manager. ASensorManager is a singleton
+ * per package as different packages may have access to different sensors.
+ *
+ * Deprecated: Use ASensorManager_getInstanceForPackage(const char*) instead.
+ *
+ * Example:
+ *
+ *     ASensorManager* sensorManager = ASensorManager_getInstance();
+ *
+ */
+__attribute__ ((deprecated)) ASensorManager* ASensorManager_getInstance();
+
+/*
+ * Get a reference to the sensor manager. ASensorManager is a singleton
+ * per package as different packages may have access to different sensors.
+ *
+ * Example:
+ *
+ *    ASensorManager* sensorManager = ASensorManager_getInstanceForPackage("foo.bar.baz");
+ *
+ */
+ASensorManager* ASensorManager_getInstanceForPackage(const char* packageName);
+
+/**
+ * Returns the list of available sensors.
+ */
+int ASensorManager_getSensorList(ASensorManager* manager, ASensorList* list);
+
+/**
+ * Returns the default sensor for the given type, or NULL if no sensor
+ * of that type exists.
+ */
+ASensor const* ASensorManager_getDefaultSensor(ASensorManager* manager, int type);
+
+/**
+ * Returns the default sensor with the given type and wakeUp properties or NULL if no sensor
+ * of this type and wakeUp properties exists.
+ */
+ASensor const* ASensorManager_getDefaultSensorEx(ASensorManager* manager, int type,
+        bool wakeUp);
+
+/**
+ * Creates a new sensor event queue and associate it with a looper.
+ *
+ * "ident" is a identifier for the events that will be returned when
+ * calling ALooper_pollOnce(). The identifier must be >= 0, or
+ * ALOOPER_POLL_CALLBACK if providing a non-NULL callback.
+ */
+ASensorEventQueue* ASensorManager_createEventQueue(ASensorManager* manager,
+        ALooper* looper, int ident, ALooper_callbackFunc callback, void* data);
+
+/**
+ * Destroys the event queue and free all resources associated to it.
+ */
+int ASensorManager_destroyEventQueue(ASensorManager* manager, ASensorEventQueue* queue);
+
+
+/*****************************************************************************/
+
+/**
+ * Enable the selected sensor. Returns a negative error code on failure.
+ */
+int ASensorEventQueue_enableSensor(ASensorEventQueue* queue, ASensor const* sensor);
+
+/**
+ * Disable the selected sensor. Returns a negative error code on failure.
+ */
+int ASensorEventQueue_disableSensor(ASensorEventQueue* queue, ASensor const* sensor);
+
+/**
+ * Sets the delivery rate of events in microseconds for the given sensor.
+ * Note that this is a hint only, generally event will arrive at a higher
+ * rate. It is an error to set a rate inferior to the value returned by
+ * ASensor_getMinDelay().
+ * Returns a negative error code on failure.
+ */
+int ASensorEventQueue_setEventRate(ASensorEventQueue* queue, ASensor const* sensor, int32_t usec);
+
+/**
+ * Returns true if there are one or more events available in the
+ * sensor queue.  Returns 1 if the queue has events; 0 if
+ * it does not have events; and a negative value if there is an error.
+ */
+int ASensorEventQueue_hasEvents(ASensorEventQueue* queue);
+
+/**
+ * Returns the next available events from the queue.  Returns a negative
+ * value if no events are available or an error has occurred, otherwise
+ * the number of events returned.
+ *
+ * Examples:
+ *   ASensorEvent event;
+ *   ssize_t numEvent = ASensorEventQueue_getEvents(queue, &event, 1);
+ *
+ *   ASensorEvent eventBuffer[8];
+ *   ssize_t numEvent = ASensorEventQueue_getEvents(queue, eventBuffer, 8);
+ *
+ */
+ssize_t ASensorEventQueue_getEvents(ASensorEventQueue* queue,
+                ASensorEvent* events, size_t count);
+
+
+/*****************************************************************************/
+
+/**
+ * Returns this sensor's name (non localized)
+ */
+const char* ASensor_getName(ASensor const* sensor);
+
+/**
+ * Returns this sensor's vendor's name (non localized)
+ */
+const char* ASensor_getVendor(ASensor const* sensor);
+
+/**
+ * Return this sensor's type
+ */
+int ASensor_getType(ASensor const* sensor);
+
+/**
+ * Returns this sensors's resolution
+ */
+float ASensor_getResolution(ASensor const* sensor);
+
+/**
+ * Returns the minimum delay allowed between events in microseconds.
+ * A value of zero means that this sensor doesn't report events at a
+ * constant rate, but rather only when a new data is available.
+ */
+int ASensor_getMinDelay(ASensor const* sensor);
+
+/**
+ * Returns the maximum size of batches for this sensor. Batches will often be
+ * smaller, as the hardware fifo might be used for other sensors.
+ */
+int ASensor_getFifoMaxEventCount(ASensor const* sensor);
+
+/**
+ * Returns the hardware batch fifo size reserved to this sensor.
+ */
+int ASensor_getFifoReservedEventCount(ASensor const* sensor);
+
+/**
+ * Returns this sensor's string type.
+ */
+const char* ASensor_getStringType(ASensor const* sensor);
+
+/**
+ * Returns the reporting mode for this sensor. One of AREPORTING_MODE_* constants.
+ */
+int ASensor_getReportingMode(ASensor const* sensor);
+
+/**
+ * Returns true if this is a wake up sensor, false otherwise.
+ */
+bool ASensor_isWakeUpSensor(ASensor const* sensor);
+
+#ifdef __cplusplus
+};
+#endif
+
+#endif // ANDROID_SENSOR_H
+
+/** @} */
diff --git a/third_party/android_frameworks_native/include/android/storage_manager.h b/third_party/android_frameworks_native/include/android/storage_manager.h
new file mode 100644
index 0000000000..7f2ee08d62
--- /dev/null
+++ b/third_party/android_frameworks_native/include/android/storage_manager.h
@@ -0,0 +1,154 @@
+/*
+ * Copyright (C) 2010 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+/**
+ * @addtogroup Storage
+ * @{
+ */
+
+/**
+ * @file storage_manager.h
+ */
+
+#ifndef ANDROID_STORAGE_MANAGER_H
+#define ANDROID_STORAGE_MANAGER_H
+
+#include <stdint.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+struct AStorageManager;
+/**
+ * {@link AStorageManager} manages application OBB storage, a pointer
+ * can be obtained with AStorageManager_new().
+ */
+typedef struct AStorageManager AStorageManager;
+
+/**
+ * The different states of a OBB storage passed to AStorageManager_obbCallbackFunc().
+ */
+enum {
+    /**
+     * The OBB container is now mounted and ready for use. Can be returned
+     * as the status for callbacks made during asynchronous OBB actions.
+     */
+    AOBB_STATE_MOUNTED = 1,
+
+    /**
+     * The OBB container is now unmounted and not usable. Can be returned
+     * as the status for callbacks made during asynchronous OBB actions.
+     */
+    AOBB_STATE_UNMOUNTED = 2,
+
+    /**
+     * There was an internal system error encountered while trying to
+     * mount the OBB. Can be returned as the status for callbacks made
+     * during asynchronous OBB actions.
+     */
+    AOBB_STATE_ERROR_INTERNAL = 20,
+
+    /**
+     * The OBB could not be mounted by the system. Can be returned as the
+     * status for callbacks made during asynchronous OBB actions.
+     */
+    AOBB_STATE_ERROR_COULD_NOT_MOUNT = 21,
+
+    /**
+     * The OBB could not be unmounted. This most likely indicates that a
+     * file is in use on the OBB. Can be returned as the status for
+     * callbacks made during asynchronous OBB actions.
+     */
+    AOBB_STATE_ERROR_COULD_NOT_UNMOUNT = 22,
+
+    /**
+     * A call was made to unmount the OBB when it was not mounted. Can be
+     * returned as the status for callbacks made during asynchronous OBB
+     * actions.
+     */
+    AOBB_STATE_ERROR_NOT_MOUNTED = 23,
+
+    /**
+     * The OBB has already been mounted. Can be returned as the status for
+     * callbacks made during asynchronous OBB actions.
+     */
+    AOBB_STATE_ERROR_ALREADY_MOUNTED = 24,
+
+    /**
+     * The current application does not have permission to use this OBB.
+     * This could be because the OBB indicates it's owned by a different
+     * package. Can be returned as the status for callbacks made during
+     * asynchronous OBB actions.
+     */
+    AOBB_STATE_ERROR_PERMISSION_DENIED = 25,
+};
+
+/**
+ * Obtains a new instance of AStorageManager.
+ */
+AStorageManager* AStorageManager_new();
+
+/**
+ * Release AStorageManager instance.
+ */
+void AStorageManager_delete(AStorageManager* mgr);
+
+/**
+ * Callback function for asynchronous calls made on OBB files.
+ *
+ * "state" is one of the following constants:
+ * - {@link AOBB_STATE_MOUNTED}
+ * - {@link AOBB_STATE_UNMOUNTED}
+ * - {@link AOBB_STATE_ERROR_INTERNAL}
+ * - {@link AOBB_STATE_ERROR_COULD_NOT_MOUNT}
+ * - {@link AOBB_STATE_ERROR_COULD_NOT_UNMOUNT}
+ * - {@link AOBB_STATE_ERROR_NOT_MOUNTED}
+ * - {@link AOBB_STATE_ERROR_ALREADY_MOUNTED}
+ * - {@link AOBB_STATE_ERROR_PERMISSION_DENIED}
+ */
+typedef void (*AStorageManager_obbCallbackFunc)(const char* filename, const int32_t state, void* data);
+
+/**
+ * Attempts to mount an OBB file. This is an asynchronous operation.
+ */
+void AStorageManager_mountObb(AStorageManager* mgr, const char* filename, const char* key,
+        AStorageManager_obbCallbackFunc cb, void* data);
+
+/**
+ * Attempts to unmount an OBB file. This is an asynchronous operation.
+ */
+void AStorageManager_unmountObb(AStorageManager* mgr, const char* filename, const int force,
+        AStorageManager_obbCallbackFunc cb, void* data);
+
+/**
+ * Check whether an OBB is mounted.
+ */
+int AStorageManager_isObbMounted(AStorageManager* mgr, const char* filename);
+
+/**
+ * Get the mounted path for an OBB.
+ */
+const char* AStorageManager_getMountedObbPath(AStorageManager* mgr, const char* filename);
+
+
+#ifdef __cplusplus
+};
+#endif
+
+#endif      // ANDROID_STORAGE_MANAGER_H
+
+/** @} */
diff --git a/third_party/android_frameworks_native/include/android/trace.h b/third_party/android_frameworks_native/include/android/trace.h
new file mode 100644
index 0000000000..e42e334102
--- /dev/null
+++ b/third_party/android_frameworks_native/include/android/trace.h
@@ -0,0 +1,55 @@
+/*
+ * Copyright (C) 2015 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+
+#ifndef ANDROID_NATIVE_TRACE_H
+#define ANDROID_NATIVE_TRACE_H
+
+#include <stdbool.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * Returns true if tracing is enabled. Use this signal to avoid expensive computation only necessary
+ * when tracing is enabled.
+ */
+bool ATrace_isEnabled();
+
+/**
+ * Writes a tracing message to indicate that the given section of code has begun. This call must be
+ * followed by a corresponding call to endSection() on the same thread.
+ *
+ * Note: At this time the vertical bar character '|' and newline character '\n' are used internally
+ * by the tracing mechanism. If sectionName contains these characters they will be replaced with a
+ * space character in the trace.
+ */
+void ATrace_beginSection(const char* sectionName);
+
+/**
+ * Writes a tracing message to indicate that a given section of code has ended. This call must be
+ * preceeded by a corresponding call to beginSection(char*) on the same thread. Calling this method
+ * will mark the end of the most recently begun section of code, so care must be taken to ensure
+ * that beginSection / endSection pairs are properly nested and called from the same thread.
+ */
+void ATrace_endSection();
+
+#ifdef __cplusplus
+};
+#endif
+
+#endif // ANDROID_NATIVE_TRACE_H
diff --git a/third_party/android_frameworks_native/include/android/window.h b/third_party/android_frameworks_native/include/android/window.h
new file mode 100644
index 0000000000..436bf3a830
--- /dev/null
+++ b/third_party/android_frameworks_native/include/android/window.h
@@ -0,0 +1,224 @@
+/*
+ * Copyright (C) 2010 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+/**
+ * @addtogroup NativeActivity Native Activity
+ * @{
+ */
+
+/**
+ * @file window.h
+ */
+
+#ifndef ANDROID_WINDOW_H
+#define ANDROID_WINDOW_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * Window flags, as per the Java API at android.view.WindowManager.LayoutParams.
+ */
+enum {
+    /**
+     * As long as this window is visible to the user, allow the lock
+     * screen to activate while the screen is on.  This can be used
+     * independently, or in combination with {@link
+     * AWINDOW_FLAG_KEEP_SCREEN_ON} and/or {@link
+     * AWINDOW_FLAG_SHOW_WHEN_LOCKED}
+     */
+    AWINDOW_FLAG_ALLOW_LOCK_WHILE_SCREEN_ON = 0x00000001,
+    /** Everything behind this window will be dimmed. */
+    AWINDOW_FLAG_DIM_BEHIND                 = 0x00000002,
+    /**
+     * Blur everything behind this window.
+     * @deprecated Blurring is no longer supported.
+     */
+    AWINDOW_FLAG_BLUR_BEHIND                = 0x00000004,
+    /**
+     * This window won't ever get key input focus, so the
+     * user can not send key or other button events to it.  Those will
+     * instead go to whatever focusable window is behind it.  This flag
+     * will also enable {@link AWINDOW_FLAG_NOT_TOUCH_MODAL} whether or not that
+     * is explicitly set.
+     *
+     * Setting this flag also implies that the window will not need to
+     * interact with
+     * a soft input method, so it will be Z-ordered and positioned
+     * independently of any active input method (typically this means it
+     * gets Z-ordered on top of the input method, so it can use the full
+     * screen for its content and cover the input method if needed.  You
+     * can use {@link AWINDOW_FLAG_ALT_FOCUSABLE_IM} to modify this behavior.
+     */
+    AWINDOW_FLAG_NOT_FOCUSABLE              = 0x00000008,
+    /** this window can never receive touch events. */
+    AWINDOW_FLAG_NOT_TOUCHABLE              = 0x00000010,
+    /**
+     * Even when this window is focusable (its
+     * {@link AWINDOW_FLAG_NOT_FOCUSABLE} is not set), allow any pointer events
+     * outside of the window to be sent to the windows behind it.  Otherwise
+     * it will consume all pointer events itself, regardless of whether they
+     * are inside of the window.
+     */
+    AWINDOW_FLAG_NOT_TOUCH_MODAL            = 0x00000020,
+    /**
+     * When set, if the device is asleep when the touch
+     * screen is pressed, you will receive this first touch event.  Usually
+     * the first touch event is consumed by the system since the user can
+     * not see what they are pressing on.
+     *
+     * @deprecated This flag has no effect.
+     */
+    AWINDOW_FLAG_TOUCHABLE_WHEN_WAKING      = 0x00000040,
+    /**
+     * As long as this window is visible to the user, keep
+     * the device's screen turned on and bright.
+     */
+    AWINDOW_FLAG_KEEP_SCREEN_ON             = 0x00000080,
+    /**
+     * Place the window within the entire screen, ignoring
+     * decorations around the border (such as the status bar).  The
+     * window must correctly position its contents to take the screen
+     * decoration into account.
+     */
+    AWINDOW_FLAG_LAYOUT_IN_SCREEN           = 0x00000100,
+    /** allow window to extend outside of the screen. */
+    AWINDOW_FLAG_LAYOUT_NO_LIMITS           = 0x00000200,
+    /**
+     * Hide all screen decorations (such as the status
+     * bar) while this window is displayed.  This allows the window to
+     * use the entire display space for itself -- the status bar will
+     * be hidden when an app window with this flag set is on the top
+     * layer. A fullscreen window will ignore a value of {@link
+     * AWINDOW_SOFT_INPUT_ADJUST_RESIZE}; the window will stay
+     * fullscreen and will not resize.
+     */
+    AWINDOW_FLAG_FULLSCREEN                 = 0x00000400,
+    /**
+     * Override {@link AWINDOW_FLAG_FULLSCREEN} and force the
+     * screen decorations (such as the status bar) to be shown.
+     */
+    AWINDOW_FLAG_FORCE_NOT_FULLSCREEN       = 0x00000800,
+    /**
+     * Turn on dithering when compositing this window to
+     * the screen.
+     * @deprecated This flag is no longer used.
+     */
+    AWINDOW_FLAG_DITHER                     = 0x00001000,
+    /**
+     * Treat the content of the window as secure, preventing
+     * it from appearing in screenshots or from being viewed on non-secure
+     * displays.
+     */
+    AWINDOW_FLAG_SECURE                     = 0x00002000,
+    /**
+     * A special mode where the layout parameters are used
+     * to perform scaling of the surface when it is composited to the
+     * screen.
+     */
+    AWINDOW_FLAG_SCALED                     = 0x00004000,
+    /**
+     * Intended for windows that will often be used when the user is
+     * holding the screen against their face, it will aggressively
+     * filter the event stream to prevent unintended presses in this
+     * situation that may not be desired for a particular window, when
+     * such an event stream is detected, the application will receive
+     * a {@link AMOTION_EVENT_ACTION_CANCEL} to indicate this so
+     * applications can handle this accordingly by taking no action on
+     * the event until the finger is released.
+     */
+    AWINDOW_FLAG_IGNORE_CHEEK_PRESSES       = 0x00008000,
+    /**
+     * A special option only for use in combination with
+     * {@link AWINDOW_FLAG_LAYOUT_IN_SCREEN}.  When requesting layout in the
+     * screen your window may appear on top of or behind screen decorations
+     * such as the status bar.  By also including this flag, the window
+     * manager will report the inset rectangle needed to ensure your
+     * content is not covered by screen decorations.
+     */
+    AWINDOW_FLAG_LAYOUT_INSET_DECOR         = 0x00010000,
+    /**
+     * Invert the state of {@link AWINDOW_FLAG_NOT_FOCUSABLE} with
+     * respect to how this window interacts with the current method.
+     * That is, if FLAG_NOT_FOCUSABLE is set and this flag is set,
+     * then the window will behave as if it needs to interact with the
+     * input method and thus be placed behind/away from it; if {@link
+     * AWINDOW_FLAG_NOT_FOCUSABLE} is not set and this flag is set,
+     * then the window will behave as if it doesn't need to interact
+     * with the input method and can be placed to use more space and
+     * cover the input method.
+     */
+    AWINDOW_FLAG_ALT_FOCUSABLE_IM           = 0x00020000,
+    /**
+     * If you have set {@link AWINDOW_FLAG_NOT_TOUCH_MODAL}, you
+     * can set this flag to receive a single special MotionEvent with
+     * the action
+     * {@link AMOTION_EVENT_ACTION_OUTSIDE} for
+     * touches that occur outside of your window.  Note that you will not
+     * receive the full down/move/up gesture, only the location of the
+     * first down as an {@link AMOTION_EVENT_ACTION_OUTSIDE}.
+     */
+    AWINDOW_FLAG_WATCH_OUTSIDE_TOUCH        = 0x00040000,
+    /**
+     * Special flag to let windows be shown when the screen
+     * is locked. This will let application windows take precedence over
+     * key guard or any other lock screens. Can be used with
+     * {@link AWINDOW_FLAG_KEEP_SCREEN_ON} to turn screen on and display windows
+     * directly before showing the key guard window.  Can be used with
+     * {@link AWINDOW_FLAG_DISMISS_KEYGUARD} to automatically fully dismisss
+     * non-secure keyguards.  This flag only applies to the top-most
+     * full-screen window.
+     */
+    AWINDOW_FLAG_SHOW_WHEN_LOCKED           = 0x00080000,
+    /**
+     * Ask that the system wallpaper be shown behind
+     * your window.  The window surface must be translucent to be able
+     * to actually see the wallpaper behind it; this flag just ensures
+     * that the wallpaper surface will be there if this window actually
+     * has translucent regions.
+     */
+    AWINDOW_FLAG_SHOW_WALLPAPER             = 0x00100000,
+    /**
+     * When set as a window is being added or made
+     * visible, once the window has been shown then the system will
+     * poke the power manager's user activity (as if the user had woken
+     * up the device) to turn the screen on.
+     */
+    AWINDOW_FLAG_TURN_SCREEN_ON             = 0x00200000,
+    /**
+     * When set the window will cause the keyguard to
+     * be dismissed, only if it is not a secure lock keyguard.  Because such
+     * a keyguard is not needed for security, it will never re-appear if
+     * the user navigates to another window (in contrast to
+     * {@link AWINDOW_FLAG_SHOW_WHEN_LOCKED}, which will only temporarily
+     * hide both secure and non-secure keyguards but ensure they reappear
+     * when the user moves to another UI that doesn't hide them).
+     * If the keyguard is currently active and is secure (requires an
+     * unlock pattern) than the user will still need to confirm it before
+     * seeing this window, unless {@link AWINDOW_FLAG_SHOW_WHEN_LOCKED} has
+     * also been set.
+     */
+    AWINDOW_FLAG_DISMISS_KEYGUARD           = 0x00400000,
+};
+
+#ifdef __cplusplus
+};
+#endif
+
+#endif // ANDROID_WINDOW_H
+
+/** @} */
diff --git a/third_party/android_frameworks_native/include/binder/AppOpsManager.h b/third_party/android_frameworks_native/include/binder/AppOpsManager.h
new file mode 100644
index 0000000000..1d0e968c4a
--- /dev/null
+++ b/third_party/android_frameworks_native/include/binder/AppOpsManager.h
@@ -0,0 +1,130 @@
+/*
+ * Copyright (C) 2013 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_APP_OPS_MANAGER_H
+#define ANDROID_APP_OPS_MANAGER_H
+
+#include <binder/IAppOpsService.h>
+
+#include <utils/threads.h>
+
+// ---------------------------------------------------------------------------
+namespace android {
+
+class AppOpsManager
+{
+public:
+    enum {
+        MODE_ALLOWED = IAppOpsService::MODE_ALLOWED,
+        MODE_IGNORED = IAppOpsService::MODE_IGNORED,
+        MODE_ERRORED = IAppOpsService::MODE_ERRORED
+    };
+
+    enum {
+        OP_NONE = -1,
+        OP_COARSE_LOCATION = 0,
+        OP_FINE_LOCATION = 1,
+        OP_GPS = 2,
+        OP_VIBRATE = 3,
+        OP_READ_CONTACTS = 4,
+        OP_WRITE_CONTACTS = 5,
+        OP_READ_CALL_LOG = 6,
+        OP_WRITE_CALL_LOG = 7,
+        OP_READ_CALENDAR = 8,
+        OP_WRITE_CALENDAR = 9,
+        OP_WIFI_SCAN = 10,
+        OP_POST_NOTIFICATION = 11,
+        OP_NEIGHBORING_CELLS = 12,
+        OP_CALL_PHONE = 13,
+        OP_READ_SMS = 14,
+        OP_WRITE_SMS = 15,
+        OP_RECEIVE_SMS = 16,
+        OP_RECEIVE_EMERGECY_SMS = 17,
+        OP_RECEIVE_MMS = 18,
+        OP_RECEIVE_WAP_PUSH = 19,
+        OP_SEND_SMS = 20,
+        OP_READ_ICC_SMS = 21,
+        OP_WRITE_ICC_SMS = 22,
+        OP_WRITE_SETTINGS = 23,
+        OP_SYSTEM_ALERT_WINDOW = 24,
+        OP_ACCESS_NOTIFICATIONS = 25,
+        OP_CAMERA = 26,
+        OP_RECORD_AUDIO = 27,
+        OP_PLAY_AUDIO = 28,
+        OP_READ_CLIPBOARD = 29,
+        OP_WRITE_CLIPBOARD = 30,
+        OP_TAKE_MEDIA_BUTTONS = 31,
+        OP_TAKE_AUDIO_FOCUS = 32,
+        OP_AUDIO_MASTER_VOLUME = 33,
+        OP_AUDIO_VOICE_VOLUME = 34,
+        OP_AUDIO_RING_VOLUME = 35,
+        OP_AUDIO_MEDIA_VOLUME = 36,
+        OP_AUDIO_ALARM_VOLUME = 37,
+        OP_AUDIO_NOTIFICATION_VOLUME = 38,
+        OP_AUDIO_BLUETOOTH_VOLUME = 39,
+        OP_WAKE_LOCK = 40,
+        OP_MONITOR_LOCATION = 41,
+        OP_MONITOR_HIGH_POWER_LOCATION = 42,
+        OP_GET_USAGE_STATS = 43,
+        OP_MUTE_MICROPHONE = 44,
+        OP_TOAST_WINDOW = 45,
+        OP_PROJECT_MEDIA = 46,
+        OP_ACTIVATE_VPN = 47,
+        OP_WRITE_WALLPAPER = 48,
+        OP_ASSIST_STRUCTURE = 49,
+        OP_ASSIST_SCREENSHOT = 50,
+        OP_READ_PHONE_STATE = 51,
+        OP_ADD_VOICEMAIL = 52,
+        OP_USE_SIP = 53,
+        OP_PROCESS_OUTGOING_CALLS = 54,
+        OP_USE_FINGERPRINT = 55,
+        OP_BODY_SENSORS = 56,
+        OP_READ_CELL_BROADCASTS = 57,
+        OP_MOCK_LOCATION = 58,
+        OP_READ_EXTERNAL_STORAGE = 59,
+        OP_WRITE_EXTERNAL_STORAGE = 60,
+        OP_TURN_SCREEN_ON = 61,
+        OP_GET_ACCOUNTS = 62,
+        OP_WIFI_CHANGE = 63,
+        OP_BLUETOOTH_CHANGE = 64,
+        OP_BOOT_COMPLETED = 65,
+        OP_NFC_CHANGE = 66,
+        OP_DATA_CONNECT_CHANGE = 67,
+        OP_SU = 68
+    };
+
+    AppOpsManager();
+
+    int32_t checkOp(int32_t op, int32_t uid, const String16& callingPackage);
+    int32_t noteOp(int32_t op, int32_t uid, const String16& callingPackage);
+    int32_t startOp(int32_t op, int32_t uid, const String16& callingPackage);
+    void finishOp(int32_t op, int32_t uid, const String16& callingPackage);
+    void startWatchingMode(int32_t op, const String16& packageName,
+            const sp<IAppOpsCallback>& callback);
+    void stopWatchingMode(const sp<IAppOpsCallback>& callback);
+    int32_t permissionToOpCode(const String16& permission);
+
+private:
+    Mutex mLock;
+    sp<IAppOpsService> mService;
+
+    sp<IAppOpsService> getService();
+};
+
+
+}; // namespace android
+// ---------------------------------------------------------------------------
+#endif // ANDROID_APP_OPS_MANAGER_H
diff --git a/third_party/android_frameworks_native/include/binder/Binder.h b/third_party/android_frameworks_native/include/binder/Binder.h
new file mode 100644
index 0000000000..86628a03d3
--- /dev/null
+++ b/third_party/android_frameworks_native/include/binder/Binder.h
@@ -0,0 +1,105 @@
+/*
+ * Copyright (C) 2008 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_BINDER_H
+#define ANDROID_BINDER_H
+
+#include <stdatomic.h>
+#include <stdint.h>
+#include <binder/IBinder.h>
+
+// ---------------------------------------------------------------------------
+namespace android {
+
+class BBinder : public IBinder
+{
+public:
+                        BBinder();
+
+    virtual const String16& getInterfaceDescriptor() const;
+    virtual bool        isBinderAlive() const;
+    virtual status_t    pingBinder();
+    virtual status_t    dump(int fd, const Vector<String16>& args);
+
+    virtual status_t    transact(   uint32_t code,
+                                    const Parcel& data,
+                                    Parcel* reply,
+                                    uint32_t flags = 0);
+
+    virtual status_t    linkToDeath(const sp<DeathRecipient>& recipient,
+                                    void* cookie = NULL,
+                                    uint32_t flags = 0);
+
+    virtual status_t    unlinkToDeath(  const wp<DeathRecipient>& recipient,
+                                        void* cookie = NULL,
+                                        uint32_t flags = 0,
+                                        wp<DeathRecipient>* outRecipient = NULL);
+
+    virtual void        attachObject(   const void* objectID,
+                                        void* object,
+                                        void* cleanupCookie,
+                                        object_cleanup_func func);
+    virtual void*       findObject(const void* objectID) const;
+    virtual void        detachObject(const void* objectID);
+
+    virtual BBinder*    localBinder();
+
+protected:
+    virtual             ~BBinder();
+
+    virtual status_t    onTransact( uint32_t code,
+                                    const Parcel& data,
+                                    Parcel* reply,
+                                    uint32_t flags = 0);
+
+private:
+                        BBinder(const BBinder& o);
+            BBinder&    operator=(const BBinder& o);
+
+    class Extras;
+
+    atomic_uintptr_t    mExtras;  // should be atomic<Extras *>
+            void*       mReserved0;
+};
+
+// ---------------------------------------------------------------------------
+
+class BpRefBase : public virtual RefBase
+{
+protected:
+                            BpRefBase(const sp<IBinder>& o);
+    virtual                 ~BpRefBase();
+    virtual void            onFirstRef();
+    virtual void            onLastStrongRef(const void* id);
+    virtual bool            onIncStrongAttempted(uint32_t flags, const void* id);
+
+    inline  IBinder*        remote()                { return mRemote; }
+    inline  IBinder*        remote() const          { return mRemote; }
+
+private:
+                            BpRefBase(const BpRefBase& o);
+    BpRefBase&              operator=(const BpRefBase& o);
+
+    IBinder* const          mRemote;
+    RefBase::weakref_type*  mRefs;
+    volatile int32_t        mState;
+};
+
+}; // namespace android
+
+// ---------------------------------------------------------------------------
+
+#endif // ANDROID_BINDER_H
diff --git a/third_party/android_frameworks_native/include/binder/BinderService.h b/third_party/android_frameworks_native/include/binder/BinderService.h
new file mode 100644
index 0000000000..ef703bda90
--- /dev/null
+++ b/third_party/android_frameworks_native/include/binder/BinderService.h
@@ -0,0 +1,65 @@
+/*
+ * Copyright (C) 2010 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_BINDER_SERVICE_H
+#define ANDROID_BINDER_SERVICE_H
+
+#include <stdint.h>
+
+#include <utils/Errors.h>
+#include <utils/String16.h>
+
+#include <binder/IServiceManager.h>
+#include <binder/IPCThreadState.h>
+#include <binder/ProcessState.h>
+#include <binder/IServiceManager.h>
+
+// ---------------------------------------------------------------------------
+namespace android {
+
+template<typename SERVICE>
+class BinderService
+{
+public:
+    static status_t publish(bool allowIsolated = false) {
+        sp<IServiceManager> sm(defaultServiceManager());
+        return sm->addService(
+                String16(SERVICE::getServiceName()),
+                new SERVICE(), allowIsolated);
+    }
+
+    static void publishAndJoinThreadPool(bool allowIsolated = false) {
+        publish(allowIsolated);
+        joinThreadPool();
+    }
+
+    static void instantiate() { publish(); }
+
+    static status_t shutdown() { return NO_ERROR; }
+
+private:
+    static void joinThreadPool() {
+        sp<ProcessState> ps(ProcessState::self());
+        ps->startThreadPool();
+        ps->giveThreadPoolName();
+        IPCThreadState::self()->joinThreadPool();
+    }
+};
+
+
+}; // namespace android
+// ---------------------------------------------------------------------------
+#endif // ANDROID_BINDER_SERVICE_H
diff --git a/third_party/android_frameworks_native/include/binder/BpBinder.h b/third_party/android_frameworks_native/include/binder/BpBinder.h
new file mode 100644
index 0000000000..7ef93aa390
--- /dev/null
+++ b/third_party/android_frameworks_native/include/binder/BpBinder.h
@@ -0,0 +1,124 @@
+/*
+ * Copyright (C) 2005 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_BPBINDER_H
+#define ANDROID_BPBINDER_H
+
+#include <binder/IBinder.h>
+#include <utils/KeyedVector.h>
+#include <utils/threads.h>
+
+// ---------------------------------------------------------------------------
+namespace android {
+
+class BpBinder : public IBinder
+{
+public:
+                        BpBinder(int32_t handle);
+
+    inline  int32_t     handle() const { return mHandle; }
+
+    virtual const String16&    getInterfaceDescriptor() const;
+    virtual bool        isBinderAlive() const;
+    virtual status_t    pingBinder();
+    virtual status_t    dump(int fd, const Vector<String16>& args);
+
+    virtual status_t    transact(   uint32_t code,
+                                    const Parcel& data,
+                                    Parcel* reply,
+                                    uint32_t flags = 0);
+
+    virtual status_t    linkToDeath(const sp<DeathRecipient>& recipient,
+                                    void* cookie = NULL,
+                                    uint32_t flags = 0);
+    virtual status_t    unlinkToDeath(  const wp<DeathRecipient>& recipient,
+                                        void* cookie = NULL,
+                                        uint32_t flags = 0,
+                                        wp<DeathRecipient>* outRecipient = NULL);
+
+    virtual void        attachObject(   const void* objectID,
+                                        void* object,
+                                        void* cleanupCookie,
+                                        object_cleanup_func func);
+    virtual void*       findObject(const void* objectID) const;
+    virtual void        detachObject(const void* objectID);
+
+    virtual BpBinder*   remoteBinder();
+
+            status_t    setConstantData(const void* data, size_t size);
+            void        sendObituary();
+
+    class ObjectManager
+    {
+    public:
+                    ObjectManager();
+                    ~ObjectManager();
+
+        void        attach( const void* objectID,
+                            void* object,
+                            void* cleanupCookie,
+                            IBinder::object_cleanup_func func);
+        void*       find(const void* objectID) const;
+        void        detach(const void* objectID);
+
+        void        kill();
+
+    private:
+                    ObjectManager(const ObjectManager&);
+        ObjectManager& operator=(const ObjectManager&);
+
+        struct entry_t
+        {
+            void* object;
+            void* cleanupCookie;
+            IBinder::object_cleanup_func func;
+        };
+
+        KeyedVector<const void*, entry_t> mObjects;
+    };
+
+protected:
+    virtual             ~BpBinder();
+    virtual void        onFirstRef();
+    virtual void        onLastStrongRef(const void* id);
+    virtual bool        onIncStrongAttempted(uint32_t flags, const void* id);
+
+private:
+    const   int32_t             mHandle;
+
+    struct Obituary {
+        wp<DeathRecipient> recipient;
+        void* cookie;
+        uint32_t flags;
+    };
+
+            void                reportOneDeath(const Obituary& obit);
+            bool                isDescriptorCached() const;
+
+    mutable Mutex               mLock;
+            volatile int32_t    mAlive;
+            volatile int32_t    mObitsSent;
+            Vector<Obituary>*   mObituaries;
+            ObjectManager       mObjects;
+            Parcel*             mConstantData;
+    mutable String16            mDescriptorCache;
+};
+
+}; // namespace android
+
+// ---------------------------------------------------------------------------
+
+#endif // ANDROID_BPBINDER_H
diff --git a/third_party/android_frameworks_native/include/binder/BufferedTextOutput.h b/third_party/android_frameworks_native/include/binder/BufferedTextOutput.h
new file mode 100644
index 0000000000..9a7c43bb13
--- /dev/null
+++ b/third_party/android_frameworks_native/include/binder/BufferedTextOutput.h
@@ -0,0 +1,67 @@
+/*
+ * Copyright (C) 2006 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_BUFFEREDTEXTOUTPUT_H
+#define ANDROID_BUFFEREDTEXTOUTPUT_H
+
+#include <binder/TextOutput.h>
+#include <utils/threads.h>
+#include <sys/uio.h>
+
+// ---------------------------------------------------------------------------
+namespace android {
+
+class BufferedTextOutput : public TextOutput
+{
+public:
+    //** Flags for constructor */
+    enum {
+        MULTITHREADED = 0x0001
+    };
+    
+                        BufferedTextOutput(uint32_t flags = 0);
+    virtual             ~BufferedTextOutput();
+    
+    virtual status_t    print(const char* txt, size_t len);
+    virtual void        moveIndent(int delta);
+    
+    virtual void        pushBundle();
+    virtual void        popBundle();
+    
+protected:
+    virtual status_t    writeLines(const struct iovec& vec, size_t N) = 0;
+
+private:
+    struct BufferState;
+    struct ThreadState;
+    
+    static  ThreadState*getThreadState();
+    static  void        threadDestructor(void *st);
+    
+            BufferState*getBuffer() const;
+            
+    uint32_t            mFlags;
+    const int32_t       mSeq;
+    const int32_t       mIndex;
+    
+    Mutex               mLock;
+    BufferState*        mGlobalState;
+};
+
+// ---------------------------------------------------------------------------
+}; // namespace android
+
+#endif // ANDROID_BUFFEREDTEXTOUTPUT_H
diff --git a/third_party/android_frameworks_native/include/binder/Debug.h b/third_party/android_frameworks_native/include/binder/Debug.h
new file mode 100644
index 0000000000..f6a335502f
--- /dev/null
+++ b/third_party/android_frameworks_native/include/binder/Debug.h
@@ -0,0 +1,49 @@
+/*
+ * Copyright (C) 2005 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_BINDER_DEBUG_H
+#define ANDROID_BINDER_DEBUG_H
+
+#include <stdint.h>
+#include <sys/types.h>
+
+namespace android {
+// ---------------------------------------------------------------------------
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+const char* stringForIndent(int32_t indentLevel);
+
+typedef void (*debugPrintFunc)(void* cookie, const char* txt);
+
+void printTypeCode(uint32_t typeCode,
+    debugPrintFunc func = 0, void* cookie = 0);
+
+void printHexData(int32_t indent, const void *buf, size_t length,
+    size_t bytesPerLine=16, int32_t singleLineBytesCutoff=16,
+    size_t alignment=0, bool cArrayStyle=false,
+    debugPrintFunc func = 0, void* cookie = 0);
+
+#ifdef __cplusplus
+}
+#endif
+
+// ---------------------------------------------------------------------------
+}; // namespace android
+
+#endif // ANDROID_BINDER_DEBUG_H
diff --git a/third_party/android_frameworks_native/include/binder/IAppOpsCallback.h b/third_party/android_frameworks_native/include/binder/IAppOpsCallback.h
new file mode 100644
index 0000000000..7f8eb0168b
--- /dev/null
+++ b/third_party/android_frameworks_native/include/binder/IAppOpsCallback.h
@@ -0,0 +1,55 @@
+/*
+ * Copyright (C) 2013 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+//
+#ifndef ANDROID_IAPP_OPS_CALLBACK_H
+#define ANDROID_IAPP_OPS_CALLBACK_H
+
+#include <binder/IInterface.h>
+
+namespace android {
+
+// ----------------------------------------------------------------------
+
+class IAppOpsCallback : public IInterface
+{
+public:
+    DECLARE_META_INTERFACE(AppOpsCallback);
+
+    virtual void opChanged(int32_t op, const String16& packageName) = 0;
+
+    enum {
+        OP_CHANGED_TRANSACTION = IBinder::FIRST_CALL_TRANSACTION
+    };
+};
+
+// ----------------------------------------------------------------------
+
+class BnAppOpsCallback : public BnInterface<IAppOpsCallback>
+{
+public:
+    virtual status_t    onTransact( uint32_t code,
+                                    const Parcel& data,
+                                    Parcel* reply,
+                                    uint32_t flags = 0);
+};
+
+// ----------------------------------------------------------------------
+
+}; // namespace android
+
+#endif // ANDROID_IAPP_OPS_CALLBACK_H
+
diff --git a/third_party/android_frameworks_native/include/binder/IAppOpsService.h b/third_party/android_frameworks_native/include/binder/IAppOpsService.h
new file mode 100644
index 0000000000..cd81efa363
--- /dev/null
+++ b/third_party/android_frameworks_native/include/binder/IAppOpsService.h
@@ -0,0 +1,78 @@
+/*
+ * Copyright (C) 2013 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+//
+#ifndef ANDROID_IAPP_OPS_SERVICE_H
+#define ANDROID_IAPP_OPS_SERVICE_H
+
+#include <binder/IAppOpsCallback.h>
+#include <binder/IInterface.h>
+
+namespace android {
+
+// ----------------------------------------------------------------------
+
+class IAppOpsService : public IInterface
+{
+public:
+    DECLARE_META_INTERFACE(AppOpsService);
+
+    virtual int32_t checkOperation(int32_t code, int32_t uid, const String16& packageName) = 0;
+    virtual int32_t noteOperation(int32_t code, int32_t uid, const String16& packageName) = 0;
+    virtual int32_t startOperation(const sp<IBinder>& token, int32_t code, int32_t uid,
+            const String16& packageName) = 0;
+    virtual void finishOperation(const sp<IBinder>& token, int32_t code, int32_t uid,
+            const String16& packageName) = 0;
+    virtual void startWatchingMode(int32_t op, const String16& packageName,
+            const sp<IAppOpsCallback>& callback) = 0;
+    virtual void stopWatchingMode(const sp<IAppOpsCallback>& callback) = 0;
+    virtual sp<IBinder> getToken(const sp<IBinder>& clientToken) = 0;
+    virtual int32_t permissionToOpCode(const String16& permission) = 0;
+
+    enum {
+        CHECK_OPERATION_TRANSACTION = IBinder::FIRST_CALL_TRANSACTION,
+        NOTE_OPERATION_TRANSACTION = IBinder::FIRST_CALL_TRANSACTION+1,
+        START_OPERATION_TRANSACTION = IBinder::FIRST_CALL_TRANSACTION+2,
+        FINISH_OPERATION_TRANSACTION = IBinder::FIRST_CALL_TRANSACTION+3,
+        START_WATCHING_MODE_TRANSACTION = IBinder::FIRST_CALL_TRANSACTION+4,
+        STOP_WATCHING_MODE_TRANSACTION = IBinder::FIRST_CALL_TRANSACTION+5,
+        GET_TOKEN_TRANSACTION = IBinder::FIRST_CALL_TRANSACTION+6,
+        PERMISSION_TO_OP_CODE_TRANSACTION = IBinder::FIRST_CALL_TRANSACTION+7,
+    };
+
+    enum {
+        MODE_ALLOWED = 0,
+        MODE_IGNORED = 1,
+        MODE_ERRORED = 2
+    };
+};
+
+// ----------------------------------------------------------------------
+
+class BnAppOpsService : public BnInterface<IAppOpsService>
+{
+public:
+    virtual status_t    onTransact( uint32_t code,
+                                    const Parcel& data,
+                                    Parcel* reply,
+                                    uint32_t flags = 0);
+};
+
+// ----------------------------------------------------------------------
+
+}; // namespace android
+
+#endif // ANDROID_IAPP_OPS_SERVICE_H
diff --git a/third_party/android_frameworks_native/include/binder/IBatteryStats.h b/third_party/android_frameworks_native/include/binder/IBatteryStats.h
new file mode 100644
index 0000000000..5f3818652b
--- /dev/null
+++ b/third_party/android_frameworks_native/include/binder/IBatteryStats.h
@@ -0,0 +1,79 @@
+/*
+ * Copyright (C) 2013 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_IBATTERYSTATS_H
+#define ANDROID_IBATTERYSTATS_H
+
+#include <binder/IInterface.h>
+
+namespace android {
+
+// ----------------------------------------------------------------------
+
+class IBatteryStats : public IInterface
+{
+public:
+    DECLARE_META_INTERFACE(BatteryStats);
+
+    virtual void noteStartSensor(int uid, int sensor) = 0;
+    virtual void noteStopSensor(int uid, int sensor) = 0;
+    virtual void noteStartVideo(int uid) = 0;
+    virtual void noteStopVideo(int uid) = 0;
+    virtual void noteStartAudio(int uid) = 0;
+    virtual void noteStopAudio(int uid) = 0;
+    virtual void noteResetVideo() = 0;
+    virtual void noteResetAudio() = 0;
+    virtual void noteFlashlightOn(int uid) = 0;
+    virtual void noteFlashlightOff(int uid) = 0;
+    virtual void noteStartCamera(int uid) = 0;
+    virtual void noteStopCamera(int uid) = 0;
+    virtual void noteResetCamera() = 0;
+    virtual void noteResetFlashlight() = 0;
+
+    enum {
+        NOTE_START_SENSOR_TRANSACTION = IBinder::FIRST_CALL_TRANSACTION,
+        NOTE_STOP_SENSOR_TRANSACTION,
+        NOTE_START_VIDEO_TRANSACTION,
+        NOTE_STOP_VIDEO_TRANSACTION,
+        NOTE_START_AUDIO_TRANSACTION,
+        NOTE_STOP_AUDIO_TRANSACTION,
+        NOTE_RESET_VIDEO_TRANSACTION,
+        NOTE_RESET_AUDIO_TRANSACTION,
+        NOTE_FLASHLIGHT_ON_TRANSACTION,
+        NOTE_FLASHLIGHT_OFF_TRANSACTION,
+        NOTE_START_CAMERA_TRANSACTION,
+        NOTE_STOP_CAMERA_TRANSACTION,
+        NOTE_RESET_CAMERA_TRANSACTION,
+        NOTE_RESET_FLASHLIGHT_TRANSACTION
+    };
+};
+
+// ----------------------------------------------------------------------
+
+class BnBatteryStats : public BnInterface<IBatteryStats>
+{
+public:
+    virtual status_t    onTransact( uint32_t code,
+                                    const Parcel& data,
+                                    Parcel* reply,
+                                    uint32_t flags = 0);
+};
+
+// ----------------------------------------------------------------------
+
+}; // namespace android
+
+#endif // ANDROID_IBATTERYSTATS_H
diff --git a/third_party/android_frameworks_native/include/binder/IBinder.h b/third_party/android_frameworks_native/include/binder/IBinder.h
new file mode 100644
index 0000000000..43b654334b
--- /dev/null
+++ b/third_party/android_frameworks_native/include/binder/IBinder.h
@@ -0,0 +1,152 @@
+/*
+ * Copyright (C) 2008 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_IBINDER_H
+#define ANDROID_IBINDER_H
+
+#include <utils/Errors.h>
+#include <utils/RefBase.h>
+#include <utils/String16.h>
+#include <utils/Vector.h>
+
+
+#define B_PACK_CHARS(c1, c2, c3, c4) \
+    ((((c1)<<24)) | (((c2)<<16)) | (((c3)<<8)) | (c4))
+
+// ---------------------------------------------------------------------------
+namespace android {
+
+class BBinder;
+class BpBinder;
+class IInterface;
+class Parcel;
+
+/**
+ * Base class and low-level protocol for a remotable object.
+ * You can derive from this class to create an object for which other
+ * processes can hold references to it.  Communication between processes
+ * (method calls, property get and set) is down through a low-level
+ * protocol implemented on top of the transact() API.
+ */
+class IBinder : public virtual RefBase
+{
+public:
+    enum {
+        FIRST_CALL_TRANSACTION  = 0x00000001,
+        LAST_CALL_TRANSACTION   = 0x00ffffff,
+
+        PING_TRANSACTION        = B_PACK_CHARS('_','P','N','G'),
+        DUMP_TRANSACTION        = B_PACK_CHARS('_','D','M','P'),
+        INTERFACE_TRANSACTION   = B_PACK_CHARS('_', 'N', 'T', 'F'),
+        SYSPROPS_TRANSACTION    = B_PACK_CHARS('_', 'S', 'P', 'R'),
+
+        // Corresponds to TF_ONE_WAY -- an asynchronous call.
+        FLAG_ONEWAY             = 0x00000001
+    };
+
+                          IBinder();
+
+    /**
+     * Check if this IBinder implements the interface named by
+     * @a descriptor.  If it does, the base pointer to it is returned,
+     * which you can safely static_cast<> to the concrete C++ interface.
+     */
+    virtual sp<IInterface>  queryLocalInterface(const String16& descriptor);
+
+    /**
+     * Return the canonical name of the interface provided by this IBinder
+     * object.
+     */
+    virtual const String16& getInterfaceDescriptor() const = 0;
+
+    virtual bool            isBinderAlive() const = 0;
+    virtual status_t        pingBinder() = 0;
+    virtual status_t        dump(int fd, const Vector<String16>& args) = 0;
+
+    virtual status_t        transact(   uint32_t code,
+                                        const Parcel& data,
+                                        Parcel* reply,
+                                        uint32_t flags = 0) = 0;
+
+    class DeathRecipient : public virtual RefBase
+    {
+    public:
+        virtual void binderDied(const wp<IBinder>& who) = 0;
+    };
+
+    /**
+     * Register the @a recipient for a notification if this binder
+     * goes away.  If this binder object unexpectedly goes away
+     * (typically because its hosting process has been killed),
+     * then DeathRecipient::binderDied() will be called with a reference
+     * to this.
+     *
+     * The @a cookie is optional -- if non-NULL, it should be a
+     * memory address that you own (that is, you know it is unique).
+     *
+     * @note You will only receive death notifications for remote binders,
+     * as local binders by definition can't die without you dying as well.
+     * Trying to use this function on a local binder will result in an
+     * INVALID_OPERATION code being returned and nothing happening.
+     *
+     * @note This link always holds a weak reference to its recipient.
+     *
+     * @note You will only receive a weak reference to the dead
+     * binder.  You should not try to promote this to a strong reference.
+     * (Nor should you need to, as there is nothing useful you can
+     * directly do with it now that it has passed on.)
+     */
+    virtual status_t        linkToDeath(const sp<DeathRecipient>& recipient,
+                                        void* cookie = NULL,
+                                        uint32_t flags = 0) = 0;
+
+    /**
+     * Remove a previously registered death notification.
+     * The @a recipient will no longer be called if this object
+     * dies.  The @a cookie is optional.  If non-NULL, you can
+     * supply a NULL @a recipient, and the recipient previously
+     * added with that cookie will be unlinked.
+     */
+    virtual status_t        unlinkToDeath(  const wp<DeathRecipient>& recipient,
+                                            void* cookie = NULL,
+                                            uint32_t flags = 0,
+                                            wp<DeathRecipient>* outRecipient = NULL) = 0;
+
+    virtual bool            checkSubclass(const void* subclassID) const;
+
+    typedef void (*object_cleanup_func)(const void* id, void* obj, void* cleanupCookie);
+
+    virtual void            attachObject(   const void* objectID,
+                                            void* object,
+                                            void* cleanupCookie,
+                                            object_cleanup_func func) = 0;
+    virtual void*           findObject(const void* objectID) const = 0;
+    virtual void            detachObject(const void* objectID) = 0;
+
+    virtual BBinder*        localBinder();
+    virtual BpBinder*       remoteBinder();
+
+protected:
+    virtual          ~IBinder();
+
+private:
+};
+
+}; // namespace android
+
+// ---------------------------------------------------------------------------
+
+#endif // ANDROID_IBINDER_H
diff --git a/third_party/android_frameworks_native/include/binder/IInterface.h b/third_party/android_frameworks_native/include/binder/IInterface.h
new file mode 100644
index 0000000000..4ce361380d
--- /dev/null
+++ b/third_party/android_frameworks_native/include/binder/IInterface.h
@@ -0,0 +1,150 @@
+/*
+ * Copyright (C) 2005 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+//
+#ifndef ANDROID_IINTERFACE_H
+#define ANDROID_IINTERFACE_H
+
+#include <binder/Binder.h>
+
+namespace android {
+
+// ----------------------------------------------------------------------
+
+class IInterface : public virtual RefBase
+{
+public:
+            IInterface();
+            static sp<IBinder>  asBinder(const IInterface*);
+            static sp<IBinder>  asBinder(const sp<IInterface>&);
+
+protected:
+    virtual                     ~IInterface();
+    virtual IBinder*            onAsBinder() = 0;
+};
+
+// ----------------------------------------------------------------------
+
+template<typename INTERFACE>
+inline sp<INTERFACE> interface_cast(const sp<IBinder>& obj)
+{
+    return INTERFACE::asInterface(obj);
+}
+
+// ----------------------------------------------------------------------
+
+template<typename INTERFACE>
+class BnInterface : public INTERFACE, public BBinder
+{
+public:
+    virtual sp<IInterface>      queryLocalInterface(const String16& _descriptor);
+    virtual const String16&     getInterfaceDescriptor() const;
+
+protected:
+    virtual IBinder*            onAsBinder();
+};
+
+// ----------------------------------------------------------------------
+
+template<typename INTERFACE>
+class BpInterface : public INTERFACE, public BpRefBase
+{
+public:
+                                BpInterface(const sp<IBinder>& remote);
+
+protected:
+    virtual IBinder*            onAsBinder();
+};
+
+// ----------------------------------------------------------------------
+
+#define DECLARE_META_INTERFACE(INTERFACE)                               \
+    static const android::String16 descriptor;                          \
+    static android::sp<I##INTERFACE> asInterface(                       \
+            const android::sp<android::IBinder>& obj);                  \
+    virtual const android::String16& getInterfaceDescriptor() const;    \
+    I##INTERFACE();                                                     \
+    virtual ~I##INTERFACE();                                            \
+
+
+#define IMPLEMENT_META_INTERFACE(INTERFACE, NAME)                       \
+    const android::String16 I##INTERFACE::descriptor(NAME);             \
+    const android::String16&                                            \
+            I##INTERFACE::getInterfaceDescriptor() const {              \
+        return I##INTERFACE::descriptor;                                \
+    }                                                                   \
+    android::sp<I##INTERFACE> I##INTERFACE::asInterface(                \
+            const android::sp<android::IBinder>& obj)                   \
+    {                                                                   \
+        android::sp<I##INTERFACE> intr;                                 \
+        if (obj != NULL) {                                              \
+            intr = static_cast<I##INTERFACE*>(                          \
+                obj->queryLocalInterface(                               \
+                        I##INTERFACE::descriptor).get());               \
+            if (intr == NULL) {                                         \
+                intr = new Bp##INTERFACE(obj);                          \
+            }                                                           \
+        }                                                               \
+        return intr;                                                    \
+    }                                                                   \
+    I##INTERFACE::I##INTERFACE() { }                                    \
+    I##INTERFACE::~I##INTERFACE() { }                                   \
+
+
+#define CHECK_INTERFACE(interface, data, reply)                         \
+    if (!data.checkInterface(this)) { return PERMISSION_DENIED; }       \
+
+
+// ----------------------------------------------------------------------
+// No user-serviceable parts after this...
+
+template<typename INTERFACE>
+inline sp<IInterface> BnInterface<INTERFACE>::queryLocalInterface(
+        const String16& _descriptor)
+{
+    if (_descriptor == INTERFACE::descriptor) return this;
+    return NULL;
+}
+
+template<typename INTERFACE>
+inline const String16& BnInterface<INTERFACE>::getInterfaceDescriptor() const
+{
+    return INTERFACE::getInterfaceDescriptor();
+}
+
+template<typename INTERFACE>
+IBinder* BnInterface<INTERFACE>::onAsBinder()
+{
+    return this;
+}
+
+template<typename INTERFACE>
+inline BpInterface<INTERFACE>::BpInterface(const sp<IBinder>& remote)
+    : BpRefBase(remote)
+{
+}
+
+template<typename INTERFACE>
+inline IBinder* BpInterface<INTERFACE>::onAsBinder()
+{
+    return remote();
+}
+    
+// ----------------------------------------------------------------------
+
+}; // namespace android
+
+#endif // ANDROID_IINTERFACE_H
diff --git a/third_party/android_frameworks_native/include/binder/IMemory.h b/third_party/android_frameworks_native/include/binder/IMemory.h
new file mode 100644
index 0000000000..178ef85937
--- /dev/null
+++ b/third_party/android_frameworks_native/include/binder/IMemory.h
@@ -0,0 +1,107 @@
+/*
+ * Copyright (C) 2007 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_IMEMORY_H
+#define ANDROID_IMEMORY_H
+
+#include <stdint.h>
+#include <sys/types.h>
+#include <sys/mman.h>
+
+#include <utils/RefBase.h>
+#include <utils/Errors.h>
+#include <binder/IInterface.h>
+
+namespace android {
+
+// ----------------------------------------------------------------------------
+
+class IMemoryHeap : public IInterface
+{
+public:
+    DECLARE_META_INTERFACE(MemoryHeap);
+
+    // flags returned by getFlags()
+    enum {
+        READ_ONLY   = 0x00000001,
+#ifdef USE_MEMORY_HEAP_ION
+        USE_ION_FD  = 0x00008000
+#else
+        USE_ION_FD  = 0x00000008
+#endif
+    };
+
+    virtual int         getHeapID() const = 0;
+    virtual void*       getBase() const = 0;
+    virtual size_t      getSize() const = 0;
+    virtual uint32_t    getFlags() const = 0;
+    virtual uint32_t    getOffset() const = 0;
+
+    // these are there just for backward source compatibility
+    int32_t heapID() const { return getHeapID(); }
+    void*   base() const  { return getBase(); }
+    size_t  virtualSize() const { return getSize(); }
+};
+
+class BnMemoryHeap : public BnInterface<IMemoryHeap>
+{
+public:
+    virtual status_t onTransact( 
+            uint32_t code,
+            const Parcel& data,
+            Parcel* reply,
+            uint32_t flags = 0);
+    
+    BnMemoryHeap();
+protected:
+    virtual ~BnMemoryHeap();
+};
+
+// ----------------------------------------------------------------------------
+
+class IMemory : public IInterface
+{
+public:
+    DECLARE_META_INTERFACE(Memory);
+
+    virtual sp<IMemoryHeap> getMemory(ssize_t* offset=0, size_t* size=0) const = 0;
+
+    // helpers
+    void* fastPointer(const sp<IBinder>& heap, ssize_t offset) const;
+    void* pointer() const;
+    size_t size() const;
+    ssize_t offset() const;
+};
+
+class BnMemory : public BnInterface<IMemory>
+{
+public:
+    virtual status_t onTransact(
+            uint32_t code,
+            const Parcel& data,
+            Parcel* reply,
+            uint32_t flags = 0);
+
+    BnMemory();
+protected:
+    virtual ~BnMemory();
+};
+
+// ----------------------------------------------------------------------------
+
+}; // namespace android
+
+#endif // ANDROID_IMEMORY_H
diff --git a/third_party/android_frameworks_native/include/binder/IPCThreadState.h b/third_party/android_frameworks_native/include/binder/IPCThreadState.h
new file mode 100644
index 0000000000..1853cff235
--- /dev/null
+++ b/third_party/android_frameworks_native/include/binder/IPCThreadState.h
@@ -0,0 +1,135 @@
+/*
+ * Copyright (C) 2005 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_IPC_THREAD_STATE_H
+#define ANDROID_IPC_THREAD_STATE_H
+
+#include <utils/Errors.h>
+#include <binder/Parcel.h>
+#include <binder/ProcessState.h>
+#include <utils/Vector.h>
+
+#if defined(_WIN32)
+typedef  int  uid_t;
+#endif
+
+// ---------------------------------------------------------------------------
+namespace android {
+
+class IPCThreadState
+{
+public:
+    static  IPCThreadState*     self();
+    static  IPCThreadState*     selfOrNull();  // self(), but won't instantiate
+    
+            sp<ProcessState>    process();
+            
+            status_t            clearLastError();
+
+            pid_t               getCallingPid() const;
+            uid_t               getCallingUid() const;
+
+            void                setStrictModePolicy(int32_t policy);
+            int32_t             getStrictModePolicy() const;
+
+            void                setLastTransactionBinderFlags(int32_t flags);
+            int32_t             getLastTransactionBinderFlags() const;
+
+            int64_t             clearCallingIdentity();
+            void                restoreCallingIdentity(int64_t token);
+            
+            int                 setupPolling(int* fd);
+            status_t            handlePolledCommands();
+            void                flushCommands();
+
+            void                joinThreadPool(bool isMain = true);
+            
+            // Stop the local process.
+            void                stopProcess(bool immediate = true);
+            
+            status_t            transact(int32_t handle,
+                                         uint32_t code, const Parcel& data,
+                                         Parcel* reply, uint32_t flags);
+
+            void                incStrongHandle(int32_t handle);
+            void                decStrongHandle(int32_t handle);
+            void                incWeakHandle(int32_t handle);
+            void                decWeakHandle(int32_t handle);
+            status_t            attemptIncStrongHandle(int32_t handle);
+    static  void                expungeHandle(int32_t handle, IBinder* binder);
+            status_t            requestDeathNotification(   int32_t handle,
+                                                            BpBinder* proxy); 
+            status_t            clearDeathNotification( int32_t handle,
+                                                        BpBinder* proxy); 
+
+    static  void                shutdown();
+
+    // Call this to disable switching threads to background scheduling when
+    // receiving incoming IPC calls.  This is specifically here for the
+    // Android system process, since it expects to have background apps calling
+    // in to it but doesn't want to acquire locks in its services while in
+    // the background.
+    static  void                disableBackgroundScheduling(bool disable);
+
+            // Call blocks until the number of executing binder threads is less than
+            // the maximum number of binder threads threads allowed for this process.
+            void                blockUntilThreadAvailable();
+
+private:
+                                IPCThreadState();
+                                ~IPCThreadState();
+
+            status_t            sendReply(const Parcel& reply, uint32_t flags);
+            status_t            waitForResponse(Parcel *reply,
+                                                status_t *acquireResult=NULL);
+            status_t            talkWithDriver(bool doReceive=true);
+            status_t            writeTransactionData(int32_t cmd,
+                                                     uint32_t binderFlags,
+                                                     int32_t handle,
+                                                     uint32_t code,
+                                                     const Parcel& data,
+                                                     status_t* statusBuffer);
+            status_t            getAndExecuteCommand();
+            status_t            executeCommand(int32_t command);
+            void                processPendingDerefs();
+
+            void                clearCaller();
+
+    static  void                threadDestructor(void *st);
+    static  void                freeBuffer(Parcel* parcel,
+                                           const uint8_t* data, size_t dataSize,
+                                           const binder_size_t* objects, size_t objectsSize,
+                                           void* cookie);
+    
+    const   sp<ProcessState>    mProcess;
+    const   pid_t               mMyThreadId;
+            Vector<BBinder*>    mPendingStrongDerefs;
+            Vector<RefBase::weakref_type*> mPendingWeakDerefs;
+
+            Parcel              mIn;
+            Parcel              mOut;
+            status_t            mLastError;
+            pid_t               mCallingPid;
+            uid_t               mCallingUid;
+            int32_t             mStrictModePolicy;
+            int32_t             mLastTransactionBinderFlags;
+};
+
+}; // namespace android
+
+// ---------------------------------------------------------------------------
+
+#endif // ANDROID_IPC_THREAD_STATE_H
diff --git a/third_party/android_frameworks_native/include/binder/IPermissionController.h b/third_party/android_frameworks_native/include/binder/IPermissionController.h
new file mode 100644
index 0000000000..4e5fb34838
--- /dev/null
+++ b/third_party/android_frameworks_native/include/binder/IPermissionController.h
@@ -0,0 +1,62 @@
+/*
+ * Copyright (C) 2005 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+//
+#ifndef ANDROID_IPERMISSION_CONTROLLER_H
+#define ANDROID_IPERMISSION_CONTROLLER_H
+
+#include <binder/IInterface.h>
+#include <stdlib.h>
+
+namespace android {
+
+// ----------------------------------------------------------------------
+
+class IPermissionController : public IInterface
+{
+public:
+    DECLARE_META_INTERFACE(PermissionController);
+
+    virtual bool checkPermission(const String16& permission, int32_t pid, int32_t uid) = 0;
+
+    virtual void getPackagesForUid(const uid_t uid, Vector<String16> &packages) = 0;
+
+    virtual bool isRuntimePermission(const String16& permission) = 0;
+
+    enum {
+        CHECK_PERMISSION_TRANSACTION = IBinder::FIRST_CALL_TRANSACTION,
+        GET_PACKAGES_FOR_UID_TRANSACTION = IBinder::FIRST_CALL_TRANSACTION + 1,
+        IS_RUNTIME_PERMISSION_TRANSACTION = IBinder::FIRST_CALL_TRANSACTION + 2
+    };
+};
+
+// ----------------------------------------------------------------------
+
+class BnPermissionController : public BnInterface<IPermissionController>
+{
+public:
+    virtual status_t    onTransact( uint32_t code,
+                                    const Parcel& data,
+                                    Parcel* reply,
+                                    uint32_t flags = 0);
+};
+
+// ----------------------------------------------------------------------
+
+}; // namespace android
+
+#endif // ANDROID_IPERMISSION_CONTROLLER_H
+
diff --git a/third_party/android_frameworks_native/include/binder/IProcessInfoService.h b/third_party/android_frameworks_native/include/binder/IProcessInfoService.h
new file mode 100644
index 0000000000..dc62f457c7
--- /dev/null
+++ b/third_party/android_frameworks_native/include/binder/IProcessInfoService.h
@@ -0,0 +1,53 @@
+/*
+ * Copyright 2015 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_I_PROCESS_INFO_SERVICE_H
+#define ANDROID_I_PROCESS_INFO_SERVICE_H
+
+#include <binder/IInterface.h>
+
+namespace android {
+
+// ----------------------------------------------------------------------
+
+class IProcessInfoService : public IInterface {
+public:
+    DECLARE_META_INTERFACE(ProcessInfoService);
+
+    virtual status_t    getProcessStatesFromPids( size_t length,
+                                                  /*in*/ int32_t* pids,
+                                                  /*out*/ int32_t* states) = 0;
+
+    enum {
+        GET_PROCESS_STATES_FROM_PIDS = IBinder::FIRST_CALL_TRANSACTION,
+    };
+};
+
+// ----------------------------------------------------------------------
+
+class BnProcessInfoService : public BnInterface<IProcessInfoService> {
+public:
+    virtual status_t    onTransact( uint32_t code,
+                                    const Parcel& data,
+                                    Parcel* reply,
+                                    uint32_t flags = 0);
+};
+
+// ----------------------------------------------------------------------
+
+}; // namespace android
+
+#endif // ANDROID_I_PROCESS_INFO_SERVICE_H
diff --git a/third_party/android_frameworks_native/include/binder/IServiceManager.h b/third_party/android_frameworks_native/include/binder/IServiceManager.h
new file mode 100644
index 0000000000..2c297d64fb
--- /dev/null
+++ b/third_party/android_frameworks_native/include/binder/IServiceManager.h
@@ -0,0 +1,101 @@
+/*
+ * Copyright (C) 2005 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+//
+#ifndef ANDROID_ISERVICE_MANAGER_H
+#define ANDROID_ISERVICE_MANAGER_H
+
+#include <binder/IInterface.h>
+#include <binder/IPermissionController.h>
+#include <utils/Vector.h>
+#include <utils/String16.h>
+
+namespace android {
+
+// ----------------------------------------------------------------------
+
+class IServiceManager : public IInterface
+{
+public:
+    DECLARE_META_INTERFACE(ServiceManager);
+
+    /**
+     * Retrieve an existing service, blocking for a few seconds
+     * if it doesn't yet exist.
+     */
+    virtual sp<IBinder>         getService( const String16& name) const = 0;
+
+    /**
+     * Retrieve an existing service, non-blocking.
+     */
+    virtual sp<IBinder>         checkService( const String16& name) const = 0;
+
+    /**
+     * Register a service.
+     */
+    virtual status_t            addService( const String16& name,
+                                            const sp<IBinder>& service,
+                                            bool allowIsolated = false) = 0;
+
+    /**
+     * Return list of all existing services.
+     */
+    virtual Vector<String16>    listServices() = 0;
+
+    enum {
+        GET_SERVICE_TRANSACTION = IBinder::FIRST_CALL_TRANSACTION,
+        CHECK_SERVICE_TRANSACTION,
+        ADD_SERVICE_TRANSACTION,
+        LIST_SERVICES_TRANSACTION,
+    };
+};
+
+sp<IServiceManager> defaultServiceManager();
+
+template<typename INTERFACE>
+status_t getService(const String16& name, sp<INTERFACE>* outService)
+{
+    const sp<IServiceManager> sm = defaultServiceManager();
+    if (sm != NULL) {
+        *outService = interface_cast<INTERFACE>(sm->getService(name));
+        if ((*outService) != NULL) return NO_ERROR;
+    }
+    return NAME_NOT_FOUND;
+}
+
+bool checkCallingPermission(const String16& permission);
+bool checkCallingPermission(const String16& permission,
+                            int32_t* outPid, int32_t* outUid);
+bool checkPermission(const String16& permission, pid_t pid, uid_t uid);
+
+
+// ----------------------------------------------------------------------
+
+class BnServiceManager : public BnInterface<IServiceManager>
+{
+public:
+    virtual status_t    onTransact( uint32_t code,
+                                    const Parcel& data,
+                                    Parcel* reply,
+                                    uint32_t flags = 0);
+};
+
+// ----------------------------------------------------------------------
+
+}; // namespace android
+
+#endif // ANDROID_ISERVICE_MANAGER_H
+
diff --git a/third_party/android_frameworks_native/include/binder/MemoryBase.h b/third_party/android_frameworks_native/include/binder/MemoryBase.h
new file mode 100644
index 0000000000..463e26d977
--- /dev/null
+++ b/third_party/android_frameworks_native/include/binder/MemoryBase.h
@@ -0,0 +1,51 @@
+/*
+ * Copyright (C) 2008 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_MEMORY_BASE_H
+#define ANDROID_MEMORY_BASE_H
+
+#include <stdlib.h>
+#include <stdint.h>
+
+#include <binder/IMemory.h>
+
+
+namespace android {
+
+// ---------------------------------------------------------------------------
+
+class MemoryBase : public BnMemory 
+{
+public:
+    MemoryBase(const sp<IMemoryHeap>& heap, ssize_t offset, size_t size);
+    virtual ~MemoryBase();
+    virtual sp<IMemoryHeap> getMemory(ssize_t* offset, size_t* size) const;
+
+protected:
+    size_t getSize() const { return mSize; }
+    ssize_t getOffset() const { return mOffset; }
+    const sp<IMemoryHeap>& getHeap() const { return mHeap; }
+
+private:
+    size_t          mSize;
+    ssize_t         mOffset;
+    sp<IMemoryHeap> mHeap;
+};
+
+// ---------------------------------------------------------------------------
+}; // namespace android
+
+#endif // ANDROID_MEMORY_BASE_H
diff --git a/third_party/android_frameworks_native/include/binder/MemoryDealer.h b/third_party/android_frameworks_native/include/binder/MemoryDealer.h
new file mode 100644
index 0000000000..aa415d5ac8
--- /dev/null
+++ b/third_party/android_frameworks_native/include/binder/MemoryDealer.h
@@ -0,0 +1,61 @@
+/*
+ * Copyright (C) 2007 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_MEMORY_DEALER_H
+#define ANDROID_MEMORY_DEALER_H
+
+
+#include <stdint.h>
+#include <sys/types.h>
+
+#include <binder/IMemory.h>
+#include <binder/MemoryHeapBase.h>
+
+namespace android {
+// ----------------------------------------------------------------------------
+
+class SimpleBestFitAllocator;
+
+// ----------------------------------------------------------------------------
+
+class MemoryDealer : public RefBase
+{
+public:
+    MemoryDealer(size_t size, const char* name = 0,
+            uint32_t flags = 0 /* or bits such as MemoryHeapBase::READ_ONLY */ );
+
+    virtual sp<IMemory> allocate(size_t size);
+    virtual void        deallocate(size_t offset);
+    virtual void        dump(const char* what) const;
+
+    sp<IMemoryHeap> getMemoryHeap() const { return heap(); }
+
+protected:
+    virtual ~MemoryDealer();
+
+private:
+    const sp<IMemoryHeap>&      heap() const;
+    SimpleBestFitAllocator*     allocator() const;
+
+    sp<IMemoryHeap>             mHeap;
+    SimpleBestFitAllocator*     mAllocator;
+};
+
+
+// ----------------------------------------------------------------------------
+}; // namespace android
+
+#endif // ANDROID_MEMORY_DEALER_H
diff --git a/third_party/android_frameworks_native/include/binder/MemoryHeapBase.h b/third_party/android_frameworks_native/include/binder/MemoryHeapBase.h
new file mode 100644
index 0000000000..ea9b66c497
--- /dev/null
+++ b/third_party/android_frameworks_native/include/binder/MemoryHeapBase.h
@@ -0,0 +1,103 @@
+/*
+ * Copyright (C) 2008 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_MEMORY_HEAP_BASE_H
+#define ANDROID_MEMORY_HEAP_BASE_H
+
+#include <stdlib.h>
+#include <stdint.h>
+
+#include <binder/IMemory.h>
+
+
+namespace android {
+
+// ---------------------------------------------------------------------------
+
+class MemoryHeapBase : public virtual BnMemoryHeap
+{
+public:
+    enum {
+        READ_ONLY = IMemoryHeap::READ_ONLY,
+        // memory won't be mapped locally, but will be mapped in the remote
+        // process.
+        DONT_MAP_LOCALLY = 0x00000100,
+        NO_CACHING = 0x00000200
+    };
+
+    /*
+     * maps the memory referenced by fd. but DOESN'T take ownership
+     * of the filedescriptor (it makes a copy with dup()
+     */
+    MemoryHeapBase(int fd, size_t size, uint32_t flags = 0, uint32_t offset = 0);
+
+    /*
+     * maps memory from the given device
+     */
+    MemoryHeapBase(const char* device, size_t size = 0, uint32_t flags = 0);
+
+    /*
+     * maps memory from ashmem, with the given name for debugging
+     */
+    MemoryHeapBase(size_t size, uint32_t flags = 0, char const* name = NULL);
+
+    virtual ~MemoryHeapBase();
+
+    /* implement IMemoryHeap interface */
+    virtual int         getHeapID() const;
+
+    /* virtual address of the heap. returns MAP_FAILED in case of error */
+    virtual void*       getBase() const;
+
+    virtual size_t      getSize() const;
+    virtual uint32_t    getFlags() const;
+    virtual uint32_t    getOffset() const;
+
+    const char*         getDevice() const;
+
+    /* this closes this heap -- use carefully */
+    void dispose();
+
+    /* this is only needed as a workaround, use only if you know
+     * what you are doing */
+    status_t setDevice(const char* device) {
+        if (mDevice == 0)
+            mDevice = device;
+        return mDevice ? NO_ERROR : ALREADY_EXISTS;
+    }
+
+protected:
+            MemoryHeapBase();
+    // init() takes ownership of fd
+    status_t init(int fd, void *base, int size,
+            int flags = 0, const char* device = NULL);
+
+private:
+    status_t mapfd(int fd, size_t size, uint32_t offset = 0);
+
+    int         mFD;
+    size_t      mSize;
+    void*       mBase;
+    uint32_t    mFlags;
+    const char* mDevice;
+    bool        mNeedUnmap;
+    uint32_t    mOffset;
+};
+
+// ---------------------------------------------------------------------------
+}; // namespace android
+
+#endif // ANDROID_MEMORY_HEAP_BASE_H
diff --git a/third_party/android_frameworks_native/include/binder/MemoryHeapIon.h b/third_party/android_frameworks_native/include/binder/MemoryHeapIon.h
new file mode 100644
index 0000000000..7e059f4eac
--- /dev/null
+++ b/third_party/android_frameworks_native/include/binder/MemoryHeapIon.h
@@ -0,0 +1,68 @@
+/*
+ * Copyright (C) 2008 The Android Open Source Project
+ * Copyright 2011, Samsung Electronics Co. LTD
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+/*!
+ * \file MemoryHeapIon.h
+ * \brief header file for MemoryHeapIon
+ * \author MinGu, Jeon(mingu85.jeon)
+ * \date 2011/11/20
+ *
+ * <b>Revision History: </b>
+ * - 2011/11/21 : MinGu, Jeon(mingu85.jeon)) \n
+ * Initial version
+ * - 2012/11/29 : MinGu, Jeon(mingu85.jeon)) \n
+ * Change name
+ */
+
+#ifndef ANDROID_MEMORY_HEAP_ION_H
+#define ANDROID_MEMORY_HEAP_ION_H
+
+#include <binder/IMemory.h>
+#include <binder/MemoryHeapBase.h>
+#include <stdlib.h>
+
+#define MHB_ION_HEAP_SYSTEM_CONTIG_MASK     (1 << 1)
+#define MHB_ION_HEAP_EXYNOS_CONTIG_MASK     (1 << 4)
+#define MHB_ION_HEAP_EXYNOS_MASK            (1 << 5)
+#define MHB_ION_HEAP_SYSTEM_MASK            (1 << 6)
+
+#define MHB_ION_FLAG_CACHED                 (1 << 16)
+#define MHB_ION_FLAG_CACHED_NEEDS_SYNC      (1 << 17)
+#define MHB_ION_FLAG_PRESERVE_KMAP          (1 << 18)
+
+#define MHB_ION_EXYNOS_VIDEO_MASK           (1 << 21)
+#define MHB_ION_EXYNOS_MFC_INPUT_MASK       (1 << 25)
+#define MHB_ION_EXYNOS_MFC_OUTPUT_MASK      (1 << 26)
+#define MHB_ION_EXYNOS_GSC_MASK             (1 << 27)
+#define MHB_ION_EXYNOS_FIMD_VIDEO_MASK      (1 << 28)
+
+namespace android {
+
+class MemoryHeapIon : public MemoryHeapBase
+{
+public:
+    enum {
+        USE_ION_FD = IMemoryHeap::USE_ION_FD
+    };
+    MemoryHeapIon(size_t size, uint32_t flags = 0, char const* name = NULL);
+    MemoryHeapIon(int fd, size_t size, uint32_t flags = 0, uint32_t offset = 0);
+    ~MemoryHeapIon();
+private:
+    int mIonClient;
+};
+
+};
+#endif
diff --git a/third_party/android_frameworks_native/include/binder/Parcel.h b/third_party/android_frameworks_native/include/binder/Parcel.h
new file mode 100644
index 0000000000..91ffae0ba3
--- /dev/null
+++ b/third_party/android_frameworks_native/include/binder/Parcel.h
@@ -0,0 +1,436 @@
+/*
+ * Copyright (C) 2005 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_PARCEL_H
+#define ANDROID_PARCEL_H
+
+#include <cutils/native_handle.h>
+#include <utils/Errors.h>
+#include <utils/RefBase.h>
+#include <utils/String16.h>
+#include <utils/Vector.h>
+#include <utils/Flattenable.h>
+#include <linux/binder.h>
+
+// ---------------------------------------------------------------------------
+namespace android {
+
+template <typename T> class Flattenable;
+template <typename T> class LightFlattenable;
+class IBinder;
+class IPCThreadState;
+class ProcessState;
+class String8;
+class TextOutput;
+
+class Parcel {
+    friend class IPCThreadState;
+public:
+    class ReadableBlob;
+    class WritableBlob;
+
+                        Parcel();
+                        ~Parcel();
+    
+    const uint8_t*      data() const;
+    size_t              dataSize() const;
+    size_t              dataAvail() const;
+    size_t              dataPosition() const;
+    size_t              dataCapacity() const;
+
+    status_t            setDataSize(size_t size);
+    void                setDataPosition(size_t pos) const;
+    status_t            setDataCapacity(size_t size);
+    
+    status_t            setData(const uint8_t* buffer, size_t len);
+
+    status_t            appendFrom(const Parcel *parcel,
+                                   size_t start, size_t len);
+
+    bool                allowFds() const;
+    bool                pushAllowFds(bool allowFds);
+    void                restoreAllowFds(bool lastValue);
+
+    bool                hasFileDescriptors() const;
+
+    // Writes the RPC header.
+    status_t            writeInterfaceToken(const String16& interface);
+
+    // Parses the RPC header, returning true if the interface name
+    // in the header matches the expected interface from the caller.
+    //
+    // Additionally, enforceInterface does part of the work of
+    // propagating the StrictMode policy mask, populating the current
+    // IPCThreadState, which as an optimization may optionally be
+    // passed in.
+    bool                enforceInterface(const String16& interface,
+                                         IPCThreadState* threadState = NULL) const;
+    bool                checkInterface(IBinder*) const;
+
+    void                freeData();
+
+private:
+    const binder_size_t* objects() const;
+
+public:
+    size_t              objectsCount() const;
+    
+    status_t            errorCheck() const;
+    void                setError(status_t err);
+    
+    status_t            write(const void* data, size_t len);
+    void*               writeInplace(size_t len);
+    status_t            writeUnpadded(const void* data, size_t len);
+    status_t            writeInt32(int32_t val);
+    status_t            writeUint32(uint32_t val);
+    status_t            writeInt64(int64_t val);
+    status_t            writeUint64(uint64_t val);
+    status_t            writeFloat(float val);
+    status_t            writeDouble(double val);
+    status_t            writeCString(const char* str);
+    status_t            writeString8(const String8& str);
+    status_t            writeString16(const String16& str);
+    status_t            writeString16(const char16_t* str, size_t len);
+    status_t            writeStrongBinder(const sp<IBinder>& val);
+    status_t            writeWeakBinder(const wp<IBinder>& val);
+    status_t            writeInt32Array(size_t len, const int32_t *val);
+    status_t            writeByteArray(size_t len, const uint8_t *val);
+
+    template<typename T>
+    status_t            write(const Flattenable<T>& val);
+
+    template<typename T>
+    status_t            write(const LightFlattenable<T>& val);
+
+
+    // Place a native_handle into the parcel (the native_handle's file-
+    // descriptors are dup'ed, so it is safe to delete the native_handle
+    // when this function returns). 
+    // Doesn't take ownership of the native_handle.
+    status_t            writeNativeHandle(const native_handle* handle);
+    
+    // Place a file descriptor into the parcel.  The given fd must remain
+    // valid for the lifetime of the parcel.
+    // The Parcel does not take ownership of the given fd unless you ask it to.
+    status_t            writeFileDescriptor(int fd, bool takeOwnership = false);
+    
+    // Place a file descriptor into the parcel.  A dup of the fd is made, which
+    // will be closed once the parcel is destroyed.
+    status_t            writeDupFileDescriptor(int fd);
+
+    // Writes a blob to the parcel.
+    // If the blob is small, then it is stored in-place, otherwise it is
+    // transferred by way of an anonymous shared memory region.  Prefer sending
+    // immutable blobs if possible since they may be subsequently transferred between
+    // processes without further copying whereas mutable blobs always need to be copied.
+    // The caller should call release() on the blob after writing its contents.
+    status_t            writeBlob(size_t len, bool mutableCopy, WritableBlob* outBlob);
+
+    // Write an existing immutable blob file descriptor to the parcel.
+    // This allows the client to send the same blob to multiple processes
+    // as long as it keeps a dup of the blob file descriptor handy for later.
+    status_t            writeDupImmutableBlobFileDescriptor(int fd);
+
+    status_t            writeObject(const flat_binder_object& val, bool nullMetaData);
+
+    // Like Parcel.java's writeNoException().  Just writes a zero int32.
+    // Currently the native implementation doesn't do any of the StrictMode
+    // stack gathering and serialization that the Java implementation does.
+    status_t            writeNoException();
+
+    void                remove(size_t start, size_t amt);
+    
+    status_t            read(void* outData, size_t len) const;
+    const void*         readInplace(size_t len) const;
+    int32_t             readInt32() const;
+    status_t            readInt32(int32_t *pArg) const;
+    uint32_t            readUint32() const;
+    status_t            readUint32(uint32_t *pArg) const;
+    int64_t             readInt64() const;
+    status_t            readInt64(int64_t *pArg) const;
+    uint64_t            readUint64() const;
+    status_t            readUint64(uint64_t *pArg) const;
+    float               readFloat() const;
+    status_t            readFloat(float *pArg) const;
+    double              readDouble() const;
+    status_t            readDouble(double *pArg) const;
+    intptr_t            readIntPtr() const;
+    status_t            readIntPtr(intptr_t *pArg) const;
+
+    const char*         readCString() const;
+    String8             readString8() const;
+    String16            readString16() const;
+    const char16_t*     readString16Inplace(size_t* outLen) const;
+    sp<IBinder>         readStrongBinder() const;
+    wp<IBinder>         readWeakBinder() const;
+
+    template<typename T>
+    status_t            read(Flattenable<T>& val) const;
+
+    template<typename T>
+    status_t            read(LightFlattenable<T>& val) const;
+
+    // Like Parcel.java's readExceptionCode().  Reads the first int32
+    // off of a Parcel's header, returning 0 or the negative error
+    // code on exceptions, but also deals with skipping over rich
+    // response headers.  Callers should use this to read & parse the
+    // response headers rather than doing it by hand.
+    int32_t             readExceptionCode() const;
+
+    // Retrieve native_handle from the parcel. This returns a copy of the
+    // parcel's native_handle (the caller takes ownership). The caller
+    // must free the native_handle with native_handle_close() and 
+    // native_handle_delete().
+    native_handle*     readNativeHandle() const;
+
+    
+    // Retrieve a file descriptor from the parcel.  This returns the raw fd
+    // in the parcel, which you do not own -- use dup() to get your own copy.
+    int                 readFileDescriptor() const;
+
+    // Reads a blob from the parcel.
+    // The caller should call release() on the blob after reading its contents.
+    status_t            readBlob(size_t len, ReadableBlob* outBlob) const;
+
+    const flat_binder_object* readObject(bool nullMetaData) const;
+
+    // Explicitly close all file descriptors in the parcel.
+    void                closeFileDescriptors();
+
+    // Debugging: get metrics on current allocations.
+    static size_t       getGlobalAllocSize();
+    static size_t       getGlobalAllocCount();
+
+private:
+    typedef void        (*release_func)(Parcel* parcel,
+                                        const uint8_t* data, size_t dataSize,
+                                        const binder_size_t* objects, size_t objectsSize,
+                                        void* cookie);
+                        
+    uintptr_t           ipcData() const;
+    size_t              ipcDataSize() const;
+    uintptr_t           ipcObjects() const;
+    size_t              ipcObjectsCount() const;
+    void                ipcSetDataReference(const uint8_t* data, size_t dataSize,
+                                            const binder_size_t* objects, size_t objectsCount,
+                                            release_func relFunc, void* relCookie);
+    
+public:
+    void                print(TextOutput& to, uint32_t flags = 0) const;
+
+private:
+                        Parcel(const Parcel& o);
+    Parcel&             operator=(const Parcel& o);
+    
+    status_t            finishWrite(size_t len);
+    void                releaseObjects();
+    void                acquireObjects();
+    status_t            growData(size_t len);
+    status_t            restartWrite(size_t desired);
+    status_t            continueWrite(size_t desired);
+    status_t            writePointer(uintptr_t val);
+    status_t            readPointer(uintptr_t *pArg) const;
+    uintptr_t           readPointer() const;
+    void                freeDataNoInit();
+    void                initState();
+    void                scanForFds() const;
+                        
+    template<class T>
+    status_t            readAligned(T *pArg) const;
+
+    template<class T>   T readAligned() const;
+
+    template<class T>
+    status_t            writeAligned(T val);
+
+    status_t            mError;
+    uint8_t*            mData;
+    size_t              mDataSize;
+    size_t              mDataCapacity;
+    mutable size_t      mDataPos;
+    binder_size_t*      mObjects;
+    size_t              mObjectsSize;
+    size_t              mObjectsCapacity;
+    mutable size_t      mNextObjectHint;
+
+    mutable bool        mFdsKnown;
+    mutable bool        mHasFds;
+    bool                mAllowFds;
+    
+    release_func        mOwner;
+    void*               mOwnerCookie;
+
+    class Blob {
+    public:
+        Blob();
+        ~Blob();
+
+        void clear();
+        void release();
+        inline size_t size() const { return mSize; }
+        inline int fd() const { return mFd; };
+        inline bool isMutable() const { return mMutable; }
+
+    protected:
+        void init(int fd, void* data, size_t size, bool isMutable);
+
+        int mFd; // owned by parcel so not closed when released
+        void* mData;
+        size_t mSize;
+        bool mMutable;
+    };
+
+    class FlattenableHelperInterface {
+    protected:
+        ~FlattenableHelperInterface() { }
+    public:
+        virtual size_t getFlattenedSize() const = 0;
+        virtual size_t getFdCount() const = 0;
+        virtual status_t flatten(void* buffer, size_t size, int* fds, size_t count) const = 0;
+        virtual status_t unflatten(void const* buffer, size_t size, int const* fds, size_t count) = 0;
+    };
+
+    template<typename T>
+    class FlattenableHelper : public FlattenableHelperInterface {
+        friend class Parcel;
+        const Flattenable<T>& val;
+        explicit FlattenableHelper(const Flattenable<T>& val) : val(val) { }
+
+    public:
+        virtual size_t getFlattenedSize() const {
+            return val.getFlattenedSize();
+        }
+        virtual size_t getFdCount() const {
+            return val.getFdCount();
+        }
+        virtual status_t flatten(void* buffer, size_t size, int* fds, size_t count) const {
+            return val.flatten(buffer, size, fds, count);
+        }
+        virtual status_t unflatten(void const* buffer, size_t size, int const* fds, size_t count) {
+            return const_cast<Flattenable<T>&>(val).unflatten(buffer, size, fds, count);
+        }
+    };
+    status_t write(const FlattenableHelperInterface& val);
+    status_t read(FlattenableHelperInterface& val) const;
+
+public:
+    class ReadableBlob : public Blob {
+        friend class Parcel;
+    public:
+        inline const void* data() const { return mData; }
+        inline void* mutableData() { return isMutable() ? mData : NULL; }
+    };
+
+    class WritableBlob : public Blob {
+        friend class Parcel;
+    public:
+        inline void* data() { return mData; }
+    };
+
+#ifndef DISABLE_ASHMEM_TRACKING
+private:
+    size_t mOpenAshmemSize;
+#endif
+
+public:
+    // TODO: Remove once ABI can be changed.
+    size_t getBlobAshmemSize() const;
+    size_t getOpenAshmemSize() const;
+};
+
+// ---------------------------------------------------------------------------
+
+template<typename T>
+status_t Parcel::write(const Flattenable<T>& val) {
+    const FlattenableHelper<T> helper(val);
+    return write(helper);
+}
+
+template<typename T>
+status_t Parcel::write(const LightFlattenable<T>& val) {
+    size_t size(val.getFlattenedSize());
+    if (!val.isFixedSize()) {
+        status_t err = writeInt32(size);
+        if (err != NO_ERROR) {
+            return err;
+        }
+    }
+    if (size) {
+        void* buffer = writeInplace(size);
+        if (buffer == NULL)
+            return NO_MEMORY;
+        return val.flatten(buffer, size);
+    }
+    return NO_ERROR;
+}
+
+template<typename T>
+status_t Parcel::read(Flattenable<T>& val) const {
+    FlattenableHelper<T> helper(val);
+    return read(helper);
+}
+
+template<typename T>
+status_t Parcel::read(LightFlattenable<T>& val) const {
+    size_t size;
+    if (val.isFixedSize()) {
+        size = val.getFlattenedSize();
+    } else {
+        int32_t s;
+        status_t err = readInt32(&s);
+        if (err != NO_ERROR) {
+            return err;
+        }
+        size = s;
+    }
+    if (size) {
+        void const* buffer = readInplace(size);
+        return buffer == NULL ? NO_MEMORY :
+                val.unflatten(buffer, size);
+    }
+    return NO_ERROR;
+}
+
+// ---------------------------------------------------------------------------
+
+inline TextOutput& operator<<(TextOutput& to, const Parcel& parcel)
+{
+    parcel.print(to);
+    return to;
+}
+
+// ---------------------------------------------------------------------------
+
+// Generic acquire and release of objects.
+void acquire_object(const sp<ProcessState>& proc,
+                    const flat_binder_object& obj, const void* who);
+void release_object(const sp<ProcessState>& proc,
+                    const flat_binder_object& obj, const void* who);
+
+void flatten_binder(const sp<ProcessState>& proc,
+                    const sp<IBinder>& binder, flat_binder_object* out);
+void flatten_binder(const sp<ProcessState>& proc,
+                    const wp<IBinder>& binder, flat_binder_object* out);
+status_t unflatten_binder(const sp<ProcessState>& proc,
+                          const flat_binder_object& flat, sp<IBinder>* out);
+status_t unflatten_binder(const sp<ProcessState>& proc,
+                          const flat_binder_object& flat, wp<IBinder>* out);
+
+}; // namespace android
+
+// ---------------------------------------------------------------------------
+
+#endif // ANDROID_PARCEL_H
diff --git a/third_party/android_frameworks_native/include/binder/PermissionCache.h b/third_party/android_frameworks_native/include/binder/PermissionCache.h
new file mode 100644
index 0000000000..bcdf0c2914
--- /dev/null
+++ b/third_party/android_frameworks_native/include/binder/PermissionCache.h
@@ -0,0 +1,80 @@
+/*
+ * Copyright (C) 2009 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef BINDER_PERMISSION_H
+#define BINDER_PERMISSION_H
+
+#include <stdint.h>
+#include <unistd.h>
+
+#include <utils/String16.h>
+#include <utils/Singleton.h>
+#include <utils/SortedVector.h>
+
+namespace android {
+// ---------------------------------------------------------------------------
+
+/*
+ * PermissionCache caches permission checks for a given uid.
+ *
+ * Currently the cache is not updated when there is a permission change,
+ * for instance when an application is uninstalled.
+ *
+ * IMPORTANT: for the reason stated above, only system permissions are safe
+ * to cache. This restriction may be lifted at a later time.
+ *
+ */
+
+class PermissionCache : Singleton<PermissionCache> {
+    struct Entry {
+        String16    name;
+        uid_t       uid;
+        bool        granted;
+        inline bool operator < (const Entry& e) const {
+            return (uid == e.uid) ? (name < e.name) : (uid < e.uid);
+        }
+    };
+    mutable Mutex mLock;
+    // we pool all the permission names we see, as many permissions checks
+    // will have identical names
+    SortedVector< String16 > mPermissionNamesPool;
+    // this is our cache per say. it stores pooled names.
+    SortedVector< Entry > mCache;
+
+    // free the whole cache, but keep the permission name pool
+    void purge();
+
+    status_t check(bool* granted,
+            const String16& permission, uid_t uid) const;
+
+    void cache(const String16& permission, uid_t uid, bool granted);
+
+public:
+    PermissionCache();
+
+    static bool checkCallingPermission(const String16& permission);
+
+    static bool checkCallingPermission(const String16& permission,
+                                int32_t* outPid, int32_t* outUid);
+
+    static bool checkPermission(const String16& permission,
+            pid_t pid, uid_t uid);
+};
+
+// ---------------------------------------------------------------------------
+}; // namespace android
+
+#endif /* BINDER_PERMISSION_H */
diff --git a/third_party/android_frameworks_native/include/binder/ProcessInfoService.h b/third_party/android_frameworks_native/include/binder/ProcessInfoService.h
new file mode 100644
index 0000000000..c5ead20676
--- /dev/null
+++ b/third_party/android_frameworks_native/include/binder/ProcessInfoService.h
@@ -0,0 +1,65 @@
+/*
+ * Copyright 2015 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_PROCESS_INFO_SERVICE_H
+#define ANDROID_PROCESS_INFO_SERVICE_H
+
+#include <binder/IProcessInfoService.h>
+#include <utils/Errors.h>
+#include <utils/Singleton.h>
+#include <sys/types.h>
+
+namespace android {
+
+// ----------------------------------------------------------------------
+
+class ProcessInfoService : public Singleton<ProcessInfoService> {
+
+    friend class Singleton<ProcessInfoService>;
+    sp<IProcessInfoService> mProcessInfoService;
+    Mutex mProcessInfoLock;
+
+    ProcessInfoService();
+
+    status_t getProcessStatesImpl(size_t length, /*in*/ int32_t* pids, /*out*/ int32_t* states);
+    void updateBinderLocked();
+
+    static const int BINDER_ATTEMPT_LIMIT = 5;
+
+public:
+
+    /**
+     * For each PID in the given "pids" input array, write the current process state
+     * for that process into the "states" output array, or
+     * ActivityManager.PROCESS_STATE_NONEXISTENT * to indicate that no process with the given PID
+     * exists.
+     *
+     * Returns NO_ERROR if this operation was successful, or a negative error code otherwise.
+     */
+    static status_t getProcessStatesFromPids(size_t length, /*in*/ int32_t* pids,
+            /*out*/ int32_t* states) {
+        return ProcessInfoService::getInstance().getProcessStatesImpl(length, /*in*/ pids,
+                /*out*/ states);
+    }
+
+};
+
+// ----------------------------------------------------------------------
+
+}; // namespace android
+
+#endif // ANDROID_PROCESS_INFO_SERVICE_H
+
diff --git a/third_party/android_frameworks_native/include/binder/ProcessState.h b/third_party/android_frameworks_native/include/binder/ProcessState.h
new file mode 100644
index 0000000000..f9edc2a691
--- /dev/null
+++ b/third_party/android_frameworks_native/include/binder/ProcessState.h
@@ -0,0 +1,116 @@
+/*
+ * Copyright (C) 2005 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_PROCESS_STATE_H
+#define ANDROID_PROCESS_STATE_H
+
+#include <binder/IBinder.h>
+#include <utils/KeyedVector.h>
+#include <utils/String8.h>
+#include <utils/String16.h>
+
+#include <utils/threads.h>
+
+#include <pthread.h>
+
+// ---------------------------------------------------------------------------
+namespace android {
+
+class IPCThreadState;
+
+class ProcessState : public virtual RefBase
+{
+public:
+    static  sp<ProcessState>    self();
+
+            void                setContextObject(const sp<IBinder>& object);
+            sp<IBinder>         getContextObject(const sp<IBinder>& caller);
+        
+            void                setContextObject(const sp<IBinder>& object,
+                                                 const String16& name);
+            sp<IBinder>         getContextObject(const String16& name,
+                                                 const sp<IBinder>& caller);
+
+            void                startThreadPool();
+                        
+    typedef bool (*context_check_func)(const String16& name,
+                                       const sp<IBinder>& caller,
+                                       void* userData);
+        
+            bool                isContextManager(void) const;
+            bool                becomeContextManager(
+                                    context_check_func checkFunc,
+                                    void* userData);
+
+            sp<IBinder>         getStrongProxyForHandle(int32_t handle);
+            wp<IBinder>         getWeakProxyForHandle(int32_t handle);
+            void                expungeHandle(int32_t handle, IBinder* binder);
+
+            void                spawnPooledThread(bool isMain);
+            
+            status_t            setThreadPoolMaxThreadCount(size_t maxThreads);
+            void                giveThreadPoolName();
+
+private:
+    friend class IPCThreadState;
+    
+                                ProcessState();
+                                ~ProcessState();
+
+                                ProcessState(const ProcessState& o);
+            ProcessState&       operator=(const ProcessState& o);
+            String8             makeBinderThreadName();
+
+            struct handle_entry {
+                IBinder* binder;
+                RefBase::weakref_type* refs;
+            };
+
+            handle_entry*       lookupHandleLocked(int32_t handle);
+
+            int                 mDriverFD;
+            void*               mVMStart;
+
+            // Protects thread count variable below.
+            pthread_mutex_t     mThreadCountLock;
+            pthread_cond_t      mThreadCountDecrement;
+            // Number of binder threads current executing a command.
+            size_t              mExecutingThreadsCount;
+            // Maximum number for binder threads allowed for this process.
+            size_t              mMaxThreads;
+
+    mutable Mutex               mLock;  // protects everything below.
+
+            Vector<handle_entry>mHandleToObject;
+
+            bool                mManagesContexts;
+            context_check_func  mBinderContextCheckFunc;
+            void*               mBinderContextUserData;
+
+            KeyedVector<String16, sp<IBinder> >
+                                mContexts;
+
+
+            String8             mRootDir;
+            bool                mThreadPoolStarted;
+    volatile int32_t            mThreadPoolSeq;
+};
+    
+}; // namespace android
+
+// ---------------------------------------------------------------------------
+
+#endif // ANDROID_PROCESS_STATE_H
diff --git a/third_party/android_frameworks_native/include/binder/TextOutput.h b/third_party/android_frameworks_native/include/binder/TextOutput.h
new file mode 100644
index 0000000000..974a194d8c
--- /dev/null
+++ b/third_party/android_frameworks_native/include/binder/TextOutput.h
@@ -0,0 +1,195 @@
+/*
+ * Copyright (C) 2006 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_TEXTOUTPUT_H
+#define ANDROID_TEXTOUTPUT_H
+
+#include <utils/Errors.h>
+
+#include <stdint.h>
+#include <string.h>
+
+// ---------------------------------------------------------------------------
+namespace android {
+
+class String8;
+class String16;
+
+class TextOutput
+{
+public:
+                        TextOutput();
+    virtual             ~TextOutput();
+    
+    virtual status_t    print(const char* txt, size_t len) = 0;
+    virtual void        moveIndent(int delta) = 0;
+    
+    class Bundle {
+    public:
+        inline Bundle(TextOutput& to) : mTO(to) { to.pushBundle(); }
+        inline ~Bundle() { mTO.popBundle(); }
+    private:
+        TextOutput&     mTO;
+    };
+    
+    virtual void        pushBundle() = 0;
+    virtual void        popBundle() = 0;
+};
+
+// ---------------------------------------------------------------------------
+
+// Text output stream for printing to the log (via utils/Log.h).
+extern TextOutput& alog;
+
+// Text output stream for printing to stdout.
+extern TextOutput& aout;
+
+// Text output stream for printing to stderr.
+extern TextOutput& aerr;
+
+typedef TextOutput& (*TextOutputManipFunc)(TextOutput&);
+
+TextOutput& endl(TextOutput& to);
+TextOutput& indent(TextOutput& to);
+TextOutput& dedent(TextOutput& to);
+
+TextOutput& operator<<(TextOutput& to, const char* str);
+TextOutput& operator<<(TextOutput& to, char);     // writes raw character
+TextOutput& operator<<(TextOutput& to, bool);
+TextOutput& operator<<(TextOutput& to, int);
+TextOutput& operator<<(TextOutput& to, long);
+TextOutput& operator<<(TextOutput& to, unsigned int);
+TextOutput& operator<<(TextOutput& to, unsigned long);
+TextOutput& operator<<(TextOutput& to, long long);
+TextOutput& operator<<(TextOutput& to, unsigned long long);
+TextOutput& operator<<(TextOutput& to, float);
+TextOutput& operator<<(TextOutput& to, double);
+TextOutput& operator<<(TextOutput& to, TextOutputManipFunc func);
+TextOutput& operator<<(TextOutput& to, const void*);
+TextOutput& operator<<(TextOutput& to, const String8& val);
+TextOutput& operator<<(TextOutput& to, const String16& val);
+
+class TypeCode 
+{
+public:
+    inline TypeCode(uint32_t code);
+    inline ~TypeCode();
+
+    inline uint32_t typeCode() const;
+    
+private:
+    uint32_t mCode;
+};
+
+TextOutput& operator<<(TextOutput& to, const TypeCode& val);
+
+class HexDump
+{
+public:
+    HexDump(const void *buf, size_t size, size_t bytesPerLine=16);
+    inline ~HexDump();
+    
+    inline HexDump& setBytesPerLine(size_t bytesPerLine);
+    inline HexDump& setSingleLineCutoff(int32_t bytes);
+    inline HexDump& setAlignment(size_t alignment);
+    inline HexDump& setCArrayStyle(bool enabled);
+    
+    inline const void* buffer() const;
+    inline size_t size() const;
+    inline size_t bytesPerLine() const;
+    inline int32_t singleLineCutoff() const;
+    inline size_t alignment() const;
+    inline bool carrayStyle() const;
+
+private:
+    const void* mBuffer;
+    size_t mSize;
+    size_t mBytesPerLine;
+    int32_t mSingleLineCutoff;
+    size_t mAlignment;
+    bool mCArrayStyle;
+};
+
+TextOutput& operator<<(TextOutput& to, const HexDump& val);
+
+// ---------------------------------------------------------------------------
+// No user servicable parts below.
+
+inline TextOutput& endl(TextOutput& to)
+{
+    to.print("\n", 1);
+    return to;
+}
+
+inline TextOutput& indent(TextOutput& to)
+{
+    to.moveIndent(1);
+    return to;
+}
+
+inline TextOutput& dedent(TextOutput& to)
+{
+    to.moveIndent(-1);
+    return to;
+}
+
+inline TextOutput& operator<<(TextOutput& to, const char* str)
+{
+    to.print(str, strlen(str));
+    return to;
+}
+
+inline TextOutput& operator<<(TextOutput& to, char c)
+{
+    to.print(&c, 1);
+    return to;
+}
+
+inline TextOutput& operator<<(TextOutput& to, TextOutputManipFunc func)
+{
+    return (*func)(to);
+}
+
+inline TypeCode::TypeCode(uint32_t code) : mCode(code) { }
+inline TypeCode::~TypeCode() { }
+inline uint32_t TypeCode::typeCode() const { return mCode; }
+
+inline HexDump::~HexDump() { }
+
+inline HexDump& HexDump::setBytesPerLine(size_t bytesPerLine) {
+    mBytesPerLine = bytesPerLine; return *this;
+}
+inline HexDump& HexDump::setSingleLineCutoff(int32_t bytes) {
+    mSingleLineCutoff = bytes; return *this;
+}
+inline HexDump& HexDump::setAlignment(size_t alignment) {
+    mAlignment = alignment; return *this;
+}
+inline HexDump& HexDump::setCArrayStyle(bool enabled) {
+    mCArrayStyle = enabled; return *this;
+}
+
+inline const void* HexDump::buffer() const { return mBuffer; }
+inline size_t HexDump::size() const { return mSize; }
+inline size_t HexDump::bytesPerLine() const { return mBytesPerLine; }
+inline int32_t HexDump::singleLineCutoff() const { return mSingleLineCutoff; }
+inline size_t HexDump::alignment() const { return mAlignment; }
+inline bool HexDump::carrayStyle() const { return mCArrayStyle; }
+
+// ---------------------------------------------------------------------------
+}; // namespace android
+
+#endif // ANDROID_TEXTOUTPUT_H
diff --git a/third_party/android_frameworks_native/include/gui/BitTube.h b/third_party/android_frameworks_native/include/gui/BitTube.h
new file mode 100644
index 0000000000..3ecac52ad7
--- /dev/null
+++ b/third_party/android_frameworks_native/include/gui/BitTube.h
@@ -0,0 +1,95 @@
+/*
+ * Copyright (C) 2010 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_GUI_SENSOR_CHANNEL_H
+#define ANDROID_GUI_SENSOR_CHANNEL_H
+
+#include <stdint.h>
+#include <sys/types.h>
+
+#include <utils/Errors.h>
+#include <utils/RefBase.h>
+#include <cutils/log.h>
+
+
+namespace android {
+// ----------------------------------------------------------------------------
+class Parcel;
+
+class BitTube : public RefBase
+{
+public:
+
+    // creates a BitTube with a default (4KB) send buffer
+    BitTube();
+
+    // creates a BitTube with a a specified send and receive buffer size
+    explicit BitTube(size_t bufsize);
+
+    explicit BitTube(const Parcel& data);
+    virtual ~BitTube();
+
+    // check state after construction
+    status_t initCheck() const;
+
+    // get receive file-descriptor
+    int getFd() const;
+
+    // get the send file-descriptor.
+    int getSendFd() const;
+
+    // send objects (sized blobs). All objects are guaranteed to be written or the call fails.
+    template <typename T>
+    static ssize_t sendObjects(const sp<BitTube>& tube,
+            T const* events, size_t count) {
+        return sendObjects(tube, events, count, sizeof(T));
+    }
+
+    // receive objects (sized blobs). If the receiving buffer isn't large enough,
+    // excess messages are silently discarded.
+    template <typename T>
+    static ssize_t recvObjects(const sp<BitTube>& tube,
+            T* events, size_t count) {
+        return recvObjects(tube, events, count, sizeof(T));
+    }
+
+    // parcels this BitTube
+    status_t writeToParcel(Parcel* reply) const;
+
+private:
+    void init(size_t rcvbuf, size_t sndbuf);
+
+    // send a message. The write is guaranteed to send the whole message or fail.
+    ssize_t write(void const* vaddr, size_t size);
+
+    // receive a message. the passed buffer must be at least as large as the
+    // write call used to send the message, excess data is silently discarded.
+    ssize_t read(void* vaddr, size_t size);
+
+    int mSendFd;
+    mutable int mReceiveFd;
+
+    static ssize_t sendObjects(const sp<BitTube>& tube,
+            void const* events, size_t count, size_t objSize);
+
+    static ssize_t recvObjects(const sp<BitTube>& tube,
+            void* events, size_t count, size_t objSize);
+};
+
+// ----------------------------------------------------------------------------
+}; // namespace android
+
+#endif // ANDROID_GUI_SENSOR_CHANNEL_H
diff --git a/third_party/android_frameworks_native/include/gui/BufferItem.h b/third_party/android_frameworks_native/include/gui/BufferItem.h
new file mode 100644
index 0000000000..145efe6f60
--- /dev/null
+++ b/third_party/android_frameworks_native/include/gui/BufferItem.h
@@ -0,0 +1,130 @@
+/*
+ * Copyright 2014 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_GUI_BUFFERITEM_H
+#define ANDROID_GUI_BUFFERITEM_H
+
+#include <EGL/egl.h>
+#include <EGL/eglext.h>
+
+#include <ui/Rect.h>
+#include <ui/Region.h>
+
+#include <system/graphics.h>
+
+#include <utils/Flattenable.h>
+#include <utils/StrongPointer.h>
+
+namespace android {
+
+class Fence;
+class GraphicBuffer;
+
+class BufferItem : public Flattenable<BufferItem> {
+    friend class Flattenable<BufferItem>;
+    size_t getPodSize() const;
+    size_t getFlattenedSize() const;
+    size_t getFdCount() const;
+    status_t flatten(void*& buffer, size_t& size, int*& fds, size_t& count) const;
+    status_t unflatten(void const*& buffer, size_t& size, int const*& fds, size_t& count);
+
+    public:
+    // The default value of mBuf, used to indicate this doesn't correspond to a slot.
+    enum { INVALID_BUFFER_SLOT = -1 };
+    BufferItem();
+    ~BufferItem();
+
+    static const char* scalingModeName(uint32_t scalingMode);
+
+    // mGraphicBuffer points to the buffer allocated for this slot, or is NULL
+    // if the buffer in this slot has been acquired in the past (see
+    // BufferSlot.mAcquireCalled).
+    sp<GraphicBuffer> mGraphicBuffer;
+
+    // mFence is a fence that will signal when the buffer is idle.
+    sp<Fence> mFence;
+
+    // mCrop is the current crop rectangle for this buffer slot.
+    Rect mCrop;
+
+    // mTransform is the current transform flags for this buffer slot.
+    // refer to NATIVE_WINDOW_TRANSFORM_* in <window.h>
+    uint32_t mTransform;
+
+    // mScalingMode is the current scaling mode for this buffer slot.
+    // refer to NATIVE_WINDOW_SCALING_* in <window.h>
+    uint32_t mScalingMode;
+
+    // mTimestamp is the current timestamp for this buffer slot. This gets
+    // to set by queueBuffer each time this slot is queued. This value
+    // is guaranteed to be monotonically increasing for each newly
+    // acquired buffer.
+    union {
+        int64_t mTimestamp;
+        struct {
+            uint32_t mTimestampLo;
+            uint32_t mTimestampHi;
+        };
+    };
+
+    // mIsAutoTimestamp indicates whether mTimestamp was generated
+    // automatically when the buffer was queued.
+    bool mIsAutoTimestamp;
+
+    // mDataSpace is the current dataSpace value for this buffer slot. This gets
+    // set by queueBuffer each time this slot is queued. The meaning of the
+    // dataSpace is format-dependent.
+    android_dataspace mDataSpace;
+
+    // mFrameNumber is the number of the queued frame for this slot.
+    union {
+        uint64_t mFrameNumber;
+        struct {
+            uint32_t mFrameNumberLo;
+            uint32_t mFrameNumberHi;
+        };
+    };
+
+    union {
+        // mSlot is the slot index of this buffer (default INVALID_BUFFER_SLOT).
+        int mSlot;
+
+        // mBuf is the former name for mSlot
+        int mBuf;
+    };
+
+    // mIsDroppable whether this buffer was queued with the
+    // property that it can be replaced by a new buffer for the purpose of
+    // making sure dequeueBuffer() won't block.
+    // i.e.: was the BufferQueue in "mDequeueBufferCannotBlock" when this buffer
+    // was queued.
+    bool mIsDroppable;
+
+    // Indicates whether this buffer has been seen by a consumer yet
+    bool mAcquireCalled;
+
+    // Indicates this buffer must be transformed by the inverse transform of the screen
+    // it is displayed onto. This is applied after mTransform.
+    bool mTransformToDisplayInverse;
+
+    // Describes the portion of the surface that has been modified since the
+    // previous frame
+    Region mSurfaceDamage;
+};
+
+} // namespace android
+
+#endif
diff --git a/third_party/android_frameworks_native/include/gui/BufferItemConsumer.h b/third_party/android_frameworks_native/include/gui/BufferItemConsumer.h
new file mode 100644
index 0000000000..56c7a3f463
--- /dev/null
+++ b/third_party/android_frameworks_native/include/gui/BufferItemConsumer.h
@@ -0,0 +1,93 @@
+/*
+ * Copyright (C) 2012 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_GUI_BUFFERITEMCONSUMER_H
+#define ANDROID_GUI_BUFFERITEMCONSUMER_H
+
+#include <gui/ConsumerBase.h>
+
+#include <ui/GraphicBuffer.h>
+
+#include <utils/String8.h>
+#include <utils/Vector.h>
+#include <utils/threads.h>
+
+#define ANDROID_GRAPHICS_BUFFERITEMCONSUMER_JNI_ID "mBufferItemConsumer"
+
+namespace android {
+
+class BufferQueue;
+
+/**
+ * BufferItemConsumer is a BufferQueue consumer endpoint that allows clients
+ * access to the whole BufferItem entry from BufferQueue. Multiple buffers may
+ * be acquired at once, to be used concurrently by the client. This consumer can
+ * operate either in synchronous or asynchronous mode.
+ */
+class BufferItemConsumer: public ConsumerBase
+{
+  public:
+    typedef ConsumerBase::FrameAvailableListener FrameAvailableListener;
+
+    enum { DEFAULT_MAX_BUFFERS = -1 };
+    enum { INVALID_BUFFER_SLOT = BufferQueue::INVALID_BUFFER_SLOT };
+    enum { NO_BUFFER_AVAILABLE = BufferQueue::NO_BUFFER_AVAILABLE };
+
+    // Create a new buffer item consumer. The consumerUsage parameter determines
+    // the consumer usage flags passed to the graphics allocator. The
+    // bufferCount parameter specifies how many buffers can be locked for user
+    // access at the same time.
+    // controlledByApp tells whether this consumer is controlled by the
+    // application.
+    BufferItemConsumer(const sp<IGraphicBufferConsumer>& consumer,
+            uint32_t consumerUsage, int bufferCount = DEFAULT_MAX_BUFFERS,
+            bool controlledByApp = false);
+
+    virtual ~BufferItemConsumer();
+
+    // set the name of the BufferItemConsumer that will be used to identify it in
+    // log messages.
+    void setName(const String8& name);
+
+    // Gets the next graphics buffer from the producer, filling out the
+    // passed-in BufferItem structure. Returns NO_BUFFER_AVAILABLE if the queue
+    // of buffers is empty, and INVALID_OPERATION if the maximum number of
+    // buffers is already acquired.
+    //
+    // Only a fixed number of buffers can be acquired at a time, determined by
+    // the construction-time bufferCount parameter. If INVALID_OPERATION is
+    // returned by acquireBuffer, then old buffers must be returned to the
+    // queue by calling releaseBuffer before more buffers can be acquired.
+    //
+    // If waitForFence is true, and the acquired BufferItem has a valid fence object,
+    // acquireBuffer will wait on the fence with no timeout before returning.
+    status_t acquireBuffer(BufferItem* item, nsecs_t presentWhen,
+            bool waitForFence = true);
+
+    // Returns an acquired buffer to the queue, allowing it to be reused. Since
+    // only a fixed number of buffers may be acquired at a time, old buffers
+    // must be released by calling releaseBuffer to ensure new buffers can be
+    // acquired by acquireBuffer. Once a BufferItem is released, the caller must
+    // not access any members of the BufferItem, and should immediately remove
+    // all of its references to the BufferItem itself.
+    status_t releaseBuffer(const BufferItem &item,
+            const sp<Fence>& releaseFence = Fence::NO_FENCE);
+
+};
+
+} // namespace android
+
+#endif // ANDROID_GUI_CPUCONSUMER_H
diff --git a/third_party/android_frameworks_native/include/gui/BufferQueue.h b/third_party/android_frameworks_native/include/gui/BufferQueue.h
new file mode 100644
index 0000000000..09300a20c9
--- /dev/null
+++ b/third_party/android_frameworks_native/include/gui/BufferQueue.h
@@ -0,0 +1,89 @@
+/*
+ * Copyright (C) 2012 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_GUI_BUFFERQUEUE_H
+#define ANDROID_GUI_BUFFERQUEUE_H
+
+#include <gui/BufferItem.h>
+#include <gui/BufferQueueDefs.h>
+#include <gui/IGraphicBufferConsumer.h>
+#include <gui/IGraphicBufferProducer.h>
+#include <gui/IConsumerListener.h>
+
+// These are only required to keep other parts of the framework with incomplete
+// dependencies building successfully
+#include <gui/IGraphicBufferAlloc.h>
+
+namespace android {
+
+class BufferQueue {
+public:
+    // BufferQueue will keep track of at most this value of buffers.
+    // Attempts at runtime to increase the number of buffers past this will fail.
+    enum { NUM_BUFFER_SLOTS = BufferQueueDefs::NUM_BUFFER_SLOTS };
+    // Used as a placeholder slot# when the value isn't pointing to an existing buffer.
+    enum { INVALID_BUFFER_SLOT = BufferItem::INVALID_BUFFER_SLOT };
+    // Alias to <IGraphicBufferConsumer.h> -- please scope from there in future code!
+    enum {
+        NO_BUFFER_AVAILABLE = IGraphicBufferConsumer::NO_BUFFER_AVAILABLE,
+        PRESENT_LATER = IGraphicBufferConsumer::PRESENT_LATER,
+    };
+
+    // When in async mode we reserve two slots in order to guarantee that the
+    // producer and consumer can run asynchronously.
+    enum { MAX_MAX_ACQUIRED_BUFFERS = NUM_BUFFER_SLOTS - 2 };
+
+    // for backward source compatibility
+    typedef ::android::ConsumerListener ConsumerListener;
+
+    // ProxyConsumerListener is a ConsumerListener implementation that keeps a weak
+    // reference to the actual consumer object.  It forwards all calls to that
+    // consumer object so long as it exists.
+    //
+    // This class exists to avoid having a circular reference between the
+    // BufferQueue object and the consumer object.  The reason this can't be a weak
+    // reference in the BufferQueue class is because we're planning to expose the
+    // consumer side of a BufferQueue as a binder interface, which doesn't support
+    // weak references.
+    class ProxyConsumerListener : public BnConsumerListener {
+    public:
+        ProxyConsumerListener(const wp<ConsumerListener>& consumerListener);
+        virtual ~ProxyConsumerListener();
+        virtual void onFrameAvailable(const BufferItem& item) override;
+        virtual void onFrameReplaced(const BufferItem& item) override;
+        virtual void onBuffersReleased() override;
+        virtual void onSidebandStreamChanged() override;
+    private:
+        // mConsumerListener is a weak reference to the IConsumerListener.  This is
+        // the raison d'etre of ProxyConsumerListener.
+        wp<ConsumerListener> mConsumerListener;
+    };
+
+    // BufferQueue manages a pool of gralloc memory slots to be used by
+    // producers and consumers. allocator is used to allocate all the
+    // needed gralloc buffers.
+    static void createBufferQueue(sp<IGraphicBufferProducer>* outProducer,
+            sp<IGraphicBufferConsumer>* outConsumer,
+            const sp<IGraphicBufferAlloc>& allocator = NULL);
+
+private:
+    BufferQueue(); // Create through createBufferQueue
+};
+
+// ----------------------------------------------------------------------------
+}; // namespace android
+
+#endif // ANDROID_GUI_BUFFERQUEUE_H
diff --git a/third_party/android_frameworks_native/include/gui/BufferQueueConsumer.h b/third_party/android_frameworks_native/include/gui/BufferQueueConsumer.h
new file mode 100644
index 0000000000..cde302f8a6
--- /dev/null
+++ b/third_party/android_frameworks_native/include/gui/BufferQueueConsumer.h
@@ -0,0 +1,187 @@
+/*
+ * Copyright 2014 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_GUI_BUFFERQUEUECONSUMER_H
+#define ANDROID_GUI_BUFFERQUEUECONSUMER_H
+
+#include <EGL/egl.h>
+#include <EGL/eglext.h>
+
+#include <gui/BufferQueueDefs.h>
+#include <gui/IGraphicBufferConsumer.h>
+
+namespace android {
+
+class BufferQueueCore;
+
+class BufferQueueConsumer : public BnGraphicBufferConsumer {
+
+public:
+    BufferQueueConsumer(const sp<BufferQueueCore>& core);
+    virtual ~BufferQueueConsumer();
+
+    // acquireBuffer attempts to acquire ownership of the next pending buffer in
+    // the BufferQueue. If no buffer is pending then it returns
+    // NO_BUFFER_AVAILABLE. If a buffer is successfully acquired, the
+    // information about the buffer is returned in BufferItem.  If the buffer
+    // returned had previously been acquired then the BufferItem::mGraphicBuffer
+    // field of buffer is set to NULL and it is assumed that the consumer still
+    // holds a reference to the buffer.
+    //
+    // If expectedPresent is nonzero, it indicates the time when the buffer
+    // will be displayed on screen. If the buffer's timestamp is farther in the
+    // future, the buffer won't be acquired, and PRESENT_LATER will be
+    // returned.  The presentation time is in nanoseconds, and the time base
+    // is CLOCK_MONOTONIC.
+    virtual status_t acquireBuffer(BufferItem* outBuffer,
+            nsecs_t expectedPresent, uint64_t maxFrameNumber = 0) override;
+
+    // See IGraphicBufferConsumer::detachBuffer
+    virtual status_t detachBuffer(int slot);
+
+    // See IGraphicBufferConsumer::attachBuffer
+    virtual status_t attachBuffer(int* slot, const sp<GraphicBuffer>& buffer);
+
+    // releaseBuffer releases a buffer slot from the consumer back to the
+    // BufferQueue.  This may be done while the buffer's contents are still
+    // being accessed.  The fence will signal when the buffer is no longer
+    // in use. frameNumber is used to indentify the exact buffer returned.
+    //
+    // If releaseBuffer returns STALE_BUFFER_SLOT, then the consumer must free
+    // any references to the just-released buffer that it might have, as if it
+    // had received a onBuffersReleased() call with a mask set for the released
+    // buffer.
+    //
+    // Note that the dependencies on EGL will be removed once we switch to using
+    // the Android HW Sync HAL.
+    virtual status_t releaseBuffer(int slot, uint64_t frameNumber,
+            const sp<Fence>& releaseFence, EGLDisplay display,
+            EGLSyncKHR fence);
+
+    // connect connects a consumer to the BufferQueue.  Only one
+    // consumer may be connected, and when that consumer disconnects the
+    // BufferQueue is placed into the "abandoned" state, causing most
+    // interactions with the BufferQueue by the producer to fail.
+    // controlledByApp indicates whether the consumer is controlled by
+    // the application.
+    //
+    // consumerListener may not be NULL.
+    virtual status_t connect(const sp<IConsumerListener>& consumerListener,
+            bool controlledByApp);
+
+    // disconnect disconnects a consumer from the BufferQueue. All
+    // buffers will be freed and the BufferQueue is placed in the "abandoned"
+    // state, causing most interactions with the BufferQueue by the producer to
+    // fail.
+    virtual status_t disconnect();
+
+    // getReleasedBuffers sets the value pointed to by outSlotMask to a bit mask
+    // indicating which buffer slots have been released by the BufferQueue
+    // but have not yet been released by the consumer.
+    //
+    // This should be called from the onBuffersReleased() callback.
+    virtual status_t getReleasedBuffers(uint64_t* outSlotMask);
+
+    // setDefaultBufferSize is used to set the size of buffers returned by
+    // dequeueBuffer when a width and height of zero is requested.  Default
+    // is 1x1.
+    virtual status_t setDefaultBufferSize(uint32_t width, uint32_t height);
+
+    // setDefaultMaxBufferCount sets the default value for the maximum buffer
+    // count (the initial default is 2). If the producer has requested a
+    // buffer count using setBufferCount, the default buffer count will only
+    // take effect if the producer sets the count back to zero.
+    //
+    // The count must be between 2 and NUM_BUFFER_SLOTS, inclusive.
+    virtual status_t setDefaultMaxBufferCount(int bufferCount);
+
+    // disableAsyncBuffer disables the extra buffer used in async mode
+    // (when both producer and consumer have set their "isControlledByApp"
+    // flag) and has dequeueBuffer() return WOULD_BLOCK instead.
+    //
+    // This can only be called before connect().
+    virtual status_t disableAsyncBuffer();
+
+    // setMaxAcquiredBufferCount sets the maximum number of buffers that can
+    // be acquired by the consumer at one time (default 1).  This call will
+    // fail if a producer is connected to the BufferQueue.
+    virtual status_t setMaxAcquiredBufferCount(int maxAcquiredBuffers);
+
+    // setConsumerName sets the name used in logging
+    virtual void setConsumerName(const String8& name);
+
+    // setDefaultBufferFormat allows the BufferQueue to create
+    // GraphicBuffers of a defaultFormat if no format is specified
+    // in dequeueBuffer. The initial default is HAL_PIXEL_FORMAT_RGBA_8888.
+    virtual status_t setDefaultBufferFormat(PixelFormat defaultFormat);
+
+    // setDefaultBufferDataSpace allows the BufferQueue to create
+    // GraphicBuffers of a defaultDataSpace if no data space is specified
+    // in queueBuffer.
+    // The initial default is HAL_DATASPACE_UNKNOWN
+    virtual status_t setDefaultBufferDataSpace(
+            android_dataspace defaultDataSpace);
+
+    // setConsumerUsageBits will turn on additional usage bits for dequeueBuffer.
+    // These are merged with the bits passed to dequeueBuffer.  The values are
+    // enumerated in gralloc.h, e.g. GRALLOC_USAGE_HW_RENDER; the default is 0.
+    virtual status_t setConsumerUsageBits(uint32_t usage);
+
+    // setTransformHint bakes in rotation to buffers so overlays can be used.
+    // The values are enumerated in window.h, e.g.
+    // NATIVE_WINDOW_TRANSFORM_ROT_90.  The default is 0 (no transform).
+    virtual status_t setTransformHint(uint32_t hint);
+
+    // Retrieve the sideband buffer stream, if any.
+    virtual sp<NativeHandle> getSidebandStream() const;
+
+    // dump our state in a String
+    virtual void dump(String8& result, const char* prefix) const;
+
+    // Functions required for backwards compatibility.
+    // These will be modified/renamed in IGraphicBufferConsumer and will be
+    // removed from this class at that time. See b/13306289.
+
+    virtual status_t releaseBuffer(int buf, uint64_t frameNumber,
+            EGLDisplay display, EGLSyncKHR fence,
+            const sp<Fence>& releaseFence) {
+        return releaseBuffer(buf, frameNumber, releaseFence, display, fence);
+    }
+
+    virtual status_t consumerConnect(const sp<IConsumerListener>& consumer,
+            bool controlledByApp) {
+        return connect(consumer, controlledByApp);
+    }
+
+    virtual status_t consumerDisconnect() { return disconnect(); }
+
+    // End functions required for backwards compatibility
+
+private:
+    sp<BufferQueueCore> mCore;
+
+    // This references mCore->mSlots. Lock mCore->mMutex while accessing.
+    BufferQueueDefs::SlotsType& mSlots;
+
+    // This is a cached copy of the name stored in the BufferQueueCore.
+    // It's updated during setConsumerName.
+    String8 mConsumerName;
+
+}; // class BufferQueueConsumer
+
+} // namespace android
+
+#endif
diff --git a/third_party/android_frameworks_native/include/gui/BufferQueueCore.h b/third_party/android_frameworks_native/include/gui/BufferQueueCore.h
new file mode 100644
index 0000000000..99134ea501
--- /dev/null
+++ b/third_party/android_frameworks_native/include/gui/BufferQueueCore.h
@@ -0,0 +1,287 @@
+/*
+ * Copyright 2014 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_GUI_BUFFERQUEUECORE_H
+#define ANDROID_GUI_BUFFERQUEUECORE_H
+
+#include <gui/BufferItem.h>
+#include <gui/BufferQueueDefs.h>
+#include <gui/BufferSlot.h>
+
+#include <utils/Condition.h>
+#include <utils/Mutex.h>
+#include <utils/NativeHandle.h>
+#include <utils/RefBase.h>
+#include <utils/String8.h>
+#include <utils/StrongPointer.h>
+#include <utils/Trace.h>
+#include <utils/Vector.h>
+
+#include <list>
+#include <set>
+
+#define BQ_LOGV(x, ...) ALOGV("[%s] " x, mConsumerName.string(), ##__VA_ARGS__)
+#define BQ_LOGD(x, ...) ALOGD("[%s] " x, mConsumerName.string(), ##__VA_ARGS__)
+#define BQ_LOGI(x, ...) ALOGI("[%s] " x, mConsumerName.string(), ##__VA_ARGS__)
+#define BQ_LOGW(x, ...) ALOGW("[%s] " x, mConsumerName.string(), ##__VA_ARGS__)
+#define BQ_LOGE(x, ...) ALOGE("[%s] " x, mConsumerName.string(), ##__VA_ARGS__)
+
+#define ATRACE_BUFFER_INDEX(index)                                   \
+    if (ATRACE_ENABLED()) {                                          \
+        char ___traceBuf[1024];                                      \
+        snprintf(___traceBuf, 1024, "%s: %d",                        \
+                mCore->mConsumerName.string(), (index));             \
+        android::ScopedTrace ___bufTracer(ATRACE_TAG, ___traceBuf);  \
+    }
+
+namespace android {
+
+class IConsumerListener;
+class IGraphicBufferAlloc;
+class IProducerListener;
+
+class BufferQueueCore : public virtual RefBase {
+
+    friend class BufferQueueProducer;
+    friend class BufferQueueConsumer;
+
+public:
+    // Used as a placeholder slot number when the value isn't pointing to an
+    // existing buffer.
+    enum { INVALID_BUFFER_SLOT = BufferItem::INVALID_BUFFER_SLOT };
+
+    // We reserve two slots in order to guarantee that the producer and
+    // consumer can run asynchronously.
+    enum { MAX_MAX_ACQUIRED_BUFFERS = BufferQueueDefs::NUM_BUFFER_SLOTS - 2 };
+
+    // The default API number used to indicate that no producer is connected
+    enum { NO_CONNECTED_API = 0 };
+
+    typedef Vector<BufferItem> Fifo;
+
+    // BufferQueueCore manages a pool of gralloc memory slots to be used by
+    // producers and consumers. allocator is used to allocate all the needed
+    // gralloc buffers.
+    BufferQueueCore(const sp<IGraphicBufferAlloc>& allocator = NULL);
+    virtual ~BufferQueueCore();
+
+private:
+    // Dump our state in a string
+    void dump(String8& result, const char* prefix) const;
+
+    // getMinUndequeuedBufferCountLocked returns the minimum number of buffers
+    // that must remain in a state other than DEQUEUED. The async parameter
+    // tells whether we're in asynchronous mode.
+    int getMinUndequeuedBufferCountLocked(bool async) const;
+
+    // getMinMaxBufferCountLocked returns the minimum number of buffers allowed
+    // given the current BufferQueue state. The async parameter tells whether
+    // we're in asynchonous mode.
+    int getMinMaxBufferCountLocked(bool async) const;
+
+    // getMaxBufferCountLocked returns the maximum number of buffers that can be
+    // allocated at once. This value depends on the following member variables:
+    //
+    //     mDequeueBufferCannotBlock
+    //     mMaxAcquiredBufferCount
+    //     mDefaultMaxBufferCount
+    //     mOverrideMaxBufferCount
+    //     async parameter
+    //
+    // Any time one of these member variables is changed while a producer is
+    // connected, mDequeueCondition must be broadcast.
+    int getMaxBufferCountLocked(bool async) const;
+
+    // setDefaultMaxBufferCountLocked sets the maximum number of buffer slots
+    // that will be used if the producer does not override the buffer slot
+    // count. The count must be between 2 and NUM_BUFFER_SLOTS, inclusive. The
+    // initial default is 2.
+    status_t setDefaultMaxBufferCountLocked(int count);
+
+    // freeBufferLocked frees the GraphicBuffer and sync resources for the
+    // given slot.
+    void freeBufferLocked(int slot);
+
+    // freeAllBuffersLocked frees the GraphicBuffer and sync resources for
+    // all slots.
+    void freeAllBuffersLocked();
+
+    // stillTracking returns true iff the buffer item is still being tracked
+    // in one of the slots.
+    bool stillTracking(const BufferItem* item) const;
+
+    // waitWhileAllocatingLocked blocks until mIsAllocating is false.
+    void waitWhileAllocatingLocked() const;
+
+    // validateConsistencyLocked ensures that the free lists are in sync with
+    // the information stored in mSlots
+    void validateConsistencyLocked() const;
+
+    // mAllocator is the connection to SurfaceFlinger that is used to allocate
+    // new GraphicBuffer objects.
+    sp<IGraphicBufferAlloc> mAllocator;
+
+    // mMutex is the mutex used to prevent concurrent access to the member
+    // variables of BufferQueueCore objects. It must be locked whenever any
+    // member variable is accessed.
+    mutable Mutex mMutex;
+
+    // mIsAbandoned indicates that the BufferQueue will no longer be used to
+    // consume image buffers pushed to it using the IGraphicBufferProducer
+    // interface. It is initialized to false, and set to true in the
+    // consumerDisconnect method. A BufferQueue that is abandoned will return
+    // the NO_INIT error from all IGraphicBufferProducer methods capable of
+    // returning an error.
+    bool mIsAbandoned;
+
+    // mConsumerControlledByApp indicates whether the connected consumer is
+    // controlled by the application.
+    bool mConsumerControlledByApp;
+
+    // mConsumerName is a string used to identify the BufferQueue in log
+    // messages. It is set by the IGraphicBufferConsumer::setConsumerName
+    // method.
+    String8 mConsumerName;
+
+    // mConsumerListener is used to notify the connected consumer of
+    // asynchronous events that it may wish to react to. It is initially
+    // set to NULL and is written by consumerConnect and consumerDisconnect.
+    sp<IConsumerListener> mConsumerListener;
+
+    // mConsumerUsageBits contains flags that the consumer wants for
+    // GraphicBuffers.
+    uint32_t mConsumerUsageBits;
+
+    // mConnectedApi indicates the producer API that is currently connected
+    // to this BufferQueue. It defaults to NO_CONNECTED_API, and gets updated
+    // by the connect and disconnect methods.
+    int mConnectedApi;
+
+    // mConnectedProducerToken is used to set a binder death notification on
+    // the producer.
+    sp<IProducerListener> mConnectedProducerListener;
+
+    // mSlots is an array of buffer slots that must be mirrored on the producer
+    // side. This allows buffer ownership to be transferred between the producer
+    // and consumer without sending a GraphicBuffer over Binder. The entire
+    // array is initialized to NULL at construction time, and buffers are
+    // allocated for a slot when requestBuffer is called with that slot's index.
+    BufferQueueDefs::SlotsType mSlots;
+
+    // mQueue is a FIFO of queued buffers used in synchronous mode.
+    Fifo mQueue;
+
+    // mFreeSlots contains all of the slots which are FREE and do not currently
+    // have a buffer attached
+    std::set<int> mFreeSlots;
+
+    // mFreeBuffers contains all of the slots which are FREE and currently have
+    // a buffer attached
+    std::list<int> mFreeBuffers;
+
+    // mOverrideMaxBufferCount is the limit on the number of buffers that will
+    // be allocated at one time. This value is set by the producer by calling
+    // setBufferCount. The default is 0, which means that the producer doesn't
+    // care about the number of buffers in the pool. In that case,
+    // mDefaultMaxBufferCount is used as the limit.
+    int mOverrideMaxBufferCount;
+
+    // mDequeueCondition is a condition variable used for dequeueBuffer in
+    // synchronous mode.
+    mutable Condition mDequeueCondition;
+
+    // mUseAsyncBuffer indicates whether an extra buffer is used in async mode
+    // to prevent dequeueBuffer from blocking.
+    bool mUseAsyncBuffer;
+
+    // mDequeueBufferCannotBlock indicates whether dequeueBuffer is allowed to
+    // block. This flag is set during connect when both the producer and
+    // consumer are controlled by the application.
+    bool mDequeueBufferCannotBlock;
+
+    // mDefaultBufferFormat can be set so it will override the buffer format
+    // when it isn't specified in dequeueBuffer.
+    PixelFormat mDefaultBufferFormat;
+
+    // mDefaultWidth holds the default width of allocated buffers. It is used
+    // in dequeueBuffer if a width and height of 0 are specified.
+    uint32_t mDefaultWidth;
+
+    // mDefaultHeight holds the default height of allocated buffers. It is used
+    // in dequeueBuffer if a width and height of 0 are specified.
+    uint32_t mDefaultHeight;
+
+    // mDefaultBufferDataSpace holds the default dataSpace of queued buffers.
+    // It is used in queueBuffer if a dataspace of 0 (HAL_DATASPACE_UNKNOWN)
+    // is specified.
+    android_dataspace mDefaultBufferDataSpace;
+
+    // mDefaultMaxBufferCount is the default limit on the number of buffers that
+    // will be allocated at one time. This default limit is set by the consumer.
+    // The limit (as opposed to the default limit) may be overriden by the
+    // producer.
+    int mDefaultMaxBufferCount;
+
+    // mMaxAcquiredBufferCount is the number of buffers that the consumer may
+    // acquire at one time. It defaults to 1, and can be changed by the consumer
+    // via setMaxAcquiredBufferCount, but this may only be done while no
+    // producer is connected to the BufferQueue. This value is used to derive
+    // the value returned for the MIN_UNDEQUEUED_BUFFERS query to the producer.
+    int mMaxAcquiredBufferCount;
+
+    // mBufferHasBeenQueued is true once a buffer has been queued. It is reset
+    // when something causes all buffers to be freed (e.g., changing the buffer
+    // count).
+    bool mBufferHasBeenQueued;
+
+    // mFrameCounter is the free running counter, incremented on every
+    // successful queueBuffer call and buffer allocation.
+    uint64_t mFrameCounter;
+
+    // mTransformHint is used to optimize for screen rotations.
+    uint32_t mTransformHint;
+
+    // mSidebandStream is a handle to the sideband buffer stream, if any
+    sp<NativeHandle> mSidebandStream;
+
+    // mIsAllocating indicates whether a producer is currently trying to allocate buffers (which
+    // releases mMutex while doing the allocation proper). Producers should not modify any of the
+    // FREE slots while this is true. mIsAllocatingCondition is signaled when this value changes to
+    // false.
+    bool mIsAllocating;
+
+    // mIsAllocatingCondition is a condition variable used by producers to wait until mIsAllocating
+    // becomes false.
+    mutable Condition mIsAllocatingCondition;
+
+    // mAllowAllocation determines whether dequeueBuffer is allowed to allocate
+    // new buffers
+    bool mAllowAllocation;
+
+    // mBufferAge tracks the age of the contents of the most recently dequeued
+    // buffer as the number of frames that have elapsed since it was last queued
+    uint64_t mBufferAge;
+
+    // mGenerationNumber stores the current generation number of the attached
+    // producer. Any attempt to attach a buffer with a different generation
+    // number will fail.
+    uint32_t mGenerationNumber;
+
+}; // class BufferQueueCore
+
+} // namespace android
+
+#endif
diff --git a/third_party/android_frameworks_native/include/gui/BufferQueueDefs.h b/third_party/android_frameworks_native/include/gui/BufferQueueDefs.h
new file mode 100644
index 0000000000..83e9580037
--- /dev/null
+++ b/third_party/android_frameworks_native/include/gui/BufferQueueDefs.h
@@ -0,0 +1,35 @@
+/*
+ * Copyright 2014 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_GUI_BUFFERQUEUECOREDEFS_H
+#define ANDROID_GUI_BUFFERQUEUECOREDEFS_H
+
+#include <gui/BufferSlot.h>
+
+namespace android {
+    class BufferQueueCore;
+
+    namespace BufferQueueDefs {
+        // BufferQueue will keep track of at most this value of buffers.
+        // Attempts at runtime to increase the number of buffers past this
+        // will fail.
+        enum { NUM_BUFFER_SLOTS = 64 };
+
+        typedef BufferSlot SlotsType[NUM_BUFFER_SLOTS];
+    } // namespace BufferQueueDefs
+} // namespace android
+
+#endif
diff --git a/third_party/android_frameworks_native/include/gui/BufferQueueProducer.h b/third_party/android_frameworks_native/include/gui/BufferQueueProducer.h
new file mode 100644
index 0000000000..9754a89eac
--- /dev/null
+++ b/third_party/android_frameworks_native/include/gui/BufferQueueProducer.h
@@ -0,0 +1,228 @@
+/*
+ * Copyright 2014 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_GUI_BUFFERQUEUEPRODUCER_H
+#define ANDROID_GUI_BUFFERQUEUEPRODUCER_H
+
+#include <gui/BufferQueueDefs.h>
+#include <gui/IGraphicBufferProducer.h>
+
+namespace android {
+
+class BufferSlot;
+
+class BufferQueueProducer : public BnGraphicBufferProducer,
+                            private IBinder::DeathRecipient {
+public:
+    friend class BufferQueue; // Needed to access binderDied
+
+    BufferQueueProducer(const sp<BufferQueueCore>& core);
+    virtual ~BufferQueueProducer();
+
+    // requestBuffer returns the GraphicBuffer for slot N.
+    //
+    // In normal operation, this is called the first time slot N is returned
+    // by dequeueBuffer.  It must be called again if dequeueBuffer returns
+    // flags indicating that previously-returned buffers are no longer valid.
+    virtual status_t requestBuffer(int slot, sp<GraphicBuffer>* buf);
+
+    // setBufferCount updates the number of available buffer slots.  If this
+    // method succeeds, buffer slots will be both unallocated and owned by
+    // the BufferQueue object (i.e. they are not owned by the producer or
+    // consumer).
+    //
+    // This will fail if the producer has dequeued any buffers, or if
+    // bufferCount is invalid.  bufferCount must generally be a value
+    // between the minimum undequeued buffer count (exclusive) and NUM_BUFFER_SLOTS
+    // (inclusive).  It may also be set to zero (the default) to indicate
+    // that the producer does not wish to set a value.  The minimum value
+    // can be obtained by calling query(NATIVE_WINDOW_MIN_UNDEQUEUED_BUFFERS,
+    // ...).
+    //
+    // This may only be called by the producer.  The consumer will be told
+    // to discard buffers through the onBuffersReleased callback.
+    virtual status_t setBufferCount(int bufferCount);
+
+    // dequeueBuffer gets the next buffer slot index for the producer to use.
+    // If a buffer slot is available then that slot index is written to the
+    // location pointed to by the buf argument and a status of OK is returned.
+    // If no slot is available then a status of -EBUSY is returned and buf is
+    // unmodified.
+    //
+    // The outFence parameter will be updated to hold the fence associated with
+    // the buffer. The contents of the buffer must not be overwritten until the
+    // fence signals. If the fence is Fence::NO_FENCE, the buffer may be
+    // written immediately.
+    //
+    // The width and height parameters must be no greater than the minimum of
+    // GL_MAX_VIEWPORT_DIMS and GL_MAX_TEXTURE_SIZE (see: glGetIntegerv).
+    // An error due to invalid dimensions might not be reported until
+    // updateTexImage() is called.  If width and height are both zero, the
+    // default values specified by setDefaultBufferSize() are used instead.
+    //
+    // If the format is 0, the default format will be used.
+    //
+    // The usage argument specifies gralloc buffer usage flags.  The values
+    // are enumerated in gralloc.h, e.g. GRALLOC_USAGE_HW_RENDER.  These
+    // will be merged with the usage flags specified by setConsumerUsageBits.
+    //
+    // The return value may be a negative error value or a non-negative
+    // collection of flags.  If the flags are set, the return values are
+    // valid, but additional actions must be performed.
+    //
+    // If IGraphicBufferProducer::BUFFER_NEEDS_REALLOCATION is set, the
+    // producer must discard cached GraphicBuffer references for the slot
+    // returned in buf.
+    // If IGraphicBufferProducer::RELEASE_ALL_BUFFERS is set, the producer
+    // must discard cached GraphicBuffer references for all slots.
+    //
+    // In both cases, the producer will need to call requestBuffer to get a
+    // GraphicBuffer handle for the returned slot.
+    virtual status_t dequeueBuffer(int *outSlot, sp<Fence>* outFence,
+            bool async, uint32_t width, uint32_t height, PixelFormat format,
+            uint32_t usage);
+
+    // See IGraphicBufferProducer::detachBuffer
+    virtual status_t detachBuffer(int slot);
+
+    // See IGraphicBufferProducer::detachNextBuffer
+    virtual status_t detachNextBuffer(sp<GraphicBuffer>* outBuffer,
+            sp<Fence>* outFence);
+
+    // See IGraphicBufferProducer::attachBuffer
+    virtual status_t attachBuffer(int* outSlot, const sp<GraphicBuffer>& buffer);
+
+    // queueBuffer returns a filled buffer to the BufferQueue.
+    //
+    // Additional data is provided in the QueueBufferInput struct.  Notably,
+    // a timestamp must be provided for the buffer. The timestamp is in
+    // nanoseconds, and must be monotonically increasing. Its other semantics
+    // (zero point, etc) are producer-specific and should be documented by the
+    // producer.
+    //
+    // The caller may provide a fence that signals when all rendering
+    // operations have completed.  Alternatively, NO_FENCE may be used,
+    // indicating that the buffer is ready immediately.
+    //
+    // Some values are returned in the output struct: the current settings
+    // for default width and height, the current transform hint, and the
+    // number of queued buffers.
+    virtual status_t queueBuffer(int slot,
+            const QueueBufferInput& input, QueueBufferOutput* output);
+
+    // cancelBuffer returns a dequeued buffer to the BufferQueue, but doesn't
+    // queue it for use by the consumer.
+    //
+    // The buffer will not be overwritten until the fence signals.  The fence
+    // will usually be the one obtained from dequeueBuffer.
+    virtual void cancelBuffer(int slot, const sp<Fence>& fence);
+
+    // Query native window attributes.  The "what" values are enumerated in
+    // window.h (e.g. NATIVE_WINDOW_FORMAT).
+    virtual int query(int what, int* outValue);
+
+    // connect attempts to connect a producer API to the BufferQueue.  This
+    // must be called before any other IGraphicBufferProducer methods are
+    // called except for getAllocator.  A consumer must already be connected.
+    //
+    // This method will fail if connect was previously called on the
+    // BufferQueue and no corresponding disconnect call was made (i.e. if
+    // it's still connected to a producer).
+    //
+    // APIs are enumerated in window.h (e.g. NATIVE_WINDOW_API_CPU).
+    virtual status_t connect(const sp<IProducerListener>& listener,
+            int api, bool producerControlledByApp, QueueBufferOutput* output);
+
+    // disconnect attempts to disconnect a producer API from the BufferQueue.
+    // Calling this method will cause any subsequent calls to other
+    // IGraphicBufferProducer methods to fail except for getAllocator and connect.
+    // Successfully calling connect after this will allow the other methods to
+    // succeed again.
+    //
+    // This method will fail if the the BufferQueue is not currently
+    // connected to the specified producer API.
+    virtual status_t disconnect(int api);
+
+    // Attaches a sideband buffer stream to the IGraphicBufferProducer.
+    //
+    // A sideband stream is a device-specific mechanism for passing buffers
+    // from the producer to the consumer without using dequeueBuffer/
+    // queueBuffer. If a sideband stream is present, the consumer can choose
+    // whether to acquire buffers from the sideband stream or from the queued
+    // buffers.
+    //
+    // Passing NULL or a different stream handle will detach the previous
+    // handle if any.
+    virtual status_t setSidebandStream(const sp<NativeHandle>& stream);
+
+    // See IGraphicBufferProducer::allocateBuffers
+    virtual void allocateBuffers(bool async, uint32_t width, uint32_t height,
+            PixelFormat format, uint32_t usage);
+
+    // See IGraphicBufferProducer::allowAllocation
+    virtual status_t allowAllocation(bool allow);
+
+    // See IGraphicBufferProducer::setGenerationNumber
+    virtual status_t setGenerationNumber(uint32_t generationNumber);
+
+    // See IGraphicBufferProducer::getConsumerName
+    virtual String8 getConsumerName() const override;
+
+private:
+    // This is required by the IBinder::DeathRecipient interface
+    virtual void binderDied(const wp<IBinder>& who);
+
+    // waitForFreeSlotThenRelock finds the oldest slot in the FREE state. It may
+    // block if there are no available slots and we are not in non-blocking
+    // mode (producer and consumer controlled by the application). If it blocks,
+    // it will release mCore->mMutex while blocked so that other operations on
+    // the BufferQueue may succeed.
+    status_t waitForFreeSlotThenRelock(const char* caller, bool async,
+            int* found, status_t* returnFlags) const;
+
+    sp<BufferQueueCore> mCore;
+
+    // This references mCore->mSlots. Lock mCore->mMutex while accessing.
+    BufferQueueDefs::SlotsType& mSlots;
+
+    // This is a cached copy of the name stored in the BufferQueueCore.
+    // It's updated during connect and dequeueBuffer (which should catch
+    // most updates).
+    String8 mConsumerName;
+
+    uint32_t mStickyTransform;
+
+    // This saves the fence from the last queueBuffer, such that the
+    // next queueBuffer call can throttle buffer production. The prior
+    // queueBuffer's fence is not nessessarily available elsewhere,
+    // since the previous buffer might have already been acquired.
+    sp<Fence> mLastQueueBufferFence;
+
+    // Take-a-ticket system for ensuring that onFrame* callbacks are called in
+    // the order that frames are queued. While the BufferQueue lock
+    // (mCore->mMutex) is held, a ticket is retained by the producer. After
+    // dropping the BufferQueue lock, the producer must wait on the condition
+    // variable until the current callback ticket matches its retained ticket.
+    Mutex mCallbackMutex;
+    int mNextCallbackTicket; // Protected by mCore->mMutex
+    int mCurrentCallbackTicket; // Protected by mCallbackMutex
+    Condition mCallbackCondition;
+
+}; // class BufferQueueProducer
+
+} // namespace android
+
+#endif
diff --git a/third_party/android_frameworks_native/include/gui/BufferSlot.h b/third_party/android_frameworks_native/include/gui/BufferSlot.h
new file mode 100644
index 0000000000..6085e116a3
--- /dev/null
+++ b/third_party/android_frameworks_native/include/gui/BufferSlot.h
@@ -0,0 +1,142 @@
+/*
+ * Copyright 2014 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_GUI_BUFFERSLOT_H
+#define ANDROID_GUI_BUFFERSLOT_H
+
+#include <ui/Fence.h>
+#include <ui/GraphicBuffer.h>
+
+#include <EGL/egl.h>
+#include <EGL/eglext.h>
+
+#include <utils/StrongPointer.h>
+
+namespace android {
+
+class Fence;
+
+struct BufferSlot {
+
+    BufferSlot()
+    : mEglDisplay(EGL_NO_DISPLAY),
+      mBufferState(BufferSlot::FREE),
+      mRequestBufferCalled(false),
+      mFrameNumber(0),
+      mEglFence(EGL_NO_SYNC_KHR),
+      mAcquireCalled(false),
+      mNeedsCleanupOnRelease(false),
+      mAttachedByConsumer(false) {
+    }
+
+    // mGraphicBuffer points to the buffer allocated for this slot or is NULL
+    // if no buffer has been allocated.
+    sp<GraphicBuffer> mGraphicBuffer;
+
+    // mEglDisplay is the EGLDisplay used to create EGLSyncKHR objects.
+    EGLDisplay mEglDisplay;
+
+    // BufferState represents the different states in which a buffer slot
+    // can be.  All slots are initially FREE.
+    enum BufferState {
+        // FREE indicates that the buffer is available to be dequeued
+        // by the producer.  The buffer may be in use by the consumer for
+        // a finite time, so the buffer must not be modified until the
+        // associated fence is signaled.
+        //
+        // The slot is "owned" by BufferQueue.  It transitions to DEQUEUED
+        // when dequeueBuffer is called.
+        FREE = 0,
+
+        // DEQUEUED indicates that the buffer has been dequeued by the
+        // producer, but has not yet been queued or canceled.  The
+        // producer may modify the buffer's contents as soon as the
+        // associated ready fence is signaled.
+        //
+        // The slot is "owned" by the producer.  It can transition to
+        // QUEUED (via queueBuffer) or back to FREE (via cancelBuffer).
+        DEQUEUED = 1,
+
+        // QUEUED indicates that the buffer has been filled by the
+        // producer and queued for use by the consumer.  The buffer
+        // contents may continue to be modified for a finite time, so
+        // the contents must not be accessed until the associated fence
+        // is signaled.
+        //
+        // The slot is "owned" by BufferQueue.  It can transition to
+        // ACQUIRED (via acquireBuffer) or to FREE (if another buffer is
+        // queued in asynchronous mode).
+        QUEUED = 2,
+
+        // ACQUIRED indicates that the buffer has been acquired by the
+        // consumer.  As with QUEUED, the contents must not be accessed
+        // by the consumer until the fence is signaled.
+        //
+        // The slot is "owned" by the consumer.  It transitions to FREE
+        // when releaseBuffer is called.
+        ACQUIRED = 3
+    };
+
+    static const char* bufferStateName(BufferState state);
+
+    // mBufferState is the current state of this buffer slot.
+    BufferState mBufferState;
+
+    // mRequestBufferCalled is used for validating that the producer did
+    // call requestBuffer() when told to do so. Technically this is not
+    // needed but useful for debugging and catching producer bugs.
+    bool mRequestBufferCalled;
+
+    // mFrameNumber is the number of the queued frame for this slot.  This
+    // is used to dequeue buffers in LRU order (useful because buffers
+    // may be released before their release fence is signaled).
+    uint64_t mFrameNumber;
+
+    // mEglFence is the EGL sync object that must signal before the buffer
+    // associated with this buffer slot may be dequeued. It is initialized
+    // to EGL_NO_SYNC_KHR when the buffer is created and may be set to a
+    // new sync object in releaseBuffer.  (This is deprecated in favor of
+    // mFence, below.)
+    EGLSyncKHR mEglFence;
+
+    // mFence is a fence which will signal when work initiated by the
+    // previous owner of the buffer is finished. When the buffer is FREE,
+    // the fence indicates when the consumer has finished reading
+    // from the buffer, or when the producer has finished writing if it
+    // called cancelBuffer after queueing some writes. When the buffer is
+    // QUEUED, it indicates when the producer has finished filling the
+    // buffer. When the buffer is DEQUEUED or ACQUIRED, the fence has been
+    // passed to the consumer or producer along with ownership of the
+    // buffer, and mFence is set to NO_FENCE.
+    sp<Fence> mFence;
+
+    // Indicates whether this buffer has been seen by a consumer yet
+    bool mAcquireCalled;
+
+    // Indicates whether this buffer needs to be cleaned up by the
+    // consumer.  This is set when a buffer in ACQUIRED state is freed.
+    // It causes releaseBuffer to return STALE_BUFFER_SLOT.
+    bool mNeedsCleanupOnRelease;
+
+    // Indicates whether the buffer was attached on the consumer side.
+    // If so, it needs to set the BUFFER_NEEDS_REALLOCATION flag when dequeued
+    // to prevent the producer from using a stale cached buffer.
+    bool mAttachedByConsumer;
+};
+
+} // namespace android
+
+#endif
diff --git a/third_party/android_frameworks_native/include/gui/ConsumerBase.h b/third_party/android_frameworks_native/include/gui/ConsumerBase.h
new file mode 100644
index 0000000000..9307a26fb3
--- /dev/null
+++ b/third_party/android_frameworks_native/include/gui/ConsumerBase.h
@@ -0,0 +1,252 @@
+/*
+ * Copyright (C) 2010 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_GUI_CONSUMERBASE_H
+#define ANDROID_GUI_CONSUMERBASE_H
+
+#include <gui/BufferQueue.h>
+
+#include <ui/GraphicBuffer.h>
+
+#include <utils/String8.h>
+#include <utils/Vector.h>
+#include <utils/threads.h>
+#include <gui/IConsumerListener.h>
+
+namespace android {
+// ----------------------------------------------------------------------------
+
+class String8;
+
+// ConsumerBase is a base class for BufferQueue consumer end-points. It
+// handles common tasks like management of the connection to the BufferQueue
+// and the buffer pool.
+class ConsumerBase : public virtual RefBase,
+        protected ConsumerListener {
+public:
+    struct FrameAvailableListener : public virtual RefBase {
+        // See IConsumerListener::onFrame{Available,Replaced}
+        virtual void onFrameAvailable(const BufferItem& item) = 0;
+        virtual void onFrameReplaced(const BufferItem& /* item */) {}
+    };
+
+    virtual ~ConsumerBase();
+
+    // abandon frees all the buffers and puts the ConsumerBase into the
+    // 'abandoned' state.  Once put in this state the ConsumerBase can never
+    // leave it.  When in the 'abandoned' state, all methods of the
+    // IGraphicBufferProducer interface will fail with the NO_INIT error.
+    //
+    // Note that while calling this method causes all the buffers to be freed
+    // from the perspective of the the ConsumerBase, if there are additional
+    // references on the buffers (e.g. if a buffer is referenced by a client
+    // or by OpenGL ES as a texture) then those buffer will remain allocated.
+    void abandon();
+
+    // Returns true if the ConsumerBase is in the 'abandoned' state
+    bool isAbandoned();
+
+    // set the name of the ConsumerBase that will be used to identify it in
+    // log messages.
+    void setName(const String8& name);
+
+    // dump writes the current state to a string. Child classes should add
+    // their state to the dump by overriding the dumpLocked method, which is
+    // called by these methods after locking the mutex.
+    void dump(String8& result) const;
+    void dump(String8& result, const char* prefix) const;
+
+    // setFrameAvailableListener sets the listener object that will be notified
+    // when a new frame becomes available.
+    void setFrameAvailableListener(const wp<FrameAvailableListener>& listener);
+
+    // See IGraphicBufferConsumer::detachBuffer
+    status_t detachBuffer(int slot);
+
+    // See IGraphicBufferConsumer::setDefaultBufferSize
+    status_t setDefaultBufferSize(uint32_t width, uint32_t height);
+
+    // See IGraphicBufferConsumer::setDefaultBufferFormat
+    status_t setDefaultBufferFormat(PixelFormat defaultFormat);
+
+    // See IGraphicBufferConsumer::setDefaultBufferDataSpace
+    status_t setDefaultBufferDataSpace(android_dataspace defaultDataSpace);
+
+private:
+    ConsumerBase(const ConsumerBase&);
+    void operator=(const ConsumerBase&);
+
+protected:
+    // ConsumerBase constructs a new ConsumerBase object to consume image
+    // buffers from the given IGraphicBufferConsumer.
+    // The controlledByApp flag indicates that this consumer is under the application's
+    // control.
+    ConsumerBase(const sp<IGraphicBufferConsumer>& consumer, bool controlledByApp = false);
+
+    // onLastStrongRef gets called by RefBase just before the dtor of the most
+    // derived class.  It is used to clean up the buffers so that ConsumerBase
+    // can coordinate the clean-up by calling into virtual methods implemented
+    // by the derived classes.  This would not be possible from the
+    // ConsuemrBase dtor because by the time that gets called the derived
+    // classes have already been destructed.
+    //
+    // This methods should not need to be overridden by derived classes, but
+    // if they are overridden the ConsumerBase implementation must be called
+    // from the derived class.
+    virtual void onLastStrongRef(const void* id);
+
+    // Implementation of the IConsumerListener interface.  These
+    // calls are used to notify the ConsumerBase of asynchronous events in the
+    // BufferQueue.  The onFrameAvailable, onFrameReplaced, and
+    // onBuffersReleased methods should not need to be overridden by derived
+    // classes, but if they are overridden the ConsumerBase implementation must
+    // be called from the derived class. The ConsumerBase version of
+    // onSidebandStreamChanged does nothing and can be overriden by derived
+    // classes if they want the notification.
+    virtual void onFrameAvailable(const BufferItem& item) override;
+    virtual void onFrameReplaced(const BufferItem& item) override;
+    virtual void onBuffersReleased() override;
+    virtual void onSidebandStreamChanged() override;
+
+    // freeBufferLocked frees up the given buffer slot.  If the slot has been
+    // initialized this will release the reference to the GraphicBuffer in that
+    // slot.  Otherwise it has no effect.
+    //
+    // Derived classes should override this method to clean up any state they
+    // keep per slot.  If it is overridden, the derived class's implementation
+    // must call ConsumerBase::freeBufferLocked.
+    //
+    // This method must be called with mMutex locked.
+    virtual void freeBufferLocked(int slotIndex);
+
+    // abandonLocked puts the BufferQueue into the abandoned state, causing
+    // all future operations on it to fail. This method rather than the public
+    // abandon method should be overridden by child classes to add abandon-
+    // time behavior.
+    //
+    // Derived classes should override this method to clean up any object
+    // state they keep (as opposed to per-slot state).  If it is overridden,
+    // the derived class's implementation must call ConsumerBase::abandonLocked.
+    //
+    // This method must be called with mMutex locked.
+    virtual void abandonLocked();
+
+    // dumpLocked dumps the current state of the ConsumerBase object to the
+    // result string.  Each line is prefixed with the string pointed to by the
+    // prefix argument.  The buffer argument points to a buffer that may be
+    // used for intermediate formatting data, and the size of that buffer is
+    // indicated by the size argument.
+    //
+    // Derived classes should override this method to dump their internal
+    // state.  If this method is overridden the derived class's implementation
+    // should call ConsumerBase::dumpLocked.
+    //
+    // This method must be called with mMutex locked.
+    virtual void dumpLocked(String8& result, const char* prefix) const;
+
+    // acquireBufferLocked fetches the next buffer from the BufferQueue and
+    // updates the buffer slot for the buffer returned.
+    //
+    // Derived classes should override this method to perform any
+    // initialization that must take place the first time a buffer is assigned
+    // to a slot.  If it is overridden the derived class's implementation must
+    // call ConsumerBase::acquireBufferLocked.
+    virtual status_t acquireBufferLocked(BufferItem *item, nsecs_t presentWhen,
+            uint64_t maxFrameNumber = 0);
+
+    // releaseBufferLocked relinquishes control over a buffer, returning that
+    // control to the BufferQueue.
+    //
+    // Derived classes should override this method to perform any cleanup that
+    // must take place when a buffer is released back to the BufferQueue.  If
+    // it is overridden the derived class's implementation must call
+    // ConsumerBase::releaseBufferLocked.e
+    virtual status_t releaseBufferLocked(int slot,
+            const sp<GraphicBuffer> graphicBuffer,
+            EGLDisplay display, EGLSyncKHR eglFence);
+
+    // returns true iff the slot still has the graphicBuffer in it.
+    bool stillTracking(int slot, const sp<GraphicBuffer> graphicBuffer);
+
+    // addReleaseFence* adds the sync points associated with a fence to the set
+    // of sync points that must be reached before the buffer in the given slot
+    // may be used after the slot has been released.  This should be called by
+    // derived classes each time some asynchronous work is kicked off that
+    // references the buffer.
+    status_t addReleaseFence(int slot,
+            const sp<GraphicBuffer> graphicBuffer, const sp<Fence>& fence);
+    status_t addReleaseFenceLocked(int slot,
+            const sp<GraphicBuffer> graphicBuffer, const sp<Fence>& fence);
+
+    // Slot contains the information and object references that
+    // ConsumerBase maintains about a BufferQueue buffer slot.
+    struct Slot {
+        // mGraphicBuffer is the Gralloc buffer store in the slot or NULL if
+        // no Gralloc buffer is in the slot.
+        sp<GraphicBuffer> mGraphicBuffer;
+
+        // mFence is a fence which will signal when the buffer associated with
+        // this buffer slot is no longer being used by the consumer and can be
+        // overwritten. The buffer can be dequeued before the fence signals;
+        // the producer is responsible for delaying writes until it signals.
+        sp<Fence> mFence;
+
+        // the frame number of the last acquired frame for this slot
+        uint64_t mFrameNumber;
+    };
+
+    // mSlots stores the buffers that have been allocated by the BufferQueue
+    // for each buffer slot.  It is initialized to null pointers, and gets
+    // filled in with the result of BufferQueue::acquire when the
+    // client dequeues a buffer from a
+    // slot that has not yet been used. The buffer allocated to a slot will also
+    // be replaced if the requested buffer usage or geometry differs from that
+    // of the buffer allocated to a slot.
+    Slot mSlots[BufferQueue::NUM_BUFFER_SLOTS];
+
+    // mAbandoned indicates that the BufferQueue will no longer be used to
+    // consume images buffers pushed to it using the IGraphicBufferProducer
+    // interface. It is initialized to false, and set to true in the abandon
+    // method.  A BufferQueue that has been abandoned will return the NO_INIT
+    // error from all IConsumerBase methods capable of returning an error.
+    bool mAbandoned;
+
+    // mName is a string used to identify the ConsumerBase in log messages.
+    // It can be set by the setName method.
+    String8 mName;
+
+    // mFrameAvailableListener is the listener object that will be called when a
+    // new frame becomes available. If it is not NULL it will be called from
+    // queueBuffer.
+    wp<FrameAvailableListener> mFrameAvailableListener;
+
+    // The ConsumerBase has-a BufferQueue and is responsible for creating this object
+    // if none is supplied
+    sp<IGraphicBufferConsumer> mConsumer;
+
+    // mMutex is the mutex used to prevent concurrent access to the member
+    // variables of ConsumerBase objects. It must be locked whenever the
+    // member variables are accessed or when any of the *Locked methods are
+    // called.
+    //
+    // This mutex is intended to be locked by derived classes.
+    mutable Mutex mMutex;
+};
+
+// ----------------------------------------------------------------------------
+}; // namespace android
+
+#endif // ANDROID_GUI_CONSUMERBASE_H
diff --git a/third_party/android_frameworks_native/include/gui/CpuConsumer.h b/third_party/android_frameworks_native/include/gui/CpuConsumer.h
new file mode 100644
index 0000000000..3b07a31750
--- /dev/null
+++ b/third_party/android_frameworks_native/include/gui/CpuConsumer.h
@@ -0,0 +1,131 @@
+/*
+ * Copyright (C) 2012 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_GUI_CPUCONSUMER_H
+#define ANDROID_GUI_CPUCONSUMER_H
+
+#include <gui/ConsumerBase.h>
+
+#include <ui/GraphicBuffer.h>
+
+#include <utils/String8.h>
+#include <utils/Vector.h>
+#include <utils/threads.h>
+
+
+namespace android {
+
+class BufferQueue;
+
+/**
+ * CpuConsumer is a BufferQueue consumer endpoint that allows direct CPU
+ * access to the underlying gralloc buffers provided by BufferQueue. Multiple
+ * buffers may be acquired by it at once, to be used concurrently by the
+ * CpuConsumer owner. Sets gralloc usage flags to be software-read-only.
+ * This queue is synchronous by default.
+ */
+
+class CpuConsumer : public ConsumerBase
+{
+  public:
+    typedef ConsumerBase::FrameAvailableListener FrameAvailableListener;
+
+    struct LockedBuffer {
+        uint8_t    *data;
+        uint32_t    width;
+        uint32_t    height;
+        PixelFormat format;
+        uint32_t    stride;
+        Rect        crop;
+        uint32_t    transform;
+        uint32_t    scalingMode;
+        int64_t     timestamp;
+        android_dataspace dataSpace;
+        uint64_t    frameNumber;
+        // this is the same as format, except for formats that are compatible with
+        // a flexible format (e.g. HAL_PIXEL_FORMAT_YCbCr_420_888). In the latter
+        // case this contains that flexible format
+        PixelFormat flexFormat;
+        // Values below are only valid when using HAL_PIXEL_FORMAT_YCbCr_420_888
+        // or compatible format, in which case LockedBuffer::data
+        // contains the Y channel, and stride is the Y channel stride. For other
+        // formats, these will all be 0.
+        uint8_t    *dataCb;
+        uint8_t    *dataCr;
+        uint32_t    chromaStride;
+        uint32_t    chromaStep;
+    };
+
+    // Create a new CPU consumer. The maxLockedBuffers parameter specifies
+    // how many buffers can be locked for user access at the same time.
+    CpuConsumer(const sp<IGraphicBufferConsumer>& bq,
+            size_t maxLockedBuffers, bool controlledByApp = false);
+
+    virtual ~CpuConsumer();
+
+    // set the name of the CpuConsumer that will be used to identify it in
+    // log messages.
+    void setName(const String8& name);
+
+    // Gets the next graphics buffer from the producer and locks it for CPU use,
+    // filling out the passed-in locked buffer structure with the native pointer
+    // and metadata. Returns BAD_VALUE if no new buffer is available, and
+    // NOT_ENOUGH_DATA if the maximum number of buffers is already locked.
+    //
+    // Only a fixed number of buffers can be locked at a time, determined by the
+    // construction-time maxLockedBuffers parameter. If INVALID_OPERATION is
+    // returned by lockNextBuffer, then old buffers must be returned to the queue
+    // by calling unlockBuffer before more buffers can be acquired.
+    status_t lockNextBuffer(LockedBuffer *nativeBuffer);
+
+    // Returns a locked buffer to the queue, allowing it to be reused. Since
+    // only a fixed number of buffers may be locked at a time, old buffers must
+    // be released by calling unlockBuffer to ensure new buffers can be acquired by
+    // lockNextBuffer.
+    status_t unlockBuffer(const LockedBuffer &nativeBuffer);
+
+  private:
+    // Maximum number of buffers that can be locked at a time
+    size_t mMaxLockedBuffers;
+
+    status_t releaseAcquiredBufferLocked(size_t lockedIdx);
+
+    virtual void freeBufferLocked(int slotIndex);
+
+    // Tracking for buffers acquired by the user
+    struct AcquiredBuffer {
+        // Need to track the original mSlot index and the buffer itself because
+        // the mSlot entry may be freed/reused before the acquired buffer is
+        // released.
+        int mSlot;
+        sp<GraphicBuffer> mGraphicBuffer;
+        void *mBufferPointer;
+
+        AcquiredBuffer() :
+                mSlot(BufferQueue::INVALID_BUFFER_SLOT),
+                mBufferPointer(NULL) {
+        }
+    };
+    Vector<AcquiredBuffer> mAcquiredBuffers;
+
+    // Count of currently locked buffers
+    size_t mCurrentLockedBuffers;
+
+};
+
+} // namespace android
+
+#endif // ANDROID_GUI_CPUCONSUMER_H
diff --git a/third_party/android_frameworks_native/include/gui/DisplayEventReceiver.h b/third_party/android_frameworks_native/include/gui/DisplayEventReceiver.h
new file mode 100644
index 0000000000..a4718b91c6
--- /dev/null
+++ b/third_party/android_frameworks_native/include/gui/DisplayEventReceiver.h
@@ -0,0 +1,137 @@
+/*
+ * Copyright (C) 2011 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_GUI_DISPLAY_EVENT_H
+#define ANDROID_GUI_DISPLAY_EVENT_H
+
+#include <stdint.h>
+#include <sys/types.h>
+
+#include <utils/Errors.h>
+#include <utils/RefBase.h>
+#include <utils/Timers.h>
+
+#include <binder/IInterface.h>
+
+// ----------------------------------------------------------------------------
+
+namespace android {
+
+// ----------------------------------------------------------------------------
+
+class BitTube;
+class IDisplayEventConnection;
+
+// ----------------------------------------------------------------------------
+
+class DisplayEventReceiver {
+public:
+    enum {
+        DISPLAY_EVENT_VSYNC = 'vsyn',
+        DISPLAY_EVENT_HOTPLUG = 'plug'
+    };
+
+    struct Event {
+
+        struct Header {
+            uint32_t type;
+            uint32_t id;
+            nsecs_t timestamp __attribute__((aligned(8)));
+        };
+
+        struct VSync {
+            uint32_t count;
+        };
+
+        struct Hotplug {
+            bool connected;
+        };
+
+        Header header;
+        union {
+            VSync vsync;
+            Hotplug hotplug;
+        };
+    };
+
+public:
+    /*
+     * DisplayEventReceiver creates and registers an event connection with
+     * SurfaceFlinger. VSync events are disabled by default. Call setVSyncRate
+     * or requestNextVsync to receive them.
+     * Other events start being delivered immediately.
+     */
+    DisplayEventReceiver();
+
+    /*
+     * ~DisplayEventReceiver severs the connection with SurfaceFlinger, new events
+     * stop being delivered immediately. Note that the queue could have
+     * some events pending. These will be delivered.
+     */
+    ~DisplayEventReceiver();
+
+    /*
+     * initCheck returns the state of DisplayEventReceiver after construction.
+     */
+    status_t initCheck() const;
+
+    /*
+     * getFd returns the file descriptor to use to receive events.
+     * OWNERSHIP IS RETAINED by DisplayEventReceiver. DO NOT CLOSE this
+     * file-descriptor.
+     */
+    int getFd() const;
+
+    /*
+     * getEvents reads events from the queue and returns how many events were
+     * read. Returns 0 if there are no more events or a negative error code.
+     * If NOT_ENOUGH_DATA is returned, the object has become invalid forever, it
+     * should be destroyed and getEvents() shouldn't be called again.
+     */
+    ssize_t getEvents(Event* events, size_t count);
+    static ssize_t getEvents(const sp<BitTube>& dataChannel,
+            Event* events, size_t count);
+
+    /*
+     * sendEvents write events to the queue and returns how many events were
+     * written.
+     */
+    static ssize_t sendEvents(const sp<BitTube>& dataChannel,
+            Event const* events, size_t count);
+
+    /*
+     * setVsyncRate() sets the Event::VSync delivery rate. A value of
+     * 1 returns every Event::VSync. A value of 2 returns every other event,
+     * etc... a value of 0 returns no event unless  requestNextVsync() has
+     * been called.
+     */
+    status_t setVsyncRate(uint32_t count);
+
+    /*
+     * requestNextVsync() schedules the next Event::VSync. It has no effect
+     * if the vsync rate is > 0.
+     */
+    status_t requestNextVsync();
+
+private:
+    sp<IDisplayEventConnection> mEventConnection;
+    sp<BitTube> mDataChannel;
+};
+
+// ----------------------------------------------------------------------------
+}; // namespace android
+
+#endif // ANDROID_GUI_DISPLAY_EVENT_H
diff --git a/third_party/android_frameworks_native/include/gui/GLConsumer.h b/third_party/android_frameworks_native/include/gui/GLConsumer.h
new file mode 100644
index 0000000000..c35c7be064
--- /dev/null
+++ b/third_party/android_frameworks_native/include/gui/GLConsumer.h
@@ -0,0 +1,488 @@
+/*
+ * Copyright (C) 2010 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_GUI_CONSUMER_H
+#define ANDROID_GUI_CONSUMER_H
+
+#include <EGL/egl.h>
+#include <EGL/eglext.h>
+
+#include <gui/IGraphicBufferProducer.h>
+#include <gui/BufferQueue.h>
+#include <gui/ConsumerBase.h>
+
+#include <ui/GraphicBuffer.h>
+
+#include <utils/String8.h>
+#include <utils/Vector.h>
+#include <utils/threads.h>
+
+namespace android {
+// ----------------------------------------------------------------------------
+
+
+class String8;
+
+/*
+ * GLConsumer consumes buffers of graphics data from a BufferQueue,
+ * and makes them available to OpenGL as a texture.
+ *
+ * A typical usage pattern is to set up the GLConsumer with the
+ * desired options, and call updateTexImage() when a new frame is desired.
+ * If a new frame is available, the texture will be updated.  If not,
+ * the previous contents are retained.
+ *
+ * By default, the texture is attached to the GL_TEXTURE_EXTERNAL_OES
+ * texture target, in the EGL context of the first thread that calls
+ * updateTexImage().
+ *
+ * This class was previously called SurfaceTexture.
+ */
+class GLConsumer : public ConsumerBase {
+public:
+    enum { TEXTURE_EXTERNAL = 0x8D65 }; // GL_TEXTURE_EXTERNAL_OES
+    typedef ConsumerBase::FrameAvailableListener FrameAvailableListener;
+
+    // GLConsumer constructs a new GLConsumer object. If the constructor with
+    // the tex parameter is used, tex indicates the name of the OpenGL ES
+    // texture to which images are to be streamed. texTarget specifies the
+    // OpenGL ES texture target to which the texture will be bound in
+    // updateTexImage. useFenceSync specifies whether fences should be used to
+    // synchronize access to buffers if that behavior is enabled at
+    // compile-time.
+    //
+    // A GLConsumer may be detached from one OpenGL ES context and then
+    // attached to a different context using the detachFromContext and
+    // attachToContext methods, respectively. The intention of these methods is
+    // purely to allow a GLConsumer to be transferred from one consumer
+    // context to another. If such a transfer is not needed there is no
+    // requirement that either of these methods be called.
+    //
+    // If the constructor with the tex parameter is used, the GLConsumer is
+    // created in a state where it is considered attached to an OpenGL ES
+    // context for the purposes of the attachToContext and detachFromContext
+    // methods. However, despite being considered "attached" to a context, the
+    // specific OpenGL ES context doesn't get latched until the first call to
+    // updateTexImage. After that point, all calls to updateTexImage must be
+    // made with the same OpenGL ES context current.
+    //
+    // If the constructor without the tex parameter is used, the GLConsumer is
+    // created in a detached state, and attachToContext must be called before
+    // calls to updateTexImage.
+    GLConsumer(const sp<IGraphicBufferConsumer>& bq,
+            uint32_t tex, uint32_t texureTarget, bool useFenceSync,
+            bool isControlledByApp);
+
+    GLConsumer(const sp<IGraphicBufferConsumer>& bq, uint32_t texureTarget,
+            bool useFenceSync, bool isControlledByApp);
+
+    // updateTexImage acquires the most recently queued buffer, and sets the
+    // image contents of the target texture to it.
+    //
+    // This call may only be made while the OpenGL ES context to which the
+    // target texture belongs is bound to the calling thread.
+    //
+    // This calls doGLFenceWait to ensure proper synchronization.
+    status_t updateTexImage();
+
+    // releaseTexImage releases the texture acquired in updateTexImage().
+    // This is intended to be used in single buffer mode.
+    //
+    // This call may only be made while the OpenGL ES context to which the
+    // target texture belongs is bound to the calling thread.
+    status_t releaseTexImage();
+
+    // setReleaseFence stores a fence that will signal when the current buffer
+    // is no longer being read. This fence will be returned to the producer
+    // when the current buffer is released by updateTexImage(). Multiple
+    // fences can be set for a given buffer; they will be merged into a single
+    // union fence.
+    void setReleaseFence(const sp<Fence>& fence);
+
+    // setDefaultMaxBufferCount sets the default limit on the maximum number
+    // of buffers that will be allocated at one time. The image producer may
+    // override the limit.
+    status_t setDefaultMaxBufferCount(int bufferCount);
+
+    // getTransformMatrix retrieves the 4x4 texture coordinate transform matrix
+    // associated with the texture image set by the most recent call to
+    // updateTexImage.
+    //
+    // This transform matrix maps 2D homogeneous texture coordinates of the form
+    // (s, t, 0, 1) with s and t in the inclusive range [0, 1] to the texture
+    // coordinate that should be used to sample that location from the texture.
+    // Sampling the texture outside of the range of this transform is undefined.
+    //
+    // This transform is necessary to compensate for transforms that the stream
+    // content producer may implicitly apply to the content. By forcing users of
+    // a GLConsumer to apply this transform we avoid performing an extra
+    // copy of the data that would be needed to hide the transform from the
+    // user.
+    //
+    // The matrix is stored in column-major order so that it may be passed
+    // directly to OpenGL ES via the glLoadMatrixf or glUniformMatrix4fv
+    // functions.
+    void getTransformMatrix(float mtx[16]);
+
+    // getTimestamp retrieves the timestamp associated with the texture image
+    // set by the most recent call to updateTexImage.
+    //
+    // The timestamp is in nanoseconds, and is monotonically increasing. Its
+    // other semantics (zero point, etc) are source-dependent and should be
+    // documented by the source.
+    int64_t getTimestamp();
+
+    // getFrameNumber retrieves the frame number associated with the texture
+    // image set by the most recent call to updateTexImage.
+    //
+    // The frame number is an incrementing counter set to 0 at the creation of
+    // the BufferQueue associated with this consumer.
+    uint64_t getFrameNumber();
+
+    // setDefaultBufferSize is used to set the size of buffers returned by
+    // requestBuffers when a with and height of zero is requested.
+    // A call to setDefaultBufferSize() may trigger requestBuffers() to
+    // be called from the client.
+    // The width and height parameters must be no greater than the minimum of
+    // GL_MAX_VIEWPORT_DIMS and GL_MAX_TEXTURE_SIZE (see: glGetIntegerv).
+    // An error due to invalid dimensions might not be reported until
+    // updateTexImage() is called.
+    status_t setDefaultBufferSize(uint32_t width, uint32_t height);
+
+    // setFilteringEnabled sets whether the transform matrix should be computed
+    // for use with bilinear filtering.
+    void setFilteringEnabled(bool enabled);
+
+    // getCurrentBuffer returns the buffer associated with the current image.
+    sp<GraphicBuffer> getCurrentBuffer() const;
+
+    // getCurrentTextureTarget returns the texture target of the current
+    // texture as returned by updateTexImage().
+    uint32_t getCurrentTextureTarget() const;
+
+    // getCurrentCrop returns the cropping rectangle of the current buffer.
+    Rect getCurrentCrop() const;
+
+    // getCurrentTransform returns the transform of the current buffer.
+    uint32_t getCurrentTransform() const;
+
+    // getCurrentScalingMode returns the scaling mode of the current buffer.
+    uint32_t getCurrentScalingMode() const;
+
+    // getCurrentFence returns the fence indicating when the current buffer is
+    // ready to be read from.
+    sp<Fence> getCurrentFence() const;
+
+    // doGLFenceWait inserts a wait command into the OpenGL ES command stream
+    // to ensure that it is safe for future OpenGL ES commands to access the
+    // current texture buffer.
+    status_t doGLFenceWait() const;
+
+    // set the name of the GLConsumer that will be used to identify it in
+    // log messages.
+    void setName(const String8& name);
+
+    // These functions call the corresponding BufferQueue implementation
+    // so the refactoring can proceed smoothly
+    status_t setDefaultBufferFormat(PixelFormat defaultFormat);
+    status_t setDefaultBufferDataSpace(android_dataspace defaultDataSpace);
+    status_t setConsumerUsageBits(uint32_t usage);
+    status_t setTransformHint(uint32_t hint);
+
+    // detachFromContext detaches the GLConsumer from the calling thread's
+    // current OpenGL ES context.  This context must be the same as the context
+    // that was current for previous calls to updateTexImage.
+    //
+    // Detaching a GLConsumer from an OpenGL ES context will result in the
+    // deletion of the OpenGL ES texture object into which the images were being
+    // streamed.  After a GLConsumer has been detached from the OpenGL ES
+    // context calls to updateTexImage will fail returning INVALID_OPERATION
+    // until the GLConsumer is attached to a new OpenGL ES context using the
+    // attachToContext method.
+    status_t detachFromContext();
+
+    // attachToContext attaches a GLConsumer that is currently in the
+    // 'detached' state to the current OpenGL ES context.  A GLConsumer is
+    // in the 'detached' state iff detachFromContext has successfully been
+    // called and no calls to attachToContext have succeeded since the last
+    // detachFromContext call.  Calls to attachToContext made on a
+    // GLConsumer that is not in the 'detached' state will result in an
+    // INVALID_OPERATION error.
+    //
+    // The tex argument specifies the OpenGL ES texture object name in the
+    // new context into which the image contents will be streamed.  A successful
+    // call to attachToContext will result in this texture object being bound to
+    // the texture target and populated with the image contents that were
+    // current at the time of the last call to detachFromContext.
+    status_t attachToContext(uint32_t tex);
+
+protected:
+
+    // abandonLocked overrides the ConsumerBase method to clear
+    // mCurrentTextureImage in addition to the ConsumerBase behavior.
+    virtual void abandonLocked();
+
+    // dumpLocked overrides the ConsumerBase method to dump GLConsumer-
+    // specific info in addition to the ConsumerBase behavior.
+    virtual void dumpLocked(String8& result, const char* prefix) const;
+
+    // acquireBufferLocked overrides the ConsumerBase method to update the
+    // mEglSlots array in addition to the ConsumerBase behavior.
+    virtual status_t acquireBufferLocked(BufferItem *item, nsecs_t presentWhen,
+            uint64_t maxFrameNumber = 0) override;
+
+    // releaseBufferLocked overrides the ConsumerBase method to update the
+    // mEglSlots array in addition to the ConsumerBase.
+    virtual status_t releaseBufferLocked(int slot,
+            const sp<GraphicBuffer> graphicBuffer,
+            EGLDisplay display, EGLSyncKHR eglFence);
+
+    status_t releaseBufferLocked(int slot,
+            const sp<GraphicBuffer> graphicBuffer, EGLSyncKHR eglFence) {
+        return releaseBufferLocked(slot, graphicBuffer, mEglDisplay, eglFence);
+    }
+
+    static bool isExternalFormat(PixelFormat format);
+
+    // This releases the buffer in the slot referenced by mCurrentTexture,
+    // then updates state to refer to the BufferItem, which must be a
+    // newly-acquired buffer.
+    status_t updateAndReleaseLocked(const BufferItem& item);
+
+    // Binds mTexName and the current buffer to mTexTarget.  Uses
+    // mCurrentTexture if it's set, mCurrentTextureImage if not.  If the
+    // bind succeeds, this calls doGLFenceWait.
+    status_t bindTextureImageLocked();
+
+    // Gets the current EGLDisplay and EGLContext values, and compares them
+    // to mEglDisplay and mEglContext.  If the fields have been previously
+    // set, the values must match; if not, the fields are set to the current
+    // values.
+    // The contextCheck argument is used to ensure that a GL context is
+    // properly set; when set to false, the check is not performed.
+    status_t checkAndUpdateEglStateLocked(bool contextCheck = false);
+
+private:
+    // EglImage is a utility class for tracking and creating EGLImageKHRs. There
+    // is primarily just one image per slot, but there is also special cases:
+    //  - For releaseTexImage, we use a debug image (mReleasedTexImage)
+    //  - After freeBuffer, we must still keep the current image/buffer
+    // Reference counting EGLImages lets us handle all these cases easily while
+    // also only creating new EGLImages from buffers when required.
+    class EglImage : public LightRefBase<EglImage>  {
+    public:
+        EglImage(sp<GraphicBuffer> graphicBuffer);
+
+        // createIfNeeded creates an EGLImage if required (we haven't created
+        // one yet, or the EGLDisplay or crop-rect has changed).
+        status_t createIfNeeded(EGLDisplay display,
+                                const Rect& cropRect,
+                                bool forceCreate = false);
+
+        // This calls glEGLImageTargetTexture2DOES to bind the image to the
+        // texture in the specified texture target.
+        void bindToTextureTarget(uint32_t texTarget);
+
+        const sp<GraphicBuffer>& graphicBuffer() { return mGraphicBuffer; }
+        const native_handle* graphicBufferHandle() {
+            return mGraphicBuffer == NULL ? NULL : mGraphicBuffer->handle;
+        }
+
+    private:
+        // Only allow instantiation using ref counting.
+        friend class LightRefBase<EglImage>;
+        virtual ~EglImage();
+
+        // createImage creates a new EGLImage from a GraphicBuffer.
+        EGLImageKHR createImage(EGLDisplay dpy,
+                const sp<GraphicBuffer>& graphicBuffer, const Rect& crop);
+
+        // Disallow copying
+        EglImage(const EglImage& rhs);
+        void operator = (const EglImage& rhs);
+
+        // mGraphicBuffer is the buffer that was used to create this image.
+        sp<GraphicBuffer> mGraphicBuffer;
+
+        // mEglImage is the EGLImage created from mGraphicBuffer.
+        EGLImageKHR mEglImage;
+
+        // mEGLDisplay is the EGLDisplay that was used to create mEglImage.
+        EGLDisplay mEglDisplay;
+
+        // mCropRect is the crop rectangle passed to EGL when mEglImage
+        // was created.
+        Rect mCropRect;
+    };
+
+    // freeBufferLocked frees up the given buffer slot. If the slot has been
+    // initialized this will release the reference to the GraphicBuffer in that
+    // slot and destroy the EGLImage in that slot.  Otherwise it has no effect.
+    //
+    // This method must be called with mMutex locked.
+    virtual void freeBufferLocked(int slotIndex);
+
+    // computeCurrentTransformMatrixLocked computes the transform matrix for the
+    // current texture.  It uses mCurrentTransform and the current GraphicBuffer
+    // to compute this matrix and stores it in mCurrentTransformMatrix.
+    // mCurrentTextureImage must not be NULL.
+    void computeCurrentTransformMatrixLocked();
+
+    // doGLFenceWaitLocked inserts a wait command into the OpenGL ES command
+    // stream to ensure that it is safe for future OpenGL ES commands to
+    // access the current texture buffer.
+    status_t doGLFenceWaitLocked() const;
+
+    // syncForReleaseLocked performs the synchronization needed to release the
+    // current slot from an OpenGL ES context.  If needed it will set the
+    // current slot's fence to guard against a producer accessing the buffer
+    // before the outstanding accesses have completed.
+    status_t syncForReleaseLocked(EGLDisplay dpy);
+
+    // returns a graphic buffer used when the texture image has been released
+    static sp<GraphicBuffer> getDebugTexImageBuffer();
+
+    // The default consumer usage flags that GLConsumer always sets on its
+    // BufferQueue instance; these will be OR:d with any additional flags passed
+    // from the GLConsumer user. In particular, GLConsumer will always
+    // consume buffers as hardware textures.
+    static const uint32_t DEFAULT_USAGE_FLAGS = GraphicBuffer::USAGE_HW_TEXTURE;
+
+    // mCurrentTextureImage is the EglImage/buffer of the current texture. It's
+    // possible that this buffer is not associated with any buffer slot, so we
+    // must track it separately in order to support the getCurrentBuffer method.
+    sp<EglImage> mCurrentTextureImage;
+
+    // mCurrentCrop is the crop rectangle that applies to the current texture.
+    // It gets set each time updateTexImage is called.
+    Rect mCurrentCrop;
+
+    // mCurrentTransform is the transform identifier for the current texture. It
+    // gets set each time updateTexImage is called.
+    uint32_t mCurrentTransform;
+
+    // mCurrentScalingMode is the scaling mode for the current texture. It gets
+    // set each time updateTexImage is called.
+    uint32_t mCurrentScalingMode;
+
+    // mCurrentFence is the fence received from BufferQueue in updateTexImage.
+    sp<Fence> mCurrentFence;
+
+    // mCurrentTransformMatrix is the transform matrix for the current texture.
+    // It gets computed by computeTransformMatrix each time updateTexImage is
+    // called.
+    float mCurrentTransformMatrix[16];
+
+    // mCurrentTimestamp is the timestamp for the current texture. It
+    // gets set each time updateTexImage is called.
+    int64_t mCurrentTimestamp;
+
+    // mCurrentFrameNumber is the frame counter for the current texture.
+    // It gets set each time updateTexImage is called.
+    uint64_t mCurrentFrameNumber;
+
+    uint32_t mDefaultWidth, mDefaultHeight;
+
+    // mFilteringEnabled indicates whether the transform matrix is computed for
+    // use with bilinear filtering. It defaults to true and is changed by
+    // setFilteringEnabled().
+    bool mFilteringEnabled;
+
+    // mTexName is the name of the OpenGL texture to which streamed images will
+    // be bound when updateTexImage is called. It is set at construction time
+    // and can be changed with a call to attachToContext.
+    uint32_t mTexName;
+
+    // mUseFenceSync indicates whether creation of the EGL_KHR_fence_sync
+    // extension should be used to prevent buffers from being dequeued before
+    // it's safe for them to be written. It gets set at construction time and
+    // never changes.
+    const bool mUseFenceSync;
+
+    // mTexTarget is the GL texture target with which the GL texture object is
+    // associated.  It is set in the constructor and never changed.  It is
+    // almost always GL_TEXTURE_EXTERNAL_OES except for one use case in Android
+    // Browser.  In that case it is set to GL_TEXTURE_2D to allow
+    // glCopyTexSubImage to read from the texture.  This is a hack to work
+    // around a GL driver limitation on the number of FBO attachments, which the
+    // browser's tile cache exceeds.
+    const uint32_t mTexTarget;
+
+    // EGLSlot contains the information and object references that
+    // GLConsumer maintains about a BufferQueue buffer slot.
+    struct EglSlot {
+        EglSlot() : mEglFence(EGL_NO_SYNC_KHR) {}
+
+        // mEglImage is the EGLImage created from mGraphicBuffer.
+        sp<EglImage> mEglImage;
+
+        // mFence is the EGL sync object that must signal before the buffer
+        // associated with this buffer slot may be dequeued. It is initialized
+        // to EGL_NO_SYNC_KHR when the buffer is created and (optionally, based
+        // on a compile-time option) set to a new sync object in updateTexImage.
+        EGLSyncKHR mEglFence;
+    };
+
+    // mEglDisplay is the EGLDisplay with which this GLConsumer is currently
+    // associated.  It is intialized to EGL_NO_DISPLAY and gets set to the
+    // current display when updateTexImage is called for the first time and when
+    // attachToContext is called.
+    EGLDisplay mEglDisplay;
+
+    // mEglContext is the OpenGL ES context with which this GLConsumer is
+    // currently associated.  It is initialized to EGL_NO_CONTEXT and gets set
+    // to the current GL context when updateTexImage is called for the first
+    // time and when attachToContext is called.
+    EGLContext mEglContext;
+
+    // mEGLSlots stores the buffers that have been allocated by the BufferQueue
+    // for each buffer slot.  It is initialized to null pointers, and gets
+    // filled in with the result of BufferQueue::acquire when the
+    // client dequeues a buffer from a
+    // slot that has not yet been used. The buffer allocated to a slot will also
+    // be replaced if the requested buffer usage or geometry differs from that
+    // of the buffer allocated to a slot.
+    EglSlot mEglSlots[BufferQueue::NUM_BUFFER_SLOTS];
+
+    // mCurrentTexture is the buffer slot index of the buffer that is currently
+    // bound to the OpenGL texture. It is initialized to INVALID_BUFFER_SLOT,
+    // indicating that no buffer slot is currently bound to the texture. Note,
+    // however, that a value of INVALID_BUFFER_SLOT does not necessarily mean
+    // that no buffer is bound to the texture. A call to setBufferCount will
+    // reset mCurrentTexture to INVALID_BUFFER_SLOT.
+    int mCurrentTexture;
+
+    // mAttached indicates whether the ConsumerBase is currently attached to
+    // an OpenGL ES context.  For legacy reasons, this is initialized to true,
+    // indicating that the ConsumerBase is considered to be attached to
+    // whatever context is current at the time of the first updateTexImage call.
+    // It is set to false by detachFromContext, and then set to true again by
+    // attachToContext.
+    bool mAttached;
+
+    // protects static initialization
+    static Mutex sStaticInitLock;
+
+    // mReleasedTexImageBuffer is a dummy buffer used when in single buffer
+    // mode and releaseTexImage() has been called
+    static sp<GraphicBuffer> sReleasedTexImageBuffer;
+    sp<EglImage> mReleasedTexImage;
+};
+
+// ----------------------------------------------------------------------------
+}; // namespace android
+
+#endif // ANDROID_GUI_CONSUMER_H
diff --git a/third_party/android_frameworks_native/include/gui/GraphicBufferAlloc.h b/third_party/android_frameworks_native/include/gui/GraphicBufferAlloc.h
new file mode 100644
index 0000000000..69fe51ef93
--- /dev/null
+++ b/third_party/android_frameworks_native/include/gui/GraphicBufferAlloc.h
@@ -0,0 +1,45 @@
+/*
+ * Copyright (C) 2012 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_SF_GRAPHIC_BUFFER_ALLOC_H
+#define ANDROID_SF_GRAPHIC_BUFFER_ALLOC_H
+
+#include <stdint.h>
+#include <sys/types.h>
+
+#include <gui/IGraphicBufferAlloc.h>
+#include <ui/PixelFormat.h>
+#include <utils/Errors.h>
+
+namespace android {
+// ---------------------------------------------------------------------------
+
+class GraphicBuffer;
+
+class GraphicBufferAlloc : public BnGraphicBufferAlloc {
+public:
+    GraphicBufferAlloc();
+    virtual ~GraphicBufferAlloc();
+    virtual sp<GraphicBuffer> createGraphicBuffer(uint32_t width,
+            uint32_t height, PixelFormat format, uint32_t usage,
+            status_t* error);
+};
+
+
+// ---------------------------------------------------------------------------
+}; // namespace android
+
+#endif // ANDROID_SF_GRAPHIC_BUFFER_ALLOC_H
diff --git a/third_party/android_frameworks_native/include/gui/GuiConfig.h b/third_party/android_frameworks_native/include/gui/GuiConfig.h
new file mode 100644
index 0000000000..b020ed9b6a
--- /dev/null
+++ b/third_party/android_frameworks_native/include/gui/GuiConfig.h
@@ -0,0 +1,29 @@
+/*
+ * Copyright (C) 2012 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_GUI_CONFIG_H
+#define ANDROID_GUI_CONFIG_H
+
+#include <utils/String8.h>
+
+namespace android {
+
+// Append the libgui configuration details to configStr.
+void appendGuiConfigString(String8& configStr);
+
+}; // namespace android
+
+#endif /*ANDROID_GUI_CONFIG_H*/
diff --git a/third_party/android_frameworks_native/include/gui/IConsumerListener.h b/third_party/android_frameworks_native/include/gui/IConsumerListener.h
new file mode 100644
index 0000000000..3f39799564
--- /dev/null
+++ b/third_party/android_frameworks_native/include/gui/IConsumerListener.h
@@ -0,0 +1,104 @@
+/*
+ * Copyright (C) 2013 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_GUI_ICONSUMERLISTENER_H
+#define ANDROID_GUI_ICONSUMERLISTENER_H
+
+#include <stdint.h>
+#include <sys/types.h>
+
+#include <utils/Errors.h>
+#include <utils/RefBase.h>
+
+#include <binder/IInterface.h>
+
+namespace android {
+// ----------------------------------------------------------------------------
+
+class BufferItem;
+
+// ConsumerListener is the interface through which the BufferQueue notifies
+// the consumer of events that the consumer may wish to react to.  Because
+// the consumer will generally have a mutex that is locked during calls from
+// the consumer to the BufferQueue, these calls from the BufferQueue to the
+// consumer *MUST* be called only when the BufferQueue mutex is NOT locked.
+
+class ConsumerListener : public virtual RefBase {
+public:
+    ConsumerListener() { }
+    virtual ~ConsumerListener() { }
+
+    // onFrameAvailable is called from queueBuffer each time an additional
+    // frame becomes available for consumption. This means that frames that
+    // are queued while in asynchronous mode only trigger the callback if no
+    // previous frames are pending. Frames queued while in synchronous mode
+    // always trigger the callback. The item passed to the callback will contain
+    // all of the information about the queued frame except for its
+    // GraphicBuffer pointer, which will always be null.
+    //
+    // This is called without any lock held and can be called concurrently
+    // by multiple threads.
+    virtual void onFrameAvailable(const BufferItem& item) = 0; /* Asynchronous */
+
+    // onFrameReplaced is called from queueBuffer if the frame being queued is
+    // replacing an existing slot in the queue. Any call to queueBuffer that
+    // doesn't call onFrameAvailable will call this callback instead. The item
+    // passed to the callback will contain all of the information about the
+    // queued frame except for its GraphicBuffer pointer, which will always be
+    // null.
+    //
+    // This is called without any lock held and can be called concurrently
+    // by multiple threads.
+    virtual void onFrameReplaced(const BufferItem& /* item */) {} /* Asynchronous */
+
+    // onBuffersReleased is called to notify the buffer consumer that the
+    // BufferQueue has released its references to one or more GraphicBuffers
+    // contained in its slots.  The buffer consumer should then call
+    // BufferQueue::getReleasedBuffers to retrieve the list of buffers
+    //
+    // This is called without any lock held and can be called concurrently
+    // by multiple threads.
+    virtual void onBuffersReleased() = 0; /* Asynchronous */
+
+    // onSidebandStreamChanged is called to notify the buffer consumer that the
+    // BufferQueue's sideband buffer stream has changed. This is called when a
+    // stream is first attached and when it is either detached or replaced by a
+    // different stream.
+    virtual void onSidebandStreamChanged() = 0; /* Asynchronous */
+};
+
+
+class IConsumerListener : public ConsumerListener, public IInterface
+{
+public:
+    DECLARE_META_INTERFACE(ConsumerListener);
+};
+
+// ----------------------------------------------------------------------------
+
+class BnConsumerListener : public BnInterface<IConsumerListener>
+{
+public:
+    virtual status_t    onTransact( uint32_t code,
+                                    const Parcel& data,
+                                    Parcel* reply,
+                                    uint32_t flags = 0);
+};
+
+// ----------------------------------------------------------------------------
+}; // namespace android
+
+#endif // ANDROID_GUI_ICONSUMERLISTENER_H
diff --git a/third_party/android_frameworks_native/include/gui/IDisplayEventConnection.h b/third_party/android_frameworks_native/include/gui/IDisplayEventConnection.h
new file mode 100644
index 0000000000..86247de62b
--- /dev/null
+++ b/third_party/android_frameworks_native/include/gui/IDisplayEventConnection.h
@@ -0,0 +1,73 @@
+/*
+ * Copyright (C) 2011 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_GUI_IDISPLAY_EVENT_CONNECTION_H
+#define ANDROID_GUI_IDISPLAY_EVENT_CONNECTION_H
+
+#include <stdint.h>
+#include <sys/types.h>
+
+#include <utils/Errors.h>
+#include <utils/RefBase.h>
+
+#include <binder/IInterface.h>
+
+namespace android {
+// ----------------------------------------------------------------------------
+
+class BitTube;
+
+class IDisplayEventConnection : public IInterface
+{
+public:
+
+    DECLARE_META_INTERFACE(DisplayEventConnection);
+
+    /*
+     * getDataChannel() returns a BitTube where to receive the events from
+     */
+    virtual sp<BitTube> getDataChannel() const = 0;
+
+    /*
+     * setVsyncRate() sets the vsync event delivery rate. A value of
+     * 1 returns every vsync events. A value of 2 returns every other events,
+     * etc... a value of 0 returns no event unless  requestNextVsync() has
+     * been called.
+     */
+    virtual void setVsyncRate(uint32_t count) = 0;
+
+    /*
+     * requestNextVsync() schedules the next vsync event. It has no effect
+     * if the vsync rate is > 0.
+     */
+    virtual void requestNextVsync() = 0;    // asynchronous
+};
+
+// ----------------------------------------------------------------------------
+
+class BnDisplayEventConnection : public BnInterface<IDisplayEventConnection>
+{
+public:
+    virtual status_t    onTransact( uint32_t code,
+                                    const Parcel& data,
+                                    Parcel* reply,
+                                    uint32_t flags = 0);
+};
+
+// ----------------------------------------------------------------------------
+}; // namespace android
+
+#endif // ANDROID_GUI_IDISPLAY_EVENT_CONNECTION_H
diff --git a/third_party/android_frameworks_native/include/gui/IGraphicBufferAlloc.h b/third_party/android_frameworks_native/include/gui/IGraphicBufferAlloc.h
new file mode 100644
index 0000000000..f3c46ec2ed
--- /dev/null
+++ b/third_party/android_frameworks_native/include/gui/IGraphicBufferAlloc.h
@@ -0,0 +1,58 @@
+/*
+ * Copyright (C) 2011 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_GUI_IGRAPHIC_BUFFER_ALLOC_H
+#define ANDROID_GUI_IGRAPHIC_BUFFER_ALLOC_H
+
+#include <stdint.h>
+#include <sys/types.h>
+
+#include <binder/IInterface.h>
+#include <ui/PixelFormat.h>
+#include <utils/RefBase.h>
+
+namespace android {
+// ----------------------------------------------------------------------------
+
+class GraphicBuffer;
+
+class IGraphicBufferAlloc : public IInterface
+{
+public:
+    DECLARE_META_INTERFACE(GraphicBufferAlloc);
+
+    /* Create a new GraphicBuffer for the client to use.
+     */
+    virtual sp<GraphicBuffer> createGraphicBuffer(uint32_t w, uint32_t h,
+            PixelFormat format, uint32_t usage, status_t* error) = 0;
+};
+
+// ----------------------------------------------------------------------------
+
+class BnGraphicBufferAlloc : public BnInterface<IGraphicBufferAlloc>
+{
+public:
+    virtual status_t onTransact(uint32_t code,
+                                const Parcel& data,
+                                Parcel* reply,
+                                uint32_t flags = 0);
+};
+
+// ----------------------------------------------------------------------------
+
+}; // namespace android
+
+#endif // ANDROID_GUI_IGRAPHIC_BUFFER_ALLOC_H
diff --git a/third_party/android_frameworks_native/include/gui/IGraphicBufferConsumer.h b/third_party/android_frameworks_native/include/gui/IGraphicBufferConsumer.h
new file mode 100644
index 0000000000..60ec9cc0e9
--- /dev/null
+++ b/third_party/android_frameworks_native/include/gui/IGraphicBufferConsumer.h
@@ -0,0 +1,280 @@
+/*
+ * Copyright (C) 2013 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_GUI_IGRAPHICBUFFERCONSUMER_H
+#define ANDROID_GUI_IGRAPHICBUFFERCONSUMER_H
+
+#include <stdint.h>
+#include <sys/types.h>
+
+#include <utils/Errors.h>
+#include <utils/RefBase.h>
+#include <utils/Timers.h>
+
+#include <binder/IInterface.h>
+#include <ui/PixelFormat.h>
+#include <ui/Rect.h>
+
+#include <EGL/egl.h>
+#include <EGL/eglext.h>
+
+namespace android {
+// ----------------------------------------------------------------------------
+
+class BufferItem;
+class Fence;
+class GraphicBuffer;
+class IConsumerListener;
+class NativeHandle;
+
+class IGraphicBufferConsumer : public IInterface {
+
+public:
+    enum {
+        // Returned by releaseBuffer, after which the consumer must
+        // free any references to the just-released buffer that it might have.
+        STALE_BUFFER_SLOT = 1,
+        // Returned by dequeueBuffer if there are no pending buffers available.
+        NO_BUFFER_AVAILABLE,
+        // Returned by dequeueBuffer if it's too early for the buffer to be acquired.
+        PRESENT_LATER,
+    };
+
+    // acquireBuffer attempts to acquire ownership of the next pending buffer in
+    // the BufferQueue.  If no buffer is pending then it returns
+    // NO_BUFFER_AVAILABLE.  If a buffer is successfully acquired, the
+    // information about the buffer is returned in BufferItem.
+    //
+    // If the buffer returned had previously been
+    // acquired then the BufferItem::mGraphicBuffer field of buffer is set to
+    // NULL and it is assumed that the consumer still holds a reference to the
+    // buffer.
+    //
+    // If presentWhen is non-zero, it indicates the time when the buffer will
+    // be displayed on screen.  If the buffer's timestamp is farther in the
+    // future, the buffer won't be acquired, and PRESENT_LATER will be
+    // returned.  The presentation time is in nanoseconds, and the time base
+    // is CLOCK_MONOTONIC.
+    //
+    // If maxFrameNumber is non-zero, it indicates that acquireBuffer should
+    // only return a buffer with a frame number less than or equal to
+    // maxFrameNumber. If no such frame is available (such as when a buffer has
+    // been replaced but the consumer has not received the onFrameReplaced
+    // callback), then PRESENT_LATER will be returned.
+    //
+    // Return of NO_ERROR means the operation completed as normal.
+    //
+    // Return of a positive value means the operation could not be completed
+    //    at this time, but the user should try again later:
+    // * NO_BUFFER_AVAILABLE - no buffer is pending (nothing queued by producer)
+    // * PRESENT_LATER - the buffer's timestamp is farther in the future
+    //
+    // Return of a negative value means an error has occurred:
+    // * INVALID_OPERATION - too many buffers have been acquired
+    virtual status_t acquireBuffer(BufferItem* buffer, nsecs_t presentWhen,
+            uint64_t maxFrameNumber = 0) = 0;
+
+    // detachBuffer attempts to remove all ownership of the buffer in the given
+    // slot from the buffer queue. If this call succeeds, the slot will be
+    // freed, and there will be no way to obtain the buffer from this interface.
+    // The freed slot will remain unallocated until either it is selected to
+    // hold a freshly allocated buffer in dequeueBuffer or a buffer is attached
+    // to the slot. The buffer must have already been acquired.
+    //
+    // Return of a value other than NO_ERROR means an error has occurred:
+    // * BAD_VALUE - the given slot number is invalid, either because it is
+    //               out of the range [0, NUM_BUFFER_SLOTS) or because the slot
+    //               it refers to is not currently acquired.
+    virtual status_t detachBuffer(int slot) = 0;
+
+    // attachBuffer attempts to transfer ownership of a buffer to the buffer
+    // queue. If this call succeeds, it will be as if this buffer was acquired
+    // from the returned slot number. As such, this call will fail if attaching
+    // this buffer would cause too many buffers to be simultaneously acquired.
+    //
+    // If the buffer is successfully attached, its frameNumber is initialized
+    // to 0. This must be passed into the releaseBuffer call or else the buffer
+    // will be deallocated as stale.
+    //
+    // Return of a value other than NO_ERROR means an error has occurred:
+    // * BAD_VALUE - outSlot or buffer were NULL, or the generation number of
+    //               the buffer did not match the buffer queue.
+    // * INVALID_OPERATION - cannot attach the buffer because it would cause too
+    //                       many buffers to be acquired.
+    // * NO_MEMORY - no free slots available
+    virtual status_t attachBuffer(int *outSlot,
+            const sp<GraphicBuffer>& buffer) = 0;
+
+    // releaseBuffer releases a buffer slot from the consumer back to the
+    // BufferQueue.  This may be done while the buffer's contents are still
+    // being accessed.  The fence will signal when the buffer is no longer
+    // in use. frameNumber is used to indentify the exact buffer returned.
+    //
+    // If releaseBuffer returns STALE_BUFFER_SLOT, then the consumer must free
+    // any references to the just-released buffer that it might have, as if it
+    // had received a onBuffersReleased() call with a mask set for the released
+    // buffer.
+    //
+    // Note that the dependencies on EGL will be removed once we switch to using
+    // the Android HW Sync HAL.
+    //
+    // Return of NO_ERROR means the operation completed as normal.
+    //
+    // Return of a positive value means the operation could not be completed
+    //    at this time, but the user should try again later:
+    // * STALE_BUFFER_SLOT - see above (second paragraph)
+    //
+    // Return of a negative value means an error has occurred:
+    // * BAD_VALUE - one of the following could've happened:
+    //               * the buffer slot was invalid
+    //               * the fence was NULL
+    //               * the buffer slot specified is not in the acquired state
+    virtual status_t releaseBuffer(int buf, uint64_t frameNumber,
+            EGLDisplay display, EGLSyncKHR fence,
+            const sp<Fence>& releaseFence) = 0;
+
+    // consumerConnect connects a consumer to the BufferQueue.  Only one
+    // consumer may be connected, and when that consumer disconnects the
+    // BufferQueue is placed into the "abandoned" state, causing most
+    // interactions with the BufferQueue by the producer to fail.
+    // controlledByApp indicates whether the consumer is controlled by
+    // the application.
+    //
+    // consumer may not be NULL.
+    //
+    // Return of a value other than NO_ERROR means an error has occurred:
+    // * NO_INIT - the buffer queue has been abandoned
+    // * BAD_VALUE - a NULL consumer was provided
+    virtual status_t consumerConnect(const sp<IConsumerListener>& consumer, bool controlledByApp) = 0;
+
+    // consumerDisconnect disconnects a consumer from the BufferQueue. All
+    // buffers will be freed and the BufferQueue is placed in the "abandoned"
+    // state, causing most interactions with the BufferQueue by the producer to
+    // fail.
+    //
+    // Return of a value other than NO_ERROR means an error has occurred:
+    // * BAD_VALUE - no consumer is currently connected
+    virtual status_t consumerDisconnect() = 0;
+
+    // getReleasedBuffers sets the value pointed to by slotMask to a bit set.
+    // Each bit index with a 1 corresponds to a released buffer slot with that
+    // index value.  In particular, a released buffer is one that has
+    // been released by the BufferQueue but have not yet been released by the consumer.
+    //
+    // This should be called from the onBuffersReleased() callback.
+    //
+    // Return of a value other than NO_ERROR means an error has occurred:
+    // * NO_INIT - the buffer queue has been abandoned.
+    virtual status_t getReleasedBuffers(uint64_t* slotMask) = 0;
+
+    // setDefaultBufferSize is used to set the size of buffers returned by
+    // dequeueBuffer when a width and height of zero is requested.  Default
+    // is 1x1.
+    //
+    // Return of a value other than NO_ERROR means an error has occurred:
+    // * BAD_VALUE - either w or h was zero
+    virtual status_t setDefaultBufferSize(uint32_t w, uint32_t h) = 0;
+
+    // setDefaultMaxBufferCount sets the default value for the maximum buffer
+    // count (the initial default is 2). If the producer has requested a
+    // buffer count using setBufferCount, the default buffer count will only
+    // take effect if the producer sets the count back to zero.
+    //
+    // The count must be between 2 and NUM_BUFFER_SLOTS, inclusive.
+    //
+    // Return of a value other than NO_ERROR means an error has occurred:
+    // * BAD_VALUE - bufferCount was out of range (see above).
+    virtual status_t setDefaultMaxBufferCount(int bufferCount) = 0;
+
+    // disableAsyncBuffer disables the extra buffer used in async mode
+    // (when both producer and consumer have set their "isControlledByApp"
+    // flag) and has dequeueBuffer() return WOULD_BLOCK instead.
+    //
+    // This can only be called before consumerConnect().
+    //
+    // Return of a value other than NO_ERROR means an error has occurred:
+    // * INVALID_OPERATION - attempting to call this after consumerConnect.
+    virtual status_t disableAsyncBuffer() = 0;
+
+    // setMaxAcquiredBufferCount sets the maximum number of buffers that can
+    // be acquired by the consumer at one time (default 1).  This call will
+    // fail if a producer is connected to the BufferQueue.
+    //
+    // maxAcquiredBuffers must be (inclusive) between 1 and MAX_MAX_ACQUIRED_BUFFERS.
+    //
+    // Return of a value other than NO_ERROR means an error has occurred:
+    // * BAD_VALUE - maxAcquiredBuffers was out of range (see above).
+    // * INVALID_OPERATION - attempting to call this after a producer connected.
+    virtual status_t setMaxAcquiredBufferCount(int maxAcquiredBuffers) = 0;
+
+    // setConsumerName sets the name used in logging
+    virtual void setConsumerName(const String8& name) = 0;
+
+    // setDefaultBufferFormat allows the BufferQueue to create
+    // GraphicBuffers of a defaultFormat if no format is specified
+    // in dequeueBuffer.
+    // The initial default is PIXEL_FORMAT_RGBA_8888.
+    //
+    // Return of a value other than NO_ERROR means an unknown error has occurred.
+    virtual status_t setDefaultBufferFormat(PixelFormat defaultFormat) = 0;
+
+    // setDefaultBufferDataSpace is a request to the producer to provide buffers
+    // of the indicated dataSpace. The producer may ignore this request.
+    // The initial default is HAL_DATASPACE_UNKNOWN.
+    //
+    // Return of a value other than NO_ERROR means an unknown error has occurred.
+    virtual status_t setDefaultBufferDataSpace(
+            android_dataspace defaultDataSpace) = 0;
+
+    // setConsumerUsageBits will turn on additional usage bits for dequeueBuffer.
+    // These are merged with the bits passed to dequeueBuffer.  The values are
+    // enumerated in gralloc.h, e.g. GRALLOC_USAGE_HW_RENDER; the default is 0.
+    //
+    // Return of a value other than NO_ERROR means an unknown error has occurred.
+    virtual status_t setConsumerUsageBits(uint32_t usage) = 0;
+
+    // setTransformHint bakes in rotation to buffers so overlays can be used.
+    // The values are enumerated in window.h, e.g.
+    // NATIVE_WINDOW_TRANSFORM_ROT_90.  The default is 0 (no transform).
+    //
+    // Return of a value other than NO_ERROR means an unknown error has occurred.
+    virtual status_t setTransformHint(uint32_t hint) = 0;
+
+    // Retrieve the sideband buffer stream, if any.
+    virtual sp<NativeHandle> getSidebandStream() const = 0;
+
+    // dump state into a string
+    virtual void dump(String8& result, const char* prefix) const = 0;
+
+public:
+    DECLARE_META_INTERFACE(GraphicBufferConsumer);
+};
+
+// ----------------------------------------------------------------------------
+
+class BnGraphicBufferConsumer : public BnInterface<IGraphicBufferConsumer>
+{
+public:
+    virtual status_t    onTransact( uint32_t code,
+                                    const Parcel& data,
+                                    Parcel* reply,
+                                    uint32_t flags = 0);
+};
+
+// ----------------------------------------------------------------------------
+}; // namespace android
+
+#endif // ANDROID_GUI_IGRAPHICBUFFERCONSUMER_H
diff --git a/third_party/android_frameworks_native/include/gui/IGraphicBufferProducer.h b/third_party/android_frameworks_native/include/gui/IGraphicBufferProducer.h
new file mode 100644
index 0000000000..9530de1aa8
--- /dev/null
+++ b/third_party/android_frameworks_native/include/gui/IGraphicBufferProducer.h
@@ -0,0 +1,502 @@
+/*
+ * Copyright (C) 2010 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_GUI_IGRAPHICBUFFERPRODUCER_H
+#define ANDROID_GUI_IGRAPHICBUFFERPRODUCER_H
+
+#include <stdint.h>
+#include <sys/types.h>
+
+#include <utils/Errors.h>
+#include <utils/RefBase.h>
+
+#include <binder/IInterface.h>
+
+#include <ui/Fence.h>
+#include <ui/GraphicBuffer.h>
+#include <ui/Rect.h>
+#include <ui/Region.h>
+
+namespace android {
+// ----------------------------------------------------------------------------
+
+class IProducerListener;
+class NativeHandle;
+class Surface;
+
+/*
+ * This class defines the Binder IPC interface for the producer side of
+ * a queue of graphics buffers.  It's used to send graphics data from one
+ * component to another.  For example, a class that decodes video for
+ * playback might use this to provide frames.  This is typically done
+ * indirectly, through Surface.
+ *
+ * The underlying mechanism is a BufferQueue, which implements
+ * BnGraphicBufferProducer.  In normal operation, the producer calls
+ * dequeueBuffer() to get an empty buffer, fills it with data, then
+ * calls queueBuffer() to make it available to the consumer.
+ *
+ * This class was previously called ISurfaceTexture.
+ */
+class IGraphicBufferProducer : public IInterface
+{
+public:
+    DECLARE_META_INTERFACE(GraphicBufferProducer);
+
+    enum {
+        // A flag returned by dequeueBuffer when the client needs to call
+        // requestBuffer immediately thereafter.
+        BUFFER_NEEDS_REALLOCATION = 0x1,
+        // A flag returned by dequeueBuffer when all mirrored slots should be
+        // released by the client. This flag should always be processed first.
+        RELEASE_ALL_BUFFERS       = 0x2,
+    };
+
+    // requestBuffer requests a new buffer for the given index. The server (i.e.
+    // the IGraphicBufferProducer implementation) assigns the newly created
+    // buffer to the given slot index, and the client is expected to mirror the
+    // slot->buffer mapping so that it's not necessary to transfer a
+    // GraphicBuffer for every dequeue operation.
+    //
+    // The slot must be in the range of [0, NUM_BUFFER_SLOTS).
+    //
+    // Return of a value other than NO_ERROR means an error has occurred:
+    // * NO_INIT - the buffer queue has been abandoned.
+    // * BAD_VALUE - one of the two conditions occurred:
+    //              * slot was out of range (see above)
+    //              * buffer specified by the slot is not dequeued
+    virtual status_t requestBuffer(int slot, sp<GraphicBuffer>* buf) = 0;
+
+    // setBufferCount sets the number of buffer slots available. Calling this
+    // will also cause all buffer slots to be emptied. The caller should empty
+    // its mirrored copy of the buffer slots when calling this method.
+    //
+    // This function should not be called when there are any dequeued buffer
+    // slots, doing so will result in a BAD_VALUE error returned.
+    //
+    // The buffer count should be at most NUM_BUFFER_SLOTS (inclusive), but at least
+    // the minimum undequeued buffer count (exclusive). The minimum value
+    // can be obtained by calling query(NATIVE_WINDOW_MIN_UNDEQUEUED_BUFFERS).
+    // In particular the range is (minUndequeudBuffers, NUM_BUFFER_SLOTS].
+    //
+    // The buffer count may also be set to 0 (the default), to indicate that
+    // the producer does not wish to set a value.
+    //
+    // Return of a value other than NO_ERROR means an error has occurred:
+    // * NO_INIT - the buffer queue has been abandoned.
+    // * BAD_VALUE - one of the below conditions occurred:
+    //              * bufferCount was out of range (see above)
+    //              * client has one or more buffers dequeued
+    virtual status_t setBufferCount(int bufferCount) = 0;
+
+    // dequeueBuffer requests a new buffer slot for the client to use. Ownership
+    // of the slot is transfered to the client, meaning that the server will not
+    // use the contents of the buffer associated with that slot.
+    //
+    // The slot index returned may or may not contain a buffer (client-side).
+    // If the slot is empty the client should call requestBuffer to assign a new
+    // buffer to that slot.
+    //
+    // Once the client is done filling this buffer, it is expected to transfer
+    // buffer ownership back to the server with either cancelBuffer on
+    // the dequeued slot or to fill in the contents of its associated buffer
+    // contents and call queueBuffer.
+    //
+    // If dequeueBuffer returns the BUFFER_NEEDS_REALLOCATION flag, the client is
+    // expected to call requestBuffer immediately.
+    //
+    // If dequeueBuffer returns the RELEASE_ALL_BUFFERS flag, the client is
+    // expected to release all of the mirrored slot->buffer mappings.
+    //
+    // The fence parameter will be updated to hold the fence associated with
+    // the buffer. The contents of the buffer must not be overwritten until the
+    // fence signals. If the fence is Fence::NO_FENCE, the buffer may be written
+    // immediately.
+    //
+    // The async parameter sets whether we're in asynchronous mode for this
+    // dequeueBuffer() call.
+    //
+    // The width and height parameters must be no greater than the minimum of
+    // GL_MAX_VIEWPORT_DIMS and GL_MAX_TEXTURE_SIZE (see: glGetIntegerv).
+    // An error due to invalid dimensions might not be reported until
+    // updateTexImage() is called.  If width and height are both zero, the
+    // default values specified by setDefaultBufferSize() are used instead.
+    //
+    // If the format is 0, the default format will be used.
+    //
+    // The usage argument specifies gralloc buffer usage flags.  The values
+    // are enumerated in <gralloc.h>, e.g. GRALLOC_USAGE_HW_RENDER.  These
+    // will be merged with the usage flags specified by
+    // IGraphicBufferConsumer::setConsumerUsageBits.
+    //
+    // This call will block until a buffer is available to be dequeued. If
+    // both the producer and consumer are controlled by the app, then this call
+    // can never block and will return WOULD_BLOCK if no buffer is available.
+    //
+    // A non-negative value with flags set (see above) will be returned upon
+    // success.
+    //
+    // Return of a negative means an error has occurred:
+    // * NO_INIT - the buffer queue has been abandoned.
+    // * BAD_VALUE - both in async mode and buffer count was less than the
+    //               max numbers of buffers that can be allocated at once.
+    // * INVALID_OPERATION - cannot attach the buffer because it would cause
+    //                       too many buffers to be dequeued, either because
+    //                       the producer already has a single buffer dequeued
+    //                       and did not set a buffer count, or because a
+    //                       buffer count was set and this call would cause
+    //                       it to be exceeded.
+    // * WOULD_BLOCK - no buffer is currently available, and blocking is disabled
+    //                 since both the producer/consumer are controlled by app
+    // * NO_MEMORY - out of memory, cannot allocate the graphics buffer.
+    //
+    // All other negative values are an unknown error returned downstream
+    // from the graphics allocator (typically errno).
+    virtual status_t dequeueBuffer(int* slot, sp<Fence>* fence, bool async,
+            uint32_t w, uint32_t h, PixelFormat format, uint32_t usage) = 0;
+
+    // detachBuffer attempts to remove all ownership of the buffer in the given
+    // slot from the buffer queue. If this call succeeds, the slot will be
+    // freed, and there will be no way to obtain the buffer from this interface.
+    // The freed slot will remain unallocated until either it is selected to
+    // hold a freshly allocated buffer in dequeueBuffer or a buffer is attached
+    // to the slot. The buffer must have already been dequeued, and the caller
+    // must already possesses the sp<GraphicBuffer> (i.e., must have called
+    // requestBuffer).
+    //
+    // Return of a value other than NO_ERROR means an error has occurred:
+    // * NO_INIT - the buffer queue has been abandoned.
+    // * BAD_VALUE - the given slot number is invalid, either because it is
+    //               out of the range [0, NUM_BUFFER_SLOTS), or because the slot
+    //               it refers to is not currently dequeued and requested.
+    virtual status_t detachBuffer(int slot) = 0;
+
+    // detachNextBuffer is equivalent to calling dequeueBuffer, requestBuffer,
+    // and detachBuffer in sequence, except for two things:
+    //
+    // 1) It is unnecessary to know the dimensions, format, or usage of the
+    //    next buffer.
+    // 2) It will not block, since if it cannot find an appropriate buffer to
+    //    return, it will return an error instead.
+    //
+    // Only slots that are free but still contain a GraphicBuffer will be
+    // considered, and the oldest of those will be returned. outBuffer is
+    // equivalent to outBuffer from the requestBuffer call, and outFence is
+    // equivalent to fence from the dequeueBuffer call.
+    //
+    // Return of a value other than NO_ERROR means an error has occurred:
+    // * NO_INIT - the buffer queue has been abandoned.
+    // * BAD_VALUE - either outBuffer or outFence were NULL.
+    // * NO_MEMORY - no slots were found that were both free and contained a
+    //               GraphicBuffer.
+    virtual status_t detachNextBuffer(sp<GraphicBuffer>* outBuffer,
+            sp<Fence>* outFence) = 0;
+
+    // attachBuffer attempts to transfer ownership of a buffer to the buffer
+    // queue. If this call succeeds, it will be as if this buffer was dequeued
+    // from the returned slot number. As such, this call will fail if attaching
+    // this buffer would cause too many buffers to be simultaneously dequeued.
+    //
+    // If attachBuffer returns the RELEASE_ALL_BUFFERS flag, the caller is
+    // expected to release all of the mirrored slot->buffer mappings.
+    //
+    // A non-negative value with flags set (see above) will be returned upon
+    // success.
+    //
+    // Return of a negative value means an error has occurred:
+    // * NO_INIT - the buffer queue has been abandoned.
+    // * BAD_VALUE - outSlot or buffer were NULL, invalid combination of
+    //               async mode and buffer count override, or the generation
+    //               number of the buffer did not match the buffer queue.
+    // * INVALID_OPERATION - cannot attach the buffer because it would cause
+    //                       too many buffers to be dequeued, either because
+    //                       the producer already has a single buffer dequeued
+    //                       and did not set a buffer count, or because a
+    //                       buffer count was set and this call would cause
+    //                       it to be exceeded.
+    // * WOULD_BLOCK - no buffer slot is currently available, and blocking is
+    //                 disabled since both the producer/consumer are
+    //                 controlled by the app.
+    virtual status_t attachBuffer(int* outSlot,
+            const sp<GraphicBuffer>& buffer) = 0;
+
+    // queueBuffer indicates that the client has finished filling in the
+    // contents of the buffer associated with slot and transfers ownership of
+    // that slot back to the server.
+    //
+    // It is not valid to call queueBuffer on a slot that is not owned
+    // by the client or one for which a buffer associated via requestBuffer
+    // (an attempt to do so will fail with a return value of BAD_VALUE).
+    //
+    // In addition, the input must be described by the client (as documented
+    // below). Any other properties (zero point, etc)
+    // are client-dependent, and should be documented by the client.
+    //
+    // The slot must be in the range of [0, NUM_BUFFER_SLOTS).
+    //
+    // Upon success, the output will be filled with meaningful values
+    // (refer to the documentation below).
+    //
+    // Return of a value other than NO_ERROR means an error has occurred:
+    // * NO_INIT - the buffer queue has been abandoned.
+    // * BAD_VALUE - one of the below conditions occurred:
+    //              * fence was NULL
+    //              * scaling mode was unknown
+    //              * both in async mode and buffer count was less than the
+    //                max numbers of buffers that can be allocated at once
+    //              * slot index was out of range (see above).
+    //              * the slot was not in the dequeued state
+    //              * the slot was enqueued without requesting a buffer
+    //              * crop rect is out of bounds of the buffer dimensions
+
+    struct QueueBufferInput : public Flattenable<QueueBufferInput> {
+        friend class Flattenable<QueueBufferInput>;
+        inline QueueBufferInput(const Parcel& parcel);
+        // timestamp - a monotonically increasing value in nanoseconds
+        // isAutoTimestamp - if the timestamp was synthesized at queue time
+        // dataSpace - description of the contents, interpretation depends on format
+        // crop - a crop rectangle that's used as a hint to the consumer
+        // scalingMode - a set of flags from NATIVE_WINDOW_SCALING_* in <window.h>
+        // transform - a set of flags from NATIVE_WINDOW_TRANSFORM_* in <window.h>
+        // async - if the buffer is queued in asynchronous mode
+        // fence - a fence that the consumer must wait on before reading the buffer,
+        //         set this to Fence::NO_FENCE if the buffer is ready immediately
+        // sticky - the sticky transform set in Surface (only used by the LEGACY
+        //          camera mode).
+        inline QueueBufferInput(int64_t timestamp, bool isAutoTimestamp,
+                android_dataspace dataSpace, const Rect& crop, int scalingMode,
+                uint32_t transform, bool async, const sp<Fence>& fence,
+                uint32_t sticky = 0)
+                : timestamp(timestamp), isAutoTimestamp(isAutoTimestamp),
+                  dataSpace(dataSpace), crop(crop), scalingMode(scalingMode),
+                  transform(transform), stickyTransform(sticky),
+                  async(async), fence(fence), surfaceDamage() { }
+        inline void deflate(int64_t* outTimestamp, bool* outIsAutoTimestamp,
+                android_dataspace* outDataSpace,
+                Rect* outCrop, int* outScalingMode,
+                uint32_t* outTransform, bool* outAsync, sp<Fence>* outFence,
+                uint32_t* outStickyTransform = NULL) const {
+            *outTimestamp = timestamp;
+            *outIsAutoTimestamp = bool(isAutoTimestamp);
+            *outDataSpace = dataSpace;
+            *outCrop = crop;
+            *outScalingMode = scalingMode;
+            *outTransform = transform;
+            *outAsync = bool(async);
+            *outFence = fence;
+            if (outStickyTransform != NULL) {
+                *outStickyTransform = stickyTransform;
+            }
+        }
+
+        // Flattenable protocol
+        size_t getFlattenedSize() const;
+        size_t getFdCount() const;
+        status_t flatten(void*& buffer, size_t& size, int*& fds, size_t& count) const;
+        status_t unflatten(void const*& buffer, size_t& size, int const*& fds, size_t& count);
+
+        const Region& getSurfaceDamage() const { return surfaceDamage; }
+        void setSurfaceDamage(const Region& damage) { surfaceDamage = damage; }
+
+    private:
+        int64_t timestamp;
+        int isAutoTimestamp;
+        android_dataspace dataSpace;
+        Rect crop;
+        int scalingMode;
+        uint32_t transform;
+        uint32_t stickyTransform;
+        int async;
+        sp<Fence> fence;
+        Region surfaceDamage;
+    };
+
+    // QueueBufferOutput must be a POD structure
+    struct __attribute__ ((__packed__)) QueueBufferOutput {
+        inline QueueBufferOutput() { }
+        // outWidth - filled with default width applied to the buffer
+        // outHeight - filled with default height applied to the buffer
+        // outTransformHint - filled with default transform applied to the buffer
+        // outNumPendingBuffers - num buffers queued that haven't yet been acquired
+        //                        (counting the currently queued buffer)
+        inline void deflate(uint32_t* outWidth,
+                uint32_t* outHeight,
+                uint32_t* outTransformHint,
+                uint32_t* outNumPendingBuffers) const {
+            *outWidth = width;
+            *outHeight = height;
+            *outTransformHint = transformHint;
+            *outNumPendingBuffers = numPendingBuffers;
+        }
+        inline void inflate(uint32_t inWidth, uint32_t inHeight,
+                uint32_t inTransformHint, uint32_t inNumPendingBuffers) {
+            width = inWidth;
+            height = inHeight;
+            transformHint = inTransformHint;
+            numPendingBuffers = inNumPendingBuffers;
+        }
+    private:
+        uint32_t width;
+        uint32_t height;
+        uint32_t transformHint;
+        uint32_t numPendingBuffers;
+    };
+
+    virtual status_t queueBuffer(int slot,
+            const QueueBufferInput& input, QueueBufferOutput* output) = 0;
+
+    // cancelBuffer indicates that the client does not wish to fill in the
+    // buffer associated with slot and transfers ownership of the slot back to
+    // the server.
+    //
+    // The buffer is not queued for use by the consumer.
+    //
+    // The buffer will not be overwritten until the fence signals.  The fence
+    // will usually be the one obtained from dequeueBuffer.
+    virtual void cancelBuffer(int slot, const sp<Fence>& fence) = 0;
+
+    // query retrieves some information for this surface
+    // 'what' tokens allowed are that of NATIVE_WINDOW_* in <window.h>
+    //
+    // Return of a value other than NO_ERROR means an error has occurred:
+    // * NO_INIT - the buffer queue has been abandoned.
+    // * BAD_VALUE - what was out of range
+    virtual int query(int what, int* value) = 0;
+
+    // connect attempts to connect a client API to the IGraphicBufferProducer.
+    // This must be called before any other IGraphicBufferProducer methods are
+    // called except for getAllocator. A consumer must be already connected.
+    //
+    // This method will fail if the connect was previously called on the
+    // IGraphicBufferProducer and no corresponding disconnect call was made.
+    //
+    // The listener is an optional binder callback object that can be used if
+    // the producer wants to be notified when the consumer releases a buffer
+    // back to the BufferQueue. It is also used to detect the death of the
+    // producer. If only the latter functionality is desired, there is a
+    // DummyProducerListener class in IProducerListener.h that can be used.
+    //
+    // The api should be one of the NATIVE_WINDOW_API_* values in <window.h>
+    //
+    // The producerControlledByApp should be set to true if the producer is hosted
+    // by an untrusted process (typically app_process-forked processes). If both
+    // the producer and the consumer are app-controlled then all buffer queues
+    // will operate in async mode regardless of the async flag.
+    //
+    // Upon success, the output will be filled with meaningful data
+    // (refer to QueueBufferOutput documentation above).
+    //
+    // Return of a value other than NO_ERROR means an error has occurred:
+    // * NO_INIT - one of the following occurred:
+    //             * the buffer queue was abandoned
+    //             * no consumer has yet connected
+    // * BAD_VALUE - one of the following has occurred:
+    //             * the producer is already connected
+    //             * api was out of range (see above).
+    //             * output was NULL.
+    // * DEAD_OBJECT - the token is hosted by an already-dead process
+    //
+    // Additional negative errors may be returned by the internals, they
+    // should be treated as opaque fatal unrecoverable errors.
+    virtual status_t connect(const sp<IProducerListener>& listener,
+            int api, bool producerControlledByApp, QueueBufferOutput* output) = 0;
+
+    // disconnect attempts to disconnect a client API from the
+    // IGraphicBufferProducer.  Calling this method will cause any subsequent
+    // calls to other IGraphicBufferProducer methods to fail except for
+    // getAllocator and connect.  Successfully calling connect after this will
+    // allow the other methods to succeed again.
+    //
+    // This method will fail if the the IGraphicBufferProducer is not currently
+    // connected to the specified client API.
+    //
+    // The api should be one of the NATIVE_WINDOW_API_* values in <window.h>
+    //
+    // Disconnecting from an abandoned IGraphicBufferProducer is legal and
+    // is considered a no-op.
+    //
+    // Return of a value other than NO_ERROR means an error has occurred:
+    // * BAD_VALUE - one of the following has occurred:
+    //             * the api specified does not match the one that was connected
+    //             * api was out of range (see above).
+    // * DEAD_OBJECT - the token is hosted by an already-dead process
+    virtual status_t disconnect(int api) = 0;
+
+    // Attaches a sideband buffer stream to the IGraphicBufferProducer.
+    //
+    // A sideband stream is a device-specific mechanism for passing buffers
+    // from the producer to the consumer without using dequeueBuffer/
+    // queueBuffer. If a sideband stream is present, the consumer can choose
+    // whether to acquire buffers from the sideband stream or from the queued
+    // buffers.
+    //
+    // Passing NULL or a different stream handle will detach the previous
+    // handle if any.
+    virtual status_t setSidebandStream(const sp<NativeHandle>& stream) = 0;
+
+    // Allocates buffers based on the given dimensions/format.
+    //
+    // This function will allocate up to the maximum number of buffers
+    // permitted by the current BufferQueue configuration. It will use the
+    // given format, dimensions, and usage bits, which are interpreted in the
+    // same way as for dequeueBuffer, and the async flag must be set the same
+    // way as for dequeueBuffer to ensure that the correct number of buffers are
+    // allocated. This is most useful to avoid an allocation delay during
+    // dequeueBuffer. If there are already the maximum number of buffers
+    // allocated, this function has no effect.
+    virtual void allocateBuffers(bool async, uint32_t width, uint32_t height,
+            PixelFormat format, uint32_t usage) = 0;
+
+    // Sets whether dequeueBuffer is allowed to allocate new buffers.
+    //
+    // Normally dequeueBuffer does not discriminate between free slots which
+    // already have an allocated buffer and those which do not, and will
+    // allocate a new buffer if the slot doesn't have a buffer or if the slot's
+    // buffer doesn't match the requested size, format, or usage. This method
+    // allows the producer to restrict the eligible slots to those which already
+    // have an allocated buffer of the correct size, format, and usage. If no
+    // eligible slot is available, dequeueBuffer will block or return an error
+    // as usual.
+    virtual status_t allowAllocation(bool allow) = 0;
+
+    // Sets the current generation number of the BufferQueue.
+    //
+    // This generation number will be inserted into any buffers allocated by the
+    // BufferQueue, and any attempts to attach a buffer with a different
+    // generation number will fail. Buffers already in the queue are not
+    // affected and will retain their current generation number. The generation
+    // number defaults to 0.
+    virtual status_t setGenerationNumber(uint32_t generationNumber) = 0;
+
+    // Returns the name of the connected consumer.
+    virtual String8 getConsumerName() const = 0;
+};
+
+// ----------------------------------------------------------------------------
+
+class BnGraphicBufferProducer : public BnInterface<IGraphicBufferProducer>
+{
+public:
+    virtual status_t    onTransact( uint32_t code,
+                                    const Parcel& data,
+                                    Parcel* reply,
+                                    uint32_t flags = 0);
+};
+
+// ----------------------------------------------------------------------------
+}; // namespace android
+
+#endif // ANDROID_GUI_IGRAPHICBUFFERPRODUCER_H
diff --git a/third_party/android_frameworks_native/include/gui/IProducerListener.h b/third_party/android_frameworks_native/include/gui/IProducerListener.h
new file mode 100644
index 0000000000..3848a6c850
--- /dev/null
+++ b/third_party/android_frameworks_native/include/gui/IProducerListener.h
@@ -0,0 +1,67 @@
+/*
+ * Copyright 2014 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_GUI_IPRODUCERLISTENER_H
+#define ANDROID_GUI_IPRODUCERLISTENER_H
+
+#include <binder/IInterface.h>
+
+#include <utils/RefBase.h>
+
+namespace android {
+
+// ProducerListener is the interface through which the BufferQueue notifies the
+// producer of events that the producer may wish to react to. Because the
+// producer will generally have a mutex that is locked during calls from the
+// producer to the BufferQueue, these calls from the BufferQueue to the
+// producer *MUST* be called only when the BufferQueue mutex is NOT locked.
+
+class ProducerListener : public virtual RefBase
+{
+public:
+    ProducerListener() {}
+    virtual ~ProducerListener() {}
+
+    // onBufferReleased is called from IGraphicBufferConsumer::releaseBuffer to
+    // notify the producer that a new buffer is free and ready to be dequeued.
+    //
+    // This is called without any lock held and can be called concurrently by
+    // multiple threads.
+    virtual void onBufferReleased() = 0; // Asynchronous
+};
+
+class IProducerListener : public ProducerListener, public IInterface
+{
+public:
+    DECLARE_META_INTERFACE(ProducerListener)
+};
+
+class BnProducerListener : public BnInterface<IProducerListener>
+{
+public:
+    virtual status_t onTransact(uint32_t code, const Parcel& data,
+            Parcel* reply, uint32_t flags = 0);
+};
+
+class DummyProducerListener : public BnProducerListener
+{
+public:
+    virtual void onBufferReleased() {}
+};
+
+} // namespace android
+
+#endif
diff --git a/third_party/android_frameworks_native/include/gui/ISensorEventConnection.h b/third_party/android_frameworks_native/include/gui/ISensorEventConnection.h
new file mode 100644
index 0000000000..f64c6b8604
--- /dev/null
+++ b/third_party/android_frameworks_native/include/gui/ISensorEventConnection.h
@@ -0,0 +1,59 @@
+/*
+ * Copyright (C) 2010 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_GUI_ISENSOR_EVENT_CONNECTION_H
+#define ANDROID_GUI_ISENSOR_EVENT_CONNECTION_H
+
+#include <stdint.h>
+#include <sys/types.h>
+
+#include <utils/Errors.h>
+#include <utils/RefBase.h>
+
+#include <binder/IInterface.h>
+
+namespace android {
+// ----------------------------------------------------------------------------
+
+class BitTube;
+
+class ISensorEventConnection : public IInterface
+{
+public:
+    DECLARE_META_INTERFACE(SensorEventConnection);
+
+    virtual sp<BitTube> getSensorChannel() const = 0;
+    virtual status_t enableDisable(int handle, bool enabled, nsecs_t samplingPeriodNs,
+                                   nsecs_t maxBatchReportLatencyNs, int reservedFlags) = 0;
+    virtual status_t setEventRate(int handle, nsecs_t ns) = 0;
+    virtual status_t flush() = 0;
+};
+
+// ----------------------------------------------------------------------------
+
+class BnSensorEventConnection : public BnInterface<ISensorEventConnection>
+{
+public:
+    virtual status_t    onTransact( uint32_t code,
+                                    const Parcel& data,
+                                    Parcel* reply,
+                                    uint32_t flags = 0);
+};
+
+// ----------------------------------------------------------------------------
+}; // namespace android
+
+#endif // ANDROID_GUI_ISENSOR_EVENT_CONNECTION_H
diff --git a/third_party/android_frameworks_native/include/gui/ISensorServer.h b/third_party/android_frameworks_native/include/gui/ISensorServer.h
new file mode 100644
index 0000000000..3dca2a3739
--- /dev/null
+++ b/third_party/android_frameworks_native/include/gui/ISensorServer.h
@@ -0,0 +1,60 @@
+/*
+ * Copyright (C) 2010 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_GUI_ISENSORSERVER_H
+#define ANDROID_GUI_ISENSORSERVER_H
+
+#include <stdint.h>
+#include <sys/types.h>
+
+#include <utils/Errors.h>
+#include <utils/RefBase.h>
+
+#include <binder/IInterface.h>
+
+namespace android {
+// ----------------------------------------------------------------------------
+
+class Sensor;
+class ISensorEventConnection;
+class String8;
+
+class ISensorServer : public IInterface
+{
+public:
+    DECLARE_META_INTERFACE(SensorServer);
+
+    virtual Vector<Sensor> getSensorList(const String16& opPackageName) = 0;
+    virtual sp<ISensorEventConnection> createSensorEventConnection(const String8& packageName,
+             int mode, const String16& opPackageName) = 0;
+    virtual int32_t isDataInjectionEnabled() = 0;
+};
+
+// ----------------------------------------------------------------------------
+
+class BnSensorServer : public BnInterface<ISensorServer>
+{
+public:
+    virtual status_t    onTransact( uint32_t code,
+                                    const Parcel& data,
+                                    Parcel* reply,
+                                    uint32_t flags = 0);
+};
+
+// ----------------------------------------------------------------------------
+}; // namespace android
+
+#endif // ANDROID_GUI_ISENSORSERVER_H
diff --git a/third_party/android_frameworks_native/include/gui/ISurfaceComposer.h b/third_party/android_frameworks_native/include/gui/ISurfaceComposer.h
new file mode 100644
index 0000000000..6e3fc5a6de
--- /dev/null
+++ b/third_party/android_frameworks_native/include/gui/ISurfaceComposer.h
@@ -0,0 +1,201 @@
+/*
+ * Copyright (C) 2006 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_GUI_ISURFACE_COMPOSER_H
+#define ANDROID_GUI_ISURFACE_COMPOSER_H
+
+#include <stdint.h>
+#include <sys/types.h>
+
+#include <utils/RefBase.h>
+#include <utils/Errors.h>
+#include <utils/Timers.h>
+#include <utils/Vector.h>
+
+#include <binder/IInterface.h>
+
+#include <ui/FrameStats.h>
+
+#include <gui/IGraphicBufferAlloc.h>
+#include <gui/ISurfaceComposerClient.h>
+
+namespace android {
+// ----------------------------------------------------------------------------
+
+class ComposerState;
+class DisplayState;
+struct DisplayInfo;
+struct DisplayStatInfo;
+class IDisplayEventConnection;
+class IMemoryHeap;
+class Rect;
+
+/*
+ * This class defines the Binder IPC interface for accessing various
+ * SurfaceFlinger features.
+ */
+class ISurfaceComposer: public IInterface {
+public:
+    DECLARE_META_INTERFACE(SurfaceComposer);
+
+    // flags for setTransactionState()
+    enum {
+        eSynchronous = 0x01,
+        eAnimation   = 0x02,
+    };
+
+    enum {
+        eDisplayIdMain = 0,
+        eDisplayIdHdmi = 1,
+#ifdef QTI_BSP
+        eDisplayIdTertiary = 2
+#endif
+    };
+
+    enum Rotation {
+        eRotateNone = 0,
+        eRotate90   = 1,
+        eRotate180  = 2,
+        eRotate270  = 3
+    };
+
+    /* create connection with surface flinger, requires
+     * ACCESS_SURFACE_FLINGER permission
+     */
+    virtual sp<ISurfaceComposerClient> createConnection() = 0;
+
+    /* create a graphic buffer allocator
+     */
+    virtual sp<IGraphicBufferAlloc> createGraphicBufferAlloc() = 0;
+
+    /* return an IDisplayEventConnection */
+    virtual sp<IDisplayEventConnection> createDisplayEventConnection() = 0;
+
+    /* create a virtual display
+     * requires ACCESS_SURFACE_FLINGER permission.
+     */
+    virtual sp<IBinder> createDisplay(const String8& displayName,
+            bool secure) = 0;
+
+    /* destroy a virtual display
+     * requires ACCESS_SURFACE_FLINGER permission.
+     */
+    virtual void destroyDisplay(const sp<IBinder>& display) = 0;
+
+    /* get the token for the existing default displays. possible values
+     * for id are eDisplayIdMain and eDisplayIdHdmi.
+     */
+    virtual sp<IBinder> getBuiltInDisplay(int32_t id) = 0;
+
+    /* open/close transactions. requires ACCESS_SURFACE_FLINGER permission */
+    virtual void setTransactionState(const Vector<ComposerState>& state,
+            const Vector<DisplayState>& displays, uint32_t flags) = 0;
+
+    /* signal that we're done booting.
+     * Requires ACCESS_SURFACE_FLINGER permission
+     */
+    virtual void bootFinished() = 0;
+
+    /* verify that an IGraphicBufferProducer was created by SurfaceFlinger.
+     */
+    virtual bool authenticateSurfaceTexture(
+            const sp<IGraphicBufferProducer>& surface) const = 0;
+
+    /* set display power mode. depending on the mode, it can either trigger
+     * screen on, off or low power mode and wait for it to complete.
+     * requires ACCESS_SURFACE_FLINGER permission.
+     */
+    virtual void setPowerMode(const sp<IBinder>& display, int mode) = 0;
+
+    /* returns information for each configuration of the given display
+     * intended to be used to get information about built-in displays */
+    virtual status_t getDisplayConfigs(const sp<IBinder>& display,
+            Vector<DisplayInfo>* configs) = 0;
+
+    /* returns display statistics for a given display
+     * intended to be used by the media framework to properly schedule
+     * video frames */
+    virtual status_t getDisplayStats(const sp<IBinder>& display,
+            DisplayStatInfo* stats) = 0;
+
+    /* indicates which of the configurations returned by getDisplayInfo is
+     * currently active */
+    virtual int getActiveConfig(const sp<IBinder>& display) = 0;
+
+    /* specifies which configuration (of those returned by getDisplayInfo)
+     * should be used */
+    virtual status_t setActiveConfig(const sp<IBinder>& display, int id) = 0;
+
+    /* Capture the specified screen. requires READ_FRAME_BUFFER permission
+     * This function will fail if there is a secure window on screen.
+     */
+    virtual status_t captureScreen(const sp<IBinder>& display,
+            const sp<IGraphicBufferProducer>& producer,
+            Rect sourceCrop, uint32_t reqWidth, uint32_t reqHeight,
+            uint32_t minLayerZ, uint32_t maxLayerZ,
+            bool useIdentityTransform,
+            Rotation rotation = eRotateNone,
+            bool isCpuConsumer = false) = 0;
+
+    /* Clears the frame statistics for animations.
+     *
+     * Requires the ACCESS_SURFACE_FLINGER permission.
+     */
+    virtual status_t clearAnimationFrameStats() = 0;
+
+    /* Gets the frame statistics for animations.
+     *
+     * Requires the ACCESS_SURFACE_FLINGER permission.
+     */
+    virtual status_t getAnimationFrameStats(FrameStats* outStats) const = 0;
+};
+
+// ----------------------------------------------------------------------------
+
+class BnSurfaceComposer: public BnInterface<ISurfaceComposer> {
+public:
+    enum {
+        // Note: BOOT_FINISHED must remain this value, it is called from
+        // Java by ActivityManagerService.
+        BOOT_FINISHED = IBinder::FIRST_CALL_TRANSACTION,
+        CREATE_CONNECTION,
+        CREATE_GRAPHIC_BUFFER_ALLOC,
+        CREATE_DISPLAY_EVENT_CONNECTION,
+        CREATE_DISPLAY,
+        DESTROY_DISPLAY,
+        GET_BUILT_IN_DISPLAY,
+        SET_TRANSACTION_STATE,
+        AUTHENTICATE_SURFACE,
+        GET_DISPLAY_CONFIGS,
+        GET_ACTIVE_CONFIG,
+        SET_ACTIVE_CONFIG,
+        CONNECT_DISPLAY,
+        CAPTURE_SCREEN,
+        CLEAR_ANIMATION_FRAME_STATS,
+        GET_ANIMATION_FRAME_STATS,
+        SET_POWER_MODE,
+        GET_DISPLAY_STATS,
+    };
+
+    virtual status_t onTransact(uint32_t code, const Parcel& data,
+            Parcel* reply, uint32_t flags = 0);
+};
+
+// ----------------------------------------------------------------------------
+
+}; // namespace android
+
+#endif // ANDROID_GUI_ISURFACE_COMPOSER_H
diff --git a/third_party/android_frameworks_native/include/gui/ISurfaceComposerClient.h b/third_party/android_frameworks_native/include/gui/ISurfaceComposerClient.h
new file mode 100644
index 0000000000..d3e8b8ba13
--- /dev/null
+++ b/third_party/android_frameworks_native/include/gui/ISurfaceComposerClient.h
@@ -0,0 +1,95 @@
+/*
+ * Copyright (C) 2007 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_GUI_ISURFACE_COMPOSER_CLIENT_H
+#define ANDROID_GUI_ISURFACE_COMPOSER_CLIENT_H
+
+#include <stdint.h>
+#include <sys/types.h>
+
+#include <utils/Errors.h>
+#include <utils/RefBase.h>
+
+#include <binder/IInterface.h>
+
+#include <ui/FrameStats.h>
+#include <ui/PixelFormat.h>
+
+namespace android {
+// ----------------------------------------------------------------------------
+
+class IGraphicBufferProducer;
+
+class ISurfaceComposerClient : public IInterface
+{
+public:
+    DECLARE_META_INTERFACE(SurfaceComposerClient);
+
+    // flags for createSurface()
+    enum { // (keep in sync with Surface.java)
+        eHidden             = 0x00000004,
+        eDestroyBackbuffer  = 0x00000020,
+        eSecure             = 0x00000080,
+        eNonPremultiplied   = 0x00000100,
+        eOpaque             = 0x00000400,
+        eProtectedByApp     = 0x00000800,
+        eProtectedByDRM     = 0x00001000,
+        eCursorWindow       = 0x00002000,
+
+        eFXSurfaceNormal    = 0x00000000,
+        eFXSurfaceBlur      = 0x00010000,
+        eFXSurfaceDim       = 0x00020000,
+        eFXSurfaceMask      = 0x000F0000,
+    };
+
+    /*
+     * Requires ACCESS_SURFACE_FLINGER permission
+     */
+    virtual status_t createSurface(
+            const String8& name, uint32_t w, uint32_t h,
+            PixelFormat format, uint32_t flags,
+            sp<IBinder>* handle,
+            sp<IGraphicBufferProducer>* gbp) = 0;
+
+    /*
+     * Requires ACCESS_SURFACE_FLINGER permission
+     */
+    virtual status_t destroySurface(const sp<IBinder>& handle) = 0;
+
+    /*
+     * Requires ACCESS_SURFACE_FLINGER permission
+     */
+    virtual status_t clearLayerFrameStats(const sp<IBinder>& handle) const = 0;
+
+    /*
+     * Requires ACCESS_SURFACE_FLINGER permission
+     */
+    virtual status_t getLayerFrameStats(const sp<IBinder>& handle, FrameStats* outStats) const = 0;
+};
+
+// ----------------------------------------------------------------------------
+
+class BnSurfaceComposerClient: public BnInterface<ISurfaceComposerClient> {
+public:
+    virtual status_t onTransact(uint32_t code, const Parcel& data,
+            Parcel* reply, uint32_t flags = 0);
+};
+
+// ----------------------------------------------------------------------------
+
+}; // namespace android
+
+#endif // ANDROID_GUI_ISURFACE_COMPOSER_CLIENT_H
diff --git a/third_party/android_frameworks_native/include/gui/Sensor.h b/third_party/android_frameworks_native/include/gui/Sensor.h
new file mode 100644
index 0000000000..8142be6352
--- /dev/null
+++ b/third_party/android_frameworks_native/include/gui/Sensor.h
@@ -0,0 +1,113 @@
+/*
+ * Copyright (C) 2010 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_GUI_SENSOR_H
+#define ANDROID_GUI_SENSOR_H
+
+#include <stdint.h>
+#include <sys/types.h>
+
+#include <utils/Errors.h>
+#include <utils/Flattenable.h>
+#include <utils/String8.h>
+#include <utils/Timers.h>
+
+#include <hardware/sensors.h>
+
+#include <android/sensor.h>
+
+// ----------------------------------------------------------------------------
+// Concrete types for the NDK
+struct ASensor { };
+
+// ----------------------------------------------------------------------------
+namespace android {
+// ----------------------------------------------------------------------------
+
+class Parcel;
+
+// ----------------------------------------------------------------------------
+
+class Sensor : public ASensor, public LightFlattenable<Sensor>
+{
+public:
+    enum {
+        TYPE_ACCELEROMETER  = ASENSOR_TYPE_ACCELEROMETER,
+        TYPE_MAGNETIC_FIELD = ASENSOR_TYPE_MAGNETIC_FIELD,
+        TYPE_GYROSCOPE      = ASENSOR_TYPE_GYROSCOPE,
+        TYPE_LIGHT          = ASENSOR_TYPE_LIGHT,
+        TYPE_PROXIMITY      = ASENSOR_TYPE_PROXIMITY
+    };
+
+            Sensor();
+            Sensor(struct sensor_t const* hwSensor, int halVersion = 0);
+            ~Sensor();
+
+    const String8& getName() const;
+    const String8& getVendor() const;
+    int32_t getHandle() const;
+    int32_t getType() const;
+    float getMinValue() const;
+    float getMaxValue() const;
+    float getResolution() const;
+    float getPowerUsage() const;
+    int32_t getMinDelay() const;
+    nsecs_t getMinDelayNs() const;
+    int32_t getVersion() const;
+    uint32_t getFifoReservedEventCount() const;
+    uint32_t getFifoMaxEventCount() const;
+    const String8& getStringType() const;
+    const String8& getRequiredPermission() const;
+    bool isRequiredPermissionRuntime() const;
+    int32_t getRequiredAppOp() const;
+    int32_t getMaxDelay() const;
+    uint32_t getFlags() const;
+    bool isWakeUpSensor() const;
+    int32_t getReportingMode() const;
+
+    // LightFlattenable protocol
+    inline bool isFixedSize() const { return false; }
+    size_t getFlattenedSize() const;
+    status_t flatten(void* buffer, size_t size) const;
+    status_t unflatten(void const* buffer, size_t size);
+
+private:
+    String8 mName;
+    String8 mVendor;
+    int32_t mHandle;
+    int32_t mType;
+    float   mMinValue;
+    float   mMaxValue;
+    float   mResolution;
+    float   mPower;
+    int32_t mMinDelay;
+    int32_t mVersion;
+    uint32_t mFifoReservedEventCount;
+    uint32_t mFifoMaxEventCount;
+    String8 mStringType;
+    String8 mRequiredPermission;
+    bool mRequiredPermissionRuntime = false;
+    int32_t mRequiredAppOp;
+    int32_t mMaxDelay;
+    uint32_t mFlags;
+    static void flattenString8(void*& buffer, size_t& size, const String8& string8);
+    static bool unflattenString8(void const*& buffer, size_t& size, String8& outputString8);
+};
+
+// ----------------------------------------------------------------------------
+}; // namespace android
+
+#endif // ANDROID_GUI_SENSOR_H
diff --git a/third_party/android_frameworks_native/include/gui/SensorEventQueue.h b/third_party/android_frameworks_native/include/gui/SensorEventQueue.h
new file mode 100644
index 0000000000..e5b9fc5984
--- /dev/null
+++ b/third_party/android_frameworks_native/include/gui/SensorEventQueue.h
@@ -0,0 +1,98 @@
+/*
+ * Copyright (C) 2010 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_SENSOR_EVENT_QUEUE_H
+#define ANDROID_SENSOR_EVENT_QUEUE_H
+
+#include <stdint.h>
+#include <sys/types.h>
+
+#include <utils/Errors.h>
+#include <utils/RefBase.h>
+#include <utils/Timers.h>
+#include <utils/String16.h>
+
+#include <gui/BitTube.h>
+
+// ----------------------------------------------------------------------------
+#define WAKE_UP_SENSOR_EVENT_NEEDS_ACK (1U << 31)
+struct ALooper;
+struct ASensorEvent;
+
+// Concrete types for the NDK
+struct ASensorEventQueue {
+    ALooper* looper;
+};
+
+// ----------------------------------------------------------------------------
+namespace android {
+// ----------------------------------------------------------------------------
+
+class ISensorEventConnection;
+class Sensor;
+class Looper;
+
+// ----------------------------------------------------------------------------
+
+class SensorEventQueue : public ASensorEventQueue, public RefBase
+{
+public:
+
+    enum { MAX_RECEIVE_BUFFER_EVENT_COUNT = 256 };
+
+    SensorEventQueue(const sp<ISensorEventConnection>& connection);
+    virtual ~SensorEventQueue();
+    virtual void onFirstRef();
+
+    int getFd() const;
+
+    static ssize_t write(const sp<BitTube>& tube,
+            ASensorEvent const* events, size_t numEvents);
+
+    ssize_t read(ASensorEvent* events, size_t numEvents);
+
+    status_t waitForEvent() const;
+    status_t wake() const;
+
+    status_t enableSensor(Sensor const* sensor) const;
+    status_t disableSensor(Sensor const* sensor) const;
+    status_t setEventRate(Sensor const* sensor, nsecs_t ns) const;
+
+    // these are here only to support SensorManager.java
+    status_t enableSensor(int32_t handle, int32_t samplingPeriodUs, int maxBatchReportLatencyUs,
+                          int reservedFlags) const;
+    status_t disableSensor(int32_t handle) const;
+    status_t flush() const;
+    // Send an ack for every wake_up sensor event that is set to WAKE_UP_SENSOR_EVENT_NEEDS_ACK.
+    void sendAck(const ASensorEvent* events, int count);
+
+    status_t injectSensorEvent(const ASensorEvent& event);
+private:
+    sp<Looper> getLooper() const;
+    sp<ISensorEventConnection> mSensorEventConnection;
+    sp<BitTube> mSensorChannel;
+    mutable Mutex mLock;
+    mutable sp<Looper> mLooper;
+    ASensorEvent* mRecBuffer;
+    size_t mAvailable;
+    size_t mConsumed;
+    uint32_t mNumAcksToSend;
+};
+
+// ----------------------------------------------------------------------------
+}; // namespace android
+
+#endif // ANDROID_SENSOR_EVENT_QUEUE_H
diff --git a/third_party/android_frameworks_native/include/gui/SensorManager.h b/third_party/android_frameworks_native/include/gui/SensorManager.h
new file mode 100644
index 0000000000..0cff46c076
--- /dev/null
+++ b/third_party/android_frameworks_native/include/gui/SensorManager.h
@@ -0,0 +1,84 @@
+/*
+ * Copyright (C) 2010 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_GUI_SENSOR_MANAGER_H
+#define ANDROID_GUI_SENSOR_MANAGER_H
+
+#include <map>
+
+#include <stdint.h>
+#include <sys/types.h>
+
+#include <binder/IBinder.h>
+#include <binder/IPCThreadState.h>
+#include <binder/IServiceManager.h>
+
+#include <utils/Errors.h>
+#include <utils/RefBase.h>
+#include <utils/Singleton.h>
+#include <utils/Vector.h>
+#include <utils/String8.h>
+
+#include <gui/SensorEventQueue.h>
+
+// ----------------------------------------------------------------------------
+// Concrete types for the NDK
+struct ASensorManager { };
+
+// ----------------------------------------------------------------------------
+namespace android {
+// ----------------------------------------------------------------------------
+
+class ISensorServer;
+class Sensor;
+class SensorEventQueue;
+// ----------------------------------------------------------------------------
+
+class SensorManager :
+    public ASensorManager
+{
+public:
+    static SensorManager& getInstanceForPackage(const String16& packageName);
+    ~SensorManager();
+
+    ssize_t getSensorList(Sensor const* const** list) const;
+    Sensor const* getDefaultSensor(int type);
+    sp<SensorEventQueue> createEventQueue(String8 packageName = String8(""), int mode = 0);
+    bool isDataInjectionEnabled();
+
+private:
+    // DeathRecipient interface
+    void sensorManagerDied();
+
+    SensorManager(const String16& opPackageName);
+    status_t assertStateLocked() const;
+
+private:
+    static Mutex sLock;
+    static std::map<String16, SensorManager*> sPackageInstances;
+
+    mutable Mutex mLock;
+    mutable sp<ISensorServer> mSensorServer;
+    mutable Sensor const** mSensorList;
+    mutable Vector<Sensor> mSensors;
+    mutable sp<IBinder::DeathRecipient> mDeathObserver;
+    const String16 mOpPackageName;
+};
+
+// ----------------------------------------------------------------------------
+}; // namespace android
+
+#endif // ANDROID_GUI_SENSOR_MANAGER_H
diff --git a/third_party/android_frameworks_native/include/gui/StreamSplitter.h b/third_party/android_frameworks_native/include/gui/StreamSplitter.h
new file mode 100644
index 0000000000..8f47eb47ac
--- /dev/null
+++ b/third_party/android_frameworks_native/include/gui/StreamSplitter.h
@@ -0,0 +1,184 @@
+/*
+ * Copyright 2014 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_GUI_STREAMSPLITTER_H
+#define ANDROID_GUI_STREAMSPLITTER_H
+
+#include <gui/IConsumerListener.h>
+#include <gui/IProducerListener.h>
+
+#include <utils/Condition.h>
+#include <utils/KeyedVector.h>
+#include <utils/Mutex.h>
+#include <utils/StrongPointer.h>
+
+namespace android {
+
+class GraphicBuffer;
+class IGraphicBufferConsumer;
+class IGraphicBufferProducer;
+
+// StreamSplitter is an autonomous class that manages one input BufferQueue
+// and multiple output BufferQueues. By using the buffer attach and detach logic
+// in BufferQueue, it is able to present the illusion of a single split
+// BufferQueue, where each buffer queued to the input is available to be
+// acquired by each of the outputs, and is able to be dequeued by the input
+// again only once all of the outputs have released it.
+class StreamSplitter : public BnConsumerListener {
+public:
+    // createSplitter creates a new splitter, outSplitter, using inputQueue as
+    // the input BufferQueue. Output BufferQueues must be added using addOutput
+    // before queueing any buffers to the input.
+    //
+    // A return value other than NO_ERROR means that an error has occurred and
+    // outSplitter has not been modified. BAD_VALUE is returned if inputQueue or
+    // outSplitter is NULL. See IGraphicBufferConsumer::consumerConnect for
+    // explanations of other error codes.
+    static status_t createSplitter(const sp<IGraphicBufferConsumer>& inputQueue,
+            sp<StreamSplitter>* outSplitter);
+
+    // addOutput adds an output BufferQueue to the splitter. The splitter
+    // connects to outputQueue as a CPU producer, and any buffers queued
+    // to the input will be queued to each output. It is assumed that all of the
+    // outputs are added before any buffers are queued on the input. If any
+    // output is abandoned by its consumer, the splitter will abandon its input
+    // queue (see onAbandoned).
+    //
+    // A return value other than NO_ERROR means that an error has occurred and
+    // outputQueue has not been added to the splitter. BAD_VALUE is returned if
+    // outputQueue is NULL. See IGraphicBufferProducer::connect for explanations
+    // of other error codes.
+    status_t addOutput(const sp<IGraphicBufferProducer>& outputQueue);
+
+    // setName sets the consumer name of the input queue
+    void setName(const String8& name);
+
+private:
+    // From IConsumerListener
+    //
+    // During this callback, we store some tracking information, detach the
+    // buffer from the input, and attach it to each of the outputs. This call
+    // can block if there are too many outstanding buffers. If it blocks, it
+    // will resume when onBufferReleasedByOutput releases a buffer back to the
+    // input.
+    virtual void onFrameAvailable(const BufferItem& item);
+
+    // From IConsumerListener
+    // We don't care about released buffers because we detach each buffer as
+    // soon as we acquire it. See the comment for onBufferReleased below for
+    // some clarifying notes about the name.
+    virtual void onBuffersReleased() {}
+
+    // From IConsumerListener
+    // We don't care about sideband streams, since we won't be splitting them
+    virtual void onSidebandStreamChanged() {}
+
+    // This is the implementation of the onBufferReleased callback from
+    // IProducerListener. It gets called from an OutputListener (see below), and
+    // 'from' is which producer interface from which the callback was received.
+    //
+    // During this callback, we detach the buffer from the output queue that
+    // generated the callback, update our state tracking to see if this is the
+    // last output releasing the buffer, and if so, release it to the input.
+    // If we release the buffer to the input, we allow a blocked
+    // onFrameAvailable call to proceed.
+    void onBufferReleasedByOutput(const sp<IGraphicBufferProducer>& from);
+
+    // When this is called, the splitter disconnects from (i.e., abandons) its
+    // input queue and signals any waiting onFrameAvailable calls to wake up.
+    // It still processes callbacks from other outputs, but only detaches their
+    // buffers so they can continue operating until they run out of buffers to
+    // acquire. This must be called with mMutex locked.
+    void onAbandonedLocked();
+
+    // This is a thin wrapper class that lets us determine which BufferQueue
+    // the IProducerListener::onBufferReleased callback is associated with. We
+    // create one of these per output BufferQueue, and then pass the producer
+    // into onBufferReleasedByOutput above.
+    class OutputListener : public BnProducerListener,
+                           public IBinder::DeathRecipient {
+    public:
+        OutputListener(const sp<StreamSplitter>& splitter,
+                const sp<IGraphicBufferProducer>& output);
+        virtual ~OutputListener();
+
+        // From IProducerListener
+        virtual void onBufferReleased();
+
+        // From IBinder::DeathRecipient
+        virtual void binderDied(const wp<IBinder>& who);
+
+    private:
+        sp<StreamSplitter> mSplitter;
+        sp<IGraphicBufferProducer> mOutput;
+    };
+
+    class BufferTracker : public LightRefBase<BufferTracker> {
+    public:
+        BufferTracker(const sp<GraphicBuffer>& buffer);
+
+        const sp<GraphicBuffer>& getBuffer() const { return mBuffer; }
+        const sp<Fence>& getMergedFence() const { return mMergedFence; }
+
+        void mergeFence(const sp<Fence>& with);
+
+        // Returns the new value
+        // Only called while mMutex is held
+        size_t incrementReleaseCountLocked() { return ++mReleaseCount; }
+
+    private:
+        // Only destroy through LightRefBase
+        friend LightRefBase<BufferTracker>;
+        ~BufferTracker();
+
+        // Disallow copying
+        BufferTracker(const BufferTracker& other);
+        BufferTracker& operator=(const BufferTracker& other);
+
+        sp<GraphicBuffer> mBuffer; // One instance that holds this native handle
+        sp<Fence> mMergedFence;
+        size_t mReleaseCount;
+    };
+
+    // Only called from createSplitter
+    StreamSplitter(const sp<IGraphicBufferConsumer>& inputQueue);
+
+    // Must be accessed through RefBase
+    virtual ~StreamSplitter();
+
+    static const int MAX_OUTSTANDING_BUFFERS = 2;
+
+    // mIsAbandoned is set to true when an output dies. Once the StreamSplitter
+    // has been abandoned, it will continue to detach buffers from other
+    // outputs, but it will disconnect from the input and not attempt to
+    // communicate with it further.
+    bool mIsAbandoned;
+
+    Mutex mMutex;
+    Condition mReleaseCondition;
+    int mOutstandingBuffers;
+    sp<IGraphicBufferConsumer> mInput;
+    Vector<sp<IGraphicBufferProducer> > mOutputs;
+
+    // Map of GraphicBuffer IDs (GraphicBuffer::getId()) to buffer tracking
+    // objects (which are mostly for counting how many outputs have released the
+    // buffer, but also contain merged release fences).
+    KeyedVector<uint64_t, sp<BufferTracker> > mBuffers;
+};
+
+} // namespace android
+
+#endif
diff --git a/third_party/android_frameworks_native/include/gui/Surface.h b/third_party/android_frameworks_native/include/gui/Surface.h
new file mode 100644
index 0000000000..72f1067076
--- /dev/null
+++ b/third_party/android_frameworks_native/include/gui/Surface.h
@@ -0,0 +1,324 @@
+/*
+ * Copyright (C) 2010 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_GUI_SURFACE_H
+#define ANDROID_GUI_SURFACE_H
+
+#include <gui/IGraphicBufferProducer.h>
+#include <gui/BufferQueue.h>
+
+#include <ui/ANativeObjectBase.h>
+#include <ui/Region.h>
+
+#include <utils/RefBase.h>
+#include <utils/threads.h>
+#include <utils/KeyedVector.h>
+
+struct ANativeWindow_Buffer;
+
+namespace android {
+
+/*
+ * An implementation of ANativeWindow that feeds graphics buffers into a
+ * BufferQueue.
+ *
+ * This is typically used by programs that want to render frames through
+ * some means (maybe OpenGL, a software renderer, or a hardware decoder)
+ * and have the frames they create forwarded to SurfaceFlinger for
+ * compositing.  For example, a video decoder could render a frame and call
+ * eglSwapBuffers(), which invokes ANativeWindow callbacks defined by
+ * Surface.  Surface then forwards the buffers through Binder IPC
+ * to the BufferQueue's producer interface, providing the new frame to a
+ * consumer such as GLConsumer.
+ */
+class Surface
+    : public ANativeObjectBase<ANativeWindow, Surface, RefBase>
+{
+public:
+
+    /*
+     * creates a Surface from the given IGraphicBufferProducer (which concrete
+     * implementation is a BufferQueue).
+     *
+     * Surface is mainly state-less while it's disconnected, it can be
+     * viewed as a glorified IGraphicBufferProducer holder. It's therefore
+     * safe to create other Surfaces from the same IGraphicBufferProducer.
+     *
+     * However, once a Surface is connected, it'll prevent other Surfaces
+     * referring to the same IGraphicBufferProducer to become connected and
+     * therefore prevent them to be used as actual producers of buffers.
+     *
+     * the controlledByApp flag indicates that this Surface (producer) is
+     * controlled by the application. This flag is used at connect time.
+     */
+    Surface(const sp<IGraphicBufferProducer>& bufferProducer, bool controlledByApp = false);
+
+    /* getIGraphicBufferProducer() returns the IGraphicBufferProducer this
+     * Surface was created with. Usually it's an error to use the
+     * IGraphicBufferProducer while the Surface is connected.
+     */
+    sp<IGraphicBufferProducer> getIGraphicBufferProducer() const;
+
+    /* convenience function to check that the given surface is non NULL as
+     * well as its IGraphicBufferProducer */
+    static bool isValid(const sp<Surface>& surface) {
+        return surface != NULL && surface->getIGraphicBufferProducer() != NULL;
+    }
+
+    /* Attaches a sideband buffer stream to the Surface's IGraphicBufferProducer.
+     *
+     * A sideband stream is a device-specific mechanism for passing buffers
+     * from the producer to the consumer without using dequeueBuffer/
+     * queueBuffer. If a sideband stream is present, the consumer can choose
+     * whether to acquire buffers from the sideband stream or from the queued
+     * buffers.
+     *
+     * Passing NULL or a different stream handle will detach the previous
+     * handle if any.
+     */
+    void setSidebandStream(const sp<NativeHandle>& stream);
+
+    /* Allocates buffers based on the current dimensions/format.
+     *
+     * This function will allocate up to the maximum number of buffers
+     * permitted by the current BufferQueue configuration. It will use the
+     * default format and dimensions. This is most useful to avoid an allocation
+     * delay during dequeueBuffer. If there are already the maximum number of
+     * buffers allocated, this function has no effect.
+     */
+    void allocateBuffers();
+
+    /* Sets the generation number on the IGraphicBufferProducer and updates the
+     * generation number on any buffers attached to the Surface after this call.
+     * See IGBP::setGenerationNumber for more information. */
+    status_t setGenerationNumber(uint32_t generationNumber);
+
+    // See IGraphicBufferProducer::getConsumerName
+    String8 getConsumerName() const;
+
+protected:
+    virtual ~Surface();
+
+private:
+    // can't be copied
+    Surface& operator = (const Surface& rhs);
+    Surface(const Surface& rhs);
+
+    // ANativeWindow hooks
+    static int hook_cancelBuffer(ANativeWindow* window,
+            ANativeWindowBuffer* buffer, int fenceFd);
+    static int hook_dequeueBuffer(ANativeWindow* window,
+            ANativeWindowBuffer** buffer, int* fenceFd);
+    static int hook_perform(ANativeWindow* window, int operation, ...);
+    static int hook_query(const ANativeWindow* window, int what, int* value);
+    static int hook_queueBuffer(ANativeWindow* window,
+            ANativeWindowBuffer* buffer, int fenceFd);
+    static int hook_setSwapInterval(ANativeWindow* window, int interval);
+
+    static int hook_cancelBuffer_DEPRECATED(ANativeWindow* window,
+            ANativeWindowBuffer* buffer);
+    static int hook_dequeueBuffer_DEPRECATED(ANativeWindow* window,
+            ANativeWindowBuffer** buffer);
+    static int hook_lockBuffer_DEPRECATED(ANativeWindow* window,
+            ANativeWindowBuffer* buffer);
+    static int hook_queueBuffer_DEPRECATED(ANativeWindow* window,
+            ANativeWindowBuffer* buffer);
+
+    int dispatchConnect(va_list args);
+    int dispatchDisconnect(va_list args);
+    int dispatchSetBufferCount(va_list args);
+    int dispatchSetBuffersGeometry(va_list args);
+    int dispatchSetBuffersDimensions(va_list args);
+    int dispatchSetBuffersUserDimensions(va_list args);
+    int dispatchSetBuffersFormat(va_list args);
+    int dispatchSetScalingMode(va_list args);
+    int dispatchSetBuffersTransform(va_list args);
+    int dispatchSetBuffersStickyTransform(va_list args);
+    int dispatchSetBuffersTimestamp(va_list args);
+    int dispatchSetCrop(va_list args);
+    int dispatchSetPostTransformCrop(va_list args);
+    int dispatchSetUsage(va_list args);
+    int dispatchLock(va_list args);
+    int dispatchUnlockAndPost(va_list args);
+    int dispatchSetSidebandStream(va_list args);
+    int dispatchSetBuffersDataSpace(va_list args);
+    int dispatchSetSurfaceDamage(va_list args);
+
+protected:
+    virtual int dequeueBuffer(ANativeWindowBuffer** buffer, int* fenceFd);
+    virtual int cancelBuffer(ANativeWindowBuffer* buffer, int fenceFd);
+    virtual int queueBuffer(ANativeWindowBuffer* buffer, int fenceFd);
+    virtual int perform(int operation, va_list args);
+    virtual int query(int what, int* value) const;
+    virtual int setSwapInterval(int interval);
+
+    virtual int lockBuffer_DEPRECATED(ANativeWindowBuffer* buffer);
+
+    virtual int connect(int api);
+    virtual int disconnect(int api);
+    virtual int setBufferCount(int bufferCount);
+    virtual int setBuffersDimensions(uint32_t width, uint32_t height);
+    virtual int setBuffersUserDimensions(uint32_t width, uint32_t height);
+    virtual int setBuffersFormat(PixelFormat format);
+    virtual int setScalingMode(int mode);
+    virtual int setBuffersTransform(uint32_t transform);
+    virtual int setBuffersStickyTransform(uint32_t transform);
+    virtual int setBuffersTimestamp(int64_t timestamp);
+    virtual int setBuffersDataSpace(android_dataspace dataSpace);
+    virtual int setCrop(Rect const* rect);
+    virtual int setUsage(uint32_t reqUsage);
+    virtual void setSurfaceDamage(android_native_rect_t* rects, size_t numRects);
+
+public:
+    virtual int lock(ANativeWindow_Buffer* outBuffer, ARect* inOutDirtyBounds);
+    virtual int unlockAndPost();
+
+    virtual int connect(int api, const sp<IProducerListener>& listener);
+    virtual int detachNextBuffer(sp<GraphicBuffer>* outBuffer,
+            sp<Fence>* outFence);
+    virtual int attachBuffer(ANativeWindowBuffer*);
+
+protected:
+    enum { NUM_BUFFER_SLOTS = BufferQueue::NUM_BUFFER_SLOTS };
+    enum { DEFAULT_FORMAT = PIXEL_FORMAT_RGBA_8888 };
+
+private:
+    void freeAllBuffers();
+    int getSlotFromBufferLocked(android_native_buffer_t* buffer) const;
+
+    struct BufferSlot {
+        sp<GraphicBuffer> buffer;
+        Region dirtyRegion;
+    };
+
+    // mSurfaceTexture is the interface to the surface texture server. All
+    // operations on the surface texture client ultimately translate into
+    // interactions with the server using this interface.
+    // TODO: rename to mBufferProducer
+    sp<IGraphicBufferProducer> mGraphicBufferProducer;
+
+    // mSlots stores the buffers that have been allocated for each buffer slot.
+    // It is initialized to null pointers, and gets filled in with the result of
+    // IGraphicBufferProducer::requestBuffer when the client dequeues a buffer from a
+    // slot that has not yet been used. The buffer allocated to a slot will also
+    // be replaced if the requested buffer usage or geometry differs from that
+    // of the buffer allocated to a slot.
+    BufferSlot mSlots[NUM_BUFFER_SLOTS];
+
+    // mReqWidth is the buffer width that will be requested at the next dequeue
+    // operation. It is initialized to 1.
+    uint32_t mReqWidth;
+
+    // mReqHeight is the buffer height that will be requested at the next
+    // dequeue operation. It is initialized to 1.
+    uint32_t mReqHeight;
+
+    // mReqFormat is the buffer pixel format that will be requested at the next
+    // deuque operation. It is initialized to PIXEL_FORMAT_RGBA_8888.
+    PixelFormat mReqFormat;
+
+    // mReqUsage is the set of buffer usage flags that will be requested
+    // at the next deuque operation. It is initialized to 0.
+    uint32_t mReqUsage;
+
+    // mTimestamp is the timestamp that will be used for the next buffer queue
+    // operation. It defaults to NATIVE_WINDOW_TIMESTAMP_AUTO, which means that
+    // a timestamp is auto-generated when queueBuffer is called.
+    int64_t mTimestamp;
+
+    // mDataSpace is the buffer dataSpace that will be used for the next buffer
+    // queue operation. It defaults to HAL_DATASPACE_UNKNOWN, which
+    // means that the buffer contains some type of color data.
+    android_dataspace mDataSpace;
+
+    // mCrop is the crop rectangle that will be used for the next buffer
+    // that gets queued. It is set by calling setCrop.
+    Rect mCrop;
+
+    // mScalingMode is the scaling mode that will be used for the next
+    // buffers that get queued. It is set by calling setScalingMode.
+    int mScalingMode;
+
+    // mTransform is the transform identifier that will be used for the next
+    // buffer that gets queued. It is set by calling setTransform.
+    uint32_t mTransform;
+
+    // mStickyTransform is a transform that is applied on top of mTransform
+    // in each buffer that is queued.  This is typically used to force the
+    // compositor to apply a transform, and will prevent the transform hint
+    // from being set by the compositor.
+    uint32_t mStickyTransform;
+
+    // mDefaultWidth is default width of the buffers, regardless of the
+    // native_window_set_buffers_dimensions call.
+    uint32_t mDefaultWidth;
+
+    // mDefaultHeight is default height of the buffers, regardless of the
+    // native_window_set_buffers_dimensions call.
+    uint32_t mDefaultHeight;
+
+    // mUserWidth, if non-zero, is an application-specified override
+    // of mDefaultWidth.  This is lower priority than the width set by
+    // native_window_set_buffers_dimensions.
+    uint32_t mUserWidth;
+
+    // mUserHeight, if non-zero, is an application-specified override
+    // of mDefaultHeight.  This is lower priority than the height set
+    // by native_window_set_buffers_dimensions.
+    uint32_t mUserHeight;
+
+    // mTransformHint is the transform probably applied to buffers of this
+    // window. this is only a hint, actual transform may differ.
+    uint32_t mTransformHint;
+
+    // mProducerControlledByApp whether this buffer producer is controlled
+    // by the application
+    bool mProducerControlledByApp;
+
+    // mSwapIntervalZero set if we should drop buffers at queue() time to
+    // achieve an asynchronous swap interval
+    bool mSwapIntervalZero;
+
+    // mConsumerRunningBehind whether the consumer is running more than
+    // one buffer behind the producer.
+    mutable bool mConsumerRunningBehind;
+
+    // mMutex is the mutex used to prevent concurrent access to the member
+    // variables of Surface objects. It must be locked whenever the
+    // member variables are accessed.
+    mutable Mutex mMutex;
+
+    // must be used from the lock/unlock thread
+    sp<GraphicBuffer>           mLockedBuffer;
+    sp<GraphicBuffer>           mPostedBuffer;
+    bool                        mConnectedToCpu;
+
+    // When a CPU producer is attached, this reflects the region that the
+    // producer wished to update as well as whether the Surface was able to copy
+    // the previous buffer back to allow a partial update.
+    //
+    // When a non-CPU producer is attached, this reflects the surface damage
+    // (the change since the previous frame) passed in by the producer.
+    Region mDirtyRegion;
+
+    // Stores the current generation number. See setGenerationNumber and
+    // IGraphicBufferProducer::setGenerationNumber for more information.
+    uint32_t mGenerationNumber;
+};
+
+}; // namespace android
+
+#endif  // ANDROID_GUI_SURFACE_H
diff --git a/third_party/android_frameworks_native/include/gui/SurfaceComposerClient.h b/third_party/android_frameworks_native/include/gui/SurfaceComposerClient.h
new file mode 100644
index 0000000000..9ec3f23491
--- /dev/null
+++ b/third_party/android_frameworks_native/include/gui/SurfaceComposerClient.h
@@ -0,0 +1,242 @@
+/*
+ * Copyright (C) 2007 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_GUI_SURFACE_COMPOSER_CLIENT_H
+#define ANDROID_GUI_SURFACE_COMPOSER_CLIENT_H
+
+#include <stdint.h>
+#include <sys/types.h>
+
+#include <binder/IBinder.h>
+#include <binder/IMemory.h>
+
+#include <utils/RefBase.h>
+#include <utils/Singleton.h>
+#include <utils/SortedVector.h>
+#include <utils/threads.h>
+
+#include <ui/FrameStats.h>
+#include <ui/PixelFormat.h>
+
+#include <gui/CpuConsumer.h>
+#include <gui/SurfaceControl.h>
+
+namespace android {
+
+// ---------------------------------------------------------------------------
+
+class DisplayInfo;
+class Composer;
+class ISurfaceComposerClient;
+class IGraphicBufferProducer;
+class Region;
+
+// ---------------------------------------------------------------------------
+
+class SurfaceComposerClient : public RefBase
+{
+    friend class Composer;
+public:
+                SurfaceComposerClient();
+    virtual     ~SurfaceComposerClient();
+
+    // Always make sure we could initialize
+    status_t    initCheck() const;
+
+    // Return the connection of this client
+    sp<IBinder> connection() const;
+
+    // Forcibly remove connection before all references have gone away.
+    void        dispose();
+
+    // callback when the composer is dies
+    status_t linkToComposerDeath(const sp<IBinder::DeathRecipient>& recipient,
+            void* cookie = NULL, uint32_t flags = 0);
+
+    // Get a list of supported configurations for a given display
+    static status_t getDisplayConfigs(const sp<IBinder>& display,
+            Vector<DisplayInfo>* configs);
+
+    // Get the DisplayInfo for the currently-active configuration
+    static status_t getDisplayInfo(const sp<IBinder>& display,
+            DisplayInfo* info);
+
+    // Get the index of the current active configuration (relative to the list
+    // returned by getDisplayInfo)
+    static int getActiveConfig(const sp<IBinder>& display);
+
+    // Set a new active configuration using an index relative to the list
+    // returned by getDisplayInfo
+    static status_t setActiveConfig(const sp<IBinder>& display, int id);
+
+    /* Triggers screen on/off or low power mode and waits for it to complete */
+    static void setDisplayPowerMode(const sp<IBinder>& display, int mode);
+
+    // ------------------------------------------------------------------------
+    // surface creation / destruction
+
+    //! Create a surface
+    sp<SurfaceControl> createSurface(
+            const String8& name,// name of the surface
+            uint32_t w,         // width in pixel
+            uint32_t h,         // height in pixel
+            PixelFormat format, // pixel-format desired
+            uint32_t flags = 0  // usage flags
+    );
+
+    //! Create a virtual display
+    static sp<IBinder> createDisplay(const String8& displayName, bool secure);
+
+    //! Destroy a virtual display
+    static void destroyDisplay(const sp<IBinder>& display);
+
+    //! Get the token for the existing default displays.
+    //! Possible values for id are eDisplayIdMain and eDisplayIdHdmi.
+    static sp<IBinder> getBuiltInDisplay(int32_t id);
+
+    // ------------------------------------------------------------------------
+    // Composer parameters
+    // All composer parameters must be changed within a transaction
+    // several surfaces can be updated in one transaction, all changes are
+    // committed at once when the transaction is closed.
+    // closeGlobalTransaction() requires an IPC with the server.
+
+    //! Open a composer transaction on all active SurfaceComposerClients.
+    static void openGlobalTransaction();
+
+    //! Close a composer transaction on all active SurfaceComposerClients.
+    static void closeGlobalTransaction(bool synchronous = false);
+
+    //! Flag the currently open transaction as an animation transaction.
+    static void setAnimationTransaction();
+
+    status_t    hide(const sp<IBinder>& id);
+    status_t    show(const sp<IBinder>& id);
+    status_t    setFlags(const sp<IBinder>& id, uint32_t flags, uint32_t mask);
+    status_t    setTransparentRegionHint(const sp<IBinder>& id, const Region& transparent);
+    status_t    setLayer(const sp<IBinder>& id, uint32_t layer);
+    status_t    setAlpha(const sp<IBinder>& id, float alpha=1.0f);
+    status_t    setMatrix(const sp<IBinder>& id, float dsdx, float dtdx, float dsdy, float dtdy);
+    status_t    setPosition(const sp<IBinder>& id, float x, float y);
+    status_t    setSize(const sp<IBinder>& id, uint32_t w, uint32_t h);
+    status_t    setCrop(const sp<IBinder>& id, const Rect& crop);
+    status_t    setLayerStack(const sp<IBinder>& id, uint32_t layerStack);
+    status_t    destroySurface(const sp<IBinder>& id);
+
+    status_t clearLayerFrameStats(const sp<IBinder>& token) const;
+    status_t getLayerFrameStats(const sp<IBinder>& token, FrameStats* outStats) const;
+
+    static status_t clearAnimationFrameStats();
+    static status_t getAnimationFrameStats(FrameStats* outStats);
+
+    static void setDisplaySurface(const sp<IBinder>& token,
+            const sp<IGraphicBufferProducer>& bufferProducer);
+    static void setDisplayLayerStack(const sp<IBinder>& token,
+            uint32_t layerStack);
+    static void setDisplaySize(const sp<IBinder>& token, uint32_t width, uint32_t height);
+
+    /* setDisplayProjection() defines the projection of layer stacks
+     * to a given display.
+     *
+     * - orientation defines the display's orientation.
+     * - layerStackRect defines which area of the window manager coordinate
+     * space will be used.
+     * - displayRect defines where on the display will layerStackRect be
+     * mapped to. displayRect is specified post-orientation, that is
+     * it uses the orientation seen by the end-user.
+     */
+    static void setDisplayProjection(const sp<IBinder>& token,
+            uint32_t orientation,
+            const Rect& layerStackRect,
+            const Rect& displayRect);
+
+    status_t    setBlur(const sp<IBinder>& id, float blur);
+    status_t    setBlurMaskSurface(const sp<IBinder>& id, const sp<IBinder>& maskSurfaceId);
+    status_t    setBlurMaskSampling(const sp<IBinder>& id, uint32_t blurMaskSampling);
+    status_t    setBlurMaskAlphaThreshold(const sp<IBinder>& id, float alpha);
+
+private:
+    virtual void onFirstRef();
+    Composer& getComposer();
+
+    mutable     Mutex                       mLock;
+                status_t                    mStatus;
+                sp<ISurfaceComposerClient>  mClient;
+                Composer&                   mComposer;
+};
+
+// ---------------------------------------------------------------------------
+
+class ScreenshotClient
+{
+public:
+    // if cropping isn't required, callers may pass in a default Rect, e.g.:
+    //   capture(display, producer, Rect(), reqWidth, ...);
+    static status_t capture(
+            const sp<IBinder>& display,
+            const sp<IGraphicBufferProducer>& producer,
+            Rect sourceCrop, uint32_t reqWidth, uint32_t reqHeight,
+            uint32_t minLayerZ, uint32_t maxLayerZ,
+            bool useIdentityTransform);
+
+private:
+    mutable sp<CpuConsumer> mCpuConsumer;
+    mutable sp<IGraphicBufferProducer> mProducer;
+    CpuConsumer::LockedBuffer mBuffer;
+    bool mHaveBuffer;
+
+public:
+    ScreenshotClient();
+    ~ScreenshotClient();
+
+    // frees the previous screenshot and captures a new one
+    // if cropping isn't required, callers may pass in a default Rect, e.g.:
+    //   update(display, Rect(), useIdentityTransform);
+    status_t update(const sp<IBinder>& display,
+            Rect sourceCrop, bool useIdentityTransform);
+    status_t update(const sp<IBinder>& display,
+            Rect sourceCrop, uint32_t reqWidth, uint32_t reqHeight,
+            bool useIdentityTransform);
+    status_t update(const sp<IBinder>& display,
+            Rect sourceCrop, uint32_t reqWidth, uint32_t reqHeight,
+            uint32_t minLayerZ, uint32_t maxLayerZ,
+            bool useIdentityTransform);
+    status_t update(const sp<IBinder>& display,
+            Rect sourceCrop, uint32_t reqWidth, uint32_t reqHeight,
+            uint32_t minLayerZ, uint32_t maxLayerZ,
+            bool useIdentityTransform, uint32_t rotation);
+
+    sp<CpuConsumer> getCpuConsumer() const;
+
+    // release memory occupied by the screenshot
+    void release();
+
+    // pixels are valid until this object is freed or
+    // release() or update() is called
+    void const* getPixels() const;
+
+    uint32_t getWidth() const;
+    uint32_t getHeight() const;
+    PixelFormat getFormat() const;
+    uint32_t getStride() const;
+    // size of allocated memory in bytes
+    size_t getSize() const;
+};
+
+// ---------------------------------------------------------------------------
+}; // namespace android
+
+#endif // ANDROID_GUI_SURFACE_COMPOSER_CLIENT_H
diff --git a/third_party/android_frameworks_native/include/gui/SurfaceControl.h b/third_party/android_frameworks_native/include/gui/SurfaceControl.h
new file mode 100644
index 0000000000..5fa45d1668
--- /dev/null
+++ b/third_party/android_frameworks_native/include/gui/SurfaceControl.h
@@ -0,0 +1,112 @@
+/*
+ * Copyright (C) 2007 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_GUI_SURFACE_CONTROL_H
+#define ANDROID_GUI_SURFACE_CONTROL_H
+
+#include <stdint.h>
+#include <sys/types.h>
+
+#include <utils/KeyedVector.h>
+#include <utils/RefBase.h>
+#include <utils/threads.h>
+
+#include <ui/FrameStats.h>
+#include <ui/PixelFormat.h>
+#include <ui/Region.h>
+
+#include <gui/ISurfaceComposerClient.h>
+
+namespace android {
+
+// ---------------------------------------------------------------------------
+
+class IGraphicBufferProducer;
+class Surface;
+class SurfaceComposerClient;
+
+// ---------------------------------------------------------------------------
+
+class SurfaceControl : public RefBase
+{
+public:
+    static bool isValid(const sp<SurfaceControl>& surface) {
+        return (surface != 0) && surface->isValid();
+    }
+
+    bool isValid() {
+        return mHandle!=0 && mClient!=0;
+    }
+
+    static bool isSameSurface(
+            const sp<SurfaceControl>& lhs, const sp<SurfaceControl>& rhs);
+
+    // release surface data from java
+    void        clear();
+
+    status_t    setLayerStack(uint32_t layerStack);
+    status_t    setLayer(uint32_t layer);
+    status_t    setPosition(float x, float y);
+    status_t    setSize(uint32_t w, uint32_t h);
+    status_t    hide();
+    status_t    show();
+    status_t    setFlags(uint32_t flags, uint32_t mask);
+    status_t    setTransparentRegionHint(const Region& transparent);
+    status_t    setAlpha(float alpha=1.0f);
+    status_t    setMatrix(float dsdx, float dtdx, float dsdy, float dtdy);
+    status_t    setCrop(const Rect& crop);
+
+    static status_t writeSurfaceToParcel(
+            const sp<SurfaceControl>& control, Parcel* parcel);
+
+    sp<Surface> getSurface() const;
+
+    status_t clearLayerFrameStats() const;
+    status_t getLayerFrameStats(FrameStats* outStats) const;
+
+    status_t    setBlur(float blur = 0);
+    status_t    setBlurMaskSurface(const sp<SurfaceControl>& maskSurface);
+    status_t    setBlurMaskSampling(uint32_t blurMaskSampling);
+    status_t    setBlurMaskAlphaThreshold(float alpha);
+
+private:
+    // can't be copied
+    SurfaceControl& operator = (SurfaceControl& rhs);
+    SurfaceControl(const SurfaceControl& rhs);
+
+    friend class SurfaceComposerClient;
+    friend class Surface;
+
+    SurfaceControl(
+            const sp<SurfaceComposerClient>& client,
+            const sp<IBinder>& handle,
+            const sp<IGraphicBufferProducer>& gbp);
+
+    ~SurfaceControl();
+
+    status_t validate() const;
+    void destroy();
+
+    sp<SurfaceComposerClient>   mClient;
+    sp<IBinder>                 mHandle;
+    sp<IGraphicBufferProducer>  mGraphicBufferProducer;
+    mutable Mutex               mLock;
+    mutable sp<Surface>         mSurfaceData;
+};
+
+}; // namespace android
+
+#endif // ANDROID_GUI_SURFACE_CONTROL_H
diff --git a/third_party/android_frameworks_native/include/ui/ANativeObjectBase.h b/third_party/android_frameworks_native/include/ui/ANativeObjectBase.h
new file mode 100644
index 0000000000..76e850fa27
--- /dev/null
+++ b/third_party/android_frameworks_native/include/ui/ANativeObjectBase.h
@@ -0,0 +1,102 @@
+/*
+ * Copyright (C) 2009 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_ANDROID_NATIVES_H
+#define ANDROID_ANDROID_NATIVES_H
+
+#include <sys/types.h>
+#include <string.h>
+
+#include <hardware/gralloc.h>
+#include <system/window.h>
+
+// ---------------------------------------------------------------------------
+
+/* FIXME: this is legacy for pixmaps */
+typedef struct egl_native_pixmap_t
+{
+    int32_t     version;    /* must be 32 */
+    int32_t     width;
+    int32_t     height;
+    int32_t     stride;
+    uint8_t*    data;
+    uint8_t     format;
+    uint8_t     rfu[3];
+    union {
+        uint32_t    compressedFormat;
+        int32_t     vstride;
+    };
+    int32_t     reserved;
+} egl_native_pixmap_t;
+
+/*****************************************************************************/
+
+#ifdef __cplusplus
+
+#include <utils/RefBase.h>
+
+namespace android {
+
+/*
+ * This helper class turns a ANativeXXX object type into a C++
+ * reference-counted object; with proper type conversions.
+ */
+template <typename NATIVE_TYPE, typename TYPE, typename REF>
+class ANativeObjectBase : public NATIVE_TYPE, public REF
+{
+public:
+    // Disambiguate between the incStrong in REF and NATIVE_TYPE
+    void incStrong(const void* id) const {
+        REF::incStrong(id);
+    }
+    void decStrong(const void* id) const {
+        REF::decStrong(id);
+    }
+
+protected:
+    typedef ANativeObjectBase<NATIVE_TYPE, TYPE, REF> BASE;
+    ANativeObjectBase() : NATIVE_TYPE(), REF() {
+        NATIVE_TYPE::common.incRef = incRef;
+        NATIVE_TYPE::common.decRef = decRef;
+    }
+    static inline TYPE* getSelf(NATIVE_TYPE* self) {
+        return static_cast<TYPE*>(self);
+    }
+    static inline TYPE const* getSelf(NATIVE_TYPE const* self) {
+        return static_cast<TYPE const *>(self);
+    }
+    static inline TYPE* getSelf(android_native_base_t* base) {
+        return getSelf(reinterpret_cast<NATIVE_TYPE*>(base));
+    }
+    static inline TYPE const * getSelf(android_native_base_t const* base) {
+        return getSelf(reinterpret_cast<NATIVE_TYPE const*>(base));
+    }
+    static void incRef(android_native_base_t* base) {
+        ANativeObjectBase* self = getSelf(base);
+        self->incStrong(self);
+    }
+    static void decRef(android_native_base_t* base) {
+        ANativeObjectBase* self = getSelf(base);
+        self->decStrong(self);
+    }
+};
+
+} // namespace android
+#endif // __cplusplus
+
+/*****************************************************************************/
+
+#endif /* ANDROID_ANDROID_NATIVES_H */
diff --git a/third_party/android_frameworks_native/include/ui/DisplayInfo.h b/third_party/android_frameworks_native/include/ui/DisplayInfo.h
new file mode 100644
index 0000000000..ad73ee72f9
--- /dev/null
+++ b/third_party/android_frameworks_native/include/ui/DisplayInfo.h
@@ -0,0 +1,52 @@
+/*
+ * Copyright (C) 2007 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_UI_DISPLAY_INFO_H
+#define ANDROID_UI_DISPLAY_INFO_H
+
+#include <stdint.h>
+#include <sys/types.h>
+#include <utils/Timers.h>
+
+#include <ui/PixelFormat.h>
+
+namespace android {
+
+struct DisplayInfo {
+    uint32_t w;
+    uint32_t h;
+    float xdpi;
+    float ydpi;
+    float fps;
+    float density;
+    uint8_t orientation;
+    bool secure;
+    nsecs_t appVsyncOffset;
+    nsecs_t presentationDeadline;
+    int colorTransform;
+};
+
+/* Display orientations as defined in Surface.java and ISurfaceComposer.h. */
+enum {
+    DISPLAY_ORIENTATION_0 = 0,
+    DISPLAY_ORIENTATION_90 = 1,
+    DISPLAY_ORIENTATION_180 = 2,
+    DISPLAY_ORIENTATION_270 = 3
+};
+
+}; // namespace android
+
+#endif // ANDROID_COMPOSER_DISPLAY_INFO_H
diff --git a/third_party/android_frameworks_native/include/ui/DisplayStatInfo.h b/third_party/android_frameworks_native/include/ui/DisplayStatInfo.h
new file mode 100644
index 0000000000..0549a832b5
--- /dev/null
+++ b/third_party/android_frameworks_native/include/ui/DisplayStatInfo.h
@@ -0,0 +1,31 @@
+/*
+ * Copyright 2014 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_UI_DISPLAY_STAT_INFO_H
+#define ANDROID_UI_DISPLAY_STAT_INFO_H
+
+#include <utils/Timers.h>
+
+namespace android {
+
+struct DisplayStatInfo {
+    nsecs_t vsyncTime;
+    nsecs_t vsyncPeriod;
+};
+
+}; // namespace android
+
+#endif // ANDROID_COMPOSER_DISPLAY_STAT_INFO_H
diff --git a/third_party/android_frameworks_native/include/ui/Fence.h b/third_party/android_frameworks_native/include/ui/Fence.h
new file mode 100644
index 0000000000..b431bd52aa
--- /dev/null
+++ b/third_party/android_frameworks_native/include/ui/Fence.h
@@ -0,0 +1,117 @@
+/*
+ * Copyright (C) 2012 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_FENCE_H
+#define ANDROID_FENCE_H
+
+#include <stdint.h>
+#include <sys/types.h>
+
+#include <ui/ANativeObjectBase.h>
+#include <ui/PixelFormat.h>
+#include <ui/Rect.h>
+#include <utils/Flattenable.h>
+#include <utils/String8.h>
+#include <utils/Timers.h>
+
+struct ANativeWindowBuffer;
+
+namespace android {
+
+// ===========================================================================
+// Fence
+// ===========================================================================
+
+class Fence
+    : public LightRefBase<Fence>, public Flattenable<Fence>
+{
+public:
+    static const sp<Fence> NO_FENCE;
+
+    // TIMEOUT_NEVER may be passed to the wait method to indicate that it
+    // should wait indefinitely for the fence to signal.
+    enum { TIMEOUT_NEVER = -1 };
+
+    // Construct a new Fence object with an invalid file descriptor.  This
+    // should be done when the Fence object will be set up by unflattening
+    // serialized data.
+    Fence();
+
+    // Construct a new Fence object to manage a given fence file descriptor.
+    // When the new Fence object is destructed the file descriptor will be
+    // closed.
+    Fence(int fenceFd);
+
+    // Check whether the Fence has an open fence file descriptor. Most Fence
+    // methods treat an invalid file descriptor just like a valid fence that
+    // is already signalled, so using this is usually not necessary.
+    bool isValid() const { return mFenceFd != -1; }
+
+    // wait waits for up to timeout milliseconds for the fence to signal.  If
+    // the fence signals then NO_ERROR is returned. If the timeout expires
+    // before the fence signals then -ETIME is returned.  A timeout of
+    // TIMEOUT_NEVER may be used to indicate that the call should wait
+    // indefinitely for the fence to signal.
+    status_t wait(int timeout);
+
+    // waitForever is a convenience function for waiting forever for a fence to
+    // signal (just like wait(TIMEOUT_NEVER)), but issuing an error to the
+    // system log and fence state to the kernel log if the wait lasts longer
+    // than a warning timeout.
+    // The logname argument should be a string identifying
+    // the caller and will be included in the log message.
+    status_t waitForever(const char* logname);
+
+    // merge combines two Fence objects, creating a new Fence object that
+    // becomes signaled when both f1 and f2 are signaled (even if f1 or f2 is
+    // destroyed before it becomes signaled).  The name argument specifies the
+    // human-readable name to associated with the new Fence object.
+    static sp<Fence> merge(const String8& name, const sp<Fence>& f1,
+            const sp<Fence>& f2);
+
+    // Return a duplicate of the fence file descriptor. The caller is
+    // responsible for closing the returned file descriptor. On error, -1 will
+    // be returned and errno will indicate the problem.
+    int dup() const;
+
+    // getSignalTime returns the system monotonic clock time at which the
+    // fence transitioned to the signaled state.  If the fence is not signaled
+    // then INT64_MAX is returned.  If the fence is invalid or if an error
+    // occurs then -1 is returned.
+    nsecs_t getSignalTime() const;
+
+    // Flattenable interface
+    size_t getFlattenedSize() const;
+    size_t getFdCount() const;
+    status_t flatten(void*& buffer, size_t& size, int*& fds, size_t& count) const;
+    status_t unflatten(void const*& buffer, size_t& size, int const*& fds, size_t& count);
+
+private:
+    // Only allow instantiation using ref counting.
+    friend class LightRefBase<Fence>;
+    ~Fence();
+
+    // Disallow copying
+    Fence(const Fence& rhs);
+    Fence& operator = (const Fence& rhs);
+    const Fence& operator = (const Fence& rhs) const;
+
+    int mFenceFd;
+};
+
+}; // namespace android
+
+#endif // ANDROID_FENCE_H
diff --git a/third_party/android_frameworks_native/include/ui/FrameStats.h b/third_party/android_frameworks_native/include/ui/FrameStats.h
new file mode 100644
index 0000000000..6bfe635c72
--- /dev/null
+++ b/third_party/android_frameworks_native/include/ui/FrameStats.h
@@ -0,0 +1,64 @@
+/*
+ * Copyright (C) 2014 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_UI_FRAME_STATS_H
+#define ANDROID_UI_FRAME_STATS_H
+
+#include <utils/Flattenable.h>
+#include <utils/Timers.h>
+#include <utils/Vector.h>
+
+namespace android {
+
+class FrameStats : public LightFlattenable<FrameStats> {
+public:
+    FrameStats() : refreshPeriodNano(0) {};
+
+    /*
+     * Approximate refresh time, in nanoseconds.
+     */
+    nsecs_t refreshPeriodNano;
+
+   /*
+    * The times in nanoseconds for when the frame contents were posted by the producer (e.g.
+    * the application). They are either explicitly set or defaulted to the time when
+    * Surface::queueBuffer() was called.
+    */
+    Vector<nsecs_t> desiredPresentTimesNano;
+
+   /*
+    * The times in milliseconds for when the frame contents were presented on the screen.
+    */
+    Vector<nsecs_t> actualPresentTimesNano;
+
+   /*
+    * The times in nanoseconds for when the frame contents were ready to be presented. Note that
+    * a frame can be posted and still it contents being rendered asynchronously in GL. In such a
+    * case these are the times when the frame contents were completely rendered (i.e. their fences
+    * signaled).
+    */
+    Vector<nsecs_t> frameReadyTimesNano;
+
+    // LightFlattenable
+    bool isFixedSize() const;
+    size_t getFlattenedSize() const;
+    status_t flatten(void* buffer, size_t size) const;
+    status_t unflatten(void const* buffer, size_t size);
+};
+
+}; // namespace android
+
+#endif // ANDROID_UI_FRAME_STATS_H
diff --git a/third_party/android_frameworks_native/include/ui/FramebufferNativeWindow.h b/third_party/android_frameworks_native/include/ui/FramebufferNativeWindow.h
new file mode 100644
index 0000000000..6b66d5f66b
--- /dev/null
+++ b/third_party/android_frameworks_native/include/ui/FramebufferNativeWindow.h
@@ -0,0 +1,102 @@
+/*
+ * Copyright (C) 2007 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef INCLUDED_FROM_FRAMEBUFFER_NATIVE_WINDOW_CPP
+#warning "FramebufferNativeWindow is deprecated"
+#endif
+
+#ifndef ANDROID_FRAMEBUFFER_NATIVE_WINDOW_H
+#define ANDROID_FRAMEBUFFER_NATIVE_WINDOW_H
+
+#include <stdint.h>
+#include <sys/types.h>
+
+#include <EGL/egl.h>
+
+#include <utils/threads.h>
+#include <utils/String8.h>
+
+#include <ui/ANativeObjectBase.h>
+#include <ui/Rect.h>
+
+#define MIN_NUM_FRAME_BUFFERS  2
+#define MAX_NUM_FRAME_BUFFERS  3
+
+extern "C" EGLNativeWindowType android_createDisplaySurface(void);
+
+// ---------------------------------------------------------------------------
+namespace android {
+// ---------------------------------------------------------------------------
+
+class Surface;
+class NativeBuffer;
+
+// ---------------------------------------------------------------------------
+
+class FramebufferNativeWindow 
+    : public ANativeObjectBase<
+        ANativeWindow, 
+        FramebufferNativeWindow, 
+        LightRefBase<FramebufferNativeWindow> >
+{
+public:
+    FramebufferNativeWindow(); 
+
+    framebuffer_device_t const * getDevice() const { return fbDev; } 
+
+    bool isUpdateOnDemand() const { return mUpdateOnDemand; }
+    status_t setUpdateRectangle(const Rect& updateRect);
+    status_t compositionComplete();
+
+    void dump(String8& result);
+
+    // for debugging only
+    int getCurrentBufferIndex() const;
+
+private:
+    friend class LightRefBase<FramebufferNativeWindow>;    
+    ~FramebufferNativeWindow(); // this class cannot be overloaded
+    static int setSwapInterval(ANativeWindow* window, int interval);
+    static int dequeueBuffer(ANativeWindow* window, ANativeWindowBuffer** buffer, int* fenceFd);
+    static int queueBuffer(ANativeWindow* window, ANativeWindowBuffer* buffer, int fenceFd);
+    static int query(const ANativeWindow* window, int what, int* value);
+    static int perform(ANativeWindow* window, int operation, ...);
+
+    static int dequeueBuffer_DEPRECATED(ANativeWindow* window, ANativeWindowBuffer** buffer);
+    static int queueBuffer_DEPRECATED(ANativeWindow* window, ANativeWindowBuffer* buffer);
+    static int lockBuffer_DEPRECATED(ANativeWindow* window, ANativeWindowBuffer* buffer);
+
+    framebuffer_device_t* fbDev;
+    alloc_device_t* grDev;
+
+    sp<NativeBuffer> buffers[MAX_NUM_FRAME_BUFFERS];
+    sp<NativeBuffer> front;
+    
+    mutable Mutex mutex;
+    Condition mCondition;
+    int32_t mNumBuffers;
+    int32_t mNumFreeBuffers;
+    int32_t mBufferHead;
+    int32_t mCurrentBufferIndex;
+    bool mUpdateOnDemand;
+};
+    
+// ---------------------------------------------------------------------------
+}; // namespace android
+// ---------------------------------------------------------------------------
+
+#endif // ANDROID_FRAMEBUFFER_NATIVE_WINDOW_H
+
diff --git a/third_party/android_frameworks_native/include/ui/GraphicBuffer.h b/third_party/android_frameworks_native/include/ui/GraphicBuffer.h
new file mode 100644
index 0000000000..3da720ff37
--- /dev/null
+++ b/third_party/android_frameworks_native/include/ui/GraphicBuffer.h
@@ -0,0 +1,183 @@
+/*
+ * Copyright (C) 2007 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_GRAPHIC_BUFFER_H
+#define ANDROID_GRAPHIC_BUFFER_H
+
+#include <stdint.h>
+#include <sys/types.h>
+
+#include <ui/ANativeObjectBase.h>
+#include <ui/PixelFormat.h>
+#include <ui/Rect.h>
+#include <utils/Flattenable.h>
+#include <utils/RefBase.h>
+
+
+struct ANativeWindowBuffer;
+
+namespace android {
+
+class GraphicBufferMapper;
+
+// ===========================================================================
+// GraphicBuffer
+// ===========================================================================
+
+class GraphicBuffer
+    : public ANativeObjectBase< ANativeWindowBuffer, GraphicBuffer, RefBase >,
+      public Flattenable<GraphicBuffer>
+{
+    friend class Flattenable<GraphicBuffer>;
+public:
+
+    enum {
+        USAGE_SW_READ_NEVER     = GRALLOC_USAGE_SW_READ_NEVER,
+        USAGE_SW_READ_RARELY    = GRALLOC_USAGE_SW_READ_RARELY,
+        USAGE_SW_READ_OFTEN     = GRALLOC_USAGE_SW_READ_OFTEN,
+        USAGE_SW_READ_MASK      = GRALLOC_USAGE_SW_READ_MASK,
+
+        USAGE_SW_WRITE_NEVER    = GRALLOC_USAGE_SW_WRITE_NEVER,
+        USAGE_SW_WRITE_RARELY   = GRALLOC_USAGE_SW_WRITE_RARELY,
+        USAGE_SW_WRITE_OFTEN    = GRALLOC_USAGE_SW_WRITE_OFTEN,
+        USAGE_SW_WRITE_MASK     = GRALLOC_USAGE_SW_WRITE_MASK,
+
+        USAGE_SOFTWARE_MASK     = USAGE_SW_READ_MASK|USAGE_SW_WRITE_MASK,
+
+        USAGE_PROTECTED         = GRALLOC_USAGE_PROTECTED,
+
+        USAGE_HW_TEXTURE        = GRALLOC_USAGE_HW_TEXTURE,
+        USAGE_HW_RENDER         = GRALLOC_USAGE_HW_RENDER,
+        USAGE_HW_2D             = GRALLOC_USAGE_HW_2D,
+        USAGE_HW_COMPOSER       = GRALLOC_USAGE_HW_COMPOSER,
+        USAGE_HW_VIDEO_ENCODER  = GRALLOC_USAGE_HW_VIDEO_ENCODER,
+        USAGE_HW_MASK           = GRALLOC_USAGE_HW_MASK,
+
+        USAGE_CURSOR            = GRALLOC_USAGE_CURSOR,
+    };
+
+    GraphicBuffer();
+
+    // creates w * h buffer
+    GraphicBuffer(uint32_t inWidth, uint32_t inHeight, PixelFormat inFormat,
+            uint32_t inUsage);
+
+    // create a buffer from an existing handle
+    GraphicBuffer(uint32_t inWidth, uint32_t inHeight, PixelFormat inFormat,
+            uint32_t inUsage, uint32_t inStride, native_handle_t* inHandle,
+            bool keepOwnership);
+
+    // create a buffer from an existing ANativeWindowBuffer
+    GraphicBuffer(ANativeWindowBuffer* buffer, bool keepOwnership);
+
+    // return status
+    status_t initCheck() const;
+
+    uint32_t getWidth() const           { return static_cast<uint32_t>(width); }
+    uint32_t getHeight() const          { return static_cast<uint32_t>(height); }
+    uint32_t getStride() const          { return static_cast<uint32_t>(stride); }
+    uint32_t getUsage() const           { return static_cast<uint32_t>(usage); }
+    PixelFormat getPixelFormat() const  { return format; }
+    Rect getBounds() const              { return Rect(width, height); }
+    uint64_t getId() const              { return mId; }
+
+    uint32_t getGenerationNumber() const { return mGenerationNumber; }
+    void setGenerationNumber(uint32_t generation) {
+        mGenerationNumber = generation;
+    }
+
+    status_t reallocate(uint32_t inWidth, uint32_t inHeight,
+            PixelFormat inFormat, uint32_t inUsage);
+
+    bool needsReallocation(uint32_t inWidth, uint32_t inHeight,
+            PixelFormat inFormat, uint32_t inUsage);
+
+    status_t lock(uint32_t inUsage, void** vaddr);
+    status_t lock(uint32_t inUsage, const Rect& rect, void** vaddr);
+    // For HAL_PIXEL_FORMAT_YCbCr_420_888
+    status_t lockYCbCr(uint32_t inUsage, android_ycbcr *ycbcr);
+    status_t lockYCbCr(uint32_t inUsage, const Rect& rect,
+            android_ycbcr *ycbcr);
+    status_t unlock();
+    status_t lockAsync(uint32_t inUsage, void** vaddr, int fenceFd);
+    status_t lockAsync(uint32_t inUsage, const Rect& rect, void** vaddr,
+            int fenceFd);
+    status_t lockAsyncYCbCr(uint32_t inUsage, android_ycbcr *ycbcr,
+            int fenceFd);
+    status_t lockAsyncYCbCr(uint32_t inUsage, const Rect& rect,
+            android_ycbcr *ycbcr, int fenceFd);
+    status_t unlockAsync(int *fenceFd);
+
+    ANativeWindowBuffer* getNativeBuffer() const;
+
+    // for debugging
+    static void dumpAllocationsToSystemLog();
+
+    // Flattenable protocol
+    size_t getFlattenedSize() const;
+    size_t getFdCount() const;
+    status_t flatten(void*& buffer, size_t& size, int*& fds, size_t& count) const;
+    status_t unflatten(void const*& buffer, size_t& size, int const*& fds, size_t& count);
+
+private:
+    ~GraphicBuffer();
+
+    enum {
+        ownNone   = 0,
+        ownHandle = 1,
+        ownData   = 2,
+    };
+
+    inline const GraphicBufferMapper& getBufferMapper() const {
+        return mBufferMapper;
+    }
+    inline GraphicBufferMapper& getBufferMapper() {
+        return mBufferMapper;
+    }
+    uint8_t mOwner;
+
+private:
+    friend class Surface;
+    friend class BpSurface;
+    friend class BnSurface;
+    friend class LightRefBase<GraphicBuffer>;
+    GraphicBuffer(const GraphicBuffer& rhs);
+    GraphicBuffer& operator = (const GraphicBuffer& rhs);
+    const GraphicBuffer& operator = (const GraphicBuffer& rhs) const;
+
+    status_t initSize(uint32_t inWidth, uint32_t inHeight, PixelFormat inFormat,
+            uint32_t inUsage);
+
+    void free_handle();
+
+    GraphicBufferMapper& mBufferMapper;
+    ssize_t mInitCheck;
+
+    // If we're wrapping another buffer then this reference will make sure it
+    // doesn't get freed.
+    sp<ANativeWindowBuffer> mWrappedBuffer;
+
+    uint64_t mId;
+
+    // Stores the generation number of this buffer. If this number does not
+    // match the BufferQueue's internal generation number (set through
+    // IGBP::setGenerationNumber), attempts to attach the buffer will fail.
+    uint32_t mGenerationNumber;
+};
+
+}; // namespace android
+
+#endif // ANDROID_GRAPHIC_BUFFER_H
diff --git a/third_party/android_frameworks_native/include/ui/GraphicBufferAllocator.h b/third_party/android_frameworks_native/include/ui/GraphicBufferAllocator.h
new file mode 100644
index 0000000000..5443f09a10
--- /dev/null
+++ b/third_party/android_frameworks_native/include/ui/GraphicBufferAllocator.h
@@ -0,0 +1,95 @@
+/*
+**
+** Copyright 2009, The Android Open Source Project
+**
+** Licensed under the Apache License, Version 2.0 (the "License");
+** you may not use this file except in compliance with the License.
+** You may obtain a copy of the License at
+**
+**     http://www.apache.org/licenses/LICENSE-2.0
+**
+** Unless required by applicable law or agreed to in writing, software
+** distributed under the License is distributed on an "AS IS" BASIS,
+** WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+** See the License for the specific language governing permissions and
+** limitations under the License.
+*/
+
+#ifndef ANDROID_BUFFER_ALLOCATOR_H
+#define ANDROID_BUFFER_ALLOCATOR_H
+
+#include <stdint.h>
+
+#include <cutils/native_handle.h>
+
+#include <utils/Errors.h>
+#include <utils/KeyedVector.h>
+#include <utils/threads.h>
+#include <utils/Singleton.h>
+
+#include <ui/PixelFormat.h>
+
+#include <hardware/gralloc.h>
+
+
+namespace android {
+// ---------------------------------------------------------------------------
+
+class String8;
+
+class GraphicBufferAllocator : public Singleton<GraphicBufferAllocator>
+{
+public:
+    enum {
+        USAGE_SW_READ_NEVER     = GRALLOC_USAGE_SW_READ_NEVER,
+        USAGE_SW_READ_RARELY    = GRALLOC_USAGE_SW_READ_RARELY,
+        USAGE_SW_READ_OFTEN     = GRALLOC_USAGE_SW_READ_OFTEN,
+        USAGE_SW_READ_MASK      = GRALLOC_USAGE_SW_READ_MASK,
+
+        USAGE_SW_WRITE_NEVER    = GRALLOC_USAGE_SW_WRITE_NEVER,
+        USAGE_SW_WRITE_RARELY   = GRALLOC_USAGE_SW_WRITE_RARELY,
+        USAGE_SW_WRITE_OFTEN    = GRALLOC_USAGE_SW_WRITE_OFTEN,
+        USAGE_SW_WRITE_MASK     = GRALLOC_USAGE_SW_WRITE_MASK,
+
+        USAGE_SOFTWARE_MASK     = USAGE_SW_READ_MASK|USAGE_SW_WRITE_MASK,
+
+        USAGE_HW_TEXTURE        = GRALLOC_USAGE_HW_TEXTURE,
+        USAGE_HW_RENDER         = GRALLOC_USAGE_HW_RENDER,
+        USAGE_HW_2D             = GRALLOC_USAGE_HW_2D,
+        USAGE_HW_MASK           = GRALLOC_USAGE_HW_MASK
+    };
+
+    static inline GraphicBufferAllocator& get() { return getInstance(); }
+
+    status_t alloc(uint32_t w, uint32_t h, PixelFormat format, uint32_t usage,
+            buffer_handle_t* handle, uint32_t* stride);
+
+    status_t free(buffer_handle_t handle);
+
+    void dump(String8& res) const;
+    static void dumpToSystemLog();
+
+private:
+    struct alloc_rec_t {
+        uint32_t width;
+        uint32_t height;
+        uint32_t stride;
+        PixelFormat format;
+        uint32_t usage;
+        size_t size;
+    };
+
+    static Mutex sLock;
+    static KeyedVector<buffer_handle_t, alloc_rec_t> sAllocList;
+
+    friend class Singleton<GraphicBufferAllocator>;
+    GraphicBufferAllocator();
+    ~GraphicBufferAllocator();
+
+    alloc_device_t  *mAllocDev;
+};
+
+// ---------------------------------------------------------------------------
+}; // namespace android
+
+#endif // ANDROID_BUFFER_ALLOCATOR_H
diff --git a/third_party/android_frameworks_native/include/ui/GraphicBufferMapper.h b/third_party/android_frameworks_native/include/ui/GraphicBufferMapper.h
new file mode 100644
index 0000000000..9900624827
--- /dev/null
+++ b/third_party/android_frameworks_native/include/ui/GraphicBufferMapper.h
@@ -0,0 +1,80 @@
+/*
+ * Copyright (C) 2007 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_UI_BUFFER_MAPPER_H
+#define ANDROID_UI_BUFFER_MAPPER_H
+
+#include <stdint.h>
+#include <sys/types.h>
+
+#include <utils/Singleton.h>
+
+#include <hardware/gralloc.h>
+
+
+struct gralloc_module_t;
+
+namespace android {
+
+// ---------------------------------------------------------------------------
+
+class Rect;
+
+class GraphicBufferMapper : public Singleton<GraphicBufferMapper>
+{
+public:
+    static inline GraphicBufferMapper& get() { return getInstance(); }
+
+    status_t registerBuffer(buffer_handle_t handle);
+
+    status_t unregisterBuffer(buffer_handle_t handle);
+
+    status_t lock(buffer_handle_t handle,
+            uint32_t usage, const Rect& bounds, void** vaddr);
+
+    status_t lockYCbCr(buffer_handle_t handle,
+            uint32_t usage, const Rect& bounds, android_ycbcr *ycbcr);
+
+    status_t unlock(buffer_handle_t handle);
+
+    status_t lockAsync(buffer_handle_t handle,
+            uint32_t usage, const Rect& bounds, void** vaddr, int fenceFd);
+
+    status_t lockAsyncYCbCr(buffer_handle_t handle,
+            uint32_t usage, const Rect& bounds, android_ycbcr *ycbcr,
+            int fenceFd);
+
+    status_t unlockAsync(buffer_handle_t handle, int *fenceFd);
+
+#ifdef EXYNOS4_ENHANCEMENTS
+    status_t getphys(buffer_handle_t handle, void** paddr);
+#endif
+
+    // dumps information about the mapping of this handle
+    void dump(buffer_handle_t handle);
+
+private:
+    friend class Singleton<GraphicBufferMapper>;
+    GraphicBufferMapper();
+    gralloc_module_t const *mAllocMod;
+};
+
+// ---------------------------------------------------------------------------
+
+}; // namespace android
+
+#endif // ANDROID_UI_BUFFER_MAPPER_H
+
diff --git a/third_party/android_frameworks_native/include/ui/PixelFormat.h b/third_party/android_frameworks_native/include/ui/PixelFormat.h
new file mode 100644
index 0000000000..f26fecb8b1
--- /dev/null
+++ b/third_party/android_frameworks_native/include/ui/PixelFormat.h
@@ -0,0 +1,72 @@
+/*
+ * Copyright (C) 2005 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+//
+
+// Pixel formats used across the system.
+// These formats might not all be supported by all renderers, for instance
+// skia or SurfaceFlinger are not required to support all of these formats
+// (either as source or destination)
+
+
+#ifndef UI_PIXELFORMAT_H
+#define UI_PIXELFORMAT_H
+
+#include <hardware/hardware.h>
+
+namespace android {
+
+enum {
+    //
+    // these constants need to match those
+    // in graphics/PixelFormat.java & pixelflinger/format.h
+    //
+    PIXEL_FORMAT_UNKNOWN    =   0,
+    PIXEL_FORMAT_NONE       =   0,
+
+    // logical pixel formats used by the SurfaceFlinger -----------------------
+    PIXEL_FORMAT_CUSTOM         = -4,
+        // Custom pixel-format described by a PixelFormatInfo structure
+
+    PIXEL_FORMAT_TRANSLUCENT    = -3,
+        // System chooses a format that supports translucency (many alpha bits)
+
+    PIXEL_FORMAT_TRANSPARENT    = -2,
+        // System chooses a format that supports transparency
+        // (at least 1 alpha bit)
+
+    PIXEL_FORMAT_OPAQUE         = -1,
+        // System chooses an opaque format (no alpha bits required)
+
+    // real pixel formats supported for rendering -----------------------------
+
+    PIXEL_FORMAT_RGBA_8888   = HAL_PIXEL_FORMAT_RGBA_8888,   // 4x8-bit RGBA
+    PIXEL_FORMAT_RGBX_8888   = HAL_PIXEL_FORMAT_RGBX_8888,   // 4x8-bit RGB0
+    PIXEL_FORMAT_RGB_888     = HAL_PIXEL_FORMAT_RGB_888,     // 3x8-bit RGB
+    PIXEL_FORMAT_RGB_565     = HAL_PIXEL_FORMAT_RGB_565,     // 16-bit RGB
+    PIXEL_FORMAT_BGRA_8888   = HAL_PIXEL_FORMAT_BGRA_8888,   // 4x8-bit BGRA
+    PIXEL_FORMAT_RGBA_5551   = 6,                            // 16-bit ARGB
+    PIXEL_FORMAT_RGBA_4444   = 7,                            // 16-bit ARGB
+};
+
+typedef int32_t PixelFormat;
+
+uint32_t bytesPerPixel(PixelFormat format);
+uint32_t bitsPerPixel(PixelFormat format);
+
+}; // namespace android
+
+#endif // UI_PIXELFORMAT_H
diff --git a/third_party/android_frameworks_native/include/ui/Point.h b/third_party/android_frameworks_native/include/ui/Point.h
new file mode 100644
index 0000000000..1d7f64d307
--- /dev/null
+++ b/third_party/android_frameworks_native/include/ui/Point.h
@@ -0,0 +1,88 @@
+/*
+ * Copyright (C) 2006 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_UI_POINT
+#define ANDROID_UI_POINT
+
+#include <utils/Flattenable.h>
+#include <utils/TypeHelpers.h>
+
+namespace android {
+
+class Point : public LightFlattenablePod<Point>
+{
+public:
+    int x;
+    int y;
+
+    // we don't provide copy-ctor and operator= on purpose
+    // because we want the compiler generated versions
+
+    // Default constructor doesn't initialize the Point
+    inline Point() {
+    }
+    inline Point(int x, int y) : x(x), y(y) {
+    }
+
+    inline bool operator == (const Point& rhs) const {
+        return (x == rhs.x) && (y == rhs.y);
+    }
+    inline bool operator != (const Point& rhs) const {
+        return !operator == (rhs);
+    }
+
+    inline bool isOrigin() const {
+        return !(x|y);
+    }
+
+    // operator < defines an order which allows to use points in sorted
+    // vectors.
+    bool operator < (const Point& rhs) const {
+        return y<rhs.y || (y==rhs.y && x<rhs.x);
+    }
+
+    inline Point& operator - () {
+        x = -x;
+        y = -y;
+        return *this;
+    }
+    
+    inline Point& operator += (const Point& rhs) {
+        x += rhs.x;
+        y += rhs.y;
+        return *this;
+    }
+    inline Point& operator -= (const Point& rhs) {
+        x -= rhs.x;
+        y -= rhs.y;
+        return *this;
+    }
+    
+    const Point operator + (const Point& rhs) const {
+        const Point result(x+rhs.x, y+rhs.y);
+        return result;
+    }
+    const Point operator - (const Point& rhs) const {
+        const Point result(x-rhs.x, y-rhs.y);
+        return result;
+    }    
+};
+
+ANDROID_BASIC_TYPES_TRAITS(Point)
+
+}; // namespace android
+
+#endif // ANDROID_UI_POINT
diff --git a/third_party/android_frameworks_native/include/ui/Rect.h b/third_party/android_frameworks_native/include/ui/Rect.h
new file mode 100644
index 0000000000..3886f93142
--- /dev/null
+++ b/third_party/android_frameworks_native/include/ui/Rect.h
@@ -0,0 +1,197 @@
+/*
+ * Copyright (C) 2006 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_UI_RECT
+#define ANDROID_UI_RECT
+
+#include <utils/Flattenable.h>
+#include <utils/Log.h>
+#include <utils/TypeHelpers.h>
+#include <ui/Point.h>
+
+#include <android/rect.h>
+
+namespace android {
+
+class Rect : public ARect, public LightFlattenablePod<Rect>
+{
+public:
+    typedef ARect::value_type value_type;
+
+    static const Rect INVALID_RECT;
+
+    // we don't provide copy-ctor and operator= on purpose
+    // because we want the compiler generated versions
+
+    inline Rect() {
+      left = right = top = bottom = 0;
+    }
+
+    inline Rect(int32_t w, int32_t h) {
+        left = top = 0;
+        right = w;
+        bottom = h;
+    }
+
+    inline Rect(uint32_t w, uint32_t h) {
+        if (w > INT32_MAX) {
+            ALOG(LOG_WARN, "Rect",
+                    "Width %u too large for Rect class, clamping", w);
+            w = INT32_MAX;
+        }
+        if (h > INT32_MAX) {
+            ALOG(LOG_WARN, "Rect",
+                    "Height %u too large for Rect class, clamping", h);
+            h = INT32_MAX;
+        }
+        left = top = 0;
+        right = w;
+        bottom = h;
+    }
+
+    inline Rect(int32_t l, int32_t t, int32_t r, int32_t b) {
+        left = l;
+        top = t;
+        right = r;
+        bottom = b;
+    }
+
+    inline Rect(const Point& lt, const Point& rb) {
+        left = lt.x;
+        top = lt.y;
+        right = rb.x;
+        bottom = rb.y;
+    }
+
+    void makeInvalid();
+
+    inline void clear() {
+        left = top = right = bottom = 0;
+    }
+
+    // a valid rectangle has a non negative width and height
+    inline bool isValid() const {
+        return (getWidth() >= 0) && (getHeight() >= 0);
+    }
+
+    // an empty rect has a zero width or height, or is invalid
+    inline bool isEmpty() const {
+        return (getWidth() <= 0) || (getHeight() <= 0);
+    }
+
+    // rectangle's width
+    inline int32_t getWidth() const {
+        return right - left;
+    }
+
+    // rectangle's height
+    inline int32_t getHeight() const {
+        return bottom - top;
+    }
+
+    inline Rect getBounds() const {
+        return Rect(right - left, bottom - top);
+    }
+
+    void setLeftTop(const Point& lt) {
+        left = lt.x;
+        top = lt.y;
+    }
+
+    void setRightBottom(const Point& rb) {
+        right = rb.x;
+        bottom = rb.y;
+    }
+    
+    // the following 4 functions return the 4 corners of the rect as Point
+    Point leftTop() const {
+        return Point(left, top);
+    }
+    Point rightBottom() const {
+        return Point(right, bottom);
+    }
+    Point rightTop() const {
+        return Point(right, top);
+    }
+    Point leftBottom() const {
+        return Point(left, bottom);
+    }
+
+    // comparisons
+    inline bool operator == (const Rect& rhs) const {
+        return (left == rhs.left) && (top == rhs.top) &&
+               (right == rhs.right) && (bottom == rhs.bottom);
+    }
+
+    inline bool operator != (const Rect& rhs) const {
+        return !operator == (rhs);
+    }
+
+    // operator < defines an order which allows to use rectangles in sorted
+    // vectors.
+    bool operator < (const Rect& rhs) const;
+
+    const Rect operator + (const Point& rhs) const;
+    const Rect operator - (const Point& rhs) const;
+
+    Rect& operator += (const Point& rhs) {
+        return offsetBy(rhs.x, rhs.y);
+    }
+    Rect& operator -= (const Point& rhs) {
+        return offsetBy(-rhs.x, -rhs.y);
+    }
+
+    Rect& offsetToOrigin() {
+        right -= left;
+        bottom -= top;
+        left = top = 0;
+        return *this;
+    }
+    Rect& offsetTo(const Point& p) {
+        return offsetTo(p.x, p.y);
+    }
+    Rect& offsetBy(const Point& dp) {
+        return offsetBy(dp.x, dp.y);
+    }
+
+    Rect& offsetTo(int32_t x, int32_t y);
+    Rect& offsetBy(int32_t x, int32_t y);
+
+    bool intersect(const Rect& with, Rect* result) const;
+
+    // Create a new Rect by transforming this one using a graphics HAL
+    // transform.  This rectangle is defined in a coordinate space starting at
+    // the origin and extending to (width, height).  If the transform includes
+    // a ROT90 then the output rectangle is defined in a space extending to
+    // (height, width).  Otherwise the output rectangle is in the same space as
+    // the input.
+    Rect transform(uint32_t xform, int32_t width, int32_t height) const;
+
+    // this calculates (Region(*this) - exclude).bounds() efficiently
+    Rect reduce(const Rect& exclude) const;
+
+
+    // for backward compatibility
+    inline int32_t width() const { return getWidth(); }
+    inline int32_t height() const { return getHeight(); }
+    inline void set(const Rect& rhs) { operator = (rhs); }
+};
+
+ANDROID_BASIC_TYPES_TRAITS(Rect)
+
+}; // namespace android
+
+#endif // ANDROID_UI_RECT
diff --git a/third_party/android_frameworks_native/include/ui/Region.h b/third_party/android_frameworks_native/include/ui/Region.h
new file mode 100644
index 0000000000..2a1491837d
--- /dev/null
+++ b/third_party/android_frameworks_native/include/ui/Region.h
@@ -0,0 +1,223 @@
+/*
+ * Copyright (C) 2007 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_UI_REGION_H
+#define ANDROID_UI_REGION_H
+
+#include <stdint.h>
+#include <sys/types.h>
+
+#include <utils/Vector.h>
+
+#include <ui/Rect.h>
+#include <utils/Flattenable.h>
+
+namespace android {
+// ---------------------------------------------------------------------------
+
+class SharedBuffer;
+class String8;
+
+// ---------------------------------------------------------------------------
+class Region : public LightFlattenable<Region>
+{
+public:
+    static const Region INVALID_REGION;
+
+                        Region();
+                        Region(const Region& rhs);
+    explicit            Region(const Rect& rhs);
+                        ~Region();
+
+    static  Region      createTJunctionFreeRegion(const Region& r);
+
+        Region& operator = (const Region& rhs);
+
+    inline  bool        isEmpty() const     { return getBounds().isEmpty(); }
+    inline  bool        isRect() const      { return mStorage.size() == 1; }
+
+    inline  Rect        getBounds() const   { return mStorage[mStorage.size() - 1]; }
+    inline  Rect        bounds() const      { return getBounds(); }
+
+            bool        contains(const Point& point) const;
+            bool        contains(int x, int y) const;
+
+            // the region becomes its bounds
+            Region&     makeBoundsSelf();
+
+            void        clear();
+            void        set(const Rect& r);
+            void        set(int32_t w, int32_t h);
+            void        set(uint32_t w, uint32_t h);
+
+            Region&     orSelf(const Rect& rhs);
+            Region&     xorSelf(const Rect& rhs);
+            Region&     andSelf(const Rect& rhs);
+            Region&     subtractSelf(const Rect& rhs);
+
+            // boolean operators, applied on this
+            Region&     orSelf(const Region& rhs);
+            Region&     xorSelf(const Region& rhs);
+            Region&     andSelf(const Region& rhs);
+            Region&     subtractSelf(const Region& rhs);
+
+            // boolean operators
+    const   Region      merge(const Rect& rhs) const;
+    const   Region      mergeExclusive(const Rect& rhs) const;
+    const   Region      intersect(const Rect& rhs) const;
+    const   Region      subtract(const Rect& rhs) const;
+
+            // boolean operators
+    const   Region      merge(const Region& rhs) const;
+    const   Region      mergeExclusive(const Region& rhs) const;
+    const   Region      intersect(const Region& rhs) const;
+    const   Region      subtract(const Region& rhs) const;
+
+            // these translate rhs first
+            Region&     translateSelf(int dx, int dy);
+            Region&     orSelf(const Region& rhs, int dx, int dy);
+            Region&     xorSelf(const Region& rhs, int dx, int dy);
+            Region&     andSelf(const Region& rhs, int dx, int dy);
+            Region&     subtractSelf(const Region& rhs, int dx, int dy);
+
+            // these translate rhs first
+    const   Region      translate(int dx, int dy) const;
+    const   Region      merge(const Region& rhs, int dx, int dy) const;
+    const   Region      mergeExclusive(const Region& rhs, int dx, int dy) const;
+    const   Region      intersect(const Region& rhs, int dx, int dy) const;
+    const   Region      subtract(const Region& rhs, int dx, int dy) const;
+
+    // convenience operators overloads
+    inline  const Region      operator | (const Region& rhs) const;
+    inline  const Region      operator ^ (const Region& rhs) const;
+    inline  const Region      operator & (const Region& rhs) const;
+    inline  const Region      operator - (const Region& rhs) const;
+    inline  const Region      operator + (const Point& pt) const;
+
+    inline  Region&     operator |= (const Region& rhs);
+    inline  Region&     operator ^= (const Region& rhs);
+    inline  Region&     operator &= (const Region& rhs);
+    inline  Region&     operator -= (const Region& rhs);
+    inline  Region&     operator += (const Point& pt);
+
+
+    // returns true if the regions share the same underlying storage
+    bool isTriviallyEqual(const Region& region) const;
+
+
+    /* various ways to access the rectangle list */
+
+
+    // STL-like iterators
+    typedef Rect const* const_iterator;
+    const_iterator begin() const;
+    const_iterator end() const;
+
+    // returns an array of rect which has the same life-time has this
+    // Region object.
+    Rect const* getArray(size_t* count) const;
+
+    // returns a SharedBuffer as well as the number of rects.
+    // ownership is transfered to the caller.
+    // the caller must call SharedBuffer::release() to free the memory.
+    SharedBuffer const* getSharedBuffer(size_t* count) const;
+
+    /* no user serviceable parts here... */
+
+            // add a rectangle to the internal list. This rectangle must
+            // be sorted in Y and X and must not make the region invalid.
+            void        addRectUnchecked(int l, int t, int r, int b);
+
+    inline  bool        isFixedSize() const { return false; }
+            size_t      getFlattenedSize() const;
+            status_t    flatten(void* buffer, size_t size) const;
+            status_t    unflatten(void const* buffer, size_t size);
+
+    void        dump(String8& out, const char* what, uint32_t flags=0) const;
+    void        dump(const char* what, uint32_t flags=0) const;
+
+private:
+    class rasterizer;
+    friend class rasterizer;
+
+    Region& operationSelf(const Rect& r, int op);
+    Region& operationSelf(const Region& r, int op);
+    Region& operationSelf(const Region& r, int dx, int dy, int op);
+    const Region operation(const Rect& rhs, int op) const;
+    const Region operation(const Region& rhs, int op) const;
+    const Region operation(const Region& rhs, int dx, int dy, int op) const;
+
+    static void boolean_operation(int op, Region& dst,
+            const Region& lhs, const Region& rhs, int dx, int dy);
+    static void boolean_operation(int op, Region& dst,
+            const Region& lhs, const Rect& rhs, int dx, int dy);
+
+    static void boolean_operation(int op, Region& dst,
+            const Region& lhs, const Region& rhs);
+    static void boolean_operation(int op, Region& dst,
+            const Region& lhs, const Rect& rhs);
+
+    static void translate(Region& reg, int dx, int dy);
+    static void translate(Region& dst, const Region& reg, int dx, int dy);
+
+    static bool validate(const Region& reg,
+            const char* name, bool silent = false);
+
+    // mStorage is a (manually) sorted array of Rects describing the region
+    // with an extra Rect as the last element which is set to the
+    // bounds of the region. However, if the region is
+    // a simple Rect then mStorage contains only that rect.
+    Vector<Rect> mStorage;
+};
+
+
+const Region Region::operator | (const Region& rhs) const {
+    return merge(rhs);
+}
+const Region Region::operator ^ (const Region& rhs) const {
+    return mergeExclusive(rhs);
+}
+const Region Region::operator & (const Region& rhs) const {
+    return intersect(rhs);
+}
+const Region Region::operator - (const Region& rhs) const {
+    return subtract(rhs);
+}
+const Region Region::operator + (const Point& pt) const {
+    return translate(pt.x, pt.y);
+}
+
+
+Region& Region::operator |= (const Region& rhs) {
+    return orSelf(rhs);
+}
+Region& Region::operator ^= (const Region& rhs) {
+    return xorSelf(rhs);
+}
+Region& Region::operator &= (const Region& rhs) {
+    return andSelf(rhs);
+}
+Region& Region::operator -= (const Region& rhs) {
+    return subtractSelf(rhs);
+}
+Region& Region::operator += (const Point& pt) {
+    return translateSelf(pt.x, pt.y);
+}
+// ---------------------------------------------------------------------------
+}; // namespace android
+
+#endif // ANDROID_UI_REGION_H
+
diff --git a/third_party/android_frameworks_native/include/ui/TMatHelpers.h b/third_party/android_frameworks_native/include/ui/TMatHelpers.h
new file mode 100644
index 0000000000..a6aadcad40
--- /dev/null
+++ b/third_party/android_frameworks_native/include/ui/TMatHelpers.h
@@ -0,0 +1,257 @@
+/*
+ * Copyright 2013 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef TMAT_IMPLEMENTATION
+#error "Don't include TMatHelpers.h directly. use ui/mat*.h instead"
+#else
+#undef TMAT_IMPLEMENTATION
+#endif
+
+
+#ifndef UI_TMAT_HELPERS_H
+#define UI_TMAT_HELPERS_H
+
+#include <stdint.h>
+#include <sys/types.h>
+#include <math.h>
+#include <utils/Debug.h>
+#include <utils/String8.h>
+
+#define PURE __attribute__((pure))
+
+namespace android {
+// -------------------------------------------------------------------------------------
+
+/*
+ * No user serviceable parts here.
+ *
+ * Don't use this file directly, instead include ui/mat*.h
+ */
+
+
+/*
+ * Matrix utilities
+ */
+
+namespace matrix {
+
+inline int     PURE transpose(int v)    { return v; }
+inline float   PURE transpose(float v)  { return v; }
+inline double  PURE transpose(double v) { return v; }
+
+inline int     PURE trace(int v)    { return v; }
+inline float   PURE trace(float v)  { return v; }
+inline double  PURE trace(double v) { return v; }
+
+template<typename MATRIX>
+MATRIX PURE inverse(const MATRIX& src) {
+
+    COMPILE_TIME_ASSERT_FUNCTION_SCOPE( MATRIX::COL_SIZE == MATRIX::ROW_SIZE );
+
+    typename MATRIX::value_type t;
+    const size_t N = MATRIX::col_size();
+    size_t swap;
+    MATRIX tmp(src);
+    MATRIX inverse(1);
+
+    for (size_t i=0 ; i<N ; i++) {
+        // look for largest element in column
+        swap = i;
+        for (size_t j=i+1 ; j<N ; j++) {
+            if (fabs(tmp[j][i]) > fabs(tmp[i][i])) {
+                swap = j;
+            }
+        }
+
+        if (swap != i) {
+            /* swap rows. */
+            for (size_t k=0 ; k<N ; k++) {
+                t = tmp[i][k];
+                tmp[i][k] = tmp[swap][k];
+                tmp[swap][k] = t;
+
+                t = inverse[i][k];
+                inverse[i][k] = inverse[swap][k];
+                inverse[swap][k] = t;
+            }
+        }
+
+        t = 1 / tmp[i][i];
+        for (size_t k=0 ; k<N ; k++) {
+            tmp[i][k] *= t;
+            inverse[i][k] *= t;
+        }
+        for (size_t j=0 ; j<N ; j++) {
+            if (j != i) {
+                t = tmp[j][i];
+                for (size_t k=0 ; k<N ; k++) {
+                    tmp[j][k] -= tmp[i][k] * t;
+                    inverse[j][k] -= inverse[i][k] * t;
+                }
+            }
+        }
+    }
+    return inverse;
+}
+
+template<typename MATRIX_R, typename MATRIX_A, typename MATRIX_B>
+MATRIX_R PURE multiply(const MATRIX_A& lhs, const MATRIX_B& rhs) {
+    // pre-requisite:
+    //  lhs : D columns, R rows
+    //  rhs : C columns, D rows
+    //  res : C columns, R rows
+
+    COMPILE_TIME_ASSERT_FUNCTION_SCOPE( MATRIX_A::ROW_SIZE == MATRIX_B::COL_SIZE );
+    COMPILE_TIME_ASSERT_FUNCTION_SCOPE( MATRIX_R::ROW_SIZE == MATRIX_B::ROW_SIZE );
+    COMPILE_TIME_ASSERT_FUNCTION_SCOPE( MATRIX_R::COL_SIZE == MATRIX_A::COL_SIZE );
+
+    MATRIX_R res(MATRIX_R::NO_INIT);
+    for (size_t r=0 ; r<MATRIX_R::row_size() ; r++) {
+        res[r] = lhs * rhs[r];
+    }
+    return res;
+}
+
+// transpose. this handles matrices of matrices
+template <typename MATRIX>
+MATRIX PURE transpose(const MATRIX& m) {
+    // for now we only handle square matrix transpose
+    COMPILE_TIME_ASSERT_FUNCTION_SCOPE( MATRIX::ROW_SIZE == MATRIX::COL_SIZE );
+    MATRIX result(MATRIX::NO_INIT);
+    for (size_t r=0 ; r<MATRIX::row_size() ; r++)
+        for (size_t c=0 ; c<MATRIX::col_size() ; c++)
+            result[c][r] = transpose(m[r][c]);
+    return result;
+}
+
+// trace. this handles matrices of matrices
+template <typename MATRIX>
+typename MATRIX::value_type PURE trace(const MATRIX& m) {
+    COMPILE_TIME_ASSERT_FUNCTION_SCOPE( MATRIX::ROW_SIZE == MATRIX::COL_SIZE );
+    typename MATRIX::value_type result(0);
+    for (size_t r=0 ; r<MATRIX::row_size() ; r++)
+        result += trace(m[r][r]);
+    return result;
+}
+
+// trace. this handles matrices of matrices
+template <typename MATRIX>
+typename MATRIX::col_type PURE diag(const MATRIX& m) {
+    COMPILE_TIME_ASSERT_FUNCTION_SCOPE( MATRIX::ROW_SIZE == MATRIX::COL_SIZE );
+    typename MATRIX::col_type result(MATRIX::col_type::NO_INIT);
+    for (size_t r=0 ; r<MATRIX::row_size() ; r++)
+        result[r] = m[r][r];
+    return result;
+}
+
+template <typename MATRIX>
+String8 asString(const MATRIX& m) {
+    String8 s;
+    for (size_t c=0 ; c<MATRIX::col_size() ; c++) {
+        s.append("|  ");
+        for (size_t r=0 ; r<MATRIX::row_size() ; r++) {
+            s.appendFormat("%7.2f  ", m[r][c]);
+        }
+        s.append("|\n");
+    }
+    return s;
+}
+
+}; // namespace matrix
+
+// -------------------------------------------------------------------------------------
+
+/*
+ * TMatProductOperators implements basic arithmetic and basic compound assignments
+ * operators on a vector of type BASE<T>.
+ *
+ * BASE only needs to implement operator[] and size().
+ * By simply inheriting from TMatProductOperators<BASE, T> BASE will automatically
+ * get all the functionality here.
+ */
+
+template <template<typename T> class BASE, typename T>
+class TMatProductOperators {
+public:
+    // multiply by a scalar
+    BASE<T>& operator *= (T v) {
+        BASE<T>& lhs(static_cast< BASE<T>& >(*this));
+        for (size_t r=0 ; r<lhs.row_size() ; r++) {
+            lhs[r] *= v;
+        }
+        return lhs;
+    }
+
+    // divide by a scalar
+    BASE<T>& operator /= (T v) {
+        BASE<T>& lhs(static_cast< BASE<T>& >(*this));
+        for (size_t r=0 ; r<lhs.row_size() ; r++) {
+            lhs[r] /= v;
+        }
+        return lhs;
+    }
+
+    // matrix * matrix, result is a matrix of the same type than the lhs matrix
+    template<typename U>
+    friend BASE<T> PURE operator *(const BASE<T>& lhs, const BASE<U>& rhs) {
+        return matrix::multiply<BASE<T> >(lhs, rhs);
+    }
+};
+
+
+/*
+ * TMatSquareFunctions implements functions on a matrix of type BASE<T>.
+ *
+ * BASE only needs to implement:
+ *  - operator[]
+ *  - col_type
+ *  - row_type
+ *  - COL_SIZE
+ *  - ROW_SIZE
+ *
+ * By simply inheriting from TMatSquareFunctions<BASE, T> BASE will automatically
+ * get all the functionality here.
+ */
+
+template<template<typename U> class BASE, typename T>
+class TMatSquareFunctions {
+public:
+    /*
+     * NOTE: the functions below ARE NOT member methods. They are friend functions
+     * with they definition inlined with their declaration. This makes these
+     * template functions available to the compiler when (and only when) this class
+     * is instantiated, at which point they're only templated on the 2nd parameter
+     * (the first one, BASE<T> being known).
+     */
+    friend BASE<T> PURE inverse(const BASE<T>& m)   { return matrix::inverse(m); }
+    friend BASE<T> PURE transpose(const BASE<T>& m) { return matrix::transpose(m); }
+    friend T       PURE trace(const BASE<T>& m)     { return matrix::trace(m); }
+};
+
+template <template<typename T> class BASE, typename T>
+class TMatDebug {
+public:
+    String8 asString() const {
+        return matrix::asString( static_cast< const BASE<T>& >(*this) );
+    }
+};
+
+// -------------------------------------------------------------------------------------
+}; // namespace android
+
+#undef PURE
+
+#endif /* UI_TMAT_HELPERS_H */
diff --git a/third_party/android_frameworks_native/include/ui/TVecHelpers.h b/third_party/android_frameworks_native/include/ui/TVecHelpers.h
new file mode 100644
index 0000000000..bb7dbfc2b8
--- /dev/null
+++ b/third_party/android_frameworks_native/include/ui/TVecHelpers.h
@@ -0,0 +1,381 @@
+/*
+ * Copyright 2013 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef TVEC_IMPLEMENTATION
+#error "Don't include TVecHelpers.h directly. use ui/vec*.h instead"
+#else
+#undef TVEC_IMPLEMENTATION
+#endif
+
+
+#ifndef UI_TVEC_HELPERS_H
+#define UI_TVEC_HELPERS_H
+
+#include <stdint.h>
+#include <sys/types.h>
+
+#define PURE __attribute__((pure))
+
+namespace android {
+// -------------------------------------------------------------------------------------
+
+/*
+ * No user serviceable parts here.
+ *
+ * Don't use this file directly, instead include ui/vec{2|3|4}.h
+ */
+
+/*
+ * This class casts itself into anything and assign itself from anything!
+ * Use with caution!
+ */
+template <typename TYPE>
+struct Impersonator {
+    Impersonator& operator = (const TYPE& rhs) {
+        reinterpret_cast<TYPE&>(*this) = rhs;
+        return *this;
+    }
+    operator TYPE& () {
+        return reinterpret_cast<TYPE&>(*this);
+    }
+    operator TYPE const& () const {
+        return reinterpret_cast<TYPE const&>(*this);
+    }
+};
+
+/*
+ * TVec{Add|Product}Operators implements basic arithmetic and basic compound assignments
+ * operators on a vector of type BASE<T>.
+ *
+ * BASE only needs to implement operator[] and size().
+ * By simply inheriting from TVec{Add|Product}Operators<BASE, T> BASE will automatically
+ * get all the functionality here.
+ */
+
+template <template<typename T> class BASE, typename T>
+class TVecAddOperators {
+public:
+    /* compound assignment from a another vector of the same size but different
+     * element type.
+     */
+    template <typename OTHER>
+    BASE<T>& operator += (const BASE<OTHER>& v) {
+        BASE<T>& rhs = static_cast<BASE<T>&>(*this);
+        for (size_t i=0 ; i<BASE<T>::size() ; i++) {
+            rhs[i] += v[i];
+        }
+        return rhs;
+    }
+    template <typename OTHER>
+    BASE<T>& operator -= (const BASE<OTHER>& v) {
+        BASE<T>& rhs = static_cast<BASE<T>&>(*this);
+        for (size_t i=0 ; i<BASE<T>::size() ; i++) {
+            rhs[i] -= v[i];
+        }
+        return rhs;
+    }
+
+    /* compound assignment from a another vector of the same type.
+     * These operators can be used for implicit conversion and  handle operations
+     * like "vector *= scalar" by letting the compiler implicitly convert a scalar
+     * to a vector (assuming the BASE<T> allows it).
+     */
+    BASE<T>& operator += (const BASE<T>& v) {
+        BASE<T>& rhs = static_cast<BASE<T>&>(*this);
+        for (size_t i=0 ; i<BASE<T>::size() ; i++) {
+            rhs[i] += v[i];
+        }
+        return rhs;
+    }
+    BASE<T>& operator -= (const BASE<T>& v) {
+        BASE<T>& rhs = static_cast<BASE<T>&>(*this);
+        for (size_t i=0 ; i<BASE<T>::size() ; i++) {
+            rhs[i] -= v[i];
+        }
+        return rhs;
+    }
+
+    /*
+     * NOTE: the functions below ARE NOT member methods. They are friend functions
+     * with they definition inlined with their declaration. This makes these
+     * template functions available to the compiler when (and only when) this class
+     * is instantiated, at which point they're only templated on the 2nd parameter
+     * (the first one, BASE<T> being known).
+     */
+
+    /* The operators below handle operation between vectors of the same side
+     * but of a different element type.
+     */
+    template<typename RT>
+    friend inline
+    BASE<T> PURE operator +(const BASE<T>& lv, const BASE<RT>& rv) {
+        return BASE<T>(lv) += rv;
+    }
+    template<typename RT>
+    friend inline
+    BASE<T> PURE operator -(const BASE<T>& lv, const BASE<RT>& rv) {
+        return BASE<T>(lv) -= rv;
+    }
+
+    /* The operators below (which are not templates once this class is instanced,
+     * i.e.: BASE<T> is known) can be used for implicit conversion on both sides.
+     * These handle operations like "vector * scalar" and "scalar * vector" by
+     * letting the compiler implicitly convert a scalar to a vector (assuming
+     * the BASE<T> allows it).
+     */
+    friend inline
+    BASE<T> PURE operator +(const BASE<T>& lv, const BASE<T>& rv) {
+        return BASE<T>(lv) += rv;
+    }
+    friend inline
+    BASE<T> PURE operator -(const BASE<T>& lv, const BASE<T>& rv) {
+        return BASE<T>(lv) -= rv;
+    }
+};
+
+template <template<typename T> class BASE, typename T>
+class TVecProductOperators {
+public:
+    /* compound assignment from a another vector of the same size but different
+     * element type.
+     */
+    template <typename OTHER>
+    BASE<T>& operator *= (const BASE<OTHER>& v) {
+        BASE<T>& rhs = static_cast<BASE<T>&>(*this);
+        for (size_t i=0 ; i<BASE<T>::size() ; i++) {
+            rhs[i] *= v[i];
+        }
+        return rhs;
+    }
+    template <typename OTHER>
+    BASE<T>& operator /= (const BASE<OTHER>& v) {
+        BASE<T>& rhs = static_cast<BASE<T>&>(*this);
+        for (size_t i=0 ; i<BASE<T>::size() ; i++) {
+            rhs[i] /= v[i];
+        }
+        return rhs;
+    }
+
+    /* compound assignment from a another vector of the same type.
+     * These operators can be used for implicit conversion and  handle operations
+     * like "vector *= scalar" by letting the compiler implicitly convert a scalar
+     * to a vector (assuming the BASE<T> allows it).
+     */
+    BASE<T>& operator *= (const BASE<T>& v) {
+        BASE<T>& rhs = static_cast<BASE<T>&>(*this);
+        for (size_t i=0 ; i<BASE<T>::size() ; i++) {
+            rhs[i] *= v[i];
+        }
+        return rhs;
+    }
+    BASE<T>& operator /= (const BASE<T>& v) {
+        BASE<T>& rhs = static_cast<BASE<T>&>(*this);
+        for (size_t i=0 ; i<BASE<T>::size() ; i++) {
+            rhs[i] /= v[i];
+        }
+        return rhs;
+    }
+
+    /*
+     * NOTE: the functions below ARE NOT member methods. They are friend functions
+     * with they definition inlined with their declaration. This makes these
+     * template functions available to the compiler when (and only when) this class
+     * is instantiated, at which point they're only templated on the 2nd parameter
+     * (the first one, BASE<T> being known).
+     */
+
+    /* The operators below handle operation between vectors of the same side
+     * but of a different element type.
+     */
+    template<typename RT>
+    friend inline
+    BASE<T> PURE operator *(const BASE<T>& lv, const BASE<RT>& rv) {
+        return BASE<T>(lv) *= rv;
+    }
+    template<typename RT>
+    friend inline
+    BASE<T> PURE operator /(const BASE<T>& lv, const BASE<RT>& rv) {
+        return BASE<T>(lv) /= rv;
+    }
+
+    /* The operators below (which are not templates once this class is instanced,
+     * i.e.: BASE<T> is known) can be used for implicit conversion on both sides.
+     * These handle operations like "vector * scalar" and "scalar * vector" by
+     * letting the compiler implicitly convert a scalar to a vector (assuming
+     * the BASE<T> allows it).
+     */
+    friend inline
+    BASE<T> PURE operator *(const BASE<T>& lv, const BASE<T>& rv) {
+        return BASE<T>(lv) *= rv;
+    }
+    friend inline
+    BASE<T> PURE operator /(const BASE<T>& lv, const BASE<T>& rv) {
+        return BASE<T>(lv) /= rv;
+    }
+};
+
+/*
+ * TVecUnaryOperators implements unary operators on a vector of type BASE<T>.
+ *
+ * BASE only needs to implement operator[] and size().
+ * By simply inheriting from TVecUnaryOperators<BASE, T> BASE will automatically
+ * get all the functionality here.
+ *
+ * These operators are implemented as friend functions of TVecUnaryOperators<BASE, T>
+ */
+template <template<typename T> class BASE, typename T>
+class TVecUnaryOperators {
+public:
+    BASE<T>& operator ++ () {
+        BASE<T>& rhs = static_cast<BASE<T>&>(*this);
+        for (size_t i=0 ; i<BASE<T>::size() ; i++) {
+            ++rhs[i];
+        }
+        return rhs;
+    }
+    BASE<T>& operator -- () {
+        BASE<T>& rhs = static_cast<BASE<T>&>(*this);
+        for (size_t i=0 ; i<BASE<T>::size() ; i++) {
+            --rhs[i];
+        }
+        return rhs;
+    }
+    BASE<T> operator - () const {
+        BASE<T> r(BASE<T>::NO_INIT);
+        BASE<T> const& rv(static_cast<BASE<T> const&>(*this));
+        for (size_t i=0 ; i<BASE<T>::size() ; i++) {
+            r[i] = -rv[i];
+        }
+        return r;
+    }
+};
+
+
+/*
+ * TVecComparisonOperators implements relational/comparison operators
+ * on a vector of type BASE<T>.
+ *
+ * BASE only needs to implement operator[] and size().
+ * By simply inheriting from TVecComparisonOperators<BASE, T> BASE will automatically
+ * get all the functionality here.
+ */
+template <template<typename T> class BASE, typename T>
+class TVecComparisonOperators {
+public:
+    /*
+     * NOTE: the functions below ARE NOT member methods. They are friend functions
+     * with they definition inlined with their declaration. This makes these
+     * template functions available to the compiler when (and only when) this class
+     * is instantiated, at which point they're only templated on the 2nd parameter
+     * (the first one, BASE<T> being known).
+     */
+    template<typename RT>
+    friend inline
+    bool PURE operator ==(const BASE<T>& lv, const BASE<RT>& rv) {
+        for (size_t i = 0; i < BASE<T>::size(); i++)
+            if (lv[i] != rv[i])
+                return false;
+        return true;
+    }
+
+    template<typename RT>
+    friend inline
+    bool PURE operator !=(const BASE<T>& lv, const BASE<RT>& rv) {
+        return !operator ==(lv, rv);
+    }
+
+    template<typename RT>
+    friend inline
+    bool PURE operator >(const BASE<T>& lv, const BASE<RT>& rv) {
+        for (size_t i = 0; i < BASE<T>::size(); i++)
+            if (lv[i] <= rv[i])
+                return false;
+        return true;
+    }
+
+    template<typename RT>
+    friend inline
+    bool PURE operator <=(const BASE<T>& lv, const BASE<RT>& rv) {
+        return !(lv > rv);
+    }
+
+    template<typename RT>
+    friend inline
+    bool PURE operator <(const BASE<T>& lv, const BASE<RT>& rv) {
+        for (size_t i = 0; i < BASE<T>::size(); i++)
+            if (lv[i] >= rv[i])
+                return false;
+        return true;
+    }
+
+    template<typename RT>
+    friend inline
+    bool PURE operator >=(const BASE<T>& lv, const BASE<RT>& rv) {
+        return !(lv < rv);
+    }
+};
+
+
+/*
+ * TVecFunctions implements functions on a vector of type BASE<T>.
+ *
+ * BASE only needs to implement operator[] and size().
+ * By simply inheriting from TVecFunctions<BASE, T> BASE will automatically
+ * get all the functionality here.
+ */
+template <template<typename T> class BASE, typename T>
+class TVecFunctions {
+public:
+    /*
+     * NOTE: the functions below ARE NOT member methods. They are friend functions
+     * with they definition inlined with their declaration. This makes these
+     * template functions available to the compiler when (and only when) this class
+     * is instantiated, at which point they're only templated on the 2nd parameter
+     * (the first one, BASE<T> being known).
+     */
+    template<typename RT>
+    friend inline
+    T PURE dot(const BASE<T>& lv, const BASE<RT>& rv) {
+        T r(0);
+        for (size_t i = 0; i < BASE<T>::size(); i++)
+            r += lv[i]*rv[i];
+        return r;
+    }
+
+    friend inline
+    T PURE length(const BASE<T>& lv) {
+        return sqrt( dot(lv, lv) );
+    }
+
+    template<typename RT>
+    friend inline
+    T PURE distance(const BASE<T>& lv, const BASE<RT>& rv) {
+        return length(rv - lv);
+    }
+
+    friend inline
+    BASE<T> PURE normalize(const BASE<T>& lv) {
+        return lv * (1 / length(lv));
+    }
+};
+
+#undef PURE
+
+// -------------------------------------------------------------------------------------
+}; // namespace android
+
+
+#endif /* UI_TVEC_HELPERS_H */
diff --git a/third_party/android_frameworks_native/include/ui/UiConfig.h b/third_party/android_frameworks_native/include/ui/UiConfig.h
new file mode 100644
index 0000000000..fcf8ed5d6b
--- /dev/null
+++ b/third_party/android_frameworks_native/include/ui/UiConfig.h
@@ -0,0 +1,29 @@
+/*
+ * Copyright (C) 2012 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_UI_CONFIG_H
+#define ANDROID_UI_CONFIG_H
+
+#include <utils/String8.h>
+
+namespace android {
+
+// Append the libui configuration details to configStr.
+void appendUiConfigString(String8& configStr);
+
+}; // namespace android
+
+#endif /*ANDROID_UI_CONFIG_H*/
diff --git a/third_party/android_frameworks_native/include/ui/mat4.h b/third_party/android_frameworks_native/include/ui/mat4.h
new file mode 100644
index 0000000000..4fd1effd71
--- /dev/null
+++ b/third_party/android_frameworks_native/include/ui/mat4.h
@@ -0,0 +1,395 @@
+/*
+ * Copyright 2013 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef UI_MAT4_H
+#define UI_MAT4_H
+
+#include <stdint.h>
+#include <sys/types.h>
+
+#include <ui/vec4.h>
+#include <utils/String8.h>
+
+#define TMAT_IMPLEMENTATION
+#include <ui/TMatHelpers.h>
+
+#define PURE __attribute__((pure))
+
+namespace android {
+// -------------------------------------------------------------------------------------
+
+template <typename T>
+class tmat44 :  public TVecUnaryOperators<tmat44, T>,
+                public TVecComparisonOperators<tmat44, T>,
+                public TVecAddOperators<tmat44, T>,
+                public TMatProductOperators<tmat44, T>,
+                public TMatSquareFunctions<tmat44, T>,
+                public TMatDebug<tmat44, T>
+{
+public:
+    enum no_init { NO_INIT };
+    typedef T value_type;
+    typedef T& reference;
+    typedef T const& const_reference;
+    typedef size_t size_type;
+    typedef tvec4<T> col_type;
+    typedef tvec4<T> row_type;
+
+    // size of a column (i.e.: number of rows)
+    enum { COL_SIZE = col_type::SIZE };
+    static inline size_t col_size() { return COL_SIZE; }
+
+    // size of a row (i.e.: number of columns)
+    enum { ROW_SIZE = row_type::SIZE };
+    static inline size_t row_size() { return ROW_SIZE; }
+    static inline size_t size()     { return row_size(); }  // for TVec*<>
+
+private:
+
+    /*
+     *  <--  N columns  -->
+     *
+     *  a00 a10 a20 ... aN0    ^
+     *  a01 a11 a21 ... aN1    |
+     *  a02 a12 a22 ... aN2  M rows
+     *  ...                    |
+     *  a0M a1M a2M ... aNM    v
+     *
+     *  COL_SIZE = M
+     *  ROW_SIZE = N
+     *  m[0] = [a00 a01 a02 ... a01M]
+     */
+
+    col_type mValue[ROW_SIZE];
+
+public:
+    // array access
+    inline col_type const& operator [] (size_t i) const { return mValue[i]; }
+    inline col_type&       operator [] (size_t i)       { return mValue[i]; }
+
+    T const* asArray() const { return &mValue[0][0]; }
+
+    // -----------------------------------------------------------------------
+    // we don't provide copy-ctor and operator= on purpose
+    // because we want the compiler generated versions
+
+    /*
+     *  constructors
+     */
+
+    // leaves object uninitialized. use with caution.
+    explicit tmat44(no_init) { }
+
+    // initialize to identity
+    tmat44();
+
+    // initialize to Identity*scalar.
+    template<typename U>
+    explicit tmat44(U v);
+
+    // sets the diagonal to the passed vector
+    template <typename U>
+    explicit tmat44(const tvec4<U>& rhs);
+
+    // construct from another matrix of the same size
+    template <typename U>
+    explicit tmat44(const tmat44<U>& rhs);
+
+    // construct from 4 column vectors
+    template <typename A, typename B, typename C, typename D>
+    tmat44(const tvec4<A>& v0, const tvec4<B>& v1, const tvec4<C>& v2, const tvec4<D>& v3);
+
+    // construct from 16 scalars
+    template <
+        typename A, typename B, typename C, typename D,
+        typename E, typename F, typename G, typename H,
+        typename I, typename J, typename K, typename L,
+        typename M, typename N, typename O, typename P>
+    tmat44( A m00, B m01, C m02, D m03,
+            E m10, F m11, G m12, H m13,
+            I m20, J m21, K m22, L m23,
+            M m30, N m31, O m32, P m33);
+
+    // construct from a C array
+    template <typename U>
+    explicit tmat44(U const* rawArray);
+
+    /*
+     *  helpers
+     */
+
+    static tmat44 ortho(T left, T right, T bottom, T top, T near, T far);
+
+    static tmat44 frustum(T left, T right, T bottom, T top, T near, T far);
+
+    template <typename A, typename B, typename C>
+    static tmat44 lookAt(const tvec3<A>& eye, const tvec3<B>& center, const tvec3<C>& up);
+
+    template <typename A>
+    static tmat44 translate(const tvec4<A>& t);
+
+    template <typename A>
+    static tmat44 scale(const tvec4<A>& s);
+
+    template <typename A, typename B>
+    static tmat44 rotate(A radian, const tvec3<B>& about);
+};
+
+// ----------------------------------------------------------------------------------------
+// Constructors
+// ----------------------------------------------------------------------------------------
+
+/*
+ * Since the matrix code could become pretty big quickly, we don't inline most
+ * operations.
+ */
+
+template <typename T>
+tmat44<T>::tmat44() {
+    mValue[0] = col_type(1,0,0,0);
+    mValue[1] = col_type(0,1,0,0);
+    mValue[2] = col_type(0,0,1,0);
+    mValue[3] = col_type(0,0,0,1);
+}
+
+template <typename T>
+template <typename U>
+tmat44<T>::tmat44(U v) {
+    mValue[0] = col_type(v,0,0,0);
+    mValue[1] = col_type(0,v,0,0);
+    mValue[2] = col_type(0,0,v,0);
+    mValue[3] = col_type(0,0,0,v);
+}
+
+template<typename T>
+template<typename U>
+tmat44<T>::tmat44(const tvec4<U>& v) {
+    mValue[0] = col_type(v.x,0,0,0);
+    mValue[1] = col_type(0,v.y,0,0);
+    mValue[2] = col_type(0,0,v.z,0);
+    mValue[3] = col_type(0,0,0,v.w);
+}
+
+// construct from 16 scalars
+template<typename T>
+template <
+    typename A, typename B, typename C, typename D,
+    typename E, typename F, typename G, typename H,
+    typename I, typename J, typename K, typename L,
+    typename M, typename N, typename O, typename P>
+tmat44<T>::tmat44(  A m00, B m01, C m02, D m03,
+                    E m10, F m11, G m12, H m13,
+                    I m20, J m21, K m22, L m23,
+                    M m30, N m31, O m32, P m33) {
+    mValue[0] = col_type(m00, m01, m02, m03);
+    mValue[1] = col_type(m10, m11, m12, m13);
+    mValue[2] = col_type(m20, m21, m22, m23);
+    mValue[3] = col_type(m30, m31, m32, m33);
+}
+
+template <typename T>
+template <typename U>
+tmat44<T>::tmat44(const tmat44<U>& rhs) {
+    for (size_t r=0 ; r<row_size() ; r++)
+        mValue[r] = rhs[r];
+}
+
+template <typename T>
+template <typename A, typename B, typename C, typename D>
+tmat44<T>::tmat44(const tvec4<A>& v0, const tvec4<B>& v1, const tvec4<C>& v2, const tvec4<D>& v3) {
+    mValue[0] = v0;
+    mValue[1] = v1;
+    mValue[2] = v2;
+    mValue[3] = v3;
+}
+
+template <typename T>
+template <typename U>
+tmat44<T>::tmat44(U const* rawArray) {
+    for (size_t r=0 ; r<row_size() ; r++)
+        for (size_t c=0 ; c<col_size() ; c++)
+            mValue[r][c] = *rawArray++;
+}
+
+// ----------------------------------------------------------------------------------------
+// Helpers
+// ----------------------------------------------------------------------------------------
+
+template <typename T>
+tmat44<T> tmat44<T>::ortho(T left, T right, T bottom, T top, T near, T far) {
+    tmat44<T> m;
+    m[0][0] =  2 / (right - left);
+    m[1][1] =  2 / (top   - bottom);
+    m[2][2] = -2 / (far   - near);
+    m[3][0] = -(right + left)   / (right - left);
+    m[3][1] = -(top   + bottom) / (top   - bottom);
+    m[3][2] = -(far   + near)   / (far   - near);
+    return m;
+}
+
+template <typename T>
+tmat44<T> tmat44<T>::frustum(T left, T right, T bottom, T top, T near, T far) {
+    tmat44<T> m;
+    T A = (right + left)   / (right - left);
+    T B = (top   + bottom) / (top   - bottom);
+    T C = (far   + near)   / (far   - near);
+    T D = (2 * far * near) / (far   - near);
+    m[0][0] = (2 * near) / (right - left);
+    m[1][1] = (2 * near) / (top   - bottom);
+    m[2][0] = A;
+    m[2][1] = B;
+    m[2][2] = C;
+    m[2][3] =-1;
+    m[3][2] = D;
+    m[3][3] = 0;
+    return m;
+}
+
+template <typename T>
+template <typename A, typename B, typename C>
+tmat44<T> tmat44<T>::lookAt(const tvec3<A>& eye, const tvec3<B>& center, const tvec3<C>& up) {
+    tvec3<T> L(normalize(center - eye));
+    tvec3<T> S(normalize( cross(L, up) ));
+    tvec3<T> U(cross(S, L));
+    return tmat44<T>(
+            tvec4<T>( S, 0),
+            tvec4<T>( U, 0),
+            tvec4<T>(-L, 0),
+            tvec4<T>(-eye, 1));
+}
+
+template <typename T>
+template <typename A>
+tmat44<T> tmat44<T>::translate(const tvec4<A>& t) {
+    tmat44<T> r;
+    r[3] = t;
+    return r;
+}
+
+template <typename T>
+template <typename A>
+tmat44<T> tmat44<T>::scale(const tvec4<A>& s) {
+    tmat44<T> r;
+    r[0][0] = s[0];
+    r[1][1] = s[1];
+    r[2][2] = s[2];
+    r[3][3] = s[3];
+    return r;
+}
+
+template <typename T>
+template <typename A, typename B>
+tmat44<T> tmat44<T>::rotate(A radian, const tvec3<B>& about) {
+    tmat44<T> rotation;
+    T* r = const_cast<T*>(rotation.asArray());
+    T c = cos(radian);
+    T s = sin(radian);
+    if (about.x==1 && about.y==0 && about.z==0) {
+        r[5] = c;   r[10]= c;
+        r[6] = s;   r[9] = -s;
+    } else if (about.x==0 && about.y==1 && about.z==0) {
+        r[0] = c;   r[10]= c;
+        r[8] = s;   r[2] = -s;
+    } else if (about.x==0 && about.y==0 && about.z==1) {
+        r[0] = c;   r[5] = c;
+        r[1] = s;   r[4] = -s;
+    } else {
+        tvec3<B> nabout = normalize(about);
+        B x = nabout.x;
+        B y = nabout.y;
+        B z = nabout.z;
+        T nc = 1 - c;
+        T xy = x * y;
+        T yz = y * z;
+        T zx = z * x;
+        T xs = x * s;
+        T ys = y * s;
+        T zs = z * s;
+        r[ 0] = x*x*nc +  c;    r[ 4] =  xy*nc - zs;    r[ 8] =  zx*nc + ys;
+        r[ 1] =  xy*nc + zs;    r[ 5] = y*y*nc +  c;    r[ 9] =  yz*nc - xs;
+        r[ 2] =  zx*nc - ys;    r[ 6] =  yz*nc + xs;    r[10] = z*z*nc +  c;
+    }
+    return rotation;
+}
+
+// ----------------------------------------------------------------------------------------
+// Arithmetic operators outside of class
+// ----------------------------------------------------------------------------------------
+
+/* We use non-friend functions here to prevent the compiler from using
+ * implicit conversions, for instance of a scalar to a vector. The result would
+ * not be what the caller expects.
+ *
+ * Also note that the order of the arguments in the inner loop is important since
+ * it determines the output type (only relevant when T != U).
+ */
+
+// matrix * vector, result is a vector of the same type than the input vector
+template <typename T, typename U>
+typename tmat44<U>::col_type PURE operator *(const tmat44<T>& lv, const tvec4<U>& rv) {
+    typename tmat44<U>::col_type result;
+    for (size_t r=0 ; r<tmat44<T>::row_size() ; r++)
+        result += rv[r]*lv[r];
+    return result;
+}
+
+// vector * matrix, result is a vector of the same type than the input vector
+template <typename T, typename U>
+typename tmat44<U>::row_type PURE operator *(const tvec4<U>& rv, const tmat44<T>& lv) {
+    typename tmat44<U>::row_type result(tmat44<U>::row_type::NO_INIT);
+    for (size_t r=0 ; r<tmat44<T>::row_size() ; r++)
+        result[r] = dot(rv, lv[r]);
+    return result;
+}
+
+// matrix * scalar, result is a matrix of the same type than the input matrix
+template <typename T, typename U>
+tmat44<T> PURE operator *(const tmat44<T>& lv, U rv) {
+    tmat44<T> result(tmat44<T>::NO_INIT);
+    for (size_t r=0 ; r<tmat44<T>::row_size() ; r++)
+        result[r] = lv[r]*rv;
+    return result;
+}
+
+// scalar * matrix, result is a matrix of the same type than the input matrix
+template <typename T, typename U>
+tmat44<T> PURE operator *(U rv, const tmat44<T>& lv) {
+    tmat44<T> result(tmat44<T>::NO_INIT);
+    for (size_t r=0 ; r<tmat44<T>::row_size() ; r++)
+        result[r] = lv[r]*rv;
+    return result;
+}
+
+// ----------------------------------------------------------------------------------------
+
+/* FIXME: this should go into TMatSquareFunctions<> but for some reason
+ * BASE<T>::col_type is not accessible from there (???)
+ */
+template<typename T>
+typename tmat44<T>::col_type PURE diag(const tmat44<T>& m) {
+    return matrix::diag(m);
+}
+
+// ----------------------------------------------------------------------------------------
+
+typedef tmat44<float> mat4;
+
+// ----------------------------------------------------------------------------------------
+}; // namespace android
+
+#undef PURE
+
+#endif /* UI_MAT4_H */
diff --git a/third_party/android_frameworks_native/include/ui/vec2.h b/third_party/android_frameworks_native/include/ui/vec2.h
new file mode 100644
index 0000000000..c31d0e43e3
--- /dev/null
+++ b/third_party/android_frameworks_native/include/ui/vec2.h
@@ -0,0 +1,91 @@
+/*
+ * Copyright 2013 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef UI_VEC2_H
+#define UI_VEC2_H
+
+#include <stdint.h>
+#include <sys/types.h>
+
+#define TVEC_IMPLEMENTATION
+#include <ui/TVecHelpers.h>
+
+namespace android {
+// -------------------------------------------------------------------------------------
+
+template <typename T>
+class tvec2 :   public TVecProductOperators<tvec2, T>,
+                public TVecAddOperators<tvec2, T>,
+                public TVecUnaryOperators<tvec2, T>,
+                public TVecComparisonOperators<tvec2, T>,
+                public TVecFunctions<tvec2, T>
+{
+public:
+    enum no_init { NO_INIT };
+    typedef T value_type;
+    typedef T& reference;
+    typedef T const& const_reference;
+    typedef size_t size_type;
+
+    union {
+        struct { T x, y; };
+        struct { T s, t; };
+        struct { T r, g; };
+    };
+
+    enum { SIZE = 2 };
+    inline static size_type size() { return SIZE; }
+
+    // array access
+    inline T const& operator [] (size_t i) const { return (&x)[i]; }
+    inline T&       operator [] (size_t i)       { return (&x)[i]; }
+
+    // -----------------------------------------------------------------------
+    // we don't provide copy-ctor and operator= on purpose
+    // because we want the compiler generated versions
+
+    // constructors
+
+    // leaves object uninitialized. use with caution.
+    explicit tvec2(no_init) { }
+
+    // default constructor
+    tvec2() : x(0), y(0) { }
+
+    // handles implicit conversion to a tvec4. must not be explicit.
+    template<typename A>
+    tvec2(A v) : x(v), y(v) { }
+
+    template<typename A, typename B>
+    tvec2(A x, B y) : x(x), y(y) { }
+
+    template<typename A>
+    explicit tvec2(const tvec2<A>& v) : x(v.x), y(v.y) { }
+
+    template<typename A>
+    tvec2(const Impersonator< tvec2<A> >& v)
+        : x(((const tvec2<A>&)v).x),
+          y(((const tvec2<A>&)v).y) { }
+};
+
+// ----------------------------------------------------------------------------------------
+
+typedef tvec2<float> vec2;
+
+// ----------------------------------------------------------------------------------------
+}; // namespace android
+
+#endif /* UI_VEC4_H */
diff --git a/third_party/android_frameworks_native/include/ui/vec3.h b/third_party/android_frameworks_native/include/ui/vec3.h
new file mode 100644
index 0000000000..dde59a96fb
--- /dev/null
+++ b/third_party/android_frameworks_native/include/ui/vec3.h
@@ -0,0 +1,113 @@
+/*
+ * Copyright 2013 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef UI_VEC3_H
+#define UI_VEC3_H
+
+#include <stdint.h>
+#include <sys/types.h>
+
+#include <ui/vec2.h>
+
+namespace android {
+// -------------------------------------------------------------------------------------
+
+template <typename T>
+class tvec3 :   public TVecProductOperators<tvec3, T>,
+                public TVecAddOperators<tvec3, T>,
+                public TVecUnaryOperators<tvec3, T>,
+                public TVecComparisonOperators<tvec3, T>,
+                public TVecFunctions<tvec3, T>
+{
+public:
+    enum no_init { NO_INIT };
+    typedef T value_type;
+    typedef T& reference;
+    typedef T const& const_reference;
+    typedef size_t size_type;
+
+    union {
+        struct { T x, y, z; };
+        struct { T s, t, p; };
+        struct { T r, g, b; };
+        Impersonator< tvec2<T> > xy;
+        Impersonator< tvec2<T> > st;
+        Impersonator< tvec2<T> > rg;
+    };
+
+    enum { SIZE = 3 };
+    inline static size_type size() { return SIZE; }
+
+    // array access
+    inline T const& operator [] (size_t i) const { return (&x)[i]; }
+    inline T&       operator [] (size_t i)       { return (&x)[i]; }
+
+    // -----------------------------------------------------------------------
+    // we don't provide copy-ctor and operator= on purpose
+    // because we want the compiler generated versions
+
+    // constructors
+    // leaves object uninitialized. use with caution.
+    explicit tvec3(no_init) { }
+
+    // default constructor
+    tvec3() : x(0), y(0), z(0) { }
+
+    // handles implicit conversion to a tvec4. must not be explicit.
+    template<typename A>
+    tvec3(A v) : x(v), y(v), z(v) { }
+
+    template<typename A, typename B, typename C>
+    tvec3(A x, B y, C z) : x(x), y(y), z(z) { }
+
+    template<typename A, typename B>
+    tvec3(const tvec2<A>& v, B z) : x(v.x), y(v.y), z(z) { }
+
+    template<typename A>
+    explicit tvec3(const tvec3<A>& v) : x(v.x), y(v.y), z(v.z) { }
+
+    template<typename A>
+    tvec3(const Impersonator< tvec3<A> >& v)
+        : x(((const tvec3<A>&)v).x),
+          y(((const tvec3<A>&)v).y),
+          z(((const tvec3<A>&)v).z) { }
+
+    template<typename A, typename B>
+    tvec3(const Impersonator< tvec2<A> >& v, B z)
+        : x(((const tvec2<A>&)v).x),
+          y(((const tvec2<A>&)v).y),
+          z(z) { }
+
+    // cross product works only on vectors of size 3
+    template <typename RT>
+    friend inline
+    tvec3 __attribute__((pure)) cross(const tvec3& u, const tvec3<RT>& v) {
+        return tvec3(
+                u.y*v.z - u.z*v.y,
+                u.z*v.x - u.x*v.z,
+                u.x*v.y - u.y*v.x);
+    }
+};
+
+
+// ----------------------------------------------------------------------------------------
+
+typedef tvec3<float> vec3;
+
+// ----------------------------------------------------------------------------------------
+}; // namespace android
+
+#endif /* UI_VEC4_H */
diff --git a/third_party/android_frameworks_native/include/ui/vec4.h b/third_party/android_frameworks_native/include/ui/vec4.h
new file mode 100644
index 0000000000..e03d331fb3
--- /dev/null
+++ b/third_party/android_frameworks_native/include/ui/vec4.h
@@ -0,0 +1,118 @@
+/*
+ * Copyright 2013 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef UI_VEC4_H
+#define UI_VEC4_H
+
+#include <stdint.h>
+#include <sys/types.h>
+
+#include <ui/vec3.h>
+
+namespace android {
+// -------------------------------------------------------------------------------------
+
+template <typename T>
+class tvec4 :   public TVecProductOperators<tvec4, T>,
+                public TVecAddOperators<tvec4, T>,
+                public TVecUnaryOperators<tvec4, T>,
+                public TVecComparisonOperators<tvec4, T>,
+                public TVecFunctions<tvec4, T>
+{
+public:
+    enum no_init { NO_INIT };
+    typedef T value_type;
+    typedef T& reference;
+    typedef T const& const_reference;
+    typedef size_t size_type;
+
+    union {
+        struct { T x, y, z, w; };
+        struct { T s, t, p, q; };
+        struct { T r, g, b, a; };
+        Impersonator< tvec2<T> > xy;
+        Impersonator< tvec2<T> > st;
+        Impersonator< tvec2<T> > rg;
+        Impersonator< tvec3<T> > xyz;
+        Impersonator< tvec3<T> > stp;
+        Impersonator< tvec3<T> > rgb;
+    };
+
+    enum { SIZE = 4 };
+    inline static size_type size() { return SIZE; }
+
+    // array access
+    inline T const& operator [] (size_t i) const { return (&x)[i]; }
+    inline T&       operator [] (size_t i)       { return (&x)[i]; }
+
+    // -----------------------------------------------------------------------
+    // we don't provide copy-ctor and operator= on purpose
+    // because we want the compiler generated versions
+
+    // constructors
+
+    // leaves object uninitialized. use with caution.
+    explicit tvec4(no_init) { }
+
+    // default constructor
+    tvec4() : x(0), y(0), z(0), w(0) { }
+
+    // handles implicit conversion to a tvec4. must not be explicit.
+    template<typename A>
+    tvec4(A v) : x(v), y(v), z(v), w(v) { }
+
+    template<typename A, typename B, typename C, typename D>
+    tvec4(A x, B y, C z, D w) : x(x), y(y), z(z), w(w) { }
+
+    template<typename A, typename B, typename C>
+    tvec4(const tvec2<A>& v, B z, C w) : x(v.x), y(v.y), z(z), w(w) { }
+
+    template<typename A, typename B>
+    tvec4(const tvec3<A>& v, B w) : x(v.x), y(v.y), z(v.z), w(w) { }
+
+    template<typename A>
+    explicit tvec4(const tvec4<A>& v) : x(v.x), y(v.y), z(v.z), w(v.w) { }
+
+    template<typename A>
+    tvec4(const Impersonator< tvec4<A> >& v)
+        : x(((const tvec4<A>&)v).x),
+          y(((const tvec4<A>&)v).y),
+          z(((const tvec4<A>&)v).z),
+          w(((const tvec4<A>&)v).w) { }
+
+    template<typename A, typename B>
+    tvec4(const Impersonator< tvec3<A> >& v, B w)
+        : x(((const tvec3<A>&)v).x),
+          y(((const tvec3<A>&)v).y),
+          z(((const tvec3<A>&)v).z),
+          w(w) { }
+
+    template<typename A, typename B, typename C>
+    tvec4(const Impersonator< tvec2<A> >& v, B z, C w)
+        : x(((const tvec2<A>&)v).x),
+          y(((const tvec2<A>&)v).y),
+          z(z),
+          w(w) { }
+};
+
+// ----------------------------------------------------------------------------------------
+
+typedef tvec4<float> vec4;
+
+// ----------------------------------------------------------------------------------------
+}; // namespace android
+
+#endif /* UI_VEC4_H */
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/activity_recognition.h b/third_party/android_hardware_libhardware/include/hardware/activity_recognition.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/activity_recognition.h
rename to third_party/android_hardware_libhardware/include/hardware/activity_recognition.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/audio.h b/third_party/android_hardware_libhardware/include/hardware/audio.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/audio.h
rename to third_party/android_hardware_libhardware/include/hardware/audio.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/audio_alsaops.h b/third_party/android_hardware_libhardware/include/hardware/audio_alsaops.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/audio_alsaops.h
rename to third_party/android_hardware_libhardware/include/hardware/audio_alsaops.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/audio_amplifier.h b/third_party/android_hardware_libhardware/include/hardware/audio_amplifier.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/audio_amplifier.h
rename to third_party/android_hardware_libhardware/include/hardware/audio_amplifier.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/audio_effect.h b/third_party/android_hardware_libhardware/include/hardware/audio_effect.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/audio_effect.h
rename to third_party/android_hardware_libhardware/include/hardware/audio_effect.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/audio_policy.h b/third_party/android_hardware_libhardware/include/hardware/audio_policy.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/audio_policy.h
rename to third_party/android_hardware_libhardware/include/hardware/audio_policy.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/bluetooth.h b/third_party/android_hardware_libhardware/include/hardware/bluetooth.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/bluetooth.h
rename to third_party/android_hardware_libhardware/include/hardware/bluetooth.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/bt_av.h b/third_party/android_hardware_libhardware/include/hardware/bt_av.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/bt_av.h
rename to third_party/android_hardware_libhardware/include/hardware/bt_av.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/bt_common_types.h b/third_party/android_hardware_libhardware/include/hardware/bt_common_types.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/bt_common_types.h
rename to third_party/android_hardware_libhardware/include/hardware/bt_common_types.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/bt_gatt.h b/third_party/android_hardware_libhardware/include/hardware/bt_gatt.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/bt_gatt.h
rename to third_party/android_hardware_libhardware/include/hardware/bt_gatt.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/bt_gatt_client.h b/third_party/android_hardware_libhardware/include/hardware/bt_gatt_client.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/bt_gatt_client.h
rename to third_party/android_hardware_libhardware/include/hardware/bt_gatt_client.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/bt_gatt_server.h b/third_party/android_hardware_libhardware/include/hardware/bt_gatt_server.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/bt_gatt_server.h
rename to third_party/android_hardware_libhardware/include/hardware/bt_gatt_server.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/bt_gatt_types.h b/third_party/android_hardware_libhardware/include/hardware/bt_gatt_types.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/bt_gatt_types.h
rename to third_party/android_hardware_libhardware/include/hardware/bt_gatt_types.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/bt_hd.h b/third_party/android_hardware_libhardware/include/hardware/bt_hd.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/bt_hd.h
rename to third_party/android_hardware_libhardware/include/hardware/bt_hd.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/bt_hf.h b/third_party/android_hardware_libhardware/include/hardware/bt_hf.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/bt_hf.h
rename to third_party/android_hardware_libhardware/include/hardware/bt_hf.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/bt_hf_client.h b/third_party/android_hardware_libhardware/include/hardware/bt_hf_client.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/bt_hf_client.h
rename to third_party/android_hardware_libhardware/include/hardware/bt_hf_client.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/bt_hh.h b/third_party/android_hardware_libhardware/include/hardware/bt_hh.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/bt_hh.h
rename to third_party/android_hardware_libhardware/include/hardware/bt_hh.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/bt_hl.h b/third_party/android_hardware_libhardware/include/hardware/bt_hl.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/bt_hl.h
rename to third_party/android_hardware_libhardware/include/hardware/bt_hl.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/bt_mce.h b/third_party/android_hardware_libhardware/include/hardware/bt_mce.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/bt_mce.h
rename to third_party/android_hardware_libhardware/include/hardware/bt_mce.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/bt_pan.h b/third_party/android_hardware_libhardware/include/hardware/bt_pan.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/bt_pan.h
rename to third_party/android_hardware_libhardware/include/hardware/bt_pan.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/bt_rc.h b/third_party/android_hardware_libhardware/include/hardware/bt_rc.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/bt_rc.h
rename to third_party/android_hardware_libhardware/include/hardware/bt_rc.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/bt_sdp.h b/third_party/android_hardware_libhardware/include/hardware/bt_sdp.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/bt_sdp.h
rename to third_party/android_hardware_libhardware/include/hardware/bt_sdp.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/bt_sock.h b/third_party/android_hardware_libhardware/include/hardware/bt_sock.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/bt_sock.h
rename to third_party/android_hardware_libhardware/include/hardware/bt_sock.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/camera.h b/third_party/android_hardware_libhardware/include/hardware/camera.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/camera.h
rename to third_party/android_hardware_libhardware/include/hardware/camera.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/camera2.h b/third_party/android_hardware_libhardware/include/hardware/camera2.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/camera2.h
rename to third_party/android_hardware_libhardware/include/hardware/camera2.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/camera3.h b/third_party/android_hardware_libhardware/include/hardware/camera3.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/camera3.h
rename to third_party/android_hardware_libhardware/include/hardware/camera3.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/camera_common.h b/third_party/android_hardware_libhardware/include/hardware/camera_common.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/camera_common.h
rename to third_party/android_hardware_libhardware/include/hardware/camera_common.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/consumerir.h b/third_party/android_hardware_libhardware/include/hardware/consumerir.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/consumerir.h
rename to third_party/android_hardware_libhardware/include/hardware/consumerir.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/display_defs.h b/third_party/android_hardware_libhardware/include/hardware/display_defs.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/display_defs.h
rename to third_party/android_hardware_libhardware/include/hardware/display_defs.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/fb.h b/third_party/android_hardware_libhardware/include/hardware/fb.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/fb.h
rename to third_party/android_hardware_libhardware/include/hardware/fb.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/fingerprint.h b/third_party/android_hardware_libhardware/include/hardware/fingerprint.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/fingerprint.h
rename to third_party/android_hardware_libhardware/include/hardware/fingerprint.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/fused_location.h b/third_party/android_hardware_libhardware/include/hardware/fused_location.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/fused_location.h
rename to third_party/android_hardware_libhardware/include/hardware/fused_location.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/gatekeeper.h b/third_party/android_hardware_libhardware/include/hardware/gatekeeper.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/gatekeeper.h
rename to third_party/android_hardware_libhardware/include/hardware/gatekeeper.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/gps.h b/third_party/android_hardware_libhardware/include/hardware/gps.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/gps.h
rename to third_party/android_hardware_libhardware/include/hardware/gps.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/gralloc.h b/third_party/android_hardware_libhardware/include/hardware/gralloc.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/gralloc.h
rename to third_party/android_hardware_libhardware/include/hardware/gralloc.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/hardware.h b/third_party/android_hardware_libhardware/include/hardware/hardware.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/hardware.h
rename to third_party/android_hardware_libhardware/include/hardware/hardware.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/hdmi_cec.h b/third_party/android_hardware_libhardware/include/hardware/hdmi_cec.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/hdmi_cec.h
rename to third_party/android_hardware_libhardware/include/hardware/hdmi_cec.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/hw_auth_token.h b/third_party/android_hardware_libhardware/include/hardware/hw_auth_token.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/hw_auth_token.h
rename to third_party/android_hardware_libhardware/include/hardware/hw_auth_token.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/hwcomposer.h b/third_party/android_hardware_libhardware/include/hardware/hwcomposer.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/hwcomposer.h
rename to third_party/android_hardware_libhardware/include/hardware/hwcomposer.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/hwcomposer_defs.h b/third_party/android_hardware_libhardware/include/hardware/hwcomposer_defs.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/hwcomposer_defs.h
rename to third_party/android_hardware_libhardware/include/hardware/hwcomposer_defs.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/input.h b/third_party/android_hardware_libhardware/include/hardware/input.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/input.h
rename to third_party/android_hardware_libhardware/include/hardware/input.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/keymaster0.h b/third_party/android_hardware_libhardware/include/hardware/keymaster0.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/keymaster0.h
rename to third_party/android_hardware_libhardware/include/hardware/keymaster0.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/keymaster1.h b/third_party/android_hardware_libhardware/include/hardware/keymaster1.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/keymaster1.h
rename to third_party/android_hardware_libhardware/include/hardware/keymaster1.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/keymaster_common.h b/third_party/android_hardware_libhardware/include/hardware/keymaster_common.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/keymaster_common.h
rename to third_party/android_hardware_libhardware/include/hardware/keymaster_common.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/keymaster_defs.h b/third_party/android_hardware_libhardware/include/hardware/keymaster_defs.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/keymaster_defs.h
rename to third_party/android_hardware_libhardware/include/hardware/keymaster_defs.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/lights.h b/third_party/android_hardware_libhardware/include/hardware/lights.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/lights.h
rename to third_party/android_hardware_libhardware/include/hardware/lights.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/local_time_hal.h b/third_party/android_hardware_libhardware/include/hardware/local_time_hal.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/local_time_hal.h
rename to third_party/android_hardware_libhardware/include/hardware/local_time_hal.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/memtrack.h b/third_party/android_hardware_libhardware/include/hardware/memtrack.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/memtrack.h
rename to third_party/android_hardware_libhardware/include/hardware/memtrack.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/nfc.h b/third_party/android_hardware_libhardware/include/hardware/nfc.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/nfc.h
rename to third_party/android_hardware_libhardware/include/hardware/nfc.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/nfc_tag.h b/third_party/android_hardware_libhardware/include/hardware/nfc_tag.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/nfc_tag.h
rename to third_party/android_hardware_libhardware/include/hardware/nfc_tag.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/power.h b/third_party/android_hardware_libhardware/include/hardware/power.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/power.h
rename to third_party/android_hardware_libhardware/include/hardware/power.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/qemu_pipe.h b/third_party/android_hardware_libhardware/include/hardware/qemu_pipe.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/qemu_pipe.h
rename to third_party/android_hardware_libhardware/include/hardware/qemu_pipe.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/qemud.h b/third_party/android_hardware_libhardware/include/hardware/qemud.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/qemud.h
rename to third_party/android_hardware_libhardware/include/hardware/qemud.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/radio.h b/third_party/android_hardware_libhardware/include/hardware/radio.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/radio.h
rename to third_party/android_hardware_libhardware/include/hardware/radio.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/sensors.h b/third_party/android_hardware_libhardware/include/hardware/sensors.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/sensors.h
rename to third_party/android_hardware_libhardware/include/hardware/sensors.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/sound_trigger.h b/third_party/android_hardware_libhardware/include/hardware/sound_trigger.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/sound_trigger.h
rename to third_party/android_hardware_libhardware/include/hardware/sound_trigger.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/tv_input.h b/third_party/android_hardware_libhardware/include/hardware/tv_input.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/tv_input.h
rename to third_party/android_hardware_libhardware/include/hardware/tv_input.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/vibrator.h b/third_party/android_hardware_libhardware/include/hardware/vibrator.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/vibrator.h
rename to third_party/android_hardware_libhardware/include/hardware/vibrator.h
diff --git a/phonelibs/android_hardware_libhardware/include/hardware/wipower.h b/third_party/android_hardware_libhardware/include/hardware/wipower.h
similarity index 100%
rename from phonelibs/android_hardware_libhardware/include/hardware/wipower.h
rename to third_party/android_hardware_libhardware/include/hardware/wipower.h
diff --git a/third_party/android_system_core/include/cutils/android_reboot.h b/third_party/android_system_core/include/cutils/android_reboot.h
new file mode 100644
index 0000000000..a3861a02dc
--- /dev/null
+++ b/third_party/android_system_core/include/cutils/android_reboot.h
@@ -0,0 +1,39 @@
+/*
+ * Copyright 2011, The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef __CUTILS_ANDROID_REBOOT_H__
+#define __CUTILS_ANDROID_REBOOT_H__
+
+#include <mntent.h>
+
+__BEGIN_DECLS
+
+/* Commands */
+#define ANDROID_RB_RESTART  0xDEAD0001
+#define ANDROID_RB_POWEROFF 0xDEAD0002
+#define ANDROID_RB_RESTART2 0xDEAD0003
+
+/* Properties */
+#define ANDROID_RB_PROPERTY "sys.powerctl"
+
+int android_reboot(int cmd, int flags, const char *arg);
+int android_reboot_with_callback(
+    int cmd, int flags, const char *arg,
+    void (*cb_on_remount)(const struct mntent*));
+
+__END_DECLS
+
+#endif /* __CUTILS_ANDROID_REBOOT_H__ */
diff --git a/third_party/android_system_core/include/cutils/aref.h b/third_party/android_system_core/include/cutils/aref.h
new file mode 100644
index 0000000000..3bd36ea04c
--- /dev/null
+++ b/third_party/android_system_core/include/cutils/aref.h
@@ -0,0 +1,58 @@
+/*
+ * Copyright (C) 2013 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef _CUTILS_AREF_H_
+#define _CUTILS_AREF_H_
+
+#include <stddef.h>
+#include <sys/cdefs.h>
+
+#include <cutils/atomic.h>
+
+__BEGIN_DECLS
+
+#define AREF_TO_ITEM(aref, container, member) \
+    (container *) (((char*) (aref)) - offsetof(container, member))
+
+struct aref
+{
+    volatile int32_t count;
+};
+
+static inline void aref_init(struct aref *r)
+{
+    r->count = 1;
+}
+
+static inline int32_t aref_count(struct aref *r)
+{
+    return r->count;
+}
+
+static inline void aref_get(struct aref *r)
+{
+    android_atomic_inc(&r->count);
+}
+
+static inline void aref_put(struct aref *r, void (*release)(struct aref *))
+{
+    if (android_atomic_dec(&r->count) == 1)
+        release(r);
+}
+
+__END_DECLS
+
+#endif // _CUTILS_AREF_H_
diff --git a/third_party/android_system_core/include/cutils/ashmem.h b/third_party/android_system_core/include/cutils/ashmem.h
new file mode 100644
index 0000000000..25b233e6a1
--- /dev/null
+++ b/third_party/android_system_core/include/cutils/ashmem.h
@@ -0,0 +1,45 @@
+/* cutils/ashmem.h
+ **
+ ** Copyright 2008 The Android Open Source Project
+ **
+ ** This file is dual licensed.  It may be redistributed and/or modified
+ ** under the terms of the Apache 2.0 License OR version 2 of the GNU
+ ** General Public License.
+ */
+
+#ifndef _CUTILS_ASHMEM_H
+#define _CUTILS_ASHMEM_H
+
+#include <stddef.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+int ashmem_create_region(const char *name, size_t size);
+int ashmem_set_prot_region(int fd, int prot);
+int ashmem_pin_region(int fd, size_t offset, size_t len);
+int ashmem_unpin_region(int fd, size_t offset, size_t len);
+int ashmem_get_size_region(int fd);
+
+#ifdef __cplusplus
+}
+#endif
+
+#ifndef __ASHMEMIOC	/* in case someone included <linux/ashmem.h> too */
+
+#define ASHMEM_NAME_LEN		256
+
+#define ASHMEM_NAME_DEF		"dev/ashmem"
+
+/* Return values from ASHMEM_PIN: Was the mapping purged while unpinned? */
+#define ASHMEM_NOT_PURGED	0
+#define ASHMEM_WAS_PURGED	1
+
+/* Return values from ASHMEM_UNPIN: Is the mapping now pinned or unpinned? */
+#define ASHMEM_IS_UNPINNED	0
+#define ASHMEM_IS_PINNED	1
+
+#endif	/* ! __ASHMEMIOC */
+
+#endif	/* _CUTILS_ASHMEM_H */
diff --git a/third_party/android_system_core/include/cutils/atomic.h b/third_party/android_system_core/include/cutils/atomic.h
new file mode 100644
index 0000000000..ded972acb2
--- /dev/null
+++ b/third_party/android_system_core/include/cutils/atomic.h
@@ -0,0 +1,237 @@
+/*
+ * Copyright (C) 2007 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_CUTILS_ATOMIC_H
+#define ANDROID_CUTILS_ATOMIC_H
+
+#include <stdint.h>
+#include <sys/types.h>
+#include <stdatomic.h>
+
+#ifndef ANDROID_ATOMIC_INLINE
+#define ANDROID_ATOMIC_INLINE static inline
+#endif
+
+/*
+ * A handful of basic atomic operations.
+ * THESE ARE HERE FOR LEGACY REASONS ONLY.  AVOID.
+ *
+ * PREFERRED ALTERNATIVES:
+ * - Use C++/C/pthread locks/mutexes whenever there is not a
+ *   convincing reason to do otherwise.  Note that very clever and
+ *   complicated, but correct, lock-free code is often slower than
+ *   using locks, especially where nontrivial data structures
+ *   are involved.
+ * - C11 stdatomic.h.
+ * - Where supported, C++11 std::atomic<T> .
+ *
+ * PLEASE STOP READING HERE UNLESS YOU ARE TRYING TO UNDERSTAND
+ * OR UPDATE OLD CODE.
+ *
+ * The "acquire" and "release" terms can be defined intuitively in terms
+ * of the placement of memory barriers in a simple lock implementation:
+ *   - wait until compare-and-swap(lock-is-free --> lock-is-held) succeeds
+ *   - barrier
+ *   - [do work]
+ *   - barrier
+ *   - store(lock-is-free)
+ * In very crude terms, the initial (acquire) barrier prevents any of the
+ * "work" from happening before the lock is held, and the later (release)
+ * barrier ensures that all of the work happens before the lock is released.
+ * (Think of cached writes, cache read-ahead, and instruction reordering
+ * around the CAS and store instructions.)
+ *
+ * The barriers must apply to both the compiler and the CPU.  Note it is
+ * legal for instructions that occur before an "acquire" barrier to be
+ * moved down below it, and for instructions that occur after a "release"
+ * barrier to be moved up above it.
+ *
+ * The ARM-driven implementation we use here is short on subtlety,
+ * and actually requests a full barrier from the compiler and the CPU.
+ * The only difference between acquire and release is in whether they
+ * are issued before or after the atomic operation with which they
+ * are associated.  To ease the transition to C/C++ atomic intrinsics,
+ * you should not rely on this, and instead assume that only the minimal
+ * acquire/release protection is provided.
+ *
+ * NOTE: all int32_t* values are expected to be aligned on 32-bit boundaries.
+ * If they are not, atomicity is not guaranteed.
+ */
+
+/*
+ * Basic arithmetic and bitwise operations.  These all provide a
+ * barrier with "release" ordering, and return the previous value.
+ *
+ * These have the same characteristics (e.g. what happens on overflow)
+ * as the equivalent non-atomic C operations.
+ */
+ANDROID_ATOMIC_INLINE
+int32_t android_atomic_inc(volatile int32_t* addr)
+{
+    volatile atomic_int_least32_t* a = (volatile atomic_int_least32_t*)addr;
+        /* Int32_t, if it exists, is the same as int_least32_t. */
+    return atomic_fetch_add_explicit(a, 1, memory_order_release);
+}
+
+ANDROID_ATOMIC_INLINE
+int32_t android_atomic_dec(volatile int32_t* addr)
+{
+    volatile atomic_int_least32_t* a = (volatile atomic_int_least32_t*)addr;
+    return atomic_fetch_sub_explicit(a, 1, memory_order_release);
+}
+
+ANDROID_ATOMIC_INLINE
+int32_t android_atomic_add(int32_t value, volatile int32_t* addr)
+{
+    volatile atomic_int_least32_t* a = (volatile atomic_int_least32_t*)addr;
+    return atomic_fetch_add_explicit(a, value, memory_order_release);
+}
+
+ANDROID_ATOMIC_INLINE
+int32_t android_atomic_and(int32_t value, volatile int32_t* addr)
+{
+    volatile atomic_int_least32_t* a = (volatile atomic_int_least32_t*)addr;
+    return atomic_fetch_and_explicit(a, value, memory_order_release);
+}
+
+ANDROID_ATOMIC_INLINE
+int32_t android_atomic_or(int32_t value, volatile int32_t* addr)
+{
+    volatile atomic_int_least32_t* a = (volatile atomic_int_least32_t*)addr;
+    return atomic_fetch_or_explicit(a, value, memory_order_release);
+}
+
+/*
+ * Perform an atomic load with "acquire" or "release" ordering.
+ *
+ * Note that the notion of a "release" ordering for a load does not
+ * really fit into the C11 or C++11 memory model.  The extra ordering
+ * is normally observable only by code using memory_order_relaxed
+ * atomics, or data races.  In the rare cases in which such ordering
+ * is called for, use memory_order_relaxed atomics and a leading
+ * atomic_thread_fence (typically with memory_order_acquire,
+ * not memory_order_release!) instead.  If you do not understand
+ * this comment, you are in the vast majority, and should not be
+ * using release loads or replacing them with anything other than
+ * locks or default sequentially consistent atomics.
+ */
+ANDROID_ATOMIC_INLINE
+int32_t android_atomic_acquire_load(volatile const int32_t* addr)
+{
+    volatile atomic_int_least32_t* a = (volatile atomic_int_least32_t*)addr;
+    return atomic_load_explicit(a, memory_order_acquire);
+}
+
+ANDROID_ATOMIC_INLINE
+int32_t android_atomic_release_load(volatile const int32_t* addr)
+{
+    volatile atomic_int_least32_t* a = (volatile atomic_int_least32_t*)addr;
+    atomic_thread_fence(memory_order_seq_cst);
+    /* Any reasonable clients of this interface would probably prefer   */
+    /* something weaker.  But some remaining clients seem to be         */
+    /* abusing this API in strange ways, e.g. by using it as a fence.   */
+    /* Thus we are conservative until we can get rid of remaining       */
+    /* clients (and this function).                                     */
+    return atomic_load_explicit(a, memory_order_relaxed);
+}
+
+/*
+ * Perform an atomic store with "acquire" or "release" ordering.
+ *
+ * Note that the notion of an "acquire" ordering for a store does not
+ * really fit into the C11 or C++11 memory model.  The extra ordering
+ * is normally observable only by code using memory_order_relaxed
+ * atomics, or data races.  In the rare cases in which such ordering
+ * is called for, use memory_order_relaxed atomics and a trailing
+ * atomic_thread_fence (typically with memory_order_release,
+ * not memory_order_acquire!) instead.
+ */
+ANDROID_ATOMIC_INLINE
+void android_atomic_acquire_store(int32_t value, volatile int32_t* addr)
+{
+    volatile atomic_int_least32_t* a = (volatile atomic_int_least32_t*)addr;
+    atomic_store_explicit(a, value, memory_order_relaxed);
+    atomic_thread_fence(memory_order_seq_cst);
+    /* Again overly conservative to accomodate weird clients.   */
+}
+
+ANDROID_ATOMIC_INLINE
+void android_atomic_release_store(int32_t value, volatile int32_t* addr)
+{
+    volatile atomic_int_least32_t* a = (volatile atomic_int_least32_t*)addr;
+    atomic_store_explicit(a, value, memory_order_release);
+}
+
+/*
+ * Compare-and-set operation with "acquire" or "release" ordering.
+ *
+ * This returns zero if the new value was successfully stored, which will
+ * only happen when *addr == oldvalue.
+ *
+ * (The return value is inverted from implementations on other platforms,
+ * but matches the ARM ldrex/strex result.)
+ *
+ * Implementations that use the release CAS in a loop may be less efficient
+ * than possible, because we re-issue the memory barrier on each iteration.
+ */
+ANDROID_ATOMIC_INLINE
+int android_atomic_acquire_cas(int32_t oldvalue, int32_t newvalue,
+                           volatile int32_t* addr)
+{
+    volatile atomic_int_least32_t* a = (volatile atomic_int_least32_t*)addr;
+    return (int)(!atomic_compare_exchange_strong_explicit(
+                                          a, &oldvalue, newvalue,
+                                          memory_order_acquire,
+                                          memory_order_acquire));
+}
+
+ANDROID_ATOMIC_INLINE
+int android_atomic_release_cas(int32_t oldvalue, int32_t newvalue,
+                               volatile int32_t* addr)
+{
+    volatile atomic_int_least32_t* a = (volatile atomic_int_least32_t*)addr;
+    return (int)(!atomic_compare_exchange_strong_explicit(
+                                          a, &oldvalue, newvalue,
+                                          memory_order_release,
+                                          memory_order_relaxed));
+}
+
+/*
+ * Fence primitives.
+ */
+ANDROID_ATOMIC_INLINE
+void android_compiler_barrier(void)
+{
+    __asm__ __volatile__ ("" : : : "memory");
+    /* Could probably also be:                          */
+    /* atomic_signal_fence(memory_order_seq_cst);       */
+}
+
+ANDROID_ATOMIC_INLINE
+void android_memory_barrier(void)
+{
+    atomic_thread_fence(memory_order_seq_cst);
+}
+
+/*
+ * Aliases for code using an older version of this header.  These are now
+ * deprecated and should not be used.  The definitions will be removed
+ * in a future release.
+ */
+#define android_atomic_write android_atomic_release_store
+#define android_atomic_cmpxchg android_atomic_release_cas
+
+#endif // ANDROID_CUTILS_ATOMIC_H
diff --git a/third_party/android_system_core/include/cutils/bitops.h b/third_party/android_system_core/include/cutils/bitops.h
new file mode 100644
index 0000000000..045830d90b
--- /dev/null
+++ b/third_party/android_system_core/include/cutils/bitops.h
@@ -0,0 +1,120 @@
+/*
+ * Copyright (C) 2011 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef __CUTILS_BITOPS_H
+#define __CUTILS_BITOPS_H
+
+#include <stdbool.h>
+#include <string.h>
+#include <strings.h>
+#include <sys/cdefs.h>
+
+__BEGIN_DECLS
+
+/*
+ * Bitmask Operations
+ *
+ * Note this doesn't provide any locking/exclusion, and isn't atomic.
+ * Additionally no bounds checking is done on the bitmask array.
+ *
+ * Example:
+ *
+ * int num_resources;
+ * unsigned int resource_bits[BITS_TO_WORDS(num_resources)];
+ * bitmask_init(resource_bits, num_resources);
+ * ...
+ * int bit = bitmask_ffz(resource_bits, num_resources);
+ * bitmask_set(resource_bits, bit);
+ * ...
+ * if (bitmask_test(resource_bits, bit)) { ... }
+ * ...
+ * bitmask_clear(resource_bits, bit);
+ *
+ */
+
+#define BITS_PER_WORD    (sizeof(unsigned int) * 8)
+#define BITS_TO_WORDS(x) (((x) + BITS_PER_WORD - 1) / BITS_PER_WORD)
+#define BIT_IN_WORD(x)   ((x) % BITS_PER_WORD)
+#define BIT_WORD(x)      ((x) / BITS_PER_WORD)
+#define BIT_MASK(x)      (1 << BIT_IN_WORD(x))
+
+static inline void bitmask_init(unsigned int *bitmask, int num_bits)
+{
+    memset(bitmask, 0, BITS_TO_WORDS(num_bits)*sizeof(unsigned int));
+}
+
+static inline int bitmask_ffz(unsigned int *bitmask, int num_bits)
+{
+    int bit, result;
+    size_t i;
+
+    for (i = 0; i < BITS_TO_WORDS(num_bits); i++) {
+        bit = ffs(~bitmask[i]);
+        if (bit) {
+            // ffs is 1-indexed, return 0-indexed result
+            bit--;
+            result = BITS_PER_WORD * i + bit;
+            if (result >= num_bits)
+                return -1;
+            return result;
+        }
+    }
+    return -1;
+}
+
+static inline int bitmask_weight(unsigned int *bitmask, int num_bits)
+{
+    size_t i;
+    int weight = 0;
+
+    for (i = 0; i < BITS_TO_WORDS(num_bits); i++)
+        weight += __builtin_popcount(bitmask[i]);
+    return weight;
+}
+
+static inline void bitmask_set(unsigned int *bitmask, int bit)
+{
+    bitmask[BIT_WORD(bit)] |= BIT_MASK(bit);
+}
+
+static inline void bitmask_clear(unsigned int *bitmask, int bit)
+{
+    bitmask[BIT_WORD(bit)] &= ~BIT_MASK(bit);
+}
+
+static inline bool bitmask_test(unsigned int *bitmask, int bit)
+{
+    return bitmask[BIT_WORD(bit)] & BIT_MASK(bit);
+}
+
+static inline int popcount(unsigned int x)
+{
+    return __builtin_popcount(x);
+}
+
+static inline int popcountl(unsigned long x)
+{
+    return __builtin_popcountl(x);
+}
+
+static inline int popcountll(unsigned long long x)
+{
+    return __builtin_popcountll(x);
+}
+
+__END_DECLS
+
+#endif /* __CUTILS_BITOPS_H */
diff --git a/third_party/android_system_core/include/cutils/compiler.h b/third_party/android_system_core/include/cutils/compiler.h
new file mode 100644
index 0000000000..70f884a1e7
--- /dev/null
+++ b/third_party/android_system_core/include/cutils/compiler.h
@@ -0,0 +1,44 @@
+/*
+ * Copyright (C) 2009 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_CUTILS_COMPILER_H
+#define ANDROID_CUTILS_COMPILER_H
+
+/*
+ * helps the compiler's optimizer predicting branches
+ */
+
+#ifdef __cplusplus
+#   define CC_LIKELY( exp )    (__builtin_expect( !!(exp), true ))
+#   define CC_UNLIKELY( exp )  (__builtin_expect( !!(exp), false ))
+#else
+#   define CC_LIKELY( exp )    (__builtin_expect( !!(exp), 1 ))
+#   define CC_UNLIKELY( exp )  (__builtin_expect( !!(exp), 0 ))
+#endif
+
+/**
+ * exports marked symbols
+ *
+ * if used on a C++ class declaration, this macro must be inserted
+ * after the "class" keyword. For instance:
+ *
+ * template <typename TYPE>
+ * class ANDROID_API Singleton { }
+ */
+
+#define ANDROID_API __attribute__((visibility("default")))
+
+#endif // ANDROID_CUTILS_COMPILER_H
diff --git a/third_party/android_system_core/include/cutils/config_utils.h b/third_party/android_system_core/include/cutils/config_utils.h
new file mode 100644
index 0000000000..2dea6f19fa
--- /dev/null
+++ b/third_party/android_system_core/include/cutils/config_utils.h
@@ -0,0 +1,64 @@
+/*
+ * Copyright (C) 2006 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef __CUTILS_CONFIG_UTILS_H
+#define __CUTILS_CONFIG_UTILS_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+    
+typedef struct cnode cnode;
+
+
+struct cnode
+{
+    cnode *next;
+    cnode *first_child;
+    cnode *last_child;
+    const char *name;
+    const char *value;
+};
+
+/* parse a text string into a config node tree */
+void config_load(cnode *root, char *data);
+
+/* parse a file into a config node tree */
+void config_load_file(cnode *root, const char *fn);
+
+/* create a single config node */
+cnode* config_node(const char *name, const char *value);
+
+/* locate a named child of a config node */
+cnode* config_find(cnode *root, const char *name);
+
+/* look up a child by name and return the boolean value */
+int config_bool(cnode *root, const char *name, int _default);
+
+/* look up a child by name and return the string value */
+const char* config_str(cnode *root, const char *name, const char *_default);
+
+/* add a named child to a config node (or modify it if it already exists) */
+void config_set(cnode *root, const char *name, const char *value);
+
+/* free a config node tree */
+void config_free(cnode *root);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
diff --git a/third_party/android_system_core/include/cutils/debugger.h b/third_party/android_system_core/include/cutils/debugger.h
new file mode 100644
index 0000000000..285e1afcd7
--- /dev/null
+++ b/third_party/android_system_core/include/cutils/debugger.h
@@ -0,0 +1,77 @@
+/*
+ * Copyright (C) 2012 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef __CUTILS_DEBUGGER_H
+#define __CUTILS_DEBUGGER_H
+
+#include <sys/cdefs.h>
+#include <sys/types.h>
+
+__BEGIN_DECLS
+
+#define DEBUGGER_SOCKET_NAME "android:debuggerd"
+#define DEBUGGER32_SOCKET_NAME "android:debuggerd32"
+#define DEBUGGER64_SOCKET_NAME DEBUGGER_SOCKET_NAME
+
+typedef enum {
+    // dump a crash
+    DEBUGGER_ACTION_CRASH,
+    // dump a tombstone file
+    DEBUGGER_ACTION_DUMP_TOMBSTONE,
+    // dump a backtrace only back to the socket
+    DEBUGGER_ACTION_DUMP_BACKTRACE,
+} debugger_action_t;
+
+// Make sure that all values have a fixed size so that this structure
+// is the same for 32 bit and 64 bit processes.
+// NOTE: Any changes to this structure must also be reflected in
+//       bionic/linker/debugger.cpp.
+typedef struct __attribute__((packed)) {
+    int32_t action;
+    pid_t tid;
+    uint64_t abort_msg_address;
+    int32_t original_si_code;
+} debugger_msg_t;
+
+/* Dumps a process backtrace, registers, and stack to a tombstone file (requires root).
+ * Stores the tombstone path in the provided buffer.
+ * Returns 0 on success, -1 on error.
+ */
+int dump_tombstone(pid_t tid, char* pathbuf, size_t pathlen);
+
+/* Dumps a process backtrace, registers, and stack to a tombstone file (requires root).
+ * Stores the tombstone path in the provided buffer.
+ * If reading debugger data from debuggerd ever takes longer than timeout_secs
+ * seconds, then stop and return an error.
+ * Returns 0 on success, -1 on error.
+ */
+int dump_tombstone_timeout(pid_t tid, char* pathbuf, size_t pathlen, int timeout_secs);
+
+/* Dumps a process backtrace only to the specified file (requires root).
+ * Returns 0 on success, -1 on error.
+ */
+int dump_backtrace_to_file(pid_t tid, int fd);
+
+/* Dumps a process backtrace only to the specified file (requires root).
+ * If reading debugger data from debuggerd ever takes longer than timeout_secs
+ * seconds, then stop and return an error.
+ * Returns 0 on success, -1 on error.
+ */
+int dump_backtrace_to_file_timeout(pid_t tid, int fd, int timeout_secs);
+
+__END_DECLS
+
+#endif /* __CUTILS_DEBUGGER_H */
diff --git a/third_party/android_system_core/include/cutils/fs.h b/third_party/android_system_core/include/cutils/fs.h
new file mode 100644
index 0000000000..70f0b92919
--- /dev/null
+++ b/third_party/android_system_core/include/cutils/fs.h
@@ -0,0 +1,71 @@
+/*
+ * Copyright (C) 2012 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef __CUTILS_FS_H
+#define __CUTILS_FS_H
+
+#include <sys/types.h>
+#include <unistd.h>
+
+/*
+ * TEMP_FAILURE_RETRY is defined by some, but not all, versions of
+ * <unistd.h>. (Alas, it is not as standard as we'd hoped!) So, if it's
+ * not already defined, then define it here.
+ */
+#ifndef TEMP_FAILURE_RETRY
+/* Used to retry syscalls that can return EINTR. */
+#define TEMP_FAILURE_RETRY(exp) ({         \
+    typeof (exp) _rc;                      \
+    do {                                   \
+        _rc = (exp);                       \
+    } while (_rc == -1 && errno == EINTR); \
+    _rc; })
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*
+ * Ensure that directory exists with given mode and owners.
+ */
+extern int fs_prepare_dir(const char* path, mode_t mode, uid_t uid, gid_t gid);
+
+/*
+ * Read single plaintext integer from given file, correctly handling files
+ * partially written with fs_write_atomic_int().
+ */
+extern int fs_read_atomic_int(const char* path, int* value);
+
+/*
+ * Write single plaintext integer to given file, creating backup while
+ * in progress.
+ */
+extern int fs_write_atomic_int(const char* path, int value);
+
+/*
+ * Ensure that all directories along given path exist, creating parent
+ * directories as needed.  Validates that given path is absolute and that
+ * it contains no relative "." or ".." paths or symlinks.  Last path segment
+ * is treated as filename and ignored, unless the path ends with "/".
+ */
+extern int fs_mkdirs(const char* path, mode_t mode);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __CUTILS_FS_H */
diff --git a/third_party/android_system_core/include/cutils/hashmap.h b/third_party/android_system_core/include/cutils/hashmap.h
new file mode 100644
index 0000000000..5cb344c152
--- /dev/null
+++ b/third_party/android_system_core/include/cutils/hashmap.h
@@ -0,0 +1,150 @@
+/*
+ * Copyright (C) 2007 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+/**
+ * Hash map.
+ */
+
+#ifndef __HASHMAP_H
+#define __HASHMAP_H
+
+#include <stdbool.h>
+#include <stdlib.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/** A hash map. */
+typedef struct Hashmap Hashmap;
+
+/**
+ * Creates a new hash map. Returns NULL if memory allocation fails.
+ *
+ * @param initialCapacity number of expected entries
+ * @param hash function which hashes keys
+ * @param equals function which compares keys for equality
+ */
+Hashmap* hashmapCreate(size_t initialCapacity,
+        int (*hash)(void* key), bool (*equals)(void* keyA, void* keyB));
+
+/**
+ * Frees the hash map. Does not free the keys or values themselves.
+ */
+void hashmapFree(Hashmap* map);
+
+/**
+ * Hashes the memory pointed to by key with the given size. Useful for
+ * implementing hash functions.
+ */
+int hashmapHash(void* key, size_t keySize);
+
+/**
+ * Puts value for the given key in the map. Returns pre-existing value if
+ * any.
+ *
+ * If memory allocation fails, this function returns NULL, the map's size
+ * does not increase, and errno is set to ENOMEM.
+ */
+void* hashmapPut(Hashmap* map, void* key, void* value);
+
+/**
+ * Gets a value from the map. Returns NULL if no entry for the given key is
+ * found or if the value itself is NULL.
+ */
+void* hashmapGet(Hashmap* map, void* key);
+
+/**
+ * Returns true if the map contains an entry for the given key.
+ */
+bool hashmapContainsKey(Hashmap* map, void* key);
+
+/**
+ * Gets the value for a key. If a value is not found, this function gets a 
+ * value and creates an entry using the given callback.
+ *
+ * If memory allocation fails, the callback is not called, this function
+ * returns NULL, and errno is set to ENOMEM.
+ */
+void* hashmapMemoize(Hashmap* map, void* key, 
+        void* (*initialValue)(void* key, void* context), void* context);
+
+/**
+ * Removes an entry from the map. Returns the removed value or NULL if no
+ * entry was present.
+ */
+void* hashmapRemove(Hashmap* map, void* key);
+
+/**
+ * Gets the number of entries in this map.
+ */
+size_t hashmapSize(Hashmap* map);
+
+/**
+ * Invokes the given callback on each entry in the map. Stops iterating if
+ * the callback returns false.
+ */
+void hashmapForEach(Hashmap* map, 
+        bool (*callback)(void* key, void* value, void* context),
+        void* context);
+
+/**
+ * Concurrency support.
+ */
+
+/**
+ * Locks the hash map so only the current thread can access it.
+ */
+void hashmapLock(Hashmap* map);
+
+/**
+ * Unlocks the hash map so other threads can access it.
+ */
+void hashmapUnlock(Hashmap* map);
+
+/**
+ * Key utilities.
+ */
+
+/**
+ * Hashes int keys. 'key' is a pointer to int.
+ */
+int hashmapIntHash(void* key);
+
+/**
+ * Compares two int keys for equality.
+ */
+bool hashmapIntEquals(void* keyA, void* keyB);
+
+/**
+ * For debugging.
+ */
+
+/**
+ * Gets current capacity.
+ */
+size_t hashmapCurrentCapacity(Hashmap* map);
+
+/**
+ * Counts the number of entry collisions.
+ */
+size_t hashmapCountCollisions(Hashmap* map);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __HASHMAP_H */ 
diff --git a/third_party/android_system_core/include/cutils/iosched_policy.h b/third_party/android_system_core/include/cutils/iosched_policy.h
new file mode 100644
index 0000000000..25b87bac0a
--- /dev/null
+++ b/third_party/android_system_core/include/cutils/iosched_policy.h
@@ -0,0 +1,40 @@
+/*
+ * Copyright (C) 2007 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef __CUTILS_IOSCHED_POLICY_H
+#define __CUTILS_IOSCHED_POLICY_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef enum {
+    IoSchedClass_NONE,
+    IoSchedClass_RT,
+    IoSchedClass_BE,
+    IoSchedClass_IDLE,
+} IoSchedClass;
+
+extern int android_set_ioprio(int pid, IoSchedClass clazz, int ioprio);
+extern int android_get_ioprio(int pid, IoSchedClass *clazz, int *ioprio);
+
+extern int android_set_rt_ioprio(int pid, int rt);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __CUTILS_IOSCHED_POLICY_H */ 
diff --git a/third_party/android_system_core/include/cutils/jstring.h b/third_party/android_system_core/include/cutils/jstring.h
new file mode 100644
index 0000000000..a3426081a0
--- /dev/null
+++ b/third_party/android_system_core/include/cutils/jstring.h
@@ -0,0 +1,46 @@
+/*
+ * Copyright (C) 2006 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef __CUTILS_STRING16_H
+#define __CUTILS_STRING16_H
+
+#include <stdint.h>
+#include <stddef.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#if __STDC_VERSION__ < 201112L && __cplusplus < 201103L
+  typedef uint16_t char16_t;
+#endif
+  // otherwise char16_t is a keyword with the right semantics
+
+extern char * strndup16to8 (const char16_t* s, size_t n);
+extern size_t strnlen16to8 (const char16_t* s, size_t n);
+extern char * strncpy16to8 (char *dest, const char16_t*s, size_t n);
+
+extern char16_t * strdup8to16 (const char* s, size_t *out_len);
+extern size_t strlen8to16 (const char* utf8Str);
+extern char16_t * strcpy8to16 (char16_t *dest, const char*s, size_t *out_len);
+extern char16_t * strcpylen8to16 (char16_t *dest, const char*s, int length,
+    size_t *out_len);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __CUTILS_STRING16_H */
diff --git a/third_party/android_system_core/include/cutils/klog.h b/third_party/android_system_core/include/cutils/klog.h
new file mode 100644
index 0000000000..295d62be37
--- /dev/null
+++ b/third_party/android_system_core/include/cutils/klog.h
@@ -0,0 +1,51 @@
+/*
+ * Copyright (C) 2010 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef _CUTILS_KLOG_H_
+#define _CUTILS_KLOG_H_
+
+#include <sys/cdefs.h>
+#include <sys/uio.h>
+#include <stdarg.h>
+
+__BEGIN_DECLS
+
+void klog_init(void);
+int  klog_get_level(void);
+void klog_set_level(int level);
+/* TODO: void klog_close(void); - and make klog_fd users thread safe. */
+
+void klog_write(int level, const char *fmt, ...)
+    __attribute__ ((format(printf, 2, 3)));
+void klog_writev(int level, const struct iovec* iov, int iov_count);
+
+__END_DECLS
+
+#define KLOG_ERROR_LEVEL   3
+#define KLOG_WARNING_LEVEL 4
+#define KLOG_NOTICE_LEVEL  5
+#define KLOG_INFO_LEVEL    6
+#define KLOG_DEBUG_LEVEL   7
+
+#define KLOG_ERROR(tag,x...)   klog_write(KLOG_ERROR_LEVEL, "<3>" tag ": " x)
+#define KLOG_WARNING(tag,x...) klog_write(KLOG_WARNING_LEVEL, "<4>" tag ": " x)
+#define KLOG_NOTICE(tag,x...)  klog_write(KLOG_NOTICE_LEVEL, "<5>" tag ": " x)
+#define KLOG_INFO(tag,x...)    klog_write(KLOG_INFO_LEVEL, "<6>" tag ": " x)
+#define KLOG_DEBUG(tag,x...)   klog_write(KLOG_DEBUG_LEVEL, "<7>" tag ": " x)
+
+#define KLOG_DEFAULT_LEVEL  3  /* messages <= this level are logged */
+
+#endif
diff --git a/third_party/android_system_core/include/cutils/list.h b/third_party/android_system_core/include/cutils/list.h
new file mode 100644
index 0000000000..4ba2cfd499
--- /dev/null
+++ b/third_party/android_system_core/include/cutils/list.h
@@ -0,0 +1,88 @@
+/*
+ * Copyright (C) 2008-2013 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef _CUTILS_LIST_H_
+#define _CUTILS_LIST_H_
+
+#include <stddef.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif /* __cplusplus */
+
+struct listnode
+{
+    struct listnode *next;
+    struct listnode *prev;
+};
+
+#define node_to_item(node, container, member) \
+    (container *) (((char*) (node)) - offsetof(container, member))
+
+#define list_declare(name) \
+    struct listnode name = { \
+        .next = &name, \
+        .prev = &name, \
+    }
+
+#define list_for_each(node, list) \
+    for (node = (list)->next; node != (list); node = node->next)
+
+#define list_for_each_reverse(node, list) \
+    for (node = (list)->prev; node != (list); node = node->prev)
+
+#define list_for_each_safe(node, n, list) \
+    for (node = (list)->next, n = node->next; \
+         node != (list); \
+         node = n, n = node->next)
+
+static inline void list_init(struct listnode *node)
+{
+    node->next = node;
+    node->prev = node;
+}
+
+static inline void list_add_tail(struct listnode *head, struct listnode *item)
+{
+    item->next = head;
+    item->prev = head->prev;
+    head->prev->next = item;
+    head->prev = item;
+}
+
+static inline void list_add_head(struct listnode *head, struct listnode *item)
+{
+    item->next = head->next;
+    item->prev = head;
+    head->next->prev = item;
+    head->next = item;
+}
+
+static inline void list_remove(struct listnode *item)
+{
+    item->next->prev = item->prev;
+    item->prev->next = item->next;
+}
+
+#define list_empty(list) ((list) == (list)->next)
+#define list_head(list) ((list)->next)
+#define list_tail(list) ((list)->prev)
+
+#ifdef __cplusplus
+};
+#endif /* __cplusplus */
+
+#endif
diff --git a/third_party/android_system_core/include/cutils/log.h b/third_party/android_system_core/include/cutils/log.h
new file mode 100644
index 0000000000..0e0248e50f
--- /dev/null
+++ b/third_party/android_system_core/include/cutils/log.h
@@ -0,0 +1 @@
+#include <log/log.h>
diff --git a/third_party/android_system_core/include/cutils/memory.h b/third_party/android_system_core/include/cutils/memory.h
new file mode 100644
index 0000000000..4d26882556
--- /dev/null
+++ b/third_party/android_system_core/include/cutils/memory.h
@@ -0,0 +1,42 @@
+/*
+ * Copyright (C) 2006 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_CUTILS_MEMORY_H
+#define ANDROID_CUTILS_MEMORY_H
+
+#include <stdint.h>
+#include <sys/types.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* size is given in bytes and must be multiple of 2 */
+void android_memset16(uint16_t* dst, uint16_t value, size_t size);
+
+/* size is given in bytes and must be multiple of 4 */
+void android_memset32(uint32_t* dst, uint32_t value, size_t size);
+
+#if defined(__GLIBC__) || defined(_WIN32)
+/* Declaration of strlcpy() for platforms that don't already have it. */
+size_t strlcpy(char *dst, const char *src, size_t size);
+#endif
+
+#ifdef __cplusplus
+} // extern "C"
+#endif
+
+#endif // ANDROID_CUTILS_MEMORY_H
diff --git a/third_party/android_system_core/include/cutils/misc.h b/third_party/android_system_core/include/cutils/misc.h
new file mode 100644
index 0000000000..0de505f277
--- /dev/null
+++ b/third_party/android_system_core/include/cutils/misc.h
@@ -0,0 +1,41 @@
+/*
+ * Copyright (C) 2006 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef __CUTILS_MISC_H
+#define __CUTILS_MISC_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+        /* Load an entire file into a malloc'd chunk of memory
+         * that is length_of_file + 1 (null terminator).  If
+         * sz is non-zero, return the size of the file via sz.
+         * Returns 0 on failure.
+         */
+extern void *load_file(const char *fn, unsigned *sz);
+
+        /* This is the range of UIDs (and GIDs) that are reserved
+         * for assigning to applications.
+         */
+#define FIRST_APPLICATION_UID 10000
+#define LAST_APPLICATION_UID 99999
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __CUTILS_MISC_H */ 
diff --git a/third_party/android_system_core/include/cutils/multiuser.h b/third_party/android_system_core/include/cutils/multiuser.h
new file mode 100644
index 0000000000..635ddb1358
--- /dev/null
+++ b/third_party/android_system_core/include/cutils/multiuser.h
@@ -0,0 +1,41 @@
+/*
+ * Copyright (C) 2012 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef __CUTILS_MULTIUSER_H
+#define __CUTILS_MULTIUSER_H
+
+#include <sys/types.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// NOTE: keep in sync with android.os.UserId
+
+#define MULTIUSER_APP_PER_USER_RANGE 100000
+
+typedef uid_t userid_t;
+typedef uid_t appid_t;
+
+extern userid_t multiuser_get_user_id(uid_t uid);
+extern appid_t multiuser_get_app_id(uid_t uid);
+extern uid_t multiuser_get_uid(userid_t userId, appid_t appId);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __CUTILS_MULTIUSER_H */
diff --git a/third_party/android_system_core/include/cutils/native_handle.h b/third_party/android_system_core/include/cutils/native_handle.h
new file mode 100644
index 0000000000..268c5d3f51
--- /dev/null
+++ b/third_party/android_system_core/include/cutils/native_handle.h
@@ -0,0 +1,69 @@
+/*
+ * Copyright (C) 2009 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef NATIVE_HANDLE_H_
+#define NATIVE_HANDLE_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef struct native_handle
+{
+    int version;        /* sizeof(native_handle_t) */
+    int numFds;         /* number of file-descriptors at &data[0] */
+    int numInts;        /* number of ints at &data[numFds] */
+    int data[0];        /* numFds + numInts ints */
+} native_handle_t;
+
+/*
+ * native_handle_close
+ * 
+ * closes the file descriptors contained in this native_handle_t
+ * 
+ * return 0 on success, or a negative error code on failure
+ * 
+ */
+int native_handle_close(const native_handle_t* h);
+
+
+/*
+ * native_handle_create
+ * 
+ * creates a native_handle_t and initializes it. must be destroyed with
+ * native_handle_delete().
+ * 
+ */
+native_handle_t* native_handle_create(int numFds, int numInts);
+
+/*
+ * native_handle_delete
+ * 
+ * frees a native_handle_t allocated with native_handle_create().
+ * This ONLY frees the memory allocated for the native_handle_t, but doesn't
+ * close the file descriptors; which can be achieved with native_handle_close().
+ * 
+ * return 0 on success, or a negative error code on failure
+ * 
+ */
+int native_handle_delete(native_handle_t* h);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* NATIVE_HANDLE_H_ */
diff --git a/third_party/android_system_core/include/cutils/open_memstream.h b/third_party/android_system_core/include/cutils/open_memstream.h
new file mode 100644
index 0000000000..c1a81ebbcb
--- /dev/null
+++ b/third_party/android_system_core/include/cutils/open_memstream.h
@@ -0,0 +1,36 @@
+/*
+ * Copyright (C) 2010 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef __CUTILS_OPEN_MEMSTREAM_H__
+#define __CUTILS_OPEN_MEMSTREAM_H__
+
+#include <stdio.h>
+
+#if defined(__APPLE__)
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+FILE* open_memstream(char** bufp, size_t* sizep);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __APPLE__ */
+
+#endif /*__CUTILS_OPEN_MEMSTREAM_H__*/
diff --git a/third_party/android_system_core/include/cutils/partition_utils.h b/third_party/android_system_core/include/cutils/partition_utils.h
new file mode 100644
index 0000000000..72ca80d350
--- /dev/null
+++ b/third_party/android_system_core/include/cutils/partition_utils.h
@@ -0,0 +1,26 @@
+/*
+ * Copyright 2011, The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef __CUTILS_PARTITION_WIPED_H__
+#define __CUTILS_PARTITION_WIPED_H__
+
+__BEGIN_DECLS
+
+int partition_wiped(char *source);
+
+__END_DECLS
+
+#endif /* __CUTILS_PARTITION_WIPED_H__ */
diff --git a/third_party/android_system_core/include/cutils/process_name.h b/third_party/android_system_core/include/cutils/process_name.h
new file mode 100644
index 0000000000..1e72e5c3ad
--- /dev/null
+++ b/third_party/android_system_core/include/cutils/process_name.h
@@ -0,0 +1,42 @@
+/*
+ * Copyright (C) 2008 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+/**
+ * Gives the current process a name.
+ */
+
+#ifndef __PROCESS_NAME_H
+#define __PROCESS_NAME_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * Sets the current process name.
+ *
+ * Warning: This leaks a string every time you call it. Use judiciously!
+ */
+void set_process_name(const char* process_name);
+
+/** Gets the current process name. */
+const char* get_process_name(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __PROCESS_NAME_H */ 
diff --git a/third_party/android_system_core/include/cutils/properties.h b/third_party/android_system_core/include/cutils/properties.h
new file mode 100644
index 0000000000..24aa224f64
--- /dev/null
+++ b/third_party/android_system_core/include/cutils/properties.h
@@ -0,0 +1,133 @@
+/*
+ * Copyright (C) 2006 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef __CUTILS_PROPERTIES_H
+#define __CUTILS_PROPERTIES_H
+
+#include <sys/cdefs.h>
+#include <stddef.h>
+#include <sys/system_properties.h>
+#include <stdint.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* System properties are *small* name value pairs managed by the
+** property service.  If your data doesn't fit in the provided
+** space it is not appropriate for a system property.
+**
+** WARNING: system/bionic/include/sys/system_properties.h also defines
+**          these, but with different names.  (TODO: fix that)
+*/
+#define PROPERTY_KEY_MAX   PROP_NAME_MAX
+#define PROPERTY_VALUE_MAX  PROP_VALUE_MAX
+
+/* property_get: returns the length of the value which will never be
+** greater than PROPERTY_VALUE_MAX - 1 and will always be zero terminated.
+** (the length does not include the terminating zero).
+**
+** If the property read fails or returns an empty value, the default
+** value is used (if nonnull).
+*/
+int property_get(const char *key, char *value, const char *default_value);
+
+/* property_get_bool: returns the value of key coerced into a
+** boolean. If the property is not set, then the default value is returned.
+**
+* The following is considered to be true (1):
+**   "1", "true", "y", "yes", "on"
+**
+** The following is considered to be false (0):
+**   "0", "false", "n", "no", "off"
+**
+** The conversion is whitespace-sensitive (e.g. " off" will not be false).
+**
+** If no property with this key is set (or the key is NULL) or the boolean
+** conversion fails, the default value is returned.
+**/
+int8_t property_get_bool(const char *key, int8_t default_value);
+
+/* property_get_int64: returns the value of key truncated and coerced into a
+** int64_t. If the property is not set, then the default value is used.
+**
+** The numeric conversion is identical to strtoimax with the base inferred:
+** - All digits up to the first non-digit characters are read
+** - The longest consecutive prefix of digits is converted to a long
+**
+** Valid strings of digits are:
+** - An optional sign character + or -
+** - An optional prefix indicating the base (otherwise base 10 is assumed)
+**   -- 0 prefix is octal
+**   -- 0x / 0X prefix is hex
+**
+** Leading/trailing whitespace is ignored. Overflow/underflow will cause
+** numeric conversion to fail.
+**
+** If no property with this key is set (or the key is NULL) or the numeric
+** conversion fails, the default value is returned.
+**/
+int64_t property_get_int64(const char *key, int64_t default_value);
+
+/* property_get_int32: returns the value of key truncated and coerced into an
+** int32_t. If the property is not set, then the default value is used.
+**
+** The numeric conversion is identical to strtoimax with the base inferred:
+** - All digits up to the first non-digit characters are read
+** - The longest consecutive prefix of digits is converted to a long
+**
+** Valid strings of digits are:
+** - An optional sign character + or -
+** - An optional prefix indicating the base (otherwise base 10 is assumed)
+**   -- 0 prefix is octal
+**   -- 0x / 0X prefix is hex
+**
+** Leading/trailing whitespace is ignored. Overflow/underflow will cause
+** numeric conversion to fail.
+**
+** If no property with this key is set (or the key is NULL) or the numeric
+** conversion fails, the default value is returned.
+**/
+int32_t property_get_int32(const char *key, int32_t default_value);
+
+/* property_set: returns 0 on success, < 0 on failure
+*/
+int property_set(const char *key, const char *value);
+    
+int property_list(void (*propfn)(const char *key, const char *value, void *cookie), void *cookie);    
+
+#if defined(__BIONIC_FORTIFY)
+
+extern int __property_get_real(const char *, char *, const char *)
+    __asm__(__USER_LABEL_PREFIX__ "property_get");
+__errordecl(__property_get_too_small_error, "property_get() called with too small of a buffer");
+
+__BIONIC_FORTIFY_INLINE
+int property_get(const char *key, char *value, const char *default_value) {
+    size_t bos = __bos(value);
+    if (bos < PROPERTY_VALUE_MAX) {
+        __property_get_too_small_error();
+    }
+    return __property_get_real(key, value, default_value);
+}
+
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
diff --git a/third_party/android_system_core/include/cutils/qtaguid.h b/third_party/android_system_core/include/cutils/qtaguid.h
new file mode 100644
index 0000000000..f8550fda83
--- /dev/null
+++ b/third_party/android_system_core/include/cutils/qtaguid.h
@@ -0,0 +1,66 @@
+/*
+ * Copyright (C) 2011 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef __CUTILS_QTAGUID_H
+#define __CUTILS_QTAGUID_H
+
+#include <stdint.h>
+#include <sys/types.h>
+#include <unistd.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*
+ * Set tags (and owning UIDs) for network sockets.
+*/
+extern int qtaguid_tagSocket(int sockfd, int tag, uid_t uid);
+
+/*
+ * Untag a network socket before closing.
+*/
+extern int qtaguid_untagSocket(int sockfd);
+
+/*
+ * For the given uid, switch counter sets.
+ * The kernel only keeps a limited number of sets.
+ * 2 for now.
+ */
+extern int qtaguid_setCounterSet(int counterSetNum, uid_t uid);
+
+/*
+ * Delete all tag info that relates to the given tag an uid.
+ * If the tag is 0, then ALL info about the uid is freeded.
+ * The delete data also affects active tagged socketd, which are
+ * then untagged.
+ * The calling process can only operate on its own tags.
+ * Unless it is part of the happy AID_NET_BW_ACCT group.
+ * In which case it can clobber everything.
+ */
+extern int qtaguid_deleteTagData(int tag, uid_t uid);
+
+/*
+ * Enable/disable qtaguid functionnality at a lower level.
+ * When pacified, the kernel will accept commands but do nothing.
+ */
+extern int qtaguid_setPacifier(int on);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __CUTILS_QTAG_UID_H */
diff --git a/third_party/android_system_core/include/cutils/record_stream.h b/third_party/android_system_core/include/cutils/record_stream.h
new file mode 100644
index 0000000000..bfac87a53c
--- /dev/null
+++ b/third_party/android_system_core/include/cutils/record_stream.h
@@ -0,0 +1,43 @@
+/*
+ * Copyright (C) 2006 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+/*
+ * A simple utility for reading fixed records out of a stream fd
+ */
+
+#ifndef _CUTILS_RECORD_STREAM_H
+#define _CUTILS_RECORD_STREAM_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+typedef struct RecordStream RecordStream;
+
+extern RecordStream *record_stream_new(int fd, size_t maxRecordLen);
+extern void record_stream_free(RecordStream *p_rs);
+
+extern int record_stream_get_next (RecordStream *p_rs, void ** p_outRecord, 
+                                    size_t *p_outRecordLen);
+
+#ifdef __cplusplus
+}
+#endif
+
+
+#endif /*_CUTILS_RECORD_STREAM_H*/
+
diff --git a/third_party/android_system_core/include/cutils/sched_policy.h b/third_party/android_system_core/include/cutils/sched_policy.h
new file mode 100644
index 0000000000..6a8d570b2c
--- /dev/null
+++ b/third_party/android_system_core/include/cutils/sched_policy.h
@@ -0,0 +1,63 @@
+/*
+ * Copyright (C) 2007 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef __CUTILS_SCHED_POLICY_H
+#define __CUTILS_SCHED_POLICY_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Keep in sync with THREAD_GROUP_* in frameworks/base/core/java/android/os/Process.java */
+typedef enum {
+    SP_DEFAULT    = -1,
+    SP_BACKGROUND = 0,
+    SP_FOREGROUND = 1,
+    SP_SYSTEM     = 2,  // can't be used with set_sched_policy()
+    SP_AUDIO_APP  = 3,
+    SP_AUDIO_SYS  = 4,
+    SP_CNT,
+    SP_MAX        = SP_CNT - 1,
+    SP_SYSTEM_DEFAULT = SP_FOREGROUND,
+} SchedPolicy;
+
+extern int set_cpuset_policy(int tid, SchedPolicy policy);
+
+/* Assign thread tid to the cgroup associated with the specified policy.
+ * If the thread is a thread group leader, that is it's gettid() == getpid(),
+ * then the other threads in the same thread group are _not_ affected.
+ * On platforms which support gettid(), zero tid means current thread.
+ * Return value: 0 for success, or -errno for error.
+ */
+extern int set_sched_policy(int tid, SchedPolicy policy);
+
+/* Return the policy associated with the cgroup of thread tid via policy pointer.
+ * On platforms which support gettid(), zero tid means current thread.
+ * Return value: 0 for success, or -1 for error and set errno.
+ */
+extern int get_sched_policy(int tid, SchedPolicy *policy);
+
+/* Return a displayable string corresponding to policy.
+ * Return value: non-NULL NUL-terminated name of unspecified length;
+ * the caller is responsible for displaying the useful part of the string.
+ */
+extern const char *get_sched_policy_name(SchedPolicy policy);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __CUTILS_SCHED_POLICY_H */ 
diff --git a/third_party/android_system_core/include/cutils/sockets.h b/third_party/android_system_core/include/cutils/sockets.h
new file mode 100644
index 0000000000..f8076ca452
--- /dev/null
+++ b/third_party/android_system_core/include/cutils/sockets.h
@@ -0,0 +1,104 @@
+/*
+ * Copyright (C) 2006 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef __CUTILS_SOCKETS_H
+#define __CUTILS_SOCKETS_H
+
+#include <errno.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <stdbool.h>
+
+#ifdef HAVE_WINSOCK
+#include <winsock2.h>
+typedef int  socklen_t;
+#else
+#include <sys/socket.h>
+#endif
+
+#define ANDROID_SOCKET_ENV_PREFIX	"ANDROID_SOCKET_"
+#define ANDROID_SOCKET_DIR		"/dev/socket"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*
+ * android_get_control_socket - simple helper function to get the file
+ * descriptor of our init-managed Unix domain socket. `name' is the name of the
+ * socket, as given in init.rc. Returns -1 on error.
+ *
+ * This is inline and not in libcutils proper because we want to use this in
+ * third-party daemons with minimal modification.
+ */
+static inline int android_get_control_socket(const char *name)
+{
+	char key[64];
+	snprintf(key, sizeof(key), ANDROID_SOCKET_ENV_PREFIX "%s", name);
+
+	const char* val = getenv(key);
+	if (!val) {
+		return -1;
+	}
+
+	errno = 0;
+	int fd = strtol(val, NULL, 10);
+	if (errno) {
+		return -1;
+	}
+
+	return fd;
+}
+
+/*
+ * See also android.os.LocalSocketAddress.Namespace
+ */
+// Linux "abstract" (non-filesystem) namespace
+#define ANDROID_SOCKET_NAMESPACE_ABSTRACT 0
+// Android "reserved" (/dev/socket) namespace
+#define ANDROID_SOCKET_NAMESPACE_RESERVED 1
+// Normal filesystem namespace
+#define ANDROID_SOCKET_NAMESPACE_FILESYSTEM 2
+
+extern int socket_loopback_client(int port, int type);
+extern int socket_network_client(const char *host, int port, int type);
+extern int socket_network_client_timeout(const char *host, int port, int type,
+                                         int timeout);
+extern int socket_loopback_server(int port, int type);
+extern int socket_local_server(const char *name, int namespaceId, int type);
+extern int socket_local_server_bind(int s, const char *name, int namespaceId);
+extern int socket_local_client_connect(int fd, 
+        const char *name, int namespaceId, int type);
+extern int socket_local_client(const char *name, int namespaceId, int type);
+extern int socket_inaddr_any_server(int port, int type);
+
+/*
+ * socket_peer_is_trusted - Takes a socket which is presumed to be a
+ * connected local socket (e.g. AF_LOCAL) and returns whether the peer
+ * (the userid that owns the process on the other end of that socket)
+ * is one of the two trusted userids, root or shell.
+ *
+ * Note: This only works as advertised on the Android OS and always
+ * just returns true when called on other operating systems.
+ */
+extern bool socket_peer_is_trusted(int fd);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __CUTILS_SOCKETS_H */ 
diff --git a/third_party/android_system_core/include/cutils/str_parms.h b/third_party/android_system_core/include/cutils/str_parms.h
new file mode 100644
index 0000000000..aa1435a080
--- /dev/null
+++ b/third_party/android_system_core/include/cutils/str_parms.h
@@ -0,0 +1,60 @@
+/*
+ * Copyright (C) 2011 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef __CUTILS_STR_PARMS_H
+#define __CUTILS_STR_PARMS_H
+
+#include <stdint.h>
+#include <sys/cdefs.h>
+
+__BEGIN_DECLS
+
+struct str_parms;
+
+struct str_parms *str_parms_create(void);
+struct str_parms *str_parms_create_str(const char *_string);
+void str_parms_destroy(struct str_parms *str_parms);
+
+void str_parms_del(struct str_parms *str_parms, const char *key);
+
+int str_parms_add_str(struct str_parms *str_parms, const char *key,
+                      const char *value);
+int str_parms_add_int(struct str_parms *str_parms, const char *key, int value);
+
+int str_parms_add_float(struct str_parms *str_parms, const char *key,
+                        float value);
+
+// Returns non-zero if the str_parms contains the specified key.
+int str_parms_has_key(struct str_parms *str_parms, const char *key);
+
+// Gets value associated with the specified key (if present), placing it in the buffer
+// pointed to by the out_val parameter.  Returns the length of the returned string value.
+// If 'key' isn't in the parms, then return -ENOENT (-2) and leave 'out_val' untouched.
+int str_parms_get_str(struct str_parms *str_parms, const char *key,
+                      char *out_val, int len);
+int str_parms_get_int(struct str_parms *str_parms, const char *key,
+                      int *out_val);
+int str_parms_get_float(struct str_parms *str_parms, const char *key,
+                        float *out_val);
+
+char *str_parms_to_str(struct str_parms *str_parms);
+
+/* debug */
+void str_parms_dump(struct str_parms *str_parms);
+
+__END_DECLS
+
+#endif /* __CUTILS_STR_PARMS_H */
diff --git a/third_party/android_system_core/include/cutils/threads.h b/third_party/android_system_core/include/cutils/threads.h
new file mode 100644
index 0000000000..5727494079
--- /dev/null
+++ b/third_party/android_system_core/include/cutils/threads.h
@@ -0,0 +1,148 @@
+/*
+ * Copyright (C) 2007 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef _LIBS_CUTILS_THREADS_H
+#define _LIBS_CUTILS_THREADS_H
+
+#include  <sys/types.h>
+
+#if !defined(_WIN32)
+#include <pthread.h>
+#else
+#include <windows.h>
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/***********************************************************************/
+/***********************************************************************/
+/*****                                                             *****/
+/*****         local thread storage                                *****/
+/*****                                                             *****/
+/***********************************************************************/
+/***********************************************************************/
+
+extern pid_t gettid();
+
+#if !defined(_WIN32)
+
+typedef struct {
+    pthread_mutex_t   lock;
+    int               has_tls;
+    pthread_key_t     tls;
+} thread_store_t;
+
+#define  THREAD_STORE_INITIALIZER  { PTHREAD_MUTEX_INITIALIZER, 0, 0 }
+
+#else // !defined(_WIN32)
+
+typedef struct {
+    int               lock_init;
+    int               has_tls;
+    DWORD             tls;
+    CRITICAL_SECTION  lock;
+} thread_store_t;
+
+#define  THREAD_STORE_INITIALIZER  { 0, 0, 0, {0, 0, 0, 0, 0, 0} }
+
+#endif // !defined(_WIN32)
+
+typedef void  (*thread_store_destruct_t)(void*  value);
+
+extern void*  thread_store_get(thread_store_t*  store);
+
+extern void   thread_store_set(thread_store_t*          store,
+                               void*                    value,
+                               thread_store_destruct_t  destroy);
+
+/***********************************************************************/
+/***********************************************************************/
+/*****                                                             *****/
+/*****         mutexes                                             *****/
+/*****                                                             *****/
+/***********************************************************************/
+/***********************************************************************/
+
+#if !defined(_WIN32)
+
+typedef pthread_mutex_t   mutex_t;
+
+#define  MUTEX_INITIALIZER  PTHREAD_MUTEX_INITIALIZER
+
+static __inline__ void  mutex_lock(mutex_t*  lock)
+{
+    pthread_mutex_lock(lock);
+}
+static __inline__ void  mutex_unlock(mutex_t*  lock)
+{
+    pthread_mutex_unlock(lock);
+}
+static __inline__ int  mutex_init(mutex_t*  lock)
+{
+    return pthread_mutex_init(lock, NULL);
+}
+static __inline__ void mutex_destroy(mutex_t*  lock)
+{
+    pthread_mutex_destroy(lock);
+}
+
+#else // !defined(_WIN32)
+
+typedef struct {
+    int                init;
+    CRITICAL_SECTION   lock[1];
+} mutex_t;
+
+#define  MUTEX_INITIALIZER  { 0, {{ NULL, 0, 0, NULL, NULL, 0 }} }
+
+static __inline__ void  mutex_lock(mutex_t*  lock)
+{
+    if (!lock->init) {
+        lock->init = 1;
+        InitializeCriticalSection( lock->lock );
+        lock->init = 2;
+    } else while (lock->init != 2)
+        Sleep(10);
+
+    EnterCriticalSection(lock->lock);
+}
+
+static __inline__ void  mutex_unlock(mutex_t*  lock)
+{
+    LeaveCriticalSection(lock->lock);
+}
+static __inline__ int  mutex_init(mutex_t*  lock)
+{
+    InitializeCriticalSection(lock->lock);
+    lock->init = 2;
+    return 0;
+}
+static __inline__ void  mutex_destroy(mutex_t*  lock)
+{
+    if (lock->init) {
+        lock->init = 0;
+        DeleteCriticalSection(lock->lock);
+    }
+}
+#endif // !defined(_WIN32)
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* _LIBS_CUTILS_THREADS_H */
diff --git a/third_party/android_system_core/include/cutils/trace.h b/third_party/android_system_core/include/cutils/trace.h
new file mode 100644
index 0000000000..e4ed17983d
--- /dev/null
+++ b/third_party/android_system_core/include/cutils/trace.h
@@ -0,0 +1,252 @@
+/*
+ * Copyright (C) 2012 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef _LIBS_CUTILS_TRACE_H
+#define _LIBS_CUTILS_TRACE_H
+
+#include <inttypes.h>
+#include <stdatomic.h>
+#include <stdbool.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <sys/cdefs.h>
+#include <sys/types.h>
+#include <unistd.h>
+
+#include <cutils/compiler.h>
+
+__BEGIN_DECLS
+
+/**
+ * The ATRACE_TAG macro can be defined before including this header to trace
+ * using one of the tags defined below.  It must be defined to one of the
+ * following ATRACE_TAG_* macros.  The trace tag is used to filter tracing in
+ * userland to avoid some of the runtime cost of tracing when it is not desired.
+ *
+ * Defining ATRACE_TAG to be ATRACE_TAG_ALWAYS will result in the tracing always
+ * being enabled - this should ONLY be done for debug code, as userland tracing
+ * has a performance cost even when the trace is not being recorded.  Defining
+ * ATRACE_TAG to be ATRACE_TAG_NEVER or leaving ATRACE_TAG undefined will result
+ * in the tracing always being disabled.
+ *
+ * ATRACE_TAG_HAL should be bitwise ORed with the relevant tags for tracing
+ * within a hardware module.  For example a camera hardware module would set:
+ * #define ATRACE_TAG  (ATRACE_TAG_CAMERA | ATRACE_TAG_HAL)
+ *
+ * Keep these in sync with frameworks/base/core/java/android/os/Trace.java.
+ */
+#define ATRACE_TAG_NEVER            0       // This tag is never enabled.
+#define ATRACE_TAG_ALWAYS           (1<<0)  // This tag is always enabled.
+#define ATRACE_TAG_GRAPHICS         (1<<1)
+#define ATRACE_TAG_INPUT            (1<<2)
+#define ATRACE_TAG_VIEW             (1<<3)
+#define ATRACE_TAG_WEBVIEW          (1<<4)
+#define ATRACE_TAG_WINDOW_MANAGER   (1<<5)
+#define ATRACE_TAG_ACTIVITY_MANAGER (1<<6)
+#define ATRACE_TAG_SYNC_MANAGER     (1<<7)
+#define ATRACE_TAG_AUDIO            (1<<8)
+#define ATRACE_TAG_VIDEO            (1<<9)
+#define ATRACE_TAG_CAMERA           (1<<10)
+#define ATRACE_TAG_HAL              (1<<11)
+#define ATRACE_TAG_APP              (1<<12)
+#define ATRACE_TAG_RESOURCES        (1<<13)
+#define ATRACE_TAG_DALVIK           (1<<14)
+#define ATRACE_TAG_RS               (1<<15)
+#define ATRACE_TAG_BIONIC           (1<<16)
+#define ATRACE_TAG_POWER            (1<<17)
+#define ATRACE_TAG_LAST             ATRACE_TAG_POWER
+
+// Reserved for initialization.
+#define ATRACE_TAG_NOT_READY        (1LL<<63)
+
+#define ATRACE_TAG_VALID_MASK ((ATRACE_TAG_LAST - 1) | ATRACE_TAG_LAST)
+
+#ifndef ATRACE_TAG
+#define ATRACE_TAG ATRACE_TAG_NEVER
+#elif ATRACE_TAG > ATRACE_TAG_VALID_MASK
+#error ATRACE_TAG must be defined to be one of the tags defined in cutils/trace.h
+#endif
+
+/**
+ * Opens the trace file for writing and reads the property for initial tags.
+ * The atrace.tags.enableflags property sets the tags to trace.
+ * This function should not be explicitly called, the first call to any normal
+ * trace function will cause it to be run safely.
+ */
+void atrace_setup();
+
+/**
+ * If tracing is ready, set atrace_enabled_tags to the system property
+ * debug.atrace.tags.enableflags. Can be used as a sysprop change callback.
+ */
+void atrace_update_tags();
+
+/**
+ * Set whether the process is debuggable.  By default the process is not
+ * considered debuggable.  If the process is not debuggable then application-
+ * level tracing is not allowed unless the ro.debuggable system property is
+ * set to '1'.
+ */
+void atrace_set_debuggable(bool debuggable);
+
+/**
+ * Set whether tracing is enabled for the current process.  This is used to
+ * prevent tracing within the Zygote process.
+ */
+void atrace_set_tracing_enabled(bool enabled);
+
+/**
+ * Flag indicating whether setup has been completed, initialized to 0.
+ * Nonzero indicates setup has completed.
+ * Note: This does NOT indicate whether or not setup was successful.
+ */
+extern atomic_bool atrace_is_ready;
+
+/**
+ * Set of ATRACE_TAG flags to trace for, initialized to ATRACE_TAG_NOT_READY.
+ * A value of zero indicates setup has failed.
+ * Any other nonzero value indicates setup has succeeded, and tracing is on.
+ */
+extern uint64_t atrace_enabled_tags;
+
+/**
+ * Handle to the kernel's trace buffer, initialized to -1.
+ * Any other value indicates setup has succeeded, and is a valid fd for tracing.
+ */
+extern int atrace_marker_fd;
+
+/**
+ * atrace_init readies the process for tracing by opening the trace_marker file.
+ * Calling any trace function causes this to be run, so calling it is optional.
+ * This can be explicitly run to avoid setup delay on first trace function.
+ */
+#define ATRACE_INIT() atrace_init()
+static inline void atrace_init()
+{
+    if (CC_UNLIKELY(!atomic_load_explicit(&atrace_is_ready, memory_order_acquire))) {
+        atrace_setup();
+    }
+}
+
+/**
+ * Get the mask of all tags currently enabled.
+ * It can be used as a guard condition around more expensive trace calculations.
+ * Every trace function calls this, which ensures atrace_init is run.
+ */
+#define ATRACE_GET_ENABLED_TAGS() atrace_get_enabled_tags()
+static inline uint64_t atrace_get_enabled_tags()
+{
+    atrace_init();
+    return atrace_enabled_tags;
+}
+
+/**
+ * Test if a given tag is currently enabled.
+ * Returns nonzero if the tag is enabled, otherwise zero.
+ * It can be used as a guard condition around more expensive trace calculations.
+ */
+#define ATRACE_ENABLED() atrace_is_tag_enabled(ATRACE_TAG)
+static inline uint64_t atrace_is_tag_enabled(uint64_t tag)
+{
+    return atrace_get_enabled_tags() & tag;
+}
+
+/**
+ * Trace the beginning of a context.  name is used to identify the context.
+ * This is often used to time function execution.
+ */
+#define ATRACE_BEGIN(name) atrace_begin(ATRACE_TAG, name)
+static inline void atrace_begin(uint64_t tag, const char* name)
+{
+    if (CC_UNLIKELY(atrace_is_tag_enabled(tag))) {
+        void atrace_begin_body(const char*);
+        atrace_begin_body(name);
+    }
+}
+
+/**
+ * Trace the end of a context.
+ * This should match up (and occur after) a corresponding ATRACE_BEGIN.
+ */
+#define ATRACE_END() atrace_end(ATRACE_TAG)
+static inline void atrace_end(uint64_t tag)
+{
+    if (CC_UNLIKELY(atrace_is_tag_enabled(tag))) {
+        char c = 'E';
+        write(atrace_marker_fd, &c, 1);
+    }
+}
+
+/**
+ * Trace the beginning of an asynchronous event. Unlike ATRACE_BEGIN/ATRACE_END
+ * contexts, asynchronous events do not need to be nested. The name describes
+ * the event, and the cookie provides a unique identifier for distinguishing
+ * simultaneous events. The name and cookie used to begin an event must be
+ * used to end it.
+ */
+#define ATRACE_ASYNC_BEGIN(name, cookie) \
+    atrace_async_begin(ATRACE_TAG, name, cookie)
+static inline void atrace_async_begin(uint64_t tag, const char* name,
+        int32_t cookie)
+{
+    if (CC_UNLIKELY(atrace_is_tag_enabled(tag))) {
+        void atrace_async_begin_body(const char*, int32_t);
+        atrace_async_begin_body(name, cookie);
+    }
+}
+
+/**
+ * Trace the end of an asynchronous event.
+ * This should have a corresponding ATRACE_ASYNC_BEGIN.
+ */
+#define ATRACE_ASYNC_END(name, cookie) atrace_async_end(ATRACE_TAG, name, cookie)
+static inline void atrace_async_end(uint64_t tag, const char* name, int32_t cookie)
+{
+    if (CC_UNLIKELY(atrace_is_tag_enabled(tag))) {
+        void atrace_async_end_body(const char*, int32_t);
+        atrace_async_end_body(name, cookie);
+    }
+}
+
+/**
+ * Traces an integer counter value.  name is used to identify the counter.
+ * This can be used to track how a value changes over time.
+ */
+#define ATRACE_INT(name, value) atrace_int(ATRACE_TAG, name, value)
+static inline void atrace_int(uint64_t tag, const char* name, int32_t value)
+{
+    if (CC_UNLIKELY(atrace_is_tag_enabled(tag))) {
+        void atrace_int_body(const char*, int32_t);
+        atrace_int_body(name, value);
+    }
+}
+
+/**
+ * Traces a 64-bit integer counter value.  name is used to identify the
+ * counter. This can be used to track how a value changes over time.
+ */
+#define ATRACE_INT64(name, value) atrace_int64(ATRACE_TAG, name, value)
+static inline void atrace_int64(uint64_t tag, const char* name, int64_t value)
+{
+    if (CC_UNLIKELY(atrace_is_tag_enabled(tag))) {
+        void atrace_int64_body(const char*, int64_t);
+        atrace_int64_body(name, value);
+    }
+}
+
+__END_DECLS
+
+#endif // _LIBS_CUTILS_TRACE_H
diff --git a/third_party/android_system_core/include/cutils/uevent.h b/third_party/android_system_core/include/cutils/uevent.h
new file mode 100644
index 0000000000..da1c2aae6b
--- /dev/null
+++ b/third_party/android_system_core/include/cutils/uevent.h
@@ -0,0 +1,36 @@
+/*
+ * Copyright (C) 2011 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef __CUTILS_UEVENT_H
+#define __CUTILS_UEVENT_H
+
+#include <stdbool.h>
+#include <sys/socket.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+int uevent_open_socket(int buf_sz, bool passcred);
+ssize_t uevent_kernel_multicast_recv(int socket, void *buffer, size_t length);
+ssize_t uevent_kernel_multicast_uid_recv(int socket, void *buffer, size_t length, uid_t *uid);
+ssize_t uevent_kernel_recv(int socket, void *buffer, size_t length, bool require_group, uid_t *uid);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __CUTILS_UEVENT_H */
diff --git a/third_party/android_system_core/include/log/event_tag_map.h b/third_party/android_system_core/include/log/event_tag_map.h
new file mode 100644
index 0000000000..1653c61e9a
--- /dev/null
+++ b/third_party/android_system_core/include/log/event_tag_map.h
@@ -0,0 +1,50 @@
+/*
+ * Copyright (C) 2007 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef _LIBS_CUTILS_EVENTTAGMAP_H
+#define _LIBS_CUTILS_EVENTTAGMAP_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define EVENT_TAG_MAP_FILE  "/system/etc/event-log-tags"
+
+struct EventTagMap;
+typedef struct EventTagMap EventTagMap;
+
+/*
+ * Open the specified file as an event log tag map.
+ *
+ * Returns NULL on failure.
+ */
+EventTagMap* android_openEventTagMap(const char* fileName);
+
+/*
+ * Close the map.
+ */
+void android_closeEventTagMap(EventTagMap* map);
+
+/*
+ * Look up a tag by index.  Returns the tag string, or NULL if not found.
+ */
+const char* android_lookupEventTag(const EventTagMap* map, int tag);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /*_LIBS_CUTILS_EVENTTAGMAP_H*/
diff --git a/third_party/android_system_core/include/log/log.h b/third_party/android_system_core/include/log/log.h
new file mode 100644
index 0000000000..63a441a689
--- /dev/null
+++ b/third_party/android_system_core/include/log/log.h
@@ -0,0 +1,642 @@
+/*
+ * Copyright (C) 2005-2014 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+//
+// C/C++ logging functions.  See the logging documentation for API details.
+//
+// We'd like these to be available from C code (in case we import some from
+// somewhere), so this has a C interface.
+//
+// The output will be correct when the log file is shared between multiple
+// threads and/or multiple processes so long as the operating system
+// supports O_APPEND.  These calls have mutex-protected data structures
+// and so are NOT reentrant.  Do not use LOG in a signal handler.
+//
+#ifndef _LIBS_LOG_LOG_H
+#define _LIBS_LOG_LOG_H
+
+#include <stdarg.h>
+#include <stdio.h>
+#include <sys/types.h>
+#include <time.h>
+#include <unistd.h>
+
+#include <log/logd.h>
+#include <log/uio.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// ---------------------------------------------------------------------
+
+/*
+ * Normally we strip ALOGV (VERBOSE messages) from release builds.
+ * You can modify this (for example with "#define LOG_NDEBUG 0"
+ * at the top of your source file) to change that behavior.
+ */
+#ifndef LOG_NDEBUG
+#ifdef NDEBUG
+#define LOG_NDEBUG 1
+#else
+#define LOG_NDEBUG 0
+#endif
+#endif
+
+/*
+ * This is the local tag used for the following simplified
+ * logging macros.  You can change this preprocessor definition
+ * before using the other macros to change the tag.
+ */
+#ifndef LOG_TAG
+#define LOG_TAG NULL
+#endif
+
+// ---------------------------------------------------------------------
+
+#ifndef __predict_false
+#define __predict_false(exp) __builtin_expect((exp) != 0, 0)
+#endif
+
+/*
+ *      -DLINT_RLOG in sources that you want to enforce that all logging
+ * goes to the radio log buffer. If any logging goes to any of the other
+ * log buffers, there will be a compile or link error to highlight the
+ * problem. This is not a replacement for a full audit of the code since
+ * this only catches compiled code, not ifdef'd debug code. Options to
+ * defining this, either temporarily to do a spot check, or permanently
+ * to enforce, in all the communications trees; We have hopes to ensure
+ * that by supplying just the radio log buffer that the communications
+ * teams will have their one-stop shop for triaging issues.
+ */
+#ifndef LINT_RLOG
+
+/*
+ * Simplified macro to send a verbose log message using the current LOG_TAG.
+ */
+#ifndef ALOGV
+#define __ALOGV(...) ((void)ALOG(LOG_VERBOSE, LOG_TAG, __VA_ARGS__))
+#if LOG_NDEBUG
+#define ALOGV(...) do { if (0) { __ALOGV(__VA_ARGS__); } } while (0)
+#else
+#define ALOGV(...) __ALOGV(__VA_ARGS__)
+#endif
+#endif
+
+#ifndef ALOGV_IF
+#if LOG_NDEBUG
+#define ALOGV_IF(cond, ...)   ((void)0)
+#else
+#define ALOGV_IF(cond, ...) \
+    ( (__predict_false(cond)) \
+    ? ((void)ALOG(LOG_VERBOSE, LOG_TAG, __VA_ARGS__)) \
+    : (void)0 )
+#endif
+#endif
+
+/*
+ * Simplified macro to send a debug log message using the current LOG_TAG.
+ */
+#ifndef ALOGD
+#define ALOGD(...) ((void)ALOG(LOG_DEBUG, LOG_TAG, __VA_ARGS__))
+#endif
+
+#ifndef ALOGD_IF
+#define ALOGD_IF(cond, ...) \
+    ( (__predict_false(cond)) \
+    ? ((void)ALOG(LOG_DEBUG, LOG_TAG, __VA_ARGS__)) \
+    : (void)0 )
+#endif
+
+/*
+ * Simplified macro to send an info log message using the current LOG_TAG.
+ */
+#ifndef ALOGI
+#define ALOGI(...) ((void)ALOG(LOG_INFO, LOG_TAG, __VA_ARGS__))
+#endif
+
+#ifndef ALOGI_IF
+#define ALOGI_IF(cond, ...) \
+    ( (__predict_false(cond)) \
+    ? ((void)ALOG(LOG_INFO, LOG_TAG, __VA_ARGS__)) \
+    : (void)0 )
+#endif
+
+/*
+ * Simplified macro to send a warning log message using the current LOG_TAG.
+ */
+#ifndef ALOGW
+#define ALOGW(...) ((void)ALOG(LOG_WARN, LOG_TAG, __VA_ARGS__))
+#endif
+
+#ifndef ALOGW_IF
+#define ALOGW_IF(cond, ...) \
+    ( (__predict_false(cond)) \
+    ? ((void)ALOG(LOG_WARN, LOG_TAG, __VA_ARGS__)) \
+    : (void)0 )
+#endif
+
+/*
+ * Simplified macro to send an error log message using the current LOG_TAG.
+ */
+#ifndef ALOGE
+#define ALOGE(...) ((void)ALOG(LOG_ERROR, LOG_TAG, __VA_ARGS__))
+#endif
+
+#ifndef ALOGE_IF
+#define ALOGE_IF(cond, ...) \
+    ( (__predict_false(cond)) \
+    ? ((void)ALOG(LOG_ERROR, LOG_TAG, __VA_ARGS__)) \
+    : (void)0 )
+#endif
+
+// ---------------------------------------------------------------------
+
+/*
+ * Conditional based on whether the current LOG_TAG is enabled at
+ * verbose priority.
+ */
+#ifndef IF_ALOGV
+#if LOG_NDEBUG
+#define IF_ALOGV() if (false)
+#else
+#define IF_ALOGV() IF_ALOG(LOG_VERBOSE, LOG_TAG)
+#endif
+#endif
+
+/*
+ * Conditional based on whether the current LOG_TAG is enabled at
+ * debug priority.
+ */
+#ifndef IF_ALOGD
+#define IF_ALOGD() IF_ALOG(LOG_DEBUG, LOG_TAG)
+#endif
+
+/*
+ * Conditional based on whether the current LOG_TAG is enabled at
+ * info priority.
+ */
+#ifndef IF_ALOGI
+#define IF_ALOGI() IF_ALOG(LOG_INFO, LOG_TAG)
+#endif
+
+/*
+ * Conditional based on whether the current LOG_TAG is enabled at
+ * warn priority.
+ */
+#ifndef IF_ALOGW
+#define IF_ALOGW() IF_ALOG(LOG_WARN, LOG_TAG)
+#endif
+
+/*
+ * Conditional based on whether the current LOG_TAG is enabled at
+ * error priority.
+ */
+#ifndef IF_ALOGE
+#define IF_ALOGE() IF_ALOG(LOG_ERROR, LOG_TAG)
+#endif
+
+
+// ---------------------------------------------------------------------
+
+/*
+ * Simplified macro to send a verbose system log message using the current LOG_TAG.
+ */
+#ifndef SLOGV
+#define __SLOGV(...) \
+    ((void)__android_log_buf_print(LOG_ID_SYSTEM, ANDROID_LOG_VERBOSE, LOG_TAG, __VA_ARGS__))
+#if LOG_NDEBUG
+#define SLOGV(...) do { if (0) { __SLOGV(__VA_ARGS__); } } while (0)
+#else
+#define SLOGV(...) __SLOGV(__VA_ARGS__)
+#endif
+#endif
+
+#ifndef SLOGV_IF
+#if LOG_NDEBUG
+#define SLOGV_IF(cond, ...)   ((void)0)
+#else
+#define SLOGV_IF(cond, ...) \
+    ( (__predict_false(cond)) \
+    ? ((void)__android_log_buf_print(LOG_ID_SYSTEM, ANDROID_LOG_VERBOSE, LOG_TAG, __VA_ARGS__)) \
+    : (void)0 )
+#endif
+#endif
+
+/*
+ * Simplified macro to send a debug system log message using the current LOG_TAG.
+ */
+#ifndef SLOGD
+#define SLOGD(...) \
+    ((void)__android_log_buf_print(LOG_ID_SYSTEM, ANDROID_LOG_DEBUG, LOG_TAG, __VA_ARGS__))
+#endif
+
+#ifndef SLOGD_IF
+#define SLOGD_IF(cond, ...) \
+    ( (__predict_false(cond)) \
+    ? ((void)__android_log_buf_print(LOG_ID_SYSTEM, ANDROID_LOG_DEBUG, LOG_TAG, __VA_ARGS__)) \
+    : (void)0 )
+#endif
+
+/*
+ * Simplified macro to send an info system log message using the current LOG_TAG.
+ */
+#ifndef SLOGI
+#define SLOGI(...) \
+    ((void)__android_log_buf_print(LOG_ID_SYSTEM, ANDROID_LOG_INFO, LOG_TAG, __VA_ARGS__))
+#endif
+
+#ifndef SLOGI_IF
+#define SLOGI_IF(cond, ...) \
+    ( (__predict_false(cond)) \
+    ? ((void)__android_log_buf_print(LOG_ID_SYSTEM, ANDROID_LOG_INFO, LOG_TAG, __VA_ARGS__)) \
+    : (void)0 )
+#endif
+
+/*
+ * Simplified macro to send a warning system log message using the current LOG_TAG.
+ */
+#ifndef SLOGW
+#define SLOGW(...) \
+    ((void)__android_log_buf_print(LOG_ID_SYSTEM, ANDROID_LOG_WARN, LOG_TAG, __VA_ARGS__))
+#endif
+
+#ifndef SLOGW_IF
+#define SLOGW_IF(cond, ...) \
+    ( (__predict_false(cond)) \
+    ? ((void)__android_log_buf_print(LOG_ID_SYSTEM, ANDROID_LOG_WARN, LOG_TAG, __VA_ARGS__)) \
+    : (void)0 )
+#endif
+
+/*
+ * Simplified macro to send an error system log message using the current LOG_TAG.
+ */
+#ifndef SLOGE
+#define SLOGE(...) \
+    ((void)__android_log_buf_print(LOG_ID_SYSTEM, ANDROID_LOG_ERROR, LOG_TAG, __VA_ARGS__))
+#endif
+
+#ifndef SLOGE_IF
+#define SLOGE_IF(cond, ...) \
+    ( (__predict_false(cond)) \
+    ? ((void)__android_log_buf_print(LOG_ID_SYSTEM, ANDROID_LOG_ERROR, LOG_TAG, __VA_ARGS__)) \
+    : (void)0 )
+#endif
+
+#endif /* !LINT_RLOG */
+
+// ---------------------------------------------------------------------
+
+/*
+ * Simplified macro to send a verbose radio log message using the current LOG_TAG.
+ */
+#ifndef RLOGV
+#define __RLOGV(...) \
+    ((void)__android_log_buf_print(LOG_ID_RADIO, ANDROID_LOG_VERBOSE, LOG_TAG, __VA_ARGS__))
+#if LOG_NDEBUG
+#define RLOGV(...) do { if (0) { __RLOGV(__VA_ARGS__); } } while (0)
+#else
+#define RLOGV(...) __RLOGV(__VA_ARGS__)
+#endif
+#endif
+
+#ifndef RLOGV_IF
+#if LOG_NDEBUG
+#define RLOGV_IF(cond, ...)   ((void)0)
+#else
+#define RLOGV_IF(cond, ...) \
+    ( (__predict_false(cond)) \
+    ? ((void)__android_log_buf_print(LOG_ID_RADIO, ANDROID_LOG_VERBOSE, LOG_TAG, __VA_ARGS__)) \
+    : (void)0 )
+#endif
+#endif
+
+/*
+ * Simplified macro to send a debug radio log message using the current LOG_TAG.
+ */
+#ifndef RLOGD
+#define RLOGD(...) \
+    ((void)__android_log_buf_print(LOG_ID_RADIO, ANDROID_LOG_DEBUG, LOG_TAG, __VA_ARGS__))
+#endif
+
+#ifndef RLOGD_IF
+#define RLOGD_IF(cond, ...) \
+    ( (__predict_false(cond)) \
+    ? ((void)__android_log_buf_print(LOG_ID_RADIO, ANDROID_LOG_DEBUG, LOG_TAG, __VA_ARGS__)) \
+    : (void)0 )
+#endif
+
+/*
+ * Simplified macro to send an info radio log message using the current LOG_TAG.
+ */
+#ifndef RLOGI
+#define RLOGI(...) \
+    ((void)__android_log_buf_print(LOG_ID_RADIO, ANDROID_LOG_INFO, LOG_TAG, __VA_ARGS__))
+#endif
+
+#ifndef RLOGI_IF
+#define RLOGI_IF(cond, ...) \
+    ( (__predict_false(cond)) \
+    ? ((void)__android_log_buf_print(LOG_ID_RADIO, ANDROID_LOG_INFO, LOG_TAG, __VA_ARGS__)) \
+    : (void)0 )
+#endif
+
+/*
+ * Simplified macro to send a warning radio log message using the current LOG_TAG.
+ */
+#ifndef RLOGW
+#define RLOGW(...) \
+    ((void)__android_log_buf_print(LOG_ID_RADIO, ANDROID_LOG_WARN, LOG_TAG, __VA_ARGS__))
+#endif
+
+#ifndef RLOGW_IF
+#define RLOGW_IF(cond, ...) \
+    ( (__predict_false(cond)) \
+    ? ((void)__android_log_buf_print(LOG_ID_RADIO, ANDROID_LOG_WARN, LOG_TAG, __VA_ARGS__)) \
+    : (void)0 )
+#endif
+
+/*
+ * Simplified macro to send an error radio log message using the current LOG_TAG.
+ */
+#ifndef RLOGE
+#define RLOGE(...) \
+    ((void)__android_log_buf_print(LOG_ID_RADIO, ANDROID_LOG_ERROR, LOG_TAG, __VA_ARGS__))
+#endif
+
+#ifndef RLOGE_IF
+#define RLOGE_IF(cond, ...) \
+    ( (__predict_false(cond)) \
+    ? ((void)__android_log_buf_print(LOG_ID_RADIO, ANDROID_LOG_ERROR, LOG_TAG, __VA_ARGS__)) \
+    : (void)0 )
+#endif
+
+
+// ---------------------------------------------------------------------
+
+/*
+ * Log a fatal error.  If the given condition fails, this stops program
+ * execution like a normal assertion, but also generating the given message.
+ * It is NOT stripped from release builds.  Note that the condition test
+ * is -inverted- from the normal assert() semantics.
+ */
+#ifndef LOG_ALWAYS_FATAL_IF
+#define LOG_ALWAYS_FATAL_IF(cond, ...) \
+    ( (__predict_false(cond)) \
+    ? ((void)android_printAssert(#cond, LOG_TAG, ## __VA_ARGS__)) \
+    : (void)0 )
+#endif
+
+#ifndef LOG_ALWAYS_FATAL
+#define LOG_ALWAYS_FATAL(...) \
+    ( ((void)android_printAssert(NULL, LOG_TAG, ## __VA_ARGS__)) )
+#endif
+
+/*
+ * Versions of LOG_ALWAYS_FATAL_IF and LOG_ALWAYS_FATAL that
+ * are stripped out of release builds.
+ */
+#if LOG_NDEBUG
+
+#ifndef LOG_FATAL_IF
+#define LOG_FATAL_IF(cond, ...) ((void)0)
+#endif
+#ifndef LOG_FATAL
+#define LOG_FATAL(...) ((void)0)
+#endif
+
+#else
+
+#ifndef LOG_FATAL_IF
+#define LOG_FATAL_IF(cond, ...) LOG_ALWAYS_FATAL_IF(cond, ## __VA_ARGS__)
+#endif
+#ifndef LOG_FATAL
+#define LOG_FATAL(...) LOG_ALWAYS_FATAL(__VA_ARGS__)
+#endif
+
+#endif
+
+/*
+ * Assertion that generates a log message when the assertion fails.
+ * Stripped out of release builds.  Uses the current LOG_TAG.
+ */
+#ifndef ALOG_ASSERT
+#define ALOG_ASSERT(cond, ...) LOG_FATAL_IF(!(cond), ## __VA_ARGS__)
+//#define ALOG_ASSERT(cond) LOG_FATAL_IF(!(cond), "Assertion failed: " #cond)
+#endif
+
+// ---------------------------------------------------------------------
+
+/*
+ * Basic log message macro.
+ *
+ * Example:
+ *  ALOG(LOG_WARN, NULL, "Failed with error %d", errno);
+ *
+ * The second argument may be NULL or "" to indicate the "global" tag.
+ */
+#ifndef ALOG
+#define ALOG(priority, tag, ...) \
+    LOG_PRI(ANDROID_##priority, tag, __VA_ARGS__)
+#endif
+
+/*
+ * Log macro that allows you to specify a number for the priority.
+ */
+#ifndef LOG_PRI
+#define LOG_PRI(priority, tag, ...) \
+    android_printLog(priority, tag, __VA_ARGS__)
+#endif
+
+/*
+ * Log macro that allows you to pass in a varargs ("args" is a va_list).
+ */
+#ifndef LOG_PRI_VA
+#define LOG_PRI_VA(priority, tag, fmt, args) \
+    android_vprintLog(priority, NULL, tag, fmt, args)
+#endif
+
+/*
+ * Conditional given a desired logging priority and tag.
+ */
+#ifndef IF_ALOG
+#define IF_ALOG(priority, tag) \
+    if (android_testLog(ANDROID_##priority, tag))
+#endif
+
+// ---------------------------------------------------------------------
+
+/*
+ * Event logging.
+ */
+
+/*
+ * Event log entry types.  These must match up with the declarations in
+ * java/android/android/util/EventLog.java.
+ */
+typedef enum {
+    EVENT_TYPE_INT      = 0,
+    EVENT_TYPE_LONG     = 1,
+    EVENT_TYPE_STRING   = 2,
+    EVENT_TYPE_LIST     = 3,
+    EVENT_TYPE_FLOAT    = 4,
+} AndroidEventLogType;
+#define sizeof_AndroidEventLogType sizeof(typeof_AndroidEventLogType)
+#define typeof_AndroidEventLogType unsigned char
+
+#ifndef LOG_EVENT_INT
+#define LOG_EVENT_INT(_tag, _value) {                                       \
+        int intBuf = _value;                                                \
+        (void) android_btWriteLog(_tag, EVENT_TYPE_INT, &intBuf,            \
+            sizeof(intBuf));                                                \
+    }
+#endif
+#ifndef LOG_EVENT_LONG
+#define LOG_EVENT_LONG(_tag, _value) {                                      \
+        long long longBuf = _value;                                         \
+        (void) android_btWriteLog(_tag, EVENT_TYPE_LONG, &longBuf,          \
+            sizeof(longBuf));                                               \
+    }
+#endif
+#ifndef LOG_EVENT_FLOAT
+#define LOG_EVENT_FLOAT(_tag, _value) {                                     \
+        float floatBuf = _value;                                            \
+        (void) android_btWriteLog(_tag, EVENT_TYPE_FLOAT, &floatBuf,        \
+            sizeof(floatBuf));                                              \
+    }
+#endif
+#ifndef LOG_EVENT_STRING
+#define LOG_EVENT_STRING(_tag, _value)                                      \
+        (void) __android_log_bswrite(_tag, _value);
+#endif
+/* TODO: something for LIST */
+
+/*
+ * ===========================================================================
+ *
+ * The stuff in the rest of this file should not be used directly.
+ */
+
+#define android_printLog(prio, tag, fmt...) \
+    __android_log_print(prio, tag, fmt)
+
+#define android_vprintLog(prio, cond, tag, fmt...) \
+    __android_log_vprint(prio, tag, fmt)
+
+/* XXX Macros to work around syntax errors in places where format string
+ * arg is not passed to ALOG_ASSERT, LOG_ALWAYS_FATAL or LOG_ALWAYS_FATAL_IF
+ * (happens only in debug builds).
+ */
+
+/* Returns 2nd arg.  Used to substitute default value if caller's vararg list
+ * is empty.
+ */
+#define __android_second(dummy, second, ...)     second
+
+/* If passed multiple args, returns ',' followed by all but 1st arg, otherwise
+ * returns nothing.
+ */
+#define __android_rest(first, ...)               , ## __VA_ARGS__
+
+#define android_printAssert(cond, tag, fmt...) \
+    __android_log_assert(cond, tag, \
+        __android_second(0, ## fmt, NULL) __android_rest(fmt))
+
+#define android_writeLog(prio, tag, text) \
+    __android_log_write(prio, tag, text)
+
+#define android_bWriteLog(tag, payload, len) \
+    __android_log_bwrite(tag, payload, len)
+#define android_btWriteLog(tag, type, payload, len) \
+    __android_log_btwrite(tag, type, payload, len)
+
+#define android_errorWriteLog(tag, subTag) \
+    __android_log_error_write(tag, subTag, -1, NULL, 0)
+
+#define android_errorWriteWithInfoLog(tag, subTag, uid, data, dataLen) \
+    __android_log_error_write(tag, subTag, uid, data, dataLen)
+
+/*
+ *    IF_ALOG uses android_testLog, but IF_ALOG can be overridden.
+ *    android_testLog will remain constant in its purpose as a wrapper
+ *        for Android logging filter policy, and can be subject to
+ *        change. It can be reused by the developers that override
+ *        IF_ALOG as a convenient means to reimplement their policy
+ *        over Android.
+ */
+#if LOG_NDEBUG /* Production */
+#define android_testLog(prio, tag) \
+    (__android_log_is_loggable(prio, tag, ANDROID_LOG_DEBUG) != 0)
+#else
+#define android_testLog(prio, tag) \
+    (__android_log_is_loggable(prio, tag, ANDROID_LOG_VERBOSE) != 0)
+#endif
+
+// TODO: remove these prototypes and their users
+#define android_writevLog(vec,num) do{}while(0)
+#define android_write1Log(str,len) do{}while (0)
+#define android_setMinPriority(tag, prio) do{}while(0)
+//#define android_logToCallback(func) do{}while(0)
+#define android_logToFile(tag, file) (0)
+#define android_logToFd(tag, fd) (0)
+
+#ifndef log_id_t_defined
+#define log_id_t_defined
+
+typedef enum log_id {
+    LOG_ID_MIN = 0,
+
+#ifndef LINT_RLOG
+    LOG_ID_MAIN = 0,
+#endif
+    LOG_ID_RADIO = 1,
+#ifndef LINT_RLOG
+    LOG_ID_EVENTS = 2,
+    LOG_ID_SYSTEM = 3,
+    LOG_ID_CRASH = 4,
+    LOG_ID_KERNEL = 5,
+#endif
+
+    LOG_ID_MAX
+} log_id_t;
+#endif
+#define sizeof_log_id_t sizeof(typeof_log_id_t)
+#define typeof_log_id_t unsigned char
+
+/*
+ * Use the per-tag properties "log.tag.<tagname>" to generate a runtime
+ * result of non-zero to expose a log.
+ */
+int __android_log_is_loggable(int prio, const char *tag, int def);
+
+int __android_log_error_write(int tag, const char *subTag, int32_t uid, const char *data,
+                              uint32_t dataLen);
+
+/*
+ * Send a simple string to the log.
+ */
+int __android_log_buf_write(int bufID, int prio, const char *tag, const char *text);
+int __android_log_buf_print(int bufID, int prio, const char *tag, const char *fmt, ...)
+#if defined(__GNUC__)
+    __attribute__((__format__(printf, 4, 5)))
+#endif
+    ;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* _LIBS_LOG_LOG_H */
diff --git a/third_party/android_system_core/include/log/log_read.h b/third_party/android_system_core/include/log/log_read.h
new file mode 100644
index 0000000000..1b70affc35
--- /dev/null
+++ b/third_party/android_system_core/include/log/log_read.h
@@ -0,0 +1,170 @@
+/*
+ * Copyright (C) 2013-2014 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef _LIBS_LOG_LOG_READ_H
+#define _LIBS_LOG_LOG_READ_H
+
+#include <stdint.h>
+#include <time.h>
+
+/* struct log_time is a wire-format variant of struct timespec */
+#define NS_PER_SEC 1000000000ULL
+
+#ifdef __cplusplus
+
+// NB: do NOT define a copy constructor. This will result in structure
+// no longer being compatible with pass-by-value which is desired
+// efficient behavior. Also, pass-by-reference breaks C/C++ ABI.
+struct log_time {
+public:
+    uint32_t tv_sec; // good to Feb 5 2106
+    uint32_t tv_nsec;
+
+    static const uint32_t tv_sec_max = 0xFFFFFFFFUL;
+    static const uint32_t tv_nsec_max = 999999999UL;
+
+    log_time(const timespec &T)
+    {
+        tv_sec = T.tv_sec;
+        tv_nsec = T.tv_nsec;
+    }
+    log_time(uint32_t sec, uint32_t nsec)
+    {
+        tv_sec = sec;
+        tv_nsec = nsec;
+    }
+    static const timespec EPOCH;
+    log_time()
+    {
+    }
+    log_time(clockid_t id)
+    {
+        timespec T;
+        clock_gettime(id, &T);
+        tv_sec = T.tv_sec;
+        tv_nsec = T.tv_nsec;
+    }
+    log_time(const char *T)
+    {
+        const uint8_t *c = (const uint8_t *) T;
+        tv_sec = c[0] | (c[1] << 8) | (c[2] << 16) | (c[3] << 24);
+        tv_nsec = c[4] | (c[5] << 8) | (c[6] << 16) | (c[7] << 24);
+    }
+
+    // timespec
+    bool operator== (const timespec &T) const
+    {
+        return (tv_sec == static_cast<uint32_t>(T.tv_sec))
+            && (tv_nsec == static_cast<uint32_t>(T.tv_nsec));
+    }
+    bool operator!= (const timespec &T) const
+    {
+        return !(*this == T);
+    }
+    bool operator< (const timespec &T) const
+    {
+        return (tv_sec < static_cast<uint32_t>(T.tv_sec))
+            || ((tv_sec == static_cast<uint32_t>(T.tv_sec))
+                && (tv_nsec < static_cast<uint32_t>(T.tv_nsec)));
+    }
+    bool operator>= (const timespec &T) const
+    {
+        return !(*this < T);
+    }
+    bool operator> (const timespec &T) const
+    {
+        return (tv_sec > static_cast<uint32_t>(T.tv_sec))
+            || ((tv_sec == static_cast<uint32_t>(T.tv_sec))
+                && (tv_nsec > static_cast<uint32_t>(T.tv_nsec)));
+    }
+    bool operator<= (const timespec &T) const
+    {
+        return !(*this > T);
+    }
+    log_time operator-= (const timespec &T);
+    log_time operator- (const timespec &T) const
+    {
+        log_time local(*this);
+        return local -= T;
+    }
+    log_time operator+= (const timespec &T);
+    log_time operator+ (const timespec &T) const
+    {
+        log_time local(*this);
+        return local += T;
+    }
+
+    // log_time
+    bool operator== (const log_time &T) const
+    {
+        return (tv_sec == T.tv_sec) && (tv_nsec == T.tv_nsec);
+    }
+    bool operator!= (const log_time &T) const
+    {
+        return !(*this == T);
+    }
+    bool operator< (const log_time &T) const
+    {
+        return (tv_sec < T.tv_sec)
+            || ((tv_sec == T.tv_sec) && (tv_nsec < T.tv_nsec));
+    }
+    bool operator>= (const log_time &T) const
+    {
+        return !(*this < T);
+    }
+    bool operator> (const log_time &T) const
+    {
+        return (tv_sec > T.tv_sec)
+            || ((tv_sec == T.tv_sec) && (tv_nsec > T.tv_nsec));
+    }
+    bool operator<= (const log_time &T) const
+    {
+        return !(*this > T);
+    }
+    log_time operator-= (const log_time &T);
+    log_time operator- (const log_time &T) const
+    {
+        log_time local(*this);
+        return local -= T;
+    }
+    log_time operator+= (const log_time &T);
+    log_time operator+ (const log_time &T) const
+    {
+        log_time local(*this);
+        return local += T;
+    }
+
+    uint64_t nsec() const
+    {
+        return static_cast<uint64_t>(tv_sec) * NS_PER_SEC + tv_nsec;
+    }
+
+    static const char default_format[];
+
+    // Add %#q for the fraction of a second to the standard library functions
+    char *strptime(const char *s, const char *format = default_format);
+} __attribute__((__packed__));
+
+#else
+
+typedef struct log_time {
+    uint32_t tv_sec;
+    uint32_t tv_nsec;
+} __attribute__((__packed__)) log_time;
+
+#endif
+
+#endif /* define _LIBS_LOG_LOG_READ_H */
diff --git a/third_party/android_system_core/include/log/logd.h b/third_party/android_system_core/include/log/logd.h
new file mode 100644
index 0000000000..0fe515f2ab
--- /dev/null
+++ b/third_party/android_system_core/include/log/logd.h
@@ -0,0 +1,51 @@
+/*
+ * Copyright (C) 2009 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef _ANDROID_CUTILS_LOGD_H
+#define _ANDROID_CUTILS_LOGD_H
+
+/* the stable/frozen log-related definitions have been
+ * moved to this header, which is exposed by the NDK
+ */
+#include <android/log.h>
+
+/* the rest is only used internally by the system */
+#if !defined(_WIN32)
+#include <pthread.h>
+#endif
+#include <stdarg.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <sys/types.h>
+#include <time.h>
+#include <unistd.h>
+
+#include <log/uio.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+int __android_log_bwrite(int32_t tag, const void *payload, size_t len);
+int __android_log_btwrite(int32_t tag, char type, const void *payload,
+    size_t len);
+int __android_log_bswrite(int32_t tag, const char *payload);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* _LOGD_H */
diff --git a/third_party/android_system_core/include/log/logger.h b/third_party/android_system_core/include/log/logger.h
new file mode 100644
index 0000000000..f030dab5a9
--- /dev/null
+++ b/third_party/android_system_core/include/log/logger.h
@@ -0,0 +1,196 @@
+/*
+**
+** Copyright 2007-2014, The Android Open Source Project
+**
+** This file is dual licensed.  It may be redistributed and/or modified
+** under the terms of the Apache 2.0 License OR version 2 of the GNU
+** General Public License.
+*/
+
+#ifndef _LIBS_LOG_LOGGER_H
+#define _LIBS_LOG_LOGGER_H
+
+#include <stdint.h>
+#include <log/log.h>
+#include <log/log_read.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*
+ * The userspace structure for version 1 of the logger_entry ABI.
+ * This structure is returned to userspace by the kernel logger
+ * driver unless an upgrade to a newer ABI version is requested.
+ */
+struct logger_entry {
+    uint16_t    len;    /* length of the payload */
+    uint16_t    __pad;  /* no matter what, we get 2 bytes of padding */
+    int32_t     pid;    /* generating process's pid */
+    int32_t     tid;    /* generating process's tid */
+    int32_t     sec;    /* seconds since Epoch */
+    int32_t     nsec;   /* nanoseconds */
+    char        msg[0]; /* the entry's payload */
+} __attribute__((__packed__));
+
+/*
+ * The userspace structure for version 2 of the logger_entry ABI.
+ * This structure is returned to userspace if ioctl(LOGGER_SET_VERSION)
+ * is called with version==2; or used with the user space log daemon.
+ */
+struct logger_entry_v2 {
+    uint16_t    len;       /* length of the payload */
+    uint16_t    hdr_size;  /* sizeof(struct logger_entry_v2) */
+    int32_t     pid;       /* generating process's pid */
+    int32_t     tid;       /* generating process's tid */
+    int32_t     sec;       /* seconds since Epoch */
+    int32_t     nsec;      /* nanoseconds */
+    uint32_t    euid;      /* effective UID of logger */
+    char        msg[0];    /* the entry's payload */
+} __attribute__((__packed__));
+
+struct logger_entry_v3 {
+    uint16_t    len;       /* length of the payload */
+    uint16_t    hdr_size;  /* sizeof(struct logger_entry_v3) */
+    int32_t     pid;       /* generating process's pid */
+    int32_t     tid;       /* generating process's tid */
+    int32_t     sec;       /* seconds since Epoch */
+    int32_t     nsec;      /* nanoseconds */
+    uint32_t    lid;       /* log id of the payload */
+    char        msg[0];    /* the entry's payload */
+} __attribute__((__packed__));
+
+/*
+ * The maximum size of the log entry payload that can be
+ * written to the logger. An attempt to write more than
+ * this amount will result in a truncated log entry.
+ */
+#define LOGGER_ENTRY_MAX_PAYLOAD	4076
+
+/*
+ * The maximum size of a log entry which can be read from the
+ * kernel logger driver. An attempt to read less than this amount
+ * may result in read() returning EINVAL.
+ */
+#define LOGGER_ENTRY_MAX_LEN		(5*1024)
+
+#define NS_PER_SEC 1000000000ULL
+
+struct log_msg {
+    union {
+        unsigned char buf[LOGGER_ENTRY_MAX_LEN + 1];
+        struct logger_entry_v3 entry;
+        struct logger_entry_v3 entry_v3;
+        struct logger_entry_v2 entry_v2;
+        struct logger_entry    entry_v1;
+    } __attribute__((aligned(4)));
+#ifdef __cplusplus
+    /* Matching log_time operators */
+    bool operator== (const log_msg &T) const
+    {
+        return (entry.sec == T.entry.sec) && (entry.nsec == T.entry.nsec);
+    }
+    bool operator!= (const log_msg &T) const
+    {
+        return !(*this == T);
+    }
+    bool operator< (const log_msg &T) const
+    {
+        return (entry.sec < T.entry.sec)
+            || ((entry.sec == T.entry.sec)
+             && (entry.nsec < T.entry.nsec));
+    }
+    bool operator>= (const log_msg &T) const
+    {
+        return !(*this < T);
+    }
+    bool operator> (const log_msg &T) const
+    {
+        return (entry.sec > T.entry.sec)
+            || ((entry.sec == T.entry.sec)
+             && (entry.nsec > T.entry.nsec));
+    }
+    bool operator<= (const log_msg &T) const
+    {
+        return !(*this > T);
+    }
+    uint64_t nsec() const
+    {
+        return static_cast<uint64_t>(entry.sec) * NS_PER_SEC + entry.nsec;
+    }
+
+    /* packet methods */
+    log_id_t id()
+    {
+        return (log_id_t) entry.lid;
+    }
+    char *msg()
+    {
+        return entry.hdr_size ? (char *) buf + entry.hdr_size : entry_v1.msg;
+    }
+    unsigned int len()
+    {
+        return (entry.hdr_size ? entry.hdr_size : sizeof(entry_v1)) + entry.len;
+    }
+#endif
+};
+
+struct logger;
+
+log_id_t android_logger_get_id(struct logger *logger);
+
+int android_logger_clear(struct logger *logger);
+long android_logger_get_log_size(struct logger *logger);
+int android_logger_set_log_size(struct logger *logger, unsigned long size);
+long android_logger_get_log_readable_size(struct logger *logger);
+int android_logger_get_log_version(struct logger *logger);
+
+struct logger_list;
+
+ssize_t android_logger_get_statistics(struct logger_list *logger_list,
+                                      char *buf, size_t len);
+ssize_t android_logger_get_prune_list(struct logger_list *logger_list,
+                                      char *buf, size_t len);
+int android_logger_set_prune_list(struct logger_list *logger_list,
+                                  char *buf, size_t len);
+
+#define ANDROID_LOG_RDONLY   O_RDONLY
+#define ANDROID_LOG_WRONLY   O_WRONLY
+#define ANDROID_LOG_RDWR     O_RDWR
+#define ANDROID_LOG_ACCMODE  O_ACCMODE
+#define ANDROID_LOG_NONBLOCK O_NONBLOCK
+#define ANDROID_LOG_PSTORE   0x80000000
+
+struct logger_list *android_logger_list_alloc(int mode,
+                                              unsigned int tail,
+                                              pid_t pid);
+struct logger_list *android_logger_list_alloc_time(int mode,
+                                                   log_time start,
+                                                   pid_t pid);
+void android_logger_list_free(struct logger_list *logger_list);
+/* In the purest sense, the following two are orthogonal interfaces */
+int android_logger_list_read(struct logger_list *logger_list,
+                             struct log_msg *log_msg);
+
+/* Multiple log_id_t opens */
+struct logger *android_logger_open(struct logger_list *logger_list,
+                                   log_id_t id);
+#define android_logger_close android_logger_free
+/* Single log_id_t open */
+struct logger_list *android_logger_list_open(log_id_t id,
+                                             int mode,
+                                             unsigned int tail,
+                                             pid_t pid);
+#define android_logger_list_close android_logger_list_free
+
+/*
+ * log_id_t helpers
+ */
+log_id_t android_name_to_log_id(const char *logName);
+const char *android_log_id_to_name(log_id_t log_id);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* _LIBS_LOG_LOGGER_H */
diff --git a/third_party/android_system_core/include/log/logprint.h b/third_party/android_system_core/include/log/logprint.h
new file mode 100644
index 0000000000..4b812cc941
--- /dev/null
+++ b/third_party/android_system_core/include/log/logprint.h
@@ -0,0 +1,161 @@
+/*
+ * Copyright (C) 2006 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef _LOGPRINT_H
+#define _LOGPRINT_H
+
+#include <log/log.h>
+#include <log/logger.h>
+#include <log/event_tag_map.h>
+#include <pthread.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef enum {
+    FORMAT_OFF = 0,
+    FORMAT_BRIEF,
+    FORMAT_PROCESS,
+    FORMAT_TAG,
+    FORMAT_THREAD,
+    FORMAT_RAW,
+    FORMAT_TIME,
+    FORMAT_THREADTIME,
+    FORMAT_LONG,
+    /* The following three are modifiers to above formats */
+    FORMAT_MODIFIER_COLOR,     /* converts priority to color */
+    FORMAT_MODIFIER_TIME_USEC, /* switches from msec to usec time precision */
+    FORMAT_MODIFIER_PRINTABLE, /* converts non-printable to printable escapes */
+} AndroidLogPrintFormat;
+
+typedef struct AndroidLogFormat_t AndroidLogFormat;
+
+typedef struct AndroidLogEntry_t {
+    time_t tv_sec;
+    long tv_nsec;
+    android_LogPriority priority;
+    int32_t pid;
+    int32_t tid;
+    const char * tag;
+    size_t messageLen;
+    const char * message;
+} AndroidLogEntry;
+
+AndroidLogFormat *android_log_format_new();
+
+void android_log_format_free(AndroidLogFormat *p_format);
+
+/* currently returns 0 if format is a modifier, 1 if not */
+int android_log_setPrintFormat(AndroidLogFormat *p_format,
+        AndroidLogPrintFormat format);
+
+/**
+ * Returns FORMAT_OFF on invalid string
+ */
+AndroidLogPrintFormat android_log_formatFromString(const char *s);
+
+/**
+ * filterExpression: a single filter expression
+ * eg "AT:d"
+ *
+ * returns 0 on success and -1 on invalid expression
+ *
+ * Assumes single threaded execution
+ *
+ */
+
+int android_log_addFilterRule(AndroidLogFormat *p_format,
+        const char *filterExpression);
+
+
+/**
+ * filterString: a whitespace-separated set of filter expressions
+ * eg "AT:d *:i"
+ *
+ * returns 0 on success and -1 on invalid expression
+ *
+ * Assumes single threaded execution
+ *
+ */
+
+int android_log_addFilterString(AndroidLogFormat *p_format,
+        const char *filterString);
+
+
+/**
+ * returns 1 if this log line should be printed based on its priority
+ * and tag, and 0 if it should not
+ */
+int android_log_shouldPrintLine (
+        AndroidLogFormat *p_format, const char *tag, android_LogPriority pri);
+
+
+/**
+ * Splits a wire-format buffer into an AndroidLogEntry
+ * entry allocated by caller. Pointers will point directly into buf
+ *
+ * Returns 0 on success and -1 on invalid wire format (entry will be
+ * in unspecified state)
+ */
+int android_log_processLogBuffer(struct logger_entry *buf,
+                                 AndroidLogEntry *entry);
+
+/**
+ * Like android_log_processLogBuffer, but for binary logs.
+ *
+ * If "map" is non-NULL, it will be used to convert the log tag number
+ * into a string.
+ */
+int android_log_processBinaryLogBuffer(struct logger_entry *buf,
+    AndroidLogEntry *entry, const EventTagMap* map, char* messageBuf,
+    int messageBufLen);
+
+
+/**
+ * Formats a log message into a buffer
+ *
+ * Uses defaultBuffer if it can, otherwise malloc()'s a new buffer
+ * If return value != defaultBuffer, caller must call free()
+ * Returns NULL on malloc error
+ */
+
+char *android_log_formatLogLine (
+    AndroidLogFormat *p_format,
+    char *defaultBuffer,
+    size_t defaultBufferSize,
+    const AndroidLogEntry *p_line,
+    size_t *p_outLength);
+
+
+/**
+ * Either print or do not print log line, based on filter
+ *
+ * Assumes single threaded execution
+ *
+ */
+int android_log_printLogLine(
+    AndroidLogFormat *p_format,
+    int fd,
+    const AndroidLogEntry *entry);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+
+#endif /*_LOGPRINT_H*/
diff --git a/third_party/android_system_core/include/log/uio.h b/third_party/android_system_core/include/log/uio.h
new file mode 100644
index 0000000000..7059da5f76
--- /dev/null
+++ b/third_party/android_system_core/include/log/uio.h
@@ -0,0 +1,51 @@
+/*
+ * Copyright (C) 2007-2014 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef _LIBS_CUTILS_UIO_H
+#define _LIBS_CUTILS_UIO_H
+
+#if !defined(_WIN32)
+
+#include <sys/uio.h>
+
+#else
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+//
+// Implementation of sys/uio.h for Win32.
+//
+
+#include <stddef.h>
+
+struct iovec {
+    void*  iov_base;
+    size_t iov_len;
+};
+
+extern int  readv( int  fd, struct iovec*  vecs, int  count );
+extern int  writev( int  fd, const struct iovec*  vecs, int  count );
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
+
+#endif /* _LIBS_UTILS_UIO_H */
+
diff --git a/third_party/android_system_core/include/system/camera.h b/third_party/android_system_core/include/system/camera.h
new file mode 100644
index 0000000000..0570ca04c6
--- /dev/null
+++ b/third_party/android_system_core/include/system/camera.h
@@ -0,0 +1,365 @@
+/*
+ * Copyright (C) 2011 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef SYSTEM_CORE_INCLUDE_ANDROID_CAMERA_H
+#define SYSTEM_CORE_INCLUDE_ANDROID_CAMERA_H
+
+#include <stdint.h>
+#include <sys/cdefs.h>
+#include <sys/types.h>
+#include <cutils/native_handle.h>
+#include <hardware/hardware.h>
+#include <hardware/gralloc.h>
+
+__BEGIN_DECLS
+
+/**
+ * A set of bit masks for specifying how the received preview frames are
+ * handled before the previewCallback() call.
+ *
+ * The least significant 3 bits of an "int" value are used for this purpose:
+ *
+ * ..... 0 0 0
+ *       ^ ^ ^
+ *       | | |---------> determine whether the callback is enabled or not
+ *       | |-----------> determine whether the callback is one-shot or not
+ *       |-------------> determine whether the frame is copied out or not
+ *
+ * WARNING: When a frame is sent directly without copying, it is the frame
+ * receiver's responsiblity to make sure that the frame data won't get
+ * corrupted by subsequent preview frames filled by the camera. This flag is
+ * recommended only when copying out data brings significant performance price
+ * and the handling/processing of the received frame data is always faster than
+ * the preview frame rate so that data corruption won't occur.
+ *
+ * For instance,
+ * 1. 0x00 disables the callback. In this case, copy out and one shot bits
+ *    are ignored.
+ * 2. 0x01 enables a callback without copying out the received frames. A
+ *    typical use case is the Camcorder application to avoid making costly
+ *    frame copies.
+ * 3. 0x05 is enabling a callback with frame copied out repeatedly. A typical
+ *    use case is the Camera application.
+ * 4. 0x07 is enabling a callback with frame copied out only once. A typical
+ *    use case is the Barcode scanner application.
+ */
+
+enum {
+    CAMERA_FRAME_CALLBACK_FLAG_ENABLE_MASK = 0x01,
+    CAMERA_FRAME_CALLBACK_FLAG_ONE_SHOT_MASK = 0x02,
+    CAMERA_FRAME_CALLBACK_FLAG_COPY_OUT_MASK = 0x04,
+    /** Typical use cases */
+    CAMERA_FRAME_CALLBACK_FLAG_NOOP = 0x00,
+    CAMERA_FRAME_CALLBACK_FLAG_CAMCORDER = 0x01,
+    CAMERA_FRAME_CALLBACK_FLAG_CAMERA = 0x05,
+    CAMERA_FRAME_CALLBACK_FLAG_BARCODE_SCANNER = 0x07
+};
+
+/** msgType in notifyCallback and dataCallback functions */
+enum {
+    CAMERA_MSG_ERROR = 0x0001,            // notifyCallback
+    CAMERA_MSG_SHUTTER = 0x0002,          // notifyCallback
+    CAMERA_MSG_FOCUS = 0x0004,            // notifyCallback
+    CAMERA_MSG_ZOOM = 0x0008,             // notifyCallback
+    CAMERA_MSG_PREVIEW_FRAME = 0x0010,    // dataCallback
+    CAMERA_MSG_VIDEO_FRAME = 0x0020,      // data_timestamp_callback
+    CAMERA_MSG_POSTVIEW_FRAME = 0x0040,   // dataCallback
+    CAMERA_MSG_RAW_IMAGE = 0x0080,        // dataCallback
+    CAMERA_MSG_COMPRESSED_IMAGE = 0x0100, // dataCallback
+    CAMERA_MSG_RAW_IMAGE_NOTIFY = 0x0200, // dataCallback
+    // Preview frame metadata. This can be combined with
+    // CAMERA_MSG_PREVIEW_FRAME in dataCallback. For example, the apps can
+    // request FRAME and METADATA. Or the apps can request only FRAME or only
+    // METADATA.
+    CAMERA_MSG_PREVIEW_METADATA = 0x0400, // dataCallback
+    // Notify on autofocus start and stop. This is useful in continuous
+    // autofocus - FOCUS_MODE_CONTINUOUS_VIDEO and FOCUS_MODE_CONTINUOUS_PICTURE.
+    CAMERA_MSG_FOCUS_MOVE = 0x0800,       // notifyCallback
+    CAMERA_MSG_VENDOR_START = 0x1000,
+    CAMERA_MSG_STATS_DATA = CAMERA_MSG_VENDOR_START,
+    CAMERA_MSG_META_DATA = 0x2000,
+    CAMERA_MSG_VENDOR_END = 0x8000,
+    CAMERA_MSG_ALL_MSGS = 0xFFFF
+};
+
+/** meta data type in CameraMetaDataCallback */
+enum {
+    CAMERA_META_DATA_ASD = 0x001,    //ASD data
+    CAMERA_META_DATA_FD = 0x002,     //FD/FP data
+    CAMERA_META_DATA_HDR = 0x003,    //Auto HDR data
+};
+
+/** cmdType in sendCommand functions */
+enum {
+    CAMERA_CMD_START_SMOOTH_ZOOM = 1,
+    CAMERA_CMD_STOP_SMOOTH_ZOOM = 2,
+
+    /**
+     * Set the clockwise rotation of preview display (setPreviewDisplay) in
+     * degrees. This affects the preview frames and the picture displayed after
+     * snapshot. This method is useful for portrait mode applications. Note
+     * that preview display of front-facing cameras is flipped horizontally
+     * before the rotation, that is, the image is reflected along the central
+     * vertical axis of the camera sensor. So the users can see themselves as
+     * looking into a mirror.
+     *
+     * This does not affect the order of byte array of
+     * CAMERA_MSG_PREVIEW_FRAME, CAMERA_MSG_VIDEO_FRAME,
+     * CAMERA_MSG_POSTVIEW_FRAME, CAMERA_MSG_RAW_IMAGE, or
+     * CAMERA_MSG_COMPRESSED_IMAGE. This is allowed to be set during preview
+     * since API level 14.
+     */
+    CAMERA_CMD_SET_DISPLAY_ORIENTATION = 3,
+
+    /**
+     * cmdType to disable/enable shutter sound. In sendCommand passing arg1 =
+     * 0 will disable, while passing arg1 = 1 will enable the shutter sound.
+     */
+    CAMERA_CMD_ENABLE_SHUTTER_SOUND = 4,
+
+    /* cmdType to play recording sound */
+    CAMERA_CMD_PLAY_RECORDING_SOUND = 5,
+
+    /**
+     * Start the face detection. This should be called after preview is started.
+     * The camera will notify the listener of CAMERA_MSG_FACE and the detected
+     * faces in the preview frame. The detected faces may be the same as the
+     * previous ones. Apps should call CAMERA_CMD_STOP_FACE_DETECTION to stop
+     * the face detection. This method is supported if CameraParameters
+     * KEY_MAX_NUM_HW_DETECTED_FACES or KEY_MAX_NUM_SW_DETECTED_FACES is
+     * bigger than 0. Hardware and software face detection should not be running
+     * at the same time. If the face detection has started, apps should not send
+     * this again.
+     *
+     * In hardware face detection mode, CameraParameters KEY_WHITE_BALANCE,
+     * KEY_FOCUS_AREAS and KEY_METERING_AREAS have no effect.
+     *
+     * arg1 is the face detection type. It can be CAMERA_FACE_DETECTION_HW or
+     * CAMERA_FACE_DETECTION_SW. If the type of face detection requested is not
+     * supported, the HAL must return BAD_VALUE.
+     */
+    CAMERA_CMD_START_FACE_DETECTION = 6,
+
+    /**
+     * Stop the face detection.
+     */
+    CAMERA_CMD_STOP_FACE_DETECTION = 7,
+
+    /**
+     * Enable/disable focus move callback (CAMERA_MSG_FOCUS_MOVE). Passing
+     * arg1 = 0 will disable, while passing arg1 = 1 will enable the callback.
+     */
+    CAMERA_CMD_ENABLE_FOCUS_MOVE_MSG = 8,
+
+    /**
+     * Ping camera service to see if camera hardware is released.
+     *
+     * When any camera method returns error, the client can use ping command
+     * to see if the camera has been taken away by other clients. If the result
+     * is NO_ERROR, it means the camera hardware is not released. If the result
+     * is not NO_ERROR, the camera has been released and the existing client
+     * can silently finish itself or show a dialog.
+     */
+    CAMERA_CMD_PING = 9,
+
+    /**
+     * Configure the number of video buffers used for recording. The intended
+     * video buffer count for recording is passed as arg1, which must be
+     * greater than 0. This command must be sent before recording is started.
+     * This command returns INVALID_OPERATION error if it is sent after video
+     * recording is started, or the command is not supported at all. This
+     * command also returns a BAD_VALUE error if the intended video buffer
+     * count is non-positive or too big to be realized.
+     */
+    CAMERA_CMD_SET_VIDEO_BUFFER_COUNT = 10,
+
+    /**
+     * Configure an explicit format to use for video recording metadata mode.
+     * This can be used to switch the format from the
+     * default IMPLEMENTATION_DEFINED gralloc format to some other
+     * device-supported format, and the default dataspace from the BT_709 color
+     * space to some other device-supported dataspace. arg1 is the HAL pixel
+     * format, and arg2 is the HAL dataSpace. This command returns
+     * INVALID_OPERATION error if it is sent after video recording is started,
+     * or the command is not supported at all.
+     *
+     * If the gralloc format is set to a format other than
+     * IMPLEMENTATION_DEFINED, then HALv3 devices will use gralloc usage flags
+     * of SW_READ_OFTEN.
+     */
+#ifndef CAMERA_VENDOR_L_COMPAT
+    CAMERA_CMD_SET_VIDEO_FORMAT = 11,
+
+    CAMERA_CMD_VENDOR_START = 20,
+    /**
+     * Commands to enable/disable preview histogram
+     *
+     * Based on user's input to enable/disable histogram from the camera
+     * UI, send the appropriate command to the HAL to turn on/off the histogram
+     * stats and start sending the data to the application.
+     */
+    CAMERA_CMD_HISTOGRAM_ON = CAMERA_CMD_VENDOR_START,
+    CAMERA_CMD_HISTOGRAM_OFF = CAMERA_CMD_VENDOR_START + 1,
+    CAMERA_CMD_HISTOGRAM_SEND_DATA  = CAMERA_CMD_VENDOR_START + 2,
+    CAMERA_CMD_LONGSHOT_ON = CAMERA_CMD_VENDOR_START + 3,
+    CAMERA_CMD_LONGSHOT_OFF = CAMERA_CMD_VENDOR_START + 4,
+    CAMERA_CMD_STOP_LONGSHOT = CAMERA_CMD_VENDOR_START + 5,
+    CAMERA_CMD_METADATA_ON = CAMERA_CMD_VENDOR_START + 6,
+    CAMERA_CMD_METADATA_OFF = CAMERA_CMD_VENDOR_START + 7,
+    CAMERA_CMD_VENDOR_END = 200,
+#else
+
+    /**
+     * Values used by older HALs, provided as an option for compatibility
+     */
+    CAMERA_CMD_HISTOGRAM_ON     = 11,
+    CAMERA_CMD_HISTOGRAM_OFF     = 12,
+    CAMERA_CMD_HISTOGRAM_SEND_DATA  = 13,
+    CAMERA_CMD_LONGSHOT_ON = 14,
+    CAMERA_CMD_LONGSHOT_OFF = 15,
+    CAMERA_CMD_STOP_LONGSHOT = 16,
+    CAMERA_CMD_METADATA_ON = 100,
+    CAMERA_CMD_METADATA_OFF = 101,
+    CAMERA_CMD_SET_VIDEO_FORMAT = 102,
+#endif
+};
+
+/** camera fatal errors */
+enum {
+    CAMERA_ERROR_UNKNOWN = 1,
+    /**
+     * Camera was released because another client has connected to the camera.
+     * The original client should call Camera::disconnect immediately after
+     * getting this notification. Otherwise, the camera will be released by
+     * camera service in a short time. The client should not call any method
+     * (except disconnect and sending CAMERA_CMD_PING) after getting this.
+     */
+    CAMERA_ERROR_RELEASED = 2,
+    CAMERA_ERROR_SERVER_DIED = 100
+};
+
+enum {
+    /** The facing of the camera is opposite to that of the screen. */
+    CAMERA_FACING_BACK = 0,
+    /** The facing of the camera is the same as that of the screen. */
+    CAMERA_FACING_FRONT = 1,
+    /**
+     * The facing of the camera is not fixed relative to the screen.
+     * The cameras with this facing are external cameras, e.g. USB cameras.
+     */
+    CAMERA_FACING_EXTERNAL = 2
+};
+
+enum {
+    /** Hardware face detection. It does not use much CPU. */
+    CAMERA_FACE_DETECTION_HW = 0,
+    /**
+     * Software face detection. It uses some CPU. Applications must use
+     * Camera.setPreviewTexture for preview in this mode.
+     */
+    CAMERA_FACE_DETECTION_SW = 1
+};
+
+/**
+ * The information of a face from camera face detection.
+ */
+typedef struct camera_face {
+    /**
+     * Bounds of the face [left, top, right, bottom]. (-1000, -1000) represents
+     * the top-left of the camera field of view, and (1000, 1000) represents the
+     * bottom-right of the field of view. The width and height cannot be 0 or
+     * negative. This is supported by both hardware and software face detection.
+     *
+     * The direction is relative to the sensor orientation, that is, what the
+     * sensor sees. The direction is not affected by the rotation or mirroring
+     * of CAMERA_CMD_SET_DISPLAY_ORIENTATION.
+     */
+    int32_t rect[4];
+
+    /**
+     * The confidence level of the face. The range is 1 to 100. 100 is the
+     * highest confidence. This is supported by both hardware and software
+     * face detection.
+     */
+    int32_t score;
+
+    /**
+     * An unique id per face while the face is visible to the tracker. If
+     * the face leaves the field-of-view and comes back, it will get a new
+     * id. If the value is 0, id is not supported.
+     */
+    int32_t id;
+
+    /**
+     * The coordinates of the center of the left eye. The range is -1000 to
+     * 1000. -2000, -2000 if this is not supported.
+     */
+    int32_t left_eye[2];
+
+    /**
+     * The coordinates of the center of the right eye. The range is -1000 to
+     * 1000. -2000, -2000 if this is not supported.
+     */
+    int32_t right_eye[2];
+
+    /**
+     * The coordinates of the center of the mouth. The range is -1000 to 1000.
+     * -2000, -2000 if this is not supported.
+     */
+    int32_t mouth[2];
+    int32_t smile_degree;
+    int32_t smile_score;
+    int32_t blink_detected;
+    int32_t face_recognised;
+    int32_t gaze_angle;
+    int32_t updown_dir;
+    int32_t leftright_dir;
+    int32_t roll_dir;
+    int32_t left_right_gaze;
+    int32_t top_bottom_gaze;
+    int32_t leye_blink;
+    int32_t reye_blink;
+
+} camera_face_t;
+
+/**
+ * The information of a data type received in a camera frame.
+ */
+typedef enum {
+    /** Data buffer */
+    CAMERA_FRAME_DATA_BUF = 0x000,
+    /** File descriptor */
+    CAMERA_FRAME_DATA_FD = 0x100
+} camera_frame_data_type_t;
+
+/**
+ * The metadata of the frame data.
+ */
+typedef struct camera_frame_metadata {
+    /**
+     * The number of detected faces in the frame.
+     */
+    int32_t number_of_faces;
+
+    /**
+     * An array of the detected faces. The length is number_of_faces.
+     */
+    camera_face_t *faces;
+} camera_frame_metadata_t;
+
+__END_DECLS
+
+#endif /* SYSTEM_CORE_INCLUDE_ANDROID_CAMERA_H */
diff --git a/third_party/android_system_core/include/system/graphics.h b/third_party/android_system_core/include/system/graphics.h
new file mode 100644
index 0000000000..afd9f7bdb3
--- /dev/null
+++ b/third_party/android_system_core/include/system/graphics.h
@@ -0,0 +1,763 @@
+/*
+ * Copyright (C) 2011 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef SYSTEM_CORE_INCLUDE_ANDROID_GRAPHICS_H
+#define SYSTEM_CORE_INCLUDE_ANDROID_GRAPHICS_H
+
+#include <stdint.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*
+ * If the HAL needs to create service threads to handle graphics related
+ * tasks, these threads need to run at HAL_PRIORITY_URGENT_DISPLAY priority
+ * if they can block the main rendering thread in any way.
+ *
+ * the priority of the current thread can be set with:
+ *
+ *      #include <sys/resource.h>
+ *      setpriority(PRIO_PROCESS, 0, HAL_PRIORITY_URGENT_DISPLAY);
+ *
+ */
+
+#define HAL_PRIORITY_URGENT_DISPLAY     (-8)
+
+/**
+ * pixel format definitions
+ */
+
+enum {
+    /*
+     * "linear" color pixel formats:
+     *
+     * When used with ANativeWindow, the dataSpace field describes the color
+     * space of the buffer.
+     *
+     * The color space determines, for example, if the formats are linear or
+     * gamma-corrected; or whether any special operations are performed when
+     * reading or writing into a buffer in one of these formats.
+     */
+    HAL_PIXEL_FORMAT_RGBA_8888          = 1,
+    HAL_PIXEL_FORMAT_RGBX_8888          = 2,
+    HAL_PIXEL_FORMAT_RGB_888            = 3,
+    HAL_PIXEL_FORMAT_RGB_565            = 4,
+    HAL_PIXEL_FORMAT_BGRA_8888          = 5,
+
+    /*
+     * 0x100 - 0x1FF
+     *
+     * This range is reserved for pixel formats that are specific to the HAL
+     * implementation.  Implementations can use any value in this range to
+     * communicate video pixel formats between their HAL modules.  These formats
+     * must not have an alpha channel.  Additionally, an EGLimage created from a
+     * gralloc buffer of one of these formats must be supported for use with the
+     * GL_OES_EGL_image_external OpenGL ES extension.
+     */
+
+    /*
+     * Android YUV format:
+     *
+     * This format is exposed outside of the HAL to software decoders and
+     * applications.  EGLImageKHR must support it in conjunction with the
+     * OES_EGL_image_external extension.
+     *
+     * YV12 is a 4:2:0 YCrCb planar format comprised of a WxH Y plane followed
+     * by (W/2) x (H/2) Cr and Cb planes.
+     *
+     * This format assumes
+     * - an even width
+     * - an even height
+     * - a horizontal stride multiple of 16 pixels
+     * - a vertical stride equal to the height
+     *
+     *   y_size = stride * height
+     *   c_stride = ALIGN(stride/2, 16)
+     *   c_size = c_stride * height/2
+     *   size = y_size + c_size * 2
+     *   cr_offset = y_size
+     *   cb_offset = y_size + c_size
+     *
+     * When used with ANativeWindow, the dataSpace field describes the color
+     * space of the buffer.
+     */
+    HAL_PIXEL_FORMAT_YV12   = 0x32315659, // YCrCb 4:2:0 Planar
+
+
+    /*
+     * Android Y8 format:
+     *
+     * This format is exposed outside of the HAL to the framework.
+     * The expected gralloc usage flags are SW_* and HW_CAMERA_*,
+     * and no other HW_ flags will be used.
+     *
+     * Y8 is a YUV planar format comprised of a WxH Y plane,
+     * with each pixel being represented by 8 bits.
+     *
+     * It is equivalent to just the Y plane from YV12.
+     *
+     * This format assumes
+     * - an even width
+     * - an even height
+     * - a horizontal stride multiple of 16 pixels
+     * - a vertical stride equal to the height
+     *
+     *   size = stride * height
+     *
+     * When used with ANativeWindow, the dataSpace field describes the color
+     * space of the buffer.
+     */
+    HAL_PIXEL_FORMAT_Y8     = 0x20203859,
+
+    /*
+     * Android Y16 format:
+     *
+     * This format is exposed outside of the HAL to the framework.
+     * The expected gralloc usage flags are SW_* and HW_CAMERA_*,
+     * and no other HW_ flags will be used.
+     *
+     * Y16 is a YUV planar format comprised of a WxH Y plane,
+     * with each pixel being represented by 16 bits.
+     *
+     * It is just like Y8, but has double the bits per pixel (little endian).
+     *
+     * This format assumes
+     * - an even width
+     * - an even height
+     * - a horizontal stride multiple of 16 pixels
+     * - a vertical stride equal to the height
+     * - strides are specified in pixels, not in bytes
+     *
+     *   size = stride * height * 2
+     *
+     * When used with ANativeWindow, the dataSpace field describes the color
+     * space of the buffer, except that dataSpace field
+     * HAL_DATASPACE_DEPTH indicates that this buffer contains a depth
+     * image where each sample is a distance value measured by a depth camera,
+     * plus an associated confidence value.
+     */
+    HAL_PIXEL_FORMAT_Y16    = 0x20363159,
+
+    /*
+     * Android RAW sensor format:
+     *
+     * This format is exposed outside of the camera HAL to applications.
+     *
+     * RAW16 is a single-channel, 16-bit, little endian format, typically
+     * representing raw Bayer-pattern images from an image sensor, with minimal
+     * processing.
+     *
+     * The exact pixel layout of the data in the buffer is sensor-dependent, and
+     * needs to be queried from the camera device.
+     *
+     * Generally, not all 16 bits are used; more common values are 10 or 12
+     * bits. If not all bits are used, the lower-order bits are filled first.
+     * All parameters to interpret the raw data (black and white points,
+     * color space, etc) must be queried from the camera device.
+     *
+     * This format assumes
+     * - an even width
+     * - an even height
+     * - a horizontal stride multiple of 16 pixels
+     * - a vertical stride equal to the height
+     * - strides are specified in pixels, not in bytes
+     *
+     *   size = stride * height * 2
+     *
+     * This format must be accepted by the gralloc module when used with the
+     * following usage flags:
+     *    - GRALLOC_USAGE_HW_CAMERA_*
+     *    - GRALLOC_USAGE_SW_*
+     *    - GRALLOC_USAGE_RENDERSCRIPT
+     *
+     * When used with ANativeWindow, the dataSpace should be
+     * HAL_DATASPACE_ARBITRARY, as raw image sensor buffers require substantial
+     * extra metadata to define.
+     */
+    HAL_PIXEL_FORMAT_RAW16 = 0x20,
+
+    /*
+     * Android RAW10 format:
+     *
+     * This format is exposed outside of the camera HAL to applications.
+     *
+     * RAW10 is a single-channel, 10-bit per pixel, densely packed in each row,
+     * unprocessed format, usually representing raw Bayer-pattern images coming from
+     * an image sensor.
+     *
+     * In an image buffer with this format, starting from the first pixel of each
+     * row, each 4 consecutive pixels are packed into 5 bytes (40 bits). Each one
+     * of the first 4 bytes contains the top 8 bits of each pixel, The fifth byte
+     * contains the 2 least significant bits of the 4 pixels, the exact layout data
+     * for each 4 consecutive pixels is illustrated below (Pi[j] stands for the jth
+     * bit of the ith pixel):
+     *
+     *          bit 7                                     bit 0
+     *          =====|=====|=====|=====|=====|=====|=====|=====|
+     * Byte 0: |P0[9]|P0[8]|P0[7]|P0[6]|P0[5]|P0[4]|P0[3]|P0[2]|
+     *         |-----|-----|-----|-----|-----|-----|-----|-----|
+     * Byte 1: |P1[9]|P1[8]|P1[7]|P1[6]|P1[5]|P1[4]|P1[3]|P1[2]|
+     *         |-----|-----|-----|-----|-----|-----|-----|-----|
+     * Byte 2: |P2[9]|P2[8]|P2[7]|P2[6]|P2[5]|P2[4]|P2[3]|P2[2]|
+     *         |-----|-----|-----|-----|-----|-----|-----|-----|
+     * Byte 3: |P3[9]|P3[8]|P3[7]|P3[6]|P3[5]|P3[4]|P3[3]|P3[2]|
+     *         |-----|-----|-----|-----|-----|-----|-----|-----|
+     * Byte 4: |P3[1]|P3[0]|P2[1]|P2[0]|P1[1]|P1[0]|P0[1]|P0[0]|
+     *          ===============================================
+     *
+     * This format assumes
+     * - a width multiple of 4 pixels
+     * - an even height
+     * - a vertical stride equal to the height
+     * - strides are specified in bytes, not in pixels
+     *
+     *   size = stride * height
+     *
+     * When stride is equal to width * (10 / 8), there will be no padding bytes at
+     * the end of each row, the entire image data is densely packed. When stride is
+     * larger than width * (10 / 8), padding bytes will be present at the end of each
+     * row (including the last row).
+     *
+     * This format must be accepted by the gralloc module when used with the
+     * following usage flags:
+     *    - GRALLOC_USAGE_HW_CAMERA_*
+     *    - GRALLOC_USAGE_SW_*
+     *    - GRALLOC_USAGE_RENDERSCRIPT
+     *
+     * When used with ANativeWindow, the dataSpace field should be
+     * HAL_DATASPACE_ARBITRARY, as raw image sensor buffers require substantial
+     * extra metadata to define.
+     */
+    HAL_PIXEL_FORMAT_RAW10 = 0x25,
+
+    /*
+     * Android RAW12 format:
+     *
+     * This format is exposed outside of camera HAL to applications.
+     *
+     * RAW12 is a single-channel, 12-bit per pixel, densely packed in each row,
+     * unprocessed format, usually representing raw Bayer-pattern images coming from
+     * an image sensor.
+     *
+     * In an image buffer with this format, starting from the first pixel of each
+     * row, each two consecutive pixels are packed into 3 bytes (24 bits). The first
+     * and second byte contains the top 8 bits of first and second pixel. The third
+     * byte contains the 4 least significant bits of the two pixels, the exact layout
+     * data for each two consecutive pixels is illustrated below (Pi[j] stands for
+     * the jth bit of the ith pixel):
+     *
+     *           bit 7                                            bit 0
+     *          ======|======|======|======|======|======|======|======|
+     * Byte 0: |P0[11]|P0[10]|P0[ 9]|P0[ 8]|P0[ 7]|P0[ 6]|P0[ 5]|P0[ 4]|
+     *         |------|------|------|------|------|------|------|------|
+     * Byte 1: |P1[11]|P1[10]|P1[ 9]|P1[ 8]|P1[ 7]|P1[ 6]|P1[ 5]|P1[ 4]|
+     *         |------|------|------|------|------|------|------|------|
+     * Byte 2: |P1[ 3]|P1[ 2]|P1[ 1]|P1[ 0]|P0[ 3]|P0[ 2]|P0[ 1]|P0[ 0]|
+     *          =======================================================
+     *
+     * This format assumes:
+     * - a width multiple of 4 pixels
+     * - an even height
+     * - a vertical stride equal to the height
+     * - strides are specified in bytes, not in pixels
+     *
+     *   size = stride * height
+     *
+     * When stride is equal to width * (12 / 8), there will be no padding bytes at
+     * the end of each row, the entire image data is densely packed. When stride is
+     * larger than width * (12 / 8), padding bytes will be present at the end of
+     * each row (including the last row).
+     *
+     * This format must be accepted by the gralloc module when used with the
+     * following usage flags:
+     *    - GRALLOC_USAGE_HW_CAMERA_*
+     *    - GRALLOC_USAGE_SW_*
+     *    - GRALLOC_USAGE_RENDERSCRIPT
+     *
+     * When used with ANativeWindow, the dataSpace field should be
+     * HAL_DATASPACE_ARBITRARY, as raw image sensor buffers require substantial
+     * extra metadata to define.
+     */
+    HAL_PIXEL_FORMAT_RAW12 = 0x26,
+
+    /*
+     * Android opaque RAW format:
+     *
+     * This format is exposed outside of the camera HAL to applications.
+     *
+     * RAW_OPAQUE is a format for unprocessed raw image buffers coming from an
+     * image sensor. The actual structure of buffers of this format is
+     * implementation-dependent.
+     *
+     * This format must be accepted by the gralloc module when used with the
+     * following usage flags:
+     *    - GRALLOC_USAGE_HW_CAMERA_*
+     *    - GRALLOC_USAGE_SW_*
+     *    - GRALLOC_USAGE_RENDERSCRIPT
+     *
+     * When used with ANativeWindow, the dataSpace field should be
+     * HAL_DATASPACE_ARBITRARY, as raw image sensor buffers require substantial
+     * extra metadata to define.
+     */
+    HAL_PIXEL_FORMAT_RAW_OPAQUE = 0x24,
+
+    /*
+     * Android binary blob graphics buffer format:
+     *
+     * This format is used to carry task-specific data which does not have a
+     * standard image structure. The details of the format are left to the two
+     * endpoints.
+     *
+     * A typical use case is for transporting JPEG-compressed images from the
+     * Camera HAL to the framework or to applications.
+     *
+     * Buffers of this format must have a height of 1, and width equal to their
+     * size in bytes.
+     *
+     * When used with ANativeWindow, the mapping of the dataSpace field to
+     * buffer contents for BLOB is as follows:
+     *
+     *  dataSpace value               | Buffer contents
+     * -------------------------------+-----------------------------------------
+     *  HAL_DATASPACE_JFIF            | An encoded JPEG image
+     *  HAL_DATASPACE_DEPTH           | An android_depth_points buffer
+     *  Other                         | Unsupported
+     *
+     */
+    HAL_PIXEL_FORMAT_BLOB = 0x21,
+
+    /*
+     * Android format indicating that the choice of format is entirely up to the
+     * device-specific Gralloc implementation.
+     *
+     * The Gralloc implementation should examine the usage bits passed in when
+     * allocating a buffer with this format, and it should derive the pixel
+     * format from those usage flags.  This format will never be used with any
+     * of the GRALLOC_USAGE_SW_* usage flags.
+     *
+     * If a buffer of this format is to be used as an OpenGL ES texture, the
+     * framework will assume that sampling the texture will always return an
+     * alpha value of 1.0 (i.e. the buffer contains only opaque pixel values).
+     *
+     * When used with ANativeWindow, the dataSpace field describes the color
+     * space of the buffer.
+     */
+    HAL_PIXEL_FORMAT_IMPLEMENTATION_DEFINED = 0x22,
+
+    /*
+     * Android flexible YCbCr 4:2:0 formats
+     *
+     * This format allows platforms to use an efficient YCbCr/YCrCb 4:2:0
+     * buffer layout, while still describing the general format in a
+     * layout-independent manner.  While called YCbCr, it can be
+     * used to describe formats with either chromatic ordering, as well as
+     * whole planar or semiplanar layouts.
+     *
+     * struct android_ycbcr (below) is the the struct used to describe it.
+     *
+     * This format must be accepted by the gralloc module when
+     * USAGE_SW_WRITE_* or USAGE_SW_READ_* are set.
+     *
+     * This format is locked for use by gralloc's (*lock_ycbcr) method, and
+     * locking with the (*lock) method will return an error.
+     *
+     * When used with ANativeWindow, the dataSpace field describes the color
+     * space of the buffer.
+     */
+    HAL_PIXEL_FORMAT_YCbCr_420_888 = 0x23,
+
+    /*
+     * Android flexible YCbCr 4:2:2 formats
+     *
+     * This format allows platforms to use an efficient YCbCr/YCrCb 4:2:2
+     * buffer layout, while still describing the general format in a
+     * layout-independent manner.  While called YCbCr, it can be
+     * used to describe formats with either chromatic ordering, as well as
+     * whole planar or semiplanar layouts.
+     *
+     * This format is currently only used by SW readable buffers
+     * produced by MediaCodecs, so the gralloc module can ignore this format.
+     */
+    HAL_PIXEL_FORMAT_YCbCr_422_888 = 0x27,
+
+    /*
+     * Android flexible YCbCr 4:4:4 formats
+     *
+     * This format allows platforms to use an efficient YCbCr/YCrCb 4:4:4
+     * buffer layout, while still describing the general format in a
+     * layout-independent manner.  While called YCbCr, it can be
+     * used to describe formats with either chromatic ordering, as well as
+     * whole planar or semiplanar layouts.
+     *
+     * This format is currently only used by SW readable buffers
+     * produced by MediaCodecs, so the gralloc module can ignore this format.
+     */
+    HAL_PIXEL_FORMAT_YCbCr_444_888 = 0x28,
+
+    /*
+     * Android flexible RGB 888 formats
+     *
+     * This format allows platforms to use an efficient RGB/BGR/RGBX/BGRX
+     * buffer layout, while still describing the general format in a
+     * layout-independent manner.  While called RGB, it can be
+     * used to describe formats with either color ordering and optional
+     * padding, as well as whole planar layout.
+     *
+     * This format is currently only used by SW readable buffers
+     * produced by MediaCodecs, so the gralloc module can ignore this format.
+     */
+    HAL_PIXEL_FORMAT_FLEX_RGB_888 = 0x29,
+
+    /*
+     * Android flexible RGBA 8888 formats
+     *
+     * This format allows platforms to use an efficient RGBA/BGRA/ARGB/ABGR
+     * buffer layout, while still describing the general format in a
+     * layout-independent manner.  While called RGBA, it can be
+     * used to describe formats with any of the component orderings, as
+     * well as whole planar layout.
+     *
+     * This format is currently only used by SW readable buffers
+     * produced by MediaCodecs, so the gralloc module can ignore this format.
+     */
+    HAL_PIXEL_FORMAT_FLEX_RGBA_8888 = 0x2A,
+
+    /* Legacy formats (deprecated), used by ImageFormat.java */
+    HAL_PIXEL_FORMAT_YCbCr_422_SP       = 0x10, // NV16
+    HAL_PIXEL_FORMAT_YCrCb_420_SP       = 0x11, // NV21
+    HAL_PIXEL_FORMAT_YCbCr_422_I        = 0x14, // YUY2
+};
+
+/*
+ * Structure for describing YCbCr formats for consumption by applications.
+ * This is used with HAL_PIXEL_FORMAT_YCbCr_*_888.
+ *
+ * Buffer chroma subsampling is defined in the format.
+ * e.g. HAL_PIXEL_FORMAT_YCbCr_420_888 has subsampling 4:2:0.
+ *
+ * Buffers must have a 8 bit depth.
+ *
+ * @y, @cb, and @cr point to the first byte of their respective planes.
+ *
+ * Stride describes the distance in bytes from the first value of one row of
+ * the image to the first value of the next row.  It includes the width of the
+ * image plus padding.
+ * @ystride is the stride of the luma plane.
+ * @cstride is the stride of the chroma planes.
+ *
+ * @chroma_step is the distance in bytes from one chroma pixel value to the
+ * next.  This is 2 bytes for semiplanar (because chroma values are interleaved
+ * and each chroma value is one byte) and 1 for planar.
+ */
+
+struct android_ycbcr {
+    void *y;
+    void *cb;
+    void *cr;
+    size_t ystride;
+    size_t cstride;
+    size_t chroma_step;
+
+    /** reserved for future use, set to 0 by gralloc's (*lock_ycbcr)() */
+    uint32_t reserved[8];
+};
+
+/**
+ * Structure used to define depth point clouds for format HAL_PIXEL_FORMAT_BLOB
+ * with dataSpace value of HAL_DATASPACE_DEPTH.
+ * When locking a native buffer of the above format and dataSpace value,
+ * the vaddr pointer can be cast to this structure.
+ *
+ * A variable-length list of (x,y,z, confidence) 3D points, as floats.  (x, y,
+ * z) represents a measured point's position, with the coordinate system defined
+ * by the data source.  Confidence represents the estimated likelihood that this
+ * measurement is correct. It is between 0.f and 1.f, inclusive, with 1.f ==
+ * 100% confidence.
+ *
+ * @num_points is the number of points in the list
+ *
+ * @xyz_points is the flexible array of floating-point values.
+ *   It contains (num_points) * 4 floats.
+ *
+ *   For example:
+ *     android_depth_points d = get_depth_buffer();
+ *     struct {
+ *       float x; float y; float z; float confidence;
+ *     } firstPoint, lastPoint;
+ *
+ *     firstPoint.x = d.xyzc_points[0];
+ *     firstPoint.y = d.xyzc_points[1];
+ *     firstPoint.z = d.xyzc_points[2];
+ *     firstPoint.confidence = d.xyzc_points[3];
+ *     lastPoint.x = d.xyzc_points[(d.num_points - 1) * 4 + 0];
+ *     lastPoint.y = d.xyzc_points[(d.num_points - 1) * 4 + 1];
+ *     lastPoint.z = d.xyzc_points[(d.num_points - 1) * 4 + 2];
+ *     lastPoint.confidence = d.xyzc_points[(d.num_points - 1) * 4 + 3];
+ */
+
+struct android_depth_points {
+    uint32_t num_points;
+
+    /** reserved for future use, set to 0 by gralloc's (*lock)() */
+    uint32_t reserved[8];
+
+    float xyzc_points[];
+};
+
+/**
+ * Transformation definitions
+ *
+ * IMPORTANT NOTE:
+ * HAL_TRANSFORM_ROT_90 is applied CLOCKWISE and AFTER HAL_TRANSFORM_FLIP_{H|V}.
+ *
+ */
+
+enum {
+    /* flip source image horizontally (around the vertical axis) */
+    HAL_TRANSFORM_FLIP_H    = 0x01,
+    /* flip source image vertically (around the horizontal axis)*/
+    HAL_TRANSFORM_FLIP_V    = 0x02,
+    /* rotate source image 90 degrees clockwise */
+    HAL_TRANSFORM_ROT_90    = 0x04,
+    /* rotate source image 180 degrees */
+    HAL_TRANSFORM_ROT_180   = 0x03,
+    /* rotate source image 270 degrees clockwise */
+    HAL_TRANSFORM_ROT_270   = 0x07,
+    /* don't use. see system/window.h */
+    HAL_TRANSFORM_RESERVED  = 0x08,
+};
+
+/**
+ * Dataspace Definitions
+ * ======================
+ *
+ * Dataspace is the definition of how pixel values should be interpreted.
+ *
+ * For many formats, this is the colorspace of the image data, which includes
+ * primaries (including white point) and the transfer characteristic function,
+ * which describes both gamma curve and numeric range (within the bit depth).
+ *
+ * Other dataspaces include depth measurement data from a depth camera.
+ */
+
+typedef enum android_dataspace {
+    /*
+     * Default-assumption data space, when not explicitly specified.
+     *
+     * It is safest to assume the buffer is an image with sRGB primaries and
+     * encoding ranges, but the consumer and/or the producer of the data may
+     * simply be using defaults. No automatic gamma transform should be
+     * expected, except for a possible display gamma transform when drawn to a
+     * screen.
+     */
+    HAL_DATASPACE_UNKNOWN = 0x0,
+
+    /*
+     * Arbitrary dataspace with manually defined characteristics.  Definition
+     * for colorspaces or other meaning must be communicated separately.
+     *
+     * This is used when specifying primaries, transfer characteristics,
+     * etc. separately.
+     *
+     * A typical use case is in video encoding parameters (e.g. for H.264),
+     * where a colorspace can have separately defined primaries, transfer
+     * characteristics, etc.
+     */
+    HAL_DATASPACE_ARBITRARY = 0x1,
+
+    /*
+     * RGB Colorspaces
+     * -----------------
+     *
+     * Primaries are given using (x,y) coordinates in the CIE 1931 definition
+     * of x and y specified by ISO 11664-1.
+     *
+     * Transfer characteristics are the opto-electronic transfer characteristic
+     * at the source as a function of linear optical intensity (luminance).
+     */
+
+    /*
+     * sRGB linear encoding:
+     *
+     * The red, green, and blue components are stored in sRGB space, but
+     * are linear, not gamma-encoded.
+     * The RGB primaries and the white point are the same as BT.709.
+     *
+     * The values are encoded using the full range ([0,255] for 8-bit) for all
+     * components.
+     */
+    HAL_DATASPACE_SRGB_LINEAR = 0x200,
+
+    /*
+     * sRGB gamma encoding:
+     *
+     * The red, green and blue components are stored in sRGB space, and
+     * converted to linear space when read, using the standard sRGB to linear
+     * equation:
+     *
+     * Clinear = Csrgb / 12.92                  for Csrgb <= 0.04045
+     *         = (Csrgb + 0.055 / 1.055)^2.4    for Csrgb >  0.04045
+     *
+     * When written the inverse transformation is performed:
+     *
+     * Csrgb = 12.92 * Clinear                  for Clinear <= 0.0031308
+     *       = 1.055 * Clinear^(1/2.4) - 0.055  for Clinear >  0.0031308
+     *
+     *
+     * The alpha component, if present, is always stored in linear space and
+     * is left unmodified when read or written.
+     *
+     * The RGB primaries and the white point are the same as BT.709.
+     *
+     * The values are encoded using the full range ([0,255] for 8-bit) for all
+     * components.
+     *
+     */
+    HAL_DATASPACE_SRGB = 0x201,
+
+    /*
+     * YCbCr Colorspaces
+     * -----------------
+     *
+     * Primaries are given using (x,y) coordinates in the CIE 1931 definition
+     * of x and y specified by ISO 11664-1.
+     *
+     * Transfer characteristics are the opto-electronic transfer characteristic
+     * at the source as a function of linear optical intensity (luminance).
+     */
+
+    /*
+     * JPEG File Interchange Format (JFIF)
+     *
+     * Same model as BT.601-625, but all values (Y, Cb, Cr) range from 0 to 255
+     *
+     * Transfer characteristic curve:
+     *  E = 1.099 * L ^ 0.45 - 0.099, 1.00 >= L >= 0.018
+     *  E = 4.500 L, 0.018 > L >= 0
+     *      L - luminance of image 0 <= L <= 1 for conventional colorimetry
+     *      E - corresponding electrical signal
+     *
+     * Primaries:       x       y
+     *  green           0.290   0.600
+     *  blue            0.150   0.060
+     *  red             0.640   0.330
+     *  white (D65)     0.3127  0.3290
+     */
+    HAL_DATASPACE_JFIF = 0x101,
+
+    /*
+     * ITU-R Recommendation 601 (BT.601) - 625-line
+     *
+     * Standard-definition television, 625 Lines (PAL)
+     *
+     * For 8-bit-depth formats:
+     * Luma (Y) samples should range from 16 to 235, inclusive
+     * Chroma (Cb, Cr) samples should range from 16 to 240, inclusive
+     *
+     * For 10-bit-depth formats:
+     * Luma (Y) samples should range from 64 to 940, inclusive
+     * Chroma (Cb, Cr) samples should range from 64 to 960, inclusive
+     *
+     * Transfer characteristic curve:
+     *  E = 1.099 * L ^ 0.45 - 0.099, 1.00 >= L >= 0.018
+     *  E = 4.500 L, 0.018 > L >= 0
+     *      L - luminance of image 0 <= L <= 1 for conventional colorimetry
+     *      E - corresponding electrical signal
+     *
+     * Primaries:       x       y
+     *  green           0.290   0.600
+     *  blue            0.150   0.060
+     *  red             0.640   0.330
+     *  white (D65)     0.3127  0.3290
+     */
+    HAL_DATASPACE_BT601_625 = 0x102,
+
+    /*
+     * ITU-R Recommendation 601 (BT.601) - 525-line
+     *
+     * Standard-definition television, 525 Lines (NTSC)
+     *
+     * For 8-bit-depth formats:
+     * Luma (Y) samples should range from 16 to 235, inclusive
+     * Chroma (Cb, Cr) samples should range from 16 to 240, inclusive
+     *
+     * For 10-bit-depth formats:
+     * Luma (Y) samples should range from 64 to 940, inclusive
+     * Chroma (Cb, Cr) samples should range from 64 to 960, inclusive
+     *
+     * Transfer characteristic curve:
+     *  E = 1.099 * L ^ 0.45 - 0.099, 1.00 >= L >= 0.018
+     *  E = 4.500 L, 0.018 > L >= 0
+     *      L - luminance of image 0 <= L <= 1 for conventional colorimetry
+     *      E - corresponding electrical signal
+     *
+     * Primaries:       x       y
+     *  green           0.310   0.595
+     *  blue            0.155   0.070
+     *  red             0.630   0.340
+     *  white (D65)     0.3127  0.3290
+     */
+    HAL_DATASPACE_BT601_525 = 0x103,
+
+    /*
+     * ITU-R Recommendation 709 (BT.709)
+     *
+     * High-definition television
+     *
+     * For 8-bit-depth formats:
+     * Luma (Y) samples should range from 16 to 235, inclusive
+     * Chroma (Cb, Cr) samples should range from 16 to 240, inclusive
+     *
+     * For 10-bit-depth formats:
+     * Luma (Y) samples should range from 64 to 940, inclusive
+     * Chroma (Cb, Cr) samples should range from 64 to 960, inclusive
+     *
+     * Primaries:       x       y
+     *  green           0.300   0.600
+     *  blue            0.150   0.060
+     *  red             0.640   0.330
+     *  white (D65)     0.3127  0.3290
+     */
+    HAL_DATASPACE_BT709 = 0x104,
+
+    /*
+     * The buffer contains depth ranging measurements from a depth camera.
+     * This value is valid with formats:
+     *    HAL_PIXEL_FORMAT_Y16: 16-bit samples, consisting of a depth measurement
+     *       and an associated confidence value. The 3 MSBs of the sample make
+     *       up the confidence value, and the low 13 LSBs of the sample make up
+     *       the depth measurement.
+     *       For the confidence section, 0 means 100% confidence, 1 means 0%
+     *       confidence. The mapping to a linear float confidence value between
+     *       0.f and 1.f can be obtained with
+     *         float confidence = (((depthSample >> 13) - 1) & 0x7) / 7.0f;
+     *       The depth measurement can be extracted simply with
+     *         uint16_t range = (depthSample & 0x1FFF);
+     *    HAL_PIXEL_FORMAT_BLOB: A depth point cloud, as
+     *       a variable-length float (x,y,z, confidence) coordinate point list.
+     *       The point cloud will be represented with the android_depth_points
+     *       structure.
+     */
+    HAL_DATASPACE_DEPTH = 0x1000
+
+} android_dataspace_t;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* SYSTEM_CORE_INCLUDE_ANDROID_GRAPHICS_H */
diff --git a/third_party/android_system_core/include/system/radio.h b/third_party/android_system_core/include/system/radio.h
new file mode 100644
index 0000000000..a088526046
--- /dev/null
+++ b/third_party/android_system_core/include/system/radio.h
@@ -0,0 +1,247 @@
+/*
+ * Copyright (C) 2015 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_RADIO_H
+#define ANDROID_RADIO_H
+
+#include <stdbool.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <sys/cdefs.h>
+#include <sys/types.h>
+
+
+#define RADIO_NUM_BANDS_MAX     16
+#define RADIO_NUM_SPACINGS_MAX  16
+#define RADIO_STRING_LEN_MAX    128
+
+/*
+ * Radio hardware module class. A given radio hardware module HAL is of one class
+ * only. The platform can not have more than one hardware module of each class.
+ * Current version of the framework only supports RADIO_CLASS_AM_FM.
+ */
+typedef enum {
+    RADIO_CLASS_AM_FM = 0,  /* FM (including HD radio) and AM */
+    RADIO_CLASS_SAT   = 1,  /* Satellite Radio */
+    RADIO_CLASS_DT    = 2,  /* Digital Radio (DAB) */
+} radio_class_t;
+
+/* value for field "type" of radio band described in struct radio_hal_band_config */
+typedef enum {
+    RADIO_BAND_AM     = 0,  /* Amplitude Modulation band: LW, MW, SW */
+    RADIO_BAND_FM     = 1,  /* Frequency Modulation band: FM */
+    RADIO_BAND_FM_HD  = 2,  /* FM HD Radio / DRM (IBOC) */
+    RADIO_BAND_AM_HD  = 3,  /* AM HD Radio / DRM (IBOC) */
+} radio_band_t;
+
+/* RDS variant implemented. A struct radio_hal_fm_band_config can list none or several. */
+enum {
+    RADIO_RDS_NONE   = 0x0,
+    RADIO_RDS_WORLD  = 0x01,
+    RADIO_RDS_US     = 0x02,
+};
+typedef unsigned int radio_rds_t;
+
+/* FM deemphasis variant implemented. A struct radio_hal_fm_band_config can list one or more. */
+enum {
+    RADIO_DEEMPHASIS_50   = 0x1,
+    RADIO_DEEMPHASIS_75   = 0x2,
+};
+typedef unsigned int radio_deemphasis_t;
+
+/* Region a particular radio band configuration corresponds to. Not used at the HAL.
+ * Derived by the framework when converting the band descriptors retrieved from the HAL to
+ * individual band descriptors for each supported region. */
+typedef enum {
+    RADIO_REGION_NONE  = -1,
+    RADIO_REGION_ITU_1 = 0,
+    RADIO_REGION_ITU_2 = 1,
+    RADIO_REGION_OIRT  = 2,
+    RADIO_REGION_JAPAN = 3,
+    RADIO_REGION_KOREA = 4,
+} radio_region_t;
+
+/* scanning direction for scan() and step() tuner APIs */
+typedef enum {
+    RADIO_DIRECTION_UP,
+    RADIO_DIRECTION_DOWN
+} radio_direction_t;
+
+/* unique handle allocated to a radio module */
+typedef unsigned int radio_handle_t;
+
+/* Opaque meta data structure used by radio meta data API (see system/radio_metadata.h) */
+typedef struct radio_medtadata radio_metadata_t;
+
+
+/* Additional attributes for an FM band configuration */
+typedef struct radio_hal_fm_band_config {
+    radio_deemphasis_t  deemphasis; /* deemphasis variant */
+    bool                stereo;     /* stereo supported */
+    radio_rds_t         rds;        /* RDS variants supported */
+    bool                ta;         /* Traffic Announcement supported */
+    bool                af;         /* Alternate Frequency supported */
+} radio_hal_fm_band_config_t;
+
+/* Additional attributes for an AM band configuration */
+typedef struct radio_hal_am_band_config {
+    bool                stereo;     /* stereo supported */
+} radio_hal_am_band_config_t;
+
+/* Radio band configuration. Describes a given band supported by the radio module.
+ * The HAL can expose only one band per type with the the maximum range supported and all options.
+ * THe framework will derive the actual regions were this module can operate and expose separate
+ * band configurations for applications to chose from. */
+typedef struct radio_hal_band_config {
+    radio_band_t type;
+    bool         antenna_connected;
+    unsigned int lower_limit;
+    unsigned int upper_limit;
+    unsigned int num_spacings;
+    unsigned int spacings[RADIO_NUM_SPACINGS_MAX];
+    union {
+        radio_hal_fm_band_config_t fm;
+        radio_hal_am_band_config_t am;
+    };
+} radio_hal_band_config_t;
+
+/* Used internally by the framework to represent a band for s specific region */
+typedef struct radio_band_config {
+    radio_region_t  region;
+    radio_hal_band_config_t band;
+} radio_band_config_t;
+
+
+/* Exposes properties of a given hardware radio module.
+ * NOTE: current framework implementation supports only one audio source (num_audio_sources = 1).
+ * The source corresponds to AUDIO_DEVICE_IN_FM_TUNER.
+ * If more than one tuner is supported (num_tuners > 1), only one can be connected to the audio
+ * source. */
+typedef struct radio_hal_properties {
+    radio_class_t   class_id;   /* Class of this module. E.g RADIO_CLASS_AM_FM */
+    char            implementor[RADIO_STRING_LEN_MAX];  /* implementor name */
+    char            product[RADIO_STRING_LEN_MAX];  /* product name */
+    char            version[RADIO_STRING_LEN_MAX];  /* product version */
+    char            serial[RADIO_STRING_LEN_MAX];  /* serial number (for subscription services) */
+    unsigned int    num_tuners;     /* number of tuners controllable independently */
+    unsigned int    num_audio_sources; /* number of audio sources driven simultaneously */
+    bool            supports_capture; /* the hardware supports capture of audio source audio HAL */
+    unsigned int    num_bands;      /* number of band descriptors */
+    radio_hal_band_config_t bands[RADIO_NUM_BANDS_MAX]; /* band descriptors */
+} radio_hal_properties_t;
+
+/* Used internally by the framework. Same information as in struct radio_hal_properties plus a
+ * unique handle and one band configuration per region. */
+typedef struct radio_properties {
+    radio_handle_t      handle;
+    radio_class_t       class_id;
+    char                implementor[RADIO_STRING_LEN_MAX];
+    char                product[RADIO_STRING_LEN_MAX];
+    char                version[RADIO_STRING_LEN_MAX];
+    char                serial[RADIO_STRING_LEN_MAX];
+    unsigned int        num_tuners;
+    unsigned int        num_audio_sources;
+    bool                supports_capture;
+    unsigned int        num_bands;
+    radio_band_config_t bands[RADIO_NUM_BANDS_MAX];
+} radio_properties_t;
+
+/* Radio program information. Returned by the HAL with event RADIO_EVENT_TUNED.
+ * Contains information on currently tuned channel.
+ */
+typedef struct radio_program_info {
+    unsigned int     channel;   /* current channel. (e.g kHz for band type RADIO_BAND_FM) */
+    unsigned int     sub_channel; /* current sub channel. (used for RADIO_BAND_FM_HD) */
+    bool             tuned;     /* tuned to a program or not */
+    bool             stereo;    /* program is stereo or not */
+    bool             digital;   /* digital program or not (e.g HD Radio program) */
+    unsigned int     signal_strength; /* signal strength from 0 to 100 */
+    radio_metadata_t *metadata; /* non null if meta data are present (e.g PTY, song title ...) */
+} radio_program_info_t;
+
+
+/* Events sent to the framework via the HAL callback. An event can notify the completion of an
+ * asynchronous command (configuration, tune, scan ...) or a spontaneous change (antenna connection,
+ * failure, AF switching, meta data reception... */
+enum {
+    RADIO_EVENT_HW_FAILURE  = 0,  /* hardware module failure. Requires reopening the tuner */
+    RADIO_EVENT_CONFIG      = 1,  /* configuration change completed */
+    RADIO_EVENT_ANTENNA     = 2,  /* Antenna connected, disconnected */
+    RADIO_EVENT_TUNED       = 3,  /* tune, step, scan completed */
+    RADIO_EVENT_METADATA    = 4,  /* New meta data received */
+    RADIO_EVENT_TA          = 5,  /* Traffic announcement start or stop */
+    RADIO_EVENT_AF_SWITCH   = 6,  /* Switch to Alternate Frequency */
+    // begin framework only events
+    RADIO_EVENT_CONTROL     = 100, /* loss/gain of tuner control */
+    RADIO_EVENT_SERVER_DIED = 101, /* radio service died */
+};
+typedef unsigned int radio_event_type_t;
+
+/* Event passed to the framework by the HAL callback */
+typedef struct radio_hal_event {
+    radio_event_type_t  type;       /* event type */
+    int                 status;     /* used by RADIO_EVENT_CONFIG, RADIO_EVENT_TUNED */
+    union {
+        bool                    on;     /* RADIO_EVENT_ANTENNA, RADIO_EVENT_TA */
+        radio_hal_band_config_t config; /* RADIO_EVENT_CONFIG */
+        radio_program_info_t    info;   /* RADIO_EVENT_TUNED, RADIO_EVENT_AF_SWITCH */
+        radio_metadata_t        *metadata; /* RADIO_EVENT_METADATA */
+    };
+} radio_hal_event_t;
+
+/* Used internally by the framework. Same information as in struct radio_hal_event */
+typedef struct radio_event {
+    radio_event_type_t  type;
+    int                 status;
+    union {
+        bool                    on;
+        radio_band_config_t     config;
+        radio_program_info_t    info;
+        radio_metadata_t        *metadata; /* offset from start of struct when in shared memory */
+    };
+} radio_event_t;
+
+
+static radio_rds_t radio_rds_for_region(bool rds, radio_region_t region) {
+    if (!rds)
+        return RADIO_RDS_NONE;
+    switch(region) {
+        case RADIO_REGION_ITU_1:
+        case RADIO_REGION_OIRT:
+        case RADIO_REGION_JAPAN:
+        case RADIO_REGION_KOREA:
+            return RADIO_RDS_WORLD;
+        case RADIO_REGION_ITU_2:
+            return RADIO_RDS_US;
+        default:
+            return RADIO_REGION_NONE;
+    }
+}
+
+static radio_deemphasis_t radio_demephasis_for_region(radio_region_t region) {
+    switch(region) {
+        case RADIO_REGION_KOREA:
+        case RADIO_REGION_ITU_2:
+            return RADIO_DEEMPHASIS_75;
+        case RADIO_REGION_ITU_1:
+        case RADIO_REGION_OIRT:
+        case RADIO_REGION_JAPAN:
+        default:
+            return RADIO_DEEMPHASIS_50;
+    }
+}
+
+#endif  // ANDROID_RADIO_H
diff --git a/third_party/android_system_core/include/system/thread_defs.h b/third_party/android_system_core/include/system/thread_defs.h
new file mode 100644
index 0000000000..377a48ce92
--- /dev/null
+++ b/third_party/android_system_core/include/system/thread_defs.h
@@ -0,0 +1,77 @@
+/*
+ * Copyright (C) 2013 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_THREAD_DEFS_H
+#define ANDROID_THREAD_DEFS_H
+
+#include "graphics.h"
+
+#if defined(__cplusplus)
+extern "C" {
+#endif
+
+enum {
+    /*
+     * ***********************************************
+     * ** Keep in sync with android.os.Process.java **
+     * ***********************************************
+     *
+     * This maps directly to the "nice" priorities we use in Android.
+     * A thread priority should be chosen inverse-proportionally to
+     * the amount of work the thread is expected to do. The more work
+     * a thread will do, the less favorable priority it should get so that
+     * it doesn't starve the system. Threads not behaving properly might
+     * be "punished" by the kernel.
+     * Use the levels below when appropriate. Intermediate values are
+     * acceptable, preferably use the {MORE|LESS}_FAVORABLE constants below.
+     */
+    ANDROID_PRIORITY_LOWEST         =  19,
+
+    /* use for background tasks */
+    ANDROID_PRIORITY_BACKGROUND     =  10,
+
+    /* most threads run at normal priority */
+    ANDROID_PRIORITY_NORMAL         =   0,
+
+    /* threads currently running a UI that the user is interacting with */
+    ANDROID_PRIORITY_FOREGROUND     =  -2,
+
+    /* the main UI thread has a slightly more favorable priority */
+    ANDROID_PRIORITY_DISPLAY        =  -4,
+
+    /* ui service treads might want to run at a urgent display (uncommon) */
+    ANDROID_PRIORITY_URGENT_DISPLAY =  HAL_PRIORITY_URGENT_DISPLAY,
+
+    /* all normal audio threads */
+    ANDROID_PRIORITY_AUDIO          = -16,
+
+    /* service audio threads (uncommon) */
+    ANDROID_PRIORITY_URGENT_AUDIO   = -19,
+
+    /* should never be used in practice. regular process might not
+     * be allowed to use this level */
+    ANDROID_PRIORITY_HIGHEST        = -20,
+
+    ANDROID_PRIORITY_DEFAULT        = ANDROID_PRIORITY_NORMAL,
+    ANDROID_PRIORITY_MORE_FAVORABLE = -1,
+    ANDROID_PRIORITY_LESS_FAVORABLE = +1,
+};
+
+#if defined(__cplusplus)
+}
+#endif
+
+#endif /* ANDROID_THREAD_DEFS_H */
diff --git a/third_party/android_system_core/include/system/window.h b/third_party/android_system_core/include/system/window.h
new file mode 100644
index 0000000000..508ce00bac
--- /dev/null
+++ b/third_party/android_system_core/include/system/window.h
@@ -0,0 +1,954 @@
+/*
+ * Copyright (C) 2011 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef SYSTEM_CORE_INCLUDE_ANDROID_WINDOW_H
+#define SYSTEM_CORE_INCLUDE_ANDROID_WINDOW_H
+
+#include <cutils/native_handle.h>
+#include <errno.h>
+#include <limits.h>
+#include <stdint.h>
+#include <string.h>
+#include <sys/cdefs.h>
+#include <system/graphics.h>
+#include <unistd.h>
+
+#ifndef __UNUSED
+#define __UNUSED __attribute__((__unused__))
+#endif
+#ifndef __deprecated
+#define __deprecated __attribute__((__deprecated__))
+#endif
+
+__BEGIN_DECLS
+
+/*****************************************************************************/
+
+#define ANDROID_NATIVE_MAKE_CONSTANT(a,b,c,d) \
+    (((unsigned)(a)<<24)|((unsigned)(b)<<16)|((unsigned)(c)<<8)|(unsigned)(d))
+
+#define ANDROID_NATIVE_WINDOW_MAGIC \
+    ANDROID_NATIVE_MAKE_CONSTANT('_','w','n','d')
+
+#define ANDROID_NATIVE_BUFFER_MAGIC \
+    ANDROID_NATIVE_MAKE_CONSTANT('_','b','f','r')
+
+// ---------------------------------------------------------------------------
+
+// This #define may be used to conditionally compile device-specific code to
+// support either the prior ANativeWindow interface, which did not pass libsync
+// fences around, or the new interface that does.  This #define is only present
+// when the ANativeWindow interface does include libsync support.
+#define ANDROID_NATIVE_WINDOW_HAS_SYNC 1
+
+// ---------------------------------------------------------------------------
+
+typedef const native_handle_t* buffer_handle_t;
+
+// ---------------------------------------------------------------------------
+
+typedef struct android_native_rect_t
+{
+    int32_t left;
+    int32_t top;
+    int32_t right;
+    int32_t bottom;
+} android_native_rect_t;
+
+// ---------------------------------------------------------------------------
+
+typedef struct android_native_base_t
+{
+    /* a magic value defined by the actual EGL native type */
+    int magic;
+
+    /* the sizeof() of the actual EGL native type */
+    int version;
+
+    void* reserved[4];
+
+    /* reference-counting interface */
+    void (*incRef)(struct android_native_base_t* base);
+    void (*decRef)(struct android_native_base_t* base);
+} android_native_base_t;
+
+typedef struct ANativeWindowBuffer
+{
+#ifdef __cplusplus
+    ANativeWindowBuffer() {
+        common.magic = ANDROID_NATIVE_BUFFER_MAGIC;
+        common.version = sizeof(ANativeWindowBuffer);
+        memset(common.reserved, 0, sizeof(common.reserved));
+    }
+
+    // Implement the methods that sp<ANativeWindowBuffer> expects so that it
+    // can be used to automatically refcount ANativeWindowBuffer's.
+    void incStrong(const void* /*id*/) const {
+        common.incRef(const_cast<android_native_base_t*>(&common));
+    }
+    void decStrong(const void* /*id*/) const {
+        common.decRef(const_cast<android_native_base_t*>(&common));
+    }
+#endif
+
+    struct android_native_base_t common;
+
+    int width;
+    int height;
+    int stride;
+    int format;
+    int usage;
+
+    void* reserved[2];
+
+    buffer_handle_t handle;
+
+    void* reserved_proc[8];
+} ANativeWindowBuffer_t;
+
+// Old typedef for backwards compatibility.
+typedef ANativeWindowBuffer_t android_native_buffer_t;
+
+// ---------------------------------------------------------------------------
+
+/* attributes queriable with query() */
+enum {
+    NATIVE_WINDOW_WIDTH     = 0,
+    NATIVE_WINDOW_HEIGHT    = 1,
+    NATIVE_WINDOW_FORMAT    = 2,
+
+    /* The minimum number of buffers that must remain un-dequeued after a buffer
+     * has been queued.  This value applies only if set_buffer_count was used to
+     * override the number of buffers and if a buffer has since been queued.
+     * Users of the set_buffer_count ANativeWindow method should query this
+     * value before calling set_buffer_count.  If it is necessary to have N
+     * buffers simultaneously dequeued as part of the steady-state operation,
+     * and this query returns M then N+M buffers should be requested via
+     * native_window_set_buffer_count.
+     *
+     * Note that this value does NOT apply until a single buffer has been
+     * queued.  In particular this means that it is possible to:
+     *
+     * 1. Query M = min undequeued buffers
+     * 2. Set the buffer count to N + M
+     * 3. Dequeue all N + M buffers
+     * 4. Cancel M buffers
+     * 5. Queue, dequeue, queue, dequeue, ad infinitum
+     */
+    NATIVE_WINDOW_MIN_UNDEQUEUED_BUFFERS = 3,
+
+    /* Check whether queueBuffer operations on the ANativeWindow send the buffer
+     * to the window compositor.  The query sets the returned 'value' argument
+     * to 1 if the ANativeWindow DOES send queued buffers directly to the window
+     * compositor and 0 if the buffers do not go directly to the window
+     * compositor.
+     *
+     * This can be used to determine whether protected buffer content should be
+     * sent to the ANativeWindow.  Note, however, that a result of 1 does NOT
+     * indicate that queued buffers will be protected from applications or users
+     * capturing their contents.  If that behavior is desired then some other
+     * mechanism (e.g. the GRALLOC_USAGE_PROTECTED flag) should be used in
+     * conjunction with this query.
+     */
+    NATIVE_WINDOW_QUEUES_TO_WINDOW_COMPOSER = 4,
+
+    /* Get the concrete type of a ANativeWindow.  See below for the list of
+     * possible return values.
+     *
+     * This query should not be used outside the Android framework and will
+     * likely be removed in the near future.
+     */
+    NATIVE_WINDOW_CONCRETE_TYPE = 5,
+
+
+    /*
+     * Default width and height of ANativeWindow buffers, these are the
+     * dimensions of the window buffers irrespective of the
+     * NATIVE_WINDOW_SET_BUFFERS_DIMENSIONS call and match the native window
+     * size unless overridden by NATIVE_WINDOW_SET_BUFFERS_USER_DIMENSIONS.
+     */
+    NATIVE_WINDOW_DEFAULT_WIDTH = 6,
+    NATIVE_WINDOW_DEFAULT_HEIGHT = 7,
+
+    /*
+     * transformation that will most-likely be applied to buffers. This is only
+     * a hint, the actual transformation applied might be different.
+     *
+     * INTENDED USE:
+     *
+     * The transform hint can be used by a producer, for instance the GLES
+     * driver, to pre-rotate the rendering such that the final transformation
+     * in the composer is identity. This can be very useful when used in
+     * conjunction with the h/w composer HAL, in situations where it
+     * cannot handle arbitrary rotations.
+     *
+     * 1. Before dequeuing a buffer, the GL driver (or any other ANW client)
+     *    queries the ANW for NATIVE_WINDOW_TRANSFORM_HINT.
+     *
+     * 2. The GL driver overrides the width and height of the ANW to
+     *    account for NATIVE_WINDOW_TRANSFORM_HINT. This is done by querying
+     *    NATIVE_WINDOW_DEFAULT_{WIDTH | HEIGHT}, swapping the dimensions
+     *    according to NATIVE_WINDOW_TRANSFORM_HINT and calling
+     *    native_window_set_buffers_dimensions().
+     *
+     * 3. The GL driver dequeues a buffer of the new pre-rotated size.
+     *
+     * 4. The GL driver renders to the buffer such that the image is
+     *    already transformed, that is applying NATIVE_WINDOW_TRANSFORM_HINT
+     *    to the rendering.
+     *
+     * 5. The GL driver calls native_window_set_transform to apply
+     *    inverse transformation to the buffer it just rendered.
+     *    In order to do this, the GL driver needs
+     *    to calculate the inverse of NATIVE_WINDOW_TRANSFORM_HINT, this is
+     *    done easily:
+     *
+     *        int hintTransform, inverseTransform;
+     *        query(..., NATIVE_WINDOW_TRANSFORM_HINT, &hintTransform);
+     *        inverseTransform = hintTransform;
+     *        if (hintTransform & HAL_TRANSFORM_ROT_90)
+     *            inverseTransform ^= HAL_TRANSFORM_ROT_180;
+     *
+     *
+     * 6. The GL driver queues the pre-transformed buffer.
+     *
+     * 7. The composer combines the buffer transform with the display
+     *    transform.  If the buffer transform happens to cancel out the
+     *    display transform then no rotation is needed.
+     *
+     */
+    NATIVE_WINDOW_TRANSFORM_HINT = 8,
+
+    /*
+     * Boolean that indicates whether the consumer is running more than
+     * one buffer behind the producer.
+     */
+    NATIVE_WINDOW_CONSUMER_RUNNING_BEHIND = 9,
+
+    /*
+     * The consumer gralloc usage bits currently set by the consumer.
+     * The values are defined in hardware/libhardware/include/gralloc.h.
+     */
+    NATIVE_WINDOW_CONSUMER_USAGE_BITS = 10,
+
+    /**
+     * Transformation that will by applied to buffers by the hwcomposer.
+     * This must not be set or checked by producer endpoints, and will
+     * disable the transform hint set in SurfaceFlinger (see
+     * NATIVE_WINDOW_TRANSFORM_HINT).
+     *
+     * INTENDED USE:
+     * Temporary - Please do not use this.  This is intended only to be used
+     * by the camera's LEGACY mode.
+     *
+     * In situations where a SurfaceFlinger client wishes to set a transform
+     * that is not visible to the producer, and will always be applied in the
+     * hardware composer, the client can set this flag with
+     * native_window_set_buffers_sticky_transform.  This can be used to rotate
+     * and flip buffers consumed by hardware composer without actually changing
+     * the aspect ratio of the buffers produced.
+     */
+    NATIVE_WINDOW_STICKY_TRANSFORM = 11,
+
+    /**
+     * The default data space for the buffers as set by the consumer.
+     * The values are defined in graphics.h.
+     */
+    NATIVE_WINDOW_DEFAULT_DATASPACE = 12,
+
+    /*
+     * Returns the age of the contents of the most recently dequeued buffer as
+     * the number of frames that have elapsed since it was last queued. For
+     * example, if the window is double-buffered, the age of any given buffer in
+     * steady state will be 2. If the dequeued buffer has never been queued, its
+     * age will be 0.
+     */
+    NATIVE_WINDOW_BUFFER_AGE = 13,
+};
+
+/* Valid operations for the (*perform)() hook.
+ *
+ * Values marked as 'deprecated' are supported, but have been superceded by
+ * other functionality.
+ *
+ * Values marked as 'private' should be considered private to the framework.
+ * HAL implementation code with access to an ANativeWindow should not use these,
+ * as it may not interact properly with the framework's use of the
+ * ANativeWindow.
+ */
+enum {
+    NATIVE_WINDOW_SET_USAGE                 =  0,
+    NATIVE_WINDOW_CONNECT                   =  1,   /* deprecated */
+    NATIVE_WINDOW_DISCONNECT                =  2,   /* deprecated */
+    NATIVE_WINDOW_SET_CROP                  =  3,   /* private */
+    NATIVE_WINDOW_SET_BUFFER_COUNT          =  4,
+    NATIVE_WINDOW_SET_BUFFERS_GEOMETRY      =  5,   /* deprecated */
+    NATIVE_WINDOW_SET_BUFFERS_TRANSFORM     =  6,
+    NATIVE_WINDOW_SET_BUFFERS_TIMESTAMP     =  7,
+    NATIVE_WINDOW_SET_BUFFERS_DIMENSIONS    =  8,
+    NATIVE_WINDOW_SET_BUFFERS_FORMAT        =  9,
+    NATIVE_WINDOW_SET_SCALING_MODE          = 10,   /* private */
+    NATIVE_WINDOW_LOCK                      = 11,   /* private */
+    NATIVE_WINDOW_UNLOCK_AND_POST           = 12,   /* private */
+    NATIVE_WINDOW_API_CONNECT               = 13,   /* private */
+    NATIVE_WINDOW_API_DISCONNECT            = 14,   /* private */
+    NATIVE_WINDOW_SET_BUFFERS_USER_DIMENSIONS = 15, /* private */
+    NATIVE_WINDOW_SET_POST_TRANSFORM_CROP   = 16,   /* private */
+    NATIVE_WINDOW_SET_BUFFERS_STICKY_TRANSFORM = 17,/* private */
+    NATIVE_WINDOW_SET_SIDEBAND_STREAM       = 18,
+    NATIVE_WINDOW_SET_BUFFERS_DATASPACE     = 19,
+    NATIVE_WINDOW_SET_SURFACE_DAMAGE        = 20,   /* private */
+};
+
+/* parameter for NATIVE_WINDOW_[API_][DIS]CONNECT */
+enum {
+    /* Buffers will be queued by EGL via eglSwapBuffers after being filled using
+     * OpenGL ES.
+     */
+    NATIVE_WINDOW_API_EGL = 1,
+
+    /* Buffers will be queued after being filled using the CPU
+     */
+    NATIVE_WINDOW_API_CPU = 2,
+
+    /* Buffers will be queued by Stagefright after being filled by a video
+     * decoder.  The video decoder can either be a software or hardware decoder.
+     */
+    NATIVE_WINDOW_API_MEDIA = 3,
+
+    /* Buffers will be queued by the the camera HAL.
+     */
+    NATIVE_WINDOW_API_CAMERA = 4,
+};
+
+/* parameter for NATIVE_WINDOW_SET_BUFFERS_TRANSFORM */
+enum {
+    /* flip source image horizontally */
+    NATIVE_WINDOW_TRANSFORM_FLIP_H = HAL_TRANSFORM_FLIP_H ,
+    /* flip source image vertically */
+    NATIVE_WINDOW_TRANSFORM_FLIP_V = HAL_TRANSFORM_FLIP_V,
+    /* rotate source image 90 degrees clock-wise, and is applied after TRANSFORM_FLIP_{H|V} */
+    NATIVE_WINDOW_TRANSFORM_ROT_90 = HAL_TRANSFORM_ROT_90,
+    /* rotate source image 180 degrees */
+    NATIVE_WINDOW_TRANSFORM_ROT_180 = HAL_TRANSFORM_ROT_180,
+    /* rotate source image 270 degrees clock-wise */
+    NATIVE_WINDOW_TRANSFORM_ROT_270 = HAL_TRANSFORM_ROT_270,
+    /* transforms source by the inverse transform of the screen it is displayed onto. This
+     * transform is applied last */
+    NATIVE_WINDOW_TRANSFORM_INVERSE_DISPLAY = 0x08
+};
+
+/* parameter for NATIVE_WINDOW_SET_SCALING_MODE */
+enum {
+    /* the window content is not updated (frozen) until a buffer of
+     * the window size is received (enqueued)
+     */
+    NATIVE_WINDOW_SCALING_MODE_FREEZE           = 0,
+    /* the buffer is scaled in both dimensions to match the window size */
+    NATIVE_WINDOW_SCALING_MODE_SCALE_TO_WINDOW  = 1,
+    /* the buffer is scaled uniformly such that the smaller dimension
+     * of the buffer matches the window size (cropping in the process)
+     */
+    NATIVE_WINDOW_SCALING_MODE_SCALE_CROP       = 2,
+    /* the window is clipped to the size of the buffer's crop rectangle; pixels
+     * outside the crop rectangle are treated as if they are completely
+     * transparent.
+     */
+    NATIVE_WINDOW_SCALING_MODE_NO_SCALE_CROP    = 3,
+};
+
+/* values returned by the NATIVE_WINDOW_CONCRETE_TYPE query */
+enum {
+    NATIVE_WINDOW_FRAMEBUFFER               = 0, /* FramebufferNativeWindow */
+    NATIVE_WINDOW_SURFACE                   = 1, /* Surface */
+};
+
+/* parameter for NATIVE_WINDOW_SET_BUFFERS_TIMESTAMP
+ *
+ * Special timestamp value to indicate that timestamps should be auto-generated
+ * by the native window when queueBuffer is called.  This is equal to INT64_MIN,
+ * defined directly to avoid problems with C99/C++ inclusion of stdint.h.
+ */
+static const int64_t NATIVE_WINDOW_TIMESTAMP_AUTO = (-9223372036854775807LL-1);
+
+struct ANativeWindow
+{
+#ifdef __cplusplus
+    ANativeWindow()
+        : flags(0), minSwapInterval(0), maxSwapInterval(0), xdpi(0), ydpi(0)
+    {
+        common.magic = ANDROID_NATIVE_WINDOW_MAGIC;
+        common.version = sizeof(ANativeWindow);
+        memset(common.reserved, 0, sizeof(common.reserved));
+    }
+
+    /* Implement the methods that sp<ANativeWindow> expects so that it
+       can be used to automatically refcount ANativeWindow's. */
+    void incStrong(const void* /*id*/) const {
+        common.incRef(const_cast<android_native_base_t*>(&common));
+    }
+    void decStrong(const void* /*id*/) const {
+        common.decRef(const_cast<android_native_base_t*>(&common));
+    }
+#endif
+
+    struct android_native_base_t common;
+
+    /* flags describing some attributes of this surface or its updater */
+    const uint32_t flags;
+
+    /* min swap interval supported by this updated */
+    const int   minSwapInterval;
+
+    /* max swap interval supported by this updated */
+    const int   maxSwapInterval;
+
+    /* horizontal and vertical resolution in DPI */
+    const float xdpi;
+    const float ydpi;
+
+    /* Some storage reserved for the OEM's driver. */
+    intptr_t    oem[4];
+
+    /*
+     * Set the swap interval for this surface.
+     *
+     * Returns 0 on success or -errno on error.
+     */
+    int     (*setSwapInterval)(struct ANativeWindow* window,
+                int interval);
+
+    /*
+     * Hook called by EGL to acquire a buffer. After this call, the buffer
+     * is not locked, so its content cannot be modified. This call may block if
+     * no buffers are available.
+     *
+     * The window holds a reference to the buffer between dequeueBuffer and
+     * either queueBuffer or cancelBuffer, so clients only need their own
+     * reference if they might use the buffer after queueing or canceling it.
+     * Holding a reference to a buffer after queueing or canceling it is only
+     * allowed if a specific buffer count has been set.
+     *
+     * Returns 0 on success or -errno on error.
+     *
+     * XXX: This function is deprecated.  It will continue to work for some
+     * time for binary compatibility, but the new dequeueBuffer function that
+     * outputs a fence file descriptor should be used in its place.
+     */
+    int     (*dequeueBuffer_DEPRECATED)(struct ANativeWindow* window,
+                struct ANativeWindowBuffer** buffer);
+
+    /*
+     * hook called by EGL to lock a buffer. This MUST be called before modifying
+     * the content of a buffer. The buffer must have been acquired with
+     * dequeueBuffer first.
+     *
+     * Returns 0 on success or -errno on error.
+     *
+     * XXX: This function is deprecated.  It will continue to work for some
+     * time for binary compatibility, but it is essentially a no-op, and calls
+     * to it should be removed.
+     */
+    int     (*lockBuffer_DEPRECATED)(struct ANativeWindow* window,
+                struct ANativeWindowBuffer* buffer);
+
+    /*
+     * Hook called by EGL when modifications to the render buffer are done.
+     * This unlocks and post the buffer.
+     *
+     * The window holds a reference to the buffer between dequeueBuffer and
+     * either queueBuffer or cancelBuffer, so clients only need their own
+     * reference if they might use the buffer after queueing or canceling it.
+     * Holding a reference to a buffer after queueing or canceling it is only
+     * allowed if a specific buffer count has been set.
+     *
+     * Buffers MUST be queued in the same order than they were dequeued.
+     *
+     * Returns 0 on success or -errno on error.
+     *
+     * XXX: This function is deprecated.  It will continue to work for some
+     * time for binary compatibility, but the new queueBuffer function that
+     * takes a fence file descriptor should be used in its place (pass a value
+     * of -1 for the fence file descriptor if there is no valid one to pass).
+     */
+    int     (*queueBuffer_DEPRECATED)(struct ANativeWindow* window,
+                struct ANativeWindowBuffer* buffer);
+
+    /*
+     * hook used to retrieve information about the native window.
+     *
+     * Returns 0 on success or -errno on error.
+     */
+    int     (*query)(const struct ANativeWindow* window,
+                int what, int* value);
+
+    /*
+     * hook used to perform various operations on the surface.
+     * (*perform)() is a generic mechanism to add functionality to
+     * ANativeWindow while keeping backward binary compatibility.
+     *
+     * DO NOT CALL THIS HOOK DIRECTLY.  Instead, use the helper functions
+     * defined below.
+     *
+     * (*perform)() returns -ENOENT if the 'what' parameter is not supported
+     * by the surface's implementation.
+     *
+     * See above for a list of valid operations, such as
+     * NATIVE_WINDOW_SET_USAGE or NATIVE_WINDOW_CONNECT
+     */
+    int     (*perform)(struct ANativeWindow* window,
+                int operation, ... );
+
+    /*
+     * Hook used to cancel a buffer that has been dequeued.
+     * No synchronization is performed between dequeue() and cancel(), so
+     * either external synchronization is needed, or these functions must be
+     * called from the same thread.
+     *
+     * The window holds a reference to the buffer between dequeueBuffer and
+     * either queueBuffer or cancelBuffer, so clients only need their own
+     * reference if they might use the buffer after queueing or canceling it.
+     * Holding a reference to a buffer after queueing or canceling it is only
+     * allowed if a specific buffer count has been set.
+     *
+     * XXX: This function is deprecated.  It will continue to work for some
+     * time for binary compatibility, but the new cancelBuffer function that
+     * takes a fence file descriptor should be used in its place (pass a value
+     * of -1 for the fence file descriptor if there is no valid one to pass).
+     */
+    int     (*cancelBuffer_DEPRECATED)(struct ANativeWindow* window,
+                struct ANativeWindowBuffer* buffer);
+
+    /*
+     * Hook called by EGL to acquire a buffer. This call may block if no
+     * buffers are available.
+     *
+     * The window holds a reference to the buffer between dequeueBuffer and
+     * either queueBuffer or cancelBuffer, so clients only need their own
+     * reference if they might use the buffer after queueing or canceling it.
+     * Holding a reference to a buffer after queueing or canceling it is only
+     * allowed if a specific buffer count has been set.
+     *
+     * The libsync fence file descriptor returned in the int pointed to by the
+     * fenceFd argument will refer to the fence that must signal before the
+     * dequeued buffer may be written to.  A value of -1 indicates that the
+     * caller may access the buffer immediately without waiting on a fence.  If
+     * a valid file descriptor is returned (i.e. any value except -1) then the
+     * caller is responsible for closing the file descriptor.
+     *
+     * Returns 0 on success or -errno on error.
+     */
+    int     (*dequeueBuffer)(struct ANativeWindow* window,
+                struct ANativeWindowBuffer** buffer, int* fenceFd);
+
+    /*
+     * Hook called by EGL when modifications to the render buffer are done.
+     * This unlocks and post the buffer.
+     *
+     * The window holds a reference to the buffer between dequeueBuffer and
+     * either queueBuffer or cancelBuffer, so clients only need their own
+     * reference if they might use the buffer after queueing or canceling it.
+     * Holding a reference to a buffer after queueing or canceling it is only
+     * allowed if a specific buffer count has been set.
+     *
+     * The fenceFd argument specifies a libsync fence file descriptor for a
+     * fence that must signal before the buffer can be accessed.  If the buffer
+     * can be accessed immediately then a value of -1 should be used.  The
+     * caller must not use the file descriptor after it is passed to
+     * queueBuffer, and the ANativeWindow implementation is responsible for
+     * closing it.
+     *
+     * Returns 0 on success or -errno on error.
+     */
+    int     (*queueBuffer)(struct ANativeWindow* window,
+                struct ANativeWindowBuffer* buffer, int fenceFd);
+
+    /*
+     * Hook used to cancel a buffer that has been dequeued.
+     * No synchronization is performed between dequeue() and cancel(), so
+     * either external synchronization is needed, or these functions must be
+     * called from the same thread.
+     *
+     * The window holds a reference to the buffer between dequeueBuffer and
+     * either queueBuffer or cancelBuffer, so clients only need their own
+     * reference if they might use the buffer after queueing or canceling it.
+     * Holding a reference to a buffer after queueing or canceling it is only
+     * allowed if a specific buffer count has been set.
+     *
+     * The fenceFd argument specifies a libsync fence file decsriptor for a
+     * fence that must signal before the buffer can be accessed.  If the buffer
+     * can be accessed immediately then a value of -1 should be used.
+     *
+     * Note that if the client has not waited on the fence that was returned
+     * from dequeueBuffer, that same fence should be passed to cancelBuffer to
+     * ensure that future uses of the buffer are preceded by a wait on that
+     * fence.  The caller must not use the file descriptor after it is passed
+     * to cancelBuffer, and the ANativeWindow implementation is responsible for
+     * closing it.
+     *
+     * Returns 0 on success or -errno on error.
+     */
+    int     (*cancelBuffer)(struct ANativeWindow* window,
+                struct ANativeWindowBuffer* buffer, int fenceFd);
+};
+
+ /* Backwards compatibility: use ANativeWindow (struct ANativeWindow in C).
+  * android_native_window_t is deprecated.
+  */
+typedef struct ANativeWindow ANativeWindow;
+typedef struct ANativeWindow android_native_window_t __deprecated;
+
+/*
+ *  native_window_set_usage(..., usage)
+ *  Sets the intended usage flags for the next buffers
+ *  acquired with (*lockBuffer)() and on.
+ *  By default (if this function is never called), a usage of
+ *      GRALLOC_USAGE_HW_RENDER | GRALLOC_USAGE_HW_TEXTURE
+ *  is assumed.
+ *  Calling this function will usually cause following buffers to be
+ *  reallocated.
+ */
+
+static inline int native_window_set_usage(
+        struct ANativeWindow* window, int usage)
+{
+    return window->perform(window, NATIVE_WINDOW_SET_USAGE, usage);
+}
+
+/* deprecated. Always returns 0. Don't call. */
+static inline int native_window_connect(
+        struct ANativeWindow* window __UNUSED, int api __UNUSED) __deprecated;
+
+static inline int native_window_connect(
+        struct ANativeWindow* window __UNUSED, int api __UNUSED) {
+    return 0;
+}
+
+/* deprecated. Always returns 0. Don't call. */
+static inline int native_window_disconnect(
+        struct ANativeWindow* window __UNUSED, int api __UNUSED) __deprecated;
+
+static inline int native_window_disconnect(
+        struct ANativeWindow* window __UNUSED, int api __UNUSED) {
+    return 0;
+}
+
+/*
+ * native_window_set_crop(..., crop)
+ * Sets which region of the next queued buffers needs to be considered.
+ * Depending on the scaling mode, a buffer's crop region is scaled and/or
+ * cropped to match the surface's size.  This function sets the crop in
+ * pre-transformed buffer pixel coordinates.
+ *
+ * The specified crop region applies to all buffers queued after it is called.
+ *
+ * If 'crop' is NULL, subsequently queued buffers won't be cropped.
+ *
+ * An error is returned if for instance the crop region is invalid, out of the
+ * buffer's bound or if the window is invalid.
+ */
+static inline int native_window_set_crop(
+        struct ANativeWindow* window,
+        android_native_rect_t const * crop)
+{
+    return window->perform(window, NATIVE_WINDOW_SET_CROP, crop);
+}
+
+/*
+ * native_window_set_post_transform_crop(..., crop)
+ * Sets which region of the next queued buffers needs to be considered.
+ * Depending on the scaling mode, a buffer's crop region is scaled and/or
+ * cropped to match the surface's size.  This function sets the crop in
+ * post-transformed pixel coordinates.
+ *
+ * The specified crop region applies to all buffers queued after it is called.
+ *
+ * If 'crop' is NULL, subsequently queued buffers won't be cropped.
+ *
+ * An error is returned if for instance the crop region is invalid, out of the
+ * buffer's bound or if the window is invalid.
+ */
+static inline int native_window_set_post_transform_crop(
+        struct ANativeWindow* window,
+        android_native_rect_t const * crop)
+{
+    return window->perform(window, NATIVE_WINDOW_SET_POST_TRANSFORM_CROP, crop);
+}
+
+/*
+ * native_window_set_active_rect(..., active_rect)
+ *
+ * This function is deprecated and will be removed soon.  For now it simply
+ * sets the post-transform crop for compatibility while multi-project commits
+ * get checked.
+ */
+static inline int native_window_set_active_rect(
+        struct ANativeWindow* window,
+        android_native_rect_t const * active_rect) __deprecated;
+
+static inline int native_window_set_active_rect(
+        struct ANativeWindow* window,
+        android_native_rect_t const * active_rect)
+{
+    return native_window_set_post_transform_crop(window, active_rect);
+}
+
+/*
+ * native_window_set_buffer_count(..., count)
+ * Sets the number of buffers associated with this native window.
+ */
+static inline int native_window_set_buffer_count(
+        struct ANativeWindow* window,
+        size_t bufferCount)
+{
+    return window->perform(window, NATIVE_WINDOW_SET_BUFFER_COUNT, bufferCount);
+}
+
+/*
+ * native_window_set_buffers_geometry(..., int w, int h, int format)
+ * All buffers dequeued after this call will have the dimensions and format
+ * specified.  A successful call to this function has the same effect as calling
+ * native_window_set_buffers_size and native_window_set_buffers_format.
+ *
+ * XXX: This function is deprecated.  The native_window_set_buffers_dimensions
+ * and native_window_set_buffers_format functions should be used instead.
+ */
+static inline int native_window_set_buffers_geometry(
+        struct ANativeWindow* window,
+        int w, int h, int format) __deprecated;
+
+static inline int native_window_set_buffers_geometry(
+        struct ANativeWindow* window,
+        int w, int h, int format)
+{
+    return window->perform(window, NATIVE_WINDOW_SET_BUFFERS_GEOMETRY,
+            w, h, format);
+}
+
+/*
+ * native_window_set_buffers_dimensions(..., int w, int h)
+ * All buffers dequeued after this call will have the dimensions specified.
+ * In particular, all buffers will have a fixed-size, independent from the
+ * native-window size. They will be scaled according to the scaling mode
+ * (see native_window_set_scaling_mode) upon window composition.
+ *
+ * If w and h are 0, the normal behavior is restored. That is, dequeued buffers
+ * following this call will be sized to match the window's size.
+ *
+ * Calling this function will reset the window crop to a NULL value, which
+ * disables cropping of the buffers.
+ */
+static inline int native_window_set_buffers_dimensions(
+        struct ANativeWindow* window,
+        int w, int h)
+{
+    return window->perform(window, NATIVE_WINDOW_SET_BUFFERS_DIMENSIONS,
+            w, h);
+}
+
+/*
+ * native_window_set_buffers_user_dimensions(..., int w, int h)
+ *
+ * Sets the user buffer size for the window, which overrides the
+ * window's size.  All buffers dequeued after this call will have the
+ * dimensions specified unless overridden by
+ * native_window_set_buffers_dimensions.  All buffers will have a
+ * fixed-size, independent from the native-window size. They will be
+ * scaled according to the scaling mode (see
+ * native_window_set_scaling_mode) upon window composition.
+ *
+ * If w and h are 0, the normal behavior is restored. That is, the
+ * default buffer size will match the windows's size.
+ *
+ * Calling this function will reset the window crop to a NULL value, which
+ * disables cropping of the buffers.
+ */
+static inline int native_window_set_buffers_user_dimensions(
+        struct ANativeWindow* window,
+        int w, int h)
+{
+    return window->perform(window, NATIVE_WINDOW_SET_BUFFERS_USER_DIMENSIONS,
+            w, h);
+}
+
+/*
+ * native_window_set_buffers_format(..., int format)
+ * All buffers dequeued after this call will have the format specified.
+ *
+ * If the specified format is 0, the default buffer format will be used.
+ */
+static inline int native_window_set_buffers_format(
+        struct ANativeWindow* window,
+        int format)
+{
+    return window->perform(window, NATIVE_WINDOW_SET_BUFFERS_FORMAT, format);
+}
+
+/*
+ * native_window_set_buffers_data_space(..., int dataSpace)
+ * All buffers queued after this call will be associated with the dataSpace
+ * parameter specified.
+ *
+ * dataSpace specifies additional information about the buffer that's dependent
+ * on the buffer format and the endpoints. For example, it can be used to convey
+ * the color space of the image data in the buffer, or it can be used to
+ * indicate that the buffers contain depth measurement data instead of color
+ * images.  The default dataSpace is 0, HAL_DATASPACE_UNKNOWN, unless it has been
+ * overridden by the consumer.
+ */
+static inline int native_window_set_buffers_data_space(
+        struct ANativeWindow* window,
+        android_dataspace_t dataSpace)
+{
+    return window->perform(window, NATIVE_WINDOW_SET_BUFFERS_DATASPACE,
+            dataSpace);
+}
+
+/*
+ * native_window_set_buffers_transform(..., int transform)
+ * All buffers queued after this call will be displayed transformed according
+ * to the transform parameter specified.
+ */
+static inline int native_window_set_buffers_transform(
+        struct ANativeWindow* window,
+        int transform)
+{
+    return window->perform(window, NATIVE_WINDOW_SET_BUFFERS_TRANSFORM,
+            transform);
+}
+
+/*
+ * native_window_set_buffers_sticky_transform(..., int transform)
+ * All buffers queued after this call will be displayed transformed according
+ * to the transform parameter specified applied on top of the regular buffer
+ * transform.  Setting this transform will disable the transform hint.
+ *
+ * Temporary - This is only intended to be used by the LEGACY camera mode, do
+ *   not use this for anything else.
+ */
+static inline int native_window_set_buffers_sticky_transform(
+        struct ANativeWindow* window,
+        int transform)
+{
+    return window->perform(window, NATIVE_WINDOW_SET_BUFFERS_STICKY_TRANSFORM,
+            transform);
+}
+
+/*
+ * native_window_set_buffers_timestamp(..., int64_t timestamp)
+ * All buffers queued after this call will be associated with the timestamp
+ * parameter specified. If the timestamp is set to NATIVE_WINDOW_TIMESTAMP_AUTO
+ * (the default), timestamps will be generated automatically when queueBuffer is
+ * called. The timestamp is measured in nanoseconds, and is normally monotonically
+ * increasing. The timestamp should be unaffected by time-of-day adjustments,
+ * and for a camera should be strictly monotonic but for a media player may be
+ * reset when the position is set.
+ */
+static inline int native_window_set_buffers_timestamp(
+        struct ANativeWindow* window,
+        int64_t timestamp)
+{
+    return window->perform(window, NATIVE_WINDOW_SET_BUFFERS_TIMESTAMP,
+            timestamp);
+}
+
+/*
+ * native_window_set_scaling_mode(..., int mode)
+ * All buffers queued after this call will be associated with the scaling mode
+ * specified.
+ */
+static inline int native_window_set_scaling_mode(
+        struct ANativeWindow* window,
+        int mode)
+{
+    return window->perform(window, NATIVE_WINDOW_SET_SCALING_MODE,
+            mode);
+}
+
+/*
+ * native_window_api_connect(..., int api)
+ * connects an API to this window. only one API can be connected at a time.
+ * Returns -EINVAL if for some reason the window cannot be connected, which
+ * can happen if it's connected to some other API.
+ */
+static inline int native_window_api_connect(
+        struct ANativeWindow* window, int api)
+{
+    return window->perform(window, NATIVE_WINDOW_API_CONNECT, api);
+}
+
+/*
+ * native_window_api_disconnect(..., int api)
+ * disconnect the API from this window.
+ * An error is returned if for instance the window wasn't connected in the
+ * first place.
+ */
+static inline int native_window_api_disconnect(
+        struct ANativeWindow* window, int api)
+{
+    return window->perform(window, NATIVE_WINDOW_API_DISCONNECT, api);
+}
+
+/*
+ * native_window_dequeue_buffer_and_wait(...)
+ * Dequeue a buffer and wait on the fence associated with that buffer.  The
+ * buffer may safely be accessed immediately upon this function returning.  An
+ * error is returned if either of the dequeue or the wait operations fail.
+ */
+static inline int native_window_dequeue_buffer_and_wait(ANativeWindow *anw,
+        struct ANativeWindowBuffer** anb) {
+    return anw->dequeueBuffer_DEPRECATED(anw, anb);
+}
+
+/*
+ * native_window_set_sideband_stream(..., native_handle_t*)
+ * Attach a sideband buffer stream to a native window.
+ */
+static inline int native_window_set_sideband_stream(
+        struct ANativeWindow* window,
+        native_handle_t* sidebandHandle)
+{
+    return window->perform(window, NATIVE_WINDOW_SET_SIDEBAND_STREAM,
+            sidebandHandle);
+}
+
+/*
+ * native_window_set_surface_damage(..., android_native_rect_t* rects, int numRects)
+ * Set the surface damage (i.e., the region of the surface that has changed
+ * since the previous frame). The damage set by this call will be reset (to the
+ * default of full-surface damage) after calling queue, so this must be called
+ * prior to every frame with damage that does not cover the whole surface if the
+ * caller desires downstream consumers to use this optimization.
+ *
+ * The damage region is specified as an array of rectangles, with the important
+ * caveat that the origin of the surface is considered to be the bottom-left
+ * corner, as in OpenGL ES.
+ *
+ * If numRects is set to 0, rects may be NULL, and the surface damage will be
+ * set to the full surface (the same as if this function had not been called for
+ * this frame).
+ */
+static inline int native_window_set_surface_damage(
+        struct ANativeWindow* window,
+        const android_native_rect_t* rects, size_t numRects)
+{
+    return window->perform(window, NATIVE_WINDOW_SET_SURFACE_DAMAGE,
+            rects, numRects);
+}
+
+__END_DECLS
+
+#endif /* SYSTEM_CORE_INCLUDE_ANDROID_WINDOW_H */
diff --git a/third_party/android_system_core/include/utils/AndroidThreads.h b/third_party/android_system_core/include/utils/AndroidThreads.h
new file mode 100644
index 0000000000..aad1e82cb7
--- /dev/null
+++ b/third_party/android_system_core/include/utils/AndroidThreads.h
@@ -0,0 +1,125 @@
+/*
+ * Copyright (C) 2007 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef _LIBS_UTILS_ANDROID_THREADS_H
+#define _LIBS_UTILS_ANDROID_THREADS_H
+
+#include <stdint.h>
+#include <sys/types.h>
+
+#if !defined(_WIN32)
+# include <pthread.h>
+#endif
+
+#include <utils/ThreadDefs.h>
+
+// ---------------------------------------------------------------------------
+// C API
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// Create and run a new thread.
+extern int androidCreateThread(android_thread_func_t, void *);
+
+// Create thread with lots of parameters
+extern int androidCreateThreadEtc(android_thread_func_t entryFunction,
+                                  void *userData,
+                                  const char* threadName,
+                                  int32_t threadPriority,
+                                  size_t threadStackSize,
+                                  android_thread_id_t *threadId);
+
+// Get some sort of unique identifier for the current thread.
+extern android_thread_id_t androidGetThreadId();
+
+// Low-level thread creation -- never creates threads that can
+// interact with the Java VM.
+extern int androidCreateRawThreadEtc(android_thread_func_t entryFunction,
+                                     void *userData,
+                                     const char* threadName,
+                                     int32_t threadPriority,
+                                     size_t threadStackSize,
+                                     android_thread_id_t *threadId);
+
+// set the same of the running thread
+extern void androidSetThreadName(const char* name);
+
+// Used by the Java Runtime to control how threads are created, so that
+// they can be proper and lovely Java threads.
+typedef int (*android_create_thread_fn)(android_thread_func_t entryFunction,
+                                        void *userData,
+                                        const char* threadName,
+                                        int32_t threadPriority,
+                                        size_t threadStackSize,
+                                        android_thread_id_t *threadId);
+
+extern void androidSetCreateThreadFunc(android_create_thread_fn func);
+
+// ------------------------------------------------------------------
+// Extra functions working with raw pids.
+
+#ifdef HAVE_ANDROID_OS
+// Change the priority AND scheduling group of a particular thread.  The priority
+// should be one of the ANDROID_PRIORITY constants.  Returns INVALID_OPERATION
+// if the priority set failed, else another value if just the group set failed;
+// in either case errno is set.  Thread ID zero means current thread.
+extern int androidSetThreadPriority(pid_t tid, int prio);
+
+// Get the current priority of a particular thread. Returns one of the
+// ANDROID_PRIORITY constants or a negative result in case of error.
+extern int androidGetThreadPriority(pid_t tid);
+#endif
+
+#ifdef __cplusplus
+} // extern "C"
+#endif
+
+// ----------------------------------------------------------------------------
+// C++ API
+#ifdef __cplusplus
+namespace android {
+// ----------------------------------------------------------------------------
+
+// Create and run a new thread.
+inline bool createThread(thread_func_t f, void *a) {
+    return androidCreateThread(f, a) ? true : false;
+}
+
+// Create thread with lots of parameters
+inline bool createThreadEtc(thread_func_t entryFunction,
+                            void *userData,
+                            const char* threadName = "android:unnamed_thread",
+                            int32_t threadPriority = PRIORITY_DEFAULT,
+                            size_t threadStackSize = 0,
+                            thread_id_t *threadId = 0)
+{
+    return androidCreateThreadEtc(entryFunction, userData, threadName,
+        threadPriority, threadStackSize, threadId) ? true : false;
+}
+
+// Get some sort of unique identifier for the current thread.
+inline thread_id_t getThreadId() {
+    return androidGetThreadId();
+}
+
+// ----------------------------------------------------------------------------
+}; // namespace android
+#endif  // __cplusplus
+// ----------------------------------------------------------------------------
+
+#endif // _LIBS_UTILS_ANDROID_THREADS_H
diff --git a/third_party/android_system_core/include/utils/Atomic.h b/third_party/android_system_core/include/utils/Atomic.h
new file mode 100644
index 0000000000..7eb476c94e
--- /dev/null
+++ b/third_party/android_system_core/include/utils/Atomic.h
@@ -0,0 +1,22 @@
+/*
+ * Copyright (C) 2005 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_UTILS_ATOMIC_H
+#define ANDROID_UTILS_ATOMIC_H
+
+#include <cutils/atomic.h>
+
+#endif // ANDROID_UTILS_ATOMIC_H
diff --git a/third_party/android_system_core/include/utils/BasicHashtable.h b/third_party/android_system_core/include/utils/BasicHashtable.h
new file mode 100644
index 0000000000..c235d62526
--- /dev/null
+++ b/third_party/android_system_core/include/utils/BasicHashtable.h
@@ -0,0 +1,402 @@
+/*
+ * Copyright (C) 2011 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_BASIC_HASHTABLE_H
+#define ANDROID_BASIC_HASHTABLE_H
+
+#include <stdint.h>
+#include <sys/types.h>
+#include <utils/SharedBuffer.h>
+#include <utils/TypeHelpers.h>
+
+namespace android {
+
+/* Implementation type.  Nothing to see here. */
+class BasicHashtableImpl {
+protected:
+    struct Bucket {
+        // The collision flag indicates that the bucket is part of a collision chain
+        // such that at least two entries both hash to this bucket.  When true, we
+        // may need to seek further along the chain to find the entry.
+        static const uint32_t COLLISION = 0x80000000UL;
+
+        // The present flag indicates that the bucket contains an initialized entry value.
+        static const uint32_t PRESENT   = 0x40000000UL;
+
+        // Mask for 30 bits worth of the hash code that are stored within the bucket to
+        // speed up lookups and rehashing by eliminating the need to recalculate the
+        // hash code of the entry's key.
+        static const uint32_t HASH_MASK = 0x3fffffffUL;
+
+        // Combined value that stores the collision and present flags as well as
+        // a 30 bit hash code.
+        uint32_t cookie;
+
+        // Storage for the entry begins here.
+        char entry[0];
+    };
+
+    BasicHashtableImpl(size_t entrySize, bool hasTrivialDestructor,
+            size_t minimumInitialCapacity, float loadFactor);
+    BasicHashtableImpl(const BasicHashtableImpl& other);
+    virtual ~BasicHashtableImpl();
+
+    void dispose();
+
+    inline void edit() {
+        if (mBuckets && !SharedBuffer::bufferFromData(mBuckets)->onlyOwner()) {
+            clone();
+        }
+    }
+
+    void setTo(const BasicHashtableImpl& other);
+    void clear();
+
+    ssize_t next(ssize_t index) const;
+    ssize_t find(ssize_t index, hash_t hash, const void* __restrict__ key) const;
+    size_t add(hash_t hash, const void* __restrict__ entry);
+    void removeAt(size_t index);
+    void rehash(size_t minimumCapacity, float loadFactor);
+
+    const size_t mBucketSize; // number of bytes per bucket including the entry
+    const bool mHasTrivialDestructor; // true if the entry type does not require destruction
+    size_t mCapacity;         // number of buckets that can be filled before exceeding load factor
+    float mLoadFactor;        // load factor
+    size_t mSize;             // number of elements actually in the table
+    size_t mFilledBuckets;    // number of buckets for which collision or present is true
+    size_t mBucketCount;      // number of slots in the mBuckets array
+    void* mBuckets;           // array of buckets, as a SharedBuffer
+
+    inline const Bucket& bucketAt(const void* __restrict__ buckets, size_t index) const {
+        return *reinterpret_cast<const Bucket*>(
+                static_cast<const uint8_t*>(buckets) + index * mBucketSize);
+    }
+
+    inline Bucket& bucketAt(void* __restrict__ buckets, size_t index) const {
+        return *reinterpret_cast<Bucket*>(static_cast<uint8_t*>(buckets) + index * mBucketSize);
+    }
+
+    virtual bool compareBucketKey(const Bucket& bucket, const void* __restrict__ key) const = 0;
+    virtual void initializeBucketEntry(Bucket& bucket, const void* __restrict__ entry) const = 0;
+    virtual void destroyBucketEntry(Bucket& bucket) const = 0;
+
+private:
+    void clone();
+
+    // Allocates a bucket array as a SharedBuffer.
+    void* allocateBuckets(size_t count) const;
+
+    // Releases a bucket array's associated SharedBuffer.
+    void releaseBuckets(void* __restrict__ buckets, size_t count) const;
+
+    // Destroys the contents of buckets (invokes destroyBucketEntry for each
+    // populated bucket if needed).
+    void destroyBuckets(void* __restrict__ buckets, size_t count) const;
+
+    // Copies the content of buckets (copies the cookie and invokes copyBucketEntry
+    // for each populated bucket if needed).
+    void copyBuckets(const void* __restrict__ fromBuckets,
+            void* __restrict__ toBuckets, size_t count) const;
+
+    // Determines the appropriate size of a bucket array to store a certain minimum
+    // number of entries and returns its effective capacity.
+    static void determineCapacity(size_t minimumCapacity, float loadFactor,
+            size_t* __restrict__ outBucketCount, size_t* __restrict__ outCapacity);
+
+    // Trim a hash code to 30 bits to match what we store in the bucket's cookie.
+    inline static hash_t trimHash(hash_t hash) {
+        return (hash & Bucket::HASH_MASK) ^ (hash >> 30);
+    }
+
+    // Returns the index of the first bucket that is in the collision chain
+    // for the specified hash code, given the total number of buckets.
+    // (Primary hash)
+    inline static size_t chainStart(hash_t hash, size_t count) {
+        return hash % count;
+    }
+
+    // Returns the increment to add to a bucket index to seek to the next bucket
+    // in the collision chain for the specified hash code, given the total number of buckets.
+    // (Secondary hash)
+    inline static size_t chainIncrement(hash_t hash, size_t count) {
+        return ((hash >> 7) | (hash << 25)) % (count - 1) + 1;
+    }
+
+    // Returns the index of the next bucket that is in the collision chain
+    // that is defined by the specified increment, given the total number of buckets.
+    inline static size_t chainSeek(size_t index, size_t increment, size_t count) {
+        return (index + increment) % count;
+    }
+};
+
+/*
+ * A BasicHashtable stores entries that are indexed by hash code in place
+ * within an array.  The basic operations are finding entries by key,
+ * adding new entries and removing existing entries.
+ *
+ * This class provides a very limited set of operations with simple semantics.
+ * It is intended to be used as a building block to construct more complex
+ * and interesting data structures such as HashMap.  Think very hard before
+ * adding anything extra to BasicHashtable, it probably belongs at a
+ * higher level of abstraction.
+ *
+ * TKey: The key type.
+ * TEntry: The entry type which is what is actually stored in the array.
+ *
+ * TKey must support the following contract:
+ *     bool operator==(const TKey& other) const;  // return true if equal
+ *     bool operator!=(const TKey& other) const;  // return true if unequal
+ *
+ * TEntry must support the following contract:
+ *     const TKey& getKey() const;  // get the key from the entry
+ *
+ * This class supports storing entries with duplicate keys.  Of course, it can't
+ * tell them apart during removal so only the first entry will be removed.
+ * We do this because it means that operations like add() can't fail.
+ */
+template <typename TKey, typename TEntry>
+class BasicHashtable : private BasicHashtableImpl {
+public:
+    /* Creates a hashtable with the specified minimum initial capacity.
+     * The underlying array will be created when the first entry is added.
+     *
+     * minimumInitialCapacity: The minimum initial capacity for the hashtable.
+     *     Default is 0.
+     * loadFactor: The desired load factor for the hashtable, between 0 and 1.
+     *     Default is 0.75.
+     */
+    BasicHashtable(size_t minimumInitialCapacity = 0, float loadFactor = 0.75f);
+
+    /* Copies a hashtable.
+     * The underlying storage is shared copy-on-write.
+     */
+    BasicHashtable(const BasicHashtable& other);
+
+    /* Clears and destroys the hashtable.
+     */
+    virtual ~BasicHashtable();
+
+    /* Making this hashtable a copy of the other hashtable.
+     * The underlying storage is shared copy-on-write.
+     *
+     * other: The hashtable to copy.
+     */
+    inline BasicHashtable<TKey, TEntry>& operator =(const BasicHashtable<TKey, TEntry> & other) {
+        setTo(other);
+        return *this;
+    }
+
+    /* Returns the number of entries in the hashtable.
+     */
+    inline size_t size() const {
+        return mSize;
+    }
+
+    /* Returns the capacity of the hashtable, which is the number of elements that can
+     * added to the hashtable without requiring it to be grown.
+     */
+    inline size_t capacity() const {
+        return mCapacity;
+    }
+
+    /* Returns the number of buckets that the hashtable has, which is the size of its
+     * underlying array.
+     */
+    inline size_t bucketCount() const {
+        return mBucketCount;
+    }
+
+    /* Returns the load factor of the hashtable. */
+    inline float loadFactor() const {
+        return mLoadFactor;
+    };
+
+    /* Returns a const reference to the entry at the specified index.
+     *
+     * index:   The index of the entry to retrieve.  Must be a valid index within
+     *          the bounds of the hashtable.
+     */
+    inline const TEntry& entryAt(size_t index) const {
+        return entryFor(bucketAt(mBuckets, index));
+    }
+
+    /* Returns a non-const reference to the entry at the specified index.
+     *
+     * index: The index of the entry to edit.  Must be a valid index within
+     *        the bounds of the hashtable.
+     */
+    inline TEntry& editEntryAt(size_t index) {
+        edit();
+        return entryFor(bucketAt(mBuckets, index));
+    }
+
+    /* Clears the hashtable.
+     * All entries in the hashtable are destroyed immediately.
+     * If you need to do something special with the entries in the hashtable then iterate
+     * over them and do what you need before clearing the hashtable.
+     */
+    inline void clear() {
+        BasicHashtableImpl::clear();
+    }
+
+    /* Returns the index of the next entry in the hashtable given the index of a previous entry.
+     * If the given index is -1, then returns the index of the first entry in the hashtable,
+     * if there is one, or -1 otherwise.
+     * If the given index is not -1, then returns the index of the next entry in the hashtable,
+     * in strictly increasing order, or -1 if there are none left.
+     *
+     * index:   The index of the previous entry that was iterated, or -1 to begin
+     *          iteration at the beginning of the hashtable.
+     */
+    inline ssize_t next(ssize_t index) const {
+        return BasicHashtableImpl::next(index);
+    }
+
+    /* Finds the index of an entry with the specified key.
+     * If the given index is -1, then returns the index of the first matching entry,
+     * otherwise returns the index of the next matching entry.
+     * If the hashtable contains multiple entries with keys that match the requested
+     * key, then the sequence of entries returned is arbitrary.
+     * Returns -1 if no entry was found.
+     *
+     * index:   The index of the previous entry with the specified key, or -1 to
+     *          find the first matching entry.
+     * hash:    The hashcode of the key.
+     * key:     The key.
+     */
+    inline ssize_t find(ssize_t index, hash_t hash, const TKey& key) const {
+        return BasicHashtableImpl::find(index, hash, &key);
+    }
+
+    /* Adds the entry to the hashtable.
+     * Returns the index of the newly added entry.
+     * If an entry with the same key already exists, then a duplicate entry is added.
+     * If the entry will not fit, then the hashtable's capacity is increased and
+     * its contents are rehashed.  See rehash().
+     *
+     * hash:    The hashcode of the key.
+     * entry:   The entry to add.
+     */
+    inline size_t add(hash_t hash, const TEntry& entry) {
+        return BasicHashtableImpl::add(hash, &entry);
+    }
+
+    /* Removes the entry with the specified index from the hashtable.
+     * The entry is destroyed immediately.
+     * The index must be valid.
+     *
+     * The hashtable is not compacted after an item is removed, so it is legal
+     * to continue iterating over the hashtable using next() or find().
+     *
+     * index:   The index of the entry to remove.  Must be a valid index within the
+     *          bounds of the hashtable, and it must refer to an existing entry.
+     */
+    inline void removeAt(size_t index) {
+        BasicHashtableImpl::removeAt(index);
+    }
+
+    /* Rehashes the contents of the hashtable.
+     * Grows the hashtable to at least the specified minimum capacity or the
+     * current number of elements, whichever is larger.
+     *
+     * Rehashing causes all entries to be copied and the entry indices may change.
+     * Although the hash codes are cached by the hashtable, rehashing can be an
+     * expensive operation and should be avoided unless the hashtable's size
+     * needs to be changed.
+     *
+     * Rehashing is the only way to change the capacity or load factor of the
+     * hashtable once it has been created.  It can be used to compact the
+     * hashtable by choosing a minimum capacity that is smaller than the current
+     * capacity (such as 0).
+     *
+     * minimumCapacity: The desired minimum capacity after rehashing.
+     * loadFactor: The desired load factor after rehashing.
+     */
+    inline void rehash(size_t minimumCapacity, float loadFactor) {
+        BasicHashtableImpl::rehash(minimumCapacity, loadFactor);
+    }
+
+    /* Determines whether there is room to add another entry without rehashing.
+     * When this returns true, a subsequent add() operation is guaranteed to
+     * complete without performing a rehash.
+     */
+    inline bool hasMoreRoom() const {
+        return mCapacity > mFilledBuckets;
+    }
+
+protected:
+    static inline const TEntry& entryFor(const Bucket& bucket) {
+        return reinterpret_cast<const TEntry&>(bucket.entry);
+    }
+
+    static inline TEntry& entryFor(Bucket& bucket) {
+        return reinterpret_cast<TEntry&>(bucket.entry);
+    }
+
+    virtual bool compareBucketKey(const Bucket& bucket, const void* __restrict__ key) const;
+    virtual void initializeBucketEntry(Bucket& bucket, const void* __restrict__ entry) const;
+    virtual void destroyBucketEntry(Bucket& bucket) const;
+
+private:
+    // For dumping the raw contents of a hashtable during testing.
+    friend class BasicHashtableTest;
+    inline uint32_t cookieAt(size_t index) const {
+        return bucketAt(mBuckets, index).cookie;
+    }
+};
+
+template <typename TKey, typename TEntry>
+BasicHashtable<TKey, TEntry>::BasicHashtable(size_t minimumInitialCapacity, float loadFactor) :
+        BasicHashtableImpl(sizeof(TEntry), traits<TEntry>::has_trivial_dtor,
+                minimumInitialCapacity, loadFactor) {
+}
+
+template <typename TKey, typename TEntry>
+BasicHashtable<TKey, TEntry>::BasicHashtable(const BasicHashtable<TKey, TEntry>& other) :
+        BasicHashtableImpl(other) {
+}
+
+template <typename TKey, typename TEntry>
+BasicHashtable<TKey, TEntry>::~BasicHashtable() {
+    dispose();
+}
+
+template <typename TKey, typename TEntry>
+bool BasicHashtable<TKey, TEntry>::compareBucketKey(const Bucket& bucket,
+        const void* __restrict__ key) const {
+    return entryFor(bucket).getKey() == *static_cast<const TKey*>(key);
+}
+
+template <typename TKey, typename TEntry>
+void BasicHashtable<TKey, TEntry>::initializeBucketEntry(Bucket& bucket,
+        const void* __restrict__ entry) const {
+    if (!traits<TEntry>::has_trivial_copy) {
+        new (&entryFor(bucket)) TEntry(*(static_cast<const TEntry*>(entry)));
+    } else {
+        memcpy(&entryFor(bucket), entry, sizeof(TEntry));
+    }
+}
+
+template <typename TKey, typename TEntry>
+void BasicHashtable<TKey, TEntry>::destroyBucketEntry(Bucket& bucket) const {
+    if (!traits<TEntry>::has_trivial_dtor) {
+        entryFor(bucket).~TEntry();
+    }
+}
+
+}; // namespace android
+
+#endif // ANDROID_BASIC_HASHTABLE_H
diff --git a/third_party/android_system_core/include/utils/BitSet.h b/third_party/android_system_core/include/utils/BitSet.h
new file mode 100644
index 0000000000..8c612931de
--- /dev/null
+++ b/third_party/android_system_core/include/utils/BitSet.h
@@ -0,0 +1,294 @@
+/*
+ * Copyright (C) 2010 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef UTILS_BITSET_H
+#define UTILS_BITSET_H
+
+#include <stdint.h>
+#include <utils/TypeHelpers.h>
+
+/*
+ * Contains some bit manipulation helpers.
+ */
+
+namespace android {
+
+// A simple set of 32 bits that can be individually marked or cleared.
+struct BitSet32 {
+    uint32_t value;
+
+    inline BitSet32() : value(0UL) { }
+    explicit inline BitSet32(uint32_t value) : value(value) { }
+
+    // Gets the value associated with a particular bit index.
+    static inline uint32_t valueForBit(uint32_t n) { return 0x80000000UL >> n; }
+
+    // Clears the bit set.
+    inline void clear() { clear(value); }
+
+    static inline void clear(uint32_t& value) { value = 0UL; }
+
+    // Returns the number of marked bits in the set.
+    inline uint32_t count() const { return count(value); }
+
+    static inline uint32_t count(uint32_t value) { return __builtin_popcountl(value); }
+
+    // Returns true if the bit set does not contain any marked bits.
+    inline bool isEmpty() const { return isEmpty(value); }
+
+    static inline bool isEmpty(uint32_t value) { return ! value; }
+
+    // Returns true if the bit set does not contain any unmarked bits.
+    inline bool isFull() const { return isFull(value); }
+
+    static inline bool isFull(uint32_t value) { return value == 0xffffffffUL; }
+
+    // Returns true if the specified bit is marked.
+    inline bool hasBit(uint32_t n) const { return hasBit(value, n); }
+
+    static inline bool hasBit(uint32_t value, uint32_t n) { return value & valueForBit(n); }
+
+    // Marks the specified bit.
+    inline void markBit(uint32_t n) { markBit(value, n); }
+
+    static inline void markBit (uint32_t& value, uint32_t n) { value |= valueForBit(n); }
+
+    // Clears the specified bit.
+    inline void clearBit(uint32_t n) { clearBit(value, n); }
+
+    static inline void clearBit(uint32_t& value, uint32_t n) { value &= ~ valueForBit(n); }
+
+    // Finds the first marked bit in the set.
+    // Result is undefined if all bits are unmarked.
+    inline uint32_t firstMarkedBit() const { return firstMarkedBit(value); }
+
+    static uint32_t firstMarkedBit(uint32_t value) { return clz_checked(value); }
+
+    // Finds the first unmarked bit in the set.
+    // Result is undefined if all bits are marked.
+    inline uint32_t firstUnmarkedBit() const { return firstUnmarkedBit(value); }
+
+    static inline uint32_t firstUnmarkedBit(uint32_t value) { return clz_checked(~ value); }
+
+    // Finds the last marked bit in the set.
+    // Result is undefined if all bits are unmarked.
+    inline uint32_t lastMarkedBit() const { return lastMarkedBit(value); }
+
+    static inline uint32_t lastMarkedBit(uint32_t value) { return 31 - ctz_checked(value); }
+
+    // Finds the first marked bit in the set and clears it.  Returns the bit index.
+    // Result is undefined if all bits are unmarked.
+    inline uint32_t clearFirstMarkedBit() { return clearFirstMarkedBit(value); }
+
+    static inline uint32_t clearFirstMarkedBit(uint32_t& value) {
+        uint32_t n = firstMarkedBit(value);
+        clearBit(value, n);
+        return n;
+    }
+
+    // Finds the first unmarked bit in the set and marks it.  Returns the bit index.
+    // Result is undefined if all bits are marked.
+    inline uint32_t markFirstUnmarkedBit() { return markFirstUnmarkedBit(value); }
+
+    static inline uint32_t markFirstUnmarkedBit(uint32_t& value) {
+        uint32_t n = firstUnmarkedBit(value);
+        markBit(value, n);
+        return n;
+    }
+
+    // Finds the last marked bit in the set and clears it.  Returns the bit index.
+    // Result is undefined if all bits are unmarked.
+    inline uint32_t clearLastMarkedBit() { return clearLastMarkedBit(value); }
+
+    static inline uint32_t clearLastMarkedBit(uint32_t& value) {
+        uint32_t n = lastMarkedBit(value);
+        clearBit(value, n);
+        return n;
+    }
+
+    // Gets the index of the specified bit in the set, which is the number of
+    // marked bits that appear before the specified bit.
+    inline uint32_t getIndexOfBit(uint32_t n) const {
+        return getIndexOfBit(value, n);
+    }
+
+    static inline uint32_t getIndexOfBit(uint32_t value, uint32_t n) {
+        return __builtin_popcountl(value & ~(0xffffffffUL >> n));
+    }
+
+    inline bool operator== (const BitSet32& other) const { return value == other.value; }
+    inline bool operator!= (const BitSet32& other) const { return value != other.value; }
+    inline BitSet32 operator& (const BitSet32& other) const {
+        return BitSet32(value & other.value);
+    }
+    inline BitSet32& operator&= (const BitSet32& other) {
+        value &= other.value;
+        return *this;
+    }
+    inline BitSet32 operator| (const BitSet32& other) const {
+        return BitSet32(value | other.value);
+    }
+    inline BitSet32& operator|= (const BitSet32& other) {
+        value |= other.value;
+        return *this;
+    }
+
+private:
+    // We use these helpers as the signature of __builtin_c{l,t}z has "unsigned int" for the
+    // input, which is only guaranteed to be 16b, not 32. The compiler should optimize this away.
+    static inline uint32_t clz_checked(uint32_t value) {
+        if (sizeof(unsigned int) == sizeof(uint32_t)) {
+            return __builtin_clz(value);
+        } else {
+            return __builtin_clzl(value);
+        }
+    }
+
+    static inline uint32_t ctz_checked(uint32_t value) {
+        if (sizeof(unsigned int) == sizeof(uint32_t)) {
+            return __builtin_ctz(value);
+        } else {
+            return __builtin_ctzl(value);
+        }
+    }
+};
+
+ANDROID_BASIC_TYPES_TRAITS(BitSet32)
+
+// A simple set of 64 bits that can be individually marked or cleared.
+struct BitSet64 {
+    uint64_t value;
+
+    inline BitSet64() : value(0ULL) { }
+    explicit inline BitSet64(uint64_t value) : value(value) { }
+
+    // Gets the value associated with a particular bit index.
+    static inline uint64_t valueForBit(uint32_t n) { return 0x8000000000000000ULL >> n; }
+
+    // Clears the bit set.
+    inline void clear() { clear(value); }
+
+    static inline void clear(uint64_t& value) { value = 0ULL; }
+
+    // Returns the number of marked bits in the set.
+    inline uint32_t count() const { return count(value); }
+
+    static inline uint32_t count(uint64_t value) { return __builtin_popcountll(value); }
+
+    // Returns true if the bit set does not contain any marked bits.
+    inline bool isEmpty() const { return isEmpty(value); }
+
+    static inline bool isEmpty(uint64_t value) { return ! value; }
+
+    // Returns true if the bit set does not contain any unmarked bits.
+    inline bool isFull() const { return isFull(value); }
+
+    static inline bool isFull(uint64_t value) { return value == 0xffffffffffffffffULL; }
+
+    // Returns true if the specified bit is marked.
+    inline bool hasBit(uint32_t n) const { return hasBit(value, n); }
+
+    static inline bool hasBit(uint64_t value, uint32_t n) { return value & valueForBit(n); }
+
+    // Marks the specified bit.
+    inline void markBit(uint32_t n) { markBit(value, n); }
+
+    static inline void markBit(uint64_t& value, uint32_t n) { value |= valueForBit(n); }
+
+    // Clears the specified bit.
+    inline void clearBit(uint32_t n) { clearBit(value, n); }
+
+    static inline void clearBit(uint64_t& value, uint32_t n) { value &= ~ valueForBit(n); }
+
+    // Finds the first marked bit in the set.
+    // Result is undefined if all bits are unmarked.
+    inline uint32_t firstMarkedBit() const { return firstMarkedBit(value); }
+
+    static inline uint32_t firstMarkedBit(uint64_t value) { return __builtin_clzll(value); }
+
+    // Finds the first unmarked bit in the set.
+    // Result is undefined if all bits are marked.
+    inline uint32_t firstUnmarkedBit() const { return firstUnmarkedBit(value); }
+
+    static inline uint32_t firstUnmarkedBit(uint64_t value) { return __builtin_clzll(~ value); }
+
+    // Finds the last marked bit in the set.
+    // Result is undefined if all bits are unmarked.
+    inline uint32_t lastMarkedBit() const { return lastMarkedBit(value); }
+
+    static inline uint32_t lastMarkedBit(uint64_t value) { return 63 - __builtin_ctzll(value); }
+
+    // Finds the first marked bit in the set and clears it.  Returns the bit index.
+    // Result is undefined if all bits are unmarked.
+    inline uint32_t clearFirstMarkedBit() { return clearFirstMarkedBit(value); }
+
+    static inline uint32_t clearFirstMarkedBit(uint64_t& value) {
+        uint64_t n = firstMarkedBit(value);
+        clearBit(value, n);
+        return n;
+    }
+
+    // Finds the first unmarked bit in the set and marks it.  Returns the bit index.
+    // Result is undefined if all bits are marked.
+    inline uint32_t markFirstUnmarkedBit() { return markFirstUnmarkedBit(value); }
+
+    static inline uint32_t markFirstUnmarkedBit(uint64_t& value) {
+        uint64_t n = firstUnmarkedBit(value);
+        markBit(value, n);
+        return n;
+    }
+
+    // Finds the last marked bit in the set and clears it.  Returns the bit index.
+    // Result is undefined if all bits are unmarked.
+    inline uint32_t clearLastMarkedBit() { return clearLastMarkedBit(value); }
+
+    static inline uint32_t clearLastMarkedBit(uint64_t& value) {
+        uint64_t n = lastMarkedBit(value);
+        clearBit(value, n);
+        return n;
+    }
+
+    // Gets the index of the specified bit in the set, which is the number of
+    // marked bits that appear before the specified bit.
+    inline uint32_t getIndexOfBit(uint32_t n) const { return getIndexOfBit(value, n); }
+
+    static inline uint32_t getIndexOfBit(uint64_t value, uint32_t n) {
+        return __builtin_popcountll(value & ~(0xffffffffffffffffULL >> n));
+    }
+
+    inline bool operator== (const BitSet64& other) const { return value == other.value; }
+    inline bool operator!= (const BitSet64& other) const { return value != other.value; }
+    inline BitSet64 operator& (const BitSet64& other) const {
+        return BitSet64(value & other.value);
+    }
+    inline BitSet64& operator&= (const BitSet64& other) {
+        value &= other.value;
+        return *this;
+    }
+    inline BitSet64 operator| (const BitSet64& other) const {
+        return BitSet64(value | other.value);
+    }
+    inline BitSet64& operator|= (const BitSet64& other) {
+        value |= other.value;
+        return *this;
+    }
+};
+
+ANDROID_BASIC_TYPES_TRAITS(BitSet64)
+
+} // namespace android
+
+#endif // UTILS_BITSET_H
diff --git a/third_party/android_system_core/include/utils/BlobCache.h b/third_party/android_system_core/include/utils/BlobCache.h
new file mode 100644
index 0000000000..65dca9fb45
--- /dev/null
+++ b/third_party/android_system_core/include/utils/BlobCache.h
@@ -0,0 +1,249 @@
+/*
+ ** Copyright 2011, The Android Open Source Project
+ **
+ ** Licensed under the Apache License, Version 2.0 (the "License");
+ ** you may not use this file except in compliance with the License.
+ ** You may obtain a copy of the License at
+ **
+ **     http://www.apache.org/licenses/LICENSE-2.0
+ **
+ ** Unless required by applicable law or agreed to in writing, software
+ ** distributed under the License is distributed on an "AS IS" BASIS,
+ ** WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ ** See the License for the specific language governing permissions and
+ ** limitations under the License.
+ */
+
+#ifndef ANDROID_BLOB_CACHE_H
+#define ANDROID_BLOB_CACHE_H
+
+#include <stddef.h>
+
+#include <utils/Flattenable.h>
+#include <utils/RefBase.h>
+#include <utils/SortedVector.h>
+#include <utils/threads.h>
+
+namespace android {
+
+// A BlobCache is an in-memory cache for binary key/value pairs.  A BlobCache
+// does NOT provide any thread-safety guarantees.
+//
+// The cache contents can be serialized to an in-memory buffer or mmap'd file
+// and then reloaded in a subsequent execution of the program.  This
+// serialization is non-portable and the data should only be used by the device
+// that generated it.
+class BlobCache : public RefBase {
+
+public:
+
+    // Create an empty blob cache. The blob cache will cache key/value pairs
+    // with key and value sizes less than or equal to maxKeySize and
+    // maxValueSize, respectively. The total combined size of ALL cache entries
+    // (key sizes plus value sizes) will not exceed maxTotalSize.
+    BlobCache(size_t maxKeySize, size_t maxValueSize, size_t maxTotalSize);
+
+    // set inserts a new binary value into the cache and associates it with the
+    // given binary key.  If the key or value are too large for the cache then
+    // the cache remains unchanged.  This includes the case where a different
+    // value was previously associated with the given key - the old value will
+    // remain in the cache.  If the given key and value are small enough to be
+    // put in the cache (based on the maxKeySize, maxValueSize, and maxTotalSize
+    // values specified to the BlobCache constructor), then the key/value pair
+    // will be in the cache after set returns.  Note, however, that a subsequent
+    // call to set may evict old key/value pairs from the cache.
+    //
+    // Preconditions:
+    //   key != NULL
+    //   0 < keySize
+    //   value != NULL
+    //   0 < valueSize
+    void set(const void* key, size_t keySize, const void* value,
+            size_t valueSize);
+
+    // get retrieves from the cache the binary value associated with a given
+    // binary key.  If the key is present in the cache then the length of the
+    // binary value associated with that key is returned.  If the value argument
+    // is non-NULL and the size of the cached value is less than valueSize bytes
+    // then the cached value is copied into the buffer pointed to by the value
+    // argument.  If the key is not present in the cache then 0 is returned and
+    // the buffer pointed to by the value argument is not modified.
+    //
+    // Note that when calling get multiple times with the same key, the later
+    // calls may fail, returning 0, even if earlier calls succeeded.  The return
+    // value must be checked for each call.
+    //
+    // Preconditions:
+    //   key != NULL
+    //   0 < keySize
+    //   0 <= valueSize
+    size_t get(const void* key, size_t keySize, void* value, size_t valueSize);
+
+
+    // getFlattenedSize returns the number of bytes needed to store the entire
+    // serialized cache.
+    size_t getFlattenedSize() const;
+
+    // flatten serializes the current contents of the cache into the memory
+    // pointed to by 'buffer'.  The serialized cache contents can later be
+    // loaded into a BlobCache object using the unflatten method.  The contents
+    // of the BlobCache object will not be modified.
+    //
+    // Preconditions:
+    //   size >= this.getFlattenedSize()
+    status_t flatten(void* buffer, size_t size) const;
+
+    // unflatten replaces the contents of the cache with the serialized cache
+    // contents in the memory pointed to by 'buffer'.  The previous contents of
+    // the BlobCache will be evicted from the cache.  If an error occurs while
+    // unflattening the serialized cache contents then the BlobCache will be
+    // left in an empty state.
+    //
+    status_t unflatten(void const* buffer, size_t size);
+
+private:
+    // Copying is disallowed.
+    BlobCache(const BlobCache&);
+    void operator=(const BlobCache&);
+
+    // A random function helper to get around MinGW not having nrand48()
+    long int blob_random();
+
+    // clean evicts a randomly chosen set of entries from the cache such that
+    // the total size of all remaining entries is less than mMaxTotalSize/2.
+    void clean();
+
+    // isCleanable returns true if the cache is full enough for the clean method
+    // to have some effect, and false otherwise.
+    bool isCleanable() const;
+
+    // A Blob is an immutable sized unstructured data blob.
+    class Blob : public RefBase {
+    public:
+        Blob(const void* data, size_t size, bool copyData);
+        ~Blob();
+
+        bool operator<(const Blob& rhs) const;
+
+        const void* getData() const;
+        size_t getSize() const;
+
+    private:
+        // Copying is not allowed.
+        Blob(const Blob&);
+        void operator=(const Blob&);
+
+        // mData points to the buffer containing the blob data.
+        const void* mData;
+
+        // mSize is the size of the blob data in bytes.
+        size_t mSize;
+
+        // mOwnsData indicates whether or not this Blob object should free the
+        // memory pointed to by mData when the Blob gets destructed.
+        bool mOwnsData;
+    };
+
+    // A CacheEntry is a single key/value pair in the cache.
+    class CacheEntry {
+    public:
+        CacheEntry();
+        CacheEntry(const sp<Blob>& key, const sp<Blob>& value);
+        CacheEntry(const CacheEntry& ce);
+
+        bool operator<(const CacheEntry& rhs) const;
+        const CacheEntry& operator=(const CacheEntry&);
+
+        sp<Blob> getKey() const;
+        sp<Blob> getValue() const;
+
+        void setValue(const sp<Blob>& value);
+
+    private:
+
+        // mKey is the key that identifies the cache entry.
+        sp<Blob> mKey;
+
+        // mValue is the cached data associated with the key.
+        sp<Blob> mValue;
+    };
+
+    // A Header is the header for the entire BlobCache serialization format. No
+    // need to make this portable, so we simply write the struct out.
+    struct Header {
+        // mMagicNumber is the magic number that identifies the data as
+        // serialized BlobCache contents.  It must always contain 'Blb$'.
+        uint32_t mMagicNumber;
+
+        // mBlobCacheVersion is the serialization format version.
+        uint32_t mBlobCacheVersion;
+
+        // mDeviceVersion is the device-specific version of the cache.  This can
+        // be used to invalidate the cache.
+        uint32_t mDeviceVersion;
+
+        // mNumEntries is number of cache entries following the header in the
+        // data.
+        size_t mNumEntries;
+
+        // mBuildId is the build id of the device when the cache was created.
+        // When an update to the build happens (via an OTA or other update) this
+        // is used to invalidate the cache.
+        int mBuildIdLength;
+        char mBuildId[];
+    };
+
+    // An EntryHeader is the header for a serialized cache entry.  No need to
+    // make this portable, so we simply write the struct out.  Each EntryHeader
+    // is followed imediately by the key data and then the value data.
+    //
+    // The beginning of each serialized EntryHeader is 4-byte aligned, so the
+    // number of bytes that a serialized cache entry will occupy is:
+    //
+    //   ((sizeof(EntryHeader) + keySize + valueSize) + 3) & ~3
+    //
+    struct EntryHeader {
+        // mKeySize is the size of the entry key in bytes.
+        size_t mKeySize;
+
+        // mValueSize is the size of the entry value in bytes.
+        size_t mValueSize;
+
+        // mData contains both the key and value data for the cache entry.  The
+        // key comes first followed immediately by the value.
+        uint8_t mData[];
+    };
+
+    // mMaxKeySize is the maximum key size that will be cached. Calls to
+    // BlobCache::set with a keySize parameter larger than mMaxKeySize will
+    // simply not add the key/value pair to the cache.
+    const size_t mMaxKeySize;
+
+    // mMaxValueSize is the maximum value size that will be cached. Calls to
+    // BlobCache::set with a valueSize parameter larger than mMaxValueSize will
+    // simply not add the key/value pair to the cache.
+    const size_t mMaxValueSize;
+
+    // mMaxTotalSize is the maximum size that all cache entries can occupy. This
+    // includes space for both keys and values. When a call to BlobCache::set
+    // would otherwise cause this limit to be exceeded, either the key/value
+    // pair passed to BlobCache::set will not be cached or other cache entries
+    // will be evicted from the cache to make room for the new entry.
+    const size_t mMaxTotalSize;
+
+    // mTotalSize is the total combined size of all keys and values currently in
+    // the cache.
+    size_t mTotalSize;
+
+    // mRandState is the pseudo-random number generator state. It is passed to
+    // nrand48 to generate random numbers when needed.
+    unsigned short mRandState[3];
+
+    // mCacheEntries stores all the cache entries that are resident in memory.
+    // Cache entries are added to it by the 'set' method.
+    SortedVector<CacheEntry> mCacheEntries;
+};
+
+}
+
+#endif // ANDROID_BLOB_CACHE_H
diff --git a/third_party/android_system_core/include/utils/ByteOrder.h b/third_party/android_system_core/include/utils/ByteOrder.h
new file mode 100644
index 0000000000..baa3a83ddd
--- /dev/null
+++ b/third_party/android_system_core/include/utils/ByteOrder.h
@@ -0,0 +1,81 @@
+/*
+ * Copyright (C) 2006 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+//
+
+#ifndef _LIBS_UTILS_BYTE_ORDER_H
+#define _LIBS_UTILS_BYTE_ORDER_H
+
+#include <stdint.h>
+#include <sys/types.h>
+#ifdef HAVE_WINSOCK
+#include <winsock2.h>
+#else
+#include <netinet/in.h>
+#endif
+
+/*
+ * These macros are like the hton/ntoh byte swapping macros,
+ * except they allow you to swap to and from the "device" byte
+ * order.  The device byte order is the endianness of the target
+ * device -- for the ARM CPUs we use today, this is little endian.
+ *
+ * Note that the byte swapping functions have not been optimized
+ * much; performance is currently not an issue for them since the
+ * intent is to allow us to avoid byte swapping on the device.
+ */
+
+static inline uint32_t android_swap_long(uint32_t v)
+{
+    return (v<<24) | ((v<<8)&0x00FF0000) | ((v>>8)&0x0000FF00) | (v>>24);
+}
+
+static inline uint16_t android_swap_short(uint16_t v)
+{
+    return (v<<8) | (v>>8);
+}
+
+#define DEVICE_BYTE_ORDER LITTLE_ENDIAN
+
+#if BYTE_ORDER == DEVICE_BYTE_ORDER
+
+#define	dtohl(x)	(x)
+#define	dtohs(x)	(x)
+#define	htodl(x)	(x)
+#define	htods(x)	(x)
+
+#else
+
+#define	dtohl(x)	(android_swap_long(x))
+#define	dtohs(x)	(android_swap_short(x))
+#define	htodl(x)	(android_swap_long(x))
+#define	htods(x)	(android_swap_short(x))
+
+#endif
+
+#if BYTE_ORDER == LITTLE_ENDIAN
+#define fromlel(x) (x)
+#define fromles(x) (x)
+#define tolel(x) (x)
+#define toles(x) (x)
+#else
+#define fromlel(x) (android_swap_long(x))
+#define fromles(x) (android_swap_short(x))
+#define tolel(x) (android_swap_long(x))
+#define toles(x) (android_swap_short(x))
+#endif
+
+#endif // _LIBS_UTILS_BYTE_ORDER_H
diff --git a/third_party/android_system_core/include/utils/CallStack.h b/third_party/android_system_core/include/utils/CallStack.h
new file mode 100644
index 0000000000..27e89f4622
--- /dev/null
+++ b/third_party/android_system_core/include/utils/CallStack.h
@@ -0,0 +1,72 @@
+/*
+ * Copyright (C) 2007 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_CALLSTACK_H
+#define ANDROID_CALLSTACK_H
+
+#include <android/log.h>
+#include <backtrace/backtrace_constants.h>
+#include <utils/String8.h>
+#include <utils/Vector.h>
+
+#include <stdint.h>
+#include <sys/types.h>
+
+namespace android {
+
+class Printer;
+
+// Collect/print the call stack (function, file, line) traces for a single thread.
+class CallStack {
+public:
+    // Create an empty call stack. No-op.
+    CallStack();
+    // Create a callstack with the current thread's stack trace.
+    // Immediately dump it to logcat using the given logtag.
+    CallStack(const char* logtag, int32_t ignoreDepth=1);
+    ~CallStack();
+
+    // Reset the stack frames (same as creating an empty call stack).
+    void clear() { mFrameLines.clear(); }
+
+    // Immediately collect the stack traces for the specified thread.
+    // The default is to dump the stack of the current call.
+    void update(int32_t ignoreDepth=1, pid_t tid=BACKTRACE_CURRENT_THREAD);
+
+    // Dump a stack trace to the log using the supplied logtag.
+    void log(const char* logtag,
+             android_LogPriority priority = ANDROID_LOG_DEBUG,
+             const char* prefix = 0) const;
+
+    // Dump a stack trace to the specified file descriptor.
+    void dump(int fd, int indent = 0, const char* prefix = 0) const;
+
+    // Return a string (possibly very long) containing the complete stack trace.
+    String8 toString(const char* prefix = 0) const;
+
+    // Dump a serialized representation of the stack trace to the specified printer.
+    void print(Printer& printer) const;
+
+    // Get the count of stack frames that are in this call stack.
+    size_t size() const { return mFrameLines.size(); }
+
+private:
+    Vector<String8> mFrameLines;
+};
+
+}; // namespace android
+
+#endif // ANDROID_CALLSTACK_H
diff --git a/third_party/android_system_core/include/utils/Compat.h b/third_party/android_system_core/include/utils/Compat.h
new file mode 100644
index 0000000000..7d96310272
--- /dev/null
+++ b/third_party/android_system_core/include/utils/Compat.h
@@ -0,0 +1,78 @@
+/*
+ * Copyright (C) 2010 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef __LIB_UTILS_COMPAT_H
+#define __LIB_UTILS_COMPAT_H
+
+#include <unistd.h>
+
+#if defined(__APPLE__)
+
+/* Mac OS has always had a 64-bit off_t, so it doesn't have off64_t. */
+
+typedef off_t off64_t;
+
+static inline off64_t lseek64(int fd, off64_t offset, int whence) {
+    return lseek(fd, offset, whence);
+}
+
+static inline ssize_t pread64(int fd, void* buf, size_t nbytes, off64_t offset) {
+    return pread(fd, buf, nbytes, offset);
+}
+
+#endif /* __APPLE__ */
+
+#if defined(_WIN32)
+#define O_CLOEXEC O_NOINHERIT
+#define O_NOFOLLOW 0
+#define DEFFILEMODE 0666
+#endif /* _WIN32 */
+
+#if defined(_WIN32)
+#define ZD "%ld"
+#define ZD_TYPE long
+#else
+#define ZD "%zd"
+#define ZD_TYPE ssize_t
+#endif
+
+/*
+ * Needed for cases where something should be constexpr if possible, but not
+ * being constexpr is fine if in pre-C++11 code (such as a const static float
+ * member variable).
+ */
+#if __cplusplus >= 201103L
+#define CONSTEXPR constexpr
+#else
+#define CONSTEXPR
+#endif
+
+/*
+ * TEMP_FAILURE_RETRY is defined by some, but not all, versions of
+ * <unistd.h>. (Alas, it is not as standard as we'd hoped!) So, if it's
+ * not already defined, then define it here.
+ */
+#ifndef TEMP_FAILURE_RETRY
+/* Used to retry syscalls that can return EINTR. */
+#define TEMP_FAILURE_RETRY(exp) ({         \
+    typeof (exp) _rc;                      \
+    do {                                   \
+        _rc = (exp);                       \
+    } while (_rc == -1 && errno == EINTR); \
+    _rc; })
+#endif
+
+#endif /* __LIB_UTILS_COMPAT_H */
diff --git a/third_party/android_system_core/include/utils/Condition.h b/third_party/android_system_core/include/utils/Condition.h
new file mode 100644
index 0000000000..5a7251982a
--- /dev/null
+++ b/third_party/android_system_core/include/utils/Condition.h
@@ -0,0 +1,158 @@
+/*
+ * Copyright (C) 2007 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef _LIBS_UTILS_CONDITION_H
+#define _LIBS_UTILS_CONDITION_H
+
+#include <stdint.h>
+#include <sys/types.h>
+#include <time.h>
+
+#if !defined(_WIN32)
+# include <pthread.h>
+#endif
+
+#include <utils/Errors.h>
+#include <utils/Mutex.h>
+#include <utils/Timers.h>
+
+// ---------------------------------------------------------------------------
+namespace android {
+// ---------------------------------------------------------------------------
+
+/*
+ * Condition variable class.  The implementation is system-dependent.
+ *
+ * Condition variables are paired up with mutexes.  Lock the mutex,
+ * call wait(), then either re-wait() if things aren't quite what you want,
+ * or unlock the mutex and continue.  All threads calling wait() must
+ * use the same mutex for a given Condition.
+ */
+class Condition {
+public:
+    enum {
+        PRIVATE = 0,
+        SHARED = 1
+    };
+
+    enum WakeUpType {
+        WAKE_UP_ONE = 0,
+        WAKE_UP_ALL = 1
+    };
+
+    Condition();
+    Condition(int type);
+    ~Condition();
+    // Wait on the condition variable.  Lock the mutex before calling.
+    status_t wait(Mutex& mutex);
+    // same with relative timeout
+    status_t waitRelative(Mutex& mutex, nsecs_t reltime);
+    // Signal the condition variable, allowing exactly one thread to continue.
+    void signal();
+    // Signal the condition variable, allowing one or all threads to continue.
+    void signal(WakeUpType type) {
+        if (type == WAKE_UP_ONE) {
+            signal();
+        } else {
+            broadcast();
+        }
+    }
+    // Signal the condition variable, allowing all threads to continue.
+    void broadcast();
+
+private:
+#if !defined(_WIN32)
+    pthread_cond_t mCond;
+#else
+    void*   mState;
+#endif
+};
+
+// ---------------------------------------------------------------------------
+
+#if !defined(_WIN32)
+
+inline Condition::Condition() {
+    pthread_cond_init(&mCond, NULL);
+}
+inline Condition::Condition(int type) {
+    if (type == SHARED) {
+        pthread_condattr_t attr;
+        pthread_condattr_init(&attr);
+        pthread_condattr_setpshared(&attr, PTHREAD_PROCESS_SHARED);
+        pthread_cond_init(&mCond, &attr);
+        pthread_condattr_destroy(&attr);
+    } else {
+        pthread_cond_init(&mCond, NULL);
+    }
+}
+inline Condition::~Condition() {
+    pthread_cond_destroy(&mCond);
+}
+inline status_t Condition::wait(Mutex& mutex) {
+    return -pthread_cond_wait(&mCond, &mutex.mMutex);
+}
+inline status_t Condition::waitRelative(Mutex& mutex, nsecs_t reltime) {
+#if defined(HAVE_PTHREAD_COND_TIMEDWAIT_RELATIVE)
+    struct timespec ts;
+    ts.tv_sec  = reltime/1000000000;
+    ts.tv_nsec = reltime%1000000000;
+    return -pthread_cond_timedwait_relative_np(&mCond, &mutex.mMutex, &ts);
+#else // HAVE_PTHREAD_COND_TIMEDWAIT_RELATIVE
+    struct timespec ts;
+#if defined(__linux__)
+    clock_gettime(CLOCK_REALTIME, &ts);
+#else // __APPLE__
+    // we don't support the clocks here.
+    struct timeval t;
+    gettimeofday(&t, NULL);
+    ts.tv_sec = t.tv_sec;
+    ts.tv_nsec= t.tv_usec*1000;
+#endif
+    ts.tv_sec += reltime/1000000000;
+    ts.tv_nsec+= reltime%1000000000;
+    if (ts.tv_nsec >= 1000000000) {
+        ts.tv_nsec -= 1000000000;
+        ts.tv_sec  += 1;
+    }
+    return -pthread_cond_timedwait(&mCond, &mutex.mMutex, &ts);
+#endif // HAVE_PTHREAD_COND_TIMEDWAIT_RELATIVE
+}
+inline void Condition::signal() {
+    /*
+     * POSIX says pthread_cond_signal wakes up "one or more" waiting threads.
+     * However bionic follows the glibc guarantee which wakes up "exactly one"
+     * waiting thread.
+     *
+     * man 3 pthread_cond_signal
+     *   pthread_cond_signal restarts one of the threads that are waiting on
+     *   the condition variable cond. If no threads are waiting on cond,
+     *   nothing happens. If several threads are waiting on cond, exactly one
+     *   is restarted, but it is not specified which.
+     */
+    pthread_cond_signal(&mCond);
+}
+inline void Condition::broadcast() {
+    pthread_cond_broadcast(&mCond);
+}
+
+#endif // !defined(_WIN32)
+
+// ---------------------------------------------------------------------------
+}; // namespace android
+// ---------------------------------------------------------------------------
+
+#endif // _LIBS_UTILS_CONDITON_H
diff --git a/third_party/android_system_core/include/utils/Debug.h b/third_party/android_system_core/include/utils/Debug.h
new file mode 100644
index 0000000000..08893bdaaf
--- /dev/null
+++ b/third_party/android_system_core/include/utils/Debug.h
@@ -0,0 +1,48 @@
+/*
+ * Copyright (C) 2005 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_UTILS_DEBUG_H
+#define ANDROID_UTILS_DEBUG_H
+
+#include <stdint.h>
+#include <sys/types.h>
+
+namespace android {
+// ---------------------------------------------------------------------------
+
+#ifdef __cplusplus
+template<bool> struct CompileTimeAssert;
+template<> struct CompileTimeAssert<true> {};
+#define COMPILE_TIME_ASSERT(_exp) \
+    template class CompileTimeAssert< (_exp) >;
+#endif
+#define COMPILE_TIME_ASSERT_FUNCTION_SCOPE(_exp) \
+    CompileTimeAssert<( _exp )>();
+
+// ---------------------------------------------------------------------------
+
+#ifdef __cplusplus
+template<bool C, typename LSH, typename RHS> struct CompileTimeIfElse;
+template<typename LHS, typename RHS> 
+struct CompileTimeIfElse<true,  LHS, RHS> { typedef LHS TYPE; };
+template<typename LHS, typename RHS> 
+struct CompileTimeIfElse<false, LHS, RHS> { typedef RHS TYPE; };
+#endif
+
+// ---------------------------------------------------------------------------
+}; // namespace android
+
+#endif // ANDROID_UTILS_DEBUG_H
diff --git a/third_party/android_system_core/include/utils/Endian.h b/third_party/android_system_core/include/utils/Endian.h
new file mode 100644
index 0000000000..591cae0d34
--- /dev/null
+++ b/third_party/android_system_core/include/utils/Endian.h
@@ -0,0 +1,35 @@
+/*
+ * Copyright (C) 2005 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+//
+// Android endian-ness defines.
+//
+#ifndef _LIBS_UTILS_ENDIAN_H
+#define _LIBS_UTILS_ENDIAN_H
+
+#if defined(__APPLE__) || defined(_WIN32)
+
+#define __BIG_ENDIAN 0x1000
+#define __LITTLE_ENDIAN 0x0001
+#define __BYTE_ORDER __LITTLE_ENDIAN
+
+#else
+
+#include <endian.h>
+
+#endif
+
+#endif /*_LIBS_UTILS_ENDIAN_H*/
diff --git a/third_party/android_system_core/include/utils/Errors.h b/third_party/android_system_core/include/utils/Errors.h
new file mode 100644
index 0000000000..46173db4a3
--- /dev/null
+++ b/third_party/android_system_core/include/utils/Errors.h
@@ -0,0 +1,88 @@
+/*
+ * Copyright (C) 2007 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_ERRORS_H
+#define ANDROID_ERRORS_H
+
+#include <sys/types.h>
+#include <errno.h>
+
+namespace android {
+
+// use this type to return error codes
+#ifdef HAVE_MS_C_RUNTIME
+typedef int         status_t;
+#else
+typedef int32_t     status_t;
+#endif
+
+/* the MS C runtime lacks a few error codes */
+
+/*
+ * Error codes. 
+ * All error codes are negative values.
+ */
+
+// Win32 #defines NO_ERROR as well.  It has the same value, so there's no
+// real conflict, though it's a bit awkward.
+#ifdef _WIN32
+# undef NO_ERROR
+#endif
+
+enum {
+    OK                = 0,    // Everything's swell.
+    NO_ERROR          = 0,    // No errors.
+
+    UNKNOWN_ERROR       = (-2147483647-1), // INT32_MIN value
+
+    NO_MEMORY           = -ENOMEM,
+    INVALID_OPERATION   = -ENOSYS,
+    BAD_VALUE           = -EINVAL,
+    BAD_TYPE            = (UNKNOWN_ERROR + 1),
+    NAME_NOT_FOUND      = -ENOENT,
+    PERMISSION_DENIED   = -EPERM,
+    NO_INIT             = -ENODEV,
+    ALREADY_EXISTS      = -EEXIST,
+    DEAD_OBJECT         = -EPIPE,
+    FAILED_TRANSACTION  = (UNKNOWN_ERROR + 2),
+    JPARKS_BROKE_IT     = -EPIPE,
+#if !defined(HAVE_MS_C_RUNTIME)
+    BAD_INDEX           = -EOVERFLOW,
+    NOT_ENOUGH_DATA     = -ENODATA,
+    WOULD_BLOCK         = -EWOULDBLOCK, 
+    TIMED_OUT           = -ETIMEDOUT,
+    UNKNOWN_TRANSACTION = -EBADMSG,
+#else    
+    BAD_INDEX           = -E2BIG,
+    NOT_ENOUGH_DATA     = (UNKNOWN_ERROR + 3),
+    WOULD_BLOCK         = (UNKNOWN_ERROR + 4),
+    TIMED_OUT           = (UNKNOWN_ERROR + 5),
+    UNKNOWN_TRANSACTION = (UNKNOWN_ERROR + 6),
+#endif    
+    FDS_NOT_ALLOWED     = (UNKNOWN_ERROR + 7),
+};
+
+// Restore define; enumeration is in "android" namespace, so the value defined
+// there won't work for Win32 code in a different namespace.
+#ifdef _WIN32
+# define NO_ERROR 0L
+#endif
+
+}; // namespace android
+    
+// ---------------------------------------------------------------------------
+    
+#endif // ANDROID_ERRORS_H
diff --git a/third_party/android_system_core/include/utils/FileMap.h b/third_party/android_system_core/include/utils/FileMap.h
new file mode 100644
index 0000000000..f70fc927e4
--- /dev/null
+++ b/third_party/android_system_core/include/utils/FileMap.h
@@ -0,0 +1,126 @@
+/*
+ * Copyright (C) 2006 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+//
+// Encapsulate a shared file mapping.
+//
+#ifndef __LIBS_FILE_MAP_H
+#define __LIBS_FILE_MAP_H
+
+#include <sys/types.h>
+
+#include <utils/Compat.h>
+
+#if defined(__MINGW32__)
+// Ensure that we always pull in winsock2.h before windows.h
+#ifdef HAVE_WINSOCK
+#include <winsock2.h>
+#endif
+#include <windows.h>
+#endif
+
+namespace android {
+
+/*
+ * This represents a memory-mapped file.  It might be the entire file or
+ * only part of it.  This requires a little bookkeeping because the mapping
+ * needs to be aligned on page boundaries, and in some cases we'd like to
+ * have multiple references to the mapped area without creating additional
+ * maps.
+ *
+ * This always uses MAP_SHARED.
+ *
+ * TODO: we should be able to create a new FileMap that is a subset of
+ * an existing FileMap and shares the underlying mapped pages.  Requires
+ * completing the refcounting stuff and possibly introducing the notion
+ * of a FileMap hierarchy.
+ */
+class FileMap {
+public:
+    FileMap(void);
+
+    /*
+     * Create a new mapping on an open file.
+     *
+     * Closing the file descriptor does not unmap the pages, so we don't
+     * claim ownership of the fd.
+     *
+     * Returns "false" on failure.
+     */
+    bool create(const char* origFileName, int fd,
+                off64_t offset, size_t length, bool readOnly);
+
+    ~FileMap(void);
+
+    /*
+     * Return the name of the file this map came from, if known.
+     */
+    const char* getFileName(void) const { return mFileName; }
+    
+    /*
+     * Get a pointer to the piece of the file we requested.
+     */
+    void* getDataPtr(void) const { return mDataPtr; }
+
+    /*
+     * Get the length we requested.
+     */
+    size_t getDataLength(void) const { return mDataLength; }
+
+    /*
+     * Get the data offset used to create this map.
+     */
+    off64_t getDataOffset(void) const { return mDataOffset; }
+
+    /*
+     * This maps directly to madvise() values, but allows us to avoid
+     * including <sys/mman.h> everywhere.
+     */
+    enum MapAdvice {
+        NORMAL, RANDOM, SEQUENTIAL, WILLNEED, DONTNEED
+    };
+
+    /*
+     * Apply an madvise() call to the entire file.
+     *
+     * Returns 0 on success, -1 on failure.
+     */
+    int advise(MapAdvice advice);
+
+protected:
+
+private:
+    // these are not implemented
+    FileMap(const FileMap& src);
+    const FileMap& operator=(const FileMap& src);
+
+    char*       mFileName;      // original file name, if known
+    void*       mBasePtr;       // base of mmap area; page aligned
+    size_t      mBaseLength;    // length, measured from "mBasePtr"
+    off64_t     mDataOffset;    // offset used when map was created
+    void*       mDataPtr;       // start of requested data, offset from base
+    size_t      mDataLength;    // length, measured from "mDataPtr"
+#if defined(__MINGW32__)
+    HANDLE      mFileHandle;    // Win32 file handle
+    HANDLE      mFileMapping;   // Win32 file mapping handle
+#endif
+
+    static long mPageSize;
+};
+
+}; // namespace android
+
+#endif // __LIBS_FILE_MAP_H
diff --git a/third_party/android_system_core/include/utils/Flattenable.h b/third_party/android_system_core/include/utils/Flattenable.h
new file mode 100644
index 0000000000..882a8b2499
--- /dev/null
+++ b/third_party/android_system_core/include/utils/Flattenable.h
@@ -0,0 +1,198 @@
+/*
+ * Copyright (C) 2010 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_UTILS_FLATTENABLE_H
+#define ANDROID_UTILS_FLATTENABLE_H
+
+
+#include <stdint.h>
+#include <sys/types.h>
+#include <utils/Errors.h>
+#include <utils/Debug.h>
+
+namespace android {
+
+
+class FlattenableUtils {
+public:
+    template<int N>
+    static size_t align(size_t size) {
+        COMPILE_TIME_ASSERT_FUNCTION_SCOPE( !(N & (N-1)) );
+        return (size + (N-1)) & ~(N-1);
+    }
+
+    template<int N>
+    static size_t align(void const*& buffer) {
+        COMPILE_TIME_ASSERT_FUNCTION_SCOPE( !(N & (N-1)) );
+        intptr_t b = intptr_t(buffer);
+        buffer = (void*)((intptr_t(buffer) + (N-1)) & ~(N-1));
+        return size_t(intptr_t(buffer) - b);
+    }
+
+    template<int N>
+    static size_t align(void*& buffer) {
+        return align<N>( const_cast<void const*&>(buffer) );
+    }
+
+    static void advance(void*& buffer, size_t& size, size_t offset) {
+        buffer = reinterpret_cast<void*>( intptr_t(buffer) + offset );
+        size -= offset;
+    }
+
+    static void advance(void const*& buffer, size_t& size, size_t offset) {
+        buffer = reinterpret_cast<void const*>( intptr_t(buffer) + offset );
+        size -= offset;
+    }
+
+    // write a POD structure
+    template<typename T>
+    static void write(void*& buffer, size_t& size, const T& value) {
+        *static_cast<T*>(buffer) = value;
+        advance(buffer, size, sizeof(T));
+    }
+
+    // read a POD structure
+    template<typename T>
+    static void read(void const*& buffer, size_t& size, T& value) {
+        value = *static_cast<T const*>(buffer);
+        advance(buffer, size, sizeof(T));
+    }
+};
+
+
+/*
+ * The Flattenable protocol allows an object to serialize itself out
+ * to a byte-buffer and an array of file descriptors.
+ * Flattenable objects must implement this protocol.
+ */
+
+template <typename T>
+class Flattenable {
+public:
+    // size in bytes of the flattened object
+    inline size_t getFlattenedSize() const;
+
+    // number of file descriptors to flatten
+    inline size_t getFdCount() const;
+
+    // flattens the object into buffer.
+    // size should be at least of getFlattenedSize()
+    // file descriptors are written in the fds[] array but ownership is
+    // not transfered (ie: they must be dupped by the caller of
+    // flatten() if needed).
+    inline status_t flatten(void*& buffer, size_t& size, int*& fds, size_t& count) const;
+
+    // unflattens the object from buffer.
+    // size should be equal to the value of getFlattenedSize() when the
+    // object was flattened.
+    // unflattened file descriptors are found in the fds[] array and
+    // don't need to be dupped(). ie: the caller of unflatten doesn't
+    // keep ownership. If a fd is not retained by unflatten() it must be
+    // explicitly closed.
+    inline status_t unflatten(void const*& buffer, size_t& size, int const*& fds, size_t& count);
+};
+
+template<typename T>
+inline size_t Flattenable<T>::getFlattenedSize() const {
+    return static_cast<T const*>(this)->T::getFlattenedSize();
+}
+template<typename T>
+inline size_t Flattenable<T>::getFdCount() const {
+    return static_cast<T const*>(this)->T::getFdCount();
+}
+template<typename T>
+inline status_t Flattenable<T>::flatten(
+        void*& buffer, size_t& size, int*& fds, size_t& count) const {
+    return static_cast<T const*>(this)->T::flatten(buffer, size, fds, count);
+}
+template<typename T>
+inline status_t Flattenable<T>::unflatten(
+        void const*& buffer, size_t& size, int const*& fds, size_t& count) {
+    return static_cast<T*>(this)->T::unflatten(buffer, size, fds, count);
+}
+
+/*
+ * LightFlattenable is a protocol allowing object to serialize themselves out
+ * to a byte-buffer. Because it doesn't handle file-descriptors,
+ * LightFlattenable is usually more size efficient than Flattenable.
+ * LightFlattenable objects must implement this protocol.
+ */
+template <typename T>
+class LightFlattenable {
+public:
+    // returns whether this object always flatten into the same size.
+    // for efficiency, this should always be inline.
+    inline bool isFixedSize() const;
+
+    // returns size in bytes of the flattened object. must be a constant.
+    inline size_t getFlattenedSize() const;
+
+    // flattens the object into buffer.
+    inline status_t flatten(void* buffer, size_t size) const;
+
+    // unflattens the object from buffer of given size.
+    inline status_t unflatten(void const* buffer, size_t size);
+};
+
+template <typename T>
+inline bool LightFlattenable<T>::isFixedSize() const {
+    return static_cast<T const*>(this)->T::isFixedSize();
+}
+template <typename T>
+inline size_t LightFlattenable<T>::getFlattenedSize() const {
+    return static_cast<T const*>(this)->T::getFlattenedSize();
+}
+template <typename T>
+inline status_t LightFlattenable<T>::flatten(void* buffer, size_t size) const {
+    return static_cast<T const*>(this)->T::flatten(buffer, size);
+}
+template <typename T>
+inline status_t LightFlattenable<T>::unflatten(void const* buffer, size_t size) {
+    return static_cast<T*>(this)->T::unflatten(buffer, size);
+}
+
+/*
+ * LightFlattenablePod is an implementation of the LightFlattenable protocol
+ * for POD (plain-old-data) objects.
+ * Simply derive from LightFlattenablePod<Foo> to make Foo flattenable; no
+ * need to implement any methods; obviously Foo must be a POD structure.
+ */
+template <typename T>
+class LightFlattenablePod : public LightFlattenable<T> {
+public:
+    inline bool isFixedSize() const {
+        return true;
+    }
+
+    inline size_t getFlattenedSize() const {
+        return sizeof(T);
+    }
+    inline status_t flatten(void* buffer, size_t size) const {
+        if (size < sizeof(T)) return NO_MEMORY;
+        *reinterpret_cast<T*>(buffer) = *static_cast<T const*>(this);
+        return NO_ERROR;
+    }
+    inline status_t unflatten(void const* buffer, size_t) {
+        *static_cast<T*>(this) = *reinterpret_cast<T const*>(buffer);
+        return NO_ERROR;
+    }
+};
+
+
+}; // namespace android
+
+
+#endif /* ANDROID_UTILS_FLATTENABLE_H */
diff --git a/third_party/android_system_core/include/utils/Functor.h b/third_party/android_system_core/include/utils/Functor.h
new file mode 100644
index 0000000000..09ea614b61
--- /dev/null
+++ b/third_party/android_system_core/include/utils/Functor.h
@@ -0,0 +1,33 @@
+/*
+ * Copyright (C) 2011 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_FUNCTOR_H
+#define ANDROID_FUNCTOR_H
+
+#include <utils/Errors.h>
+
+namespace  android {
+
+class Functor {
+public:
+    Functor() {}
+    virtual ~Functor() {}
+    virtual status_t operator ()(int /*what*/, void* /*data*/) { return NO_ERROR; }
+};
+
+}; // namespace android
+
+#endif // ANDROID_FUNCTOR_H
diff --git a/third_party/android_system_core/include/utils/JenkinsHash.h b/third_party/android_system_core/include/utils/JenkinsHash.h
new file mode 100644
index 0000000000..7da5dbd6a9
--- /dev/null
+++ b/third_party/android_system_core/include/utils/JenkinsHash.h
@@ -0,0 +1,48 @@
+/*
+ * Copyright (C) 2012 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+/* Implementation of Jenkins one-at-a-time hash function. These choices are
+ * optimized for code size and portability, rather than raw speed. But speed
+ * should still be quite good.
+ **/
+
+#ifndef ANDROID_JENKINS_HASH_H
+#define ANDROID_JENKINS_HASH_H
+
+#include <utils/TypeHelpers.h>
+
+namespace android {
+
+/* The Jenkins hash of a sequence of 32 bit words A, B, C is:
+ * Whiten(Mix(Mix(Mix(0, A), B), C)) */
+
+inline uint32_t JenkinsHashMix(uint32_t hash, uint32_t data) {
+    hash += data;
+    hash += (hash << 10);
+    hash ^= (hash >> 6);
+    return hash;
+}
+
+hash_t JenkinsHashWhiten(uint32_t hash);
+
+/* Helpful utility functions for hashing data in 32 bit chunks */
+uint32_t JenkinsHashMixBytes(uint32_t hash, const uint8_t* bytes, size_t size);
+
+uint32_t JenkinsHashMixShorts(uint32_t hash, const uint16_t* shorts, size_t size);
+
+}
+
+#endif // ANDROID_JENKINS_HASH_H
diff --git a/third_party/android_system_core/include/utils/KeyedVector.h b/third_party/android_system_core/include/utils/KeyedVector.h
new file mode 100644
index 0000000000..c4faae0b76
--- /dev/null
+++ b/third_party/android_system_core/include/utils/KeyedVector.h
@@ -0,0 +1,224 @@
+/*
+ * Copyright (C) 2005 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_KEYED_VECTOR_H
+#define ANDROID_KEYED_VECTOR_H
+
+#include <assert.h>
+#include <stdint.h>
+#include <sys/types.h>
+
+#include <cutils/log.h>
+
+#include <utils/SortedVector.h>
+#include <utils/TypeHelpers.h>
+#include <utils/Errors.h>
+
+// ---------------------------------------------------------------------------
+
+namespace android {
+
+template <typename KEY, typename VALUE>
+class KeyedVector
+{
+public:
+    typedef KEY    key_type;
+    typedef VALUE  value_type;
+
+    inline                  KeyedVector();
+
+    /*
+     * empty the vector
+     */
+
+    inline  void            clear()                     { mVector.clear(); }
+
+    /*! 
+     * vector stats
+     */
+
+    //! returns number of items in the vector
+    inline  size_t          size() const                { return mVector.size(); }
+    //! returns whether or not the vector is empty
+    inline  bool            isEmpty() const             { return mVector.isEmpty(); }
+    //! returns how many items can be stored without reallocating the backing store
+    inline  size_t          capacity() const            { return mVector.capacity(); }
+    //! sets the capacity. capacity can never be reduced less than size()
+    inline ssize_t          setCapacity(size_t size)    { return mVector.setCapacity(size); }
+
+    // returns true if the arguments is known to be identical to this vector
+    inline bool isIdenticalTo(const KeyedVector& rhs) const;
+
+    /*! 
+     * accessors
+     */
+            const VALUE&    valueFor(const KEY& key) const;
+            const VALUE&    valueAt(size_t index) const;
+            const KEY&      keyAt(size_t index) const;
+            ssize_t         indexOfKey(const KEY& key) const;
+            const VALUE&    operator[] (size_t index) const;
+
+    /*!
+     * modifying the array
+     */
+
+            VALUE&          editValueFor(const KEY& key);
+            VALUE&          editValueAt(size_t index);
+
+            /*! 
+             * add/insert/replace items
+             */
+             
+            ssize_t         add(const KEY& key, const VALUE& item);
+            ssize_t         replaceValueFor(const KEY& key, const VALUE& item);
+            ssize_t         replaceValueAt(size_t index, const VALUE& item);
+
+    /*!
+     * remove items
+     */
+
+            ssize_t         removeItem(const KEY& key);
+            ssize_t         removeItemsAt(size_t index, size_t count = 1);
+            
+private:
+            SortedVector< key_value_pair_t<KEY, VALUE> >    mVector;
+};
+
+// KeyedVector<KEY, VALUE> can be trivially moved using memcpy() because its
+// underlying SortedVector can be trivially moved.
+template<typename KEY, typename VALUE> struct trait_trivial_move<KeyedVector<KEY, VALUE> > {
+    enum { value = trait_trivial_move<SortedVector< key_value_pair_t<KEY, VALUE> > >::value };
+};
+
+
+// ---------------------------------------------------------------------------
+
+/**
+ * Variation of KeyedVector that holds a default value to return when
+ * valueFor() is called with a key that doesn't exist.
+ */
+template <typename KEY, typename VALUE>
+class DefaultKeyedVector : public KeyedVector<KEY, VALUE>
+{
+public:
+    inline                  DefaultKeyedVector(const VALUE& defValue = VALUE());
+            const VALUE&    valueFor(const KEY& key) const;
+
+private:
+            VALUE                                           mDefault;
+};
+
+// ---------------------------------------------------------------------------
+
+template<typename KEY, typename VALUE> inline
+KeyedVector<KEY,VALUE>::KeyedVector()
+{
+}
+
+template<typename KEY, typename VALUE> inline
+bool KeyedVector<KEY,VALUE>::isIdenticalTo(const KeyedVector<KEY,VALUE>& rhs) const {
+    return mVector.array() == rhs.mVector.array();
+}
+
+template<typename KEY, typename VALUE> inline
+ssize_t KeyedVector<KEY,VALUE>::indexOfKey(const KEY& key) const {
+    return mVector.indexOf( key_value_pair_t<KEY,VALUE>(key) );
+}
+
+template<typename KEY, typename VALUE> inline
+const VALUE& KeyedVector<KEY,VALUE>::valueFor(const KEY& key) const {
+    ssize_t i = this->indexOfKey(key);
+    LOG_ALWAYS_FATAL_IF(i<0, "%s: key not found", __PRETTY_FUNCTION__);
+    return mVector.itemAt(i).value;
+}
+
+template<typename KEY, typename VALUE> inline
+const VALUE& KeyedVector<KEY,VALUE>::valueAt(size_t index) const {
+    return mVector.itemAt(index).value;
+}
+
+template<typename KEY, typename VALUE> inline
+const VALUE& KeyedVector<KEY,VALUE>::operator[] (size_t index) const {
+    return valueAt(index);
+}
+
+template<typename KEY, typename VALUE> inline
+const KEY& KeyedVector<KEY,VALUE>::keyAt(size_t index) const {
+    return mVector.itemAt(index).key;
+}
+
+template<typename KEY, typename VALUE> inline
+VALUE& KeyedVector<KEY,VALUE>::editValueFor(const KEY& key) {
+    ssize_t i = this->indexOfKey(key);
+    LOG_ALWAYS_FATAL_IF(i<0, "%s: key not found", __PRETTY_FUNCTION__);
+    return mVector.editItemAt(i).value;
+}
+
+template<typename KEY, typename VALUE> inline
+VALUE& KeyedVector<KEY,VALUE>::editValueAt(size_t index) {
+    return mVector.editItemAt(index).value;
+}
+
+template<typename KEY, typename VALUE> inline
+ssize_t KeyedVector<KEY,VALUE>::add(const KEY& key, const VALUE& value) {
+    return mVector.add( key_value_pair_t<KEY,VALUE>(key, value) );
+}
+
+template<typename KEY, typename VALUE> inline
+ssize_t KeyedVector<KEY,VALUE>::replaceValueFor(const KEY& key, const VALUE& value) {
+    key_value_pair_t<KEY,VALUE> pair(key, value);
+    mVector.remove(pair);
+    return mVector.add(pair);
+}
+
+template<typename KEY, typename VALUE> inline
+ssize_t KeyedVector<KEY,VALUE>::replaceValueAt(size_t index, const VALUE& item) {
+    if (index<size()) {
+        mVector.editItemAt(index).value = item;
+        return index;
+    }
+    return BAD_INDEX;
+}
+
+template<typename KEY, typename VALUE> inline
+ssize_t KeyedVector<KEY,VALUE>::removeItem(const KEY& key) {
+    return mVector.remove(key_value_pair_t<KEY,VALUE>(key));
+}
+
+template<typename KEY, typename VALUE> inline
+ssize_t KeyedVector<KEY, VALUE>::removeItemsAt(size_t index, size_t count) {
+    return mVector.removeItemsAt(index, count);
+}
+
+// ---------------------------------------------------------------------------
+
+template<typename KEY, typename VALUE> inline
+DefaultKeyedVector<KEY,VALUE>::DefaultKeyedVector(const VALUE& defValue)
+    : mDefault(defValue)
+{
+}
+
+template<typename KEY, typename VALUE> inline
+const VALUE& DefaultKeyedVector<KEY,VALUE>::valueFor(const KEY& key) const {
+    ssize_t i = this->indexOfKey(key);
+    return i >= 0 ? KeyedVector<KEY,VALUE>::valueAt(i) : mDefault;
+}
+
+}; // namespace android
+
+// ---------------------------------------------------------------------------
+
+#endif // ANDROID_KEYED_VECTOR_H
diff --git a/third_party/android_system_core/include/utils/LinearTransform.h b/third_party/android_system_core/include/utils/LinearTransform.h
new file mode 100644
index 0000000000..04cb355c7f
--- /dev/null
+++ b/third_party/android_system_core/include/utils/LinearTransform.h
@@ -0,0 +1,64 @@
+/*
+ * Copyright (C) 2011 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef _LIBS_UTILS_LINEAR_TRANSFORM_H
+#define _LIBS_UTILS_LINEAR_TRANSFORM_H
+
+#include <stdint.h>
+
+namespace android {
+
+// LinearTransform defines a structure which hold the definition of a
+// transformation from single dimensional coordinate system A into coordinate
+// system B (and back again).  Values in A and in B are 64 bit, the linear
+// scale factor is expressed as a rational number using two 32 bit values.
+//
+// Specifically, let
+// f(a) = b
+// F(b) = f^-1(b) = a
+// then
+//
+// f(a) = (((a - a_zero) * a_to_b_numer) / a_to_b_denom) + b_zero;
+//
+// and
+//
+// F(b) = (((b - b_zero) * a_to_b_denom) / a_to_b_numer) + a_zero;
+//
+struct LinearTransform {
+  int64_t  a_zero;
+  int64_t  b_zero;
+  int32_t  a_to_b_numer;
+  uint32_t a_to_b_denom;
+
+  // Transform from A->B
+  // Returns true on success, or false in the case of a singularity or an
+  // overflow.
+  bool doForwardTransform(int64_t a_in, int64_t* b_out) const;
+
+  // Transform from B->A
+  // Returns true on success, or false in the case of a singularity or an
+  // overflow.
+  bool doReverseTransform(int64_t b_in, int64_t* a_out) const;
+
+  // Helpers which will reduce the fraction N/D using Euclid's method.
+  template <class T> static void reduce(T* N, T* D);
+  static void reduce(int32_t* N, uint32_t* D);
+};
+
+
+}
+
+#endif  // _LIBS_UTILS_LINEAR_TRANSFORM_H
diff --git a/third_party/android_system_core/include/utils/List.h b/third_party/android_system_core/include/utils/List.h
new file mode 100644
index 0000000000..403cd7f1e5
--- /dev/null
+++ b/third_party/android_system_core/include/utils/List.h
@@ -0,0 +1,332 @@
+/*
+ * Copyright (C) 2005 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+//
+// Templated list class.  Normally we'd use STL, but we don't have that.
+// This class mimics STL's interfaces.
+//
+// Objects are copied into the list with the '=' operator or with copy-
+// construction, so if the compiler's auto-generated versions won't work for
+// you, define your own.
+//
+// The only class you want to use from here is "List".
+//
+#ifndef _LIBS_UTILS_LIST_H
+#define _LIBS_UTILS_LIST_H
+
+#include <stddef.h>
+#include <stdint.h>
+
+namespace android {
+
+/*
+ * Doubly-linked list.  Instantiate with "List<MyClass> myList".
+ *
+ * Objects added to the list are copied using the assignment operator,
+ * so this must be defined.
+ */
+template<typename T> 
+class List 
+{
+protected:
+    /*
+     * One element in the list.
+     */
+    class _Node {
+    public:
+        explicit _Node(const T& val) : mVal(val) {}
+        ~_Node() {}
+        inline T& getRef() { return mVal; }
+        inline const T& getRef() const { return mVal; }
+        inline _Node* getPrev() const { return mpPrev; }
+        inline _Node* getNext() const { return mpNext; }
+        inline void setVal(const T& val) { mVal = val; }
+        inline void setPrev(_Node* ptr) { mpPrev = ptr; }
+        inline void setNext(_Node* ptr) { mpNext = ptr; }
+    private:
+        friend class List;
+        friend class _ListIterator;
+        T           mVal;
+        _Node*      mpPrev;
+        _Node*      mpNext;
+    };
+
+    /*
+     * Iterator for walking through the list.
+     */
+    
+    template <typename TYPE>
+    struct CONST_ITERATOR {
+        typedef _Node const * NodePtr;
+        typedef const TYPE Type;
+    };
+    
+    template <typename TYPE>
+    struct NON_CONST_ITERATOR {
+        typedef _Node* NodePtr;
+        typedef TYPE Type;
+    };
+    
+    template<
+        typename U,
+        template <class> class Constness
+    > 
+    class _ListIterator {
+        typedef _ListIterator<U, Constness>     _Iter;
+        typedef typename Constness<U>::NodePtr  _NodePtr;
+        typedef typename Constness<U>::Type     _Type;
+
+        explicit _ListIterator(_NodePtr ptr) : mpNode(ptr) {}
+
+    public:
+        _ListIterator() {}
+        _ListIterator(const _Iter& rhs) : mpNode(rhs.mpNode) {}
+        ~_ListIterator() {}
+        
+        // this will handle conversions from iterator to const_iterator
+        // (and also all convertible iterators)
+        // Here, in this implementation, the iterators can be converted
+        // if the nodes can be converted
+        template<typename V> explicit 
+        _ListIterator(const V& rhs) : mpNode(rhs.mpNode) {}
+        
+
+        /*
+         * Dereference operator.  Used to get at the juicy insides.
+         */
+        _Type& operator*() const { return mpNode->getRef(); }
+        _Type* operator->() const { return &(mpNode->getRef()); }
+
+        /*
+         * Iterator comparison.
+         */
+        inline bool operator==(const _Iter& right) const { 
+            return mpNode == right.mpNode; }
+        
+        inline bool operator!=(const _Iter& right) const { 
+            return mpNode != right.mpNode; }
+
+        /*
+         * handle comparisons between iterator and const_iterator
+         */
+        template<typename OTHER>
+        inline bool operator==(const OTHER& right) const { 
+            return mpNode == right.mpNode; }
+        
+        template<typename OTHER>
+        inline bool operator!=(const OTHER& right) const { 
+            return mpNode != right.mpNode; }
+
+        /*
+         * Incr/decr, used to move through the list.
+         */
+        inline _Iter& operator++() {     // pre-increment
+            mpNode = mpNode->getNext();
+            return *this;
+        }
+        const _Iter operator++(int) {    // post-increment
+            _Iter tmp(*this);
+            mpNode = mpNode->getNext();
+            return tmp;
+        }
+        inline _Iter& operator--() {     // pre-increment
+            mpNode = mpNode->getPrev();
+            return *this;
+        }
+        const _Iter operator--(int) {   // post-increment
+            _Iter tmp(*this);
+            mpNode = mpNode->getPrev();
+            return tmp;
+        }
+
+        inline _NodePtr getNode() const { return mpNode; }
+
+        _NodePtr mpNode;    /* should be private, but older gcc fails */
+    private:
+        friend class List;
+    };
+
+public:
+    List() {
+        prep();
+    }
+    List(const List<T>& src) {      // copy-constructor
+        prep();
+        insert(begin(), src.begin(), src.end());
+    }
+    virtual ~List() {
+        clear();
+        delete[] (unsigned char*) mpMiddle;
+    }
+
+    typedef _ListIterator<T, NON_CONST_ITERATOR> iterator;
+    typedef _ListIterator<T, CONST_ITERATOR> const_iterator;
+
+    List<T>& operator=(const List<T>& right);
+
+    /* returns true if the list is empty */
+    inline bool empty() const { return mpMiddle->getNext() == mpMiddle; }
+
+    /* return #of elements in list */
+    size_t size() const {
+        return size_t(distance(begin(), end()));
+    }
+
+    /*
+     * Return the first element or one past the last element.  The
+     * _Node* we're returning is converted to an "iterator" by a
+     * constructor in _ListIterator.
+     */
+    inline iterator begin() { 
+        return iterator(mpMiddle->getNext()); 
+    }
+    inline const_iterator begin() const { 
+        return const_iterator(const_cast<_Node const*>(mpMiddle->getNext())); 
+    }
+    inline iterator end() { 
+        return iterator(mpMiddle); 
+    }
+    inline const_iterator end() const { 
+        return const_iterator(const_cast<_Node const*>(mpMiddle)); 
+    }
+
+    /* add the object to the head or tail of the list */
+    void push_front(const T& val) { insert(begin(), val); }
+    void push_back(const T& val) { insert(end(), val); }
+
+    /* insert before the current node; returns iterator at new node */
+    iterator insert(iterator posn, const T& val) 
+    {
+        _Node* newNode = new _Node(val);        // alloc & copy-construct
+        newNode->setNext(posn.getNode());
+        newNode->setPrev(posn.getNode()->getPrev());
+        posn.getNode()->getPrev()->setNext(newNode);
+        posn.getNode()->setPrev(newNode);
+        return iterator(newNode);
+    }
+
+    /* insert a range of elements before the current node */
+    void insert(iterator posn, const_iterator first, const_iterator last) {
+        for ( ; first != last; ++first)
+            insert(posn, *first);
+    }
+
+    /* remove one entry; returns iterator at next node */
+    iterator erase(iterator posn) {
+        _Node* pNext = posn.getNode()->getNext();
+        _Node* pPrev = posn.getNode()->getPrev();
+        pPrev->setNext(pNext);
+        pNext->setPrev(pPrev);
+        delete posn.getNode();
+        return iterator(pNext);
+    }
+
+    /* remove a range of elements */
+    iterator erase(iterator first, iterator last) {
+        while (first != last)
+            erase(first++);     // don't erase than incr later!
+        return iterator(last);
+    }
+
+    /* remove all contents of the list */
+    void clear() {
+        _Node* pCurrent = mpMiddle->getNext();
+        _Node* pNext;
+
+        while (pCurrent != mpMiddle) {
+            pNext = pCurrent->getNext();
+            delete pCurrent;
+            pCurrent = pNext;
+        }
+        mpMiddle->setPrev(mpMiddle);
+        mpMiddle->setNext(mpMiddle);
+    }
+
+    /*
+     * Measure the distance between two iterators.  On exist, "first"
+     * will be equal to "last".  The iterators must refer to the same
+     * list.
+     *
+     * FIXME: This is actually a generic iterator function. It should be a 
+     * template function at the top-level with specializations for things like
+     * vector<>, which can just do pointer math). Here we limit it to
+     * _ListIterator of the same type but different constness.
+     */
+    template<
+        typename U,
+        template <class> class CL,
+        template <class> class CR
+    > 
+    ptrdiff_t distance(
+            _ListIterator<U, CL> first, _ListIterator<U, CR> last) const 
+    {
+        ptrdiff_t count = 0;
+        while (first != last) {
+            ++first;
+            ++count;
+        }
+        return count;
+    }
+
+private:
+    /*
+     * I want a _Node but don't need it to hold valid data.  More
+     * to the point, I don't want T's constructor to fire, since it
+     * might have side-effects or require arguments.  So, we do this
+     * slightly uncouth storage alloc.
+     */
+    void prep() {
+        mpMiddle = (_Node*) new unsigned char[sizeof(_Node)];
+        mpMiddle->setPrev(mpMiddle);
+        mpMiddle->setNext(mpMiddle);
+    }
+
+    /*
+     * This node plays the role of "pointer to head" and "pointer to tail".
+     * It sits in the middle of a circular list of nodes.  The iterator
+     * runs around the circle until it encounters this one.
+     */
+    _Node*      mpMiddle;
+};
+
+/*
+ * Assignment operator.
+ *
+ * The simplest way to do this would be to clear out the target list and
+ * fill it with the source.  However, we can speed things along by
+ * re-using existing elements.
+ */
+template<class T>
+List<T>& List<T>::operator=(const List<T>& right)
+{
+    if (this == &right)
+        return *this;       // self-assignment
+    iterator firstDst = begin();
+    iterator lastDst = end();
+    const_iterator firstSrc = right.begin();
+    const_iterator lastSrc = right.end();
+    while (firstSrc != lastSrc && firstDst != lastDst)
+        *firstDst++ = *firstSrc++;
+    if (firstSrc == lastSrc)        // ran out of elements in source?
+        erase(firstDst, lastDst);   // yes, erase any extras
+    else
+        insert(lastDst, firstSrc, lastSrc);     // copy remaining over
+    return *this;
+}
+
+}; // namespace android
+
+#endif // _LIBS_UTILS_LIST_H
diff --git a/third_party/android_system_core/include/utils/Log.h b/third_party/android_system_core/include/utils/Log.h
new file mode 100644
index 0000000000..4259c86d1a
--- /dev/null
+++ b/third_party/android_system_core/include/utils/Log.h
@@ -0,0 +1,71 @@
+/*
+ * Copyright (C) 2005 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+//
+// C/C++ logging functions.  See the logging documentation for API details.
+//
+// We'd like these to be available from C code (in case we import some from
+// somewhere), so this has a C interface.
+//
+// The output will be correct when the log file is shared between multiple
+// threads and/or multiple processes so long as the operating system
+// supports O_APPEND.  These calls have mutex-protected data structures
+// and so are NOT reentrant.  Do not use LOG in a signal handler.
+//
+#ifndef _LIBS_UTILS_LOG_H
+#define _LIBS_UTILS_LOG_H
+
+#include <cutils/log.h>
+#include <sys/types.h>
+
+#ifdef __cplusplus
+
+namespace android {
+
+/*
+ * A very simple utility that yells in the log when an operation takes too long.
+ */
+class LogIfSlow {
+public:
+    LogIfSlow(const char* tag, android_LogPriority priority,
+            int timeoutMillis, const char* message);
+    ~LogIfSlow();
+
+private:
+    const char* const mTag;
+    const android_LogPriority mPriority;
+    const int mTimeoutMillis;
+    const char* const mMessage;
+    const int64_t mStart;
+};
+
+/*
+ * Writes the specified debug log message if this block takes longer than the
+ * specified number of milliseconds to run.  Includes the time actually taken.
+ *
+ * {
+ *     ALOGD_IF_SLOW(50, "Excessive delay doing something.");
+ *     doSomething();
+ * }
+ */
+#define ALOGD_IF_SLOW(timeoutMillis, message) \
+    android::LogIfSlow _logIfSlow(LOG_TAG, ANDROID_LOG_DEBUG, timeoutMillis, message);
+
+} // namespace android
+
+#endif // __cplusplus
+
+#endif // _LIBS_UTILS_LOG_H
diff --git a/third_party/android_system_core/include/utils/Looper.h b/third_party/android_system_core/include/utils/Looper.h
new file mode 100644
index 0000000000..da2d5f2b5b
--- /dev/null
+++ b/third_party/android_system_core/include/utils/Looper.h
@@ -0,0 +1,487 @@
+/*
+ * Copyright (C) 2010 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef UTILS_LOOPER_H
+#define UTILS_LOOPER_H
+
+#include <utils/threads.h>
+#include <utils/RefBase.h>
+#include <utils/KeyedVector.h>
+#include <utils/Timers.h>
+
+#include <sys/epoll.h>
+
+namespace android {
+
+/*
+ * NOTE: Since Looper is used to implement the NDK ALooper, the Looper
+ * enums and the signature of Looper_callbackFunc need to align with
+ * that implementation.
+ */
+
+/**
+ * For callback-based event loops, this is the prototype of the function
+ * that is called when a file descriptor event occurs.
+ * It is given the file descriptor it is associated with,
+ * a bitmask of the poll events that were triggered (typically EVENT_INPUT),
+ * and the data pointer that was originally supplied.
+ *
+ * Implementations should return 1 to continue receiving callbacks, or 0
+ * to have this file descriptor and callback unregistered from the looper.
+ */
+typedef int (*Looper_callbackFunc)(int fd, int events, void* data);
+
+/**
+ * A message that can be posted to a Looper.
+ */
+struct Message {
+    Message() : what(0) { }
+    Message(int what) : what(what) { }
+
+    /* The message type. (interpretation is left up to the handler) */
+    int what;
+};
+
+
+/**
+ * Interface for a Looper message handler.
+ *
+ * The Looper holds a strong reference to the message handler whenever it has
+ * a message to deliver to it.  Make sure to call Looper::removeMessages
+ * to remove any pending messages destined for the handler so that the handler
+ * can be destroyed.
+ */
+class MessageHandler : public virtual RefBase {
+protected:
+    virtual ~MessageHandler() { }
+
+public:
+    /**
+     * Handles a message.
+     */
+    virtual void handleMessage(const Message& message) = 0;
+};
+
+
+/**
+ * A simple proxy that holds a weak reference to a message handler.
+ */
+class WeakMessageHandler : public MessageHandler {
+protected:
+    virtual ~WeakMessageHandler();
+
+public:
+    WeakMessageHandler(const wp<MessageHandler>& handler);
+    virtual void handleMessage(const Message& message);
+
+private:
+    wp<MessageHandler> mHandler;
+};
+
+
+/**
+ * A looper callback.
+ */
+class LooperCallback : public virtual RefBase {
+protected:
+    virtual ~LooperCallback() { }
+
+public:
+    /**
+     * Handles a poll event for the given file descriptor.
+     * It is given the file descriptor it is associated with,
+     * a bitmask of the poll events that were triggered (typically EVENT_INPUT),
+     * and the data pointer that was originally supplied.
+     *
+     * Implementations should return 1 to continue receiving callbacks, or 0
+     * to have this file descriptor and callback unregistered from the looper.
+     */
+    virtual int handleEvent(int fd, int events, void* data) = 0;
+};
+
+/**
+ * Wraps a Looper_callbackFunc function pointer.
+ */
+class SimpleLooperCallback : public LooperCallback {
+protected:
+    virtual ~SimpleLooperCallback();
+
+public:
+    SimpleLooperCallback(Looper_callbackFunc callback);
+    virtual int handleEvent(int fd, int events, void* data);
+
+private:
+    Looper_callbackFunc mCallback;
+};
+
+/**
+ * A polling loop that supports monitoring file descriptor events, optionally
+ * using callbacks.  The implementation uses epoll() internally.
+ *
+ * A looper can be associated with a thread although there is no requirement that it must be.
+ */
+class Looper : public RefBase {
+protected:
+    virtual ~Looper();
+
+public:
+    enum {
+        /**
+         * Result from Looper_pollOnce() and Looper_pollAll():
+         * The poll was awoken using wake() before the timeout expired
+         * and no callbacks were executed and no other file descriptors were ready.
+         */
+        POLL_WAKE = -1,
+
+        /**
+         * Result from Looper_pollOnce() and Looper_pollAll():
+         * One or more callbacks were executed.
+         */
+        POLL_CALLBACK = -2,
+
+        /**
+         * Result from Looper_pollOnce() and Looper_pollAll():
+         * The timeout expired.
+         */
+        POLL_TIMEOUT = -3,
+
+        /**
+         * Result from Looper_pollOnce() and Looper_pollAll():
+         * An error occurred.
+         */
+        POLL_ERROR = -4,
+    };
+
+    /**
+     * Flags for file descriptor events that a looper can monitor.
+     *
+     * These flag bits can be combined to monitor multiple events at once.
+     */
+    enum {
+        /**
+         * The file descriptor is available for read operations.
+         */
+        EVENT_INPUT = 1 << 0,
+
+        /**
+         * The file descriptor is available for write operations.
+         */
+        EVENT_OUTPUT = 1 << 1,
+
+        /**
+         * The file descriptor has encountered an error condition.
+         *
+         * The looper always sends notifications about errors; it is not necessary
+         * to specify this event flag in the requested event set.
+         */
+        EVENT_ERROR = 1 << 2,
+
+        /**
+         * The file descriptor was hung up.
+         * For example, indicates that the remote end of a pipe or socket was closed.
+         *
+         * The looper always sends notifications about hangups; it is not necessary
+         * to specify this event flag in the requested event set.
+         */
+        EVENT_HANGUP = 1 << 3,
+
+        /**
+         * The file descriptor is invalid.
+         * For example, the file descriptor was closed prematurely.
+         *
+         * The looper always sends notifications about invalid file descriptors; it is not necessary
+         * to specify this event flag in the requested event set.
+         */
+        EVENT_INVALID = 1 << 4,
+    };
+
+    enum {
+        /**
+         * Option for Looper_prepare: this looper will accept calls to
+         * Looper_addFd() that do not have a callback (that is provide NULL
+         * for the callback).  In this case the caller of Looper_pollOnce()
+         * or Looper_pollAll() MUST check the return from these functions to
+         * discover when data is available on such fds and process it.
+         */
+        PREPARE_ALLOW_NON_CALLBACKS = 1<<0
+    };
+
+    /**
+     * Creates a looper.
+     *
+     * If allowNonCallbaks is true, the looper will allow file descriptors to be
+     * registered without associated callbacks.  This assumes that the caller of
+     * pollOnce() is prepared to handle callback-less events itself.
+     */
+    Looper(bool allowNonCallbacks);
+
+    /**
+     * Returns whether this looper instance allows the registration of file descriptors
+     * using identifiers instead of callbacks.
+     */
+    bool getAllowNonCallbacks() const;
+
+    /**
+     * Waits for events to be available, with optional timeout in milliseconds.
+     * Invokes callbacks for all file descriptors on which an event occurred.
+     *
+     * If the timeout is zero, returns immediately without blocking.
+     * If the timeout is negative, waits indefinitely until an event appears.
+     *
+     * Returns POLL_WAKE if the poll was awoken using wake() before
+     * the timeout expired and no callbacks were invoked and no other file
+     * descriptors were ready.
+     *
+     * Returns POLL_CALLBACK if one or more callbacks were invoked.
+     *
+     * Returns POLL_TIMEOUT if there was no data before the given
+     * timeout expired.
+     *
+     * Returns POLL_ERROR if an error occurred.
+     *
+     * Returns a value >= 0 containing an identifier if its file descriptor has data
+     * and it has no callback function (requiring the caller here to handle it).
+     * In this (and only this) case outFd, outEvents and outData will contain the poll
+     * events and data associated with the fd, otherwise they will be set to NULL.
+     *
+     * This method does not return until it has finished invoking the appropriate callbacks
+     * for all file descriptors that were signalled.
+     */
+    int pollOnce(int timeoutMillis, int* outFd, int* outEvents, void** outData);
+    inline int pollOnce(int timeoutMillis) {
+        return pollOnce(timeoutMillis, NULL, NULL, NULL);
+    }
+
+    /**
+     * Like pollOnce(), but performs all pending callbacks until all
+     * data has been consumed or a file descriptor is available with no callback.
+     * This function will never return POLL_CALLBACK.
+     */
+    int pollAll(int timeoutMillis, int* outFd, int* outEvents, void** outData);
+    inline int pollAll(int timeoutMillis) {
+        return pollAll(timeoutMillis, NULL, NULL, NULL);
+    }
+
+    /**
+     * Wakes the poll asynchronously.
+     *
+     * This method can be called on any thread.
+     * This method returns immediately.
+     */
+    void wake();
+
+    /**
+     * Adds a new file descriptor to be polled by the looper.
+     * If the same file descriptor was previously added, it is replaced.
+     *
+     * "fd" is the file descriptor to be added.
+     * "ident" is an identifier for this event, which is returned from pollOnce().
+     * The identifier must be >= 0, or POLL_CALLBACK if providing a non-NULL callback.
+     * "events" are the poll events to wake up on.  Typically this is EVENT_INPUT.
+     * "callback" is the function to call when there is an event on the file descriptor.
+     * "data" is a private data pointer to supply to the callback.
+     *
+     * There are two main uses of this function:
+     *
+     * (1) If "callback" is non-NULL, then this function will be called when there is
+     * data on the file descriptor.  It should execute any events it has pending,
+     * appropriately reading from the file descriptor.  The 'ident' is ignored in this case.
+     *
+     * (2) If "callback" is NULL, the 'ident' will be returned by Looper_pollOnce
+     * when its file descriptor has data available, requiring the caller to take
+     * care of processing it.
+     *
+     * Returns 1 if the file descriptor was added, 0 if the arguments were invalid.
+     *
+     * This method can be called on any thread.
+     * This method may block briefly if it needs to wake the poll.
+     *
+     * The callback may either be specified as a bare function pointer or as a smart
+     * pointer callback object.  The smart pointer should be preferred because it is
+     * easier to avoid races when the callback is removed from a different thread.
+     * See removeFd() for details.
+     */
+    int addFd(int fd, int ident, int events, Looper_callbackFunc callback, void* data);
+    int addFd(int fd, int ident, int events, const sp<LooperCallback>& callback, void* data);
+
+    /**
+     * Removes a previously added file descriptor from the looper.
+     *
+     * When this method returns, it is safe to close the file descriptor since the looper
+     * will no longer have a reference to it.  However, it is possible for the callback to
+     * already be running or for it to run one last time if the file descriptor was already
+     * signalled.  Calling code is responsible for ensuring that this case is safely handled.
+     * For example, if the callback takes care of removing itself during its own execution either
+     * by returning 0 or by calling this method, then it can be guaranteed to not be invoked
+     * again at any later time unless registered anew.
+     *
+     * A simple way to avoid this problem is to use the version of addFd() that takes
+     * a sp<LooperCallback> instead of a bare function pointer.  The LooperCallback will
+     * be released at the appropriate time by the Looper.
+     *
+     * Returns 1 if the file descriptor was removed, 0 if none was previously registered.
+     *
+     * This method can be called on any thread.
+     * This method may block briefly if it needs to wake the poll.
+     */
+    int removeFd(int fd);
+
+    /**
+     * Enqueues a message to be processed by the specified handler.
+     *
+     * The handler must not be null.
+     * This method can be called on any thread.
+     */
+    void sendMessage(const sp<MessageHandler>& handler, const Message& message);
+
+    /**
+     * Enqueues a message to be processed by the specified handler after all pending messages
+     * after the specified delay.
+     *
+     * The time delay is specified in uptime nanoseconds.
+     * The handler must not be null.
+     * This method can be called on any thread.
+     */
+    void sendMessageDelayed(nsecs_t uptimeDelay, const sp<MessageHandler>& handler,
+            const Message& message);
+
+    /**
+     * Enqueues a message to be processed by the specified handler after all pending messages
+     * at the specified time.
+     *
+     * The time is specified in uptime nanoseconds.
+     * The handler must not be null.
+     * This method can be called on any thread.
+     */
+    void sendMessageAtTime(nsecs_t uptime, const sp<MessageHandler>& handler,
+            const Message& message);
+
+    /**
+     * Removes all messages for the specified handler from the queue.
+     *
+     * The handler must not be null.
+     * This method can be called on any thread.
+     */
+    void removeMessages(const sp<MessageHandler>& handler);
+
+    /**
+     * Removes all messages of a particular type for the specified handler from the queue.
+     *
+     * The handler must not be null.
+     * This method can be called on any thread.
+     */
+    void removeMessages(const sp<MessageHandler>& handler, int what);
+
+    /**
+     * Returns whether this looper's thread is currently polling for more work to do.
+     * This is a good signal that the loop is still alive rather than being stuck
+     * handling a callback.  Note that this method is intrinsically racy, since the
+     * state of the loop can change before you get the result back.
+     */
+    bool isPolling() const;
+
+    /**
+     * Prepares a looper associated with the calling thread, and returns it.
+     * If the thread already has a looper, it is returned.  Otherwise, a new
+     * one is created, associated with the thread, and returned.
+     *
+     * The opts may be PREPARE_ALLOW_NON_CALLBACKS or 0.
+     */
+    static sp<Looper> prepare(int opts);
+
+    /**
+     * Sets the given looper to be associated with the calling thread.
+     * If another looper is already associated with the thread, it is replaced.
+     *
+     * If "looper" is NULL, removes the currently associated looper.
+     */
+    static void setForThread(const sp<Looper>& looper);
+
+    /**
+     * Returns the looper associated with the calling thread, or NULL if
+     * there is not one.
+     */
+    static sp<Looper> getForThread();
+
+private:
+    struct Request {
+        int fd;
+        int ident;
+        int events;
+        int seq;
+        sp<LooperCallback> callback;
+        void* data;
+
+        void initEventItem(struct epoll_event* eventItem) const;
+    };
+
+    struct Response {
+        int events;
+        Request request;
+    };
+
+    struct MessageEnvelope {
+        MessageEnvelope() : uptime(0) { }
+
+        MessageEnvelope(nsecs_t uptime, const sp<MessageHandler> handler,
+                const Message& message) : uptime(uptime), handler(handler), message(message) {
+        }
+
+        nsecs_t uptime;
+        sp<MessageHandler> handler;
+        Message message;
+    };
+
+    const bool mAllowNonCallbacks; // immutable
+
+    int mWakeEventFd;  // immutable
+    Mutex mLock;
+
+    Vector<MessageEnvelope> mMessageEnvelopes; // guarded by mLock
+    bool mSendingMessage; // guarded by mLock
+
+    // Whether we are currently waiting for work.  Not protected by a lock,
+    // any use of it is racy anyway.
+    volatile bool mPolling;
+
+    int mEpollFd; // guarded by mLock but only modified on the looper thread
+    bool mEpollRebuildRequired; // guarded by mLock
+
+    // Locked list of file descriptor monitoring requests.
+    KeyedVector<int, Request> mRequests;  // guarded by mLock
+    int mNextRequestSeq;
+
+    // This state is only used privately by pollOnce and does not require a lock since
+    // it runs on a single thread.
+    Vector<Response> mResponses;
+    size_t mResponseIndex;
+    nsecs_t mNextMessageUptime; // set to LLONG_MAX when none
+
+    int pollInner(int timeoutMillis);
+    int removeFd(int fd, int seq);
+    void awoken();
+    void pushResponse(int events, const Request& request);
+    void rebuildEpollLocked();
+    void scheduleEpollRebuildLocked();
+
+    static void initTLSKey();
+    static void threadDestructor(void *st);
+    static void initEpollEvent(struct epoll_event* eventItem);
+};
+
+} // namespace android
+
+#endif // UTILS_LOOPER_H
diff --git a/third_party/android_system_core/include/utils/LruCache.h b/third_party/android_system_core/include/utils/LruCache.h
new file mode 100644
index 0000000000..cd9d7f94a0
--- /dev/null
+++ b/third_party/android_system_core/include/utils/LruCache.h
@@ -0,0 +1,250 @@
+/*
+ * Copyright (C) 2012 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_UTILS_LRU_CACHE_H
+#define ANDROID_UTILS_LRU_CACHE_H
+
+#include <UniquePtr.h>
+#include <utils/BasicHashtable.h>
+
+namespace android {
+
+/**
+ * GenerationCache callback used when an item is removed
+ */
+template<typename EntryKey, typename EntryValue>
+class OnEntryRemoved {
+public:
+    virtual ~OnEntryRemoved() { };
+    virtual void operator()(EntryKey& key, EntryValue& value) = 0;
+}; // class OnEntryRemoved
+
+template <typename TKey, typename TValue>
+class LruCache {
+public:
+    explicit LruCache(uint32_t maxCapacity);
+
+    enum Capacity {
+        kUnlimitedCapacity,
+    };
+
+    void setOnEntryRemovedListener(OnEntryRemoved<TKey, TValue>* listener);
+    size_t size() const;
+    const TValue& get(const TKey& key);
+    bool put(const TKey& key, const TValue& value);
+    bool remove(const TKey& key);
+    bool removeOldest();
+    void clear();
+    const TValue& peekOldestValue();
+
+    class Iterator {
+    public:
+        Iterator(const LruCache<TKey, TValue>& cache): mCache(cache), mIndex(-1) {
+        }
+
+        bool next() {
+            mIndex = mCache.mTable->next(mIndex);
+            return (ssize_t)mIndex != -1;
+        }
+
+        size_t index() const {
+            return mIndex;
+        }
+
+        const TValue& value() const {
+            return mCache.mTable->entryAt(mIndex).value;
+        }
+
+        const TKey& key() const {
+            return mCache.mTable->entryAt(mIndex).key;
+        }
+    private:
+        const LruCache<TKey, TValue>& mCache;
+        size_t mIndex;
+    };
+
+private:
+    LruCache(const LruCache& that);  // disallow copy constructor
+
+    struct Entry {
+        TKey key;
+        TValue value;
+        Entry* parent;
+        Entry* child;
+
+        Entry(TKey key_, TValue value_) : key(key_), value(value_), parent(NULL), child(NULL) {
+        }
+        const TKey& getKey() const { return key; }
+    };
+
+    void attachToCache(Entry& entry);
+    void detachFromCache(Entry& entry);
+    void rehash(size_t newCapacity);
+
+    UniquePtr<BasicHashtable<TKey, Entry> > mTable;
+    OnEntryRemoved<TKey, TValue>* mListener;
+    Entry* mOldest;
+    Entry* mYoungest;
+    uint32_t mMaxCapacity;
+    TValue mNullValue;
+};
+
+// Implementation is here, because it's fully templated
+template <typename TKey, typename TValue>
+LruCache<TKey, TValue>::LruCache(uint32_t maxCapacity)
+    : mTable(new BasicHashtable<TKey, Entry>)
+    , mListener(NULL)
+    , mOldest(NULL)
+    , mYoungest(NULL)
+    , mMaxCapacity(maxCapacity)
+    , mNullValue(NULL) {
+};
+
+template<typename K, typename V>
+void LruCache<K, V>::setOnEntryRemovedListener(OnEntryRemoved<K, V>* listener) {
+    mListener = listener;
+}
+
+template <typename TKey, typename TValue>
+size_t LruCache<TKey, TValue>::size() const {
+    return mTable->size();
+}
+
+template <typename TKey, typename TValue>
+const TValue& LruCache<TKey, TValue>::get(const TKey& key) {
+    hash_t hash = hash_type(key);
+    ssize_t index = mTable->find(-1, hash, key);
+    if (index == -1) {
+        return mNullValue;
+    }
+    Entry& entry = mTable->editEntryAt(index);
+    detachFromCache(entry);
+    attachToCache(entry);
+    return entry.value;
+}
+
+template <typename TKey, typename TValue>
+bool LruCache<TKey, TValue>::put(const TKey& key, const TValue& value) {
+    if (mMaxCapacity != kUnlimitedCapacity && size() >= mMaxCapacity) {
+        removeOldest();
+    }
+
+    hash_t hash = hash_type(key);
+    ssize_t index = mTable->find(-1, hash, key);
+    if (index >= 0) {
+        return false;
+    }
+    if (!mTable->hasMoreRoom()) {
+        rehash(mTable->capacity() * 2);
+    }
+
+    // Would it be better to initialize a blank entry and assign key, value?
+    Entry initEntry(key, value);
+    index = mTable->add(hash, initEntry);
+    Entry& entry = mTable->editEntryAt(index);
+    attachToCache(entry);
+    return true;
+}
+
+template <typename TKey, typename TValue>
+bool LruCache<TKey, TValue>::remove(const TKey& key) {
+    hash_t hash = hash_type(key);
+    ssize_t index = mTable->find(-1, hash, key);
+    if (index < 0) {
+        return false;
+    }
+    Entry& entry = mTable->editEntryAt(index);
+    if (mListener) {
+        (*mListener)(entry.key, entry.value);
+    }
+    detachFromCache(entry);
+    mTable->removeAt(index);
+    return true;
+}
+
+template <typename TKey, typename TValue>
+bool LruCache<TKey, TValue>::removeOldest() {
+    if (mOldest != NULL) {
+        return remove(mOldest->key);
+        // TODO: should probably abort if false
+    }
+    return false;
+}
+
+template <typename TKey, typename TValue>
+const TValue& LruCache<TKey, TValue>::peekOldestValue() {
+    if (mOldest) {
+        return mOldest->value;
+    }
+    return mNullValue;
+}
+
+template <typename TKey, typename TValue>
+void LruCache<TKey, TValue>::clear() {
+    if (mListener) {
+        for (Entry* p = mOldest; p != NULL; p = p->child) {
+            (*mListener)(p->key, p->value);
+        }
+    }
+    mYoungest = NULL;
+    mOldest = NULL;
+    mTable->clear();
+}
+
+template <typename TKey, typename TValue>
+void LruCache<TKey, TValue>::attachToCache(Entry& entry) {
+    if (mYoungest == NULL) {
+        mYoungest = mOldest = &entry;
+    } else {
+        entry.parent = mYoungest;
+        mYoungest->child = &entry;
+        mYoungest = &entry;
+    }
+}
+
+template <typename TKey, typename TValue>
+void LruCache<TKey, TValue>::detachFromCache(Entry& entry) {
+    if (entry.parent != NULL) {
+        entry.parent->child = entry.child;
+    } else {
+        mOldest = entry.child;
+    }
+    if (entry.child != NULL) {
+        entry.child->parent = entry.parent;
+    } else {
+        mYoungest = entry.parent;
+    }
+
+    entry.parent = NULL;
+    entry.child = NULL;
+}
+
+template <typename TKey, typename TValue>
+void LruCache<TKey, TValue>::rehash(size_t newCapacity) {
+    UniquePtr<BasicHashtable<TKey, Entry> > oldTable(mTable.release());
+    Entry* oldest = mOldest;
+
+    mOldest = NULL;
+    mYoungest = NULL;
+    mTable.reset(new BasicHashtable<TKey, Entry>(newCapacity));
+    for (Entry* p = oldest; p != NULL; p = p->child) {
+        put(p->key, p->value);
+    }
+}
+
+}
+
+#endif // ANDROID_UTILS_LRU_CACHE_H
diff --git a/third_party/android_system_core/include/utils/Mutex.h b/third_party/android_system_core/include/utils/Mutex.h
new file mode 100644
index 0000000000..757519b086
--- /dev/null
+++ b/third_party/android_system_core/include/utils/Mutex.h
@@ -0,0 +1,157 @@
+/*
+ * Copyright (C) 2007 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef _LIBS_UTILS_MUTEX_H
+#define _LIBS_UTILS_MUTEX_H
+
+#include <stdint.h>
+#include <sys/types.h>
+#include <time.h>
+
+#if !defined(_WIN32)
+# include <pthread.h>
+#endif
+
+#include <utils/Errors.h>
+#include <utils/Timers.h>
+
+// ---------------------------------------------------------------------------
+namespace android {
+// ---------------------------------------------------------------------------
+
+class Condition;
+
+/*
+ * Simple mutex class.  The implementation is system-dependent.
+ *
+ * The mutex must be unlocked by the thread that locked it.  They are not
+ * recursive, i.e. the same thread can't lock it multiple times.
+ */
+class Mutex {
+public:
+    enum {
+        PRIVATE = 0,
+        SHARED = 1
+    };
+
+                Mutex();
+                Mutex(const char* name);
+                Mutex(int type, const char* name = NULL);
+                ~Mutex();
+
+    // lock or unlock the mutex
+    status_t    lock();
+    void        unlock();
+
+    // lock if possible; returns 0 on success, error otherwise
+    status_t    tryLock();
+
+#if HAVE_ANDROID_OS
+    // lock the mutex, but don't wait longer than timeoutMilliseconds.
+    // Returns 0 on success, TIMED_OUT for failure due to timeout expiration.
+    //
+    // OSX doesn't have pthread_mutex_timedlock() or equivalent. To keep
+    // capabilities consistent across host OSes, this method is only available
+    // when building Android binaries.
+    status_t    timedLock(nsecs_t timeoutMilliseconds);
+#endif
+
+    // Manages the mutex automatically. It'll be locked when Autolock is
+    // constructed and released when Autolock goes out of scope.
+    class Autolock {
+    public:
+        inline Autolock(Mutex& mutex) : mLock(mutex)  { mLock.lock(); }
+        inline Autolock(Mutex* mutex) : mLock(*mutex) { mLock.lock(); }
+        inline ~Autolock() { mLock.unlock(); }
+    private:
+        Mutex& mLock;
+    };
+
+private:
+    friend class Condition;
+
+    // A mutex cannot be copied
+                Mutex(const Mutex&);
+    Mutex&      operator = (const Mutex&);
+
+#if !defined(_WIN32)
+    pthread_mutex_t mMutex;
+#else
+    void    _init();
+    void*   mState;
+#endif
+};
+
+// ---------------------------------------------------------------------------
+
+#if !defined(_WIN32)
+
+inline Mutex::Mutex() {
+    pthread_mutex_init(&mMutex, NULL);
+}
+inline Mutex::Mutex(__attribute__((unused)) const char* name) {
+    pthread_mutex_init(&mMutex, NULL);
+}
+inline Mutex::Mutex(int type, __attribute__((unused)) const char* name) {
+    if (type == SHARED) {
+        pthread_mutexattr_t attr;
+        pthread_mutexattr_init(&attr);
+        pthread_mutexattr_setpshared(&attr, PTHREAD_PROCESS_SHARED);
+        pthread_mutex_init(&mMutex, &attr);
+        pthread_mutexattr_destroy(&attr);
+    } else {
+        pthread_mutex_init(&mMutex, NULL);
+    }
+}
+inline Mutex::~Mutex() {
+    pthread_mutex_destroy(&mMutex);
+}
+inline status_t Mutex::lock() {
+    return -pthread_mutex_lock(&mMutex);
+}
+inline void Mutex::unlock() {
+    pthread_mutex_unlock(&mMutex);
+}
+inline status_t Mutex::tryLock() {
+    return -pthread_mutex_trylock(&mMutex);
+}
+#if HAVE_ANDROID_OS
+inline status_t Mutex::timedLock(nsecs_t timeoutNs) {
+    const struct timespec ts = {
+        /* .tv_sec = */ static_cast<time_t>(timeoutNs / 1000000000),
+        /* .tv_nsec = */ static_cast<long>(timeoutNs % 1000000000),
+    };
+    return -pthread_mutex_timedlock(&mMutex, &ts);
+}
+#endif
+
+#endif // !defined(_WIN32)
+
+// ---------------------------------------------------------------------------
+
+/*
+ * Automatic mutex.  Declare one of these at the top of a function.
+ * When the function returns, it will go out of scope, and release the
+ * mutex.
+ */
+
+typedef Mutex::Autolock AutoMutex;
+
+// ---------------------------------------------------------------------------
+}; // namespace android
+// ---------------------------------------------------------------------------
+
+#endif // _LIBS_UTILS_MUTEX_H
diff --git a/third_party/android_system_core/include/utils/NativeHandle.h b/third_party/android_system_core/include/utils/NativeHandle.h
new file mode 100644
index 0000000000..b82516879a
--- /dev/null
+++ b/third_party/android_system_core/include/utils/NativeHandle.h
@@ -0,0 +1,56 @@
+/*
+ * Copyright 2014 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_NATIVE_HANDLE_H
+#define ANDROID_NATIVE_HANDLE_H
+
+#include <utils/RefBase.h>
+#include <utils/StrongPointer.h>
+
+typedef struct native_handle native_handle_t;
+
+namespace android {
+
+class NativeHandle: public LightRefBase<NativeHandle> {
+public:
+    // Create a refcounted wrapper around a native_handle_t, and declare
+    // whether the wrapper owns the handle (so that it should clean up the
+    // handle upon destruction) or not.
+    // If handle is NULL, no NativeHandle will be created.
+    static sp<NativeHandle> create(native_handle_t* handle, bool ownsHandle);
+
+    const native_handle_t* handle() const {
+        return mHandle;
+    }
+
+private:
+    // for access to the destructor
+    friend class LightRefBase<NativeHandle>;
+
+    NativeHandle(native_handle_t* handle, bool ownsHandle);
+    virtual ~NativeHandle();
+
+    native_handle_t* mHandle;
+    bool mOwnsHandle;
+
+    // non-copyable
+    NativeHandle(const NativeHandle&);
+    NativeHandle& operator=(const NativeHandle&);
+};
+
+} // namespace android
+
+#endif // ANDROID_NATIVE_HANDLE_H
diff --git a/third_party/android_system_core/include/utils/Printer.h b/third_party/android_system_core/include/utils/Printer.h
new file mode 100644
index 0000000000..bb6628767c
--- /dev/null
+++ b/third_party/android_system_core/include/utils/Printer.h
@@ -0,0 +1,119 @@
+/*
+ * Copyright (C) 2013 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_PRINTER_H
+#define ANDROID_PRINTER_H
+
+#include <android/log.h>
+
+namespace android {
+
+// Interface for printing to an arbitrary data stream
+class Printer {
+public:
+    // Print a new line specified by 'string'. \n is appended automatically.
+    // -- Assumes that the string has no new line in it.
+    virtual void printLine(const char* string = "") = 0;
+
+    // Print a new line specified by the format string. \n is appended automatically.
+    // -- Assumes that the resulting string has no new line in it.
+    virtual void printFormatLine(const char* format, ...) __attribute__((format (printf, 2, 3)));
+
+protected:
+    Printer();
+    virtual ~Printer();
+}; // class Printer
+
+// Print to logcat
+class LogPrinter : public Printer {
+public:
+    // Create a printer using the specified logcat and log priority
+    // - Unless ignoreBlankLines is false, print blank lines to logcat
+    // (Note that the default ALOG behavior is to ignore blank lines)
+    LogPrinter(const char* logtag,
+               android_LogPriority priority = ANDROID_LOG_DEBUG,
+               const char* prefix = 0,
+               bool ignoreBlankLines = false);
+
+    // Print the specified line to logcat. No \n at the end is necessary.
+    virtual void printLine(const char* string);
+
+private:
+    void printRaw(const char* string);
+
+    const char* mLogTag;
+    android_LogPriority mPriority;
+    const char* mPrefix;
+    bool mIgnoreBlankLines;
+}; // class LogPrinter
+
+// Print to a file descriptor
+class FdPrinter : public Printer {
+public:
+    // Create a printer using the specified file descriptor.
+    // - Each line will be prefixed with 'indent' number of blank spaces.
+    // - In addition, each line will be prefixed with the 'prefix' string.
+    FdPrinter(int fd, unsigned int indent = 0, const char* prefix = 0);
+
+    // Print the specified line to the file descriptor. \n is appended automatically.
+    virtual void printLine(const char* string);
+
+private:
+    enum {
+        MAX_FORMAT_STRING = 20,
+    };
+
+    int mFd;
+    unsigned int mIndent;
+    const char* mPrefix;
+    char mFormatString[MAX_FORMAT_STRING];
+}; // class FdPrinter
+
+class String8;
+
+// Print to a String8
+class String8Printer : public Printer {
+public:
+    // Create a printer using the specified String8 as the target.
+    // - In addition, each line will be prefixed with the 'prefix' string.
+    // - target's memory lifetime must be a superset of this String8Printer.
+    String8Printer(String8* target, const char* prefix = 0);
+
+    // Append the specified line to the String8. \n is appended automatically.
+    virtual void printLine(const char* string);
+
+private:
+    String8* mTarget;
+    const char* mPrefix;
+}; // class String8Printer
+
+// Print to an existing Printer by adding a prefix to each line
+class PrefixPrinter : public Printer {
+public:
+    // Create a printer using the specified printer as the target.
+    PrefixPrinter(Printer& printer, const char* prefix);
+
+    // Print the line (prefixed with prefix) using the printer.
+    virtual void printLine(const char* string);
+
+private:
+    Printer& mPrinter;
+    const char* mPrefix;
+};
+
+}; // namespace android
+
+#endif // ANDROID_PRINTER_H
diff --git a/third_party/android_system_core/include/utils/ProcessCallStack.h b/third_party/android_system_core/include/utils/ProcessCallStack.h
new file mode 100644
index 0000000000..32458b8b14
--- /dev/null
+++ b/third_party/android_system_core/include/utils/ProcessCallStack.h
@@ -0,0 +1,79 @@
+/*
+ * Copyright (C) 2013 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_PROCESS_CALLSTACK_H
+#define ANDROID_PROCESS_CALLSTACK_H
+
+#include <utils/CallStack.h>
+#include <android/log.h>
+#include <utils/KeyedVector.h>
+#include <utils/String8.h>
+
+#include <time.h>
+#include <sys/types.h>
+
+namespace android {
+
+class Printer;
+
+// Collect/print the call stack (function, file, line) traces for all threads in a process.
+class ProcessCallStack {
+public:
+    // Create an empty call stack. No-op.
+    ProcessCallStack();
+    // Copy the existing process callstack (no other side effects).
+    ProcessCallStack(const ProcessCallStack& rhs);
+    ~ProcessCallStack();
+
+    // Immediately collect the stack traces for all threads.
+    void update();
+
+    // Print all stack traces to the log using the supplied logtag.
+    void log(const char* logtag, android_LogPriority priority = ANDROID_LOG_DEBUG,
+             const char* prefix = 0) const;
+
+    // Dump all stack traces to the specified file descriptor.
+    void dump(int fd, int indent = 0, const char* prefix = 0) const;
+
+    // Return a string (possibly very long) containing all the stack traces.
+    String8 toString(const char* prefix = 0) const;
+
+    // Dump a serialized representation of all the stack traces to the specified printer.
+    void print(Printer& printer) const;
+
+    // Get the number of threads whose stack traces were collected.
+    size_t size() const;
+
+private:
+    void printInternal(Printer& printer, Printer& csPrinter) const;
+
+    // Reset the process's stack frames and metadata.
+    void clear();
+
+    struct ThreadInfo {
+        CallStack callStack;
+        String8 threadName;
+    };
+
+    // tid -> ThreadInfo
+    KeyedVector<pid_t, ThreadInfo> mThreadMap;
+    // Time that update() was last called
+    struct tm mTimeUpdated;
+};
+
+}; // namespace android
+
+#endif // ANDROID_PROCESS_CALLSTACK_H
diff --git a/third_party/android_system_core/include/utils/PropertyMap.h b/third_party/android_system_core/include/utils/PropertyMap.h
new file mode 100644
index 0000000000..a9e674f9af
--- /dev/null
+++ b/third_party/android_system_core/include/utils/PropertyMap.h
@@ -0,0 +1,106 @@
+/*
+ * Copyright (C) 2010 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef _UTILS_PROPERTY_MAP_H
+#define _UTILS_PROPERTY_MAP_H
+
+#include <utils/KeyedVector.h>
+#include <utils/String8.h>
+#include <utils/Errors.h>
+#include <utils/Tokenizer.h>
+
+namespace android {
+
+/*
+ * Provides a mechanism for passing around string-based property key / value pairs
+ * and loading them from property files.
+ *
+ * The property files have the following simple structure:
+ *
+ * # Comment
+ * key = value
+ *
+ * Keys and values are any sequence of printable ASCII characters.
+ * The '=' separates the key from the value.
+ * The key and value may not contain whitespace.
+ *
+ * The '\' character is reserved for escape sequences and is not currently supported.
+ * The '"" character is reserved for quoting and is not currently supported.
+ * Files that contain the '\' or '"' character will fail to parse.
+ *
+ * The file must not contain duplicate keys.
+ *
+ * TODO Support escape sequences and quoted values when needed.
+ */
+class PropertyMap {
+public:
+    /* Creates an empty property map. */
+    PropertyMap();
+    ~PropertyMap();
+
+    /* Clears the property map. */
+    void clear();
+
+    /* Adds a property.
+     * Replaces the property with the same key if it is already present.
+     */
+    void addProperty(const String8& key, const String8& value);
+
+    /* Returns true if the property map contains the specified key. */
+    bool hasProperty(const String8& key) const;
+
+    /* Gets the value of a property and parses it.
+     * Returns true and sets outValue if the key was found and its value was parsed successfully.
+     * Otherwise returns false and does not modify outValue.  (Also logs a warning.)
+     */
+    bool tryGetProperty(const String8& key, String8& outValue) const;
+    bool tryGetProperty(const String8& key, bool& outValue) const;
+    bool tryGetProperty(const String8& key, int32_t& outValue) const;
+    bool tryGetProperty(const String8& key, float& outValue) const;
+
+    /* Adds all values from the specified property map. */
+    void addAll(const PropertyMap* map);
+
+    /* Gets the underlying property map. */
+    inline const KeyedVector<String8, String8>& getProperties() const { return mProperties; }
+
+    /* Loads a property map from a file. */
+    static status_t load(const String8& filename, PropertyMap** outMap);
+
+private:
+    class Parser {
+        PropertyMap* mMap;
+        Tokenizer* mTokenizer;
+
+    public:
+        Parser(PropertyMap* map, Tokenizer* tokenizer);
+        ~Parser();
+        status_t parse();
+
+    private:
+        status_t parseType();
+        status_t parseKey();
+        status_t parseKeyProperty();
+        status_t parseModifier(const String8& token, int32_t* outMetaState);
+        status_t parseCharacterLiteral(char16_t* outCharacter);
+    };
+
+    KeyedVector<String8, String8> mProperties;
+};
+
+} // namespace android
+
+#endif // _UTILS_PROPERTY_MAP_H
diff --git a/third_party/android_system_core/include/utils/RWLock.h b/third_party/android_system_core/include/utils/RWLock.h
new file mode 100644
index 0000000000..e743b1c8ce
--- /dev/null
+++ b/third_party/android_system_core/include/utils/RWLock.h
@@ -0,0 +1,126 @@
+/*
+ * Copyright (C) 2007 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef _LIBS_UTILS_RWLOCK_H
+#define _LIBS_UTILS_RWLOCK_H
+
+#include <stdint.h>
+#include <sys/types.h>
+
+#if !defined(_WIN32)
+# include <pthread.h>
+#endif
+
+#include <utils/Errors.h>
+#include <utils/ThreadDefs.h>
+
+// ---------------------------------------------------------------------------
+namespace android {
+// ---------------------------------------------------------------------------
+
+#if !defined(_WIN32)
+
+/*
+ * Simple mutex class.  The implementation is system-dependent.
+ *
+ * The mutex must be unlocked by the thread that locked it.  They are not
+ * recursive, i.e. the same thread can't lock it multiple times.
+ */
+class RWLock {
+public:
+    enum {
+        PRIVATE = 0,
+        SHARED = 1
+    };
+
+                RWLock();
+                RWLock(const char* name);
+                RWLock(int type, const char* name = NULL);
+                ~RWLock();
+
+    status_t    readLock();
+    status_t    tryReadLock();
+    status_t    writeLock();
+    status_t    tryWriteLock();
+    void        unlock();
+
+    class AutoRLock {
+    public:
+        inline AutoRLock(RWLock& rwlock) : mLock(rwlock)  { mLock.readLock(); }
+        inline ~AutoRLock() { mLock.unlock(); }
+    private:
+        RWLock& mLock;
+    };
+
+    class AutoWLock {
+    public:
+        inline AutoWLock(RWLock& rwlock) : mLock(rwlock)  { mLock.writeLock(); }
+        inline ~AutoWLock() { mLock.unlock(); }
+    private:
+        RWLock& mLock;
+    };
+
+private:
+    // A RWLock cannot be copied
+                RWLock(const RWLock&);
+   RWLock&      operator = (const RWLock&);
+
+   pthread_rwlock_t mRWLock;
+};
+
+inline RWLock::RWLock() {
+    pthread_rwlock_init(&mRWLock, NULL);
+}
+inline RWLock::RWLock(__attribute__((unused)) const char* name) {
+    pthread_rwlock_init(&mRWLock, NULL);
+}
+inline RWLock::RWLock(int type, __attribute__((unused)) const char* name) {
+    if (type == SHARED) {
+        pthread_rwlockattr_t attr;
+        pthread_rwlockattr_init(&attr);
+        pthread_rwlockattr_setpshared(&attr, PTHREAD_PROCESS_SHARED);
+        pthread_rwlock_init(&mRWLock, &attr);
+        pthread_rwlockattr_destroy(&attr);
+    } else {
+        pthread_rwlock_init(&mRWLock, NULL);
+    }
+}
+inline RWLock::~RWLock() {
+    pthread_rwlock_destroy(&mRWLock);
+}
+inline status_t RWLock::readLock() {
+    return -pthread_rwlock_rdlock(&mRWLock);
+}
+inline status_t RWLock::tryReadLock() {
+    return -pthread_rwlock_tryrdlock(&mRWLock);
+}
+inline status_t RWLock::writeLock() {
+    return -pthread_rwlock_wrlock(&mRWLock);
+}
+inline status_t RWLock::tryWriteLock() {
+    return -pthread_rwlock_trywrlock(&mRWLock);
+}
+inline void RWLock::unlock() {
+    pthread_rwlock_unlock(&mRWLock);
+}
+
+#endif // !defined(_WIN32)
+
+// ---------------------------------------------------------------------------
+}; // namespace android
+// ---------------------------------------------------------------------------
+
+#endif // _LIBS_UTILS_RWLOCK_H
diff --git a/third_party/android_system_core/include/utils/RefBase.h b/third_party/android_system_core/include/utils/RefBase.h
new file mode 100644
index 0000000000..eac6a78402
--- /dev/null
+++ b/third_party/android_system_core/include/utils/RefBase.h
@@ -0,0 +1,555 @@
+/*
+ * Copyright (C) 2005 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_REF_BASE_H
+#define ANDROID_REF_BASE_H
+
+#include <cutils/atomic.h>
+
+#include <stdint.h>
+#include <sys/types.h>
+#include <stdlib.h>
+#include <string.h>
+
+#include <utils/StrongPointer.h>
+#include <utils/TypeHelpers.h>
+
+// ---------------------------------------------------------------------------
+namespace android {
+
+class TextOutput;
+TextOutput& printWeakPointer(TextOutput& to, const void* val);
+
+// ---------------------------------------------------------------------------
+
+#define COMPARE_WEAK(_op_)                                      \
+inline bool operator _op_ (const sp<T>& o) const {              \
+    return m_ptr _op_ o.m_ptr;                                  \
+}                                                               \
+inline bool operator _op_ (const T* o) const {                  \
+    return m_ptr _op_ o;                                        \
+}                                                               \
+template<typename U>                                            \
+inline bool operator _op_ (const sp<U>& o) const {              \
+    return m_ptr _op_ o.m_ptr;                                  \
+}                                                               \
+template<typename U>                                            \
+inline bool operator _op_ (const U* o) const {                  \
+    return m_ptr _op_ o;                                        \
+}
+
+// ---------------------------------------------------------------------------
+
+class ReferenceRenamer {
+protected:
+    // destructor is purposedly not virtual so we avoid code overhead from
+    // subclasses; we have to make it protected to guarantee that it
+    // cannot be called from this base class (and to make strict compilers
+    // happy).
+    ~ReferenceRenamer() { }
+public:
+    virtual void operator()(size_t i) const = 0;
+};
+
+// ---------------------------------------------------------------------------
+
+class RefBase
+{
+public:
+            void            incStrong(const void* id) const;
+            void            decStrong(const void* id) const;
+    
+            void            forceIncStrong(const void* id) const;
+
+            //! DEBUGGING ONLY: Get current strong ref count.
+            int32_t         getStrongCount() const;
+
+    class weakref_type
+    {
+    public:
+        RefBase*            refBase() const;
+        
+        void                incWeak(const void* id);
+        void                decWeak(const void* id);
+        
+        // acquires a strong reference if there is already one.
+        bool                attemptIncStrong(const void* id);
+        
+        // acquires a weak reference if there is already one.
+        // This is not always safe. see ProcessState.cpp and BpBinder.cpp
+        // for proper use.
+        bool                attemptIncWeak(const void* id);
+
+        //! DEBUGGING ONLY: Get current weak ref count.
+        int32_t             getWeakCount() const;
+
+        //! DEBUGGING ONLY: Print references held on object.
+        void                printRefs() const;
+
+        //! DEBUGGING ONLY: Enable tracking for this object.
+        // enable -- enable/disable tracking
+        // retain -- when tracking is enable, if true, then we save a stack trace
+        //           for each reference and dereference; when retain == false, we
+        //           match up references and dereferences and keep only the 
+        //           outstanding ones.
+        
+        void                trackMe(bool enable, bool retain);
+    };
+    
+            weakref_type*   createWeak(const void* id) const;
+            
+            weakref_type*   getWeakRefs() const;
+
+            //! DEBUGGING ONLY: Print references held on object.
+    inline  void            printRefs() const { getWeakRefs()->printRefs(); }
+
+            //! DEBUGGING ONLY: Enable tracking of object.
+    inline  void            trackMe(bool enable, bool retain)
+    { 
+        getWeakRefs()->trackMe(enable, retain); 
+    }
+
+    typedef RefBase basetype;
+
+protected:
+                            RefBase();
+    virtual                 ~RefBase();
+    
+    //! Flags for extendObjectLifetime()
+    enum {
+        OBJECT_LIFETIME_STRONG  = 0x0000,
+        OBJECT_LIFETIME_WEAK    = 0x0001,
+        OBJECT_LIFETIME_MASK    = 0x0001
+    };
+    
+            void            extendObjectLifetime(int32_t mode);
+            
+    //! Flags for onIncStrongAttempted()
+    enum {
+        FIRST_INC_STRONG = 0x0001
+    };
+    
+    virtual void            onFirstRef();
+    virtual void            onLastStrongRef(const void* id);
+    virtual bool            onIncStrongAttempted(uint32_t flags, const void* id);
+    virtual void            onLastWeakRef(const void* id);
+
+private:
+    friend class weakref_type;
+    class weakref_impl;
+    
+                            RefBase(const RefBase& o);
+            RefBase&        operator=(const RefBase& o);
+
+private:
+    friend class ReferenceMover;
+
+    static void renameRefs(size_t n, const ReferenceRenamer& renamer);
+
+    static void renameRefId(weakref_type* ref,
+            const void* old_id, const void* new_id);
+
+    static void renameRefId(RefBase* ref,
+            const void* old_id, const void* new_id);
+
+        weakref_impl* const mRefs;
+};
+
+// ---------------------------------------------------------------------------
+
+template <class T>
+class LightRefBase
+{
+public:
+    inline LightRefBase() : mCount(0) { }
+    inline void incStrong(__attribute__((unused)) const void* id) const {
+        android_atomic_inc(&mCount);
+    }
+    inline void decStrong(__attribute__((unused)) const void* id) const {
+        if (android_atomic_dec(&mCount) == 1) {
+            delete static_cast<const T*>(this);
+        }
+    }
+    //! DEBUGGING ONLY: Get current strong ref count.
+    inline int32_t getStrongCount() const {
+        return mCount;
+    }
+
+    typedef LightRefBase<T> basetype;
+
+protected:
+    inline ~LightRefBase() { }
+
+private:
+    friend class ReferenceMover;
+    inline static void renameRefs(size_t n, const ReferenceRenamer& renamer) { }
+    inline static void renameRefId(T* ref,
+            const void* old_id, const void* new_id) { }
+
+private:
+    mutable volatile int32_t mCount;
+};
+
+// This is a wrapper around LightRefBase that simply enforces a virtual
+// destructor to eliminate the template requirement of LightRefBase
+class VirtualLightRefBase : public LightRefBase<VirtualLightRefBase> {
+public:
+    virtual ~VirtualLightRefBase() {}
+};
+
+// ---------------------------------------------------------------------------
+
+template <typename T>
+class wp
+{
+public:
+    typedef typename RefBase::weakref_type weakref_type;
+    
+    inline wp() : m_ptr(0) { }
+
+    wp(T* other);
+    wp(const wp<T>& other);
+    wp(const sp<T>& other);
+    template<typename U> wp(U* other);
+    template<typename U> wp(const sp<U>& other);
+    template<typename U> wp(const wp<U>& other);
+
+    ~wp();
+    
+    // Assignment
+
+    wp& operator = (T* other);
+    wp& operator = (const wp<T>& other);
+    wp& operator = (const sp<T>& other);
+    
+    template<typename U> wp& operator = (U* other);
+    template<typename U> wp& operator = (const wp<U>& other);
+    template<typename U> wp& operator = (const sp<U>& other);
+    
+    void set_object_and_refs(T* other, weakref_type* refs);
+
+    // promotion to sp
+    
+    sp<T> promote() const;
+
+    // Reset
+    
+    void clear();
+
+    // Accessors
+    
+    inline  weakref_type* get_refs() const { return m_refs; }
+    
+    inline  T* unsafe_get() const { return m_ptr; }
+
+    // Operators
+
+    COMPARE_WEAK(==)
+    COMPARE_WEAK(!=)
+    COMPARE_WEAK(>)
+    COMPARE_WEAK(<)
+    COMPARE_WEAK(<=)
+    COMPARE_WEAK(>=)
+
+    inline bool operator == (const wp<T>& o) const {
+        return (m_ptr == o.m_ptr) && (m_refs == o.m_refs);
+    }
+    template<typename U>
+    inline bool operator == (const wp<U>& o) const {
+        return m_ptr == o.m_ptr;
+    }
+
+    inline bool operator > (const wp<T>& o) const {
+        return (m_ptr == o.m_ptr) ? (m_refs > o.m_refs) : (m_ptr > o.m_ptr);
+    }
+    template<typename U>
+    inline bool operator > (const wp<U>& o) const {
+        return (m_ptr == o.m_ptr) ? (m_refs > o.m_refs) : (m_ptr > o.m_ptr);
+    }
+
+    inline bool operator < (const wp<T>& o) const {
+        return (m_ptr == o.m_ptr) ? (m_refs < o.m_refs) : (m_ptr < o.m_ptr);
+    }
+    template<typename U>
+    inline bool operator < (const wp<U>& o) const {
+        return (m_ptr == o.m_ptr) ? (m_refs < o.m_refs) : (m_ptr < o.m_ptr);
+    }
+                         inline bool operator != (const wp<T>& o) const { return m_refs != o.m_refs; }
+    template<typename U> inline bool operator != (const wp<U>& o) const { return !operator == (o); }
+                         inline bool operator <= (const wp<T>& o) const { return !operator > (o); }
+    template<typename U> inline bool operator <= (const wp<U>& o) const { return !operator > (o); }
+                         inline bool operator >= (const wp<T>& o) const { return !operator < (o); }
+    template<typename U> inline bool operator >= (const wp<U>& o) const { return !operator < (o); }
+
+private:
+    template<typename Y> friend class sp;
+    template<typename Y> friend class wp;
+
+    T*              m_ptr;
+    weakref_type*   m_refs;
+};
+
+template <typename T>
+TextOutput& operator<<(TextOutput& to, const wp<T>& val);
+
+#undef COMPARE_WEAK
+
+// ---------------------------------------------------------------------------
+// No user serviceable parts below here.
+
+template<typename T>
+wp<T>::wp(T* other)
+    : m_ptr(other)
+{
+    if (other) m_refs = other->createWeak(this);
+}
+
+template<typename T>
+wp<T>::wp(const wp<T>& other)
+    : m_ptr(other.m_ptr), m_refs(other.m_refs)
+{
+    if (m_ptr) m_refs->incWeak(this);
+}
+
+template<typename T>
+wp<T>::wp(const sp<T>& other)
+    : m_ptr(other.m_ptr)
+{
+    if (m_ptr) {
+        m_refs = m_ptr->createWeak(this);
+    }
+}
+
+template<typename T> template<typename U>
+wp<T>::wp(U* other)
+    : m_ptr(other)
+{
+    if (other) m_refs = other->createWeak(this);
+}
+
+template<typename T> template<typename U>
+wp<T>::wp(const wp<U>& other)
+    : m_ptr(other.m_ptr)
+{
+    if (m_ptr) {
+        m_refs = other.m_refs;
+        m_refs->incWeak(this);
+    }
+}
+
+template<typename T> template<typename U>
+wp<T>::wp(const sp<U>& other)
+    : m_ptr(other.m_ptr)
+{
+    if (m_ptr) {
+        m_refs = m_ptr->createWeak(this);
+    }
+}
+
+template<typename T>
+wp<T>::~wp()
+{
+    if (m_ptr) m_refs->decWeak(this);
+}
+
+template<typename T>
+wp<T>& wp<T>::operator = (T* other)
+{
+    weakref_type* newRefs =
+        other ? other->createWeak(this) : 0;
+    if (m_ptr) m_refs->decWeak(this);
+    m_ptr = other;
+    m_refs = newRefs;
+    return *this;
+}
+
+template<typename T>
+wp<T>& wp<T>::operator = (const wp<T>& other)
+{
+    weakref_type* otherRefs(other.m_refs);
+    T* otherPtr(other.m_ptr);
+    if (otherPtr) otherRefs->incWeak(this);
+    if (m_ptr) m_refs->decWeak(this);
+    m_ptr = otherPtr;
+    m_refs = otherRefs;
+    return *this;
+}
+
+template<typename T>
+wp<T>& wp<T>::operator = (const sp<T>& other)
+{
+    weakref_type* newRefs =
+        other != NULL ? other->createWeak(this) : 0;
+    T* otherPtr(other.m_ptr);
+    if (m_ptr) m_refs->decWeak(this);
+    m_ptr = otherPtr;
+    m_refs = newRefs;
+    return *this;
+}
+
+template<typename T> template<typename U>
+wp<T>& wp<T>::operator = (U* other)
+{
+    weakref_type* newRefs =
+        other ? other->createWeak(this) : 0;
+    if (m_ptr) m_refs->decWeak(this);
+    m_ptr = other;
+    m_refs = newRefs;
+    return *this;
+}
+
+template<typename T> template<typename U>
+wp<T>& wp<T>::operator = (const wp<U>& other)
+{
+    weakref_type* otherRefs(other.m_refs);
+    U* otherPtr(other.m_ptr);
+    if (otherPtr) otherRefs->incWeak(this);
+    if (m_ptr) m_refs->decWeak(this);
+    m_ptr = otherPtr;
+    m_refs = otherRefs;
+    return *this;
+}
+
+template<typename T> template<typename U>
+wp<T>& wp<T>::operator = (const sp<U>& other)
+{
+    weakref_type* newRefs =
+        other != NULL ? other->createWeak(this) : 0;
+    U* otherPtr(other.m_ptr);
+    if (m_ptr) m_refs->decWeak(this);
+    m_ptr = otherPtr;
+    m_refs = newRefs;
+    return *this;
+}
+
+template<typename T>
+void wp<T>::set_object_and_refs(T* other, weakref_type* refs)
+{
+    if (other) refs->incWeak(this);
+    if (m_ptr) m_refs->decWeak(this);
+    m_ptr = other;
+    m_refs = refs;
+}
+
+template<typename T>
+sp<T> wp<T>::promote() const
+{
+    sp<T> result;
+    if (m_ptr && m_refs->attemptIncStrong(&result)) {
+        result.set_pointer(m_ptr);
+    }
+    return result;
+}
+
+template<typename T>
+void wp<T>::clear()
+{
+    if (m_ptr) {
+        m_refs->decWeak(this);
+        m_ptr = 0;
+    }
+}
+
+template <typename T>
+inline TextOutput& operator<<(TextOutput& to, const wp<T>& val)
+{
+    return printWeakPointer(to, val.unsafe_get());
+}
+
+// ---------------------------------------------------------------------------
+
+// this class just serves as a namespace so TYPE::moveReferences can stay
+// private.
+class ReferenceMover {
+public:
+    // it would be nice if we could make sure no extra code is generated
+    // for sp<TYPE> or wp<TYPE> when TYPE is a descendant of RefBase:
+    // Using a sp<RefBase> override doesn't work; it's a bit like we wanted
+    // a template<typename TYPE inherits RefBase> template...
+
+    template<typename TYPE> static inline
+    void move_references(sp<TYPE>* d, sp<TYPE> const* s, size_t n) {
+
+        class Renamer : public ReferenceRenamer {
+            sp<TYPE>* d;
+            sp<TYPE> const* s;
+            virtual void operator()(size_t i) const {
+                // The id are known to be the sp<>'s this pointer
+                TYPE::renameRefId(d[i].get(), &s[i], &d[i]);
+            }
+        public:
+            Renamer(sp<TYPE>* d, sp<TYPE> const* s) : d(d), s(s) { }
+            virtual ~Renamer() { }
+        };
+
+        memmove(d, s, n*sizeof(sp<TYPE>));
+        TYPE::renameRefs(n, Renamer(d, s));
+    }
+
+
+    template<typename TYPE> static inline
+    void move_references(wp<TYPE>* d, wp<TYPE> const* s, size_t n) {
+
+        class Renamer : public ReferenceRenamer {
+            wp<TYPE>* d;
+            wp<TYPE> const* s;
+            virtual void operator()(size_t i) const {
+                // The id are known to be the wp<>'s this pointer
+                TYPE::renameRefId(d[i].get_refs(), &s[i], &d[i]);
+            }
+        public:
+            Renamer(wp<TYPE>* d, wp<TYPE> const* s) : d(d), s(s) { }
+            virtual ~Renamer() { }
+        };
+
+        memmove(d, s, n*sizeof(wp<TYPE>));
+        TYPE::renameRefs(n, Renamer(d, s));
+    }
+};
+
+// specialization for moving sp<> and wp<> types.
+// these are used by the [Sorted|Keyed]Vector<> implementations
+// sp<> and wp<> need to be handled specially, because they do not
+// have trivial copy operation in the general case (see RefBase.cpp
+// when DEBUG ops are enabled), but can be implemented very
+// efficiently in most cases.
+
+template<typename TYPE> inline
+void move_forward_type(sp<TYPE>* d, sp<TYPE> const* s, size_t n) {
+    ReferenceMover::move_references(d, s, n);
+}
+
+template<typename TYPE> inline
+void move_backward_type(sp<TYPE>* d, sp<TYPE> const* s, size_t n) {
+    ReferenceMover::move_references(d, s, n);
+}
+
+template<typename TYPE> inline
+void move_forward_type(wp<TYPE>* d, wp<TYPE> const* s, size_t n) {
+    ReferenceMover::move_references(d, s, n);
+}
+
+template<typename TYPE> inline
+void move_backward_type(wp<TYPE>* d, wp<TYPE> const* s, size_t n) {
+    ReferenceMover::move_references(d, s, n);
+}
+
+
+}; // namespace android
+
+// ---------------------------------------------------------------------------
+
+#endif // ANDROID_REF_BASE_H
diff --git a/third_party/android_system_core/include/utils/SharedBuffer.h b/third_party/android_system_core/include/utils/SharedBuffer.h
new file mode 100644
index 0000000000..b6709537e6
--- /dev/null
+++ b/third_party/android_system_core/include/utils/SharedBuffer.h
@@ -0,0 +1,137 @@
+/*
+ * Copyright (C) 2005 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_SHARED_BUFFER_H
+#define ANDROID_SHARED_BUFFER_H
+
+#include <stdint.h>
+#include <sys/types.h>
+
+// ---------------------------------------------------------------------------
+
+namespace android {
+
+class SharedBuffer
+{
+public:
+
+    /* flags to use with release() */
+    enum {
+        eKeepStorage = 0x00000001
+    };
+
+    /*! allocate a buffer of size 'size' and acquire() it.
+     *  call release() to free it.
+     */
+    static          SharedBuffer*           alloc(size_t size);
+    
+    /*! free the memory associated with the SharedBuffer.
+     * Fails if there are any users associated with this SharedBuffer.
+     * In other words, the buffer must have been release by all its
+     * users.
+     */
+    static          ssize_t                 dealloc(const SharedBuffer* released);
+
+    //! access the data for read
+    inline          const void*             data() const;
+    
+    //! access the data for read/write
+    inline          void*                   data();
+
+    //! get size of the buffer
+    inline          size_t                  size() const;
+ 
+    //! get back a SharedBuffer object from its data
+    static  inline  SharedBuffer*           bufferFromData(void* data);
+    
+    //! get back a SharedBuffer object from its data
+    static  inline  const SharedBuffer*     bufferFromData(const void* data);
+
+    //! get the size of a SharedBuffer object from its data
+    static  inline  size_t                  sizeFromData(const void* data);
+    
+    //! edit the buffer (get a writtable, or non-const, version of it)
+                    SharedBuffer*           edit() const;
+
+    //! edit the buffer, resizing if needed
+                    SharedBuffer*           editResize(size_t size) const;
+
+    //! like edit() but fails if a copy is required
+                    SharedBuffer*           attemptEdit() const;
+    
+    //! resize and edit the buffer, loose it's content.
+                    SharedBuffer*           reset(size_t size) const;
+
+    //! acquire/release a reference on this buffer
+                    void                    acquire() const;
+                    
+    /*! release a reference on this buffer, with the option of not
+     * freeing the memory associated with it if it was the last reference
+     * returns the previous reference count
+     */     
+                    int32_t                 release(uint32_t flags = 0) const;
+    
+    //! returns wether or not we're the only owner
+    inline          bool                    onlyOwner() const;
+    
+
+private:
+        inline SharedBuffer() { }
+        inline ~SharedBuffer() { }
+        SharedBuffer(const SharedBuffer&);
+        SharedBuffer& operator = (const SharedBuffer&);
+ 
+        // 16 bytes. must be sized to preserve correct alignment.
+        mutable int32_t        mRefs;
+                size_t         mSize;
+                uint32_t       mReserved[2];
+};
+
+// ---------------------------------------------------------------------------
+
+const void* SharedBuffer::data() const {
+    return this + 1;
+}
+
+void* SharedBuffer::data() {
+    return this + 1;
+}
+
+size_t SharedBuffer::size() const {
+    return mSize;
+}
+
+SharedBuffer* SharedBuffer::bufferFromData(void* data) {
+    return data ? static_cast<SharedBuffer *>(data)-1 : 0;
+}
+    
+const SharedBuffer* SharedBuffer::bufferFromData(const void* data) {
+    return data ? static_cast<const SharedBuffer *>(data)-1 : 0;
+}
+
+size_t SharedBuffer::sizeFromData(const void* data) {
+    return data ? bufferFromData(data)->mSize : 0;
+}
+
+bool SharedBuffer::onlyOwner() const {
+    return (mRefs == 1);
+}
+
+}; // namespace android
+
+// ---------------------------------------------------------------------------
+
+#endif // ANDROID_VECTOR_H
diff --git a/third_party/android_system_core/include/utils/Singleton.h b/third_party/android_system_core/include/utils/Singleton.h
new file mode 100644
index 0000000000..ffc03cb5d6
--- /dev/null
+++ b/third_party/android_system_core/include/utils/Singleton.h
@@ -0,0 +1,78 @@
+/*
+ * Copyright (C) 2007 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_UTILS_SINGLETON_H
+#define ANDROID_UTILS_SINGLETON_H
+
+#include <stdint.h>
+#include <sys/types.h>
+#include <utils/threads.h>
+#include <cutils/compiler.h>
+
+namespace android {
+// ---------------------------------------------------------------------------
+
+template <typename TYPE>
+class ANDROID_API Singleton
+{
+public:
+    static TYPE& getInstance() {
+        Mutex::Autolock _l(sLock);
+        TYPE* instance = sInstance;
+        if (instance == 0) {
+            instance = new TYPE();
+            sInstance = instance;
+        }
+        return *instance;
+    }
+
+    static bool hasInstance() {
+        Mutex::Autolock _l(sLock);
+        return sInstance != 0;
+    }
+    
+protected:
+    ~Singleton() { };
+    Singleton() { };
+
+private:
+    Singleton(const Singleton&);
+    Singleton& operator = (const Singleton&);
+    static Mutex sLock;
+    static TYPE* sInstance;
+};
+
+/*
+ * use ANDROID_SINGLETON_STATIC_INSTANCE(TYPE) in your implementation file
+ * (eg: <TYPE>.cpp) to create the static instance of Singleton<>'s attributes,
+ * and avoid to have a copy of them in each compilation units Singleton<TYPE>
+ * is used.
+ * NOTE: we use a version of Mutex ctor that takes a parameter, because
+ * for some unknown reason using the default ctor doesn't emit the variable!
+ */
+
+#define ANDROID_SINGLETON_STATIC_INSTANCE(TYPE)                 \
+    template<> ::android::Mutex  \
+        (::android::Singleton< TYPE >::sLock)(::android::Mutex::PRIVATE);  \
+    template<> TYPE* ::android::Singleton< TYPE >::sInstance(0);  \
+    template class ::android::Singleton< TYPE >;
+
+
+// ---------------------------------------------------------------------------
+}; // namespace android
+
+#endif // ANDROID_UTILS_SINGLETON_H
+
diff --git a/third_party/android_system_core/include/utils/SortedVector.h b/third_party/android_system_core/include/utils/SortedVector.h
new file mode 100644
index 0000000000..2d3e82a7c0
--- /dev/null
+++ b/third_party/android_system_core/include/utils/SortedVector.h
@@ -0,0 +1,282 @@
+/*
+ * Copyright (C) 2005 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_SORTED_VECTOR_H
+#define ANDROID_SORTED_VECTOR_H
+
+#include <assert.h>
+#include <stdint.h>
+#include <sys/types.h>
+
+#include <cutils/log.h>
+
+#include <utils/Vector.h>
+#include <utils/VectorImpl.h>
+#include <utils/TypeHelpers.h>
+
+// ---------------------------------------------------------------------------
+
+namespace android {
+
+template <class TYPE>
+class SortedVector : private SortedVectorImpl
+{
+    friend class Vector<TYPE>;
+
+public:
+            typedef TYPE    value_type;
+    
+    /*! 
+     * Constructors and destructors
+     */
+    
+                            SortedVector();
+                            SortedVector(const SortedVector<TYPE>& rhs);
+    virtual                 ~SortedVector();
+
+    /*! copy operator */
+    const SortedVector<TYPE>&   operator = (const SortedVector<TYPE>& rhs) const;    
+    SortedVector<TYPE>&         operator = (const SortedVector<TYPE>& rhs);    
+
+    /*
+     * empty the vector
+     */
+
+    inline  void            clear()             { VectorImpl::clear(); }
+
+    /*! 
+     * vector stats
+     */
+
+    //! returns number of items in the vector
+    inline  size_t          size() const                { return VectorImpl::size(); }
+    //! returns whether or not the vector is empty
+    inline  bool            isEmpty() const             { return VectorImpl::isEmpty(); }
+    //! returns how many items can be stored without reallocating the backing store
+    inline  size_t          capacity() const            { return VectorImpl::capacity(); }
+    //! sets the capacity. capacity can never be reduced less than size()
+    inline  ssize_t         setCapacity(size_t size)    { return VectorImpl::setCapacity(size); }
+
+    /*! 
+     * C-style array access
+     */
+     
+    //! read-only C-style access 
+    inline  const TYPE*     array() const;
+
+    //! read-write C-style access. BE VERY CAREFUL when modifying the array
+    //! you must keep it sorted! You usually don't use this function.
+            TYPE*           editArray();
+
+            //! finds the index of an item
+            ssize_t         indexOf(const TYPE& item) const;
+            
+            //! finds where this item should be inserted
+            size_t          orderOf(const TYPE& item) const;
+            
+    
+    /*! 
+     * accessors
+     */
+
+    //! read-only access to an item at a given index
+    inline  const TYPE&     operator [] (size_t index) const;
+    //! alternate name for operator []
+    inline  const TYPE&     itemAt(size_t index) const;
+    //! stack-usage of the vector. returns the top of the stack (last element)
+            const TYPE&     top() const;
+
+    /*!
+     * modifying the array
+     */
+
+            //! add an item in the right place (and replace the one that is there)
+            ssize_t         add(const TYPE& item);
+            
+            //! editItemAt() MUST NOT change the order of this item
+            TYPE&           editItemAt(size_t index) {
+                return *( static_cast<TYPE *>(VectorImpl::editItemLocation(index)) );
+            }
+
+            //! merges a vector into this one
+            ssize_t         merge(const Vector<TYPE>& vector);
+            ssize_t         merge(const SortedVector<TYPE>& vector);
+            
+            //! removes an item
+            ssize_t         remove(const TYPE&);
+
+    //! remove several items
+    inline  ssize_t         removeItemsAt(size_t index, size_t count = 1);
+    //! remove one item
+    inline  ssize_t         removeAt(size_t index)  { return removeItemsAt(index); }
+            
+protected:
+    virtual void    do_construct(void* storage, size_t num) const;
+    virtual void    do_destroy(void* storage, size_t num) const;
+    virtual void    do_copy(void* dest, const void* from, size_t num) const;
+    virtual void    do_splat(void* dest, const void* item, size_t num) const;
+    virtual void    do_move_forward(void* dest, const void* from, size_t num) const;
+    virtual void    do_move_backward(void* dest, const void* from, size_t num) const;
+    virtual int     do_compare(const void* lhs, const void* rhs) const;
+};
+
+// SortedVector<T> can be trivially moved using memcpy() because moving does not
+// require any change to the underlying SharedBuffer contents or reference count.
+template<typename T> struct trait_trivial_move<SortedVector<T> > { enum { value = true }; };
+
+// ---------------------------------------------------------------------------
+// No user serviceable parts from here...
+// ---------------------------------------------------------------------------
+
+template<class TYPE> inline
+SortedVector<TYPE>::SortedVector()
+    : SortedVectorImpl(sizeof(TYPE),
+                ((traits<TYPE>::has_trivial_ctor   ? HAS_TRIVIAL_CTOR   : 0)
+                |(traits<TYPE>::has_trivial_dtor   ? HAS_TRIVIAL_DTOR   : 0)
+                |(traits<TYPE>::has_trivial_copy   ? HAS_TRIVIAL_COPY   : 0))
+                )
+{
+}
+
+template<class TYPE> inline
+SortedVector<TYPE>::SortedVector(const SortedVector<TYPE>& rhs)
+    : SortedVectorImpl(rhs) {
+}
+
+template<class TYPE> inline
+SortedVector<TYPE>::~SortedVector() {
+    finish_vector();
+}
+
+template<class TYPE> inline
+SortedVector<TYPE>& SortedVector<TYPE>::operator = (const SortedVector<TYPE>& rhs) {
+    SortedVectorImpl::operator = (rhs);
+    return *this; 
+}
+
+template<class TYPE> inline
+const SortedVector<TYPE>& SortedVector<TYPE>::operator = (const SortedVector<TYPE>& rhs) const {
+    SortedVectorImpl::operator = (rhs);
+    return *this; 
+}
+
+template<class TYPE> inline
+const TYPE* SortedVector<TYPE>::array() const {
+    return static_cast<const TYPE *>(arrayImpl());
+}
+
+template<class TYPE> inline
+TYPE* SortedVector<TYPE>::editArray() {
+    return static_cast<TYPE *>(editArrayImpl());
+}
+
+
+template<class TYPE> inline
+const TYPE& SortedVector<TYPE>::operator[](size_t index) const {
+    LOG_FATAL_IF(index>=size(),
+            "%s: index=%u out of range (%u)", __PRETTY_FUNCTION__,
+            int(index), int(size()));
+    return *(array() + index);
+}
+
+template<class TYPE> inline
+const TYPE& SortedVector<TYPE>::itemAt(size_t index) const {
+    return operator[](index);
+}
+
+template<class TYPE> inline
+const TYPE& SortedVector<TYPE>::top() const {
+    return *(array() + size() - 1);
+}
+
+template<class TYPE> inline
+ssize_t SortedVector<TYPE>::add(const TYPE& item) {
+    return SortedVectorImpl::add(&item);
+}
+
+template<class TYPE> inline
+ssize_t SortedVector<TYPE>::indexOf(const TYPE& item) const {
+    return SortedVectorImpl::indexOf(&item);
+}
+
+template<class TYPE> inline
+size_t SortedVector<TYPE>::orderOf(const TYPE& item) const {
+    return SortedVectorImpl::orderOf(&item);
+}
+
+template<class TYPE> inline
+ssize_t SortedVector<TYPE>::merge(const Vector<TYPE>& vector) {
+    return SortedVectorImpl::merge(reinterpret_cast<const VectorImpl&>(vector));
+}
+
+template<class TYPE> inline
+ssize_t SortedVector<TYPE>::merge(const SortedVector<TYPE>& vector) {
+    return SortedVectorImpl::merge(reinterpret_cast<const SortedVectorImpl&>(vector));
+}
+
+template<class TYPE> inline
+ssize_t SortedVector<TYPE>::remove(const TYPE& item) {
+    return SortedVectorImpl::remove(&item);
+}
+
+template<class TYPE> inline
+ssize_t SortedVector<TYPE>::removeItemsAt(size_t index, size_t count) {
+    return VectorImpl::removeItemsAt(index, count);
+}
+
+// ---------------------------------------------------------------------------
+
+template<class TYPE>
+void SortedVector<TYPE>::do_construct(void* storage, size_t num) const {
+    construct_type( reinterpret_cast<TYPE*>(storage), num );
+}
+
+template<class TYPE>
+void SortedVector<TYPE>::do_destroy(void* storage, size_t num) const {
+    destroy_type( reinterpret_cast<TYPE*>(storage), num );
+}
+
+template<class TYPE>
+void SortedVector<TYPE>::do_copy(void* dest, const void* from, size_t num) const {
+    copy_type( reinterpret_cast<TYPE*>(dest), reinterpret_cast<const TYPE*>(from), num );
+}
+
+template<class TYPE>
+void SortedVector<TYPE>::do_splat(void* dest, const void* item, size_t num) const {
+    splat_type( reinterpret_cast<TYPE*>(dest), reinterpret_cast<const TYPE*>(item), num );
+}
+
+template<class TYPE>
+void SortedVector<TYPE>::do_move_forward(void* dest, const void* from, size_t num) const {
+    move_forward_type( reinterpret_cast<TYPE*>(dest), reinterpret_cast<const TYPE*>(from), num );
+}
+
+template<class TYPE>
+void SortedVector<TYPE>::do_move_backward(void* dest, const void* from, size_t num) const {
+    move_backward_type( reinterpret_cast<TYPE*>(dest), reinterpret_cast<const TYPE*>(from), num );
+}
+
+template<class TYPE>
+int SortedVector<TYPE>::do_compare(const void* lhs, const void* rhs) const {
+    return compare_type( *reinterpret_cast<const TYPE*>(lhs), *reinterpret_cast<const TYPE*>(rhs) );
+}
+
+}; // namespace android
+
+
+// ---------------------------------------------------------------------------
+
+#endif // ANDROID_SORTED_VECTOR_H
diff --git a/third_party/android_system_core/include/utils/StopWatch.h b/third_party/android_system_core/include/utils/StopWatch.h
new file mode 100644
index 0000000000..693dd3ccfc
--- /dev/null
+++ b/third_party/android_system_core/include/utils/StopWatch.h
@@ -0,0 +1,64 @@
+/*
+ * Copyright (C) 2005 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_STOPWATCH_H
+#define ANDROID_STOPWATCH_H
+
+#include <stdint.h>
+#include <sys/types.h>
+
+#include <utils/Timers.h>
+
+// ---------------------------------------------------------------------------
+
+namespace android {
+
+class StopWatch
+{
+public:
+        StopWatch(  const char *name,
+                    int clock = SYSTEM_TIME_MONOTONIC,
+                    uint32_t flags = 0);
+        ~StopWatch();
+        
+        const char* name() const;
+        nsecs_t     lap();
+        nsecs_t     elapsedTime() const;
+
+        void        reset();
+        
+private:
+    const char*     mName;
+    int             mClock;
+    uint32_t        mFlags;
+    
+    struct lap_t {
+        nsecs_t     soFar;
+        nsecs_t     thisLap;
+    };
+    
+    nsecs_t         mStartTime;
+    lap_t           mLaps[8];
+    int             mNumLaps;
+};
+
+
+}; // namespace android
+
+
+// ---------------------------------------------------------------------------
+
+#endif // ANDROID_STOPWATCH_H
diff --git a/third_party/android_system_core/include/utils/String16.h b/third_party/android_system_core/include/utils/String16.h
new file mode 100644
index 0000000000..d131bfc6a7
--- /dev/null
+++ b/third_party/android_system_core/include/utils/String16.h
@@ -0,0 +1,250 @@
+/*
+ * Copyright (C) 2005 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_STRING16_H
+#define ANDROID_STRING16_H
+
+#include <utils/Errors.h>
+#include <utils/SharedBuffer.h>
+#include <utils/Unicode.h>
+#include <utils/TypeHelpers.h>
+
+// ---------------------------------------------------------------------------
+
+extern "C" {
+
+}
+
+// ---------------------------------------------------------------------------
+
+namespace android {
+
+// ---------------------------------------------------------------------------
+
+class String8;
+class TextOutput;
+
+//! This is a string holding UTF-16 characters.
+class String16
+{
+public:
+    /* use String16(StaticLinkage) if you're statically linking against
+     * libutils and declaring an empty static String16, e.g.:
+     *
+     *   static String16 sAStaticEmptyString(String16::kEmptyString);
+     *   static String16 sAnotherStaticEmptyString(sAStaticEmptyString);
+     */
+    enum StaticLinkage { kEmptyString };
+
+                                String16();
+    explicit                    String16(StaticLinkage);
+                                String16(const String16& o);
+                                String16(const String16& o,
+                                         size_t len,
+                                         size_t begin=0);
+    explicit                    String16(const char16_t* o);
+    explicit                    String16(const char16_t* o, size_t len);
+    explicit                    String16(const String8& o);
+    explicit                    String16(const char* o);
+    explicit                    String16(const char* o, size_t len);
+
+                                ~String16();
+    
+    inline  const char16_t*     string() const;
+    inline  size_t              size() const;
+    
+    inline  const SharedBuffer* sharedBuffer() const;
+    
+            void                setTo(const String16& other);
+            status_t            setTo(const char16_t* other);
+            status_t            setTo(const char16_t* other, size_t len);
+            status_t            setTo(const String16& other,
+                                      size_t len,
+                                      size_t begin=0);
+    
+            status_t            append(const String16& other);
+            status_t            append(const char16_t* other, size_t len);
+            
+    inline  String16&           operator=(const String16& other);
+    
+    inline  String16&           operator+=(const String16& other);
+    inline  String16            operator+(const String16& other) const;
+
+            status_t            insert(size_t pos, const char16_t* chrs);
+            status_t            insert(size_t pos,
+                                       const char16_t* chrs, size_t len);
+
+            ssize_t             findFirst(char16_t c) const;
+            ssize_t             findLast(char16_t c) const;
+
+            bool                startsWith(const String16& prefix) const;
+            bool                startsWith(const char16_t* prefix) const;
+            
+            status_t            makeLower();
+
+            status_t            replaceAll(char16_t replaceThis,
+                                           char16_t withThis);
+
+            status_t            remove(size_t len, size_t begin=0);
+
+    inline  int                 compare(const String16& other) const;
+
+    inline  bool                operator<(const String16& other) const;
+    inline  bool                operator<=(const String16& other) const;
+    inline  bool                operator==(const String16& other) const;
+    inline  bool                operator!=(const String16& other) const;
+    inline  bool                operator>=(const String16& other) const;
+    inline  bool                operator>(const String16& other) const;
+    
+    inline  bool                operator<(const char16_t* other) const;
+    inline  bool                operator<=(const char16_t* other) const;
+    inline  bool                operator==(const char16_t* other) const;
+    inline  bool                operator!=(const char16_t* other) const;
+    inline  bool                operator>=(const char16_t* other) const;
+    inline  bool                operator>(const char16_t* other) const;
+    
+    inline                      operator const char16_t*() const;
+    
+private:
+            const char16_t*     mString;
+};
+
+// String16 can be trivially moved using memcpy() because moving does not
+// require any change to the underlying SharedBuffer contents or reference count.
+ANDROID_TRIVIAL_MOVE_TRAIT(String16)
+
+// ---------------------------------------------------------------------------
+// No user servicable parts below.
+
+inline int compare_type(const String16& lhs, const String16& rhs)
+{
+    return lhs.compare(rhs);
+}
+
+inline int strictly_order_type(const String16& lhs, const String16& rhs)
+{
+    return compare_type(lhs, rhs) < 0;
+}
+
+inline const char16_t* String16::string() const
+{
+    return mString;
+}
+
+inline size_t String16::size() const
+{
+    return SharedBuffer::sizeFromData(mString)/sizeof(char16_t)-1;
+}
+
+inline const SharedBuffer* String16::sharedBuffer() const
+{
+    return SharedBuffer::bufferFromData(mString);
+}
+
+inline String16& String16::operator=(const String16& other)
+{
+    setTo(other);
+    return *this;
+}
+
+inline String16& String16::operator+=(const String16& other)
+{
+    append(other);
+    return *this;
+}
+
+inline String16 String16::operator+(const String16& other) const
+{
+    String16 tmp(*this);
+    tmp += other;
+    return tmp;
+}
+
+inline int String16::compare(const String16& other) const
+{
+    return strzcmp16(mString, size(), other.mString, other.size());
+}
+
+inline bool String16::operator<(const String16& other) const
+{
+    return strzcmp16(mString, size(), other.mString, other.size()) < 0;
+}
+
+inline bool String16::operator<=(const String16& other) const
+{
+    return strzcmp16(mString, size(), other.mString, other.size()) <= 0;
+}
+
+inline bool String16::operator==(const String16& other) const
+{
+    return strzcmp16(mString, size(), other.mString, other.size()) == 0;
+}
+
+inline bool String16::operator!=(const String16& other) const
+{
+    return strzcmp16(mString, size(), other.mString, other.size()) != 0;
+}
+
+inline bool String16::operator>=(const String16& other) const
+{
+    return strzcmp16(mString, size(), other.mString, other.size()) >= 0;
+}
+
+inline bool String16::operator>(const String16& other) const
+{
+    return strzcmp16(mString, size(), other.mString, other.size()) > 0;
+}
+
+inline bool String16::operator<(const char16_t* other) const
+{
+    return strcmp16(mString, other) < 0;
+}
+
+inline bool String16::operator<=(const char16_t* other) const
+{
+    return strcmp16(mString, other) <= 0;
+}
+
+inline bool String16::operator==(const char16_t* other) const
+{
+    return strcmp16(mString, other) == 0;
+}
+
+inline bool String16::operator!=(const char16_t* other) const
+{
+    return strcmp16(mString, other) != 0;
+}
+
+inline bool String16::operator>=(const char16_t* other) const
+{
+    return strcmp16(mString, other) >= 0;
+}
+
+inline bool String16::operator>(const char16_t* other) const
+{
+    return strcmp16(mString, other) > 0;
+}
+
+inline String16::operator const char16_t*() const
+{
+    return mString;
+}
+
+}; // namespace android
+
+// ---------------------------------------------------------------------------
+
+#endif // ANDROID_STRING16_H
diff --git a/third_party/android_system_core/include/utils/String8.h b/third_party/android_system_core/include/utils/String8.h
new file mode 100644
index 0000000000..ecfcf10be7
--- /dev/null
+++ b/third_party/android_system_core/include/utils/String8.h
@@ -0,0 +1,408 @@
+/*
+ * Copyright (C) 2005 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_STRING8_H
+#define ANDROID_STRING8_H
+
+#include <utils/Errors.h>
+#include <utils/SharedBuffer.h>
+#include <utils/Unicode.h>
+#include <utils/TypeHelpers.h>
+
+#include <string.h> // for strcmp
+#include <stdarg.h>
+
+// ---------------------------------------------------------------------------
+
+namespace android {
+
+class String16;
+class TextOutput;
+
+//! This is a string holding UTF-8 characters. Does not allow the value more
+// than 0x10FFFF, which is not valid unicode codepoint.
+class String8
+{
+public:
+    /* use String8(StaticLinkage) if you're statically linking against
+     * libutils and declaring an empty static String8, e.g.:
+     *
+     *   static String8 sAStaticEmptyString(String8::kEmptyString);
+     *   static String8 sAnotherStaticEmptyString(sAStaticEmptyString);
+     */
+    enum StaticLinkage { kEmptyString };
+
+                                String8();
+    explicit                    String8(StaticLinkage);
+                                String8(const String8& o);
+    explicit                    String8(const char* o);
+    explicit                    String8(const char* o, size_t numChars);
+    
+    explicit                    String8(const String16& o);
+    explicit                    String8(const char16_t* o);
+    explicit                    String8(const char16_t* o, size_t numChars);
+    explicit                    String8(const char32_t* o);
+    explicit                    String8(const char32_t* o, size_t numChars);
+                                ~String8();
+
+    static inline const String8 empty();
+
+    static String8              format(const char* fmt, ...) __attribute__((format (printf, 1, 2)));
+    static String8              formatV(const char* fmt, va_list args);
+
+    inline  const char*         string() const;
+    inline  size_t              size() const;
+    inline  size_t              length() const;
+    inline  size_t              bytes() const;
+    inline  bool                isEmpty() const;
+    
+    inline  const SharedBuffer* sharedBuffer() const;
+    
+            void                clear();
+
+            void                setTo(const String8& other);
+            status_t            setTo(const char* other);
+            status_t            setTo(const char* other, size_t numChars);
+            status_t            setTo(const char16_t* other, size_t numChars);
+            status_t            setTo(const char32_t* other,
+                                      size_t length);
+
+            status_t            append(const String8& other);
+            status_t            append(const char* other);
+            status_t            append(const char* other, size_t numChars);
+
+            status_t            appendFormat(const char* fmt, ...)
+                    __attribute__((format (printf, 2, 3)));
+            status_t            appendFormatV(const char* fmt, va_list args);
+
+            // Note that this function takes O(N) time to calculate the value.
+            // No cache value is stored.
+            size_t              getUtf32Length() const;
+            int32_t             getUtf32At(size_t index,
+                                           size_t *next_index) const;
+            void                getUtf32(char32_t* dst) const;
+
+    inline  String8&            operator=(const String8& other);
+    inline  String8&            operator=(const char* other);
+    
+    inline  String8&            operator+=(const String8& other);
+    inline  String8             operator+(const String8& other) const;
+    
+    inline  String8&            operator+=(const char* other);
+    inline  String8             operator+(const char* other) const;
+
+    inline  int                 compare(const String8& other) const;
+
+    inline  bool                operator<(const String8& other) const;
+    inline  bool                operator<=(const String8& other) const;
+    inline  bool                operator==(const String8& other) const;
+    inline  bool                operator!=(const String8& other) const;
+    inline  bool                operator>=(const String8& other) const;
+    inline  bool                operator>(const String8& other) const;
+    
+    inline  bool                operator<(const char* other) const;
+    inline  bool                operator<=(const char* other) const;
+    inline  bool                operator==(const char* other) const;
+    inline  bool                operator!=(const char* other) const;
+    inline  bool                operator>=(const char* other) const;
+    inline  bool                operator>(const char* other) const;
+    
+    inline                      operator const char*() const;
+    
+            char*               lockBuffer(size_t size);
+            void                unlockBuffer();
+            status_t            unlockBuffer(size_t size);
+            
+            // return the index of the first byte of other in this at or after
+            // start, or -1 if not found
+            ssize_t             find(const char* other, size_t start = 0) const;
+
+            // return true if this string contains the specified substring
+    inline  bool                contains(const char* other) const;
+
+            // removes all occurrence of the specified substring
+            // returns true if any were found and removed
+            bool                removeAll(const char* other);
+
+            void                toLower();
+            void                toLower(size_t start, size_t numChars);
+            void                toUpper();
+            void                toUpper(size_t start, size_t numChars);
+
+
+    /*
+     * These methods operate on the string as if it were a path name.
+     */
+
+    /*
+     * Set the filename field to a specific value.
+     *
+     * Normalizes the filename, removing a trailing '/' if present.
+     */
+    void setPathName(const char* name);
+    void setPathName(const char* name, size_t numChars);
+
+    /*
+     * Get just the filename component.
+     *
+     * "/tmp/foo/bar.c" --> "bar.c"
+     */
+    String8 getPathLeaf(void) const;
+
+    /*
+     * Remove the last (file name) component, leaving just the directory
+     * name.
+     *
+     * "/tmp/foo/bar.c" --> "/tmp/foo"
+     * "/tmp" --> "" // ????? shouldn't this be "/" ???? XXX
+     * "bar.c" --> ""
+     */
+    String8 getPathDir(void) const;
+
+    /*
+     * Retrieve the front (root dir) component.  Optionally also return the
+     * remaining components.
+     *
+     * "/tmp/foo/bar.c" --> "tmp" (remain = "foo/bar.c")
+     * "/tmp" --> "tmp" (remain = "")
+     * "bar.c" --> "bar.c" (remain = "")
+     */
+    String8 walkPath(String8* outRemains = NULL) const;
+
+    /*
+     * Return the filename extension.  This is the last '.' and any number
+     * of characters that follow it.  The '.' is included in case we
+     * decide to expand our definition of what constitutes an extension.
+     *
+     * "/tmp/foo/bar.c" --> ".c"
+     * "/tmp" --> ""
+     * "/tmp/foo.bar/baz" --> ""
+     * "foo.jpeg" --> ".jpeg"
+     * "foo." --> ""
+     */
+    String8 getPathExtension(void) const;
+
+    /*
+     * Return the path without the extension.  Rules for what constitutes
+     * an extension are described in the comment for getPathExtension().
+     *
+     * "/tmp/foo/bar.c" --> "/tmp/foo/bar"
+     */
+    String8 getBasePath(void) const;
+
+    /*
+     * Add a component to the pathname.  We guarantee that there is
+     * exactly one path separator between the old path and the new.
+     * If there is no existing name, we just copy the new name in.
+     *
+     * If leaf is a fully qualified path (i.e. starts with '/', it
+     * replaces whatever was there before.
+     */
+    String8& appendPath(const char* leaf);
+    String8& appendPath(const String8& leaf)  { return appendPath(leaf.string()); }
+
+    /*
+     * Like appendPath(), but does not affect this string.  Returns a new one instead.
+     */
+    String8 appendPathCopy(const char* leaf) const
+                                             { String8 p(*this); p.appendPath(leaf); return p; }
+    String8 appendPathCopy(const String8& leaf) const { return appendPathCopy(leaf.string()); }
+
+    /*
+     * Converts all separators in this string to /, the default path separator.
+     *
+     * If the default OS separator is backslash, this converts all
+     * backslashes to slashes, in-place. Otherwise it does nothing.
+     * Returns self.
+     */
+    String8& convertToResPath();
+
+private:
+            status_t            real_append(const char* other, size_t numChars);
+            char*               find_extension(void) const;
+
+            const char* mString;
+};
+
+// String8 can be trivially moved using memcpy() because moving does not
+// require any change to the underlying SharedBuffer contents or reference count.
+ANDROID_TRIVIAL_MOVE_TRAIT(String8)
+
+// ---------------------------------------------------------------------------
+// No user servicable parts below.
+
+inline int compare_type(const String8& lhs, const String8& rhs)
+{
+    return lhs.compare(rhs);
+}
+
+inline int strictly_order_type(const String8& lhs, const String8& rhs)
+{
+    return compare_type(lhs, rhs) < 0;
+}
+
+inline const String8 String8::empty() {
+    return String8();
+}
+
+inline const char* String8::string() const
+{
+    return mString;
+}
+
+inline size_t String8::length() const
+{
+    return SharedBuffer::sizeFromData(mString)-1;
+}
+
+inline size_t String8::size() const
+{
+    return length();
+}
+
+inline bool String8::isEmpty() const
+{
+    return length() == 0;
+}
+
+inline size_t String8::bytes() const
+{
+    return SharedBuffer::sizeFromData(mString)-1;
+}
+
+inline const SharedBuffer* String8::sharedBuffer() const
+{
+    return SharedBuffer::bufferFromData(mString);
+}
+
+inline bool String8::contains(const char* other) const
+{
+    return find(other) >= 0;
+}
+
+inline String8& String8::operator=(const String8& other)
+{
+    setTo(other);
+    return *this;
+}
+
+inline String8& String8::operator=(const char* other)
+{
+    setTo(other);
+    return *this;
+}
+
+inline String8& String8::operator+=(const String8& other)
+{
+    append(other);
+    return *this;
+}
+
+inline String8 String8::operator+(const String8& other) const
+{
+    String8 tmp(*this);
+    tmp += other;
+    return tmp;
+}
+
+inline String8& String8::operator+=(const char* other)
+{
+    append(other);
+    return *this;
+}
+
+inline String8 String8::operator+(const char* other) const
+{
+    String8 tmp(*this);
+    tmp += other;
+    return tmp;
+}
+
+inline int String8::compare(const String8& other) const
+{
+    return strcmp(mString, other.mString);
+}
+
+inline bool String8::operator<(const String8& other) const
+{
+    return strcmp(mString, other.mString) < 0;
+}
+
+inline bool String8::operator<=(const String8& other) const
+{
+    return strcmp(mString, other.mString) <= 0;
+}
+
+inline bool String8::operator==(const String8& other) const
+{
+    return strcmp(mString, other.mString) == 0;
+}
+
+inline bool String8::operator!=(const String8& other) const
+{
+    return strcmp(mString, other.mString) != 0;
+}
+
+inline bool String8::operator>=(const String8& other) const
+{
+    return strcmp(mString, other.mString) >= 0;
+}
+
+inline bool String8::operator>(const String8& other) const
+{
+    return strcmp(mString, other.mString) > 0;
+}
+
+inline bool String8::operator<(const char* other) const
+{
+    return strcmp(mString, other) < 0;
+}
+
+inline bool String8::operator<=(const char* other) const
+{
+    return strcmp(mString, other) <= 0;
+}
+
+inline bool String8::operator==(const char* other) const
+{
+    return strcmp(mString, other) == 0;
+}
+
+inline bool String8::operator!=(const char* other) const
+{
+    return strcmp(mString, other) != 0;
+}
+
+inline bool String8::operator>=(const char* other) const
+{
+    return strcmp(mString, other) >= 0;
+}
+
+inline bool String8::operator>(const char* other) const
+{
+    return strcmp(mString, other) > 0;
+}
+
+inline String8::operator const char*() const
+{
+    return mString;
+}
+
+}  // namespace android
+
+// ---------------------------------------------------------------------------
+
+#endif // ANDROID_STRING8_H
diff --git a/third_party/android_system_core/include/utils/StrongPointer.h b/third_party/android_system_core/include/utils/StrongPointer.h
new file mode 100644
index 0000000000..aba9577da4
--- /dev/null
+++ b/third_party/android_system_core/include/utils/StrongPointer.h
@@ -0,0 +1,211 @@
+/*
+ * Copyright (C) 2005 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_STRONG_POINTER_H
+#define ANDROID_STRONG_POINTER_H
+
+#include <cutils/atomic.h>
+
+#include <stdint.h>
+#include <sys/types.h>
+#include <stdlib.h>
+
+// ---------------------------------------------------------------------------
+namespace android {
+
+template<typename T> class wp;
+
+// ---------------------------------------------------------------------------
+
+#define COMPARE(_op_)                                           \
+inline bool operator _op_ (const sp<T>& o) const {              \
+    return m_ptr _op_ o.m_ptr;                                  \
+}                                                               \
+inline bool operator _op_ (const T* o) const {                  \
+    return m_ptr _op_ o;                                        \
+}                                                               \
+template<typename U>                                            \
+inline bool operator _op_ (const sp<U>& o) const {              \
+    return m_ptr _op_ o.m_ptr;                                  \
+}                                                               \
+template<typename U>                                            \
+inline bool operator _op_ (const U* o) const {                  \
+    return m_ptr _op_ o;                                        \
+}                                                               \
+inline bool operator _op_ (const wp<T>& o) const {              \
+    return m_ptr _op_ o.m_ptr;                                  \
+}                                                               \
+template<typename U>                                            \
+inline bool operator _op_ (const wp<U>& o) const {              \
+    return m_ptr _op_ o.m_ptr;                                  \
+}
+
+// ---------------------------------------------------------------------------
+
+template<typename T>
+class sp {
+public:
+    inline sp() : m_ptr(0) { }
+
+    sp(T* other);
+    sp(const sp<T>& other);
+    template<typename U> sp(U* other);
+    template<typename U> sp(const sp<U>& other);
+
+    ~sp();
+
+    // Assignment
+
+    sp& operator = (T* other);
+    sp& operator = (const sp<T>& other);
+
+    template<typename U> sp& operator = (const sp<U>& other);
+    template<typename U> sp& operator = (U* other);
+
+    //! Special optimization for use by ProcessState (and nobody else).
+    void force_set(T* other);
+
+    // Reset
+
+    void clear();
+
+    // Accessors
+
+    inline  T&      operator* () const  { return *m_ptr; }
+    inline  T*      operator-> () const { return m_ptr;  }
+    inline  T*      get() const         { return m_ptr; }
+
+    // Operators
+
+    COMPARE(==)
+    COMPARE(!=)
+    COMPARE(>)
+    COMPARE(<)
+    COMPARE(<=)
+    COMPARE(>=)
+
+private:    
+    template<typename Y> friend class sp;
+    template<typename Y> friend class wp;
+    void set_pointer(T* ptr);
+    T* m_ptr;
+};
+
+#undef COMPARE
+
+// ---------------------------------------------------------------------------
+// No user serviceable parts below here.
+
+template<typename T>
+sp<T>::sp(T* other)
+        : m_ptr(other) {
+    if (other)
+        other->incStrong(this);
+}
+
+template<typename T>
+sp<T>::sp(const sp<T>& other)
+        : m_ptr(other.m_ptr) {
+    if (m_ptr)
+        m_ptr->incStrong(this);
+}
+
+template<typename T> template<typename U>
+sp<T>::sp(U* other)
+        : m_ptr(other) {
+    if (other)
+        ((T*) other)->incStrong(this);
+}
+
+template<typename T> template<typename U>
+sp<T>::sp(const sp<U>& other)
+        : m_ptr(other.m_ptr) {
+    if (m_ptr)
+        m_ptr->incStrong(this);
+}
+
+template<typename T>
+sp<T>::~sp() {
+    if (m_ptr)
+        m_ptr->decStrong(this);
+}
+
+template<typename T>
+sp<T>& sp<T>::operator =(const sp<T>& other) {
+    T* otherPtr(other.m_ptr);
+    if (otherPtr)
+        otherPtr->incStrong(this);
+    if (m_ptr)
+        m_ptr->decStrong(this);
+    m_ptr = otherPtr;
+    return *this;
+}
+
+template<typename T>
+sp<T>& sp<T>::operator =(T* other) {
+    if (other)
+        other->incStrong(this);
+    if (m_ptr)
+        m_ptr->decStrong(this);
+    m_ptr = other;
+    return *this;
+}
+
+template<typename T> template<typename U>
+sp<T>& sp<T>::operator =(const sp<U>& other) {
+    T* otherPtr(other.m_ptr);
+    if (otherPtr)
+        otherPtr->incStrong(this);
+    if (m_ptr)
+        m_ptr->decStrong(this);
+    m_ptr = otherPtr;
+    return *this;
+}
+
+template<typename T> template<typename U>
+sp<T>& sp<T>::operator =(U* other) {
+    if (other)
+        ((T*) other)->incStrong(this);
+    if (m_ptr)
+        m_ptr->decStrong(this);
+    m_ptr = other;
+    return *this;
+}
+
+template<typename T>
+void sp<T>::force_set(T* other) {
+    other->forceIncStrong(this);
+    m_ptr = other;
+}
+
+template<typename T>
+void sp<T>::clear() {
+    if (m_ptr) {
+        m_ptr->decStrong(this);
+        m_ptr = 0;
+    }
+}
+
+template<typename T>
+void sp<T>::set_pointer(T* ptr) {
+    m_ptr = ptr;
+}
+
+}; // namespace android
+
+// ---------------------------------------------------------------------------
+
+#endif // ANDROID_STRONG_POINTER_H
diff --git a/third_party/android_system_core/include/utils/SystemClock.h b/third_party/android_system_core/include/utils/SystemClock.h
new file mode 100644
index 0000000000..01db340780
--- /dev/null
+++ b/third_party/android_system_core/include/utils/SystemClock.h
@@ -0,0 +1,32 @@
+/*
+ * Copyright (C) 2008 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_UTILS_SYSTEMCLOCK_H
+#define ANDROID_UTILS_SYSTEMCLOCK_H
+
+#include <stdint.h>
+#include <sys/types.h>
+
+namespace android {
+
+int64_t uptimeMillis();
+int64_t elapsedRealtime();
+int64_t elapsedRealtimeNano();
+
+}; // namespace android
+
+#endif // ANDROID_UTILS_SYSTEMCLOCK_H
+
diff --git a/third_party/android_system_core/include/utils/Thread.h b/third_party/android_system_core/include/utils/Thread.h
new file mode 100644
index 0000000000..28839fdedc
--- /dev/null
+++ b/third_party/android_system_core/include/utils/Thread.h
@@ -0,0 +1,116 @@
+/*
+ * Copyright (C) 2007 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef _LIBS_UTILS_THREAD_H
+#define _LIBS_UTILS_THREAD_H
+
+#include <stdint.h>
+#include <sys/types.h>
+#include <time.h>
+
+#if !defined(_WIN32)
+# include <pthread.h>
+#endif
+
+#include <utils/Condition.h>
+#include <utils/Errors.h>
+#include <utils/Mutex.h>
+#include <utils/RefBase.h>
+#include <utils/Timers.h>
+#include <utils/ThreadDefs.h>
+
+// ---------------------------------------------------------------------------
+namespace android {
+// ---------------------------------------------------------------------------
+
+class Thread : virtual public RefBase
+{
+public:
+    // Create a Thread object, but doesn't create or start the associated
+    // thread. See the run() method.
+                        Thread(bool canCallJava = true);
+    virtual             ~Thread();
+
+    // Start the thread in threadLoop() which needs to be implemented.
+    virtual status_t    run(    const char* name = 0,
+                                int32_t priority = PRIORITY_DEFAULT,
+                                size_t stack = 0);
+    
+    // Ask this object's thread to exit. This function is asynchronous, when the
+    // function returns the thread might still be running. Of course, this
+    // function can be called from a different thread.
+    virtual void        requestExit();
+
+    // Good place to do one-time initializations
+    virtual status_t    readyToRun();
+    
+    // Call requestExit() and wait until this object's thread exits.
+    // BE VERY CAREFUL of deadlocks. In particular, it would be silly to call
+    // this function from this object's thread. Will return WOULD_BLOCK in
+    // that case.
+            status_t    requestExitAndWait();
+
+    // Wait until this object's thread exits. Returns immediately if not yet running.
+    // Do not call from this object's thread; will return WOULD_BLOCK in that case.
+            status_t    join();
+
+    // Indicates whether this thread is running or not.
+            bool        isRunning() const;
+
+#ifdef HAVE_ANDROID_OS
+    // Return the thread's kernel ID, same as the thread itself calling gettid(),
+    // or -1 if the thread is not running.
+            pid_t       getTid() const;
+#endif
+
+protected:
+    // exitPending() returns true if requestExit() has been called.
+            bool        exitPending() const;
+    
+private:
+    // Derived class must implement threadLoop(). The thread starts its life
+    // here. There are two ways of using the Thread object:
+    // 1) loop: if threadLoop() returns true, it will be called again if
+    //          requestExit() wasn't called.
+    // 2) once: if threadLoop() returns false, the thread will exit upon return.
+    virtual bool        threadLoop() = 0;
+
+private:
+    Thread& operator=(const Thread&);
+    static  int             _threadLoop(void* user);
+    const   bool            mCanCallJava;
+    // always hold mLock when reading or writing
+            thread_id_t     mThread;
+    mutable Mutex           mLock;
+            Condition       mThreadExitedCondition;
+            status_t        mStatus;
+    // note that all accesses of mExitPending and mRunning need to hold mLock
+    volatile bool           mExitPending;
+    volatile bool           mRunning;
+            sp<Thread>      mHoldSelf;
+#ifdef HAVE_ANDROID_OS
+    // legacy for debugging, not used by getTid() as it is set by the child thread
+    // and so is not initialized until the child reaches that point
+            pid_t           mTid;
+#endif
+};
+
+
+}; // namespace android
+
+// ---------------------------------------------------------------------------
+#endif // _LIBS_UTILS_THREAD_H
+// ---------------------------------------------------------------------------
diff --git a/third_party/android_system_core/include/utils/ThreadDefs.h b/third_party/android_system_core/include/utils/ThreadDefs.h
new file mode 100644
index 0000000000..9711c13792
--- /dev/null
+++ b/third_party/android_system_core/include/utils/ThreadDefs.h
@@ -0,0 +1,70 @@
+/*
+ * Copyright (C) 2007 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef _LIBS_UTILS_THREAD_DEFS_H
+#define _LIBS_UTILS_THREAD_DEFS_H
+
+#include <stdint.h>
+#include <sys/types.h>
+#include <system/graphics.h>
+#include <system/thread_defs.h>
+
+// ---------------------------------------------------------------------------
+// C API
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef void* android_thread_id_t;
+
+typedef int (*android_thread_func_t)(void*);
+
+#ifdef __cplusplus
+} // extern "C"
+#endif
+
+// ---------------------------------------------------------------------------
+// C++ API
+#ifdef __cplusplus
+namespace android {
+// ---------------------------------------------------------------------------
+
+typedef android_thread_id_t thread_id_t;
+typedef android_thread_func_t thread_func_t;
+
+enum {
+    PRIORITY_LOWEST         = ANDROID_PRIORITY_LOWEST,
+    PRIORITY_BACKGROUND     = ANDROID_PRIORITY_BACKGROUND,
+    PRIORITY_NORMAL         = ANDROID_PRIORITY_NORMAL,
+    PRIORITY_FOREGROUND     = ANDROID_PRIORITY_FOREGROUND,
+    PRIORITY_DISPLAY        = ANDROID_PRIORITY_DISPLAY,
+    PRIORITY_URGENT_DISPLAY = ANDROID_PRIORITY_URGENT_DISPLAY,
+    PRIORITY_AUDIO          = ANDROID_PRIORITY_AUDIO,
+    PRIORITY_URGENT_AUDIO   = ANDROID_PRIORITY_URGENT_AUDIO,
+    PRIORITY_HIGHEST        = ANDROID_PRIORITY_HIGHEST,
+    PRIORITY_DEFAULT        = ANDROID_PRIORITY_DEFAULT,
+    PRIORITY_MORE_FAVORABLE = ANDROID_PRIORITY_MORE_FAVORABLE,
+    PRIORITY_LESS_FAVORABLE = ANDROID_PRIORITY_LESS_FAVORABLE,
+};
+
+// ---------------------------------------------------------------------------
+}; // namespace android
+#endif  // __cplusplus
+// ---------------------------------------------------------------------------
+
+
+#endif // _LIBS_UTILS_THREAD_DEFS_H
diff --git a/third_party/android_system_core/include/utils/Timers.h b/third_party/android_system_core/include/utils/Timers.h
new file mode 100644
index 0000000000..54ec47489f
--- /dev/null
+++ b/third_party/android_system_core/include/utils/Timers.h
@@ -0,0 +1,108 @@
+/*
+ * Copyright (C) 2005 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+//
+// Timer functions.
+//
+#ifndef _LIBS_UTILS_TIMERS_H
+#define _LIBS_UTILS_TIMERS_H
+
+#include <stdint.h>
+#include <sys/types.h>
+#include <sys/time.h>
+
+#include <utils/Compat.h>
+
+// ------------------------------------------------------------------
+// C API
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef int64_t nsecs_t;       // nano-seconds
+
+static CONSTEXPR inline nsecs_t seconds_to_nanoseconds(nsecs_t secs)
+{
+    return secs*1000000000;
+}
+
+static CONSTEXPR inline nsecs_t milliseconds_to_nanoseconds(nsecs_t secs)
+{
+    return secs*1000000;
+}
+
+static CONSTEXPR inline nsecs_t microseconds_to_nanoseconds(nsecs_t secs)
+{
+    return secs*1000;
+}
+
+static CONSTEXPR inline nsecs_t nanoseconds_to_seconds(nsecs_t secs)
+{
+    return secs/1000000000;
+}
+
+static CONSTEXPR inline nsecs_t nanoseconds_to_milliseconds(nsecs_t secs)
+{
+    return secs/1000000;
+}
+
+static CONSTEXPR inline nsecs_t nanoseconds_to_microseconds(nsecs_t secs)
+{
+    return secs/1000;
+}
+
+static CONSTEXPR inline nsecs_t s2ns(nsecs_t v)  {return seconds_to_nanoseconds(v);}
+static CONSTEXPR inline nsecs_t ms2ns(nsecs_t v) {return milliseconds_to_nanoseconds(v);}
+static CONSTEXPR inline nsecs_t us2ns(nsecs_t v) {return microseconds_to_nanoseconds(v);}
+static CONSTEXPR inline nsecs_t ns2s(nsecs_t v)  {return nanoseconds_to_seconds(v);}
+static CONSTEXPR inline nsecs_t ns2ms(nsecs_t v) {return nanoseconds_to_milliseconds(v);}
+static CONSTEXPR inline nsecs_t ns2us(nsecs_t v) {return nanoseconds_to_microseconds(v);}
+
+static CONSTEXPR inline nsecs_t seconds(nsecs_t v)      { return s2ns(v); }
+static CONSTEXPR inline nsecs_t milliseconds(nsecs_t v) { return ms2ns(v); }
+static CONSTEXPR inline nsecs_t microseconds(nsecs_t v) { return us2ns(v); }
+
+enum {
+    SYSTEM_TIME_REALTIME = 0,  // system-wide realtime clock
+    SYSTEM_TIME_MONOTONIC = 1, // monotonic time since unspecified starting point
+    SYSTEM_TIME_PROCESS = 2,   // high-resolution per-process clock
+    SYSTEM_TIME_THREAD = 3,    // high-resolution per-thread clock
+    SYSTEM_TIME_BOOTTIME = 4   // same as SYSTEM_TIME_MONOTONIC, but including CPU suspend time
+};
+
+// return the system-time according to the specified clock
+#ifdef __cplusplus
+nsecs_t systemTime(int clock = SYSTEM_TIME_MONOTONIC);
+#else
+nsecs_t systemTime(int clock);
+#endif // def __cplusplus
+
+/**
+ * Returns the number of milliseconds to wait between the reference time and the timeout time.
+ * If the timeout is in the past relative to the reference time, returns 0.
+ * If the timeout is more than INT_MAX milliseconds in the future relative to the reference time,
+ * such as when timeoutTime == LLONG_MAX, returns -1 to indicate an infinite timeout delay.
+ * Otherwise, returns the difference between the reference time and timeout time
+ * rounded up to the next millisecond.
+ */
+int toMillisecondTimeoutDelay(nsecs_t referenceTime, nsecs_t timeoutTime);
+
+#ifdef __cplusplus
+} // extern "C"
+#endif
+
+#endif // _LIBS_UTILS_TIMERS_H
diff --git a/third_party/android_system_core/include/utils/Tokenizer.h b/third_party/android_system_core/include/utils/Tokenizer.h
new file mode 100644
index 0000000000..bb25f374cb
--- /dev/null
+++ b/third_party/android_system_core/include/utils/Tokenizer.h
@@ -0,0 +1,136 @@
+/*
+ * Copyright (C) 2010 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef _UTILS_TOKENIZER_H
+#define _UTILS_TOKENIZER_H
+
+#include <assert.h>
+#include <utils/Errors.h>
+#include <utils/FileMap.h>
+#include <utils/String8.h>
+
+namespace android {
+
+/**
+ * A simple tokenizer for loading and parsing ASCII text files line by line.
+ */
+class Tokenizer {
+    Tokenizer(const String8& filename, FileMap* fileMap, char* buffer,
+            bool ownBuffer, size_t length);
+
+public:
+    ~Tokenizer();
+
+    /**
+     * Opens a file and maps it into memory.
+     *
+     * Returns NO_ERROR and a tokenizer for the file, if successful.
+     * Otherwise returns an error and sets outTokenizer to NULL.
+     */
+    static status_t open(const String8& filename, Tokenizer** outTokenizer);
+
+    /**
+     * Prepares to tokenize the contents of a string.
+     *
+     * Returns NO_ERROR and a tokenizer for the string, if successful.
+     * Otherwise returns an error and sets outTokenizer to NULL.
+     */
+    static status_t fromContents(const String8& filename,
+            const char* contents, Tokenizer** outTokenizer);
+
+    /**
+     * Returns true if at the end of the file.
+     */
+    inline bool isEof() const { return mCurrent == getEnd(); }
+
+    /**
+     * Returns true if at the end of the line or end of the file.
+     */
+    inline bool isEol() const { return isEof() || *mCurrent == '\n'; }
+
+    /**
+     * Gets the name of the file.
+     */
+    inline String8 getFilename() const { return mFilename; }
+
+    /**
+     * Gets a 1-based line number index for the current position.
+     */
+    inline int32_t getLineNumber() const { return mLineNumber; }
+
+    /**
+     * Formats a location string consisting of the filename and current line number.
+     * Returns a string like "MyFile.txt:33".
+     */
+    String8 getLocation() const;
+
+    /**
+     * Gets the character at the current position.
+     * Returns null at end of file.
+     */
+    inline char peekChar() const { return isEof() ? '\0' : *mCurrent; }
+
+    /**
+     * Gets the remainder of the current line as a string, excluding the newline character.
+     */
+    String8 peekRemainderOfLine() const;
+
+    /**
+     * Gets the character at the current position and advances past it.
+     * Returns null at end of file.
+     */
+    inline char nextChar() { return isEof() ? '\0' : *(mCurrent++); }
+
+    /**
+     * Gets the next token on this line stopping at the specified delimiters
+     * or the end of the line whichever comes first and advances past it.
+     * Also stops at embedded nulls.
+     * Returns the token or an empty string if the current character is a delimiter
+     * or is at the end of the line.
+     */
+    String8 nextToken(const char* delimiters);
+
+    /**
+     * Advances to the next line.
+     * Does nothing if already at the end of the file.
+     */
+    void nextLine();
+
+    /**
+     * Skips over the specified delimiters in the line.
+     * Also skips embedded nulls.
+     */
+    void skipDelimiters(const char* delimiters);
+
+private:
+    Tokenizer(const Tokenizer& other); // not copyable
+
+    String8 mFilename;
+    FileMap* mFileMap;
+    char* mBuffer;
+    bool mOwnBuffer;
+    size_t mLength;
+
+    const char* mCurrent;
+    int32_t mLineNumber;
+
+    inline const char* getEnd() const { return mBuffer + mLength; }
+
+};
+
+} // namespace android
+
+#endif // _UTILS_TOKENIZER_H
diff --git a/third_party/android_system_core/include/utils/Trace.h b/third_party/android_system_core/include/utils/Trace.h
new file mode 100644
index 0000000000..6ee343d79a
--- /dev/null
+++ b/third_party/android_system_core/include/utils/Trace.h
@@ -0,0 +1,69 @@
+/*
+ * Copyright (C) 2012 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_TRACE_H
+#define ANDROID_TRACE_H
+
+#ifdef HAVE_ANDROID_OS
+
+#include <fcntl.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <string.h>
+#include <sys/stat.h>
+#include <sys/types.h>
+#include <unistd.h>
+
+#include <cutils/compiler.h>
+#include <utils/threads.h>
+#include <cutils/trace.h>
+
+// See <cutils/trace.h> for more ATRACE_* macros.
+
+// ATRACE_NAME traces the beginning and end of the current scope.  To trace
+// the correct start and end times this macro should be declared first in the
+// scope body.
+#define ATRACE_NAME(name) android::ScopedTrace ___tracer(ATRACE_TAG, name)
+// ATRACE_CALL is an ATRACE_NAME that uses the current function name.
+#define ATRACE_CALL() ATRACE_NAME(__FUNCTION__)
+
+namespace android {
+
+class ScopedTrace {
+public:
+inline ScopedTrace(uint64_t tag, const char* name)
+    : mTag(tag) {
+    atrace_begin(mTag,name);
+}
+
+inline ~ScopedTrace() {
+    atrace_end(mTag);
+}
+
+private:
+    uint64_t mTag;
+};
+
+}; // namespace android
+
+#else // HAVE_ANDROID_OS
+
+#define ATRACE_NAME(...)
+#define ATRACE_CALL()
+
+#endif // HAVE_ANDROID_OS
+
+#endif // ANDROID_TRACE_H
diff --git a/third_party/android_system_core/include/utils/TypeHelpers.h b/third_party/android_system_core/include/utils/TypeHelpers.h
new file mode 100644
index 0000000000..13c9081599
--- /dev/null
+++ b/third_party/android_system_core/include/utils/TypeHelpers.h
@@ -0,0 +1,302 @@
+/*
+ * Copyright (C) 2005 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_TYPE_HELPERS_H
+#define ANDROID_TYPE_HELPERS_H
+
+#include <new>
+#include <stdint.h>
+#include <string.h>
+#include <sys/types.h>
+
+// ---------------------------------------------------------------------------
+
+namespace android {
+
+/*
+ * Types traits
+ */
+
+template <typename T> struct trait_trivial_ctor { enum { value = false }; };
+template <typename T> struct trait_trivial_dtor { enum { value = false }; };
+template <typename T> struct trait_trivial_copy { enum { value = false }; };
+template <typename T> struct trait_trivial_move { enum { value = false }; };
+template <typename T> struct trait_pointer      { enum { value = false }; };    
+template <typename T> struct trait_pointer<T*>  { enum { value = true }; };
+
+template <typename TYPE>
+struct traits {
+    enum {
+        // whether this type is a pointer
+        is_pointer          = trait_pointer<TYPE>::value,
+        // whether this type's constructor is a no-op
+        has_trivial_ctor    = is_pointer || trait_trivial_ctor<TYPE>::value,
+        // whether this type's destructor is a no-op
+        has_trivial_dtor    = is_pointer || trait_trivial_dtor<TYPE>::value,
+        // whether this type type can be copy-constructed with memcpy
+        has_trivial_copy    = is_pointer || trait_trivial_copy<TYPE>::value,
+        // whether this type can be moved with memmove
+        has_trivial_move    = is_pointer || trait_trivial_move<TYPE>::value
+    };
+};
+
+template <typename T, typename U>
+struct aggregate_traits {
+    enum {
+        is_pointer          = false,
+        has_trivial_ctor    = 
+            traits<T>::has_trivial_ctor && traits<U>::has_trivial_ctor,
+        has_trivial_dtor    = 
+            traits<T>::has_trivial_dtor && traits<U>::has_trivial_dtor,
+        has_trivial_copy    = 
+            traits<T>::has_trivial_copy && traits<U>::has_trivial_copy,
+        has_trivial_move    = 
+            traits<T>::has_trivial_move && traits<U>::has_trivial_move
+    };
+};
+
+#define ANDROID_TRIVIAL_CTOR_TRAIT( T ) \
+    template<> struct trait_trivial_ctor< T >   { enum { value = true }; };
+
+#define ANDROID_TRIVIAL_DTOR_TRAIT( T ) \
+    template<> struct trait_trivial_dtor< T >   { enum { value = true }; };
+
+#define ANDROID_TRIVIAL_COPY_TRAIT( T ) \
+    template<> struct trait_trivial_copy< T >   { enum { value = true }; };
+
+#define ANDROID_TRIVIAL_MOVE_TRAIT( T ) \
+    template<> struct trait_trivial_move< T >   { enum { value = true }; };
+
+#define ANDROID_BASIC_TYPES_TRAITS( T ) \
+    ANDROID_TRIVIAL_CTOR_TRAIT( T ) \
+    ANDROID_TRIVIAL_DTOR_TRAIT( T ) \
+    ANDROID_TRIVIAL_COPY_TRAIT( T ) \
+    ANDROID_TRIVIAL_MOVE_TRAIT( T )
+
+// ---------------------------------------------------------------------------
+
+/*
+ * basic types traits
+ */
+
+ANDROID_BASIC_TYPES_TRAITS( void )
+ANDROID_BASIC_TYPES_TRAITS( bool )
+ANDROID_BASIC_TYPES_TRAITS( char )
+ANDROID_BASIC_TYPES_TRAITS( unsigned char )
+ANDROID_BASIC_TYPES_TRAITS( short )
+ANDROID_BASIC_TYPES_TRAITS( unsigned short )
+ANDROID_BASIC_TYPES_TRAITS( int )
+ANDROID_BASIC_TYPES_TRAITS( unsigned int )
+ANDROID_BASIC_TYPES_TRAITS( long )
+ANDROID_BASIC_TYPES_TRAITS( unsigned long )
+ANDROID_BASIC_TYPES_TRAITS( long long )
+ANDROID_BASIC_TYPES_TRAITS( unsigned long long )
+ANDROID_BASIC_TYPES_TRAITS( float )
+ANDROID_BASIC_TYPES_TRAITS( double )
+
+// ---------------------------------------------------------------------------
+
+
+/*
+ * compare and order types
+ */
+
+template<typename TYPE> inline
+int strictly_order_type(const TYPE& lhs, const TYPE& rhs) {
+    return (lhs < rhs) ? 1 : 0;
+}
+
+template<typename TYPE> inline
+int compare_type(const TYPE& lhs, const TYPE& rhs) {
+    return strictly_order_type(rhs, lhs) - strictly_order_type(lhs, rhs);
+}
+
+/*
+ * create, destroy, copy and move types...
+ */
+
+template<typename TYPE> inline
+void construct_type(TYPE* p, size_t n) {
+    if (!traits<TYPE>::has_trivial_ctor) {
+        while (n--) {
+            new(p++) TYPE;
+        }
+    }
+}
+
+template<typename TYPE> inline
+void destroy_type(TYPE* p, size_t n) {
+    if (!traits<TYPE>::has_trivial_dtor) {
+        while (n--) {
+            p->~TYPE();
+            p++;
+        }
+    }
+}
+
+template<typename TYPE> inline
+void copy_type(TYPE* d, const TYPE* s, size_t n) {
+    if (!traits<TYPE>::has_trivial_copy) {
+        while (n--) {
+            new(d) TYPE(*s);
+            d++, s++;
+        }
+    } else {
+        memcpy(d,s,n*sizeof(TYPE));
+    }
+}
+
+template<typename TYPE> inline
+void splat_type(TYPE* where, const TYPE* what, size_t n) {
+    if (!traits<TYPE>::has_trivial_copy) {
+        while (n--) {
+            new(where) TYPE(*what);
+            where++;
+        }
+    } else {
+        while (n--) {
+            *where++ = *what;
+        }
+    }
+}
+
+template<typename TYPE> inline
+void move_forward_type(TYPE* d, const TYPE* s, size_t n = 1) {
+    if ((traits<TYPE>::has_trivial_dtor && traits<TYPE>::has_trivial_copy) 
+            || traits<TYPE>::has_trivial_move) 
+    {
+        memmove(d,s,n*sizeof(TYPE));
+    } else {
+        d += n;
+        s += n;
+        while (n--) {
+            --d, --s;
+            if (!traits<TYPE>::has_trivial_copy) {
+                new(d) TYPE(*s);
+            } else {
+                *d = *s;   
+            }
+            if (!traits<TYPE>::has_trivial_dtor) {
+                s->~TYPE();
+            }
+        }
+    }
+}
+
+template<typename TYPE> inline
+void move_backward_type(TYPE* d, const TYPE* s, size_t n = 1) {
+    if ((traits<TYPE>::has_trivial_dtor && traits<TYPE>::has_trivial_copy) 
+            || traits<TYPE>::has_trivial_move) 
+    {
+        memmove(d,s,n*sizeof(TYPE));
+    } else {
+        while (n--) {
+            if (!traits<TYPE>::has_trivial_copy) {
+                new(d) TYPE(*s);
+            } else {
+                *d = *s;   
+            }
+            if (!traits<TYPE>::has_trivial_dtor) {
+                s->~TYPE();
+            }
+            d++, s++;
+        }
+    }
+}
+
+// ---------------------------------------------------------------------------
+
+/*
+ * a key/value pair
+ */
+
+template <typename KEY, typename VALUE>
+struct key_value_pair_t {
+    typedef KEY key_t;
+    typedef VALUE value_t;
+
+    KEY     key;
+    VALUE   value;
+    key_value_pair_t() { }
+    key_value_pair_t(const key_value_pair_t& o) : key(o.key), value(o.value) { }
+    key_value_pair_t(const KEY& k, const VALUE& v) : key(k), value(v)  { }
+    key_value_pair_t(const KEY& k) : key(k) { }
+    inline bool operator < (const key_value_pair_t& o) const {
+        return strictly_order_type(key, o.key);
+    }
+    inline const KEY& getKey() const {
+        return key;
+    }
+    inline const VALUE& getValue() const {
+        return value;
+    }
+};
+
+template <typename K, typename V>
+struct trait_trivial_ctor< key_value_pair_t<K, V> >
+{ enum { value = aggregate_traits<K,V>::has_trivial_ctor }; };
+template <typename K, typename V>
+struct trait_trivial_dtor< key_value_pair_t<K, V> >
+{ enum { value = aggregate_traits<K,V>::has_trivial_dtor }; };
+template <typename K, typename V>
+struct trait_trivial_copy< key_value_pair_t<K, V> >
+{ enum { value = aggregate_traits<K,V>::has_trivial_copy }; };
+template <typename K, typename V>
+struct trait_trivial_move< key_value_pair_t<K, V> >
+{ enum { value = aggregate_traits<K,V>::has_trivial_move }; };
+
+// ---------------------------------------------------------------------------
+
+/*
+ * Hash codes.
+ */
+typedef uint32_t hash_t;
+
+template <typename TKey>
+hash_t hash_type(const TKey& key);
+
+/* Built-in hash code specializations.
+ * Assumes pointers are 32bit. */
+#define ANDROID_INT32_HASH(T) \
+        template <> inline hash_t hash_type(const T& value) { return hash_t(value); }
+#define ANDROID_INT64_HASH(T) \
+        template <> inline hash_t hash_type(const T& value) { \
+                return hash_t((value >> 32) ^ value); }
+#define ANDROID_REINTERPRET_HASH(T, R) \
+        template <> inline hash_t hash_type(const T& value) { \
+                return hash_type(*reinterpret_cast<const R*>(&value)); }
+
+ANDROID_INT32_HASH(bool)
+ANDROID_INT32_HASH(int8_t)
+ANDROID_INT32_HASH(uint8_t)
+ANDROID_INT32_HASH(int16_t)
+ANDROID_INT32_HASH(uint16_t)
+ANDROID_INT32_HASH(int32_t)
+ANDROID_INT32_HASH(uint32_t)
+ANDROID_INT64_HASH(int64_t)
+ANDROID_INT64_HASH(uint64_t)
+ANDROID_REINTERPRET_HASH(float, uint32_t)
+ANDROID_REINTERPRET_HASH(double, uint64_t)
+
+template <typename T> inline hash_t hash_type(T* const & value) {
+    return hash_type(uintptr_t(value));
+}
+
+}; // namespace android
+
+// ---------------------------------------------------------------------------
+
+#endif // ANDROID_TYPE_HELPERS_H
diff --git a/third_party/android_system_core/include/utils/Unicode.h b/third_party/android_system_core/include/utils/Unicode.h
new file mode 100644
index 0000000000..4e17cc3d9c
--- /dev/null
+++ b/third_party/android_system_core/include/utils/Unicode.h
@@ -0,0 +1,172 @@
+/*
+ * Copyright (C) 2005 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_UNICODE_H
+#define ANDROID_UNICODE_H
+
+#include <sys/types.h>
+#include <stdint.h>
+
+extern "C" {
+
+// Standard string functions on char16_t strings.
+int strcmp16(const char16_t *, const char16_t *);
+int strncmp16(const char16_t *s1, const char16_t *s2, size_t n);
+size_t strlen16(const char16_t *);
+size_t strnlen16(const char16_t *, size_t);
+char16_t *strcpy16(char16_t *, const char16_t *);
+char16_t *strncpy16(char16_t *, const char16_t *, size_t);
+
+// Version of comparison that supports embedded nulls.
+// This is different than strncmp() because we don't stop
+// at a nul character and consider the strings to be different
+// if the lengths are different (thus we need to supply the
+// lengths of both strings).  This can also be used when
+// your string is not nul-terminated as it will have the
+// equivalent result as strcmp16 (unlike strncmp16).
+int strzcmp16(const char16_t *s1, size_t n1, const char16_t *s2, size_t n2);
+
+// Version of strzcmp16 for comparing strings in different endianness.
+int strzcmp16_h_n(const char16_t *s1H, size_t n1, const char16_t *s2N, size_t n2);
+
+// Standard string functions on char32_t strings.
+size_t strlen32(const char32_t *);
+size_t strnlen32(const char32_t *, size_t);
+
+/**
+ * Measure the length of a UTF-32 string in UTF-8. If the string is invalid
+ * such as containing a surrogate character, -1 will be returned.
+ */
+ssize_t utf32_to_utf8_length(const char32_t *src, size_t src_len);
+
+/**
+ * Stores a UTF-8 string converted from "src" in "dst", if "dst_length" is not
+ * large enough to store the string, the part of the "src" string is stored
+ * into "dst" as much as possible. See the examples for more detail.
+ * Returns the size actually used for storing the string.
+ * dst" is not null-terminated when dst_len is fully used (like strncpy).
+ *
+ * Example 1
+ * "src" == \u3042\u3044 (\xE3\x81\x82\xE3\x81\x84)
+ * "src_len" == 2
+ * "dst_len" >= 7
+ * ->
+ * Returned value == 6
+ * "dst" becomes \xE3\x81\x82\xE3\x81\x84\0
+ * (note that "dst" is null-terminated)
+ *
+ * Example 2
+ * "src" == \u3042\u3044 (\xE3\x81\x82\xE3\x81\x84)
+ * "src_len" == 2
+ * "dst_len" == 5
+ * ->
+ * Returned value == 3
+ * "dst" becomes \xE3\x81\x82\0
+ * (note that "dst" is null-terminated, but \u3044 is not stored in "dst"
+ * since "dst" does not have enough size to store the character)
+ *
+ * Example 3
+ * "src" == \u3042\u3044 (\xE3\x81\x82\xE3\x81\x84)
+ * "src_len" == 2
+ * "dst_len" == 6
+ * ->
+ * Returned value == 6
+ * "dst" becomes \xE3\x81\x82\xE3\x81\x84
+ * (note that "dst" is NOT null-terminated, like strncpy)
+ */
+void utf32_to_utf8(const char32_t* src, size_t src_len, char* dst, size_t dst_len);
+
+/**
+ * Returns the unicode value at "index".
+ * Returns -1 when the index is invalid (equals to or more than "src_len").
+ * If returned value is positive, it is able to be converted to char32_t, which
+ * is unsigned. Then, if "next_index" is not NULL, the next index to be used is
+ * stored in "next_index". "next_index" can be NULL.
+ */
+int32_t utf32_from_utf8_at(const char *src, size_t src_len, size_t index, size_t *next_index);
+
+
+/**
+ * Returns the UTF-8 length of UTF-16 string "src".
+ */
+ssize_t utf16_to_utf8_length(const char16_t *src, size_t src_len);
+
+/**
+ * Converts a UTF-16 string to UTF-8. The destination buffer must be large
+ * enough to fit the UTF-16 as measured by utf16_to_utf8_length with an added
+ * NULL terminator.
+ */
+void utf16_to_utf8(const char16_t* src, size_t src_len, char* dst, size_t dst_len);
+
+/**
+ * Returns the length of "src" when "src" is valid UTF-8 string.
+ * Returns 0 if src is NULL or 0-length string. Returns -1 when the source
+ * is an invalid string.
+ *
+ * This function should be used to determine whether "src" is valid UTF-8
+ * characters with valid unicode codepoints. "src" must be null-terminated.
+ *
+ * If you are going to use other utf8_to_... functions defined in this header
+ * with string which may not be valid UTF-8 with valid codepoint (form 0 to
+ * 0x10FFFF), you should use this function before calling others, since the
+ * other functions do not check whether the string is valid UTF-8 or not.
+ *
+ * If you do not care whether "src" is valid UTF-8 or not, you should use
+ * strlen() as usual, which should be much faster.
+ */
+ssize_t utf8_length(const char *src);
+
+/**
+ * Measure the length of a UTF-32 string.
+ */
+size_t utf8_to_utf32_length(const char *src, size_t src_len);
+
+/**
+ * Stores a UTF-32 string converted from "src" in "dst". "dst" must be large
+ * enough to store the entire converted string as measured by
+ * utf8_to_utf32_length plus space for a NULL terminator.
+ */
+void utf8_to_utf32(const char* src, size_t src_len, char32_t* dst);
+
+/**
+ * Returns the UTF-16 length of UTF-8 string "src".
+ */
+ssize_t utf8_to_utf16_length(const uint8_t* src, size_t srcLen);
+
+/**
+ * Convert UTF-8 to UTF-16 including surrogate pairs.
+ * Returns a pointer to the end of the string (where a null terminator might go
+ * if you wanted to add one).
+ */
+char16_t* utf8_to_utf16_no_null_terminator(const uint8_t* src, size_t srcLen, char16_t* dst);
+
+/**
+ * Convert UTF-8 to UTF-16 including surrogate pairs. The destination buffer
+ * must be large enough to hold the result as measured by utf8_to_utf16_length
+ * plus an added NULL terminator.
+ */
+void utf8_to_utf16(const uint8_t* src, size_t srcLen, char16_t* dst);
+
+/**
+ * Like utf8_to_utf16_no_null_terminator, but you can supply a maximum length of the
+ * decoded string.  The decoded string will fill up to that length; if it is longer
+ * the returned pointer will be to the character after dstLen.
+ */
+char16_t* utf8_to_utf16_n(const uint8_t* src, size_t srcLen, char16_t* dst, size_t dstLen);
+
+}
+
+#endif
diff --git a/third_party/android_system_core/include/utils/Vector.h b/third_party/android_system_core/include/utils/Vector.h
new file mode 100644
index 0000000000..ed7b725213
--- /dev/null
+++ b/third_party/android_system_core/include/utils/Vector.h
@@ -0,0 +1,423 @@
+/*
+ * Copyright (C) 2005 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_VECTOR_H
+#define ANDROID_VECTOR_H
+
+#include <new>
+#include <stdint.h>
+#include <sys/types.h>
+
+#include <cutils/log.h>
+
+#include <utils/VectorImpl.h>
+#include <utils/TypeHelpers.h>
+
+// ---------------------------------------------------------------------------
+
+namespace android {
+
+template <typename TYPE>
+class SortedVector;
+
+/*!
+ * The main templated vector class ensuring type safety
+ * while making use of VectorImpl.
+ * This is the class users want to use.
+ */
+
+template <class TYPE>
+class Vector : private VectorImpl
+{
+public:
+            typedef TYPE    value_type;
+    
+    /*! 
+     * Constructors and destructors
+     */
+    
+                            Vector();
+                            Vector(const Vector<TYPE>& rhs);
+    explicit                Vector(const SortedVector<TYPE>& rhs);
+    virtual                 ~Vector();
+
+    /*! copy operator */
+            const Vector<TYPE>&     operator = (const Vector<TYPE>& rhs) const;
+            Vector<TYPE>&           operator = (const Vector<TYPE>& rhs);    
+
+            const Vector<TYPE>&     operator = (const SortedVector<TYPE>& rhs) const;
+            Vector<TYPE>&           operator = (const SortedVector<TYPE>& rhs);
+
+            /*
+     * empty the vector
+     */
+
+    inline  void            clear()             { VectorImpl::clear(); }
+
+    /*! 
+     * vector stats
+     */
+
+    //! returns number of items in the vector
+    inline  size_t          size() const                { return VectorImpl::size(); }
+    //! returns whether or not the vector is empty
+    inline  bool            isEmpty() const             { return VectorImpl::isEmpty(); }
+    //! returns how many items can be stored without reallocating the backing store
+    inline  size_t          capacity() const            { return VectorImpl::capacity(); }
+    //! sets the capacity. capacity can never be reduced less than size()
+    inline  ssize_t         setCapacity(size_t size)    { return VectorImpl::setCapacity(size); }
+
+    /*!
+     * set the size of the vector. items are appended with the default
+     * constructor, or removed from the end as needed.
+     */
+    inline  ssize_t         resize(size_t size)         { return VectorImpl::resize(size); }
+
+    /*!
+     * C-style array access
+     */
+     
+    //! read-only C-style access 
+    inline  const TYPE*     array() const;
+    //! read-write C-style access
+            TYPE*           editArray();
+    
+    /*! 
+     * accessors
+     */
+
+    //! read-only access to an item at a given index
+    inline  const TYPE&     operator [] (size_t index) const;
+    //! alternate name for operator []
+    inline  const TYPE&     itemAt(size_t index) const;
+    //! stack-usage of the vector. returns the top of the stack (last element)
+            const TYPE&     top() const;
+
+    /*!
+     * modifying the array
+     */
+
+    //! copy-on write support, grants write access to an item
+            TYPE&           editItemAt(size_t index);
+    //! grants right access to the top of the stack (last element)
+            TYPE&           editTop();
+
+            /*! 
+             * append/insert another vector
+             */
+            
+    //! insert another vector at a given index
+            ssize_t         insertVectorAt(const Vector<TYPE>& vector, size_t index);
+
+    //! append another vector at the end of this one
+            ssize_t         appendVector(const Vector<TYPE>& vector);
+
+
+    //! insert an array at a given index
+            ssize_t         insertArrayAt(const TYPE* array, size_t index, size_t length);
+
+    //! append an array at the end of this vector
+            ssize_t         appendArray(const TYPE* array, size_t length);
+
+            /*! 
+             * add/insert/replace items
+             */
+             
+    //! insert one or several items initialized with their default constructor
+    inline  ssize_t         insertAt(size_t index, size_t numItems = 1);
+    //! insert one or several items initialized from a prototype item
+            ssize_t         insertAt(const TYPE& prototype_item, size_t index, size_t numItems = 1);
+    //! pop the top of the stack (removes the last element). No-op if the stack's empty
+    inline  void            pop();
+    //! pushes an item initialized with its default constructor
+    inline  void            push();
+    //! pushes an item on the top of the stack
+            void            push(const TYPE& item);
+    //! same as push() but returns the index the item was added at (or an error)
+    inline  ssize_t         add();
+    //! same as push() but returns the index the item was added at (or an error)
+            ssize_t         add(const TYPE& item);            
+    //! replace an item with a new one initialized with its default constructor
+    inline  ssize_t         replaceAt(size_t index);
+    //! replace an item with a new one
+            ssize_t         replaceAt(const TYPE& item, size_t index);
+
+    /*!
+     * remove items
+     */
+
+    //! remove several items
+    inline  ssize_t         removeItemsAt(size_t index, size_t count = 1);
+    //! remove one item
+    inline  ssize_t         removeAt(size_t index)  { return removeItemsAt(index); }
+
+    /*!
+     * sort (stable) the array
+     */
+     
+     typedef int (*compar_t)(const TYPE* lhs, const TYPE* rhs);
+     typedef int (*compar_r_t)(const TYPE* lhs, const TYPE* rhs, void* state);
+     
+     inline status_t        sort(compar_t cmp);
+     inline status_t        sort(compar_r_t cmp, void* state);
+
+     // for debugging only
+     inline size_t getItemSize() const { return itemSize(); }
+
+
+     /*
+      * these inlines add some level of compatibility with STL. eventually
+      * we should probably turn things around.
+      */
+     typedef TYPE* iterator;
+     typedef TYPE const* const_iterator;
+
+     inline iterator begin() { return editArray(); }
+     inline iterator end()   { return editArray() + size(); }
+     inline const_iterator begin() const { return array(); }
+     inline const_iterator end() const   { return array() + size(); }
+     inline void reserve(size_t n) { setCapacity(n); }
+     inline bool empty() const{ return isEmpty(); }
+     inline void push_back(const TYPE& item)  { insertAt(item, size(), 1); }
+     inline void push_front(const TYPE& item) { insertAt(item, 0, 1); }
+     inline iterator erase(iterator pos) {
+         ssize_t index = removeItemsAt(pos-array());
+         return begin() + index;
+     }
+
+protected:
+    virtual void    do_construct(void* storage, size_t num) const;
+    virtual void    do_destroy(void* storage, size_t num) const;
+    virtual void    do_copy(void* dest, const void* from, size_t num) const;
+    virtual void    do_splat(void* dest, const void* item, size_t num) const;
+    virtual void    do_move_forward(void* dest, const void* from, size_t num) const;
+    virtual void    do_move_backward(void* dest, const void* from, size_t num) const;
+};
+
+// Vector<T> can be trivially moved using memcpy() because moving does not
+// require any change to the underlying SharedBuffer contents or reference count.
+template<typename T> struct trait_trivial_move<Vector<T> > { enum { value = true }; };
+
+// ---------------------------------------------------------------------------
+// No user serviceable parts from here...
+// ---------------------------------------------------------------------------
+
+template<class TYPE> inline
+Vector<TYPE>::Vector()
+    : VectorImpl(sizeof(TYPE),
+                ((traits<TYPE>::has_trivial_ctor   ? HAS_TRIVIAL_CTOR   : 0)
+                |(traits<TYPE>::has_trivial_dtor   ? HAS_TRIVIAL_DTOR   : 0)
+                |(traits<TYPE>::has_trivial_copy   ? HAS_TRIVIAL_COPY   : 0))
+                )
+{
+}
+
+template<class TYPE> inline
+Vector<TYPE>::Vector(const Vector<TYPE>& rhs)
+    : VectorImpl(rhs) {
+}
+
+template<class TYPE> inline
+Vector<TYPE>::Vector(const SortedVector<TYPE>& rhs)
+    : VectorImpl(static_cast<const VectorImpl&>(rhs)) {
+}
+
+template<class TYPE> inline
+Vector<TYPE>::~Vector() {
+    finish_vector();
+}
+
+template<class TYPE> inline
+Vector<TYPE>& Vector<TYPE>::operator = (const Vector<TYPE>& rhs) {
+    VectorImpl::operator = (rhs);
+    return *this; 
+}
+
+template<class TYPE> inline
+const Vector<TYPE>& Vector<TYPE>::operator = (const Vector<TYPE>& rhs) const {
+    VectorImpl::operator = (static_cast<const VectorImpl&>(rhs));
+    return *this;
+}
+
+template<class TYPE> inline
+Vector<TYPE>& Vector<TYPE>::operator = (const SortedVector<TYPE>& rhs) {
+    VectorImpl::operator = (static_cast<const VectorImpl&>(rhs));
+    return *this;
+}
+
+template<class TYPE> inline
+const Vector<TYPE>& Vector<TYPE>::operator = (const SortedVector<TYPE>& rhs) const {
+    VectorImpl::operator = (rhs);
+    return *this; 
+}
+
+template<class TYPE> inline
+const TYPE* Vector<TYPE>::array() const {
+    return static_cast<const TYPE *>(arrayImpl());
+}
+
+template<class TYPE> inline
+TYPE* Vector<TYPE>::editArray() {
+    return static_cast<TYPE *>(editArrayImpl());
+}
+
+
+template<class TYPE> inline
+const TYPE& Vector<TYPE>::operator[](size_t index) const {
+    LOG_FATAL_IF(index>=size(),
+            "%s: index=%u out of range (%u)", __PRETTY_FUNCTION__,
+            int(index), int(size()));
+    return *(array() + index);
+}
+
+template<class TYPE> inline
+const TYPE& Vector<TYPE>::itemAt(size_t index) const {
+    return operator[](index);
+}
+
+template<class TYPE> inline
+const TYPE& Vector<TYPE>::top() const {
+    return *(array() + size() - 1);
+}
+
+template<class TYPE> inline
+TYPE& Vector<TYPE>::editItemAt(size_t index) {
+    return *( static_cast<TYPE *>(editItemLocation(index)) );
+}
+
+template<class TYPE> inline
+TYPE& Vector<TYPE>::editTop() {
+    return *( static_cast<TYPE *>(editItemLocation(size()-1)) );
+}
+
+template<class TYPE> inline
+ssize_t Vector<TYPE>::insertVectorAt(const Vector<TYPE>& vector, size_t index) {
+    return VectorImpl::insertVectorAt(reinterpret_cast<const VectorImpl&>(vector), index);
+}
+
+template<class TYPE> inline
+ssize_t Vector<TYPE>::appendVector(const Vector<TYPE>& vector) {
+    return VectorImpl::appendVector(reinterpret_cast<const VectorImpl&>(vector));
+}
+
+template<class TYPE> inline
+ssize_t Vector<TYPE>::insertArrayAt(const TYPE* array, size_t index, size_t length) {
+    return VectorImpl::insertArrayAt(array, index, length);
+}
+
+template<class TYPE> inline
+ssize_t Vector<TYPE>::appendArray(const TYPE* array, size_t length) {
+    return VectorImpl::appendArray(array, length);
+}
+
+template<class TYPE> inline
+ssize_t Vector<TYPE>::insertAt(const TYPE& item, size_t index, size_t numItems) {
+    return VectorImpl::insertAt(&item, index, numItems);
+}
+
+template<class TYPE> inline
+void Vector<TYPE>::push(const TYPE& item) {
+    return VectorImpl::push(&item);
+}
+
+template<class TYPE> inline
+ssize_t Vector<TYPE>::add(const TYPE& item) {
+    return VectorImpl::add(&item);
+}
+
+template<class TYPE> inline
+ssize_t Vector<TYPE>::replaceAt(const TYPE& item, size_t index) {
+    return VectorImpl::replaceAt(&item, index);
+}
+
+template<class TYPE> inline
+ssize_t Vector<TYPE>::insertAt(size_t index, size_t numItems) {
+    return VectorImpl::insertAt(index, numItems);
+}
+
+template<class TYPE> inline
+void Vector<TYPE>::pop() {
+    VectorImpl::pop();
+}
+
+template<class TYPE> inline
+void Vector<TYPE>::push() {
+    VectorImpl::push();
+}
+
+template<class TYPE> inline
+ssize_t Vector<TYPE>::add() {
+    return VectorImpl::add();
+}
+
+template<class TYPE> inline
+ssize_t Vector<TYPE>::replaceAt(size_t index) {
+    return VectorImpl::replaceAt(index);
+}
+
+template<class TYPE> inline
+ssize_t Vector<TYPE>::removeItemsAt(size_t index, size_t count) {
+    return VectorImpl::removeItemsAt(index, count);
+}
+
+template<class TYPE> inline
+status_t Vector<TYPE>::sort(Vector<TYPE>::compar_t cmp) {
+    return VectorImpl::sort((VectorImpl::compar_t)cmp);
+}
+
+template<class TYPE> inline
+status_t Vector<TYPE>::sort(Vector<TYPE>::compar_r_t cmp, void* state) {
+    return VectorImpl::sort((VectorImpl::compar_r_t)cmp, state);
+}
+
+// ---------------------------------------------------------------------------
+
+template<class TYPE>
+void Vector<TYPE>::do_construct(void* storage, size_t num) const {
+    construct_type( reinterpret_cast<TYPE*>(storage), num );
+}
+
+template<class TYPE>
+void Vector<TYPE>::do_destroy(void* storage, size_t num) const {
+    destroy_type( reinterpret_cast<TYPE*>(storage), num );
+}
+
+template<class TYPE>
+void Vector<TYPE>::do_copy(void* dest, const void* from, size_t num) const {
+    copy_type( reinterpret_cast<TYPE*>(dest), reinterpret_cast<const TYPE*>(from), num );
+}
+
+template<class TYPE>
+void Vector<TYPE>::do_splat(void* dest, const void* item, size_t num) const {
+    splat_type( reinterpret_cast<TYPE*>(dest), reinterpret_cast<const TYPE*>(item), num );
+}
+
+template<class TYPE>
+void Vector<TYPE>::do_move_forward(void* dest, const void* from, size_t num) const {
+    move_forward_type( reinterpret_cast<TYPE*>(dest), reinterpret_cast<const TYPE*>(from), num );
+}
+
+template<class TYPE>
+void Vector<TYPE>::do_move_backward(void* dest, const void* from, size_t num) const {
+    move_backward_type( reinterpret_cast<TYPE*>(dest), reinterpret_cast<const TYPE*>(from), num );
+}
+
+}; // namespace android
+
+
+// ---------------------------------------------------------------------------
+
+#endif // ANDROID_VECTOR_H
diff --git a/third_party/android_system_core/include/utils/VectorImpl.h b/third_party/android_system_core/include/utils/VectorImpl.h
new file mode 100644
index 0000000000..21ad71ce60
--- /dev/null
+++ b/third_party/android_system_core/include/utils/VectorImpl.h
@@ -0,0 +1,183 @@
+/*
+ * Copyright (C) 2005 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ANDROID_VECTOR_IMPL_H
+#define ANDROID_VECTOR_IMPL_H
+
+#include <assert.h>
+#include <stdint.h>
+#include <sys/types.h>
+#include <utils/Errors.h>
+
+// ---------------------------------------------------------------------------
+// No user serviceable parts in here...
+// ---------------------------------------------------------------------------
+
+namespace android {
+
+/*!
+ * Implementation of the guts of the vector<> class
+ * this ensures backward binary compatibility and
+ * reduces code size.
+ * For performance reasons, we expose mStorage and mCount
+ * so these fields are set in stone.
+ *
+ */
+
+class VectorImpl
+{
+public:
+    enum { // flags passed to the ctor
+        HAS_TRIVIAL_CTOR    = 0x00000001,
+        HAS_TRIVIAL_DTOR    = 0x00000002,
+        HAS_TRIVIAL_COPY    = 0x00000004,
+    };
+
+                            VectorImpl(size_t itemSize, uint32_t flags);
+                            VectorImpl(const VectorImpl& rhs);
+    virtual                 ~VectorImpl();
+
+    /*! must be called from subclasses destructor */
+            void            finish_vector();
+
+            VectorImpl&     operator = (const VectorImpl& rhs);    
+            
+    /*! C-style array access */
+    inline  const void*     arrayImpl() const       { return mStorage; }
+            void*           editArrayImpl();
+            
+    /*! vector stats */
+    inline  size_t          size() const        { return mCount; }
+    inline  bool            isEmpty() const     { return mCount == 0; }
+            size_t          capacity() const;
+            ssize_t         setCapacity(size_t size);
+            ssize_t         resize(size_t size);
+
+            /*! append/insert another vector or array */
+            ssize_t         insertVectorAt(const VectorImpl& vector, size_t index);
+            ssize_t         appendVector(const VectorImpl& vector);
+            ssize_t         insertArrayAt(const void* array, size_t index, size_t length);
+            ssize_t         appendArray(const void* array, size_t length);
+            
+            /*! add/insert/replace items */
+            ssize_t         insertAt(size_t where, size_t numItems = 1);
+            ssize_t         insertAt(const void* item, size_t where, size_t numItems = 1);
+            void            pop();
+            void            push();
+            void            push(const void* item);
+            ssize_t         add();
+            ssize_t         add(const void* item);
+            ssize_t         replaceAt(size_t index);
+            ssize_t         replaceAt(const void* item, size_t index);
+
+            /*! remove items */
+            ssize_t         removeItemsAt(size_t index, size_t count = 1);
+            void            clear();
+
+            const void*     itemLocation(size_t index) const;
+            void*           editItemLocation(size_t index);
+
+            typedef int (*compar_t)(const void* lhs, const void* rhs);
+            typedef int (*compar_r_t)(const void* lhs, const void* rhs, void* state);
+            status_t        sort(compar_t cmp);
+            status_t        sort(compar_r_t cmp, void* state);
+
+protected:
+            size_t          itemSize() const;
+            void            release_storage();
+
+    virtual void            do_construct(void* storage, size_t num) const = 0;
+    virtual void            do_destroy(void* storage, size_t num) const = 0;
+    virtual void            do_copy(void* dest, const void* from, size_t num) const = 0;
+    virtual void            do_splat(void* dest, const void* item, size_t num) const = 0;
+    virtual void            do_move_forward(void* dest, const void* from, size_t num) const = 0;
+    virtual void            do_move_backward(void* dest, const void* from, size_t num) const = 0;
+    
+private:
+        void* _grow(size_t where, size_t amount);
+        void  _shrink(size_t where, size_t amount);
+
+        inline void _do_construct(void* storage, size_t num) const;
+        inline void _do_destroy(void* storage, size_t num) const;
+        inline void _do_copy(void* dest, const void* from, size_t num) const;
+        inline void _do_splat(void* dest, const void* item, size_t num) const;
+        inline void _do_move_forward(void* dest, const void* from, size_t num) const;
+        inline void _do_move_backward(void* dest, const void* from, size_t num) const;
+
+            // These 2 fields are exposed in the inlines below,
+            // so they're set in stone.
+            void *      mStorage;   // base address of the vector
+            size_t      mCount;     // number of items
+
+    const   uint32_t    mFlags;
+    const   size_t      mItemSize;
+};
+
+
+
+class SortedVectorImpl : public VectorImpl
+{
+public:
+                            SortedVectorImpl(size_t itemSize, uint32_t flags);
+                            SortedVectorImpl(const VectorImpl& rhs);
+    virtual                 ~SortedVectorImpl();
+    
+    SortedVectorImpl&     operator = (const SortedVectorImpl& rhs);    
+
+    //! finds the index of an item
+            ssize_t         indexOf(const void* item) const;
+
+    //! finds where this item should be inserted
+            size_t          orderOf(const void* item) const;
+
+    //! add an item in the right place (or replaces it if there is one)
+            ssize_t         add(const void* item);
+
+    //! merges a vector into this one
+            ssize_t         merge(const VectorImpl& vector);
+            ssize_t         merge(const SortedVectorImpl& vector);
+             
+    //! removes an item
+            ssize_t         remove(const void* item);
+        
+protected:
+    virtual int             do_compare(const void* lhs, const void* rhs) const = 0;
+
+private:
+            ssize_t         _indexOrderOf(const void* item, size_t* order = 0) const;
+
+            // these are made private, because they can't be used on a SortedVector
+            // (they don't have an implementation either)
+            ssize_t         add();
+            void            pop();
+            void            push();
+            void            push(const void* item);
+            ssize_t         insertVectorAt(const VectorImpl& vector, size_t index);
+            ssize_t         appendVector(const VectorImpl& vector);
+            ssize_t         insertArrayAt(const void* array, size_t index, size_t length);
+            ssize_t         appendArray(const void* array, size_t length);
+            ssize_t         insertAt(size_t where, size_t numItems = 1);
+            ssize_t         insertAt(const void* item, size_t where, size_t numItems = 1);
+            ssize_t         replaceAt(size_t index);
+            ssize_t         replaceAt(const void* item, size_t index);
+};
+
+}; // namespace android
+
+
+// ---------------------------------------------------------------------------
+
+#endif // ANDROID_VECTOR_IMPL_H
diff --git a/third_party/android_system_core/include/utils/ashmem.h b/third_party/android_system_core/include/utils/ashmem.h
new file mode 100644
index 0000000000..0854775780
--- /dev/null
+++ b/third_party/android_system_core/include/utils/ashmem.h
@@ -0,0 +1,41 @@
+/* utils/ashmem.h
+ **
+ ** Copyright 2008 The Android Open Source Project
+ **
+ ** This file is dual licensed.  It may be redistributed and/or modified
+ ** under the terms of the Apache 2.0 License OR version 2 of the GNU
+ ** General Public License.
+ */
+
+#ifndef _UTILS_ASHMEM_H
+#define _UTILS_ASHMEM_H
+
+#include <linux/limits.h>
+#include <linux/ioctl.h>
+
+#define ASHMEM_NAME_LEN		256
+
+#define ASHMEM_NAME_DEF		"dev/ashmem"
+
+/* Return values from ASHMEM_PIN: Was the mapping purged while unpinned? */
+#define ASHMEM_NOT_REAPED	0
+#define ASHMEM_WAS_REAPED	1
+
+/* Return values from ASHMEM_UNPIN: Is the mapping now pinned or unpinned? */
+#define ASHMEM_NOW_UNPINNED	0
+#define ASHMEM_NOW_PINNED	1
+
+#define __ASHMEMIOC		0x77
+
+#define ASHMEM_SET_NAME		_IOW(__ASHMEMIOC, 1, char[ASHMEM_NAME_LEN])
+#define ASHMEM_GET_NAME		_IOR(__ASHMEMIOC, 2, char[ASHMEM_NAME_LEN])
+#define ASHMEM_SET_SIZE		_IOW(__ASHMEMIOC, 3, size_t)
+#define ASHMEM_GET_SIZE		_IO(__ASHMEMIOC, 4)
+#define ASHMEM_SET_PROT_MASK	_IOW(__ASHMEMIOC, 5, unsigned long)
+#define ASHMEM_GET_PROT_MASK	_IO(__ASHMEMIOC, 6)
+#define ASHMEM_PIN		_IO(__ASHMEMIOC, 7)
+#define ASHMEM_UNPIN		_IO(__ASHMEMIOC, 8)
+#define ASHMEM_ISPINNED		_IO(__ASHMEMIOC, 9)
+#define ASHMEM_PURGE_ALL_CACHES	_IO(__ASHMEMIOC, 10)
+
+#endif	/* _UTILS_ASHMEM_H */
diff --git a/third_party/android_system_core/include/utils/misc.h b/third_party/android_system_core/include/utils/misc.h
new file mode 100644
index 0000000000..6cccec387d
--- /dev/null
+++ b/third_party/android_system_core/include/utils/misc.h
@@ -0,0 +1,38 @@
+/*
+ * Copyright (C) 2005 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+//
+// Handy utility functions and portability code.
+//
+#ifndef _LIBS_UTILS_MISC_H
+#define _LIBS_UTILS_MISC_H
+
+#include <utils/Endian.h>
+
+/* get #of elements in a static array */
+#ifndef NELEM
+# define NELEM(x) ((int) (sizeof(x) / sizeof((x)[0])))
+#endif
+
+namespace android {
+
+typedef void (*sysprop_change_callback)(void);
+void add_sysprop_change_callback(sysprop_change_callback cb, int priority);
+void report_sysprop_change();
+
+}; // namespace android
+
+#endif // _LIBS_UTILS_MISC_H
diff --git a/third_party/android_system_core/include/utils/threads.h b/third_party/android_system_core/include/utils/threads.h
new file mode 100644
index 0000000000..9de3382118
--- /dev/null
+++ b/third_party/android_system_core/include/utils/threads.h
@@ -0,0 +1,38 @@
+/*
+ * Copyright (C) 2007 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef _LIBS_UTILS_THREADS_H
+#define _LIBS_UTILS_THREADS_H
+
+/*
+ * Please, DO NOT USE!
+ *
+ * This file is here only for legacy reasons. Instead, include directly
+ * the headers you need below.
+ *
+ */
+
+#include <utils/AndroidThreads.h>
+
+#ifdef __cplusplus
+#include <utils/Condition.h>
+#include <utils/Errors.h>
+#include <utils/Mutex.h>
+#include <utils/RWLock.h>
+#include <utils/Thread.h>
+#endif
+
+#endif // _LIBS_UTILS_THREADS_H
diff --git a/phonelibs/boringssl/LICENSE b/third_party/boringssl/LICENSE
similarity index 100%
rename from phonelibs/boringssl/LICENSE
rename to third_party/boringssl/LICENSE
diff --git a/phonelibs/boringssl/LICENSE.boringssl b/third_party/boringssl/LICENSE.boringssl
similarity index 100%
rename from phonelibs/boringssl/LICENSE.boringssl
rename to third_party/boringssl/LICENSE.boringssl
diff --git a/phonelibs/boringssl/build.txt b/third_party/boringssl/build.txt
similarity index 100%
rename from phonelibs/boringssl/build.txt
rename to third_party/boringssl/build.txt
diff --git a/phonelibs/boringssl/include/openssl/aead.h b/third_party/boringssl/include/openssl/aead.h
similarity index 100%
rename from phonelibs/boringssl/include/openssl/aead.h
rename to third_party/boringssl/include/openssl/aead.h
diff --git a/phonelibs/boringssl/include/openssl/aes.h b/third_party/boringssl/include/openssl/aes.h
similarity index 100%
rename from phonelibs/boringssl/include/openssl/aes.h
rename to third_party/boringssl/include/openssl/aes.h
diff --git a/phonelibs/boringssl/include/openssl/asn1.h b/third_party/boringssl/include/openssl/asn1.h
similarity index 100%
rename from phonelibs/boringssl/include/openssl/asn1.h
rename to third_party/boringssl/include/openssl/asn1.h
diff --git a/phonelibs/boringssl/include/openssl/asn1_mac.h b/third_party/boringssl/include/openssl/asn1_mac.h
similarity index 100%
rename from phonelibs/boringssl/include/openssl/asn1_mac.h
rename to third_party/boringssl/include/openssl/asn1_mac.h
diff --git a/phonelibs/boringssl/include/openssl/asn1t.h b/third_party/boringssl/include/openssl/asn1t.h
similarity index 100%
rename from phonelibs/boringssl/include/openssl/asn1t.h
rename to third_party/boringssl/include/openssl/asn1t.h
diff --git a/phonelibs/boringssl/include/openssl/base.h b/third_party/boringssl/include/openssl/base.h
similarity index 100%
rename from phonelibs/boringssl/include/openssl/base.h
rename to third_party/boringssl/include/openssl/base.h
diff --git a/phonelibs/boringssl/include/openssl/base64.h b/third_party/boringssl/include/openssl/base64.h
similarity index 100%
rename from phonelibs/boringssl/include/openssl/base64.h
rename to third_party/boringssl/include/openssl/base64.h
diff --git a/phonelibs/boringssl/include/openssl/bio.h b/third_party/boringssl/include/openssl/bio.h
similarity index 100%
rename from phonelibs/boringssl/include/openssl/bio.h
rename to third_party/boringssl/include/openssl/bio.h
diff --git a/phonelibs/boringssl/include/openssl/blowfish.h b/third_party/boringssl/include/openssl/blowfish.h
similarity index 100%
rename from phonelibs/boringssl/include/openssl/blowfish.h
rename to third_party/boringssl/include/openssl/blowfish.h
diff --git a/phonelibs/boringssl/include/openssl/bn.h b/third_party/boringssl/include/openssl/bn.h
similarity index 100%
rename from phonelibs/boringssl/include/openssl/bn.h
rename to third_party/boringssl/include/openssl/bn.h
diff --git a/phonelibs/boringssl/include/openssl/buf.h b/third_party/boringssl/include/openssl/buf.h
similarity index 100%
rename from phonelibs/boringssl/include/openssl/buf.h
rename to third_party/boringssl/include/openssl/buf.h
diff --git a/phonelibs/boringssl/include/openssl/buffer.h b/third_party/boringssl/include/openssl/buffer.h
similarity index 100%
rename from phonelibs/boringssl/include/openssl/buffer.h
rename to third_party/boringssl/include/openssl/buffer.h
diff --git a/phonelibs/boringssl/include/openssl/bytestring.h b/third_party/boringssl/include/openssl/bytestring.h
similarity index 100%
rename from phonelibs/boringssl/include/openssl/bytestring.h
rename to third_party/boringssl/include/openssl/bytestring.h
diff --git a/phonelibs/boringssl/include/openssl/cast.h b/third_party/boringssl/include/openssl/cast.h
similarity index 100%
rename from phonelibs/boringssl/include/openssl/cast.h
rename to third_party/boringssl/include/openssl/cast.h
diff --git a/phonelibs/boringssl/include/openssl/chacha.h b/third_party/boringssl/include/openssl/chacha.h
similarity index 100%
rename from phonelibs/boringssl/include/openssl/chacha.h
rename to third_party/boringssl/include/openssl/chacha.h
diff --git a/phonelibs/boringssl/include/openssl/cipher.h b/third_party/boringssl/include/openssl/cipher.h
similarity index 100%
rename from phonelibs/boringssl/include/openssl/cipher.h
rename to third_party/boringssl/include/openssl/cipher.h
diff --git a/phonelibs/boringssl/include/openssl/cmac.h b/third_party/boringssl/include/openssl/cmac.h
similarity index 100%
rename from phonelibs/boringssl/include/openssl/cmac.h
rename to third_party/boringssl/include/openssl/cmac.h
diff --git a/phonelibs/boringssl/include/openssl/conf.h b/third_party/boringssl/include/openssl/conf.h
similarity index 100%
rename from phonelibs/boringssl/include/openssl/conf.h
rename to third_party/boringssl/include/openssl/conf.h
diff --git a/phonelibs/boringssl/include/openssl/cpu.h b/third_party/boringssl/include/openssl/cpu.h
similarity index 100%
rename from phonelibs/boringssl/include/openssl/cpu.h
rename to third_party/boringssl/include/openssl/cpu.h
diff --git a/phonelibs/boringssl/include/openssl/crypto.h b/third_party/boringssl/include/openssl/crypto.h
similarity index 100%
rename from phonelibs/boringssl/include/openssl/crypto.h
rename to third_party/boringssl/include/openssl/crypto.h
diff --git a/phonelibs/boringssl/include/openssl/des.h b/third_party/boringssl/include/openssl/des.h
similarity index 100%
rename from phonelibs/boringssl/include/openssl/des.h
rename to third_party/boringssl/include/openssl/des.h
diff --git a/phonelibs/boringssl/include/openssl/dh.h b/third_party/boringssl/include/openssl/dh.h
similarity index 100%
rename from phonelibs/boringssl/include/openssl/dh.h
rename to third_party/boringssl/include/openssl/dh.h
diff --git a/phonelibs/boringssl/include/openssl/digest.h b/third_party/boringssl/include/openssl/digest.h
similarity index 100%
rename from phonelibs/boringssl/include/openssl/digest.h
rename to third_party/boringssl/include/openssl/digest.h
diff --git a/phonelibs/boringssl/include/openssl/dsa.h b/third_party/boringssl/include/openssl/dsa.h
similarity index 100%
rename from phonelibs/boringssl/include/openssl/dsa.h
rename to third_party/boringssl/include/openssl/dsa.h
diff --git a/phonelibs/boringssl/include/openssl/dtls1.h b/third_party/boringssl/include/openssl/dtls1.h
similarity index 100%
rename from phonelibs/boringssl/include/openssl/dtls1.h
rename to third_party/boringssl/include/openssl/dtls1.h
diff --git a/phonelibs/boringssl/include/openssl/ec.h b/third_party/boringssl/include/openssl/ec.h
similarity index 100%
rename from phonelibs/boringssl/include/openssl/ec.h
rename to third_party/boringssl/include/openssl/ec.h
diff --git a/phonelibs/boringssl/include/openssl/ec_key.h b/third_party/boringssl/include/openssl/ec_key.h
similarity index 100%
rename from phonelibs/boringssl/include/openssl/ec_key.h
rename to third_party/boringssl/include/openssl/ec_key.h
diff --git a/phonelibs/boringssl/include/openssl/ecdh.h b/third_party/boringssl/include/openssl/ecdh.h
similarity index 100%
rename from phonelibs/boringssl/include/openssl/ecdh.h
rename to third_party/boringssl/include/openssl/ecdh.h
diff --git a/phonelibs/boringssl/include/openssl/ecdsa.h b/third_party/boringssl/include/openssl/ecdsa.h
similarity index 100%
rename from phonelibs/boringssl/include/openssl/ecdsa.h
rename to third_party/boringssl/include/openssl/ecdsa.h
diff --git a/phonelibs/boringssl/include/openssl/engine.h b/third_party/boringssl/include/openssl/engine.h
similarity index 100%
rename from phonelibs/boringssl/include/openssl/engine.h
rename to third_party/boringssl/include/openssl/engine.h
diff --git a/phonelibs/boringssl/include/openssl/err.h b/third_party/boringssl/include/openssl/err.h
similarity index 100%
rename from phonelibs/boringssl/include/openssl/err.h
rename to third_party/boringssl/include/openssl/err.h
diff --git a/phonelibs/boringssl/include/openssl/evp.h b/third_party/boringssl/include/openssl/evp.h
similarity index 100%
rename from phonelibs/boringssl/include/openssl/evp.h
rename to third_party/boringssl/include/openssl/evp.h
diff --git a/phonelibs/boringssl/include/openssl/ex_data.h b/third_party/boringssl/include/openssl/ex_data.h
similarity index 100%
rename from phonelibs/boringssl/include/openssl/ex_data.h
rename to third_party/boringssl/include/openssl/ex_data.h
diff --git a/phonelibs/boringssl/include/openssl/hkdf.h b/third_party/boringssl/include/openssl/hkdf.h
similarity index 100%
rename from phonelibs/boringssl/include/openssl/hkdf.h
rename to third_party/boringssl/include/openssl/hkdf.h
diff --git a/phonelibs/boringssl/include/openssl/hmac.h b/third_party/boringssl/include/openssl/hmac.h
similarity index 100%
rename from phonelibs/boringssl/include/openssl/hmac.h
rename to third_party/boringssl/include/openssl/hmac.h
diff --git a/phonelibs/boringssl/include/openssl/lhash.h b/third_party/boringssl/include/openssl/lhash.h
similarity index 100%
rename from phonelibs/boringssl/include/openssl/lhash.h
rename to third_party/boringssl/include/openssl/lhash.h
diff --git a/phonelibs/boringssl/include/openssl/lhash_macros.h b/third_party/boringssl/include/openssl/lhash_macros.h
similarity index 100%
rename from phonelibs/boringssl/include/openssl/lhash_macros.h
rename to third_party/boringssl/include/openssl/lhash_macros.h
diff --git a/phonelibs/boringssl/include/openssl/md4.h b/third_party/boringssl/include/openssl/md4.h
similarity index 100%
rename from phonelibs/boringssl/include/openssl/md4.h
rename to third_party/boringssl/include/openssl/md4.h
diff --git a/phonelibs/boringssl/include/openssl/md5.h b/third_party/boringssl/include/openssl/md5.h
similarity index 100%
rename from phonelibs/boringssl/include/openssl/md5.h
rename to third_party/boringssl/include/openssl/md5.h
diff --git a/phonelibs/boringssl/include/openssl/mem.h b/third_party/boringssl/include/openssl/mem.h
similarity index 100%
rename from phonelibs/boringssl/include/openssl/mem.h
rename to third_party/boringssl/include/openssl/mem.h
diff --git a/phonelibs/boringssl/include/openssl/modes.h b/third_party/boringssl/include/openssl/modes.h
similarity index 100%
rename from phonelibs/boringssl/include/openssl/modes.h
rename to third_party/boringssl/include/openssl/modes.h
diff --git a/phonelibs/boringssl/include/openssl/obj.h b/third_party/boringssl/include/openssl/obj.h
similarity index 100%
rename from phonelibs/boringssl/include/openssl/obj.h
rename to third_party/boringssl/include/openssl/obj.h
diff --git a/phonelibs/boringssl/include/openssl/obj_mac.h b/third_party/boringssl/include/openssl/obj_mac.h
similarity index 100%
rename from phonelibs/boringssl/include/openssl/obj_mac.h
rename to third_party/boringssl/include/openssl/obj_mac.h
diff --git a/phonelibs/boringssl/include/openssl/objects.h b/third_party/boringssl/include/openssl/objects.h
similarity index 100%
rename from phonelibs/boringssl/include/openssl/objects.h
rename to third_party/boringssl/include/openssl/objects.h
diff --git a/phonelibs/boringssl/include/openssl/opensslfeatures.h b/third_party/boringssl/include/openssl/opensslfeatures.h
similarity index 100%
rename from phonelibs/boringssl/include/openssl/opensslfeatures.h
rename to third_party/boringssl/include/openssl/opensslfeatures.h
diff --git a/phonelibs/boringssl/include/openssl/opensslv.h b/third_party/boringssl/include/openssl/opensslv.h
similarity index 100%
rename from phonelibs/boringssl/include/openssl/opensslv.h
rename to third_party/boringssl/include/openssl/opensslv.h
diff --git a/phonelibs/boringssl/include/openssl/ossl_typ.h b/third_party/boringssl/include/openssl/ossl_typ.h
similarity index 100%
rename from phonelibs/boringssl/include/openssl/ossl_typ.h
rename to third_party/boringssl/include/openssl/ossl_typ.h
diff --git a/phonelibs/boringssl/include/openssl/pem.h b/third_party/boringssl/include/openssl/pem.h
similarity index 100%
rename from phonelibs/boringssl/include/openssl/pem.h
rename to third_party/boringssl/include/openssl/pem.h
diff --git a/phonelibs/boringssl/include/openssl/pkcs12.h b/third_party/boringssl/include/openssl/pkcs12.h
similarity index 100%
rename from phonelibs/boringssl/include/openssl/pkcs12.h
rename to third_party/boringssl/include/openssl/pkcs12.h
diff --git a/phonelibs/boringssl/include/openssl/pkcs7.h b/third_party/boringssl/include/openssl/pkcs7.h
similarity index 100%
rename from phonelibs/boringssl/include/openssl/pkcs7.h
rename to third_party/boringssl/include/openssl/pkcs7.h
diff --git a/phonelibs/boringssl/include/openssl/pkcs8.h b/third_party/boringssl/include/openssl/pkcs8.h
similarity index 100%
rename from phonelibs/boringssl/include/openssl/pkcs8.h
rename to third_party/boringssl/include/openssl/pkcs8.h
diff --git a/phonelibs/boringssl/include/openssl/poly1305.h b/third_party/boringssl/include/openssl/poly1305.h
similarity index 100%
rename from phonelibs/boringssl/include/openssl/poly1305.h
rename to third_party/boringssl/include/openssl/poly1305.h
diff --git a/phonelibs/boringssl/include/openssl/pqueue.h b/third_party/boringssl/include/openssl/pqueue.h
similarity index 100%
rename from phonelibs/boringssl/include/openssl/pqueue.h
rename to third_party/boringssl/include/openssl/pqueue.h
diff --git a/phonelibs/boringssl/include/openssl/rand.h b/third_party/boringssl/include/openssl/rand.h
similarity index 100%
rename from phonelibs/boringssl/include/openssl/rand.h
rename to third_party/boringssl/include/openssl/rand.h
diff --git a/phonelibs/boringssl/include/openssl/rc4.h b/third_party/boringssl/include/openssl/rc4.h
similarity index 100%
rename from phonelibs/boringssl/include/openssl/rc4.h
rename to third_party/boringssl/include/openssl/rc4.h
diff --git a/phonelibs/boringssl/include/openssl/rsa.h b/third_party/boringssl/include/openssl/rsa.h
similarity index 100%
rename from phonelibs/boringssl/include/openssl/rsa.h
rename to third_party/boringssl/include/openssl/rsa.h
diff --git a/phonelibs/boringssl/include/openssl/safestack.h b/third_party/boringssl/include/openssl/safestack.h
similarity index 100%
rename from phonelibs/boringssl/include/openssl/safestack.h
rename to third_party/boringssl/include/openssl/safestack.h
diff --git a/phonelibs/boringssl/include/openssl/sha.h b/third_party/boringssl/include/openssl/sha.h
similarity index 100%
rename from phonelibs/boringssl/include/openssl/sha.h
rename to third_party/boringssl/include/openssl/sha.h
diff --git a/phonelibs/boringssl/include/openssl/srtp.h b/third_party/boringssl/include/openssl/srtp.h
similarity index 100%
rename from phonelibs/boringssl/include/openssl/srtp.h
rename to third_party/boringssl/include/openssl/srtp.h
diff --git a/phonelibs/boringssl/include/openssl/ssl.h b/third_party/boringssl/include/openssl/ssl.h
similarity index 100%
rename from phonelibs/boringssl/include/openssl/ssl.h
rename to third_party/boringssl/include/openssl/ssl.h
diff --git a/phonelibs/boringssl/include/openssl/ssl2.h b/third_party/boringssl/include/openssl/ssl2.h
similarity index 100%
rename from phonelibs/boringssl/include/openssl/ssl2.h
rename to third_party/boringssl/include/openssl/ssl2.h
diff --git a/phonelibs/boringssl/include/openssl/ssl23.h b/third_party/boringssl/include/openssl/ssl23.h
similarity index 100%
rename from phonelibs/boringssl/include/openssl/ssl23.h
rename to third_party/boringssl/include/openssl/ssl23.h
diff --git a/phonelibs/boringssl/include/openssl/ssl3.h b/third_party/boringssl/include/openssl/ssl3.h
similarity index 100%
rename from phonelibs/boringssl/include/openssl/ssl3.h
rename to third_party/boringssl/include/openssl/ssl3.h
diff --git a/phonelibs/boringssl/include/openssl/stack.h b/third_party/boringssl/include/openssl/stack.h
similarity index 100%
rename from phonelibs/boringssl/include/openssl/stack.h
rename to third_party/boringssl/include/openssl/stack.h
diff --git a/phonelibs/boringssl/include/openssl/stack_macros.h b/third_party/boringssl/include/openssl/stack_macros.h
similarity index 100%
rename from phonelibs/boringssl/include/openssl/stack_macros.h
rename to third_party/boringssl/include/openssl/stack_macros.h
diff --git a/phonelibs/boringssl/include/openssl/thread.h b/third_party/boringssl/include/openssl/thread.h
similarity index 100%
rename from phonelibs/boringssl/include/openssl/thread.h
rename to third_party/boringssl/include/openssl/thread.h
diff --git a/phonelibs/boringssl/include/openssl/time_support.h b/third_party/boringssl/include/openssl/time_support.h
similarity index 100%
rename from phonelibs/boringssl/include/openssl/time_support.h
rename to third_party/boringssl/include/openssl/time_support.h
diff --git a/phonelibs/boringssl/include/openssl/tls1.h b/third_party/boringssl/include/openssl/tls1.h
similarity index 100%
rename from phonelibs/boringssl/include/openssl/tls1.h
rename to third_party/boringssl/include/openssl/tls1.h
diff --git a/phonelibs/boringssl/include/openssl/type_check.h b/third_party/boringssl/include/openssl/type_check.h
similarity index 100%
rename from phonelibs/boringssl/include/openssl/type_check.h
rename to third_party/boringssl/include/openssl/type_check.h
diff --git a/phonelibs/boringssl/include/openssl/x509.h b/third_party/boringssl/include/openssl/x509.h
similarity index 100%
rename from phonelibs/boringssl/include/openssl/x509.h
rename to third_party/boringssl/include/openssl/x509.h
diff --git a/phonelibs/boringssl/include/openssl/x509_vfy.h b/third_party/boringssl/include/openssl/x509_vfy.h
similarity index 100%
rename from phonelibs/boringssl/include/openssl/x509_vfy.h
rename to third_party/boringssl/include/openssl/x509_vfy.h
diff --git a/phonelibs/boringssl/include/openssl/x509v3.h b/third_party/boringssl/include/openssl/x509v3.h
similarity index 100%
rename from phonelibs/boringssl/include/openssl/x509v3.h
rename to third_party/boringssl/include/openssl/x509v3.h
diff --git a/phonelibs/boringssl/lib/libcrypto_static.a b/third_party/boringssl/lib/libcrypto_static.a
similarity index 100%
rename from phonelibs/boringssl/lib/libcrypto_static.a
rename to third_party/boringssl/lib/libcrypto_static.a
diff --git a/phonelibs/boringssl/lib/libssl_static.a b/third_party/boringssl/lib/libssl_static.a
similarity index 100%
rename from phonelibs/boringssl/lib/libssl_static.a
rename to third_party/boringssl/lib/libssl_static.a
diff --git a/third_party/bzip2/LICENSE b/third_party/bzip2/LICENSE
new file mode 100644
index 0000000000..cc614178cf
--- /dev/null
+++ b/third_party/bzip2/LICENSE
@@ -0,0 +1,42 @@
+
+--------------------------------------------------------------------------
+
+This program, "bzip2", the associated library "libbzip2", and all
+documentation, are copyright (C) 1996-2010 Julian R Seward.  All
+rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions
+are met:
+
+1. Redistributions of source code must retain the above copyright
+   notice, this list of conditions and the following disclaimer.
+
+2. The origin of this software must not be misrepresented; you must 
+   not claim that you wrote the original software.  If you use this 
+   software in a product, an acknowledgment in the product 
+   documentation would be appreciated but is not required.
+
+3. Altered source versions must be plainly marked as such, and must
+   not be misrepresented as being the original software.
+
+4. The name of the author may not be used to endorse or promote 
+   products derived from this software without specific prior written 
+   permission.
+
+THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS
+OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ARE DISCLAIMED.  IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE
+GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
+WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+Julian Seward, jseward@bzip.org
+bzip2/libbzip2 version 1.0.6 of 6 September 2010
+
+--------------------------------------------------------------------------
diff --git a/third_party/bzip2/build.txt b/third_party/bzip2/build.txt
new file mode 100644
index 0000000000..ceb3226210
--- /dev/null
+++ b/third_party/bzip2/build.txt
@@ -0,0 +1,6 @@
+git clone https://github.com/enthought/bzip2-1.0.6.git
+cd bzip2-1.0.6
+git reset --hard 288acf97a15d558f96c24c89f578b724d6e06b0c
+
+make libbz2.a
+cp libbz2.a ../
diff --git a/third_party/bzip2/bzlib.h b/third_party/bzip2/bzlib.h
new file mode 100644
index 0000000000..8277123da8
--- /dev/null
+++ b/third_party/bzip2/bzlib.h
@@ -0,0 +1,282 @@
+
+/*-------------------------------------------------------------*/
+/*--- Public header file for the library.                   ---*/
+/*---                                               bzlib.h ---*/
+/*-------------------------------------------------------------*/
+
+/* ------------------------------------------------------------------
+   This file is part of bzip2/libbzip2, a program and library for
+   lossless, block-sorting data compression.
+
+   bzip2/libbzip2 version 1.0.6 of 6 September 2010
+   Copyright (C) 1996-2010 Julian Seward <jseward@bzip.org>
+
+   Please read the WARNING, DISCLAIMER and PATENTS sections in the 
+   README file.
+
+   This program is released under the terms of the license contained
+   in the file LICENSE.
+   ------------------------------------------------------------------ */
+
+
+#ifndef _BZLIB_H
+#define _BZLIB_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define BZ_RUN               0
+#define BZ_FLUSH             1
+#define BZ_FINISH            2
+
+#define BZ_OK                0
+#define BZ_RUN_OK            1
+#define BZ_FLUSH_OK          2
+#define BZ_FINISH_OK         3
+#define BZ_STREAM_END        4
+#define BZ_SEQUENCE_ERROR    (-1)
+#define BZ_PARAM_ERROR       (-2)
+#define BZ_MEM_ERROR         (-3)
+#define BZ_DATA_ERROR        (-4)
+#define BZ_DATA_ERROR_MAGIC  (-5)
+#define BZ_IO_ERROR          (-6)
+#define BZ_UNEXPECTED_EOF    (-7)
+#define BZ_OUTBUFF_FULL      (-8)
+#define BZ_CONFIG_ERROR      (-9)
+
+typedef 
+   struct {
+      char *next_in;
+      unsigned int avail_in;
+      unsigned int total_in_lo32;
+      unsigned int total_in_hi32;
+
+      char *next_out;
+      unsigned int avail_out;
+      unsigned int total_out_lo32;
+      unsigned int total_out_hi32;
+
+      void *state;
+
+      void *(*bzalloc)(void *,int,int);
+      void (*bzfree)(void *,void *);
+      void *opaque;
+   } 
+   bz_stream;
+
+
+#ifndef BZ_IMPORT
+#define BZ_EXPORT
+#endif
+
+#ifndef BZ_NO_STDIO
+/* Need a definitition for FILE */
+#include <stdio.h>
+#endif
+
+#ifdef _WIN32
+#   include <windows.h>
+#   ifdef small
+      /* windows.h define small to char */
+#      undef small
+#   endif
+#   ifdef BZ_EXPORT
+#   define BZ_API(func) WINAPI func
+#   define BZ_EXTERN extern
+#   else
+   /* import windows dll dynamically */
+#   define BZ_API(func) (WINAPI * func)
+#   define BZ_EXTERN
+#   endif
+#else
+#   define BZ_API(func) func
+#   define BZ_EXTERN extern
+#endif
+
+
+/*-- Core (low-level) library functions --*/
+
+BZ_EXTERN int BZ_API(BZ2_bzCompressInit) ( 
+      bz_stream* strm, 
+      int        blockSize100k, 
+      int        verbosity, 
+      int        workFactor 
+   );
+
+BZ_EXTERN int BZ_API(BZ2_bzCompress) ( 
+      bz_stream* strm, 
+      int action 
+   );
+
+BZ_EXTERN int BZ_API(BZ2_bzCompressEnd) ( 
+      bz_stream* strm 
+   );
+
+BZ_EXTERN int BZ_API(BZ2_bzDecompressInit) ( 
+      bz_stream *strm, 
+      int       verbosity, 
+      int       small
+   );
+
+BZ_EXTERN int BZ_API(BZ2_bzDecompress) ( 
+      bz_stream* strm 
+   );
+
+BZ_EXTERN int BZ_API(BZ2_bzDecompressEnd) ( 
+      bz_stream *strm 
+   );
+
+
+
+/*-- High(er) level library functions --*/
+
+#ifndef BZ_NO_STDIO
+#define BZ_MAX_UNUSED 5000
+
+typedef void BZFILE;
+
+BZ_EXTERN BZFILE* BZ_API(BZ2_bzReadOpen) ( 
+      int*  bzerror,   
+      FILE* f, 
+      int   verbosity, 
+      int   small,
+      void* unused,    
+      int   nUnused 
+   );
+
+BZ_EXTERN void BZ_API(BZ2_bzReadClose) ( 
+      int*    bzerror, 
+      BZFILE* b 
+   );
+
+BZ_EXTERN void BZ_API(BZ2_bzReadGetUnused) ( 
+      int*    bzerror, 
+      BZFILE* b, 
+      void**  unused,  
+      int*    nUnused 
+   );
+
+BZ_EXTERN int BZ_API(BZ2_bzRead) ( 
+      int*    bzerror, 
+      BZFILE* b, 
+      void*   buf, 
+      int     len 
+   );
+
+BZ_EXTERN BZFILE* BZ_API(BZ2_bzWriteOpen) ( 
+      int*  bzerror,      
+      FILE* f, 
+      int   blockSize100k, 
+      int   verbosity, 
+      int   workFactor 
+   );
+
+BZ_EXTERN void BZ_API(BZ2_bzWrite) ( 
+      int*    bzerror, 
+      BZFILE* b, 
+      void*   buf, 
+      int     len 
+   );
+
+BZ_EXTERN void BZ_API(BZ2_bzWriteClose) ( 
+      int*          bzerror, 
+      BZFILE*       b, 
+      int           abandon, 
+      unsigned int* nbytes_in, 
+      unsigned int* nbytes_out 
+   );
+
+BZ_EXTERN void BZ_API(BZ2_bzWriteClose64) ( 
+      int*          bzerror, 
+      BZFILE*       b, 
+      int           abandon, 
+      unsigned int* nbytes_in_lo32, 
+      unsigned int* nbytes_in_hi32, 
+      unsigned int* nbytes_out_lo32, 
+      unsigned int* nbytes_out_hi32
+   );
+#endif
+
+
+/*-- Utility functions --*/
+
+BZ_EXTERN int BZ_API(BZ2_bzBuffToBuffCompress) ( 
+      char*         dest, 
+      unsigned int* destLen,
+      char*         source, 
+      unsigned int  sourceLen,
+      int           blockSize100k, 
+      int           verbosity, 
+      int           workFactor 
+   );
+
+BZ_EXTERN int BZ_API(BZ2_bzBuffToBuffDecompress) ( 
+      char*         dest, 
+      unsigned int* destLen,
+      char*         source, 
+      unsigned int  sourceLen,
+      int           small, 
+      int           verbosity 
+   );
+
+
+/*--
+   Code contributed by Yoshioka Tsuneo (tsuneo@rr.iij4u.or.jp)
+   to support better zlib compatibility.
+   This code is not _officially_ part of libbzip2 (yet);
+   I haven't tested it, documented it, or considered the
+   threading-safeness of it.
+   If this code breaks, please contact both Yoshioka and me.
+--*/
+
+BZ_EXTERN const char * BZ_API(BZ2_bzlibVersion) (
+      void
+   );
+
+#ifndef BZ_NO_STDIO
+BZ_EXTERN BZFILE * BZ_API(BZ2_bzopen) (
+      const char *path,
+      const char *mode
+   );
+
+BZ_EXTERN BZFILE * BZ_API(BZ2_bzdopen) (
+      int        fd,
+      const char *mode
+   );
+         
+BZ_EXTERN int BZ_API(BZ2_bzread) (
+      BZFILE* b, 
+      void* buf, 
+      int len 
+   );
+
+BZ_EXTERN int BZ_API(BZ2_bzwrite) (
+      BZFILE* b, 
+      void*   buf, 
+      int     len 
+   );
+
+BZ_EXTERN int BZ_API(BZ2_bzflush) (
+      BZFILE* b
+   );
+
+BZ_EXTERN void BZ_API(BZ2_bzclose) (
+      BZFILE* b
+   );
+
+BZ_EXTERN const char * BZ_API(BZ2_bzerror) (
+      BZFILE *b, 
+      int    *errnum
+   );
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
+
+/*-------------------------------------------------------------*/
+/*--- end                                           bzlib.h ---*/
+/*-------------------------------------------------------------*/
diff --git a/phonelibs/bzip2/libbz2.a b/third_party/bzip2/libbz2.a
similarity index 100%
rename from phonelibs/bzip2/libbz2.a
rename to third_party/bzip2/libbz2.a
diff --git a/phonelibs/catch2/include/catch2/catch.hpp b/third_party/catch2/include/catch2/catch.hpp
similarity index 100%
rename from phonelibs/catch2/include/catch2/catch.hpp
rename to third_party/catch2/include/catch2/catch.hpp
diff --git a/third_party/catch2/include/catch2/catch_reporter_automake.hpp b/third_party/catch2/include/catch2/catch_reporter_automake.hpp
new file mode 100644
index 0000000000..dbebe97516
--- /dev/null
+++ b/third_party/catch2/include/catch2/catch_reporter_automake.hpp
@@ -0,0 +1,62 @@
+/*
+ *  Created by Justin R. Wilson on 2/19/2017.
+ *  Copyright 2017 Justin R. Wilson. All rights reserved.
+ *
+ *  Distributed under the Boost Software License, Version 1.0. (See accompanying
+ *  file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+#ifndef TWOBLUECUBES_CATCH_REPORTER_AUTOMAKE_HPP_INCLUDED
+#define TWOBLUECUBES_CATCH_REPORTER_AUTOMAKE_HPP_INCLUDED
+
+// Don't #include any Catch headers here - we can assume they are already
+// included before this header.
+// This is not good practice in general but is necessary in this case so this
+// file can be distributed as a single header that works with the main
+// Catch single header.
+
+namespace Catch {
+
+    struct AutomakeReporter : StreamingReporterBase<AutomakeReporter> {
+        AutomakeReporter( ReporterConfig const& _config )
+          :   StreamingReporterBase( _config )
+        {}
+
+        ~AutomakeReporter() override;
+
+        static std::string getDescription() {
+            return "Reports test results in the format of Automake .trs files";
+        }
+
+        void assertionStarting( AssertionInfo const& ) override {}
+
+        bool assertionEnded( AssertionStats const& /*_assertionStats*/ ) override { return true; }
+
+        void testCaseEnded( TestCaseStats const& _testCaseStats ) override {
+            // Possible values to emit are PASS, XFAIL, SKIP, FAIL, XPASS and ERROR.
+            stream << ":test-result: ";
+            if (_testCaseStats.totals.assertions.allPassed()) {
+                stream << "PASS";
+            } else if (_testCaseStats.totals.assertions.allOk()) {
+                stream << "XFAIL";
+            } else {
+                stream << "FAIL";
+            }
+            stream << ' ' << _testCaseStats.testInfo.name << '\n';
+            StreamingReporterBase::testCaseEnded( _testCaseStats );
+        }
+
+        void skipTest( TestCaseInfo const& testInfo ) override {
+            stream << ":test-result: SKIP " << testInfo.name << '\n';
+        }
+
+    };
+
+#ifdef CATCH_IMPL
+    AutomakeReporter::~AutomakeReporter() {}
+#endif
+
+    CATCH_REGISTER_REPORTER( "automake", AutomakeReporter)
+
+} // end namespace Catch
+
+#endif // TWOBLUECUBES_CATCH_REPORTER_AUTOMAKE_HPP_INCLUDED
diff --git a/third_party/catch2/include/catch2/catch_reporter_sonarqube.hpp b/third_party/catch2/include/catch2/catch_reporter_sonarqube.hpp
new file mode 100644
index 0000000000..bf7d9299a5
--- /dev/null
+++ b/third_party/catch2/include/catch2/catch_reporter_sonarqube.hpp
@@ -0,0 +1,181 @@
+/*
+ *  Created by Daniel Garcia on 2018-12-04.
+ *  Copyright Social Point SL. All rights reserved.
+ *
+ *  Distributed under the Boost Software License, Version 1.0. (See accompanying
+ *  file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+#ifndef CATCH_REPORTER_SONARQUBE_HPP_INCLUDED
+#define CATCH_REPORTER_SONARQUBE_HPP_INCLUDED
+
+
+// Don't #include any Catch headers here - we can assume they are already
+// included before this header.
+// This is not good practice in general but is necessary in this case so this
+// file can be distributed as a single header that works with the main
+// Catch single header.
+
+#include <map>
+
+namespace Catch {
+
+    struct SonarQubeReporter : CumulativeReporterBase<SonarQubeReporter> {
+
+        SonarQubeReporter(ReporterConfig const& config)
+        : CumulativeReporterBase(config)
+        , xml(config.stream()) {
+            m_reporterPrefs.shouldRedirectStdOut = true;
+            m_reporterPrefs.shouldReportAllAssertions = true;
+        }
+
+        ~SonarQubeReporter() override;
+
+        static std::string getDescription() {
+            return "Reports test results in the Generic Test Data SonarQube XML format";
+        }
+
+        static std::set<Verbosity> getSupportedVerbosities() {
+            return { Verbosity::Normal };
+        }
+
+        void noMatchingTestCases(std::string const& /*spec*/) override {}
+
+        void testRunStarting(TestRunInfo const& testRunInfo) override {
+            CumulativeReporterBase::testRunStarting(testRunInfo);
+            xml.startElement("testExecutions");
+            xml.writeAttribute("version", "1");
+        }
+
+        void testGroupEnded(TestGroupStats const& testGroupStats) override {
+            CumulativeReporterBase::testGroupEnded(testGroupStats);
+            writeGroup(*m_testGroups.back());
+        }
+
+        void testRunEndedCumulative() override {
+            xml.endElement();
+        }
+
+        void writeGroup(TestGroupNode const& groupNode) {
+            std::map<std::string, TestGroupNode::ChildNodes> testsPerFile;
+            for(auto const& child : groupNode.children)
+                testsPerFile[child->value.testInfo.lineInfo.file].push_back(child);
+
+            for(auto const& kv : testsPerFile)
+                writeTestFile(kv.first.c_str(), kv.second);
+        }
+
+        void writeTestFile(const char* filename, TestGroupNode::ChildNodes const& testCaseNodes) {
+            XmlWriter::ScopedElement e = xml.scopedElement("file");
+            xml.writeAttribute("path", filename);
+
+            for(auto const& child : testCaseNodes)
+                writeTestCase(*child);
+        }
+
+        void writeTestCase(TestCaseNode const& testCaseNode) {
+            // All test cases have exactly one section - which represents the
+            // test case itself. That section may have 0-n nested sections
+            assert(testCaseNode.children.size() == 1);
+            SectionNode const& rootSection = *testCaseNode.children.front();
+            writeSection("", rootSection, testCaseNode.value.testInfo.okToFail());
+        }
+
+        void writeSection(std::string const& rootName, SectionNode const& sectionNode, bool okToFail) {
+            std::string name = trim(sectionNode.stats.sectionInfo.name);
+            if(!rootName.empty())
+                name = rootName + '/' + name;
+
+            if(!sectionNode.assertions.empty() || !sectionNode.stdOut.empty() || !sectionNode.stdErr.empty()) {
+                XmlWriter::ScopedElement e = xml.scopedElement("testCase");
+                xml.writeAttribute("name", name);
+                xml.writeAttribute("duration", static_cast<long>(sectionNode.stats.durationInSeconds * 1000));
+
+                writeAssertions(sectionNode, okToFail);
+            }
+
+            for(auto const& childNode : sectionNode.childSections)
+                writeSection(name, *childNode, okToFail);
+        }
+
+        void writeAssertions(SectionNode const& sectionNode, bool okToFail) {
+            for(auto const& assertion : sectionNode.assertions)
+                writeAssertion( assertion, okToFail);
+        }
+
+        void writeAssertion(AssertionStats const& stats, bool okToFail) {
+            AssertionResult const& result = stats.assertionResult;
+            if(!result.isOk()) {
+                std::string elementName;
+                if(okToFail) {
+                    elementName = "skipped";
+                }
+                else {
+                    switch(result.getResultType()) {
+                        case ResultWas::ThrewException:
+                        case ResultWas::FatalErrorCondition:
+                            elementName = "error";
+                            break;
+                        case ResultWas::ExplicitFailure:
+                            elementName = "failure";
+                            break;
+                        case ResultWas::ExpressionFailed:
+                            elementName = "failure";
+                            break;
+                        case ResultWas::DidntThrowException:
+                            elementName = "failure";
+                            break;
+
+                            // We should never see these here:
+                        case ResultWas::Info:
+                        case ResultWas::Warning:
+                        case ResultWas::Ok:
+                        case ResultWas::Unknown:
+                        case ResultWas::FailureBit:
+                        case ResultWas::Exception:
+                            elementName = "internalError";
+                            break;
+                    }
+                }
+
+                XmlWriter::ScopedElement e = xml.scopedElement(elementName);
+
+                ReusableStringStream messageRss;
+                messageRss << result.getTestMacroName() << "(" << result.getExpression() << ")";
+                xml.writeAttribute("message", messageRss.str());
+
+                ReusableStringStream textRss;
+                if (stats.totals.assertions.total() > 0) {
+                    textRss << "FAILED:\n";
+                    if (result.hasExpression()) {
+                        textRss << "\t" << result.getExpressionInMacro() << "\n";
+                    }
+                    if (result.hasExpandedExpression()) {
+                        textRss << "with expansion:\n\t" << result.getExpandedExpression() << "\n";
+                    }
+                }
+
+                if(!result.getMessage().empty())
+                    textRss << result.getMessage() << "\n";
+
+                for(auto const& msg : stats.infoMessages)
+                    if(msg.type == ResultWas::Info)
+                        textRss << msg.message << "\n";
+
+                textRss << "at " << result.getSourceInfo();
+                xml.writeText(textRss.str(), XmlFormatting::Newline);
+            }
+        }
+
+    private:
+        XmlWriter xml;
+    };
+
+#ifdef CATCH_IMPL
+    SonarQubeReporter::~SonarQubeReporter() {}
+#endif
+
+    CATCH_REGISTER_REPORTER( "sonarqube", SonarQubeReporter )
+
+} // end namespace Catch
+
+#endif // CATCH_REPORTER_SONARQUBE_HPP_INCLUDED
\ No newline at end of file
diff --git a/third_party/catch2/include/catch2/catch_reporter_tap.hpp b/third_party/catch2/include/catch2/catch_reporter_tap.hpp
new file mode 100644
index 0000000000..5ac8524ce7
--- /dev/null
+++ b/third_party/catch2/include/catch2/catch_reporter_tap.hpp
@@ -0,0 +1,254 @@
+/*
+ *  Created by Colton Wolkins on 2015-08-15.
+ *  Copyright 2015 Martin Moene. All rights reserved.
+ *
+ *  Distributed under the Boost Software License, Version 1.0. (See accompanying
+ *  file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+#ifndef TWOBLUECUBES_CATCH_REPORTER_TAP_HPP_INCLUDED
+#define TWOBLUECUBES_CATCH_REPORTER_TAP_HPP_INCLUDED
+
+
+// Don't #include any Catch headers here - we can assume they are already
+// included before this header.
+// This is not good practice in general but is necessary in this case so this
+// file can be distributed as a single header that works with the main
+// Catch single header.
+
+#include <algorithm>
+
+namespace Catch {
+
+    struct TAPReporter : StreamingReporterBase<TAPReporter> {
+
+        using StreamingReporterBase::StreamingReporterBase;
+
+        TAPReporter( ReporterConfig const& config ):
+            StreamingReporterBase( config ) {
+            m_reporterPrefs.shouldReportAllAssertions = true;
+        }
+
+        ~TAPReporter() override;
+
+        static std::string getDescription() {
+            return "Reports test results in TAP format, suitable for test harnesses";
+        }
+
+        void noMatchingTestCases( std::string const& spec ) override {
+            stream << "# No test cases matched '" << spec << "'" << std::endl;
+        }
+
+        void assertionStarting( AssertionInfo const& ) override {}
+
+        bool assertionEnded( AssertionStats const& _assertionStats ) override {
+            ++counter;
+
+            stream << "# " << currentTestCaseInfo->name << std::endl;
+            AssertionPrinter printer( stream, _assertionStats, counter );
+            printer.print();
+
+            stream << std::endl;
+            return true;
+        }
+
+        void testRunEnded( TestRunStats const& _testRunStats ) override {
+            printTotals( _testRunStats.totals );
+            stream << "\n" << std::endl;
+            StreamingReporterBase::testRunEnded( _testRunStats );
+        }
+
+    private:
+        std::size_t counter = 0;
+        class AssertionPrinter {
+        public:
+            AssertionPrinter& operator= ( AssertionPrinter const& ) = delete;
+            AssertionPrinter( AssertionPrinter const& ) = delete;
+            AssertionPrinter( std::ostream& _stream, AssertionStats const& _stats, std::size_t _counter )
+            : stream( _stream )
+            , result( _stats.assertionResult )
+            , messages( _stats.infoMessages )
+            , itMessage( _stats.infoMessages.begin() )
+            , printInfoMessages( true )
+            , counter(_counter)
+            {}
+
+            void print() {
+                itMessage = messages.begin();
+
+                switch( result.getResultType() ) {
+                    case ResultWas::Ok:
+                        printResultType( passedString() );
+                        printOriginalExpression();
+                        printReconstructedExpression();
+                        if ( ! result.hasExpression() )
+                            printRemainingMessages( Colour::None );
+                        else
+                            printRemainingMessages();
+                        break;
+                    case ResultWas::ExpressionFailed:
+                        if (result.isOk()) {
+                            printResultType(passedString());
+                        } else {
+                            printResultType(failedString());
+                        }
+                        printOriginalExpression();
+                        printReconstructedExpression();
+                        if (result.isOk()) {
+                            printIssue(" # TODO");
+                        }
+                        printRemainingMessages();
+                        break;
+                    case ResultWas::ThrewException:
+                        printResultType( failedString() );
+                        printIssue( "unexpected exception with message:" );
+                        printMessage();
+                        printExpressionWas();
+                        printRemainingMessages();
+                        break;
+                    case ResultWas::FatalErrorCondition:
+                        printResultType( failedString() );
+                        printIssue( "fatal error condition with message:" );
+                        printMessage();
+                        printExpressionWas();
+                        printRemainingMessages();
+                        break;
+                    case ResultWas::DidntThrowException:
+                        printResultType( failedString() );
+                        printIssue( "expected exception, got none" );
+                        printExpressionWas();
+                        printRemainingMessages();
+                        break;
+                    case ResultWas::Info:
+                        printResultType( "info" );
+                        printMessage();
+                        printRemainingMessages();
+                        break;
+                    case ResultWas::Warning:
+                        printResultType( "warning" );
+                        printMessage();
+                        printRemainingMessages();
+                        break;
+                    case ResultWas::ExplicitFailure:
+                        printResultType( failedString() );
+                        printIssue( "explicitly" );
+                        printRemainingMessages( Colour::None );
+                        break;
+                    // These cases are here to prevent compiler warnings
+                    case ResultWas::Unknown:
+                    case ResultWas::FailureBit:
+                    case ResultWas::Exception:
+                        printResultType( "** internal error **" );
+                        break;
+                }
+            }
+
+        private:
+            static Colour::Code dimColour() { return Colour::FileName; }
+
+            static const char* failedString() { return "not ok"; }
+            static const char* passedString() { return "ok"; }
+
+            void printSourceInfo() const {
+                Colour colourGuard( dimColour() );
+                stream << result.getSourceInfo() << ":";
+            }
+
+            void printResultType( std::string const& passOrFail ) const {
+                if( !passOrFail.empty() ) {
+                    stream << passOrFail << ' ' << counter << " -";
+                }
+            }
+
+            void printIssue( std::string const& issue ) const {
+                stream << " " << issue;
+            }
+
+            void printExpressionWas() {
+                if( result.hasExpression() ) {
+                    stream << ";";
+                    {
+                        Colour colour( dimColour() );
+                        stream << " expression was:";
+                    }
+                    printOriginalExpression();
+                }
+            }
+
+            void printOriginalExpression() const {
+                if( result.hasExpression() ) {
+                    stream << " " << result.getExpression();
+                }
+            }
+
+            void printReconstructedExpression() const {
+                if( result.hasExpandedExpression() ) {
+                    {
+                        Colour colour( dimColour() );
+                        stream << " for: ";
+                    }
+                    std::string expr = result.getExpandedExpression();
+                    std::replace( expr.begin(), expr.end(), '\n', ' ');
+                    stream << expr;
+                }
+            }
+
+            void printMessage() {
+                if ( itMessage != messages.end() ) {
+                    stream << " '" << itMessage->message << "'";
+                    ++itMessage;
+                }
+            }
+
+            void printRemainingMessages( Colour::Code colour = dimColour() ) {
+                if (itMessage == messages.end()) {
+                    return;
+                }
+
+                const auto itEnd = messages.cend();
+                const auto N = static_cast<std::size_t>( std::distance( itMessage, itEnd ) );
+
+                {
+                    Colour colourGuard( colour );
+                    stream << " with " << pluralise( N, "message" ) << ":";
+                }
+
+                while( itMessage != itEnd ) {
+                    // If this assertion is a warning ignore any INFO messages
+                    if( printInfoMessages || itMessage->type != ResultWas::Info ) {
+                        stream << " '" << itMessage->message << "'";
+                        if ( ++itMessage != itEnd ) {
+                            Colour colourGuard( dimColour() );
+                            stream << " and";
+                        }
+                        continue;
+                    }
+                    ++itMessage;
+                }
+            }
+
+        private:
+            std::ostream& stream;
+            AssertionResult const& result;
+            std::vector<MessageInfo> messages;
+            std::vector<MessageInfo>::const_iterator itMessage;
+            bool printInfoMessages;
+            std::size_t counter;
+        };
+
+        void printTotals( const Totals& totals ) const {
+            stream << "1.." << totals.assertions.total();
+            if( totals.testCases.total() == 0 ) {
+                stream << " # Skipped: No tests ran.";
+            }
+        }
+    };
+
+#ifdef CATCH_IMPL
+    TAPReporter::~TAPReporter() {}
+#endif
+
+    CATCH_REGISTER_REPORTER( "tap", TAPReporter )
+
+} // end namespace Catch
+
+#endif // TWOBLUECUBES_CATCH_REPORTER_TAP_HPP_INCLUDED
diff --git a/third_party/catch2/include/catch2/catch_reporter_teamcity.hpp b/third_party/catch2/include/catch2/catch_reporter_teamcity.hpp
new file mode 100644
index 0000000000..47b7e4aac3
--- /dev/null
+++ b/third_party/catch2/include/catch2/catch_reporter_teamcity.hpp
@@ -0,0 +1,219 @@
+/*
+ *  Created by Phil Nash on 19th December 2014
+ *  Copyright 2014 Two Blue Cubes Ltd. All rights reserved.
+ *
+ *  Distributed under the Boost Software License, Version 1.0. (See accompanying
+ *  file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+#ifndef TWOBLUECUBES_CATCH_REPORTER_TEAMCITY_HPP_INCLUDED
+#define TWOBLUECUBES_CATCH_REPORTER_TEAMCITY_HPP_INCLUDED
+
+// Don't #include any Catch headers here - we can assume they are already
+// included before this header.
+// This is not good practice in general but is necessary in this case so this
+// file can be distributed as a single header that works with the main
+// Catch single header.
+
+#include <cstring>
+
+#ifdef __clang__
+#   pragma clang diagnostic push
+#   pragma clang diagnostic ignored "-Wpadded"
+#endif
+
+namespace Catch {
+
+    struct TeamCityReporter : StreamingReporterBase<TeamCityReporter> {
+        TeamCityReporter( ReporterConfig const& _config )
+        :   StreamingReporterBase( _config )
+        {
+            m_reporterPrefs.shouldRedirectStdOut = true;
+        }
+
+        static std::string escape( std::string const& str ) {
+            std::string escaped = str;
+            replaceInPlace( escaped, "|", "||" );
+            replaceInPlace( escaped, "'", "|'" );
+            replaceInPlace( escaped, "\n", "|n" );
+            replaceInPlace( escaped, "\r", "|r" );
+            replaceInPlace( escaped, "[", "|[" );
+            replaceInPlace( escaped, "]", "|]" );
+            return escaped;
+        }
+        ~TeamCityReporter() override;
+
+        static std::string getDescription() {
+            return "Reports test results as TeamCity service messages";
+        }
+
+        void skipTest( TestCaseInfo const& /* testInfo */ ) override {
+        }
+
+        void noMatchingTestCases( std::string const& /* spec */ ) override {}
+
+        void testGroupStarting( GroupInfo const& groupInfo ) override {
+            StreamingReporterBase::testGroupStarting( groupInfo );
+            stream << "##teamcity[testSuiteStarted name='"
+                << escape( groupInfo.name ) << "']\n";
+        }
+        void testGroupEnded( TestGroupStats const& testGroupStats ) override {
+            StreamingReporterBase::testGroupEnded( testGroupStats );
+            stream << "##teamcity[testSuiteFinished name='"
+                << escape( testGroupStats.groupInfo.name ) << "']\n";
+        }
+
+
+        void assertionStarting( AssertionInfo const& ) override {}
+
+        bool assertionEnded( AssertionStats const& assertionStats ) override {
+            AssertionResult const& result = assertionStats.assertionResult;
+            if( !result.isOk() ) {
+
+                ReusableStringStream msg;
+                if( !m_headerPrintedForThisSection )
+                    printSectionHeader( msg.get() );
+                m_headerPrintedForThisSection = true;
+
+                msg << result.getSourceInfo() << "\n";
+
+                switch( result.getResultType() ) {
+                    case ResultWas::ExpressionFailed:
+                        msg << "expression failed";
+                        break;
+                    case ResultWas::ThrewException:
+                        msg << "unexpected exception";
+                        break;
+                    case ResultWas::FatalErrorCondition:
+                        msg << "fatal error condition";
+                        break;
+                    case ResultWas::DidntThrowException:
+                        msg << "no exception was thrown where one was expected";
+                        break;
+                    case ResultWas::ExplicitFailure:
+                        msg << "explicit failure";
+                        break;
+
+                    // We shouldn't get here because of the isOk() test
+                    case ResultWas::Ok:
+                    case ResultWas::Info:
+                    case ResultWas::Warning:
+                        CATCH_ERROR( "Internal error in TeamCity reporter" );
+                    // These cases are here to prevent compiler warnings
+                    case ResultWas::Unknown:
+                    case ResultWas::FailureBit:
+                    case ResultWas::Exception:
+                        CATCH_ERROR( "Not implemented" );
+                }
+                if( assertionStats.infoMessages.size() == 1 )
+                    msg << " with message:";
+                if( assertionStats.infoMessages.size() > 1 )
+                    msg << " with messages:";
+                for( auto const& messageInfo : assertionStats.infoMessages )
+                    msg << "\n  \"" << messageInfo.message << "\"";
+
+
+                if( result.hasExpression() ) {
+                    msg <<
+                        "\n  " << result.getExpressionInMacro() << "\n"
+                        "with expansion:\n" <<
+                        "  " << result.getExpandedExpression() << "\n";
+                }
+
+                if( currentTestCaseInfo->okToFail() ) {
+                    msg << "- failure ignore as test marked as 'ok to fail'\n";
+                    stream << "##teamcity[testIgnored"
+                           << " name='" << escape( currentTestCaseInfo->name )<< "'"
+                           << " message='" << escape( msg.str() ) << "'"
+                           << "]\n";
+                }
+                else {
+                    stream << "##teamcity[testFailed"
+                           << " name='" << escape( currentTestCaseInfo->name )<< "'"
+                           << " message='" << escape( msg.str() ) << "'"
+                           << "]\n";
+                }
+            }
+            stream.flush();
+            return true;
+        }
+
+        void sectionStarting( SectionInfo const& sectionInfo ) override {
+            m_headerPrintedForThisSection = false;
+            StreamingReporterBase::sectionStarting( sectionInfo );
+        }
+
+        void testCaseStarting( TestCaseInfo const& testInfo ) override {
+            m_testTimer.start();
+            StreamingReporterBase::testCaseStarting( testInfo );
+            stream << "##teamcity[testStarted name='"
+                << escape( testInfo.name ) << "']\n";
+            stream.flush();
+        }
+
+        void testCaseEnded( TestCaseStats const& testCaseStats ) override {
+            StreamingReporterBase::testCaseEnded( testCaseStats );
+            if( !testCaseStats.stdOut.empty() )
+                stream << "##teamcity[testStdOut name='"
+                    << escape( testCaseStats.testInfo.name )
+                    << "' out='" << escape( testCaseStats.stdOut ) << "']\n";
+            if( !testCaseStats.stdErr.empty() )
+                stream << "##teamcity[testStdErr name='"
+                    << escape( testCaseStats.testInfo.name )
+                    << "' out='" << escape( testCaseStats.stdErr ) << "']\n";
+            stream << "##teamcity[testFinished name='"
+                    << escape( testCaseStats.testInfo.name ) << "' duration='"
+                    << m_testTimer.getElapsedMilliseconds() << "']\n";
+            stream.flush();
+        }
+
+    private:
+        void printSectionHeader( std::ostream& os ) {
+            assert( !m_sectionStack.empty() );
+
+            if( m_sectionStack.size() > 1 ) {
+                os << getLineOfChars<'-'>() << "\n";
+
+                std::vector<SectionInfo>::const_iterator
+                it = m_sectionStack.begin()+1, // Skip first section (test case)
+                itEnd = m_sectionStack.end();
+                for( ; it != itEnd; ++it )
+                    printHeaderString( os, it->name );
+                os << getLineOfChars<'-'>() << "\n";
+            }
+
+            SourceLineInfo lineInfo = m_sectionStack.front().lineInfo;
+
+            os << lineInfo << "\n";
+            os << getLineOfChars<'.'>() << "\n\n";
+        }
+
+        // if string has a : in first line will set indent to follow it on
+        // subsequent lines
+        static void printHeaderString( std::ostream& os, std::string const& _string, std::size_t indent = 0 ) {
+            std::size_t i = _string.find( ": " );
+            if( i != std::string::npos )
+                i+=2;
+            else
+                i = 0;
+            os << Column( _string )
+                           .indent( indent+i)
+                           .initialIndent( indent ) << "\n";
+        }
+    private:
+        bool m_headerPrintedForThisSection = false;
+        Timer m_testTimer;
+    };
+
+#ifdef CATCH_IMPL
+    TeamCityReporter::~TeamCityReporter() {}
+#endif
+
+    CATCH_REGISTER_REPORTER( "teamcity", TeamCityReporter )
+
+} // end namespace Catch
+
+#ifdef __clang__
+#   pragma clang diagnostic pop
+#endif
+
+#endif // TWOBLUECUBES_CATCH_REPORTER_TEAMCITY_HPP_INCLUDED
diff --git a/phonelibs/curl/build.txt b/third_party/curl/build.txt
similarity index 100%
rename from phonelibs/curl/build.txt
rename to third_party/curl/build.txt
diff --git a/phonelibs/curl/include/Makefile.am b/third_party/curl/include/Makefile.am
similarity index 100%
rename from phonelibs/curl/include/Makefile.am
rename to third_party/curl/include/Makefile.am
diff --git a/phonelibs/curl/include/README b/third_party/curl/include/README
similarity index 100%
rename from phonelibs/curl/include/README
rename to third_party/curl/include/README
diff --git a/phonelibs/curl/include/curl/.gitignore b/third_party/curl/include/curl/.gitignore
similarity index 100%
rename from phonelibs/curl/include/curl/.gitignore
rename to third_party/curl/include/curl/.gitignore
diff --git a/phonelibs/curl/include/curl/Makefile.am b/third_party/curl/include/curl/Makefile.am
similarity index 100%
rename from phonelibs/curl/include/curl/Makefile.am
rename to third_party/curl/include/curl/Makefile.am
diff --git a/phonelibs/curl/include/curl/curl.h b/third_party/curl/include/curl/curl.h
similarity index 100%
rename from phonelibs/curl/include/curl/curl.h
rename to third_party/curl/include/curl/curl.h
diff --git a/phonelibs/curl/include/curl/curlbuild.h b/third_party/curl/include/curl/curlbuild.h
similarity index 100%
rename from phonelibs/curl/include/curl/curlbuild.h
rename to third_party/curl/include/curl/curlbuild.h
diff --git a/phonelibs/curl/include/curl/curlbuild.h.cmake b/third_party/curl/include/curl/curlbuild.h.cmake
similarity index 100%
rename from phonelibs/curl/include/curl/curlbuild.h.cmake
rename to third_party/curl/include/curl/curlbuild.h.cmake
diff --git a/phonelibs/curl/include/curl/curlbuild.h.dist b/third_party/curl/include/curl/curlbuild.h.dist
similarity index 100%
rename from phonelibs/curl/include/curl/curlbuild.h.dist
rename to third_party/curl/include/curl/curlbuild.h.dist
diff --git a/phonelibs/curl/include/curl/curlbuild.h.in b/third_party/curl/include/curl/curlbuild.h.in
similarity index 100%
rename from phonelibs/curl/include/curl/curlbuild.h.in
rename to third_party/curl/include/curl/curlbuild.h.in
diff --git a/phonelibs/curl/include/curl/curlrules.h b/third_party/curl/include/curl/curlrules.h
similarity index 100%
rename from phonelibs/curl/include/curl/curlrules.h
rename to third_party/curl/include/curl/curlrules.h
diff --git a/phonelibs/curl/include/curl/curlver.h b/third_party/curl/include/curl/curlver.h
similarity index 100%
rename from phonelibs/curl/include/curl/curlver.h
rename to third_party/curl/include/curl/curlver.h
diff --git a/phonelibs/curl/include/curl/easy.h b/third_party/curl/include/curl/easy.h
similarity index 100%
rename from phonelibs/curl/include/curl/easy.h
rename to third_party/curl/include/curl/easy.h
diff --git a/phonelibs/curl/include/curl/mprintf.h b/third_party/curl/include/curl/mprintf.h
similarity index 100%
rename from phonelibs/curl/include/curl/mprintf.h
rename to third_party/curl/include/curl/mprintf.h
diff --git a/phonelibs/curl/include/curl/multi.h b/third_party/curl/include/curl/multi.h
similarity index 100%
rename from phonelibs/curl/include/curl/multi.h
rename to third_party/curl/include/curl/multi.h
diff --git a/phonelibs/curl/include/curl/stdcheaders.h b/third_party/curl/include/curl/stdcheaders.h
similarity index 100%
rename from phonelibs/curl/include/curl/stdcheaders.h
rename to third_party/curl/include/curl/stdcheaders.h
diff --git a/phonelibs/curl/include/curl/typecheck-gcc.h b/third_party/curl/include/curl/typecheck-gcc.h
similarity index 100%
rename from phonelibs/curl/include/curl/typecheck-gcc.h
rename to third_party/curl/include/curl/typecheck-gcc.h
diff --git a/phonelibs/curl/lib/libcurl.a b/third_party/curl/lib/libcurl.a
similarity index 100%
rename from phonelibs/curl/lib/libcurl.a
rename to third_party/curl/lib/libcurl.a
diff --git a/third_party/json11/json11.cpp b/third_party/json11/json11.cpp
new file mode 100644
index 0000000000..bc4045f07d
--- /dev/null
+++ b/third_party/json11/json11.cpp
@@ -0,0 +1,784 @@
+/* Copyright (c) 2013 Dropbox, Inc.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include "json11.hpp"
+#include <cassert>
+#include <cmath>
+#include <cstdlib>
+#include <cstdio>
+#include <limits>
+
+namespace json11 {
+
+static const int max_depth = 200;
+
+using std::string;
+using std::vector;
+using std::map;
+using std::make_shared;
+using std::initializer_list;
+using std::move;
+
+/* Helper for representing null - just a do-nothing struct, plus comparison
+ * operators so the helpers in JsonValue work. We can't use nullptr_t because
+ * it may not be orderable.
+ */
+struct NullStruct {
+    bool operator==(NullStruct) const { return true; }
+    bool operator<(NullStruct) const { return false; }
+};
+
+/* * * * * * * * * * * * * * * * * * * *
+ * Serialization
+ */
+
+static void dump(NullStruct, string &out) {
+    out += "null";
+}
+
+static void dump(double value, string &out) {
+    if (std::isfinite(value)) {
+        char buf[32];
+        snprintf(buf, sizeof buf, "%.17g", value);
+        out += buf;
+    } else {
+        out += "null";
+    }
+}
+
+static void dump(int value, string &out) {
+    char buf[32];
+    snprintf(buf, sizeof buf, "%d", value);
+    out += buf;
+}
+
+static void dump(bool value, string &out) {
+    out += value ? "true" : "false";
+}
+
+static void dump(const string &value, string &out) {
+    out += '"';
+    for (size_t i = 0; i < value.length(); i++) {
+        const char ch = value[i];
+        if (ch == '\\') {
+            out += "\\\\";
+        } else if (ch == '"') {
+            out += "\\\"";
+        } else if (ch == '\b') {
+            out += "\\b";
+        } else if (ch == '\f') {
+            out += "\\f";
+        } else if (ch == '\n') {
+            out += "\\n";
+        } else if (ch == '\r') {
+            out += "\\r";
+        } else if (ch == '\t') {
+            out += "\\t";
+        } else if (static_cast<uint8_t>(ch) <= 0x1f) {
+            char buf[8];
+            snprintf(buf, sizeof buf, "\\u%04x", ch);
+            out += buf;
+        } else if (static_cast<uint8_t>(ch) == 0xe2 && static_cast<uint8_t>(value[i+1]) == 0x80
+                   && static_cast<uint8_t>(value[i+2]) == 0xa8) {
+            out += "\\u2028";
+            i += 2;
+        } else if (static_cast<uint8_t>(ch) == 0xe2 && static_cast<uint8_t>(value[i+1]) == 0x80
+                   && static_cast<uint8_t>(value[i+2]) == 0xa9) {
+            out += "\\u2029";
+            i += 2;
+        } else {
+            out += ch;
+        }
+    }
+    out += '"';
+}
+
+static void dump(const Json::array &values, string &out) {
+    bool first = true;
+    out += "[";
+    for (const auto &value : values) {
+        if (!first)
+            out += ", ";
+        value.dump(out);
+        first = false;
+    }
+    out += "]";
+}
+
+static void dump(const Json::object &values, string &out) {
+    bool first = true;
+    out += "{";
+    for (const auto &kv : values) {
+        if (!first)
+            out += ", ";
+        dump(kv.first, out);
+        out += ": ";
+        kv.second.dump(out);
+        first = false;
+    }
+    out += "}";
+}
+
+void Json::dump(string &out) const {
+    m_ptr->dump(out);
+}
+
+/* * * * * * * * * * * * * * * * * * * *
+ * Value wrappers
+ */
+
+template <Json::Type tag, typename T>
+class Value : public JsonValue {
+protected:
+
+    // Constructors
+    explicit Value(const T &value) : m_value(value) {}
+    explicit Value(T &&value)      : m_value(move(value)) {}
+
+    // Get type tag
+    Json::Type type() const override {
+        return tag;
+    }
+
+    // Comparisons
+    bool equals(const JsonValue * other) const override {
+        return m_value == static_cast<const Value<tag, T> *>(other)->m_value;
+    }
+    bool less(const JsonValue * other) const override {
+        return m_value < static_cast<const Value<tag, T> *>(other)->m_value;
+    }
+
+    const T m_value;
+    void dump(string &out) const override { json11::dump(m_value, out); }
+};
+
+class JsonDouble final : public Value<Json::NUMBER, double> {
+    double number_value() const override { return m_value; }
+    int int_value() const override { return static_cast<int>(m_value); }
+    bool equals(const JsonValue * other) const override { return m_value == other->number_value(); }
+    bool less(const JsonValue * other)   const override { return m_value <  other->number_value(); }
+public:
+    explicit JsonDouble(double value) : Value(value) {}
+};
+
+class JsonInt final : public Value<Json::NUMBER, int> {
+    double number_value() const override { return m_value; }
+    int int_value() const override { return m_value; }
+    bool equals(const JsonValue * other) const override { return m_value == other->number_value(); }
+    bool less(const JsonValue * other)   const override { return m_value <  other->number_value(); }
+public:
+    explicit JsonInt(int value) : Value(value) {}
+};
+
+class JsonBoolean final : public Value<Json::BOOL, bool> {
+    bool bool_value() const override { return m_value; }
+public:
+    explicit JsonBoolean(bool value) : Value(value) {}
+};
+
+class JsonString final : public Value<Json::STRING, string> {
+    const string &string_value() const override { return m_value; }
+public:
+    explicit JsonString(const string &value) : Value(value) {}
+    explicit JsonString(string &&value)      : Value(move(value)) {}
+};
+
+class JsonArray final : public Value<Json::ARRAY, Json::array> {
+    const Json::array &array_items() const override { return m_value; }
+    const Json & operator[](size_t i) const override;
+public:
+    explicit JsonArray(const Json::array &value) : Value(value) {}
+    explicit JsonArray(Json::array &&value)      : Value(move(value)) {}
+};
+
+class JsonObject final : public Value<Json::OBJECT, Json::object> {
+    const Json::object &object_items() const override { return m_value; }
+    const Json & operator[](const string &key) const override;
+public:
+    explicit JsonObject(const Json::object &value) : Value(value) {}
+    explicit JsonObject(Json::object &&value)      : Value(move(value)) {}
+};
+
+class JsonNull final : public Value<Json::NUL, NullStruct> {
+public:
+    JsonNull() : Value({}) {}
+};
+
+/* * * * * * * * * * * * * * * * * * * *
+ * Static globals - static-init-safe
+ */
+struct Statics {
+    const std::shared_ptr<JsonValue> null = make_shared<JsonNull>();
+    const std::shared_ptr<JsonValue> t = make_shared<JsonBoolean>(true);
+    const std::shared_ptr<JsonValue> f = make_shared<JsonBoolean>(false);
+    const string empty_string;
+    const vector<Json> empty_vector;
+    const map<string, Json> empty_map;
+    Statics() {}
+};
+
+static const Statics & statics() {
+    static const Statics s {};
+    return s;
+}
+
+static const Json & static_null() {
+    // This has to be separate, not in Statics, because Json() accesses statics().null.
+    static const Json json_null;
+    return json_null;
+}
+
+/* * * * * * * * * * * * * * * * * * * *
+ * Constructors
+ */
+
+Json::Json() noexcept                  : m_ptr(statics().null) {}
+Json::Json(std::nullptr_t) noexcept    : m_ptr(statics().null) {}
+Json::Json(double value)               : m_ptr(make_shared<JsonDouble>(value)) {}
+Json::Json(int value)                  : m_ptr(make_shared<JsonInt>(value)) {}
+Json::Json(bool value)                 : m_ptr(value ? statics().t : statics().f) {}
+Json::Json(const string &value)        : m_ptr(make_shared<JsonString>(value)) {}
+Json::Json(string &&value)             : m_ptr(make_shared<JsonString>(move(value))) {}
+Json::Json(const char * value)         : m_ptr(make_shared<JsonString>(value)) {}
+Json::Json(const Json::array &values)  : m_ptr(make_shared<JsonArray>(values)) {}
+Json::Json(Json::array &&values)       : m_ptr(make_shared<JsonArray>(move(values))) {}
+Json::Json(const Json::object &values) : m_ptr(make_shared<JsonObject>(values)) {}
+Json::Json(Json::object &&values)      : m_ptr(make_shared<JsonObject>(move(values))) {}
+
+/* * * * * * * * * * * * * * * * * * * *
+ * Accessors
+ */
+
+Json::Type Json::type()                           const { return m_ptr->type();         }
+double Json::number_value()                       const { return m_ptr->number_value(); }
+int Json::int_value()                             const { return m_ptr->int_value();    }
+bool Json::bool_value()                           const { return m_ptr->bool_value();   }
+const string & Json::string_value()               const { return m_ptr->string_value(); }
+const vector<Json> & Json::array_items()          const { return m_ptr->array_items();  }
+const map<string, Json> & Json::object_items()    const { return m_ptr->object_items(); }
+const Json & Json::operator[] (size_t i)          const { return (*m_ptr)[i];           }
+const Json & Json::operator[] (const string &key) const { return (*m_ptr)[key];         }
+
+double                    JsonValue::number_value()              const { return 0; }
+int                       JsonValue::int_value()                 const { return 0; }
+bool                      JsonValue::bool_value()                const { return false; }
+const string &            JsonValue::string_value()              const { return statics().empty_string; }
+const vector<Json> &      JsonValue::array_items()               const { return statics().empty_vector; }
+const map<string, Json> & JsonValue::object_items()              const { return statics().empty_map; }
+const Json &              JsonValue::operator[] (size_t)         const { return static_null(); }
+const Json &              JsonValue::operator[] (const string &) const { return static_null(); }
+
+const Json & JsonObject::operator[] (const string &key) const {
+    auto iter = m_value.find(key);
+    return (iter == m_value.end()) ? static_null() : iter->second;
+}
+const Json & JsonArray::operator[] (size_t i) const {
+    if (i >= m_value.size()) return static_null();
+    else return m_value[i];
+}
+
+/* * * * * * * * * * * * * * * * * * * *
+ * Comparison
+ */
+
+bool Json::operator== (const Json &other) const {
+    if (m_ptr->type() != other.m_ptr->type())
+        return false;
+
+    return m_ptr->equals(other.m_ptr.get());
+}
+
+bool Json::operator< (const Json &other) const {
+    if (m_ptr->type() != other.m_ptr->type())
+        return m_ptr->type() < other.m_ptr->type();
+
+    return m_ptr->less(other.m_ptr.get());
+}
+
+/* * * * * * * * * * * * * * * * * * * *
+ * Parsing
+ */
+
+/* esc(c)
+ *
+ * Format char c suitable for printing in an error message.
+ */
+static inline string esc(char c) {
+    char buf[12];
+    if (static_cast<uint8_t>(c) >= 0x20 && static_cast<uint8_t>(c) <= 0x7f) {
+        snprintf(buf, sizeof buf, "'%c' (%d)", c, c);
+    } else {
+        snprintf(buf, sizeof buf, "(%d)", c);
+    }
+    return string(buf);
+}
+
+static inline bool in_range(long x, long lower, long upper) {
+    return (x >= lower && x <= upper);
+}
+
+namespace {
+/* JsonParser
+ *
+ * Object that tracks all state of an in-progress parse.
+ */
+struct JsonParser final {
+
+    /* State
+     */
+    const string &str;
+    size_t i;
+    string &err;
+    bool failed;
+    const JsonParse strategy;
+
+    /* fail(msg, err_ret = Json())
+     *
+     * Mark this parse as failed.
+     */
+    Json fail(string &&msg) {
+        return fail(move(msg), Json());
+    }
+
+    template <typename T>
+    T fail(string &&msg, const T err_ret) {
+        if (!failed)
+            err = std::move(msg);
+        failed = true;
+        return err_ret;
+    }
+
+    /* consume_whitespace()
+     *
+     * Advance until the current character is non-whitespace.
+     */
+    void consume_whitespace() {
+        while (str[i] == ' ' || str[i] == '\r' || str[i] == '\n' || str[i] == '\t')
+            i++;
+    }
+
+    /* consume_comment()
+     *
+     * Advance comments (c-style inline and multiline).
+     */
+    bool consume_comment() {
+      bool comment_found = false;
+      if (str[i] == '/') {
+        i++;
+        if (i == str.size())
+          return fail("unexpected end of input after start of comment", false);
+        if (str[i] == '/') { // inline comment
+          i++;
+          // advance until next line, or end of input
+          while (i < str.size() && str[i] != '\n') {
+            i++;
+          }
+          comment_found = true;
+        }
+        else if (str[i] == '*') { // multiline comment
+          i++;
+          if (i > str.size()-2)
+            return fail("unexpected end of input inside multi-line comment", false);
+          // advance until closing tokens
+          while (!(str[i] == '*' && str[i+1] == '/')) {
+            i++;
+            if (i > str.size()-2)
+              return fail(
+                "unexpected end of input inside multi-line comment", false);
+          }
+          i += 2;
+          comment_found = true;
+        }
+        else
+          return fail("malformed comment", false);
+      }
+      return comment_found;
+    }
+
+    /* consume_garbage()
+     *
+     * Advance until the current character is non-whitespace and non-comment.
+     */
+    void consume_garbage() {
+      consume_whitespace();
+      if(strategy == JsonParse::COMMENTS) {
+        bool comment_found = false;
+        do {
+          comment_found = consume_comment();
+          if (failed) return;
+          consume_whitespace();
+        }
+        while(comment_found);
+      }
+    }
+
+    /* get_next_token()
+     *
+     * Return the next non-whitespace character. If the end of the input is reached,
+     * flag an error and return 0.
+     */
+    char get_next_token() {
+        consume_garbage();
+        if (failed) return (char)0;
+        if (i == str.size())
+            return fail("unexpected end of input", (char)0);
+
+        return str[i++];
+    }
+
+    /* encode_utf8(pt, out)
+     *
+     * Encode pt as UTF-8 and add it to out.
+     */
+    void encode_utf8(long pt, string & out) {
+        if (pt < 0)
+            return;
+
+        if (pt < 0x80) {
+            out += static_cast<char>(pt);
+        } else if (pt < 0x800) {
+            out += static_cast<char>((pt >> 6) | 0xC0);
+            out += static_cast<char>((pt & 0x3F) | 0x80);
+        } else if (pt < 0x10000) {
+            out += static_cast<char>((pt >> 12) | 0xE0);
+            out += static_cast<char>(((pt >> 6) & 0x3F) | 0x80);
+            out += static_cast<char>((pt & 0x3F) | 0x80);
+        } else {
+            out += static_cast<char>((pt >> 18) | 0xF0);
+            out += static_cast<char>(((pt >> 12) & 0x3F) | 0x80);
+            out += static_cast<char>(((pt >> 6) & 0x3F) | 0x80);
+            out += static_cast<char>((pt & 0x3F) | 0x80);
+        }
+    }
+
+    /* parse_string()
+     *
+     * Parse a string, starting at the current position.
+     */
+    string parse_string() {
+        string out;
+        long last_escaped_codepoint = -1;
+        while (true) {
+            if (i == str.size())
+                return fail("unexpected end of input in string", "");
+
+            char ch = str[i++];
+
+            if (ch == '"') {
+                encode_utf8(last_escaped_codepoint, out);
+                return out;
+            }
+
+            if (in_range(ch, 0, 0x1f))
+                return fail("unescaped " + esc(ch) + " in string", "");
+
+            // The usual case: non-escaped characters
+            if (ch != '\\') {
+                encode_utf8(last_escaped_codepoint, out);
+                last_escaped_codepoint = -1;
+                out += ch;
+                continue;
+            }
+
+            // Handle escapes
+            if (i == str.size())
+                return fail("unexpected end of input in string", "");
+
+            ch = str[i++];
+
+            if (ch == 'u') {
+                // Extract 4-byte escape sequence
+                string esc = str.substr(i, 4);
+                // Explicitly check length of the substring. The following loop
+                // relies on std::string returning the terminating NUL when
+                // accessing str[length]. Checking here reduces brittleness.
+                if (esc.length() < 4) {
+                    return fail("bad \\u escape: " + esc, "");
+                }
+                for (size_t j = 0; j < 4; j++) {
+                    if (!in_range(esc[j], 'a', 'f') && !in_range(esc[j], 'A', 'F')
+                            && !in_range(esc[j], '0', '9'))
+                        return fail("bad \\u escape: " + esc, "");
+                }
+
+                long codepoint = strtol(esc.data(), nullptr, 16);
+
+                // JSON specifies that characters outside the BMP shall be encoded as a pair
+                // of 4-hex-digit \u escapes encoding their surrogate pair components. Check
+                // whether we're in the middle of such a beast: the previous codepoint was an
+                // escaped lead (high) surrogate, and this is a trail (low) surrogate.
+                if (in_range(last_escaped_codepoint, 0xD800, 0xDBFF)
+                        && in_range(codepoint, 0xDC00, 0xDFFF)) {
+                    // Reassemble the two surrogate pairs into one astral-plane character, per
+                    // the UTF-16 algorithm.
+                    encode_utf8((((last_escaped_codepoint - 0xD800) << 10)
+                                 | (codepoint - 0xDC00)) + 0x10000, out);
+                    last_escaped_codepoint = -1;
+                } else {
+                    encode_utf8(last_escaped_codepoint, out);
+                    last_escaped_codepoint = codepoint;
+                }
+
+                i += 4;
+                continue;
+            }
+
+            encode_utf8(last_escaped_codepoint, out);
+            last_escaped_codepoint = -1;
+
+            if (ch == 'b') {
+                out += '\b';
+            } else if (ch == 'f') {
+                out += '\f';
+            } else if (ch == 'n') {
+                out += '\n';
+            } else if (ch == 'r') {
+                out += '\r';
+            } else if (ch == 't') {
+                out += '\t';
+            } else if (ch == '"' || ch == '\\' || ch == '/') {
+                out += ch;
+            } else {
+                return fail("invalid escape character " + esc(ch), "");
+            }
+        }
+    }
+
+    /* parse_number()
+     *
+     * Parse a double.
+     */
+    Json parse_number() {
+        size_t start_pos = i;
+
+        if (str[i] == '-')
+            i++;
+
+        // Integer part
+        if (str[i] == '0') {
+            i++;
+            if (in_range(str[i], '0', '9'))
+                return fail("leading 0s not permitted in numbers");
+        } else if (in_range(str[i], '1', '9')) {
+            i++;
+            while (in_range(str[i], '0', '9'))
+                i++;
+        } else {
+            return fail("invalid " + esc(str[i]) + " in number");
+        }
+
+        if (str[i] != '.' && str[i] != 'e' && str[i] != 'E'
+                && (i - start_pos) <= static_cast<size_t>(std::numeric_limits<int>::digits10)) {
+            return std::atoi(str.c_str() + start_pos);
+        }
+
+        // Decimal part
+        if (str[i] == '.') {
+            i++;
+            if (!in_range(str[i], '0', '9'))
+                return fail("at least one digit required in fractional part");
+
+            while (in_range(str[i], '0', '9'))
+                i++;
+        }
+
+        // Exponent part
+        if (str[i] == 'e' || str[i] == 'E') {
+            i++;
+
+            if (str[i] == '+' || str[i] == '-')
+                i++;
+
+            if (!in_range(str[i], '0', '9'))
+                return fail("at least one digit required in exponent");
+
+            while (in_range(str[i], '0', '9'))
+                i++;
+        }
+
+        return std::strtod(str.c_str() + start_pos, nullptr);
+    }
+
+    /* expect(str, res)
+     *
+     * Expect that 'str' starts at the character that was just read. If it does, advance
+     * the input and return res. If not, flag an error.
+     */
+    Json expect(const string &expected, Json res) {
+        assert(i != 0);
+        i--;
+        if (str.compare(i, expected.length(), expected) == 0) {
+            i += expected.length();
+            return res;
+        } else {
+            return fail("parse error: expected " + expected + ", got " + str.substr(i, expected.length()));
+        }
+    }
+
+    /* parse_json()
+     *
+     * Parse a JSON object.
+     */
+    Json parse_json(int depth) {
+        if (depth > max_depth) {
+            return fail("exceeded maximum nesting depth");
+        }
+
+        char ch = get_next_token();
+        if (failed)
+            return Json();
+
+        if (ch == '-' || (ch >= '0' && ch <= '9')) {
+            i--;
+            return parse_number();
+        }
+
+        if (ch == 't')
+            return expect("true", true);
+
+        if (ch == 'f')
+            return expect("false", false);
+
+        if (ch == 'n')
+            return expect("null", Json());
+
+        if (ch == '"')
+            return parse_string();
+
+        if (ch == '{') {
+            map<string, Json> data;
+            ch = get_next_token();
+            if (ch == '}')
+                return data;
+
+            while (1) {
+                if (ch != '"')
+                    return fail("expected '\"' in object, got " + esc(ch));
+
+                string key = parse_string();
+                if (failed)
+                    return Json();
+
+                ch = get_next_token();
+                if (ch != ':')
+                    return fail("expected ':' in object, got " + esc(ch));
+
+                data[std::move(key)] = parse_json(depth + 1);
+                if (failed)
+                    return Json();
+
+                ch = get_next_token();
+                if (ch == '}')
+                    break;
+                if (ch != ',')
+                    return fail("expected ',' in object, got " + esc(ch));
+
+                ch = get_next_token();
+            }
+            return data;
+        }
+
+        if (ch == '[') {
+            vector<Json> data;
+            ch = get_next_token();
+            if (ch == ']')
+                return data;
+
+            while (1) {
+                i--;
+                data.push_back(parse_json(depth + 1));
+                if (failed)
+                    return Json();
+
+                ch = get_next_token();
+                if (ch == ']')
+                    break;
+                if (ch != ',')
+                    return fail("expected ',' in list, got " + esc(ch));
+
+                ch = get_next_token();
+                (void)ch;
+            }
+            return data;
+        }
+
+        return fail("expected value, got " + esc(ch));
+    }
+};
+}//namespace {
+
+Json Json::parse(const string &in, string &err, JsonParse strategy) {
+    JsonParser parser { in, 0, err, false, strategy };
+    Json result = parser.parse_json(0);
+
+    // Check for any trailing garbage
+    parser.consume_garbage();
+    if (parser.failed)
+        return Json();
+    if (parser.i != in.size())
+        return parser.fail("unexpected trailing " + esc(in[parser.i]));
+
+    return result;
+}
+
+// Documented in json11.hpp
+vector<Json> Json::parse_multi(const string &in,
+                               std::string::size_type &parser_stop_pos,
+                               string &err,
+                               JsonParse strategy) {
+    JsonParser parser { in, 0, err, false, strategy };
+    parser_stop_pos = 0;
+    vector<Json> json_vec;
+    while (parser.i != in.size() && !parser.failed) {
+        json_vec.push_back(parser.parse_json(0));
+        if (parser.failed)
+            break;
+
+        // Check for another object
+        parser.consume_garbage();
+        if (parser.failed)
+            break;
+        parser_stop_pos = parser.i;
+    }
+    return json_vec;
+}
+
+/* * * * * * * * * * * * * * * * * * * *
+ * Shape-checking
+ */
+
+bool Json::has_shape(const shape & types, string & err) const {
+    if (!is_object()) {
+        err = "expected JSON object, got " + dump();
+        return false;
+    }
+
+    for (auto & item : types) {
+        if ((*this)[item.first].type() != item.second) {
+            err = "bad type for " + item.first + " in " + dump();
+            return false;
+        }
+    }
+
+    return true;
+}
+
+} // namespace json11
diff --git a/third_party/json11/json11.hpp b/third_party/json11/json11.hpp
new file mode 100644
index 0000000000..5202ef9323
--- /dev/null
+++ b/third_party/json11/json11.hpp
@@ -0,0 +1,232 @@
+/* json11
+ *
+ * json11 is a tiny JSON library for C++11, providing JSON parsing and serialization.
+ *
+ * The core object provided by the library is json11::Json. A Json object represents any JSON
+ * value: null, bool, number (int or double), string (std::string), array (std::vector), or
+ * object (std::map).
+ *
+ * Json objects act like values: they can be assigned, copied, moved, compared for equality or
+ * order, etc. There are also helper methods Json::dump, to serialize a Json to a string, and
+ * Json::parse (static) to parse a std::string as a Json object.
+ *
+ * Internally, the various types of Json object are represented by the JsonValue class
+ * hierarchy.
+ *
+ * A note on numbers - JSON specifies the syntax of number formatting but not its semantics,
+ * so some JSON implementations distinguish between integers and floating-point numbers, while
+ * some don't. In json11, we choose the latter. Because some JSON implementations (namely
+ * Javascript itself) treat all numbers as the same type, distinguishing the two leads
+ * to JSON that will be *silently* changed by a round-trip through those implementations.
+ * Dangerous! To avoid that risk, json11 stores all numbers as double internally, but also
+ * provides integer helpers.
+ *
+ * Fortunately, double-precision IEEE754 ('double') can precisely store any integer in the
+ * range +/-2^53, which includes every 'int' on most systems. (Timestamps often use int64
+ * or long long to avoid the Y2038K problem; a double storing microseconds since some epoch
+ * will be exact for +/- 275 years.)
+ */
+
+/* Copyright (c) 2013 Dropbox, Inc.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#pragma once
+
+#include <string>
+#include <vector>
+#include <map>
+#include <memory>
+#include <initializer_list>
+
+#ifdef _MSC_VER
+    #if _MSC_VER <= 1800 // VS 2013
+        #ifndef noexcept
+            #define noexcept throw()
+        #endif
+
+        #ifndef snprintf
+            #define snprintf _snprintf_s
+        #endif
+    #endif
+#endif
+
+namespace json11 {
+
+enum JsonParse {
+    STANDARD, COMMENTS
+};
+
+class JsonValue;
+
+class Json final {
+public:
+    // Types
+    enum Type {
+        NUL, NUMBER, BOOL, STRING, ARRAY, OBJECT
+    };
+
+    // Array and object typedefs
+    typedef std::vector<Json> array;
+    typedef std::map<std::string, Json> object;
+
+    // Constructors for the various types of JSON value.
+    Json() noexcept;                // NUL
+    Json(std::nullptr_t) noexcept;  // NUL
+    Json(double value);             // NUMBER
+    Json(int value);                // NUMBER
+    Json(bool value);               // BOOL
+    Json(const std::string &value); // STRING
+    Json(std::string &&value);      // STRING
+    Json(const char * value);       // STRING
+    Json(const array &values);      // ARRAY
+    Json(array &&values);           // ARRAY
+    Json(const object &values);     // OBJECT
+    Json(object &&values);          // OBJECT
+
+    // Implicit constructor: anything with a to_json() function.
+    template <class T, class = decltype(&T::to_json)>
+    Json(const T & t) : Json(t.to_json()) {}
+
+    // Implicit constructor: map-like objects (std::map, std::unordered_map, etc)
+    template <class M, typename std::enable_if<
+        std::is_constructible<std::string, typename M::key_type>::value
+        && std::is_constructible<Json, typename M::mapped_type>::value,
+            int>::type = 0>
+    Json(const M & m) : Json(object(m.begin(), m.end())) {}
+
+    // Implicit constructor: vector-like objects (std::list, std::vector, std::set, etc)
+    template <class V, typename std::enable_if<
+        std::is_constructible<Json, typename V::value_type>::value,
+            int>::type = 0>
+    Json(const V & v) : Json(array(v.begin(), v.end())) {}
+
+    // This prevents Json(some_pointer) from accidentally producing a bool. Use
+    // Json(bool(some_pointer)) if that behavior is desired.
+    Json(void *) = delete;
+
+    // Accessors
+    Type type() const;
+
+    bool is_null()   const { return type() == NUL; }
+    bool is_number() const { return type() == NUMBER; }
+    bool is_bool()   const { return type() == BOOL; }
+    bool is_string() const { return type() == STRING; }
+    bool is_array()  const { return type() == ARRAY; }
+    bool is_object() const { return type() == OBJECT; }
+
+    // Return the enclosed value if this is a number, 0 otherwise. Note that json11 does not
+    // distinguish between integer and non-integer numbers - number_value() and int_value()
+    // can both be applied to a NUMBER-typed object.
+    double number_value() const;
+    int int_value() const;
+
+    // Return the enclosed value if this is a boolean, false otherwise.
+    bool bool_value() const;
+    // Return the enclosed string if this is a string, "" otherwise.
+    const std::string &string_value() const;
+    // Return the enclosed std::vector if this is an array, or an empty vector otherwise.
+    const array &array_items() const;
+    // Return the enclosed std::map if this is an object, or an empty map otherwise.
+    const object &object_items() const;
+
+    // Return a reference to arr[i] if this is an array, Json() otherwise.
+    const Json & operator[](size_t i) const;
+    // Return a reference to obj[key] if this is an object, Json() otherwise.
+    const Json & operator[](const std::string &key) const;
+
+    // Serialize.
+    void dump(std::string &out) const;
+    std::string dump() const {
+        std::string out;
+        dump(out);
+        return out;
+    }
+
+    // Parse. If parse fails, return Json() and assign an error message to err.
+    static Json parse(const std::string & in,
+                      std::string & err,
+                      JsonParse strategy = JsonParse::STANDARD);
+    static Json parse(const char * in,
+                      std::string & err,
+                      JsonParse strategy = JsonParse::STANDARD) {
+        if (in) {
+            return parse(std::string(in), err, strategy);
+        } else {
+            err = "null input";
+            return nullptr;
+        }
+    }
+    // Parse multiple objects, concatenated or separated by whitespace
+    static std::vector<Json> parse_multi(
+        const std::string & in,
+        std::string::size_type & parser_stop_pos,
+        std::string & err,
+        JsonParse strategy = JsonParse::STANDARD);
+
+    static inline std::vector<Json> parse_multi(
+        const std::string & in,
+        std::string & err,
+        JsonParse strategy = JsonParse::STANDARD) {
+        std::string::size_type parser_stop_pos;
+        return parse_multi(in, parser_stop_pos, err, strategy);
+    }
+
+    bool operator== (const Json &rhs) const;
+    bool operator<  (const Json &rhs) const;
+    bool operator!= (const Json &rhs) const { return !(*this == rhs); }
+    bool operator<= (const Json &rhs) const { return !(rhs < *this); }
+    bool operator>  (const Json &rhs) const { return  (rhs < *this); }
+    bool operator>= (const Json &rhs) const { return !(*this < rhs); }
+
+    /* has_shape(types, err)
+     *
+     * Return true if this is a JSON object and, for each item in types, has a field of
+     * the given type. If not, return false and set err to a descriptive message.
+     */
+    typedef std::initializer_list<std::pair<std::string, Type>> shape;
+    bool has_shape(const shape & types, std::string & err) const;
+
+private:
+    std::shared_ptr<JsonValue> m_ptr;
+};
+
+// Internal class hierarchy - JsonValue objects are not exposed to users of this API.
+class JsonValue {
+protected:
+    friend class Json;
+    friend class JsonInt;
+    friend class JsonDouble;
+    virtual Json::Type type() const = 0;
+    virtual bool equals(const JsonValue * other) const = 0;
+    virtual bool less(const JsonValue * other) const = 0;
+    virtual void dump(std::string &out) const = 0;
+    virtual double number_value() const;
+    virtual int int_value() const;
+    virtual bool bool_value() const;
+    virtual const std::string &string_value() const;
+    virtual const Json::array &array_items() const;
+    virtual const Json &operator[](size_t i) const;
+    virtual const Json::object &object_items() const;
+    virtual const Json &operator[](const std::string &key) const;
+    virtual ~JsonValue() {}
+};
+
+} // namespace json11
diff --git a/third_party/kaitai/custom_decoder.h b/third_party/kaitai/custom_decoder.h
new file mode 100644
index 0000000000..6da7f5fd23
--- /dev/null
+++ b/third_party/kaitai/custom_decoder.h
@@ -0,0 +1,16 @@
+#ifndef KAITAI_CUSTOM_DECODER_H
+#define KAITAI_CUSTOM_DECODER_H
+
+#include <string>
+
+namespace kaitai {
+
+class custom_decoder {
+public:
+    virtual ~custom_decoder() {};
+    virtual std::string decode(std::string src) = 0;
+};
+
+}
+
+#endif
diff --git a/third_party/kaitai/exceptions.h b/third_party/kaitai/exceptions.h
new file mode 100644
index 0000000000..5c09c4672b
--- /dev/null
+++ b/third_party/kaitai/exceptions.h
@@ -0,0 +1,189 @@
+#ifndef KAITAI_EXCEPTIONS_H
+#define KAITAI_EXCEPTIONS_H
+
+#include <kaitai/kaitaistream.h>
+
+#include <string>
+#include <stdexcept>
+
+// We need to use "noexcept" in virtual destructor of our exceptions
+// subclasses. Different compilers have different ideas on how to
+// achieve that: C++98 compilers prefer `throw()`, C++11 and later
+// use `noexcept`. We define KS_NOEXCEPT macro for that.
+
+#if __cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1900)
+#define KS_NOEXCEPT noexcept
+#else
+#define KS_NOEXCEPT throw()
+#endif
+
+namespace kaitai {
+
+/**
+ * Common ancestor for all error originating from Kaitai Struct usage.
+ * Stores KSY source path, pointing to an element supposedly guilty of
+ * an error.
+ */
+class kstruct_error: public std::runtime_error {
+public:
+    kstruct_error(const std::string what, const std::string src_path):
+        std::runtime_error(src_path + ": " + what),
+        m_src_path(src_path)
+    {
+    }
+
+    virtual ~kstruct_error() KS_NOEXCEPT {};
+
+protected:
+    const std::string m_src_path;
+};
+
+/**
+ * Error that occurs when default endianness should be decided with
+ * a switch, but nothing matches (although using endianness expression
+ * implies that there should be some positive result).
+ */
+class undecided_endianness_error: public kstruct_error {
+public:
+    undecided_endianness_error(const std::string src_path):
+        kstruct_error("unable to decide on endianness for a type", src_path)
+    {
+    }
+
+    virtual ~undecided_endianness_error() KS_NOEXCEPT {};
+};
+
+/**
+ * Common ancestor for all validation failures. Stores pointer to
+ * KaitaiStream IO object which was involved in an error.
+ */
+class validation_failed_error: public kstruct_error {
+public:
+    validation_failed_error(const std::string what, kstream* io, const std::string src_path):
+        kstruct_error("at pos " + kstream::to_string(static_cast<int>(io->pos())) + ": validation failed: " + what, src_path),
+        m_io(io)
+    {
+    }
+
+// "at pos #{io.pos}: validation failed: #{msg}"
+
+    virtual ~validation_failed_error() KS_NOEXCEPT {};
+
+protected:
+    kstream* m_io;
+};
+
+/**
+ * Signals validation failure: we required "actual" value to be equal to
+ * "expected", but it turned out that it's not.
+ */
+template<typename T>
+class validation_not_equal_error: public validation_failed_error {
+public:
+    validation_not_equal_error<T>(const T& expected, const T& actual, kstream* io, const std::string src_path):
+        validation_failed_error("not equal", io, src_path),
+        m_expected(expected),
+        m_actual(actual)
+    {
+    }
+
+    // "not equal, expected #{expected.inspect}, but got #{actual.inspect}"
+
+    virtual ~validation_not_equal_error<T>() KS_NOEXCEPT {};
+
+protected:
+    const T& m_expected;
+    const T& m_actual;
+};
+
+/**
+ * Signals validation failure: we required "actual" value to be greater
+ * than or equal to "min", but it turned out that it's not.
+ */
+template<typename T>
+class validation_less_than_error: public validation_failed_error {
+public:
+    validation_less_than_error<T>(const T& min, const T& actual, kstream* io, const std::string src_path):
+        validation_failed_error("not in range", io, src_path),
+        m_min(min),
+        m_actual(actual)
+    {
+    }
+
+    // "not in range, min #{min.inspect}, but got #{actual.inspect}"
+
+    virtual ~validation_less_than_error<T>() KS_NOEXCEPT {};
+
+protected:
+    const T& m_min;
+    const T& m_actual;
+};
+
+/**
+ * Signals validation failure: we required "actual" value to be less
+ * than or equal to "max", but it turned out that it's not.
+ */
+template<typename T>
+class validation_greater_than_error: public validation_failed_error {
+public:
+    validation_greater_than_error<T>(const T& max, const T& actual, kstream* io, const std::string src_path):
+        validation_failed_error("not in range", io, src_path),
+        m_max(max),
+        m_actual(actual)
+    {
+    }
+
+    // "not in range, max #{max.inspect}, but got #{actual.inspect}"
+
+    virtual ~validation_greater_than_error<T>() KS_NOEXCEPT {};
+
+protected:
+    const T& m_max;
+    const T& m_actual;
+};
+
+/**
+ * Signals validation failure: we required "actual" value to be from
+ * the list, but it turned out that it's not.
+ */
+template<typename T>
+class validation_not_any_of_error: public validation_failed_error {
+public:
+    validation_not_any_of_error<T>(const T& actual, kstream* io, const std::string src_path):
+        validation_failed_error("not any of the list", io, src_path),
+        m_actual(actual)
+    {
+    }
+
+    // "not any of the list, got #{actual.inspect}"
+
+    virtual ~validation_not_any_of_error<T>() KS_NOEXCEPT {};
+
+protected:
+    const T& m_actual;
+};
+
+/**
+ * Signals validation failure: we required "actual" value to match
+ * the expression, but it turned out that it doesn't.
+ */
+template<typename T>
+class validation_expr_error: public validation_failed_error {
+public:
+    validation_expr_error<T>(const T& actual, kstream* io, const std::string src_path):
+        validation_failed_error("not matching the expression", io, src_path),
+        m_actual(actual)
+    {
+    }
+
+    // "not matching the expression, got #{actual.inspect}"
+
+    virtual ~validation_expr_error<T>() KS_NOEXCEPT {};
+
+protected:
+    const T& m_actual;
+};
+
+}
+
+#endif
diff --git a/third_party/kaitai/kaitaistream.cpp b/third_party/kaitai/kaitaistream.cpp
new file mode 100644
index 0000000000..d82ddb7e82
--- /dev/null
+++ b/third_party/kaitai/kaitaistream.cpp
@@ -0,0 +1,689 @@
+#include <kaitai/kaitaistream.h>
+
+#if defined(__APPLE__)
+#include <machine/endian.h>
+#include <libkern/OSByteOrder.h>
+#define bswap_16(x) OSSwapInt16(x)
+#define bswap_32(x) OSSwapInt32(x)
+#define bswap_64(x) OSSwapInt64(x)
+#define __BYTE_ORDER    BYTE_ORDER
+#define __BIG_ENDIAN    BIG_ENDIAN
+#define __LITTLE_ENDIAN LITTLE_ENDIAN
+#elif defined(_MSC_VER) // !__APPLE__
+#include <stdlib.h>
+#define __LITTLE_ENDIAN     1234
+#define __BIG_ENDIAN        4321
+#define __BYTE_ORDER        __LITTLE_ENDIAN
+#define bswap_16(x) _byteswap_ushort(x)
+#define bswap_32(x) _byteswap_ulong(x)
+#define bswap_64(x) _byteswap_uint64(x)
+#else // !__APPLE__ or !_MSC_VER
+#include <endian.h>
+#include <byteswap.h>
+#endif
+
+#include <iostream>
+#include <vector>
+#include <stdexcept>
+
+kaitai::kstream::kstream(std::istream* io) {
+    m_io = io;
+    init();
+}
+
+kaitai::kstream::kstream(std::string& data): m_io_str(data) {
+    m_io = &m_io_str;
+    init();
+}
+
+void kaitai::kstream::init() {
+    exceptions_enable();
+    align_to_byte();
+}
+
+void kaitai::kstream::close() {
+    //  m_io->close();
+}
+
+void kaitai::kstream::exceptions_enable() const {
+    m_io->exceptions(
+        std::istream::eofbit |
+        std::istream::failbit |
+        std::istream::badbit
+    );
+}
+
+// ========================================================================
+// Stream positioning
+// ========================================================================
+
+bool kaitai::kstream::is_eof() const {
+    if (m_bits_left > 0) {
+        return false;
+    }
+    char t;
+    m_io->exceptions(
+        std::istream::badbit
+    );
+    m_io->get(t);
+    if (m_io->eof()) {
+        m_io->clear();
+        exceptions_enable();
+        return true;
+    } else {
+        m_io->unget();
+        exceptions_enable();
+        return false;
+    }
+}
+
+void kaitai::kstream::seek(uint64_t pos) {
+    m_io->seekg(pos);
+}
+
+uint64_t kaitai::kstream::pos() {
+    return m_io->tellg();
+}
+
+uint64_t kaitai::kstream::size() {
+    std::iostream::pos_type cur_pos = m_io->tellg();
+    m_io->seekg(0, std::ios::end);
+    std::iostream::pos_type len = m_io->tellg();
+    m_io->seekg(cur_pos);
+    return len;
+}
+
+// ========================================================================
+// Integer numbers
+// ========================================================================
+
+// ------------------------------------------------------------------------
+// Signed
+// ------------------------------------------------------------------------
+
+int8_t kaitai::kstream::read_s1() {
+    char t;
+    m_io->get(t);
+    return t;
+}
+
+// ........................................................................
+// Big-endian
+// ........................................................................
+
+int16_t kaitai::kstream::read_s2be() {
+    int16_t t;
+    m_io->read(reinterpret_cast<char *>(&t), 2);
+#if __BYTE_ORDER == __LITTLE_ENDIAN
+    t = bswap_16(t);
+#endif
+    return t;
+}
+
+int32_t kaitai::kstream::read_s4be() {
+    int32_t t;
+    m_io->read(reinterpret_cast<char *>(&t), 4);
+#if __BYTE_ORDER == __LITTLE_ENDIAN
+    t = bswap_32(t);
+#endif
+    return t;
+}
+
+int64_t kaitai::kstream::read_s8be() {
+    int64_t t;
+    m_io->read(reinterpret_cast<char *>(&t), 8);
+#if __BYTE_ORDER == __LITTLE_ENDIAN
+    t = bswap_64(t);
+#endif
+    return t;
+}
+
+// ........................................................................
+// Little-endian
+// ........................................................................
+
+int16_t kaitai::kstream::read_s2le() {
+    int16_t t;
+    m_io->read(reinterpret_cast<char *>(&t), 2);
+#if __BYTE_ORDER == __BIG_ENDIAN
+    t = bswap_16(t);
+#endif
+    return t;
+}
+
+int32_t kaitai::kstream::read_s4le() {
+    int32_t t;
+    m_io->read(reinterpret_cast<char *>(&t), 4);
+#if __BYTE_ORDER == __BIG_ENDIAN
+    t = bswap_32(t);
+#endif
+    return t;
+}
+
+int64_t kaitai::kstream::read_s8le() {
+    int64_t t;
+    m_io->read(reinterpret_cast<char *>(&t), 8);
+#if __BYTE_ORDER == __BIG_ENDIAN
+    t = bswap_64(t);
+#endif
+    return t;
+}
+
+// ------------------------------------------------------------------------
+// Unsigned
+// ------------------------------------------------------------------------
+
+uint8_t kaitai::kstream::read_u1() {
+    char t;
+    m_io->get(t);
+    return t;
+}
+
+// ........................................................................
+// Big-endian
+// ........................................................................
+
+uint16_t kaitai::kstream::read_u2be() {
+    uint16_t t;
+    m_io->read(reinterpret_cast<char *>(&t), 2);
+#if __BYTE_ORDER == __LITTLE_ENDIAN
+    t = bswap_16(t);
+#endif
+    return t;
+}
+
+uint32_t kaitai::kstream::read_u4be() {
+    uint32_t t;
+    m_io->read(reinterpret_cast<char *>(&t), 4);
+#if __BYTE_ORDER == __LITTLE_ENDIAN
+    t = bswap_32(t);
+#endif
+    return t;
+}
+
+uint64_t kaitai::kstream::read_u8be() {
+    uint64_t t;
+    m_io->read(reinterpret_cast<char *>(&t), 8);
+#if __BYTE_ORDER == __LITTLE_ENDIAN
+    t = bswap_64(t);
+#endif
+    return t;
+}
+
+// ........................................................................
+// Little-endian
+// ........................................................................
+
+uint16_t kaitai::kstream::read_u2le() {
+    uint16_t t;
+    m_io->read(reinterpret_cast<char *>(&t), 2);
+#if __BYTE_ORDER == __BIG_ENDIAN
+    t = bswap_16(t);
+#endif
+    return t;
+}
+
+uint32_t kaitai::kstream::read_u4le() {
+    uint32_t t;
+    m_io->read(reinterpret_cast<char *>(&t), 4);
+#if __BYTE_ORDER == __BIG_ENDIAN
+    t = bswap_32(t);
+#endif
+    return t;
+}
+
+uint64_t kaitai::kstream::read_u8le() {
+    uint64_t t;
+    m_io->read(reinterpret_cast<char *>(&t), 8);
+#if __BYTE_ORDER == __BIG_ENDIAN
+    t = bswap_64(t);
+#endif
+    return t;
+}
+
+// ========================================================================
+// Floating point numbers
+// ========================================================================
+
+// ........................................................................
+// Big-endian
+// ........................................................................
+
+float kaitai::kstream::read_f4be() {
+    uint32_t t;
+    m_io->read(reinterpret_cast<char *>(&t), 4);
+#if __BYTE_ORDER == __LITTLE_ENDIAN
+    t = bswap_32(t);
+#endif
+    return reinterpret_cast<float&>(t);
+}
+
+double kaitai::kstream::read_f8be() {
+    uint64_t t;
+    m_io->read(reinterpret_cast<char *>(&t), 8);
+#if __BYTE_ORDER == __LITTLE_ENDIAN
+    t = bswap_64(t);
+#endif
+    return reinterpret_cast<double&>(t);
+}
+
+// ........................................................................
+// Little-endian
+// ........................................................................
+
+float kaitai::kstream::read_f4le() {
+    uint32_t t;
+    m_io->read(reinterpret_cast<char *>(&t), 4);
+#if __BYTE_ORDER == __BIG_ENDIAN
+    t = bswap_32(t);
+#endif
+    return reinterpret_cast<float&>(t);
+}
+
+double kaitai::kstream::read_f8le() {
+    uint64_t t;
+    m_io->read(reinterpret_cast<char *>(&t), 8);
+#if __BYTE_ORDER == __BIG_ENDIAN
+    t = bswap_64(t);
+#endif
+    return reinterpret_cast<double&>(t);
+}
+
+// ========================================================================
+// Unaligned bit values
+// ========================================================================
+
+void kaitai::kstream::align_to_byte() {
+    m_bits_left = 0;
+    m_bits = 0;
+}
+
+uint64_t kaitai::kstream::read_bits_int_be(int n) {
+    int bits_needed = n - m_bits_left;
+    if (bits_needed > 0) {
+        // 1 bit  => 1 byte
+        // 8 bits => 1 byte
+        // 9 bits => 2 bytes
+        int bytes_needed = ((bits_needed - 1) / 8) + 1;
+        if (bytes_needed > 8)
+            throw std::runtime_error("read_bits_int: more than 8 bytes requested");
+        char buf[8];
+        m_io->read(buf, bytes_needed);
+        for (int i = 0; i < bytes_needed; i++) {
+            uint8_t b = buf[i];
+            m_bits <<= 8;
+            m_bits |= b;
+            m_bits_left += 8;
+        }
+    }
+
+    // raw mask with required number of 1s, starting from lowest bit
+    uint64_t mask = get_mask_ones(n);
+    // shift mask to align with highest bits available in @bits
+    int shift_bits = m_bits_left - n;
+    mask <<= shift_bits;
+    // derive reading result
+    uint64_t res = (m_bits & mask) >> shift_bits;
+    // clear top bits that we've just read => AND with 1s
+    m_bits_left -= n;
+    mask = get_mask_ones(m_bits_left);
+    m_bits &= mask;
+
+    return res;
+}
+
+// Deprecated, use read_bits_int_be() instead.
+uint64_t kaitai::kstream::read_bits_int(int n) {
+    return read_bits_int_be(n);
+}
+
+uint64_t kaitai::kstream::read_bits_int_le(int n) {
+    int bits_needed = n - m_bits_left;
+    if (bits_needed > 0) {
+        // 1 bit  => 1 byte
+        // 8 bits => 1 byte
+        // 9 bits => 2 bytes
+        int bytes_needed = ((bits_needed - 1) / 8) + 1;
+        if (bytes_needed > 8)
+            throw std::runtime_error("read_bits_int_le: more than 8 bytes requested");
+        char buf[8];
+        m_io->read(buf, bytes_needed);
+        for (int i = 0; i < bytes_needed; i++) {
+            uint8_t b = buf[i];
+            m_bits |= (static_cast<uint64_t>(b) << m_bits_left);
+            m_bits_left += 8;
+        }
+    }
+
+    // raw mask with required number of 1s, starting from lowest bit
+    uint64_t mask = get_mask_ones(n);
+    // derive reading result
+    uint64_t res = m_bits & mask;
+    // remove bottom bits that we've just read by shifting
+    m_bits >>= n;
+    m_bits_left -= n;
+
+    return res;
+}
+
+uint64_t kaitai::kstream::get_mask_ones(int n) {
+    if (n == 64) {
+        return 0xFFFFFFFFFFFFFFFF;
+    } else {
+        return ((uint64_t) 1 << n) - 1;
+    }
+}
+
+// ========================================================================
+// Byte arrays
+// ========================================================================
+
+std::string kaitai::kstream::read_bytes(std::streamsize len) {
+    std::vector<char> result(len);
+
+    // NOTE: streamsize type is signed, negative values are only *supposed* to not be used.
+    // http://en.cppreference.com/w/cpp/io/streamsize
+    if (len < 0) {
+        throw std::runtime_error("read_bytes: requested a negative amount");
+    }
+
+    if (len > 0) {
+        m_io->read(&result[0], len);
+    }
+
+    return std::string(result.begin(), result.end());
+}
+
+std::string kaitai::kstream::read_bytes_full() {
+    std::iostream::pos_type p1 = m_io->tellg();
+    m_io->seekg(0, std::ios::end);
+    std::iostream::pos_type p2 = m_io->tellg();
+    size_t len = p2 - p1;
+
+    // Note: this requires a std::string to be backed with a
+    // contiguous buffer. Officially, it's a only requirement since
+    // C++11 (C++98 and C++03 didn't have this requirement), but all
+    // major implementations had contiguous buffers anyway.
+    std::string result(len, ' ');
+    m_io->seekg(p1);
+    m_io->read(&result[0], len);
+
+    return result;
+}
+
+std::string kaitai::kstream::read_bytes_term(char term, bool include, bool consume, bool eos_error) {
+    std::string result;
+    std::getline(*m_io, result, term);
+    if (m_io->eof()) {
+        // encountered EOF
+        if (eos_error) {
+            throw std::runtime_error("read_bytes_term: encountered EOF");
+        }
+    } else {
+        // encountered terminator
+        if (include)
+            result.push_back(term);
+        if (!consume)
+            m_io->unget();
+    }
+    return result;
+}
+
+std::string kaitai::kstream::ensure_fixed_contents(std::string expected) {
+    std::string actual = read_bytes(expected.length());
+
+    if (actual != expected) {
+        // NOTE: I think printing it outright is not best idea, it could contain non-ascii charactes like backspace and beeps and whatnot. It would be better to print hexlified version, and also to redirect it to stderr.
+        throw std::runtime_error("ensure_fixed_contents: actual data does not match expected data");
+    }
+
+    return actual;
+}
+
+std::string kaitai::kstream::bytes_strip_right(std::string src, char pad_byte) {
+    std::size_t new_len = src.length();
+
+    while (new_len > 0 && src[new_len - 1] == pad_byte)
+        new_len--;
+
+    return src.substr(0, new_len);
+}
+
+std::string kaitai::kstream::bytes_terminate(std::string src, char term, bool include) {
+    std::size_t new_len = 0;
+    std::size_t max_len = src.length();
+
+    while (new_len < max_len && src[new_len] != term)
+        new_len++;
+
+    if (include && new_len < max_len)
+        new_len++;
+
+    return src.substr(0, new_len);
+}
+
+// ========================================================================
+// Byte array processing
+// ========================================================================
+
+std::string kaitai::kstream::process_xor_one(std::string data, uint8_t key) {
+    size_t len = data.length();
+    std::string result(len, ' ');
+
+    for (size_t i = 0; i < len; i++)
+        result[i] = data[i] ^ key;
+
+    return result;
+}
+
+std::string kaitai::kstream::process_xor_many(std::string data, std::string key) {
+    size_t len = data.length();
+    size_t kl = key.length();
+    std::string result(len, ' ');
+
+    size_t ki = 0;
+    for (size_t i = 0; i < len; i++) {
+        result[i] = data[i] ^ key[ki];
+        ki++;
+        if (ki >= kl)
+            ki = 0;
+    }
+
+    return result;
+}
+
+std::string kaitai::kstream::process_rotate_left(std::string data, int amount) {
+    size_t len = data.length();
+    std::string result(len, ' ');
+
+    for (size_t i = 0; i < len; i++) {
+        uint8_t bits = data[i];
+        result[i] = (bits << amount) | (bits >> (8 - amount));
+    }
+
+    return result;
+}
+
+#ifdef KS_ZLIB
+#include <zlib.h>
+
+std::string kaitai::kstream::process_zlib(std::string data) {
+    int ret;
+
+    unsigned char *src_ptr = reinterpret_cast<unsigned char*>(&data[0]);
+    std::stringstream dst_strm;
+
+    z_stream strm;
+    strm.zalloc = Z_NULL;
+    strm.zfree = Z_NULL;
+    strm.opaque = Z_NULL;
+
+    ret = inflateInit(&strm);
+    if (ret != Z_OK)
+        throw std::runtime_error("process_zlib: inflateInit error");
+
+    strm.next_in = src_ptr;
+    strm.avail_in = data.length();
+
+    unsigned char outbuffer[ZLIB_BUF_SIZE];
+    std::string outstring;
+
+    // get the decompressed bytes blockwise using repeated calls to inflate
+    do {
+        strm.next_out = reinterpret_cast<Bytef*>(outbuffer);
+        strm.avail_out = sizeof(outbuffer);
+
+        ret = inflate(&strm, 0);
+
+        if (outstring.size() < strm.total_out)
+            outstring.append(reinterpret_cast<char*>(outbuffer), strm.total_out - outstring.size());
+    } while (ret == Z_OK);
+
+    if (ret != Z_STREAM_END) {          // an error occurred that was not EOF
+        std::ostringstream exc_msg;
+        exc_msg << "process_zlib: error #" << ret << "): " << strm.msg;
+        throw std::runtime_error(exc_msg.str());
+    }
+
+    if (inflateEnd(&strm) != Z_OK)
+        throw std::runtime_error("process_zlib: inflateEnd error");
+
+    return outstring;
+}
+#endif
+
+// ========================================================================
+// Misc utility methods
+// ========================================================================
+
+int kaitai::kstream::mod(int a, int b) {
+    if (b <= 0)
+        throw std::invalid_argument("mod: divisor b <= 0");
+    int r = a % b;
+    if (r < 0)
+        r += b;
+    return r;
+}
+
+#include <stdio.h>
+std::string kaitai::kstream::to_string(int val) {
+    // if int is 32 bits, "-2147483648" is the longest string representation
+    //   => 11 chars + zero => 12 chars
+    // if int is 64 bits, "-9223372036854775808" is the longest
+    //   => 20 chars + zero => 21 chars
+    char buf[25];
+    int got_len = snprintf(buf, sizeof(buf), "%d", val);
+
+    // should never happen, but check nonetheless
+    if (got_len > sizeof(buf))
+        throw std::invalid_argument("to_string: integer is longer than string buffer");
+
+    return std::string(buf);
+}
+
+#include <algorithm>
+std::string kaitai::kstream::reverse(std::string val) {
+    std::reverse(val.begin(), val.end());
+
+    return val;
+}
+
+uint8_t kaitai::kstream::byte_array_min(const std::string val) {
+    uint8_t min = 0xff; // UINT8_MAX
+    std::string::const_iterator end = val.end();
+    for (std::string::const_iterator it = val.begin(); it != end; ++it) {
+        uint8_t cur = static_cast<uint8_t>(*it);
+        if (cur < min) {
+            min = cur;
+        }
+    }
+    return min;
+}
+
+uint8_t kaitai::kstream::byte_array_max(const std::string val) {
+    uint8_t max = 0; // UINT8_MIN
+    std::string::const_iterator end = val.end();
+    for (std::string::const_iterator it = val.begin(); it != end; ++it) {
+        uint8_t cur = static_cast<uint8_t>(*it);
+        if (cur > max) {
+            max = cur;
+        }
+    }
+    return max;
+}
+
+// ========================================================================
+// Other internal methods
+// ========================================================================
+
+#ifndef KS_STR_DEFAULT_ENCODING
+#define KS_STR_DEFAULT_ENCODING "UTF-8"
+#endif
+
+#ifdef KS_STR_ENCODING_ICONV
+
+#include <iconv.h>
+#include <cerrno>
+#include <stdexcept>
+
+std::string kaitai::kstream::bytes_to_str(std::string src, std::string src_enc) {
+    iconv_t cd = iconv_open(KS_STR_DEFAULT_ENCODING, src_enc.c_str());
+
+    if (cd == (iconv_t) -1) {
+        if (errno == EINVAL) {
+            throw std::runtime_error("bytes_to_str: invalid encoding pair conversion requested");
+        } else {
+            throw std::runtime_error("bytes_to_str: error opening iconv");
+        }
+    }
+
+    size_t src_len = src.length();
+    size_t src_left = src_len;
+
+    // Start with a buffer length of double the source length.
+    size_t dst_len = src_len * 2;
+    std::string dst(dst_len, ' ');
+    size_t dst_left = dst_len;
+
+    char *src_ptr = &src[0];
+    char *dst_ptr = &dst[0];
+
+    while (true) {
+        size_t res = iconv(cd, &src_ptr, &src_left, &dst_ptr, &dst_left);
+
+        if (res == (size_t) -1) {
+            if (errno == E2BIG) {
+                // dst buffer is not enough to accomodate whole string
+                // enlarge the buffer and try again
+                size_t dst_used = dst_len - dst_left;
+                dst_left += dst_len;
+                dst_len += dst_len;
+                dst.resize(dst_len);
+
+                // dst.resize might have allocated destination buffer in another area
+                // of memory, thus our previous pointer "dst" will be invalid; re-point
+                // it using "dst_used".
+                dst_ptr = &dst[dst_used];
+            } else {
+                throw std::runtime_error("bytes_to_str: iconv error");
+            }
+        } else {
+            // conversion successful
+            dst.resize(dst_len - dst_left);
+            break;
+        }
+    }
+
+    if (iconv_close(cd) != 0) {
+        throw std::runtime_error("bytes_to_str: iconv close error");
+    }
+
+    return dst;
+}
+#elif defined(KS_STR_ENCODING_NONE)
+std::string kaitai::kstream::bytes_to_str(std::string src, std::string src_enc) {
+    return src;
+}
+#else
+#error Need to decide how to handle strings: please define one of: KS_STR_ENCODING_ICONV, KS_STR_ENCODING_NONE
+#endif
diff --git a/third_party/kaitai/kaitaistream.h b/third_party/kaitai/kaitaistream.h
new file mode 100644
index 0000000000..e7f4c6ce34
--- /dev/null
+++ b/third_party/kaitai/kaitaistream.h
@@ -0,0 +1,268 @@
+#ifndef KAITAI_STREAM_H
+#define KAITAI_STREAM_H
+
+// Kaitai Struct runtime API version: x.y.z = 'xxxyyyzzz' decimal
+#define KAITAI_STRUCT_VERSION 9000L
+
+#include <istream>
+#include <sstream>
+#include <stdint.h>
+#include <sys/types.h>
+
+namespace kaitai {
+
+/**
+ * Kaitai Stream class (kaitai::kstream) is an implementation of
+ * <a href="https://doc.kaitai.io/stream_api.html">Kaitai Struct stream API</a>
+ * for C++/STL. It's implemented as a wrapper over generic STL std::istream.
+ *
+ * It provides a wide variety of simple methods to read (parse) binary
+ * representations of primitive types, such as integer and floating
+ * point numbers, byte arrays and strings, and also provides stream
+ * positioning / navigation methods with unified cross-language and
+ * cross-toolkit semantics.
+ *
+ * Typically, end users won't access Kaitai Stream class manually, but would
+ * describe a binary structure format using .ksy language and then would use
+ * Kaitai Struct compiler to generate source code in desired target language.
+ * That code, in turn, would use this class and API to do the actual parsing
+ * job.
+ */
+class kstream {
+public:
+    /**
+     * Constructs new Kaitai Stream object, wrapping a given std::istream.
+     * \param io istream object to use for this Kaitai Stream
+     */
+    kstream(std::istream* io);
+
+    /**
+     * Constructs new Kaitai Stream object, wrapping a given in-memory data
+     * buffer.
+     * \param data data buffer to use for this Kaitai Stream
+     */
+    kstream(std::string& data);
+
+    void close();
+
+    /** @name Stream positioning */
+    //@{
+    /**
+     * Check if stream pointer is at the end of stream. Note that the semantics
+     * are different from traditional STL semantics: one does *not* need to do a
+     * read (which will fail) after the actual end of the stream to trigger EOF
+     * flag, which can be accessed after that read. It is sufficient to just be
+     * at the end of the stream for this method to return true.
+     * \return "true" if we are located at the end of the stream.
+     */
+    bool is_eof() const;
+
+    /**
+     * Set stream pointer to designated position.
+     * \param pos new position (offset in bytes from the beginning of the stream)
+     */
+    void seek(uint64_t pos);
+
+    /**
+     * Get current position of a stream pointer.
+     * \return pointer position, number of bytes from the beginning of the stream
+     */
+    uint64_t pos();
+
+    /**
+     * Get total size of the stream in bytes.
+     * \return size of the stream in bytes
+     */
+    uint64_t size();
+    //@}
+
+    /** @name Integer numbers */
+    //@{
+
+    // ------------------------------------------------------------------------
+    // Signed
+    // ------------------------------------------------------------------------
+
+    int8_t read_s1();
+
+    // ........................................................................
+    // Big-endian
+    // ........................................................................
+
+    int16_t read_s2be();
+    int32_t read_s4be();
+    int64_t read_s8be();
+
+    // ........................................................................
+    // Little-endian
+    // ........................................................................
+
+    int16_t read_s2le();
+    int32_t read_s4le();
+    int64_t read_s8le();
+
+    // ------------------------------------------------------------------------
+    // Unsigned
+    // ------------------------------------------------------------------------
+
+    uint8_t read_u1();
+
+    // ........................................................................
+    // Big-endian
+    // ........................................................................
+
+    uint16_t read_u2be();
+    uint32_t read_u4be();
+    uint64_t read_u8be();
+
+    // ........................................................................
+    // Little-endian
+    // ........................................................................
+
+    uint16_t read_u2le();
+    uint32_t read_u4le();
+    uint64_t read_u8le();
+
+    //@}
+
+    /** @name Floating point numbers */
+    //@{
+
+    // ........................................................................
+    // Big-endian
+    // ........................................................................
+
+    float read_f4be();
+    double read_f8be();
+
+    // ........................................................................
+    // Little-endian
+    // ........................................................................
+
+    float read_f4le();
+    double read_f8le();
+
+    //@}
+
+    /** @name Unaligned bit values */
+    //@{
+
+    void align_to_byte();
+    uint64_t read_bits_int_be(int n);
+    uint64_t read_bits_int(int n);
+    uint64_t read_bits_int_le(int n);
+
+    //@}
+
+    /** @name Byte arrays */
+    //@{
+
+    std::string read_bytes(std::streamsize len);
+    std::string read_bytes_full();
+    std::string read_bytes_term(char term, bool include, bool consume, bool eos_error);
+    std::string ensure_fixed_contents(std::string expected);
+
+    static std::string bytes_strip_right(std::string src, char pad_byte);
+    static std::string bytes_terminate(std::string src, char term, bool include);
+    static std::string bytes_to_str(std::string src, std::string src_enc);
+
+    //@}
+
+    /** @name Byte array processing */
+    //@{
+
+    /**
+     * Performs a XOR processing with given data, XORing every byte of input with a single
+     * given value.
+     * @param data data to process
+     * @param key value to XOR with
+     * @return processed data
+     */
+    static std::string process_xor_one(std::string data, uint8_t key);
+
+    /**
+     * Performs a XOR processing with given data, XORing every byte of input with a key
+     * array, repeating key array many times, if necessary (i.e. if data array is longer
+     * than key array).
+     * @param data data to process
+     * @param key array of bytes to XOR with
+     * @return processed data
+     */
+    static std::string process_xor_many(std::string data, std::string key);
+
+    /**
+     * Performs a circular left rotation shift for a given buffer by a given amount of bits,
+     * using groups of 1 bytes each time. Right circular rotation should be performed
+     * using this procedure with corrected amount.
+     * @param data source data to process
+     * @param amount number of bits to shift by
+     * @return copy of source array with requested shift applied
+     */
+    static std::string process_rotate_left(std::string data, int amount);
+
+#ifdef KS_ZLIB
+    /**
+     * Performs an unpacking ("inflation") of zlib-compressed data with usual zlib headers.
+     * @param data data to unpack
+     * @return unpacked data
+     * @throws IOException
+     */
+    static std::string process_zlib(std::string data);
+#endif
+
+    //@}
+
+    /**
+     * Performs modulo operation between two integers: dividend `a`
+     * and divisor `b`. Divisor `b` is expected to be positive. The
+     * result is always 0 <= x <= b - 1.
+     */
+    static int mod(int a, int b);
+
+    /**
+     * Converts given integer `val` to a decimal string representation.
+     * Should be used in place of std::to_string() (which is available only
+     * since C++11) in older C++ implementations.
+     */
+    static std::string to_string(int val);
+
+    /**
+     * Reverses given string `val`, so that the first character becomes the
+     * last and the last one becomes the first. This should be used to avoid
+     * the need of local variables at the caller.
+     */
+    static std::string reverse(std::string val);
+
+    /**
+     * Finds the minimal byte in a byte array, treating bytes as
+     * unsigned values.
+     * @param val byte array to scan
+     * @return minimal byte in byte array as integer
+     */
+    static uint8_t byte_array_min(const std::string val);
+
+    /**
+     * Finds the maximal byte in a byte array, treating bytes as
+     * unsigned values.
+     * @param val byte array to scan
+     * @return maximal byte in byte array as integer
+     */
+    static uint8_t byte_array_max(const std::string val);
+
+private:
+    std::istream* m_io;
+    std::istringstream m_io_str;
+    int m_bits_left;
+    uint64_t m_bits;
+
+    void init();
+    void exceptions_enable() const;
+
+    static uint64_t get_mask_ones(int n);
+
+    static const int ZLIB_BUF_SIZE = 128 * 1024;
+};
+
+}
+
+#endif
diff --git a/third_party/kaitai/kaitaistruct.h b/third_party/kaitai/kaitaistruct.h
new file mode 100644
index 0000000000..8172ede6c9
--- /dev/null
+++ b/third_party/kaitai/kaitaistruct.h
@@ -0,0 +1,20 @@
+#ifndef KAITAI_STRUCT_H
+#define KAITAI_STRUCT_H
+
+#include <kaitai/kaitaistream.h>
+
+namespace kaitai {
+
+class kstruct {
+public:
+    kstruct(kstream *_io) { m__io = _io; }
+    virtual ~kstruct() {}
+protected:
+    kstream *m__io;
+public:
+    kstream *_io() { return m__io; }
+};
+
+}
+
+#endif
diff --git a/third_party/libgralloc/include/gralloc_priv.h b/third_party/libgralloc/include/gralloc_priv.h
new file mode 100644
index 0000000000..4aa47541b0
--- /dev/null
+++ b/third_party/libgralloc/include/gralloc_priv.h
@@ -0,0 +1,296 @@
+/*
+ * Copyright (C) 2008 The Android Open Source Project
+ * Copyright (c) 2011-2015, The Linux Foundation. All rights reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef GRALLOC_PRIV_H_
+#define GRALLOC_PRIV_H_
+
+#include <stdint.h>
+#include <limits.h>
+#include <sys/cdefs.h>
+#include <hardware/gralloc.h>
+#include <pthread.h>
+#include <errno.h>
+#include <unistd.h>
+
+#include <cutils/native_handle.h>
+
+#include <cutils/log.h>
+
+#define ROUND_UP_PAGESIZE(x) ( (((unsigned long)(x)) + PAGE_SIZE-1)  & \
+                               (~(PAGE_SIZE-1)) )
+
+/* Gralloc usage bits indicating the type of allocation that should be used */
+/* SYSTEM heap comes from kernel vmalloc (ION_SYSTEM_HEAP_ID)
+ * is cached by default and
+ * is not secured */
+
+/* GRALLOC_USAGE_PRIVATE_0 is unused */
+
+/* Non linear, Universal Bandwidth Compression */
+#define GRALLOC_USAGE_PRIVATE_ALLOC_UBWC      GRALLOC_USAGE_PRIVATE_1
+
+/* IOMMU heap comes from manually allocated pages, can be cached/uncached,
+ * is not secured */
+#define GRALLOC_USAGE_PRIVATE_IOMMU_HEAP      GRALLOC_USAGE_PRIVATE_2
+
+/* MM heap is a carveout heap for video, can be secured */
+#define GRALLOC_USAGE_PRIVATE_MM_HEAP         GRALLOC_USAGE_PRIVATE_3
+
+/* ADSP heap is a carveout heap, is not secured */
+#define GRALLOC_USAGE_PRIVATE_ADSP_HEAP       0x01000000
+
+/* Set this for allocating uncached memory (using O_DSYNC),
+ * cannot be used with noncontiguous heaps */
+#define GRALLOC_USAGE_PRIVATE_UNCACHED        0x02000000
+
+/* Buffer content should be displayed on an primary display only */
+#define GRALLOC_USAGE_PRIVATE_INTERNAL_ONLY   0x04000000
+
+/* Buffer content should be displayed on an external display only */
+#define GRALLOC_USAGE_PRIVATE_EXTERNAL_ONLY   0x08000000
+
+/* This flag is set for WFD usecase */
+#define GRALLOC_USAGE_PRIVATE_WFD             0x00200000
+
+/* CAMERA heap is a carveout heap for camera, is not secured */
+#define GRALLOC_USAGE_PRIVATE_CAMERA_HEAP     0x00400000
+
+/* This flag is used for SECURE display usecase */
+#define GRALLOC_USAGE_PRIVATE_SECURE_DISPLAY  0x00800000
+
+/* define Gralloc perform */
+#define GRALLOC_MODULE_PERFORM_CREATE_HANDLE_FROM_BUFFER 1
+// This will be used by the graphics drivers to know if certain features
+// are defined in this display HAL.
+// Ex: Newer GFX libraries + Older Display HAL
+#define GRALLOC_MODULE_PERFORM_GET_STRIDE 2
+#define GRALLOC_MODULE_PERFORM_GET_CUSTOM_STRIDE_FROM_HANDLE 3
+#define GRALLOC_MODULE_PERFORM_GET_CUSTOM_STRIDE_AND_HEIGHT_FROM_HANDLE 4
+#define GRALLOC_MODULE_PERFORM_GET_ATTRIBUTES 5
+#define GRALLOC_MODULE_PERFORM_GET_COLOR_SPACE_FROM_HANDLE 6
+#define GRALLOC_MODULE_PERFORM_GET_YUV_PLANE_INFO 7
+#define GRALLOC_MODULE_PERFORM_GET_MAP_SECURE_BUFFER_INFO 8
+#define GRALLOC_MODULE_PERFORM_GET_UBWC_FLAG 9
+#define GRALLOC_MODULE_PERFORM_GET_RGB_DATA_ADDRESS 10
+#define GRALLOC_MODULE_PERFORM_GET_IGC 11
+#define GRALLOC_MODULE_PERFORM_SET_IGC 12
+#define GRALLOC_MODULE_PERFORM_SET_SINGLE_BUFFER_MODE 13
+
+/* OEM specific HAL formats */
+
+#define HAL_PIXEL_FORMAT_RGBA_5551               6
+#define HAL_PIXEL_FORMAT_RGBA_4444               7
+#define HAL_PIXEL_FORMAT_NV12_ENCODEABLE         0x102
+#define HAL_PIXEL_FORMAT_YCbCr_420_SP_VENUS      0x7FA30C04
+#define HAL_PIXEL_FORMAT_YCbCr_420_SP_TILED      0x7FA30C03
+#define HAL_PIXEL_FORMAT_YCbCr_420_SP            0x109
+#define HAL_PIXEL_FORMAT_YCrCb_420_SP_ADRENO     0x7FA30C01
+#define HAL_PIXEL_FORMAT_YCrCb_422_SP            0x10B
+#define HAL_PIXEL_FORMAT_R_8                     0x10D
+#define HAL_PIXEL_FORMAT_RG_88                   0x10E
+#define HAL_PIXEL_FORMAT_YCbCr_444_SP            0x10F
+#define HAL_PIXEL_FORMAT_YCrCb_444_SP            0x110
+#define HAL_PIXEL_FORMAT_YCrCb_422_I             0x111
+#define HAL_PIXEL_FORMAT_BGRX_8888               0x112
+#define HAL_PIXEL_FORMAT_NV21_ZSL                0x113
+#define HAL_PIXEL_FORMAT_YCrCb_420_SP_VENUS      0x114
+#define HAL_PIXEL_FORMAT_BGR_565                 0x115
+#define HAL_PIXEL_FORMAT_INTERLACE               0x180
+
+//v4l2_fourcc('Y', 'U', 'Y', 'L'). 24 bpp YUYV 4:2:2 10 bit per component
+#define HAL_PIXEL_FORMAT_YCbCr_422_I_10BIT       0x4C595559
+
+//v4l2_fourcc('Y', 'B', 'W', 'C'). 10 bit per component. This compressed
+//format reduces the memory access bandwidth
+#define HAL_PIXEL_FORMAT_YCbCr_422_I_10BIT_COMPRESSED  0x43574259
+
+// UBWC aligned Venus format
+#define HAL_PIXEL_FORMAT_YCbCr_420_SP_VENUS_UBWC 0x7FA30C06
+
+//Khronos ASTC formats
+#define HAL_PIXEL_FORMAT_COMPRESSED_RGBA_ASTC_4x4_KHR             0x93B0
+#define HAL_PIXEL_FORMAT_COMPRESSED_RGBA_ASTC_5x4_KHR             0x93B1
+#define HAL_PIXEL_FORMAT_COMPRESSED_RGBA_ASTC_5x5_KHR             0x93B2
+#define HAL_PIXEL_FORMAT_COMPRESSED_RGBA_ASTC_6x5_KHR             0x93B3
+#define HAL_PIXEL_FORMAT_COMPRESSED_RGBA_ASTC_6x6_KHR             0x93B4
+#define HAL_PIXEL_FORMAT_COMPRESSED_RGBA_ASTC_8x5_KHR             0x93B5
+#define HAL_PIXEL_FORMAT_COMPRESSED_RGBA_ASTC_8x6_KHR             0x93B6
+#define HAL_PIXEL_FORMAT_COMPRESSED_RGBA_ASTC_8x8_KHR             0x93B7
+#define HAL_PIXEL_FORMAT_COMPRESSED_RGBA_ASTC_10x5_KHR            0x93B8
+#define HAL_PIXEL_FORMAT_COMPRESSED_RGBA_ASTC_10x6_KHR            0x93B9
+#define HAL_PIXEL_FORMAT_COMPRESSED_RGBA_ASTC_10x8_KHR            0x93BA
+#define HAL_PIXEL_FORMAT_COMPRESSED_RGBA_ASTC_10x10_KHR           0x93BB
+#define HAL_PIXEL_FORMAT_COMPRESSED_RGBA_ASTC_12x10_KHR           0x93BC
+#define HAL_PIXEL_FORMAT_COMPRESSED_RGBA_ASTC_12x12_KHR           0x93BD
+#define HAL_PIXEL_FORMAT_COMPRESSED_SRGB8_ALPHA8_ASTC_4x4_KHR     0x93D0
+#define HAL_PIXEL_FORMAT_COMPRESSED_SRGB8_ALPHA8_ASTC_5x4_KHR     0x93D1
+#define HAL_PIXEL_FORMAT_COMPRESSED_SRGB8_ALPHA8_ASTC_5x5_KHR     0x93D2
+#define HAL_PIXEL_FORMAT_COMPRESSED_SRGB8_ALPHA8_ASTC_6x5_KHR     0x93D3
+#define HAL_PIXEL_FORMAT_COMPRESSED_SRGB8_ALPHA8_ASTC_6x6_KHR     0x93D4
+#define HAL_PIXEL_FORMAT_COMPRESSED_SRGB8_ALPHA8_ASTC_8x5_KHR     0x93D5
+#define HAL_PIXEL_FORMAT_COMPRESSED_SRGB8_ALPHA8_ASTC_8x6_KHR     0x93D6
+#define HAL_PIXEL_FORMAT_COMPRESSED_SRGB8_ALPHA8_ASTC_8x8_KHR     0x93D7
+#define HAL_PIXEL_FORMAT_COMPRESSED_SRGB8_ALPHA8_ASTC_10x5_KHR    0x93D8
+#define HAL_PIXEL_FORMAT_COMPRESSED_SRGB8_ALPHA8_ASTC_10x6_KHR    0x93D9
+#define HAL_PIXEL_FORMAT_COMPRESSED_SRGB8_ALPHA8_ASTC_10x8_KHR    0x93DA
+#define HAL_PIXEL_FORMAT_COMPRESSED_SRGB8_ALPHA8_ASTC_10x10_KHR   0x93DB
+#define HAL_PIXEL_FORMAT_COMPRESSED_SRGB8_ALPHA8_ASTC_12x10_KHR   0x93DC
+#define HAL_PIXEL_FORMAT_COMPRESSED_SRGB8_ALPHA8_ASTC_12x12_KHR   0x93DD
+
+/* possible values for inverse gamma correction */
+#define HAL_IGC_NOT_SPECIFIED     0
+#define HAL_IGC_s_RGB             1
+
+/* possible formats for 3D content*/
+enum {
+    HAL_NO_3D                      = 0x0,
+    HAL_3D_SIDE_BY_SIDE_L_R        = 0x1,
+    HAL_3D_SIDE_BY_SIDE_R_L        = 0x2,
+    HAL_3D_TOP_BOTTOM              = 0x4,
+    HAL_3D_IN_SIDE_BY_SIDE_L_R     = 0x10000, //unused legacy format
+};
+
+enum {
+    BUFFER_TYPE_UI = 0,
+    BUFFER_TYPE_VIDEO
+};
+
+#ifdef __cplusplus
+struct private_handle_t : public native_handle {
+#else
+    struct private_handle_t {
+        native_handle_t nativeHandle;
+#endif
+        enum {
+            PRIV_FLAGS_FRAMEBUFFER        = 0x00000001,
+            PRIV_FLAGS_USES_ION           = 0x00000008,
+            PRIV_FLAGS_USES_ASHMEM        = 0x00000010,
+            PRIV_FLAGS_NEEDS_FLUSH        = 0x00000020,
+            PRIV_FLAGS_INTERNAL_ONLY      = 0x00000040,
+            PRIV_FLAGS_NON_CPU_WRITER     = 0x00000080,
+            PRIV_FLAGS_NONCONTIGUOUS_MEM  = 0x00000100,
+            PRIV_FLAGS_CACHED             = 0x00000200,
+            PRIV_FLAGS_SECURE_BUFFER      = 0x00000400,
+            // Display on external only
+            PRIV_FLAGS_EXTERNAL_ONLY      = 0x00002000,
+            // Set by HWC for protected non secure buffers
+            PRIV_FLAGS_PROTECTED_BUFFER   = 0x00004000,
+            PRIV_FLAGS_VIDEO_ENCODER      = 0x00010000,
+            PRIV_FLAGS_CAMERA_WRITE       = 0x00020000,
+            PRIV_FLAGS_CAMERA_READ        = 0x00040000,
+            PRIV_FLAGS_HW_COMPOSER        = 0x00080000,
+            PRIV_FLAGS_HW_TEXTURE         = 0x00100000,
+            PRIV_FLAGS_ITU_R_601          = 0x00200000, //Unused from display
+            PRIV_FLAGS_ITU_R_601_FR       = 0x00400000, //Unused from display
+            PRIV_FLAGS_ITU_R_709          = 0x00800000, //Unused from display
+            PRIV_FLAGS_SECURE_DISPLAY     = 0x01000000,
+            // Buffer is rendered in Tile Format
+            PRIV_FLAGS_TILE_RENDERED      = 0x02000000,
+            // Buffer rendered using CPU/SW renderer
+            PRIV_FLAGS_CPU_RENDERED       = 0x04000000,
+            // Buffer is allocated with UBWC alignment
+            PRIV_FLAGS_UBWC_ALIGNED       = 0x08000000,
+            // Buffer allocated will be consumed by SF/HWC
+            PRIV_FLAGS_DISP_CONSUMER      = 0x10000000
+        };
+
+        // file-descriptors
+        int     fd;
+        int     fd_metadata;          // fd for the meta-data
+        // ints
+        int     magic;
+        int     flags;
+        unsigned int  size;
+        unsigned int  offset;
+        int     bufferType;
+        uint64_t base __attribute__((aligned(8)));
+        unsigned int  offset_metadata;
+        // The gpu address mapped into the mmu.
+        uint64_t gpuaddr __attribute__((aligned(8)));
+        int     format;
+        int     width;              // specifies aligned width
+        int     height;             // specifies aligned height
+        int     real_width;
+        int     real_height;
+        uint64_t base_metadata __attribute__((aligned(8)));
+
+#ifdef __cplusplus
+        static const int sNumFds = 2;
+        static inline int sNumInts() {
+            return ((sizeof(private_handle_t) - sizeof(native_handle_t)) /
+                    sizeof(int)) - sNumFds;
+        }
+        static const int sMagic = 'gmsm';
+
+        private_handle_t(int fd, unsigned int size, int flags, int bufferType,
+                         int format, int aligned_width, int aligned_height,
+                         int width, int height, int eFd = -1,
+                         unsigned int eOffset = 0, uint64_t eBase = 0) :
+            fd(fd), fd_metadata(eFd), magic(sMagic),
+            flags(flags), size(size), offset(0), bufferType(bufferType),
+            base(0), offset_metadata(eOffset), gpuaddr(0),
+            format(format), width(aligned_width), height(aligned_height),
+            real_width(width), real_height(height), base_metadata(eBase)
+        {
+            version = (int) sizeof(native_handle);
+            numInts = sNumInts();
+            numFds = sNumFds;
+        }
+        ~private_handle_t() {
+            magic = 0;
+        }
+
+        static int validate(const native_handle* h) {
+            const private_handle_t* hnd = (const private_handle_t*)h;
+            if (!h || h->version != sizeof(native_handle) ||
+                h->numInts != sNumInts() || h->numFds != sNumFds ||
+                hnd->magic != sMagic)
+            {
+                ALOGD("Invalid gralloc handle (at %p): "
+                      "ver(%d/%zu) ints(%d/%d) fds(%d/%d)"
+                      "magic(%c%c%c%c/%c%c%c%c)",
+                      h,
+                      h ? h->version : -1, sizeof(native_handle),
+                      h ? h->numInts : -1, sNumInts(),
+                      h ? h->numFds : -1, sNumFds,
+                      hnd ? (((hnd->magic >> 24) & 0xFF)?
+                             ((hnd->magic >> 24) & 0xFF) : '-') : '?',
+                      hnd ? (((hnd->magic >> 16) & 0xFF)?
+                             ((hnd->magic >> 16) & 0xFF) : '-') : '?',
+                      hnd ? (((hnd->magic >> 8) & 0xFF)?
+                             ((hnd->magic >> 8) & 0xFF) : '-') : '?',
+                      hnd ? (((hnd->magic >> 0) & 0xFF)?
+                             ((hnd->magic >> 0) & 0xFF) : '-') : '?',
+                      (sMagic >> 24) & 0xFF,
+                      (sMagic >> 16) & 0xFF,
+                      (sMagic >> 8) & 0xFF,
+                      (sMagic >> 0) & 0xFF);
+                return -EINVAL;
+            }
+            return 0;
+        }
+
+        static private_handle_t* dynamicCast(const native_handle* in) {
+            if (validate(in) == 0) {
+                return (private_handle_t*) in;
+            }
+            return NULL;
+        }
+#endif
+    };
+
+#endif /* GRALLOC_PRIV_H_ */
diff --git a/third_party/libyuv/LICENSE b/third_party/libyuv/LICENSE
new file mode 100644
index 0000000000..c911747a6b
--- /dev/null
+++ b/third_party/libyuv/LICENSE
@@ -0,0 +1,29 @@
+Copyright 2011 The LibYuv Project Authors. All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are
+met:
+
+  * Redistributions of source code must retain the above copyright
+    notice, this list of conditions and the following disclaimer.
+
+  * Redistributions in binary form must reproduce the above copyright
+    notice, this list of conditions and the following disclaimer in
+    the documentation and/or other materials provided with the
+    distribution.
+
+  * Neither the name of Google nor the names of its contributors may
+    be used to endorse or promote products derived from this software
+    without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/third_party/libyuv/LICENSE.libyuv b/third_party/libyuv/LICENSE.libyuv
new file mode 100644
index 0000000000..c911747a6b
--- /dev/null
+++ b/third_party/libyuv/LICENSE.libyuv
@@ -0,0 +1,29 @@
+Copyright 2011 The LibYuv Project Authors. All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are
+met:
+
+  * Redistributions of source code must retain the above copyright
+    notice, this list of conditions and the following disclaimer.
+
+  * Redistributions in binary form must reproduce the above copyright
+    notice, this list of conditions and the following disclaimer in
+    the documentation and/or other materials provided with the
+    distribution.
+
+  * Neither the name of Google nor the names of its contributors may
+    be used to endorse or promote products derived from this software
+    without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/third_party/libyuv/build.txt b/third_party/libyuv/build.txt
new file mode 100644
index 0000000000..376e981ec7
--- /dev/null
+++ b/third_party/libyuv/build.txt
@@ -0,0 +1,4 @@
+git clone https://chromium.googlesource.com/libyuv/libyuv
+cd libyuv
+git reset --hard 4a14cb2e81235ecd656e799aecaaf139db8ce4a2
+cmake .
diff --git a/third_party/libyuv/include/libyuv.h b/third_party/libyuv/include/libyuv.h
new file mode 100644
index 0000000000..aeffd5ef7a
--- /dev/null
+++ b/third_party/libyuv/include/libyuv.h
@@ -0,0 +1,32 @@
+/*
+ *  Copyright 2011 The LibYuv Project Authors. All rights reserved.
+ *
+ *  Use of this source code is governed by a BSD-style license
+ *  that can be found in the LICENSE file in the root of the source
+ *  tree. An additional intellectual property rights grant can be found
+ *  in the file PATENTS. All contributing project authors may
+ *  be found in the AUTHORS file in the root of the source tree.
+ */
+
+#ifndef INCLUDE_LIBYUV_H_
+#define INCLUDE_LIBYUV_H_
+
+#include "libyuv/basic_types.h"
+#include "libyuv/compare.h"
+#include "libyuv/convert.h"
+#include "libyuv/convert_argb.h"
+#include "libyuv/convert_from.h"
+#include "libyuv/convert_from_argb.h"
+#include "libyuv/cpu_id.h"
+#include "libyuv/mjpeg_decoder.h"
+#include "libyuv/planar_functions.h"
+#include "libyuv/rotate.h"
+#include "libyuv/rotate_argb.h"
+#include "libyuv/row.h"
+#include "libyuv/scale.h"
+#include "libyuv/scale_argb.h"
+#include "libyuv/scale_row.h"
+#include "libyuv/version.h"
+#include "libyuv/video_common.h"
+
+#endif  // INCLUDE_LIBYUV_H_
diff --git a/third_party/libyuv/include/libyuv/basic_types.h b/third_party/libyuv/include/libyuv/basic_types.h
new file mode 100644
index 0000000000..5b760ee0d4
--- /dev/null
+++ b/third_party/libyuv/include/libyuv/basic_types.h
@@ -0,0 +1,118 @@
+/*
+ *  Copyright 2011 The LibYuv Project Authors. All rights reserved.
+ *
+ *  Use of this source code is governed by a BSD-style license
+ *  that can be found in the LICENSE file in the root of the source
+ *  tree. An additional intellectual property rights grant can be found
+ *  in the file PATENTS. All contributing project authors may
+ *  be found in the AUTHORS file in the root of the source tree.
+ */
+
+#ifndef INCLUDE_LIBYUV_BASIC_TYPES_H_
+#define INCLUDE_LIBYUV_BASIC_TYPES_H_
+
+#include <stddef.h>  // for NULL, size_t
+
+#if defined(_MSC_VER) && (_MSC_VER < 1600)
+#include <sys/types.h>  // for uintptr_t on x86
+#else
+#include <stdint.h>  // for uintptr_t
+#endif
+
+#ifndef GG_LONGLONG
+#ifndef INT_TYPES_DEFINED
+#define INT_TYPES_DEFINED
+#ifdef COMPILER_MSVC
+typedef unsigned __int64 uint64;
+typedef __int64 int64;
+#ifndef INT64_C
+#define INT64_C(x) x ## I64
+#endif
+#ifndef UINT64_C
+#define UINT64_C(x) x ## UI64
+#endif
+#define INT64_F "I64"
+#else  // COMPILER_MSVC
+#if defined(__LP64__) && !defined(__OpenBSD__) && !defined(__APPLE__)
+typedef unsigned long uint64;  // NOLINT
+typedef long int64;  // NOLINT
+#ifndef INT64_C
+#define INT64_C(x) x ## L
+#endif
+#ifndef UINT64_C
+#define UINT64_C(x) x ## UL
+#endif
+#define INT64_F "l"
+#else  // defined(__LP64__) && !defined(__OpenBSD__) && !defined(__APPLE__)
+typedef unsigned long long uint64;  // NOLINT
+typedef long long int64;  // NOLINT
+#ifndef INT64_C
+#define INT64_C(x) x ## LL
+#endif
+#ifndef UINT64_C
+#define UINT64_C(x) x ## ULL
+#endif
+#define INT64_F "ll"
+#endif  // __LP64__
+#endif  // COMPILER_MSVC
+typedef unsigned int uint32;
+typedef int int32;
+typedef unsigned short uint16;  // NOLINT
+typedef short int16;  // NOLINT
+typedef unsigned char uint8;
+typedef signed char int8;
+#endif  // INT_TYPES_DEFINED
+#endif  // GG_LONGLONG
+
+// Detect compiler is for x86 or x64.
+#if defined(__x86_64__) || defined(_M_X64) || \
+    defined(__i386__) || defined(_M_IX86)
+#define CPU_X86 1
+#endif
+// Detect compiler is for ARM.
+#if defined(__arm__) || defined(_M_ARM)
+#define CPU_ARM 1
+#endif
+
+#ifndef ALIGNP
+#ifdef __cplusplus
+#define ALIGNP(p, t) \
+    (reinterpret_cast<uint8*>(((reinterpret_cast<uintptr_t>(p) + \
+    ((t) - 1)) & ~((t) - 1))))
+#else
+#define ALIGNP(p, t) \
+    ((uint8*)((((uintptr_t)(p) + ((t) - 1)) & ~((t) - 1))))  /* NOLINT */
+#endif
+#endif
+
+#if !defined(LIBYUV_API)
+#if defined(_WIN32) || defined(__CYGWIN__)
+#if defined(LIBYUV_BUILDING_SHARED_LIBRARY)
+#define LIBYUV_API __declspec(dllexport)
+#elif defined(LIBYUV_USING_SHARED_LIBRARY)
+#define LIBYUV_API __declspec(dllimport)
+#else
+#define LIBYUV_API
+#endif  // LIBYUV_BUILDING_SHARED_LIBRARY
+#elif defined(__GNUC__) && (__GNUC__ >= 4) && !defined(__APPLE__) && \
+    (defined(LIBYUV_BUILDING_SHARED_LIBRARY) || \
+    defined(LIBYUV_USING_SHARED_LIBRARY))
+#define LIBYUV_API __attribute__ ((visibility ("default")))
+#else
+#define LIBYUV_API
+#endif  // __GNUC__
+#endif  // LIBYUV_API
+
+#define LIBYUV_BOOL int
+#define LIBYUV_FALSE 0
+#define LIBYUV_TRUE 1
+
+// Visual C x86 or GCC little endian.
+#if defined(__x86_64__) || defined(_M_X64) || \
+  defined(__i386__) || defined(_M_IX86) || \
+  defined(__arm__) || defined(_M_ARM) || \
+  (defined(__BYTE_ORDER__) && __BYTE_ORDER__ == __ORDER_LITTLE_ENDIAN__)
+#define LIBYUV_LITTLE_ENDIAN
+#endif
+
+#endif  // INCLUDE_LIBYUV_BASIC_TYPES_H_
diff --git a/third_party/libyuv/include/libyuv/compare.h b/third_party/libyuv/include/libyuv/compare.h
new file mode 100644
index 0000000000..550712de6e
--- /dev/null
+++ b/third_party/libyuv/include/libyuv/compare.h
@@ -0,0 +1,78 @@
+/*
+ *  Copyright 2011 The LibYuv Project Authors. All rights reserved.
+ *
+ *  Use of this source code is governed by a BSD-style license
+ *  that can be found in the LICENSE file in the root of the source
+ *  tree. An additional intellectual property rights grant can be found
+ *  in the file PATENTS. All contributing project authors may
+ *  be found in the AUTHORS file in the root of the source tree.
+ */
+
+#ifndef INCLUDE_LIBYUV_COMPARE_H_
+#define INCLUDE_LIBYUV_COMPARE_H_
+
+#include "libyuv/basic_types.h"
+
+#ifdef __cplusplus
+namespace libyuv {
+extern "C" {
+#endif
+
+// Compute a hash for specified memory. Seed of 5381 recommended.
+LIBYUV_API
+uint32 HashDjb2(const uint8* src, uint64 count, uint32 seed);
+
+// Scan an opaque argb image and return fourcc based on alpha offset.
+// Returns FOURCC_ARGB, FOURCC_BGRA, or 0 if unknown.
+LIBYUV_API
+uint32 ARGBDetect(const uint8* argb, int stride_argb, int width, int height);
+
+// Sum Square Error - used to compute Mean Square Error or PSNR.
+LIBYUV_API
+uint64 ComputeSumSquareError(const uint8* src_a,
+                             const uint8* src_b, int count);
+
+LIBYUV_API
+uint64 ComputeSumSquareErrorPlane(const uint8* src_a, int stride_a,
+                                  const uint8* src_b, int stride_b,
+                                  int width, int height);
+
+static const int kMaxPsnr = 128;
+
+LIBYUV_API
+double SumSquareErrorToPsnr(uint64 sse, uint64 count);
+
+LIBYUV_API
+double CalcFramePsnr(const uint8* src_a, int stride_a,
+                     const uint8* src_b, int stride_b,
+                     int width, int height);
+
+LIBYUV_API
+double I420Psnr(const uint8* src_y_a, int stride_y_a,
+                const uint8* src_u_a, int stride_u_a,
+                const uint8* src_v_a, int stride_v_a,
+                const uint8* src_y_b, int stride_y_b,
+                const uint8* src_u_b, int stride_u_b,
+                const uint8* src_v_b, int stride_v_b,
+                int width, int height);
+
+LIBYUV_API
+double CalcFrameSsim(const uint8* src_a, int stride_a,
+                     const uint8* src_b, int stride_b,
+                     int width, int height);
+
+LIBYUV_API
+double I420Ssim(const uint8* src_y_a, int stride_y_a,
+                const uint8* src_u_a, int stride_u_a,
+                const uint8* src_v_a, int stride_v_a,
+                const uint8* src_y_b, int stride_y_b,
+                const uint8* src_u_b, int stride_u_b,
+                const uint8* src_v_b, int stride_v_b,
+                int width, int height);
+
+#ifdef __cplusplus
+}  // extern "C"
+}  // namespace libyuv
+#endif
+
+#endif  // INCLUDE_LIBYUV_COMPARE_H_
diff --git a/third_party/libyuv/include/libyuv/compare_row.h b/third_party/libyuv/include/libyuv/compare_row.h
new file mode 100644
index 0000000000..781cad3e65
--- /dev/null
+++ b/third_party/libyuv/include/libyuv/compare_row.h
@@ -0,0 +1,84 @@
+/*
+ *  Copyright 2013 The LibYuv Project Authors. All rights reserved.
+ *
+ *  Use of this source code is governed by a BSD-style license
+ *  that can be found in the LICENSE file in the root of the source
+ *  tree. An additional intellectual property rights grant can be found
+ *  in the file PATENTS. All contributing project authors may
+ *  be found in the AUTHORS file in the root of the source tree.
+ */
+
+#ifndef INCLUDE_LIBYUV_COMPARE_ROW_H_
+#define INCLUDE_LIBYUV_COMPARE_ROW_H_
+
+#include "libyuv/basic_types.h"
+
+#ifdef __cplusplus
+namespace libyuv {
+extern "C" {
+#endif
+
+#if defined(__pnacl__) || defined(__CLR_VER) || \
+    (defined(__i386__) && !defined(__SSE2__))
+#define LIBYUV_DISABLE_X86
+#endif
+// MemorySanitizer does not support assembly code yet. http://crbug.com/344505
+#if defined(__has_feature)
+#if __has_feature(memory_sanitizer)
+#define LIBYUV_DISABLE_X86
+#endif
+#endif
+
+// Visual C 2012 required for AVX2.
+#if defined(_M_IX86) && !defined(__clang__) && \
+    defined(_MSC_VER) && _MSC_VER >= 1700
+#define VISUALC_HAS_AVX2 1
+#endif  // VisualStudio >= 2012
+
+// clang >= 3.4.0 required for AVX2.
+#if defined(__clang__) && (defined(__x86_64__) || defined(__i386__))
+#if (__clang_major__ > 3) || (__clang_major__ == 3 && (__clang_minor__ >= 4))
+#define CLANG_HAS_AVX2 1
+#endif  // clang >= 3.4
+#endif  // __clang__
+
+#if !defined(LIBYUV_DISABLE_X86) && \
+    defined(_M_IX86) && (defined(VISUALC_HAS_AVX2) || defined(CLANG_HAS_AVX2))
+#define HAS_HASHDJB2_AVX2
+#endif
+
+// The following are available for Visual C and GCC:
+#if !defined(LIBYUV_DISABLE_X86) && \
+    (defined(__x86_64__) || (defined(__i386__) || defined(_M_IX86)))
+#define HAS_HASHDJB2_SSE41
+#define HAS_SUMSQUAREERROR_SSE2
+#endif
+
+// The following are available for Visual C and clangcl 32 bit:
+#if !defined(LIBYUV_DISABLE_X86) && defined(_M_IX86) && \
+    (defined(VISUALC_HAS_AVX2) || defined(CLANG_HAS_AVX2))
+#define HAS_HASHDJB2_AVX2
+#define HAS_SUMSQUAREERROR_AVX2
+#endif
+
+// The following are available for Neon:
+#if !defined(LIBYUV_DISABLE_NEON) && \
+    (defined(__ARM_NEON__) || defined(LIBYUV_NEON) || defined(__aarch64__))
+#define HAS_SUMSQUAREERROR_NEON
+#endif
+
+uint32 SumSquareError_C(const uint8* src_a, const uint8* src_b, int count);
+uint32 SumSquareError_SSE2(const uint8* src_a, const uint8* src_b, int count);
+uint32 SumSquareError_AVX2(const uint8* src_a, const uint8* src_b, int count);
+uint32 SumSquareError_NEON(const uint8* src_a, const uint8* src_b, int count);
+
+uint32 HashDjb2_C(const uint8* src, int count, uint32 seed);
+uint32 HashDjb2_SSE41(const uint8* src, int count, uint32 seed);
+uint32 HashDjb2_AVX2(const uint8* src, int count, uint32 seed);
+
+#ifdef __cplusplus
+}  // extern "C"
+}  // namespace libyuv
+#endif
+
+#endif  // INCLUDE_LIBYUV_COMPARE_ROW_H_
diff --git a/third_party/libyuv/include/libyuv/convert.h b/third_party/libyuv/include/libyuv/convert.h
new file mode 100644
index 0000000000..d44485847b
--- /dev/null
+++ b/third_party/libyuv/include/libyuv/convert.h
@@ -0,0 +1,259 @@
+/*
+ *  Copyright 2011 The LibYuv Project Authors. All rights reserved.
+ *
+ *  Use of this source code is governed by a BSD-style license
+ *  that can be found in the LICENSE file in the root of the source
+ *  tree. An additional intellectual property rights grant can be found
+ *  in the file PATENTS. All contributing project authors may
+ *  be found in the AUTHORS file in the root of the source tree.
+ */
+
+#ifndef INCLUDE_LIBYUV_CONVERT_H_
+#define INCLUDE_LIBYUV_CONVERT_H_
+
+#include "libyuv/basic_types.h"
+
+#include "libyuv/rotate.h"  // For enum RotationMode.
+
+// TODO(fbarchard): fix WebRTC source to include following libyuv headers:
+#include "libyuv/convert_argb.h"  // For WebRTC I420ToARGB. b/620
+#include "libyuv/convert_from.h"  // For WebRTC ConvertFromI420. b/620
+#include "libyuv/planar_functions.h"  // For WebRTC I420Rect, CopyPlane. b/618
+
+#ifdef __cplusplus
+namespace libyuv {
+extern "C" {
+#endif
+
+// Convert I444 to I420.
+LIBYUV_API
+int I444ToI420(const uint8* src_y, int src_stride_y,
+               const uint8* src_u, int src_stride_u,
+               const uint8* src_v, int src_stride_v,
+               uint8* dst_y, int dst_stride_y,
+               uint8* dst_u, int dst_stride_u,
+               uint8* dst_v, int dst_stride_v,
+               int width, int height);
+
+// Convert I422 to I420.
+LIBYUV_API
+int I422ToI420(const uint8* src_y, int src_stride_y,
+               const uint8* src_u, int src_stride_u,
+               const uint8* src_v, int src_stride_v,
+               uint8* dst_y, int dst_stride_y,
+               uint8* dst_u, int dst_stride_u,
+               uint8* dst_v, int dst_stride_v,
+               int width, int height);
+
+// Convert I411 to I420.
+LIBYUV_API
+int I411ToI420(const uint8* src_y, int src_stride_y,
+               const uint8* src_u, int src_stride_u,
+               const uint8* src_v, int src_stride_v,
+               uint8* dst_y, int dst_stride_y,
+               uint8* dst_u, int dst_stride_u,
+               uint8* dst_v, int dst_stride_v,
+               int width, int height);
+
+// Copy I420 to I420.
+#define I420ToI420 I420Copy
+LIBYUV_API
+int I420Copy(const uint8* src_y, int src_stride_y,
+             const uint8* src_u, int src_stride_u,
+             const uint8* src_v, int src_stride_v,
+             uint8* dst_y, int dst_stride_y,
+             uint8* dst_u, int dst_stride_u,
+             uint8* dst_v, int dst_stride_v,
+             int width, int height);
+
+// Convert I400 (grey) to I420.
+LIBYUV_API
+int I400ToI420(const uint8* src_y, int src_stride_y,
+               uint8* dst_y, int dst_stride_y,
+               uint8* dst_u, int dst_stride_u,
+               uint8* dst_v, int dst_stride_v,
+               int width, int height);
+
+#define J400ToJ420 I400ToI420
+
+// Convert NV12 to I420.
+LIBYUV_API
+int NV12ToI420(const uint8* src_y, int src_stride_y,
+               const uint8* src_uv, int src_stride_uv,
+               uint8* dst_y, int dst_stride_y,
+               uint8* dst_u, int dst_stride_u,
+               uint8* dst_v, int dst_stride_v,
+               int width, int height);
+
+// Convert NV21 to I420.
+LIBYUV_API
+int NV21ToI420(const uint8* src_y, int src_stride_y,
+               const uint8* src_vu, int src_stride_vu,
+               uint8* dst_y, int dst_stride_y,
+               uint8* dst_u, int dst_stride_u,
+               uint8* dst_v, int dst_stride_v,
+               int width, int height);
+
+// Convert YUY2 to I420.
+LIBYUV_API
+int YUY2ToI420(const uint8* src_yuy2, int src_stride_yuy2,
+               uint8* dst_y, int dst_stride_y,
+               uint8* dst_u, int dst_stride_u,
+               uint8* dst_v, int dst_stride_v,
+               int width, int height);
+
+// Convert UYVY to I420.
+LIBYUV_API
+int UYVYToI420(const uint8* src_uyvy, int src_stride_uyvy,
+               uint8* dst_y, int dst_stride_y,
+               uint8* dst_u, int dst_stride_u,
+               uint8* dst_v, int dst_stride_v,
+               int width, int height);
+
+// Convert M420 to I420.
+LIBYUV_API
+int M420ToI420(const uint8* src_m420, int src_stride_m420,
+               uint8* dst_y, int dst_stride_y,
+               uint8* dst_u, int dst_stride_u,
+               uint8* dst_v, int dst_stride_v,
+               int width, int height);
+
+// Convert Android420 to I420.
+LIBYUV_API
+int Android420ToI420(const uint8* src_y, int src_stride_y,
+                     const uint8* src_u, int src_stride_u,
+                     const uint8* src_v, int src_stride_v,
+                     int pixel_stride_uv,
+                     uint8* dst_y, int dst_stride_y,
+                     uint8* dst_u, int dst_stride_u,
+                     uint8* dst_v, int dst_stride_v,
+                     int width, int height);
+
+// ARGB little endian (bgra in memory) to I420.
+LIBYUV_API
+int ARGBToI420(const uint8* src_frame, int src_stride_frame,
+               uint8* dst_y, int dst_stride_y,
+               uint8* dst_u, int dst_stride_u,
+               uint8* dst_v, int dst_stride_v,
+               int width, int height);
+
+// BGRA little endian (argb in memory) to I420.
+LIBYUV_API
+int BGRAToI420(const uint8* src_frame, int src_stride_frame,
+               uint8* dst_y, int dst_stride_y,
+               uint8* dst_u, int dst_stride_u,
+               uint8* dst_v, int dst_stride_v,
+               int width, int height);
+
+// ABGR little endian (rgba in memory) to I420.
+LIBYUV_API
+int ABGRToI420(const uint8* src_frame, int src_stride_frame,
+               uint8* dst_y, int dst_stride_y,
+               uint8* dst_u, int dst_stride_u,
+               uint8* dst_v, int dst_stride_v,
+               int width, int height);
+
+// RGBA little endian (abgr in memory) to I420.
+LIBYUV_API
+int RGBAToI420(const uint8* src_frame, int src_stride_frame,
+               uint8* dst_y, int dst_stride_y,
+               uint8* dst_u, int dst_stride_u,
+               uint8* dst_v, int dst_stride_v,
+               int width, int height);
+
+// RGB little endian (bgr in memory) to I420.
+LIBYUV_API
+int RGB24ToI420(const uint8* src_frame, int src_stride_frame,
+                uint8* dst_y, int dst_stride_y,
+                uint8* dst_u, int dst_stride_u,
+                uint8* dst_v, int dst_stride_v,
+                int width, int height);
+
+// RGB big endian (rgb in memory) to I420.
+LIBYUV_API
+int RAWToI420(const uint8* src_frame, int src_stride_frame,
+              uint8* dst_y, int dst_stride_y,
+              uint8* dst_u, int dst_stride_u,
+              uint8* dst_v, int dst_stride_v,
+              int width, int height);
+
+// RGB16 (RGBP fourcc) little endian to I420.
+LIBYUV_API
+int RGB565ToI420(const uint8* src_frame, int src_stride_frame,
+                 uint8* dst_y, int dst_stride_y,
+                 uint8* dst_u, int dst_stride_u,
+                 uint8* dst_v, int dst_stride_v,
+                 int width, int height);
+
+// RGB15 (RGBO fourcc) little endian to I420.
+LIBYUV_API
+int ARGB1555ToI420(const uint8* src_frame, int src_stride_frame,
+                   uint8* dst_y, int dst_stride_y,
+                   uint8* dst_u, int dst_stride_u,
+                   uint8* dst_v, int dst_stride_v,
+                   int width, int height);
+
+// RGB12 (R444 fourcc) little endian to I420.
+LIBYUV_API
+int ARGB4444ToI420(const uint8* src_frame, int src_stride_frame,
+                   uint8* dst_y, int dst_stride_y,
+                   uint8* dst_u, int dst_stride_u,
+                   uint8* dst_v, int dst_stride_v,
+                   int width, int height);
+
+#ifdef HAVE_JPEG
+// src_width/height provided by capture.
+// dst_width/height for clipping determine final size.
+LIBYUV_API
+int MJPGToI420(const uint8* sample, size_t sample_size,
+               uint8* dst_y, int dst_stride_y,
+               uint8* dst_u, int dst_stride_u,
+               uint8* dst_v, int dst_stride_v,
+               int src_width, int src_height,
+               int dst_width, int dst_height);
+
+// Query size of MJPG in pixels.
+LIBYUV_API
+int MJPGSize(const uint8* sample, size_t sample_size,
+             int* width, int* height);
+#endif
+
+// Convert camera sample to I420 with cropping, rotation and vertical flip.
+// "src_size" is needed to parse MJPG.
+// "dst_stride_y" number of bytes in a row of the dst_y plane.
+//   Normally this would be the same as dst_width, with recommended alignment
+//   to 16 bytes for better efficiency.
+//   If rotation of 90 or 270 is used, stride is affected. The caller should
+//   allocate the I420 buffer according to rotation.
+// "dst_stride_u" number of bytes in a row of the dst_u plane.
+//   Normally this would be the same as (dst_width + 1) / 2, with
+//   recommended alignment to 16 bytes for better efficiency.
+//   If rotation of 90 or 270 is used, stride is affected.
+// "crop_x" and "crop_y" are starting position for cropping.
+//   To center, crop_x = (src_width - dst_width) / 2
+//              crop_y = (src_height - dst_height) / 2
+// "src_width" / "src_height" is size of src_frame in pixels.
+//   "src_height" can be negative indicating a vertically flipped image source.
+// "crop_width" / "crop_height" is the size to crop the src to.
+//    Must be less than or equal to src_width/src_height
+//    Cropping parameters are pre-rotation.
+// "rotation" can be 0, 90, 180 or 270.
+// "format" is a fourcc. ie 'I420', 'YUY2'
+// Returns 0 for successful; -1 for invalid parameter. Non-zero for failure.
+LIBYUV_API
+int ConvertToI420(const uint8* src_frame, size_t src_size,
+                  uint8* dst_y, int dst_stride_y,
+                  uint8* dst_u, int dst_stride_u,
+                  uint8* dst_v, int dst_stride_v,
+                  int crop_x, int crop_y,
+                  int src_width, int src_height,
+                  int crop_width, int crop_height,
+                  enum RotationMode rotation,
+                  uint32 format);
+
+#ifdef __cplusplus
+}  // extern "C"
+}  // namespace libyuv
+#endif
+
+#endif  // INCLUDE_LIBYUV_CONVERT_H_
diff --git a/third_party/libyuv/include/libyuv/convert_argb.h b/third_party/libyuv/include/libyuv/convert_argb.h
new file mode 100644
index 0000000000..dc03ac8d5d
--- /dev/null
+++ b/third_party/libyuv/include/libyuv/convert_argb.h
@@ -0,0 +1,319 @@
+/*
+ *  Copyright 2012 The LibYuv Project Authors. All rights reserved.
+ *
+ *  Use of this source code is governed by a BSD-style license
+ *  that can be found in the LICENSE file in the root of the source
+ *  tree. An additional intellectual property rights grant can be found
+ *  in the file PATENTS. All contributing project authors may
+ *  be found in the AUTHORS file in the root of the source tree.
+ */
+
+#ifndef INCLUDE_LIBYUV_CONVERT_ARGB_H_
+#define INCLUDE_LIBYUV_CONVERT_ARGB_H_
+
+#include "libyuv/basic_types.h"
+
+#include "libyuv/rotate.h"  // For enum RotationMode.
+
+// TODO(fbarchard): This set of functions should exactly match convert.h
+// TODO(fbarchard): Add tests. Create random content of right size and convert
+// with C vs Opt and or to I420 and compare.
+// TODO(fbarchard): Some of these functions lack parameter setting.
+
+#ifdef __cplusplus
+namespace libyuv {
+extern "C" {
+#endif
+
+// Alias.
+#define ARGBToARGB ARGBCopy
+
+// Copy ARGB to ARGB.
+LIBYUV_API
+int ARGBCopy(const uint8* src_argb, int src_stride_argb,
+             uint8* dst_argb, int dst_stride_argb,
+             int width, int height);
+
+// Convert I420 to ARGB.
+LIBYUV_API
+int I420ToARGB(const uint8* src_y, int src_stride_y,
+               const uint8* src_u, int src_stride_u,
+               const uint8* src_v, int src_stride_v,
+               uint8* dst_argb, int dst_stride_argb,
+               int width, int height);
+
+// Duplicate prototype for function in convert_from.h for remoting.
+LIBYUV_API
+int I420ToABGR(const uint8* src_y, int src_stride_y,
+               const uint8* src_u, int src_stride_u,
+               const uint8* src_v, int src_stride_v,
+               uint8* dst_argb, int dst_stride_argb,
+               int width, int height);
+
+// Convert I422 to ARGB.
+LIBYUV_API
+int I422ToARGB(const uint8* src_y, int src_stride_y,
+               const uint8* src_u, int src_stride_u,
+               const uint8* src_v, int src_stride_v,
+               uint8* dst_argb, int dst_stride_argb,
+               int width, int height);
+
+// Convert I444 to ARGB.
+LIBYUV_API
+int I444ToARGB(const uint8* src_y, int src_stride_y,
+               const uint8* src_u, int src_stride_u,
+               const uint8* src_v, int src_stride_v,
+               uint8* dst_argb, int dst_stride_argb,
+               int width, int height);
+
+// Convert J444 to ARGB.
+LIBYUV_API
+int J444ToARGB(const uint8* src_y, int src_stride_y,
+               const uint8* src_u, int src_stride_u,
+               const uint8* src_v, int src_stride_v,
+               uint8* dst_argb, int dst_stride_argb,
+               int width, int height);
+
+// Convert I444 to ABGR.
+LIBYUV_API
+int I444ToABGR(const uint8* src_y, int src_stride_y,
+               const uint8* src_u, int src_stride_u,
+               const uint8* src_v, int src_stride_v,
+               uint8* dst_abgr, int dst_stride_abgr,
+               int width, int height);
+
+// Convert I411 to ARGB.
+LIBYUV_API
+int I411ToARGB(const uint8* src_y, int src_stride_y,
+               const uint8* src_u, int src_stride_u,
+               const uint8* src_v, int src_stride_v,
+               uint8* dst_argb, int dst_stride_argb,
+               int width, int height);
+
+// Convert I420 with Alpha to preattenuated ARGB.
+LIBYUV_API
+int I420AlphaToARGB(const uint8* src_y, int src_stride_y,
+                    const uint8* src_u, int src_stride_u,
+                    const uint8* src_v, int src_stride_v,
+                    const uint8* src_a, int src_stride_a,
+                    uint8* dst_argb, int dst_stride_argb,
+                    int width, int height, int attenuate);
+
+// Convert I420 with Alpha to preattenuated ABGR.
+LIBYUV_API
+int I420AlphaToABGR(const uint8* src_y, int src_stride_y,
+                    const uint8* src_u, int src_stride_u,
+                    const uint8* src_v, int src_stride_v,
+                    const uint8* src_a, int src_stride_a,
+                    uint8* dst_abgr, int dst_stride_abgr,
+                    int width, int height, int attenuate);
+
+// Convert I400 (grey) to ARGB.  Reverse of ARGBToI400.
+LIBYUV_API
+int I400ToARGB(const uint8* src_y, int src_stride_y,
+               uint8* dst_argb, int dst_stride_argb,
+               int width, int height);
+
+// Convert J400 (jpeg grey) to ARGB.
+LIBYUV_API
+int J400ToARGB(const uint8* src_y, int src_stride_y,
+               uint8* dst_argb, int dst_stride_argb,
+               int width, int height);
+
+// Alias.
+#define YToARGB I400ToARGB
+
+// Convert NV12 to ARGB.
+LIBYUV_API
+int NV12ToARGB(const uint8* src_y, int src_stride_y,
+               const uint8* src_uv, int src_stride_uv,
+               uint8* dst_argb, int dst_stride_argb,
+               int width, int height);
+
+// Convert NV21 to ARGB.
+LIBYUV_API
+int NV21ToARGB(const uint8* src_y, int src_stride_y,
+               const uint8* src_vu, int src_stride_vu,
+               uint8* dst_argb, int dst_stride_argb,
+               int width, int height);
+
+// Convert M420 to ARGB.
+LIBYUV_API
+int M420ToARGB(const uint8* src_m420, int src_stride_m420,
+               uint8* dst_argb, int dst_stride_argb,
+               int width, int height);
+
+// Convert YUY2 to ARGB.
+LIBYUV_API
+int YUY2ToARGB(const uint8* src_yuy2, int src_stride_yuy2,
+               uint8* dst_argb, int dst_stride_argb,
+               int width, int height);
+
+// Convert UYVY to ARGB.
+LIBYUV_API
+int UYVYToARGB(const uint8* src_uyvy, int src_stride_uyvy,
+               uint8* dst_argb, int dst_stride_argb,
+               int width, int height);
+
+// Convert J420 to ARGB.
+LIBYUV_API
+int J420ToARGB(const uint8* src_y, int src_stride_y,
+               const uint8* src_u, int src_stride_u,
+               const uint8* src_v, int src_stride_v,
+               uint8* dst_argb, int dst_stride_argb,
+               int width, int height);
+
+// Convert J422 to ARGB.
+LIBYUV_API
+int J422ToARGB(const uint8* src_y, int src_stride_y,
+               const uint8* src_u, int src_stride_u,
+               const uint8* src_v, int src_stride_v,
+               uint8* dst_argb, int dst_stride_argb,
+               int width, int height);
+
+// Convert J420 to ABGR.
+LIBYUV_API
+int J420ToABGR(const uint8* src_y, int src_stride_y,
+               const uint8* src_u, int src_stride_u,
+               const uint8* src_v, int src_stride_v,
+               uint8* dst_abgr, int dst_stride_abgr,
+               int width, int height);
+
+// Convert J422 to ABGR.
+LIBYUV_API
+int J422ToABGR(const uint8* src_y, int src_stride_y,
+               const uint8* src_u, int src_stride_u,
+               const uint8* src_v, int src_stride_v,
+               uint8* dst_abgr, int dst_stride_abgr,
+               int width, int height);
+
+// Convert H420 to ARGB.
+LIBYUV_API
+int H420ToARGB(const uint8* src_y, int src_stride_y,
+               const uint8* src_u, int src_stride_u,
+               const uint8* src_v, int src_stride_v,
+               uint8* dst_argb, int dst_stride_argb,
+               int width, int height);
+
+// Convert H422 to ARGB.
+LIBYUV_API
+int H422ToARGB(const uint8* src_y, int src_stride_y,
+               const uint8* src_u, int src_stride_u,
+               const uint8* src_v, int src_stride_v,
+               uint8* dst_argb, int dst_stride_argb,
+               int width, int height);
+
+// Convert H420 to ABGR.
+LIBYUV_API
+int H420ToABGR(const uint8* src_y, int src_stride_y,
+               const uint8* src_u, int src_stride_u,
+               const uint8* src_v, int src_stride_v,
+               uint8* dst_abgr, int dst_stride_abgr,
+               int width, int height);
+
+// Convert H422 to ABGR.
+LIBYUV_API
+int H422ToABGR(const uint8* src_y, int src_stride_y,
+               const uint8* src_u, int src_stride_u,
+               const uint8* src_v, int src_stride_v,
+               uint8* dst_abgr, int dst_stride_abgr,
+               int width, int height);
+
+// BGRA little endian (argb in memory) to ARGB.
+LIBYUV_API
+int BGRAToARGB(const uint8* src_frame, int src_stride_frame,
+               uint8* dst_argb, int dst_stride_argb,
+               int width, int height);
+
+// ABGR little endian (rgba in memory) to ARGB.
+LIBYUV_API
+int ABGRToARGB(const uint8* src_frame, int src_stride_frame,
+               uint8* dst_argb, int dst_stride_argb,
+               int width, int height);
+
+// RGBA little endian (abgr in memory) to ARGB.
+LIBYUV_API
+int RGBAToARGB(const uint8* src_frame, int src_stride_frame,
+               uint8* dst_argb, int dst_stride_argb,
+               int width, int height);
+
+// Deprecated function name.
+#define BG24ToARGB RGB24ToARGB
+
+// RGB little endian (bgr in memory) to ARGB.
+LIBYUV_API
+int RGB24ToARGB(const uint8* src_frame, int src_stride_frame,
+                uint8* dst_argb, int dst_stride_argb,
+                int width, int height);
+
+// RGB big endian (rgb in memory) to ARGB.
+LIBYUV_API
+int RAWToARGB(const uint8* src_frame, int src_stride_frame,
+              uint8* dst_argb, int dst_stride_argb,
+              int width, int height);
+
+// RGB16 (RGBP fourcc) little endian to ARGB.
+LIBYUV_API
+int RGB565ToARGB(const uint8* src_frame, int src_stride_frame,
+                 uint8* dst_argb, int dst_stride_argb,
+                 int width, int height);
+
+// RGB15 (RGBO fourcc) little endian to ARGB.
+LIBYUV_API
+int ARGB1555ToARGB(const uint8* src_frame, int src_stride_frame,
+                   uint8* dst_argb, int dst_stride_argb,
+                   int width, int height);
+
+// RGB12 (R444 fourcc) little endian to ARGB.
+LIBYUV_API
+int ARGB4444ToARGB(const uint8* src_frame, int src_stride_frame,
+                   uint8* dst_argb, int dst_stride_argb,
+                   int width, int height);
+
+#ifdef HAVE_JPEG
+// src_width/height provided by capture
+// dst_width/height for clipping determine final size.
+LIBYUV_API
+int MJPGToARGB(const uint8* sample, size_t sample_size,
+               uint8* dst_argb, int dst_stride_argb,
+               int src_width, int src_height,
+               int dst_width, int dst_height);
+#endif
+
+// Convert camera sample to ARGB with cropping, rotation and vertical flip.
+// "src_size" is needed to parse MJPG.
+// "dst_stride_argb" number of bytes in a row of the dst_argb plane.
+//   Normally this would be the same as dst_width, with recommended alignment
+//   to 16 bytes for better efficiency.
+//   If rotation of 90 or 270 is used, stride is affected. The caller should
+//   allocate the I420 buffer according to rotation.
+// "dst_stride_u" number of bytes in a row of the dst_u plane.
+//   Normally this would be the same as (dst_width + 1) / 2, with
+//   recommended alignment to 16 bytes for better efficiency.
+//   If rotation of 90 or 270 is used, stride is affected.
+// "crop_x" and "crop_y" are starting position for cropping.
+//   To center, crop_x = (src_width - dst_width) / 2
+//              crop_y = (src_height - dst_height) / 2
+// "src_width" / "src_height" is size of src_frame in pixels.
+//   "src_height" can be negative indicating a vertically flipped image source.
+// "crop_width" / "crop_height" is the size to crop the src to.
+//    Must be less than or equal to src_width/src_height
+//    Cropping parameters are pre-rotation.
+// "rotation" can be 0, 90, 180 or 270.
+// "format" is a fourcc. ie 'I420', 'YUY2'
+// Returns 0 for successful; -1 for invalid parameter. Non-zero for failure.
+LIBYUV_API
+int ConvertToARGB(const uint8* src_frame, size_t src_size,
+                  uint8* dst_argb, int dst_stride_argb,
+                  int crop_x, int crop_y,
+                  int src_width, int src_height,
+                  int crop_width, int crop_height,
+                  enum RotationMode rotation,
+                  uint32 format);
+
+#ifdef __cplusplus
+}  // extern "C"
+}  // namespace libyuv
+#endif
+
+#endif  // INCLUDE_LIBYUV_CONVERT_ARGB_H_
diff --git a/third_party/libyuv/include/libyuv/convert_from.h b/third_party/libyuv/include/libyuv/convert_from.h
new file mode 100644
index 0000000000..59c40474f1
--- /dev/null
+++ b/third_party/libyuv/include/libyuv/convert_from.h
@@ -0,0 +1,179 @@
+/*
+ *  Copyright 2011 The LibYuv Project Authors. All rights reserved.
+ *
+ *  Use of this source code is governed by a BSD-style license
+ *  that can be found in the LICENSE file in the root of the source
+ *  tree. An additional intellectual property rights grant can be found
+ *  in the file PATENTS. All contributing project authors may
+ *  be found in the AUTHORS file in the root of the source tree.
+ */
+
+#ifndef INCLUDE_LIBYUV_CONVERT_FROM_H_
+#define INCLUDE_LIBYUV_CONVERT_FROM_H_
+
+#include "libyuv/basic_types.h"
+#include "libyuv/rotate.h"
+
+#ifdef __cplusplus
+namespace libyuv {
+extern "C" {
+#endif
+
+// See Also convert.h for conversions from formats to I420.
+
+// I420Copy in convert to I420ToI420.
+
+LIBYUV_API
+int I420ToI422(const uint8* src_y, int src_stride_y,
+               const uint8* src_u, int src_stride_u,
+               const uint8* src_v, int src_stride_v,
+               uint8* dst_y, int dst_stride_y,
+               uint8* dst_u, int dst_stride_u,
+               uint8* dst_v, int dst_stride_v,
+               int width, int height);
+
+LIBYUV_API
+int I420ToI444(const uint8* src_y, int src_stride_y,
+               const uint8* src_u, int src_stride_u,
+               const uint8* src_v, int src_stride_v,
+               uint8* dst_y, int dst_stride_y,
+               uint8* dst_u, int dst_stride_u,
+               uint8* dst_v, int dst_stride_v,
+               int width, int height);
+
+LIBYUV_API
+int I420ToI411(const uint8* src_y, int src_stride_y,
+               const uint8* src_u, int src_stride_u,
+               const uint8* src_v, int src_stride_v,
+               uint8* dst_y, int dst_stride_y,
+               uint8* dst_u, int dst_stride_u,
+               uint8* dst_v, int dst_stride_v,
+               int width, int height);
+
+// Copy to I400. Source can be I420, I422, I444, I400, NV12 or NV21.
+LIBYUV_API
+int I400Copy(const uint8* src_y, int src_stride_y,
+             uint8* dst_y, int dst_stride_y,
+             int width, int height);
+
+LIBYUV_API
+int I420ToNV12(const uint8* src_y, int src_stride_y,
+               const uint8* src_u, int src_stride_u,
+               const uint8* src_v, int src_stride_v,
+               uint8* dst_y, int dst_stride_y,
+               uint8* dst_uv, int dst_stride_uv,
+               int width, int height);
+
+LIBYUV_API
+int I420ToNV21(const uint8* src_y, int src_stride_y,
+               const uint8* src_u, int src_stride_u,
+               const uint8* src_v, int src_stride_v,
+               uint8* dst_y, int dst_stride_y,
+               uint8* dst_vu, int dst_stride_vu,
+               int width, int height);
+
+LIBYUV_API
+int I420ToYUY2(const uint8* src_y, int src_stride_y,
+               const uint8* src_u, int src_stride_u,
+               const uint8* src_v, int src_stride_v,
+               uint8* dst_frame, int dst_stride_frame,
+               int width, int height);
+
+LIBYUV_API
+int I420ToUYVY(const uint8* src_y, int src_stride_y,
+               const uint8* src_u, int src_stride_u,
+               const uint8* src_v, int src_stride_v,
+               uint8* dst_frame, int dst_stride_frame,
+               int width, int height);
+
+LIBYUV_API
+int I420ToARGB(const uint8* src_y, int src_stride_y,
+               const uint8* src_u, int src_stride_u,
+               const uint8* src_v, int src_stride_v,
+               uint8* dst_argb, int dst_stride_argb,
+               int width, int height);
+
+LIBYUV_API
+int I420ToBGRA(const uint8* src_y, int src_stride_y,
+               const uint8* src_u, int src_stride_u,
+               const uint8* src_v, int src_stride_v,
+               uint8* dst_argb, int dst_stride_argb,
+               int width, int height);
+
+LIBYUV_API
+int I420ToABGR(const uint8* src_y, int src_stride_y,
+               const uint8* src_u, int src_stride_u,
+               const uint8* src_v, int src_stride_v,
+               uint8* dst_argb, int dst_stride_argb,
+               int width, int height);
+
+LIBYUV_API
+int I420ToRGBA(const uint8* src_y, int src_stride_y,
+               const uint8* src_u, int src_stride_u,
+               const uint8* src_v, int src_stride_v,
+               uint8* dst_rgba, int dst_stride_rgba,
+               int width, int height);
+
+LIBYUV_API
+int I420ToRGB24(const uint8* src_y, int src_stride_y,
+                const uint8* src_u, int src_stride_u,
+                const uint8* src_v, int src_stride_v,
+                uint8* dst_frame, int dst_stride_frame,
+                int width, int height);
+
+LIBYUV_API
+int I420ToRAW(const uint8* src_y, int src_stride_y,
+              const uint8* src_u, int src_stride_u,
+              const uint8* src_v, int src_stride_v,
+              uint8* dst_frame, int dst_stride_frame,
+              int width, int height);
+
+LIBYUV_API
+int I420ToRGB565(const uint8* src_y, int src_stride_y,
+                 const uint8* src_u, int src_stride_u,
+                 const uint8* src_v, int src_stride_v,
+                 uint8* dst_frame, int dst_stride_frame,
+                 int width, int height);
+
+// Convert I420 To RGB565 with 4x4 dither matrix (16 bytes).
+// Values in dither matrix from 0 to 7 recommended.
+// The order of the dither matrix is first byte is upper left.
+
+LIBYUV_API
+int I420ToRGB565Dither(const uint8* src_y, int src_stride_y,
+                       const uint8* src_u, int src_stride_u,
+                       const uint8* src_v, int src_stride_v,
+                       uint8* dst_frame, int dst_stride_frame,
+                       const uint8* dither4x4, int width, int height);
+
+LIBYUV_API
+int I420ToARGB1555(const uint8* src_y, int src_stride_y,
+                   const uint8* src_u, int src_stride_u,
+                   const uint8* src_v, int src_stride_v,
+                   uint8* dst_frame, int dst_stride_frame,
+                   int width, int height);
+
+LIBYUV_API
+int I420ToARGB4444(const uint8* src_y, int src_stride_y,
+                   const uint8* src_u, int src_stride_u,
+                   const uint8* src_v, int src_stride_v,
+                   uint8* dst_frame, int dst_stride_frame,
+                   int width, int height);
+
+// Convert I420 to specified format.
+// "dst_sample_stride" is bytes in a row for the destination. Pass 0 if the
+//    buffer has contiguous rows. Can be negative. A multiple of 16 is optimal.
+LIBYUV_API
+int ConvertFromI420(const uint8* y, int y_stride,
+                    const uint8* u, int u_stride,
+                    const uint8* v, int v_stride,
+                    uint8* dst_sample, int dst_sample_stride,
+                    int width, int height,
+                    uint32 format);
+
+#ifdef __cplusplus
+}  // extern "C"
+}  // namespace libyuv
+#endif
+
+#endif  // INCLUDE_LIBYUV_CONVERT_FROM_H_
diff --git a/third_party/libyuv/include/libyuv/convert_from_argb.h b/third_party/libyuv/include/libyuv/convert_from_argb.h
new file mode 100644
index 0000000000..8d7f02f8c4
--- /dev/null
+++ b/third_party/libyuv/include/libyuv/convert_from_argb.h
@@ -0,0 +1,190 @@
+/*
+ *  Copyright 2012 The LibYuv Project Authors. All rights reserved.
+ *
+ *  Use of this source code is governed by a BSD-style license
+ *  that can be found in the LICENSE file in the root of the source
+ *  tree. An additional intellectual property rights grant can be found
+ *  in the file PATENTS. All contributing project authors may
+ *  be found in the AUTHORS file in the root of the source tree.
+ */
+
+#ifndef INCLUDE_LIBYUV_CONVERT_FROM_ARGB_H_
+#define INCLUDE_LIBYUV_CONVERT_FROM_ARGB_H_
+
+#include "libyuv/basic_types.h"
+
+#ifdef __cplusplus
+namespace libyuv {
+extern "C" {
+#endif
+
+// Copy ARGB to ARGB.
+#define ARGBToARGB ARGBCopy
+LIBYUV_API
+int ARGBCopy(const uint8* src_argb, int src_stride_argb,
+             uint8* dst_argb, int dst_stride_argb,
+             int width, int height);
+
+// Convert ARGB To BGRA.
+LIBYUV_API
+int ARGBToBGRA(const uint8* src_argb, int src_stride_argb,
+               uint8* dst_bgra, int dst_stride_bgra,
+               int width, int height);
+
+// Convert ARGB To ABGR.
+LIBYUV_API
+int ARGBToABGR(const uint8* src_argb, int src_stride_argb,
+               uint8* dst_abgr, int dst_stride_abgr,
+               int width, int height);
+
+// Convert ARGB To RGBA.
+LIBYUV_API
+int ARGBToRGBA(const uint8* src_argb, int src_stride_argb,
+               uint8* dst_rgba, int dst_stride_rgba,
+               int width, int height);
+
+// Convert ARGB To RGB24.
+LIBYUV_API
+int ARGBToRGB24(const uint8* src_argb, int src_stride_argb,
+                uint8* dst_rgb24, int dst_stride_rgb24,
+                int width, int height);
+
+// Convert ARGB To RAW.
+LIBYUV_API
+int ARGBToRAW(const uint8* src_argb, int src_stride_argb,
+              uint8* dst_rgb, int dst_stride_rgb,
+              int width, int height);
+
+// Convert ARGB To RGB565.
+LIBYUV_API
+int ARGBToRGB565(const uint8* src_argb, int src_stride_argb,
+                 uint8* dst_rgb565, int dst_stride_rgb565,
+                 int width, int height);
+
+// Convert ARGB To RGB565 with 4x4 dither matrix (16 bytes).
+// Values in dither matrix from 0 to 7 recommended.
+// The order of the dither matrix is first byte is upper left.
+// TODO(fbarchard): Consider pointer to 2d array for dither4x4.
+// const uint8(*dither)[4][4];
+LIBYUV_API
+int ARGBToRGB565Dither(const uint8* src_argb, int src_stride_argb,
+                       uint8* dst_rgb565, int dst_stride_rgb565,
+                       const uint8* dither4x4, int width, int height);
+
+// Convert ARGB To ARGB1555.
+LIBYUV_API
+int ARGBToARGB1555(const uint8* src_argb, int src_stride_argb,
+                   uint8* dst_argb1555, int dst_stride_argb1555,
+                   int width, int height);
+
+// Convert ARGB To ARGB4444.
+LIBYUV_API
+int ARGBToARGB4444(const uint8* src_argb, int src_stride_argb,
+                   uint8* dst_argb4444, int dst_stride_argb4444,
+                   int width, int height);
+
+// Convert ARGB To I444.
+LIBYUV_API
+int ARGBToI444(const uint8* src_argb, int src_stride_argb,
+               uint8* dst_y, int dst_stride_y,
+               uint8* dst_u, int dst_stride_u,
+               uint8* dst_v, int dst_stride_v,
+               int width, int height);
+
+// Convert ARGB To I422.
+LIBYUV_API
+int ARGBToI422(const uint8* src_argb, int src_stride_argb,
+               uint8* dst_y, int dst_stride_y,
+               uint8* dst_u, int dst_stride_u,
+               uint8* dst_v, int dst_stride_v,
+               int width, int height);
+
+// Convert ARGB To I420. (also in convert.h)
+LIBYUV_API
+int ARGBToI420(const uint8* src_argb, int src_stride_argb,
+               uint8* dst_y, int dst_stride_y,
+               uint8* dst_u, int dst_stride_u,
+               uint8* dst_v, int dst_stride_v,
+               int width, int height);
+
+// Convert ARGB to J420. (JPeg full range I420).
+LIBYUV_API
+int ARGBToJ420(const uint8* src_argb, int src_stride_argb,
+               uint8* dst_yj, int dst_stride_yj,
+               uint8* dst_u, int dst_stride_u,
+               uint8* dst_v, int dst_stride_v,
+               int width, int height);
+
+// Convert ARGB to J422.
+LIBYUV_API
+int ARGBToJ422(const uint8* src_argb, int src_stride_argb,
+               uint8* dst_yj, int dst_stride_yj,
+               uint8* dst_u, int dst_stride_u,
+               uint8* dst_v, int dst_stride_v,
+               int width, int height);
+
+// Convert ARGB To I411.
+LIBYUV_API
+int ARGBToI411(const uint8* src_argb, int src_stride_argb,
+               uint8* dst_y, int dst_stride_y,
+               uint8* dst_u, int dst_stride_u,
+               uint8* dst_v, int dst_stride_v,
+               int width, int height);
+
+// Convert ARGB to J400. (JPeg full range).
+LIBYUV_API
+int ARGBToJ400(const uint8* src_argb, int src_stride_argb,
+               uint8* dst_yj, int dst_stride_yj,
+               int width, int height);
+
+// Convert ARGB to I400.
+LIBYUV_API
+int ARGBToI400(const uint8* src_argb, int src_stride_argb,
+               uint8* dst_y, int dst_stride_y,
+               int width, int height);
+
+// Convert ARGB to G. (Reverse of J400toARGB, which replicates G back to ARGB)
+LIBYUV_API
+int ARGBToG(const uint8* src_argb, int src_stride_argb,
+            uint8* dst_g, int dst_stride_g,
+            int width, int height);
+
+// Convert ARGB To NV12.
+LIBYUV_API
+int ARGBToNV12(const uint8* src_argb, int src_stride_argb,
+               uint8* dst_y, int dst_stride_y,
+               uint8* dst_uv, int dst_stride_uv,
+               int width, int height);
+
+// Convert ARGB To NV21.
+LIBYUV_API
+int ARGBToNV21(const uint8* src_argb, int src_stride_argb,
+               uint8* dst_y, int dst_stride_y,
+               uint8* dst_vu, int dst_stride_vu,
+               int width, int height);
+
+// Convert ARGB To NV21.
+LIBYUV_API
+int ARGBToNV21(const uint8* src_argb, int src_stride_argb,
+               uint8* dst_y, int dst_stride_y,
+               uint8* dst_vu, int dst_stride_vu,
+               int width, int height);
+
+// Convert ARGB To YUY2.
+LIBYUV_API
+int ARGBToYUY2(const uint8* src_argb, int src_stride_argb,
+               uint8* dst_yuy2, int dst_stride_yuy2,
+               int width, int height);
+
+// Convert ARGB To UYVY.
+LIBYUV_API
+int ARGBToUYVY(const uint8* src_argb, int src_stride_argb,
+               uint8* dst_uyvy, int dst_stride_uyvy,
+               int width, int height);
+
+#ifdef __cplusplus
+}  // extern "C"
+}  // namespace libyuv
+#endif
+
+#endif  // INCLUDE_LIBYUV_CONVERT_FROM_ARGB_H_
diff --git a/third_party/libyuv/include/libyuv/cpu_id.h b/third_party/libyuv/include/libyuv/cpu_id.h
new file mode 100644
index 0000000000..7c6c9aeb00
--- /dev/null
+++ b/third_party/libyuv/include/libyuv/cpu_id.h
@@ -0,0 +1,81 @@
+/*
+ *  Copyright 2011 The LibYuv Project Authors. All rights reserved.
+ *
+ *  Use of this source code is governed by a BSD-style license
+ *  that can be found in the LICENSE file in the root of the source
+ *  tree. An additional intellectual property rights grant can be found
+ *  in the file PATENTS. All contributing project authors may
+ *  be found in the AUTHORS file in the root of the source tree.
+ */
+
+#ifndef INCLUDE_LIBYUV_CPU_ID_H_
+#define INCLUDE_LIBYUV_CPU_ID_H_
+
+#include "libyuv/basic_types.h"
+
+#ifdef __cplusplus
+namespace libyuv {
+extern "C" {
+#endif
+
+// Internal flag to indicate cpuid requires initialization.
+static const int kCpuInitialized = 0x1;
+
+// These flags are only valid on ARM processors.
+static const int kCpuHasARM = 0x2;
+static const int kCpuHasNEON = 0x4;
+// 0x8 reserved for future ARM flag.
+
+// These flags are only valid on x86 processors.
+static const int kCpuHasX86 = 0x10;
+static const int kCpuHasSSE2 = 0x20;
+static const int kCpuHasSSSE3 = 0x40;
+static const int kCpuHasSSE41 = 0x80;
+static const int kCpuHasSSE42 = 0x100;
+static const int kCpuHasAVX = 0x200;
+static const int kCpuHasAVX2 = 0x400;
+static const int kCpuHasERMS = 0x800;
+static const int kCpuHasFMA3 = 0x1000;
+static const int kCpuHasAVX3 = 0x2000;
+// 0x2000, 0x4000, 0x8000 reserved for future X86 flags.
+
+// These flags are only valid on MIPS processors.
+static const int kCpuHasMIPS = 0x10000;
+static const int kCpuHasDSPR2 = 0x20000;
+static const int kCpuHasMSA = 0x40000;
+
+// Internal function used to auto-init.
+LIBYUV_API
+int InitCpuFlags(void);
+
+// Internal function for parsing /proc/cpuinfo.
+LIBYUV_API
+int ArmCpuCaps(const char* cpuinfo_name);
+
+// Detect CPU has SSE2 etc.
+// Test_flag parameter should be one of kCpuHas constants above.
+// returns non-zero if instruction set is detected
+static __inline int TestCpuFlag(int test_flag) {
+  LIBYUV_API extern int cpu_info_;
+  return (!cpu_info_ ? InitCpuFlags() : cpu_info_) & test_flag;
+}
+
+// For testing, allow CPU flags to be disabled.
+// ie MaskCpuFlags(~kCpuHasSSSE3) to disable SSSE3.
+// MaskCpuFlags(-1) to enable all cpu specific optimizations.
+// MaskCpuFlags(1) to disable all cpu specific optimizations.
+LIBYUV_API
+void MaskCpuFlags(int enable_flags);
+
+// Low level cpuid for X86. Returns zeros on other CPUs.
+// eax is the info type that you want.
+// ecx is typically the cpu number, and should normally be zero.
+LIBYUV_API
+void CpuId(uint32 eax, uint32 ecx, uint32* cpu_info);
+
+#ifdef __cplusplus
+}  // extern "C"
+}  // namespace libyuv
+#endif
+
+#endif  // INCLUDE_LIBYUV_CPU_ID_H_
diff --git a/third_party/libyuv/include/libyuv/macros_msa.h b/third_party/libyuv/include/libyuv/macros_msa.h
new file mode 100644
index 0000000000..92ed21c385
--- /dev/null
+++ b/third_party/libyuv/include/libyuv/macros_msa.h
@@ -0,0 +1,76 @@
+/*
+ *  Copyright 2016 The LibYuv Project Authors. All rights reserved.
+ *
+ *  Use of this source code is governed by a BSD-style license
+ *  that can be found in the LICENSE file in the root of the source
+ *  tree. An additional intellectual property rights grant can be found
+ *  in the file PATENTS. All contributing project authors may
+ *  be found in the AUTHORS file in the root of the source tree.
+ */
+
+#ifndef INCLUDE_LIBYUV_MACROS_MSA_H_
+#define INCLUDE_LIBYUV_MACROS_MSA_H_
+
+#if !defined(LIBYUV_DISABLE_MSA) && defined(__mips_msa)
+#include <stdint.h>
+#include <msa.h>
+
+#define LD_B(RTYPE, psrc) *((RTYPE*)(psrc))   /* NOLINT */
+#define LD_UB(...) LD_B(v16u8, __VA_ARGS__)
+
+#define ST_B(RTYPE, in, pdst) *((RTYPE*)(pdst)) = (in)  /* NOLINT */
+#define ST_UB(...) ST_B(v16u8, __VA_ARGS__)
+
+/* Description : Load two vectors with 16 'byte' sized elements
+   Arguments   : Inputs  - psrc, stride
+                 Outputs - out0, out1
+                 Return Type - as per RTYPE
+   Details     : Load 16 byte elements in 'out0' from (psrc)
+                 Load 16 byte elements in 'out1' from (psrc + stride)
+*/
+#define LD_B2(RTYPE, psrc, stride, out0, out1) {  \
+  out0 = LD_B(RTYPE, (psrc));                     \
+  out1 = LD_B(RTYPE, (psrc) + stride);            \
+}
+#define LD_UB2(...) LD_B2(v16u8, __VA_ARGS__)
+
+#define LD_B4(RTYPE, psrc, stride, out0, out1, out2, out3) {  \
+  LD_B2(RTYPE, (psrc), stride, out0, out1);                   \
+  LD_B2(RTYPE, (psrc) + 2 * stride , stride, out2, out3);     \
+}
+#define LD_UB4(...) LD_B4(v16u8, __VA_ARGS__)
+
+/* Description : Store two vectors with stride each having 16 'byte' sized
+                 elements
+   Arguments   : Inputs - in0, in1, pdst, stride
+   Details     : Store 16 byte elements from 'in0' to (pdst)
+                 Store 16 byte elements from 'in1' to (pdst + stride)
+*/
+#define ST_B2(RTYPE, in0, in1, pdst, stride) {  \
+  ST_B(RTYPE, in0, (pdst));                     \
+  ST_B(RTYPE, in1, (pdst) + stride);            \
+}
+#define ST_UB2(...) ST_B2(v16u8, __VA_ARGS__)
+#
+#define ST_B4(RTYPE, in0, in1, in2, in3, pdst, stride) {  \
+  ST_B2(RTYPE, in0, in1, (pdst), stride);                 \
+  ST_B2(RTYPE, in2, in3, (pdst) + 2 * stride, stride);    \
+}
+#define ST_UB4(...) ST_B4(v16u8, __VA_ARGS__)
+#
+/* Description : Shuffle byte vector elements as per mask vector
+   Arguments   : Inputs  - in0, in1, in2, in3, mask0, mask1
+                 Outputs - out0, out1
+                 Return Type - as per RTYPE
+   Details     : Byte elements from 'in0' & 'in1' are copied selectively to
+                 'out0' as per control vector 'mask0'
+*/
+#define VSHF_B2(RTYPE, in0, in1, in2, in3, mask0, mask1, out0, out1) {   \
+  out0 = (RTYPE) __msa_vshf_b((v16i8) mask0, (v16i8) in1, (v16i8) in0);  \
+  out1 = (RTYPE) __msa_vshf_b((v16i8) mask1, (v16i8) in3, (v16i8) in2);  \
+}
+#define VSHF_B2_UB(...) VSHF_B2(v16u8, __VA_ARGS__)
+
+#endif  /* !defined(LIBYUV_DISABLE_MSA) && defined(__mips_msa) */
+
+#endif  // INCLUDE_LIBYUV_MACROS_MSA_H_
diff --git a/third_party/libyuv/include/libyuv/mjpeg_decoder.h b/third_party/libyuv/include/libyuv/mjpeg_decoder.h
new file mode 100644
index 0000000000..4975bae5b7
--- /dev/null
+++ b/third_party/libyuv/include/libyuv/mjpeg_decoder.h
@@ -0,0 +1,192 @@
+/*
+ *  Copyright 2012 The LibYuv Project Authors. All rights reserved.
+ *
+ *  Use of this source code is governed by a BSD-style license
+ *  that can be found in the LICENSE file in the root of the source
+ *  tree. An additional intellectual property rights grant can be found
+ *  in the file PATENTS. All contributing project authors may
+ *  be found in the AUTHORS file in the root of the source tree.
+ */
+
+#ifndef INCLUDE_LIBYUV_MJPEG_DECODER_H_
+#define INCLUDE_LIBYUV_MJPEG_DECODER_H_
+
+#include "libyuv/basic_types.h"
+
+#ifdef __cplusplus
+// NOTE: For a simplified public API use convert.h MJPGToI420().
+
+struct jpeg_common_struct;
+struct jpeg_decompress_struct;
+struct jpeg_source_mgr;
+
+namespace libyuv {
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+LIBYUV_BOOL ValidateJpeg(const uint8* sample, size_t sample_size);
+
+#ifdef __cplusplus
+}  // extern "C"
+#endif
+
+static const uint32 kUnknownDataSize = 0xFFFFFFFF;
+
+enum JpegSubsamplingType {
+  kJpegYuv420,
+  kJpegYuv422,
+  kJpegYuv411,
+  kJpegYuv444,
+  kJpegYuv400,
+  kJpegUnknown
+};
+
+struct Buffer {
+  const uint8* data;
+  int len;
+};
+
+struct BufferVector {
+  Buffer* buffers;
+  int len;
+  int pos;
+};
+
+struct SetJmpErrorMgr;
+
+// MJPEG ("Motion JPEG") is a pseudo-standard video codec where the frames are
+// simply independent JPEG images with a fixed huffman table (which is omitted).
+// It is rarely used in video transmission, but is common as a camera capture
+// format, especially in Logitech devices. This class implements a decoder for
+// MJPEG frames.
+//
+// See http://tools.ietf.org/html/rfc2435
+class LIBYUV_API MJpegDecoder {
+ public:
+  typedef void (*CallbackFunction)(void* opaque,
+                                   const uint8* const* data,
+                                   const int* strides,
+                                   int rows);
+
+  static const int kColorSpaceUnknown;
+  static const int kColorSpaceGrayscale;
+  static const int kColorSpaceRgb;
+  static const int kColorSpaceYCbCr;
+  static const int kColorSpaceCMYK;
+  static const int kColorSpaceYCCK;
+
+  MJpegDecoder();
+  ~MJpegDecoder();
+
+  // Loads a new frame, reads its headers, and determines the uncompressed
+  // image format.
+  // Returns LIBYUV_TRUE if image looks valid and format is supported.
+  // If return value is LIBYUV_TRUE, then the values for all the following
+  // getters are populated.
+  // src_len is the size of the compressed mjpeg frame in bytes.
+  LIBYUV_BOOL LoadFrame(const uint8* src, size_t src_len);
+
+  // Returns width of the last loaded frame in pixels.
+  int GetWidth();
+
+  // Returns height of the last loaded frame in pixels.
+  int GetHeight();
+
+  // Returns format of the last loaded frame. The return value is one of the
+  // kColorSpace* constants.
+  int GetColorSpace();
+
+  // Number of color components in the color space.
+  int GetNumComponents();
+
+  // Sample factors of the n-th component.
+  int GetHorizSampFactor(int component);
+
+  int GetVertSampFactor(int component);
+
+  int GetHorizSubSampFactor(int component);
+
+  int GetVertSubSampFactor(int component);
+
+  // Public for testability.
+  int GetImageScanlinesPerImcuRow();
+
+  // Public for testability.
+  int GetComponentScanlinesPerImcuRow(int component);
+
+  // Width of a component in bytes.
+  int GetComponentWidth(int component);
+
+  // Height of a component.
+  int GetComponentHeight(int component);
+
+  // Width of a component in bytes with padding for DCTSIZE. Public for testing.
+  int GetComponentStride(int component);
+
+  // Size of a component in bytes.
+  int GetComponentSize(int component);
+
+  // Call this after LoadFrame() if you decide you don't want to decode it
+  // after all.
+  LIBYUV_BOOL UnloadFrame();
+
+  // Decodes the entire image into a one-buffer-per-color-component format.
+  // dst_width must match exactly. dst_height must be <= to image height; if
+  // less, the image is cropped. "planes" must have size equal to at least
+  // GetNumComponents() and they must point to non-overlapping buffers of size
+  // at least GetComponentSize(i). The pointers in planes are incremented
+  // to point to after the end of the written data.
+  // TODO(fbarchard): Add dst_x, dst_y to allow specific rect to be decoded.
+  LIBYUV_BOOL DecodeToBuffers(uint8** planes, int dst_width, int dst_height);
+
+  // Decodes the entire image and passes the data via repeated calls to a
+  // callback function. Each call will get the data for a whole number of
+  // image scanlines.
+  // TODO(fbarchard): Add dst_x, dst_y to allow specific rect to be decoded.
+  LIBYUV_BOOL DecodeToCallback(CallbackFunction fn, void* opaque,
+                        int dst_width, int dst_height);
+
+  // The helper function which recognizes the jpeg sub-sampling type.
+  static JpegSubsamplingType JpegSubsamplingTypeHelper(
+     int* subsample_x, int* subsample_y, int number_of_components);
+
+ private:
+  void AllocOutputBuffers(int num_outbufs);
+  void DestroyOutputBuffers();
+
+  LIBYUV_BOOL StartDecode();
+  LIBYUV_BOOL FinishDecode();
+
+  void SetScanlinePointers(uint8** data);
+  LIBYUV_BOOL DecodeImcuRow();
+
+  int GetComponentScanlinePadding(int component);
+
+  // A buffer holding the input data for a frame.
+  Buffer buf_;
+  BufferVector buf_vec_;
+
+  jpeg_decompress_struct* decompress_struct_;
+  jpeg_source_mgr* source_mgr_;
+  SetJmpErrorMgr* error_mgr_;
+
+  // LIBYUV_TRUE iff at least one component has scanline padding. (i.e.,
+  // GetComponentScanlinePadding() != 0.)
+  LIBYUV_BOOL has_scanline_padding_;
+
+  // Temporaries used to point to scanline outputs.
+  int num_outbufs_;  // Outermost size of all arrays below.
+  uint8*** scanlines_;
+  int* scanlines_sizes_;
+  // Temporary buffer used for decoding when we can't decode directly to the
+  // output buffers. Large enough for just one iMCU row.
+  uint8** databuf_;
+  int* databuf_strides_;
+};
+
+}  // namespace libyuv
+
+#endif  //  __cplusplus
+#endif  // INCLUDE_LIBYUV_MJPEG_DECODER_H_
diff --git a/third_party/libyuv/include/libyuv/planar_functions.h b/third_party/libyuv/include/libyuv/planar_functions.h
new file mode 100644
index 0000000000..1b57b29261
--- /dev/null
+++ b/third_party/libyuv/include/libyuv/planar_functions.h
@@ -0,0 +1,529 @@
+/*
+ *  Copyright 2011 The LibYuv Project Authors. All rights reserved.
+ *
+ *  Use of this source code is governed by a BSD-style license
+ *  that can be found in the LICENSE file in the root of the source
+ *  tree. An additional intellectual property rights grant can be found
+ *  in the file PATENTS. All contributing project authors may
+ *  be found in the AUTHORS file in the root of the source tree.
+ */
+
+#ifndef INCLUDE_LIBYUV_PLANAR_FUNCTIONS_H_
+#define INCLUDE_LIBYUV_PLANAR_FUNCTIONS_H_
+
+#include "libyuv/basic_types.h"
+
+// TODO(fbarchard): Remove the following headers includes.
+#include "libyuv/convert.h"
+#include "libyuv/convert_argb.h"
+
+#ifdef __cplusplus
+namespace libyuv {
+extern "C" {
+#endif
+
+// Copy a plane of data.
+LIBYUV_API
+void CopyPlane(const uint8* src_y, int src_stride_y,
+               uint8* dst_y, int dst_stride_y,
+               int width, int height);
+
+LIBYUV_API
+void CopyPlane_16(const uint16* src_y, int src_stride_y,
+                  uint16* dst_y, int dst_stride_y,
+                  int width, int height);
+
+// Set a plane of data to a 32 bit value.
+LIBYUV_API
+void SetPlane(uint8* dst_y, int dst_stride_y,
+              int width, int height,
+              uint32 value);
+
+// Split interleaved UV plane into separate U and V planes.
+LIBYUV_API
+void SplitUVPlane(const uint8* src_uv, int src_stride_uv,
+                  uint8* dst_u, int dst_stride_u,
+                  uint8* dst_v, int dst_stride_v,
+                  int width, int height);
+
+// Merge separate U and V planes into one interleaved UV plane.
+LIBYUV_API
+void MergeUVPlane(const uint8* src_u, int src_stride_u,
+                  const uint8* src_v, int src_stride_v,
+                  uint8* dst_uv, int dst_stride_uv,
+                  int width, int height);
+
+// Copy I400.  Supports inverting.
+LIBYUV_API
+int I400ToI400(const uint8* src_y, int src_stride_y,
+               uint8* dst_y, int dst_stride_y,
+               int width, int height);
+
+#define J400ToJ400 I400ToI400
+
+// Copy I422 to I422.
+#define I422ToI422 I422Copy
+LIBYUV_API
+int I422Copy(const uint8* src_y, int src_stride_y,
+             const uint8* src_u, int src_stride_u,
+             const uint8* src_v, int src_stride_v,
+             uint8* dst_y, int dst_stride_y,
+             uint8* dst_u, int dst_stride_u,
+             uint8* dst_v, int dst_stride_v,
+             int width, int height);
+
+// Copy I444 to I444.
+#define I444ToI444 I444Copy
+LIBYUV_API
+int I444Copy(const uint8* src_y, int src_stride_y,
+             const uint8* src_u, int src_stride_u,
+             const uint8* src_v, int src_stride_v,
+             uint8* dst_y, int dst_stride_y,
+             uint8* dst_u, int dst_stride_u,
+             uint8* dst_v, int dst_stride_v,
+             int width, int height);
+
+// Convert YUY2 to I422.
+LIBYUV_API
+int YUY2ToI422(const uint8* src_yuy2, int src_stride_yuy2,
+               uint8* dst_y, int dst_stride_y,
+               uint8* dst_u, int dst_stride_u,
+               uint8* dst_v, int dst_stride_v,
+               int width, int height);
+
+// Convert UYVY to I422.
+LIBYUV_API
+int UYVYToI422(const uint8* src_uyvy, int src_stride_uyvy,
+               uint8* dst_y, int dst_stride_y,
+               uint8* dst_u, int dst_stride_u,
+               uint8* dst_v, int dst_stride_v,
+               int width, int height);
+
+LIBYUV_API
+int YUY2ToNV12(const uint8* src_yuy2, int src_stride_yuy2,
+               uint8* dst_y, int dst_stride_y,
+               uint8* dst_uv, int dst_stride_uv,
+               int width, int height);
+
+LIBYUV_API
+int UYVYToNV12(const uint8* src_uyvy, int src_stride_uyvy,
+               uint8* dst_y, int dst_stride_y,
+               uint8* dst_uv, int dst_stride_uv,
+               int width, int height);
+
+// Convert I420 to I400. (calls CopyPlane ignoring u/v).
+LIBYUV_API
+int I420ToI400(const uint8* src_y, int src_stride_y,
+               const uint8* src_u, int src_stride_u,
+               const uint8* src_v, int src_stride_v,
+               uint8* dst_y, int dst_stride_y,
+               int width, int height);
+
+// Alias
+#define J420ToJ400 I420ToI400
+#define I420ToI420Mirror I420Mirror
+
+// I420 mirror.
+LIBYUV_API
+int I420Mirror(const uint8* src_y, int src_stride_y,
+               const uint8* src_u, int src_stride_u,
+               const uint8* src_v, int src_stride_v,
+               uint8* dst_y, int dst_stride_y,
+               uint8* dst_u, int dst_stride_u,
+               uint8* dst_v, int dst_stride_v,
+               int width, int height);
+
+// Alias
+#define I400ToI400Mirror I400Mirror
+
+// I400 mirror.  A single plane is mirrored horizontally.
+// Pass negative height to achieve 180 degree rotation.
+LIBYUV_API
+int I400Mirror(const uint8* src_y, int src_stride_y,
+               uint8* dst_y, int dst_stride_y,
+               int width, int height);
+
+// Alias
+#define ARGBToARGBMirror ARGBMirror
+
+// ARGB mirror.
+LIBYUV_API
+int ARGBMirror(const uint8* src_argb, int src_stride_argb,
+               uint8* dst_argb, int dst_stride_argb,
+               int width, int height);
+
+// Convert NV12 to RGB565.
+LIBYUV_API
+int NV12ToRGB565(const uint8* src_y, int src_stride_y,
+                 const uint8* src_uv, int src_stride_uv,
+                 uint8* dst_rgb565, int dst_stride_rgb565,
+                 int width, int height);
+
+// I422ToARGB is in convert_argb.h
+// Convert I422 to BGRA.
+LIBYUV_API
+int I422ToBGRA(const uint8* src_y, int src_stride_y,
+               const uint8* src_u, int src_stride_u,
+               const uint8* src_v, int src_stride_v,
+               uint8* dst_bgra, int dst_stride_bgra,
+               int width, int height);
+
+// Convert I422 to ABGR.
+LIBYUV_API
+int I422ToABGR(const uint8* src_y, int src_stride_y,
+               const uint8* src_u, int src_stride_u,
+               const uint8* src_v, int src_stride_v,
+               uint8* dst_abgr, int dst_stride_abgr,
+               int width, int height);
+
+// Convert I422 to RGBA.
+LIBYUV_API
+int I422ToRGBA(const uint8* src_y, int src_stride_y,
+               const uint8* src_u, int src_stride_u,
+               const uint8* src_v, int src_stride_v,
+               uint8* dst_rgba, int dst_stride_rgba,
+               int width, int height);
+
+// Alias
+#define RGB24ToRAW RAWToRGB24
+
+LIBYUV_API
+int RAWToRGB24(const uint8* src_raw, int src_stride_raw,
+               uint8* dst_rgb24, int dst_stride_rgb24,
+               int width, int height);
+
+// Draw a rectangle into I420.
+LIBYUV_API
+int I420Rect(uint8* dst_y, int dst_stride_y,
+             uint8* dst_u, int dst_stride_u,
+             uint8* dst_v, int dst_stride_v,
+             int x, int y, int width, int height,
+             int value_y, int value_u, int value_v);
+
+// Draw a rectangle into ARGB.
+LIBYUV_API
+int ARGBRect(uint8* dst_argb, int dst_stride_argb,
+             int x, int y, int width, int height, uint32 value);
+
+// Convert ARGB to gray scale ARGB.
+LIBYUV_API
+int ARGBGrayTo(const uint8* src_argb, int src_stride_argb,
+               uint8* dst_argb, int dst_stride_argb,
+               int width, int height);
+
+// Make a rectangle of ARGB gray scale.
+LIBYUV_API
+int ARGBGray(uint8* dst_argb, int dst_stride_argb,
+             int x, int y, int width, int height);
+
+// Make a rectangle of ARGB Sepia tone.
+LIBYUV_API
+int ARGBSepia(uint8* dst_argb, int dst_stride_argb,
+              int x, int y, int width, int height);
+
+// Apply a matrix rotation to each ARGB pixel.
+// matrix_argb is 4 signed ARGB values. -128 to 127 representing -2 to 2.
+// The first 4 coefficients apply to B, G, R, A and produce B of the output.
+// The next 4 coefficients apply to B, G, R, A and produce G of the output.
+// The next 4 coefficients apply to B, G, R, A and produce R of the output.
+// The last 4 coefficients apply to B, G, R, A and produce A of the output.
+LIBYUV_API
+int ARGBColorMatrix(const uint8* src_argb, int src_stride_argb,
+                    uint8* dst_argb, int dst_stride_argb,
+                    const int8* matrix_argb,
+                    int width, int height);
+
+// Deprecated. Use ARGBColorMatrix instead.
+// Apply a matrix rotation to each ARGB pixel.
+// matrix_argb is 3 signed ARGB values. -128 to 127 representing -1 to 1.
+// The first 4 coefficients apply to B, G, R, A and produce B of the output.
+// The next 4 coefficients apply to B, G, R, A and produce G of the output.
+// The last 4 coefficients apply to B, G, R, A and produce R of the output.
+LIBYUV_API
+int RGBColorMatrix(uint8* dst_argb, int dst_stride_argb,
+                   const int8* matrix_rgb,
+                   int x, int y, int width, int height);
+
+// Apply a color table each ARGB pixel.
+// Table contains 256 ARGB values.
+LIBYUV_API
+int ARGBColorTable(uint8* dst_argb, int dst_stride_argb,
+                   const uint8* table_argb,
+                   int x, int y, int width, int height);
+
+// Apply a color table each ARGB pixel but preserve destination alpha.
+// Table contains 256 ARGB values.
+LIBYUV_API
+int RGBColorTable(uint8* dst_argb, int dst_stride_argb,
+                  const uint8* table_argb,
+                  int x, int y, int width, int height);
+
+// Apply a luma/color table each ARGB pixel but preserve destination alpha.
+// Table contains 32768 values indexed by [Y][C] where 7 it 7 bit luma from
+// RGB (YJ style) and C is an 8 bit color component (R, G or B).
+LIBYUV_API
+int ARGBLumaColorTable(const uint8* src_argb, int src_stride_argb,
+                       uint8* dst_argb, int dst_stride_argb,
+                       const uint8* luma_rgb_table,
+                       int width, int height);
+
+// Apply a 3 term polynomial to ARGB values.
+// poly points to a 4x4 matrix.  The first row is constants.  The 2nd row is
+// coefficients for b, g, r and a.  The 3rd row is coefficients for b squared,
+// g squared, r squared and a squared.  The 4rd row is coefficients for b to
+// the 3, g to the 3, r to the 3 and a to the 3.  The values are summed and
+// result clamped to 0 to 255.
+// A polynomial approximation can be dirived using software such as 'R'.
+
+LIBYUV_API
+int ARGBPolynomial(const uint8* src_argb, int src_stride_argb,
+                   uint8* dst_argb, int dst_stride_argb,
+                   const float* poly,
+                   int width, int height);
+
+// Convert plane of 16 bit shorts to half floats.
+// Source values are multiplied by scale before storing as half float.
+LIBYUV_API
+int HalfFloatPlane(const uint16* src_y, int src_stride_y,
+                   uint16* dst_y, int dst_stride_y,
+                   float scale,
+                   int width, int height);
+
+// Quantize a rectangle of ARGB. Alpha unaffected.
+// scale is a 16 bit fractional fixed point scaler between 0 and 65535.
+// interval_size should be a value between 1 and 255.
+// interval_offset should be a value between 0 and 255.
+LIBYUV_API
+int ARGBQuantize(uint8* dst_argb, int dst_stride_argb,
+                 int scale, int interval_size, int interval_offset,
+                 int x, int y, int width, int height);
+
+// Copy ARGB to ARGB.
+LIBYUV_API
+int ARGBCopy(const uint8* src_argb, int src_stride_argb,
+             uint8* dst_argb, int dst_stride_argb,
+             int width, int height);
+
+// Copy Alpha channel of ARGB to alpha of ARGB.
+LIBYUV_API
+int ARGBCopyAlpha(const uint8* src_argb, int src_stride_argb,
+                  uint8* dst_argb, int dst_stride_argb,
+                  int width, int height);
+
+// Extract the alpha channel from ARGB.
+LIBYUV_API
+int ARGBExtractAlpha(const uint8* src_argb, int src_stride_argb,
+                     uint8* dst_a, int dst_stride_a,
+                     int width, int height);
+
+// Copy Y channel to Alpha of ARGB.
+LIBYUV_API
+int ARGBCopyYToAlpha(const uint8* src_y, int src_stride_y,
+                     uint8* dst_argb, int dst_stride_argb,
+                     int width, int height);
+
+typedef void (*ARGBBlendRow)(const uint8* src_argb0, const uint8* src_argb1,
+                             uint8* dst_argb, int width);
+
+// Get function to Alpha Blend ARGB pixels and store to destination.
+LIBYUV_API
+ARGBBlendRow GetARGBBlend();
+
+// Alpha Blend ARGB images and store to destination.
+// Source is pre-multiplied by alpha using ARGBAttenuate.
+// Alpha of destination is set to 255.
+LIBYUV_API
+int ARGBBlend(const uint8* src_argb0, int src_stride_argb0,
+              const uint8* src_argb1, int src_stride_argb1,
+              uint8* dst_argb, int dst_stride_argb,
+              int width, int height);
+
+// Alpha Blend plane and store to destination.
+// Source is not pre-multiplied by alpha.
+LIBYUV_API
+int BlendPlane(const uint8* src_y0, int src_stride_y0,
+               const uint8* src_y1, int src_stride_y1,
+               const uint8* alpha, int alpha_stride,
+               uint8* dst_y, int dst_stride_y,
+               int width, int height);
+
+// Alpha Blend YUV images and store to destination.
+// Source is not pre-multiplied by alpha.
+// Alpha is full width x height and subsampled to half size to apply to UV.
+LIBYUV_API
+int I420Blend(const uint8* src_y0, int src_stride_y0,
+              const uint8* src_u0, int src_stride_u0,
+              const uint8* src_v0, int src_stride_v0,
+              const uint8* src_y1, int src_stride_y1,
+              const uint8* src_u1, int src_stride_u1,
+              const uint8* src_v1, int src_stride_v1,
+              const uint8* alpha, int alpha_stride,
+              uint8* dst_y, int dst_stride_y,
+              uint8* dst_u, int dst_stride_u,
+              uint8* dst_v, int dst_stride_v,
+              int width, int height);
+
+// Multiply ARGB image by ARGB image. Shifted down by 8. Saturates to 255.
+LIBYUV_API
+int ARGBMultiply(const uint8* src_argb0, int src_stride_argb0,
+                 const uint8* src_argb1, int src_stride_argb1,
+                 uint8* dst_argb, int dst_stride_argb,
+                 int width, int height);
+
+// Add ARGB image with ARGB image. Saturates to 255.
+LIBYUV_API
+int ARGBAdd(const uint8* src_argb0, int src_stride_argb0,
+            const uint8* src_argb1, int src_stride_argb1,
+            uint8* dst_argb, int dst_stride_argb,
+            int width, int height);
+
+// Subtract ARGB image (argb1) from ARGB image (argb0). Saturates to 0.
+LIBYUV_API
+int ARGBSubtract(const uint8* src_argb0, int src_stride_argb0,
+                 const uint8* src_argb1, int src_stride_argb1,
+                 uint8* dst_argb, int dst_stride_argb,
+                 int width, int height);
+
+// Convert I422 to YUY2.
+LIBYUV_API
+int I422ToYUY2(const uint8* src_y, int src_stride_y,
+               const uint8* src_u, int src_stride_u,
+               const uint8* src_v, int src_stride_v,
+               uint8* dst_frame, int dst_stride_frame,
+               int width, int height);
+
+// Convert I422 to UYVY.
+LIBYUV_API
+int I422ToUYVY(const uint8* src_y, int src_stride_y,
+               const uint8* src_u, int src_stride_u,
+               const uint8* src_v, int src_stride_v,
+               uint8* dst_frame, int dst_stride_frame,
+               int width, int height);
+
+// Convert unattentuated ARGB to preattenuated ARGB.
+LIBYUV_API
+int ARGBAttenuate(const uint8* src_argb, int src_stride_argb,
+                  uint8* dst_argb, int dst_stride_argb,
+                  int width, int height);
+
+// Convert preattentuated ARGB to unattenuated ARGB.
+LIBYUV_API
+int ARGBUnattenuate(const uint8* src_argb, int src_stride_argb,
+                    uint8* dst_argb, int dst_stride_argb,
+                    int width, int height);
+
+// Internal function - do not call directly.
+// Computes table of cumulative sum for image where the value is the sum
+// of all values above and to the left of the entry. Used by ARGBBlur.
+LIBYUV_API
+int ARGBComputeCumulativeSum(const uint8* src_argb, int src_stride_argb,
+                             int32* dst_cumsum, int dst_stride32_cumsum,
+                             int width, int height);
+
+// Blur ARGB image.
+// dst_cumsum table of width * (height + 1) * 16 bytes aligned to
+//   16 byte boundary.
+// dst_stride32_cumsum is number of ints in a row (width * 4).
+// radius is number of pixels around the center.  e.g. 1 = 3x3. 2=5x5.
+// Blur is optimized for radius of 5 (11x11) or less.
+LIBYUV_API
+int ARGBBlur(const uint8* src_argb, int src_stride_argb,
+             uint8* dst_argb, int dst_stride_argb,
+             int32* dst_cumsum, int dst_stride32_cumsum,
+             int width, int height, int radius);
+
+// Multiply ARGB image by ARGB value.
+LIBYUV_API
+int ARGBShade(const uint8* src_argb, int src_stride_argb,
+              uint8* dst_argb, int dst_stride_argb,
+              int width, int height, uint32 value);
+
+// Interpolate between two images using specified amount of interpolation
+// (0 to 255) and store to destination.
+// 'interpolation' is specified as 8 bit fraction where 0 means 100% src0
+// and 255 means 1% src0 and 99% src1.
+LIBYUV_API
+int InterpolatePlane(const uint8* src0, int src_stride0,
+                     const uint8* src1, int src_stride1,
+                     uint8* dst, int dst_stride,
+                     int width, int height, int interpolation);
+
+// Interpolate between two ARGB images using specified amount of interpolation
+// Internally calls InterpolatePlane with width * 4 (bpp).
+LIBYUV_API
+int ARGBInterpolate(const uint8* src_argb0, int src_stride_argb0,
+                    const uint8* src_argb1, int src_stride_argb1,
+                    uint8* dst_argb, int dst_stride_argb,
+                    int width, int height, int interpolation);
+
+// Interpolate between two YUV images using specified amount of interpolation
+// Internally calls InterpolatePlane on each plane where the U and V planes
+// are half width and half height.
+LIBYUV_API
+int I420Interpolate(const uint8* src0_y, int src0_stride_y,
+                    const uint8* src0_u, int src0_stride_u,
+                    const uint8* src0_v, int src0_stride_v,
+                    const uint8* src1_y, int src1_stride_y,
+                    const uint8* src1_u, int src1_stride_u,
+                    const uint8* src1_v, int src1_stride_v,
+                    uint8* dst_y, int dst_stride_y,
+                    uint8* dst_u, int dst_stride_u,
+                    uint8* dst_v, int dst_stride_v,
+                    int width, int height, int interpolation);
+
+#if defined(__pnacl__) || defined(__CLR_VER) || \
+    (defined(__i386__) && !defined(__SSE2__))
+#define LIBYUV_DISABLE_X86
+#endif
+// MemorySanitizer does not support assembly code yet. http://crbug.com/344505
+#if defined(__has_feature)
+#if __has_feature(memory_sanitizer)
+#define LIBYUV_DISABLE_X86
+#endif
+#endif
+// The following are available on all x86 platforms:
+#if !defined(LIBYUV_DISABLE_X86) && \
+    (defined(_M_IX86) || defined(__x86_64__) || defined(__i386__))
+#define HAS_ARGBAFFINEROW_SSE2
+#endif
+
+// Row function for copying pixels from a source with a slope to a row
+// of destination. Useful for scaling, rotation, mirror, texture mapping.
+LIBYUV_API
+void ARGBAffineRow_C(const uint8* src_argb, int src_argb_stride,
+                     uint8* dst_argb, const float* uv_dudv, int width);
+LIBYUV_API
+void ARGBAffineRow_SSE2(const uint8* src_argb, int src_argb_stride,
+                        uint8* dst_argb, const float* uv_dudv, int width);
+
+// Shuffle ARGB channel order.  e.g. BGRA to ARGB.
+// shuffler is 16 bytes and must be aligned.
+LIBYUV_API
+int ARGBShuffle(const uint8* src_bgra, int src_stride_bgra,
+                uint8* dst_argb, int dst_stride_argb,
+                const uint8* shuffler, int width, int height);
+
+// Sobel ARGB effect with planar output.
+LIBYUV_API
+int ARGBSobelToPlane(const uint8* src_argb, int src_stride_argb,
+                     uint8* dst_y, int dst_stride_y,
+                     int width, int height);
+
+// Sobel ARGB effect.
+LIBYUV_API
+int ARGBSobel(const uint8* src_argb, int src_stride_argb,
+              uint8* dst_argb, int dst_stride_argb,
+              int width, int height);
+
+// Sobel ARGB effect w/ Sobel X, Sobel, Sobel Y in ARGB.
+LIBYUV_API
+int ARGBSobelXY(const uint8* src_argb, int src_stride_argb,
+                uint8* dst_argb, int dst_stride_argb,
+                int width, int height);
+
+#ifdef __cplusplus
+}  // extern "C"
+}  // namespace libyuv
+#endif
+
+#endif  // INCLUDE_LIBYUV_PLANAR_FUNCTIONS_H_
diff --git a/third_party/libyuv/include/libyuv/rotate.h b/third_party/libyuv/include/libyuv/rotate.h
new file mode 100644
index 0000000000..8a2da9a5aa
--- /dev/null
+++ b/third_party/libyuv/include/libyuv/rotate.h
@@ -0,0 +1,117 @@
+/*
+ *  Copyright 2011 The LibYuv Project Authors. All rights reserved.
+ *
+ *  Use of this source code is governed by a BSD-style license
+ *  that can be found in the LICENSE file in the root of the source
+ *  tree. An additional intellectual property rights grant can be found
+ *  in the file PATENTS. All contributing project authors may
+ *  be found in the AUTHORS file in the root of the source tree.
+ */
+
+#ifndef INCLUDE_LIBYUV_ROTATE_H_
+#define INCLUDE_LIBYUV_ROTATE_H_
+
+#include "libyuv/basic_types.h"
+
+#ifdef __cplusplus
+namespace libyuv {
+extern "C" {
+#endif
+
+// Supported rotation.
+typedef enum RotationMode {
+  kRotate0 = 0,  // No rotation.
+  kRotate90 = 90,  // Rotate 90 degrees clockwise.
+  kRotate180 = 180,  // Rotate 180 degrees.
+  kRotate270 = 270,  // Rotate 270 degrees clockwise.
+
+  // Deprecated.
+  kRotateNone = 0,
+  kRotateClockwise = 90,
+  kRotateCounterClockwise = 270,
+} RotationModeEnum;
+
+// Rotate I420 frame.
+LIBYUV_API
+int I420Rotate(const uint8* src_y, int src_stride_y,
+               const uint8* src_u, int src_stride_u,
+               const uint8* src_v, int src_stride_v,
+               uint8* dst_y, int dst_stride_y,
+               uint8* dst_u, int dst_stride_u,
+               uint8* dst_v, int dst_stride_v,
+               int src_width, int src_height, enum RotationMode mode);
+
+// Rotate NV12 input and store in I420.
+LIBYUV_API
+int NV12ToI420Rotate(const uint8* src_y, int src_stride_y,
+                     const uint8* src_uv, int src_stride_uv,
+                     uint8* dst_y, int dst_stride_y,
+                     uint8* dst_u, int dst_stride_u,
+                     uint8* dst_v, int dst_stride_v,
+                     int src_width, int src_height, enum RotationMode mode);
+
+// Rotate a plane by 0, 90, 180, or 270.
+LIBYUV_API
+int RotatePlane(const uint8* src, int src_stride,
+                uint8* dst, int dst_stride,
+                int src_width, int src_height, enum RotationMode mode);
+
+// Rotate planes by 90, 180, 270. Deprecated.
+LIBYUV_API
+void RotatePlane90(const uint8* src, int src_stride,
+                   uint8* dst, int dst_stride,
+                   int width, int height);
+
+LIBYUV_API
+void RotatePlane180(const uint8* src, int src_stride,
+                    uint8* dst, int dst_stride,
+                    int width, int height);
+
+LIBYUV_API
+void RotatePlane270(const uint8* src, int src_stride,
+                    uint8* dst, int dst_stride,
+                    int width, int height);
+
+LIBYUV_API
+void RotateUV90(const uint8* src, int src_stride,
+                uint8* dst_a, int dst_stride_a,
+                uint8* dst_b, int dst_stride_b,
+                int width, int height);
+
+// Rotations for when U and V are interleaved.
+// These functions take one input pointer and
+// split the data into two buffers while
+// rotating them. Deprecated.
+LIBYUV_API
+void RotateUV180(const uint8* src, int src_stride,
+                 uint8* dst_a, int dst_stride_a,
+                 uint8* dst_b, int dst_stride_b,
+                 int width, int height);
+
+LIBYUV_API
+void RotateUV270(const uint8* src, int src_stride,
+                 uint8* dst_a, int dst_stride_a,
+                 uint8* dst_b, int dst_stride_b,
+                 int width, int height);
+
+// The 90 and 270 functions are based on transposes.
+// Doing a transpose with reversing the read/write
+// order will result in a rotation by +- 90 degrees.
+// Deprecated.
+LIBYUV_API
+void TransposePlane(const uint8* src, int src_stride,
+                    uint8* dst, int dst_stride,
+                    int width, int height);
+
+LIBYUV_API
+void TransposeUV(const uint8* src, int src_stride,
+                 uint8* dst_a, int dst_stride_a,
+                 uint8* dst_b, int dst_stride_b,
+                 int width, int height);
+
+#ifdef __cplusplus
+}  // extern "C"
+}  // namespace libyuv
+#endif
+
+#endif  // INCLUDE_LIBYUV_ROTATE_H_
diff --git a/third_party/libyuv/include/libyuv/rotate_argb.h b/third_party/libyuv/include/libyuv/rotate_argb.h
new file mode 100644
index 0000000000..21fe7e1807
--- /dev/null
+++ b/third_party/libyuv/include/libyuv/rotate_argb.h
@@ -0,0 +1,33 @@
+/*
+ *  Copyright 2012 The LibYuv Project Authors. All rights reserved.
+ *
+ *  Use of this source code is governed by a BSD-style license
+ *  that can be found in the LICENSE file in the root of the source
+ *  tree. An additional intellectual property rights grant can be found
+ *  in the file PATENTS. All contributing project authors may
+ *  be found in the AUTHORS file in the root of the source tree.
+ */
+
+#ifndef INCLUDE_LIBYUV_ROTATE_ARGB_H_
+#define INCLUDE_LIBYUV_ROTATE_ARGB_H_
+
+#include "libyuv/basic_types.h"
+#include "libyuv/rotate.h"  // For RotationMode.
+
+#ifdef __cplusplus
+namespace libyuv {
+extern "C" {
+#endif
+
+// Rotate ARGB frame
+LIBYUV_API
+int ARGBRotate(const uint8* src_argb, int src_stride_argb,
+               uint8* dst_argb, int dst_stride_argb,
+               int src_width, int src_height, enum RotationMode mode);
+
+#ifdef __cplusplus
+}  // extern "C"
+}  // namespace libyuv
+#endif
+
+#endif  // INCLUDE_LIBYUV_ROTATE_ARGB_H_
diff --git a/third_party/libyuv/include/libyuv/rotate_row.h b/third_party/libyuv/include/libyuv/rotate_row.h
new file mode 100644
index 0000000000..6abd201677
--- /dev/null
+++ b/third_party/libyuv/include/libyuv/rotate_row.h
@@ -0,0 +1,121 @@
+/*
+ *  Copyright 2013 The LibYuv Project Authors. All rights reserved.
+ *
+ *  Use of this source code is governed by a BSD-style license
+ *  that can be found in the LICENSE file in the root of the source
+ *  tree. An additional intellectual property rights grant can be found
+ *  in the file PATENTS. All contributing project authors may
+ *  be found in the AUTHORS file in the root of the source tree.
+ */
+
+#ifndef INCLUDE_LIBYUV_ROTATE_ROW_H_
+#define INCLUDE_LIBYUV_ROTATE_ROW_H_
+
+#include "libyuv/basic_types.h"
+
+#ifdef __cplusplus
+namespace libyuv {
+extern "C" {
+#endif
+
+#if defined(__pnacl__) || defined(__CLR_VER) || \
+    (defined(__i386__) && !defined(__SSE2__))
+#define LIBYUV_DISABLE_X86
+#endif
+// MemorySanitizer does not support assembly code yet. http://crbug.com/344505
+#if defined(__has_feature)
+#if __has_feature(memory_sanitizer)
+#define LIBYUV_DISABLE_X86
+#endif
+#endif
+// The following are available for Visual C and clangcl 32 bit:
+#if !defined(LIBYUV_DISABLE_X86) && defined(_M_IX86)
+#define HAS_TRANSPOSEWX8_SSSE3
+#define HAS_TRANSPOSEUVWX8_SSE2
+#endif
+
+// The following are available for GCC 32 or 64 bit but not NaCL for 64 bit:
+#if !defined(LIBYUV_DISABLE_X86) && \
+    (defined(__i386__) || (defined(__x86_64__) && !defined(__native_client__)))
+#define HAS_TRANSPOSEWX8_SSSE3
+#endif
+
+// The following are available for 64 bit GCC but not NaCL:
+#if !defined(LIBYUV_DISABLE_X86) && !defined(__native_client__) && \
+    defined(__x86_64__)
+#define HAS_TRANSPOSEWX8_FAST_SSSE3
+#define HAS_TRANSPOSEUVWX8_SSE2
+#endif
+
+#if !defined(LIBYUV_DISABLE_NEON) && !defined(__native_client__) && \
+    (defined(__ARM_NEON__) || defined(LIBYUV_NEON) || defined(__aarch64__))
+#define HAS_TRANSPOSEWX8_NEON
+#define HAS_TRANSPOSEUVWX8_NEON
+#endif
+
+#if !defined(LIBYUV_DISABLE_MIPS) && !defined(__native_client__) && \
+    defined(__mips__) && \
+    defined(__mips_dsp) && (__mips_dsp_rev >= 2)
+#define HAS_TRANSPOSEWX8_DSPR2
+#define HAS_TRANSPOSEUVWX8_DSPR2
+#endif  // defined(__mips__)
+
+void TransposeWxH_C(const uint8* src, int src_stride,
+                    uint8* dst, int dst_stride, int width, int height);
+
+void TransposeWx8_C(const uint8* src, int src_stride,
+                    uint8* dst, int dst_stride, int width);
+void TransposeWx8_NEON(const uint8* src, int src_stride,
+                       uint8* dst, int dst_stride, int width);
+void TransposeWx8_SSSE3(const uint8* src, int src_stride,
+                        uint8* dst, int dst_stride, int width);
+void TransposeWx8_Fast_SSSE3(const uint8* src, int src_stride,
+                             uint8* dst, int dst_stride, int width);
+void TransposeWx8_DSPR2(const uint8* src, int src_stride,
+                        uint8* dst, int dst_stride, int width);
+void TransposeWx8_Fast_DSPR2(const uint8* src, int src_stride,
+                             uint8* dst, int dst_stride, int width);
+
+void TransposeWx8_Any_NEON(const uint8* src, int src_stride,
+                           uint8* dst, int dst_stride, int width);
+void TransposeWx8_Any_SSSE3(const uint8* src, int src_stride,
+                            uint8* dst, int dst_stride, int width);
+void TransposeWx8_Fast_Any_SSSE3(const uint8* src, int src_stride,
+                                 uint8* dst, int dst_stride, int width);
+void TransposeWx8_Any_DSPR2(const uint8* src, int src_stride,
+                            uint8* dst, int dst_stride, int width);
+
+void TransposeUVWxH_C(const uint8* src, int src_stride,
+                      uint8* dst_a, int dst_stride_a,
+                      uint8* dst_b, int dst_stride_b,
+                      int width, int height);
+
+void TransposeUVWx8_C(const uint8* src, int src_stride,
+                      uint8* dst_a, int dst_stride_a,
+                      uint8* dst_b, int dst_stride_b, int width);
+void TransposeUVWx8_SSE2(const uint8* src, int src_stride,
+                         uint8* dst_a, int dst_stride_a,
+                         uint8* dst_b, int dst_stride_b, int width);
+void TransposeUVWx8_NEON(const uint8* src, int src_stride,
+                         uint8* dst_a, int dst_stride_a,
+                         uint8* dst_b, int dst_stride_b, int width);
+void TransposeUVWx8_DSPR2(const uint8* src, int src_stride,
+                          uint8* dst_a, int dst_stride_a,
+                          uint8* dst_b, int dst_stride_b, int width);
+
+void TransposeUVWx8_Any_SSE2(const uint8* src, int src_stride,
+                             uint8* dst_a, int dst_stride_a,
+                             uint8* dst_b, int dst_stride_b, int width);
+void TransposeUVWx8_Any_NEON(const uint8* src, int src_stride,
+                             uint8* dst_a, int dst_stride_a,
+                             uint8* dst_b, int dst_stride_b, int width);
+void TransposeUVWx8_Any_DSPR2(const uint8* src, int src_stride,
+                              uint8* dst_a, int dst_stride_a,
+                              uint8* dst_b, int dst_stride_b, int width);
+
+#ifdef __cplusplus
+}  // extern "C"
+}  // namespace libyuv
+#endif
+
+#endif  // INCLUDE_LIBYUV_ROTATE_ROW_H_
diff --git a/third_party/libyuv/include/libyuv/row.h b/third_party/libyuv/include/libyuv/row.h
new file mode 100644
index 0000000000..b810221ec7
--- /dev/null
+++ b/third_party/libyuv/include/libyuv/row.h
@@ -0,0 +1,1963 @@
+/*
+ *  Copyright 2011 The LibYuv Project Authors. All rights reserved.
+ *
+ *  Use of this source code is governed by a BSD-style license
+ *  that can be found in the LICENSE file in the root of the source
+ *  tree. An additional intellectual property rights grant can be found
+ *  in the file PATENTS. All contributing project authors may
+ *  be found in the AUTHORS file in the root of the source tree.
+ */
+
+#ifndef INCLUDE_LIBYUV_ROW_H_
+#define INCLUDE_LIBYUV_ROW_H_
+
+#include <stdlib.h>  // For malloc.
+
+#include "libyuv/basic_types.h"
+
+#ifdef __cplusplus
+namespace libyuv {
+extern "C" {
+#endif
+
+#define IS_ALIGNED(p, a) (!((uintptr_t)(p) & ((a) - 1)))
+
+#define align_buffer_64(var, size)                                             \
+  uint8* var##_mem = (uint8*)(malloc((size) + 63));               /* NOLINT */ \
+  uint8* var = (uint8*)(((intptr_t)(var##_mem) + 63) & ~63)       /* NOLINT */
+
+#define free_aligned_buffer_64(var) \
+  free(var##_mem);  \
+  var = 0
+
+#if defined(__pnacl__) || defined(__CLR_VER) || \
+    (defined(__i386__) && !defined(__SSE2__))
+#define LIBYUV_DISABLE_X86
+#endif
+// MemorySanitizer does not support assembly code yet. http://crbug.com/344505
+#if defined(__has_feature)
+#if __has_feature(memory_sanitizer)
+#define LIBYUV_DISABLE_X86
+#endif
+#endif
+// True if compiling for SSSE3 as a requirement.
+#if defined(__SSSE3__) || (defined(_M_IX86_FP) && (_M_IX86_FP >= 3))
+#define LIBYUV_SSSE3_ONLY
+#endif
+
+#if defined(__native_client__)
+#define LIBYUV_DISABLE_NEON
+#endif
+// clang >= 3.5.0 required for Arm64.
+#if defined(__clang__) && defined(__aarch64__) && !defined(LIBYUV_DISABLE_NEON)
+#if (__clang_major__ < 3) || (__clang_major__ == 3 && (__clang_minor__ < 5))
+#define LIBYUV_DISABLE_NEON
+#endif  // clang >= 3.5
+#endif  // __clang__
+
+// GCC >= 4.7.0 required for AVX2.
+#if defined(__GNUC__) && (defined(__x86_64__) || defined(__i386__))
+#if (__GNUC__ > 4) || (__GNUC__ == 4 && (__GNUC_MINOR__ >= 7))
+#define GCC_HAS_AVX2 1
+#endif  // GNUC >= 4.7
+#endif  // __GNUC__
+
+// clang >= 3.4.0 required for AVX2.
+#if defined(__clang__) && (defined(__x86_64__) || defined(__i386__))
+#if (__clang_major__ > 3) || (__clang_major__ == 3 && (__clang_minor__ >= 4))
+#define CLANG_HAS_AVX2 1
+#endif  // clang >= 3.4
+#endif  // __clang__
+
+// Visual C 2012 required for AVX2.
+#if defined(_M_IX86) && !defined(__clang__) && \
+    defined(_MSC_VER) && _MSC_VER >= 1700
+#define VISUALC_HAS_AVX2 1
+#endif  // VisualStudio >= 2012
+
+// The following are available on all x86 platforms:
+#if !defined(LIBYUV_DISABLE_X86) && \
+    (defined(_M_IX86) || defined(__x86_64__) || defined(__i386__))
+// Conversions:
+#define HAS_ABGRTOUVROW_SSSE3
+#define HAS_ABGRTOYROW_SSSE3
+#define HAS_ARGB1555TOARGBROW_SSE2
+#define HAS_ARGB4444TOARGBROW_SSE2
+#define HAS_ARGBSETROW_X86
+#define HAS_ARGBSHUFFLEROW_SSE2
+#define HAS_ARGBSHUFFLEROW_SSSE3
+#define HAS_ARGBTOARGB1555ROW_SSE2
+#define HAS_ARGBTOARGB4444ROW_SSE2
+#define HAS_ARGBTORAWROW_SSSE3
+#define HAS_ARGBTORGB24ROW_SSSE3
+#define HAS_ARGBTORGB565DITHERROW_SSE2
+#define HAS_ARGBTORGB565ROW_SSE2
+#define HAS_ARGBTOUV444ROW_SSSE3
+#define HAS_ARGBTOUVJROW_SSSE3
+#define HAS_ARGBTOUVROW_SSSE3
+#define HAS_ARGBTOYJROW_SSSE3
+#define HAS_ARGBTOYROW_SSSE3
+#define HAS_ARGBEXTRACTALPHAROW_SSE2
+#define HAS_BGRATOUVROW_SSSE3
+#define HAS_BGRATOYROW_SSSE3
+#define HAS_COPYROW_ERMS
+#define HAS_COPYROW_SSE2
+#define HAS_H422TOARGBROW_SSSE3
+#define HAS_I400TOARGBROW_SSE2
+#define HAS_I422TOARGB1555ROW_SSSE3
+#define HAS_I422TOARGB4444ROW_SSSE3
+#define HAS_I422TOARGBROW_SSSE3
+#define HAS_I422TORGB24ROW_SSSE3
+#define HAS_I422TORGB565ROW_SSSE3
+#define HAS_I422TORGBAROW_SSSE3
+#define HAS_I422TOUYVYROW_SSE2
+#define HAS_I422TOYUY2ROW_SSE2
+#define HAS_I444TOARGBROW_SSSE3
+#define HAS_J400TOARGBROW_SSE2
+#define HAS_J422TOARGBROW_SSSE3
+#define HAS_MERGEUVROW_SSE2
+#define HAS_MIRRORROW_SSSE3
+#define HAS_MIRRORUVROW_SSSE3
+#define HAS_NV12TOARGBROW_SSSE3
+#define HAS_NV12TORGB565ROW_SSSE3
+#define HAS_NV21TOARGBROW_SSSE3
+#define HAS_RAWTOARGBROW_SSSE3
+#define HAS_RAWTORGB24ROW_SSSE3
+#define HAS_RAWTOYROW_SSSE3
+#define HAS_RGB24TOARGBROW_SSSE3
+#define HAS_RGB24TOYROW_SSSE3
+#define HAS_RGB565TOARGBROW_SSE2
+#define HAS_RGBATOUVROW_SSSE3
+#define HAS_RGBATOYROW_SSSE3
+#define HAS_SETROW_ERMS
+#define HAS_SETROW_X86
+#define HAS_SPLITUVROW_SSE2
+#define HAS_UYVYTOARGBROW_SSSE3
+#define HAS_UYVYTOUV422ROW_SSE2
+#define HAS_UYVYTOUVROW_SSE2
+#define HAS_UYVYTOYROW_SSE2
+#define HAS_YUY2TOARGBROW_SSSE3
+#define HAS_YUY2TOUV422ROW_SSE2
+#define HAS_YUY2TOUVROW_SSE2
+#define HAS_YUY2TOYROW_SSE2
+
+// Effects:
+#define HAS_ARGBADDROW_SSE2
+#define HAS_ARGBAFFINEROW_SSE2
+#define HAS_ARGBATTENUATEROW_SSSE3
+#define HAS_ARGBBLENDROW_SSSE3
+#define HAS_ARGBCOLORMATRIXROW_SSSE3
+#define HAS_ARGBCOLORTABLEROW_X86
+#define HAS_ARGBCOPYALPHAROW_SSE2
+#define HAS_ARGBCOPYYTOALPHAROW_SSE2
+#define HAS_ARGBGRAYROW_SSSE3
+#define HAS_ARGBLUMACOLORTABLEROW_SSSE3
+#define HAS_ARGBMIRRORROW_SSE2
+#define HAS_ARGBMULTIPLYROW_SSE2
+#define HAS_ARGBPOLYNOMIALROW_SSE2
+#define HAS_ARGBQUANTIZEROW_SSE2
+#define HAS_ARGBSEPIAROW_SSSE3
+#define HAS_ARGBSHADEROW_SSE2
+#define HAS_ARGBSUBTRACTROW_SSE2
+#define HAS_ARGBUNATTENUATEROW_SSE2
+#define HAS_BLENDPLANEROW_SSSE3
+#define HAS_COMPUTECUMULATIVESUMROW_SSE2
+#define HAS_CUMULATIVESUMTOAVERAGEROW_SSE2
+#define HAS_INTERPOLATEROW_SSSE3
+#define HAS_RGBCOLORTABLEROW_X86
+#define HAS_SOBELROW_SSE2
+#define HAS_SOBELTOPLANEROW_SSE2
+#define HAS_SOBELXROW_SSE2
+#define HAS_SOBELXYROW_SSE2
+#define HAS_SOBELYROW_SSE2
+
+// The following functions fail on gcc/clang 32 bit with fpic and framepointer.
+// caveat: clangcl uses row_win.cc which works.
+#if defined(NDEBUG) || !(defined(_DEBUG) && defined(__i386__)) || \
+    !defined(__i386__) || defined(_MSC_VER)
+// TODO(fbarchard): fix build error on x86 debug
+// https://code.google.com/p/libyuv/issues/detail?id=524
+#define HAS_I411TOARGBROW_SSSE3
+// TODO(fbarchard): fix build error on android_full_debug=1
+// https://code.google.com/p/libyuv/issues/detail?id=517
+#define HAS_I422ALPHATOARGBROW_SSSE3
+#endif
+#endif
+
+// The following are available on all x86 platforms, but
+// require VS2012, clang 3.4 or gcc 4.7.
+// The code supports NaCL but requires a new compiler and validator.
+#if !defined(LIBYUV_DISABLE_X86) && (defined(VISUALC_HAS_AVX2) || \
+    defined(CLANG_HAS_AVX2) || defined(GCC_HAS_AVX2))
+#define HAS_ARGBCOPYALPHAROW_AVX2
+#define HAS_ARGBCOPYYTOALPHAROW_AVX2
+#define HAS_ARGBMIRRORROW_AVX2
+#define HAS_ARGBPOLYNOMIALROW_AVX2
+#define HAS_ARGBSHUFFLEROW_AVX2
+#define HAS_ARGBTORGB565DITHERROW_AVX2
+#define HAS_ARGBTOUVJROW_AVX2
+#define HAS_ARGBTOUVROW_AVX2
+#define HAS_ARGBTOYJROW_AVX2
+#define HAS_ARGBTOYROW_AVX2
+#define HAS_COPYROW_AVX
+#define HAS_H422TOARGBROW_AVX2
+#define HAS_I400TOARGBROW_AVX2
+#if !(defined(_DEBUG) && defined(__i386__))
+// TODO(fbarchard): fix build error on android_full_debug=1
+// https://code.google.com/p/libyuv/issues/detail?id=517
+#define HAS_I422ALPHATOARGBROW_AVX2
+#endif
+#define HAS_I411TOARGBROW_AVX2
+#define HAS_I422TOARGB1555ROW_AVX2
+#define HAS_I422TOARGB4444ROW_AVX2
+#define HAS_I422TOARGBROW_AVX2
+#define HAS_I422TORGB24ROW_AVX2
+#define HAS_I422TORGB565ROW_AVX2
+#define HAS_I422TORGBAROW_AVX2
+#define HAS_I444TOARGBROW_AVX2
+#define HAS_INTERPOLATEROW_AVX2
+#define HAS_J422TOARGBROW_AVX2
+#define HAS_MERGEUVROW_AVX2
+#define HAS_MIRRORROW_AVX2
+#define HAS_NV12TOARGBROW_AVX2
+#define HAS_NV12TORGB565ROW_AVX2
+#define HAS_NV21TOARGBROW_AVX2
+#define HAS_SPLITUVROW_AVX2
+#define HAS_UYVYTOARGBROW_AVX2
+#define HAS_UYVYTOUV422ROW_AVX2
+#define HAS_UYVYTOUVROW_AVX2
+#define HAS_UYVYTOYROW_AVX2
+#define HAS_YUY2TOARGBROW_AVX2
+#define HAS_YUY2TOUV422ROW_AVX2
+#define HAS_YUY2TOUVROW_AVX2
+#define HAS_YUY2TOYROW_AVX2
+#define HAS_HALFFLOATROW_AVX2
+
+// Effects:
+#define HAS_ARGBADDROW_AVX2
+#define HAS_ARGBATTENUATEROW_AVX2
+#define HAS_ARGBMULTIPLYROW_AVX2
+#define HAS_ARGBSUBTRACTROW_AVX2
+#define HAS_ARGBUNATTENUATEROW_AVX2
+#define HAS_BLENDPLANEROW_AVX2
+#endif
+
+// The following are available for AVX2 Visual C and clangcl 32 bit:
+// TODO(fbarchard): Port to gcc.
+#if !defined(LIBYUV_DISABLE_X86) && defined(_M_IX86) && \
+    (defined(VISUALC_HAS_AVX2) || defined(CLANG_HAS_AVX2))
+#define HAS_ARGB1555TOARGBROW_AVX2
+#define HAS_ARGB4444TOARGBROW_AVX2
+#define HAS_ARGBTOARGB1555ROW_AVX2
+#define HAS_ARGBTOARGB4444ROW_AVX2
+#define HAS_ARGBTORGB565ROW_AVX2
+#define HAS_J400TOARGBROW_AVX2
+#define HAS_RGB565TOARGBROW_AVX2
+#endif
+
+// The following are also available on x64 Visual C.
+#if !defined(LIBYUV_DISABLE_X86) && defined(_MSC_VER) && defined(_M_X64) && \
+    (!defined(__clang__) || defined(__SSSE3__))
+#define HAS_I422ALPHATOARGBROW_SSSE3
+#define HAS_I422TOARGBROW_SSSE3
+#endif
+
+// The following are available on gcc x86 platforms:
+// TODO(fbarchard): Port to Visual C.
+#if !defined(LIBYUV_DISABLE_X86) && \
+    (defined(__x86_64__) || (defined(__i386__) && !defined(_MSC_VER)))
+#define HAS_HALFFLOATROW_SSE2
+#endif
+
+// The following are available on Neon platforms:
+#if !defined(LIBYUV_DISABLE_NEON) && \
+    (defined(__aarch64__) || defined(__ARM_NEON__) || defined(LIBYUV_NEON))
+#define HAS_ABGRTOUVROW_NEON
+#define HAS_ABGRTOYROW_NEON
+#define HAS_ARGB1555TOARGBROW_NEON
+#define HAS_ARGB1555TOUVROW_NEON
+#define HAS_ARGB1555TOYROW_NEON
+#define HAS_ARGB4444TOARGBROW_NEON
+#define HAS_ARGB4444TOUVROW_NEON
+#define HAS_ARGB4444TOYROW_NEON
+#define HAS_ARGBSETROW_NEON
+#define HAS_ARGBTOARGB1555ROW_NEON
+#define HAS_ARGBTOARGB4444ROW_NEON
+#define HAS_ARGBTORAWROW_NEON
+#define HAS_ARGBTORGB24ROW_NEON
+#define HAS_ARGBTORGB565DITHERROW_NEON
+#define HAS_ARGBTORGB565ROW_NEON
+#define HAS_ARGBTOUV411ROW_NEON
+#define HAS_ARGBTOUV444ROW_NEON
+#define HAS_ARGBTOUVJROW_NEON
+#define HAS_ARGBTOUVROW_NEON
+#define HAS_ARGBTOYJROW_NEON
+#define HAS_ARGBTOYROW_NEON
+#define HAS_ARGBEXTRACTALPHAROW_NEON
+#define HAS_BGRATOUVROW_NEON
+#define HAS_BGRATOYROW_NEON
+#define HAS_COPYROW_NEON
+#define HAS_I400TOARGBROW_NEON
+#define HAS_I411TOARGBROW_NEON
+#define HAS_I422ALPHATOARGBROW_NEON
+#define HAS_I422TOARGB1555ROW_NEON
+#define HAS_I422TOARGB4444ROW_NEON
+#define HAS_I422TOARGBROW_NEON
+#define HAS_I422TORGB24ROW_NEON
+#define HAS_I422TORGB565ROW_NEON
+#define HAS_I422TORGBAROW_NEON
+#define HAS_I422TOUYVYROW_NEON
+#define HAS_I422TOYUY2ROW_NEON
+#define HAS_I444TOARGBROW_NEON
+#define HAS_J400TOARGBROW_NEON
+#define HAS_MERGEUVROW_NEON
+#define HAS_MIRRORROW_NEON
+#define HAS_MIRRORUVROW_NEON
+#define HAS_NV12TOARGBROW_NEON
+#define HAS_NV12TORGB565ROW_NEON
+#define HAS_NV21TOARGBROW_NEON
+#define HAS_RAWTOARGBROW_NEON
+#define HAS_RAWTORGB24ROW_NEON
+#define HAS_RAWTOUVROW_NEON
+#define HAS_RAWTOYROW_NEON
+#define HAS_RGB24TOARGBROW_NEON
+#define HAS_RGB24TOUVROW_NEON
+#define HAS_RGB24TOYROW_NEON
+#define HAS_RGB565TOARGBROW_NEON
+#define HAS_RGB565TOUVROW_NEON
+#define HAS_RGB565TOYROW_NEON
+#define HAS_RGBATOUVROW_NEON
+#define HAS_RGBATOYROW_NEON
+#define HAS_SETROW_NEON
+#define HAS_SPLITUVROW_NEON
+#define HAS_UYVYTOARGBROW_NEON
+#define HAS_UYVYTOUV422ROW_NEON
+#define HAS_UYVYTOUVROW_NEON
+#define HAS_UYVYTOYROW_NEON
+#define HAS_YUY2TOARGBROW_NEON
+#define HAS_YUY2TOUV422ROW_NEON
+#define HAS_YUY2TOUVROW_NEON
+#define HAS_YUY2TOYROW_NEON
+
+// Effects:
+#define HAS_ARGBADDROW_NEON
+#define HAS_ARGBATTENUATEROW_NEON
+#define HAS_ARGBBLENDROW_NEON
+#define HAS_ARGBCOLORMATRIXROW_NEON
+#define HAS_ARGBGRAYROW_NEON
+#define HAS_ARGBMIRRORROW_NEON
+#define HAS_ARGBMULTIPLYROW_NEON
+#define HAS_ARGBQUANTIZEROW_NEON
+#define HAS_ARGBSEPIAROW_NEON
+#define HAS_ARGBSHADEROW_NEON
+#define HAS_ARGBSHUFFLEROW_NEON
+#define HAS_ARGBSUBTRACTROW_NEON
+#define HAS_INTERPOLATEROW_NEON
+#define HAS_SOBELROW_NEON
+#define HAS_SOBELTOPLANEROW_NEON
+#define HAS_SOBELXROW_NEON
+#define HAS_SOBELXYROW_NEON
+#define HAS_SOBELYROW_NEON
+#endif
+
+// The following are available on Mips platforms:
+#if !defined(LIBYUV_DISABLE_MIPS) && defined(__mips__) && \
+    (_MIPS_SIM == _MIPS_SIM_ABI32) && (__mips_isa_rev < 6)
+#define HAS_COPYROW_MIPS
+#if defined(__mips_dsp) && (__mips_dsp_rev >= 2)
+#define HAS_I422TOARGBROW_DSPR2
+#define HAS_INTERPOLATEROW_DSPR2
+#define HAS_MIRRORROW_DSPR2
+#define HAS_MIRRORUVROW_DSPR2
+#define HAS_SPLITUVROW_DSPR2
+#endif
+#endif
+
+#if !defined(LIBYUV_DISABLE_MSA) && defined(__mips_msa)
+#define HAS_MIRRORROW_MSA
+#define HAS_ARGBMIRRORROW_MSA
+#endif
+
+#if defined(_MSC_VER) && !defined(__CLR_VER) && !defined(__clang__)
+#if defined(VISUALC_HAS_AVX2)
+#define SIMD_ALIGNED(var) __declspec(align(32)) var
+#else
+#define SIMD_ALIGNED(var) __declspec(align(16)) var
+#endif
+typedef __declspec(align(16)) int16 vec16[8];
+typedef __declspec(align(16)) int32 vec32[4];
+typedef __declspec(align(16)) int8 vec8[16];
+typedef __declspec(align(16)) uint16 uvec16[8];
+typedef __declspec(align(16)) uint32 uvec32[4];
+typedef __declspec(align(16)) uint8 uvec8[16];
+typedef __declspec(align(32)) int16 lvec16[16];
+typedef __declspec(align(32)) int32 lvec32[8];
+typedef __declspec(align(32)) int8 lvec8[32];
+typedef __declspec(align(32)) uint16 ulvec16[16];
+typedef __declspec(align(32)) uint32 ulvec32[8];
+typedef __declspec(align(32)) uint8 ulvec8[32];
+#elif !defined(__pnacl__) && (defined(__GNUC__) || defined(__clang__))
+// Caveat GCC 4.2 to 4.7 have a known issue using vectors with const.
+#if defined(CLANG_HAS_AVX2) || defined(GCC_HAS_AVX2)
+#define SIMD_ALIGNED(var) var __attribute__((aligned(32)))
+#else
+#define SIMD_ALIGNED(var) var __attribute__((aligned(16)))
+#endif
+typedef int16 __attribute__((vector_size(16))) vec16;
+typedef int32 __attribute__((vector_size(16))) vec32;
+typedef int8 __attribute__((vector_size(16))) vec8;
+typedef uint16 __attribute__((vector_size(16))) uvec16;
+typedef uint32 __attribute__((vector_size(16))) uvec32;
+typedef uint8 __attribute__((vector_size(16))) uvec8;
+typedef int16 __attribute__((vector_size(32))) lvec16;
+typedef int32 __attribute__((vector_size(32))) lvec32;
+typedef int8 __attribute__((vector_size(32))) lvec8;
+typedef uint16 __attribute__((vector_size(32))) ulvec16;
+typedef uint32 __attribute__((vector_size(32))) ulvec32;
+typedef uint8 __attribute__((vector_size(32))) ulvec8;
+#else
+#define SIMD_ALIGNED(var) var
+typedef int16 vec16[8];
+typedef int32 vec32[4];
+typedef int8 vec8[16];
+typedef uint16 uvec16[8];
+typedef uint32 uvec32[4];
+typedef uint8 uvec8[16];
+typedef int16 lvec16[16];
+typedef int32 lvec32[8];
+typedef int8 lvec8[32];
+typedef uint16 ulvec16[16];
+typedef uint32 ulvec32[8];
+typedef uint8 ulvec8[32];
+#endif
+
+#if defined(__aarch64__)
+// This struct is for Arm64 color conversion.
+struct YuvConstants {
+  uvec16 kUVToRB;
+  uvec16 kUVToRB2;
+  uvec16 kUVToG;
+  uvec16 kUVToG2;
+  vec16 kUVBiasBGR;
+  vec32 kYToRgb;
+};
+#elif defined(__arm__)
+// This struct is for ArmV7 color conversion.
+struct YuvConstants {
+  uvec8 kUVToRB;
+  uvec8 kUVToG;
+  vec16 kUVBiasBGR;
+  vec32 kYToRgb;
+};
+#else
+// This struct is for Intel color conversion.
+struct YuvConstants {
+  int8 kUVToB[32];
+  int8 kUVToG[32];
+  int8 kUVToR[32];
+  int16 kUVBiasB[16];
+  int16 kUVBiasG[16];
+  int16 kUVBiasR[16];
+  int16 kYToRgb[16];
+};
+
+// Offsets into YuvConstants structure
+#define KUVTOB   0
+#define KUVTOG   32
+#define KUVTOR   64
+#define KUVBIASB 96
+#define KUVBIASG 128
+#define KUVBIASR 160
+#define KYTORGB  192
+#endif
+
+// Conversion matrix for YUV to RGB
+extern const struct YuvConstants SIMD_ALIGNED(kYuvI601Constants);  // BT.601
+extern const struct YuvConstants SIMD_ALIGNED(kYuvJPEGConstants);  // JPeg
+extern const struct YuvConstants SIMD_ALIGNED(kYuvH709Constants);  // BT.709
+
+// Conversion matrix for YVU to BGR
+extern const struct YuvConstants SIMD_ALIGNED(kYvuI601Constants);  // BT.601
+extern const struct YuvConstants SIMD_ALIGNED(kYvuJPEGConstants);  // JPeg
+extern const struct YuvConstants SIMD_ALIGNED(kYvuH709Constants);  // BT.709
+
+#if defined(__APPLE__) || defined(__x86_64__) || defined(__llvm__)
+#define OMITFP
+#else
+#define OMITFP __attribute__((optimize("omit-frame-pointer")))
+#endif
+
+// NaCL macros for GCC x86 and x64.
+#if defined(__native_client__)
+#define LABELALIGN ".p2align 5\n"
+#else
+#define LABELALIGN
+#endif
+#if defined(__native_client__) && defined(__x86_64__)
+// r14 is used for MEMOP macros.
+#define NACL_R14 "r14",
+#define BUNDLELOCK ".bundle_lock\n"
+#define BUNDLEUNLOCK ".bundle_unlock\n"
+#define MEMACCESS(base) "%%nacl:(%%r15,%q" #base ")"
+#define MEMACCESS2(offset, base) "%%nacl:" #offset "(%%r15,%q" #base ")"
+#define MEMLEA(offset, base) #offset "(%q" #base ")"
+#define MEMLEA3(offset, index, scale) \
+    #offset "(,%q" #index "," #scale ")"
+#define MEMLEA4(offset, base, index, scale) \
+    #offset "(%q" #base ",%q" #index "," #scale ")"
+#define MEMMOVESTRING(s, d) "%%nacl:(%q" #s "),%%nacl:(%q" #d "), %%r15"
+#define MEMSTORESTRING(reg, d) "%%" #reg ",%%nacl:(%q" #d "), %%r15"
+#define MEMOPREG(opcode, offset, base, index, scale, reg) \
+    BUNDLELOCK \
+    "lea " #offset "(%q" #base ",%q" #index "," #scale "),%%r14d\n" \
+    #opcode " (%%r15,%%r14),%%" #reg "\n" \
+    BUNDLEUNLOCK
+#define MEMOPMEM(opcode, reg, offset, base, index, scale) \
+    BUNDLELOCK \
+    "lea " #offset "(%q" #base ",%q" #index "," #scale "),%%r14d\n" \
+    #opcode " %%" #reg ",(%%r15,%%r14)\n" \
+    BUNDLEUNLOCK
+#define MEMOPARG(opcode, offset, base, index, scale, arg) \
+    BUNDLELOCK \
+    "lea " #offset "(%q" #base ",%q" #index "," #scale "),%%r14d\n" \
+    #opcode " (%%r15,%%r14),%" #arg "\n" \
+    BUNDLEUNLOCK
+#define VMEMOPREG(opcode, offset, base, index, scale, reg1, reg2) \
+    BUNDLELOCK \
+    "lea " #offset "(%q" #base ",%q" #index "," #scale "),%%r14d\n" \
+    #opcode " (%%r15,%%r14),%%" #reg1 ",%%" #reg2 "\n" \
+    BUNDLEUNLOCK
+#define VEXTOPMEM(op, sel, reg, offset, base, index, scale) \
+    BUNDLELOCK \
+    "lea " #offset "(%q" #base ",%q" #index "," #scale "),%%r14d\n" \
+    #op " $" #sel ",%%" #reg ",(%%r15,%%r14)\n" \
+    BUNDLEUNLOCK
+#else  // defined(__native_client__) && defined(__x86_64__)
+#define NACL_R14
+#define BUNDLEALIGN
+#define MEMACCESS(base) "(%" #base ")"
+#define MEMACCESS2(offset, base) #offset "(%" #base ")"
+#define MEMLEA(offset, base) #offset "(%" #base ")"
+#define MEMLEA3(offset, index, scale) \
+    #offset "(,%" #index "," #scale ")"
+#define MEMLEA4(offset, base, index, scale) \
+    #offset "(%" #base ",%" #index "," #scale ")"
+#define MEMMOVESTRING(s, d)
+#define MEMSTORESTRING(reg, d)
+#define MEMOPREG(opcode, offset, base, index, scale, reg) \
+    #opcode " " #offset "(%" #base ",%" #index "," #scale "),%%" #reg "\n"
+#define MEMOPMEM(opcode, reg, offset, base, index, scale) \
+    #opcode " %%" #reg ","#offset "(%" #base ",%" #index "," #scale ")\n"
+#define MEMOPARG(opcode, offset, base, index, scale, arg) \
+    #opcode " " #offset "(%" #base ",%" #index "," #scale "),%" #arg "\n"
+#define VMEMOPREG(opcode, offset, base, index, scale, reg1, reg2) \
+    #opcode " " #offset "(%" #base ",%" #index "," #scale "),%%" #reg1 ",%%" \
+    #reg2 "\n"
+#define VEXTOPMEM(op, sel, reg, offset, base, index, scale) \
+    #op " $" #sel ",%%" #reg ","#offset "(%" #base ",%" #index "," #scale ")\n"
+#endif  // defined(__native_client__) && defined(__x86_64__)
+
+#if defined(__arm__) || defined(__aarch64__)
+#undef MEMACCESS
+#if defined(__native_client__)
+#define MEMACCESS(base) ".p2align 3\nbic %" #base ", #0xc0000000\n"
+#else
+#define MEMACCESS(base)
+#endif
+#endif
+
+void I444ToARGBRow_NEON(const uint8* src_y,
+                        const uint8* src_u,
+                        const uint8* src_v,
+                        uint8* dst_argb,
+                        const struct YuvConstants* yuvconstants,
+                        int width);
+void I422ToARGBRow_NEON(const uint8* src_y,
+                        const uint8* src_u,
+                        const uint8* src_v,
+                        uint8* dst_argb,
+                        const struct YuvConstants* yuvconstants,
+                        int width);
+void I422AlphaToARGBRow_NEON(const uint8* y_buf,
+                             const uint8* u_buf,
+                             const uint8* v_buf,
+                             const uint8* a_buf,
+                             uint8* dst_argb,
+                             const struct YuvConstants* yuvconstants,
+                             int width);
+void I422ToARGBRow_NEON(const uint8* src_y,
+                        const uint8* src_u,
+                        const uint8* src_v,
+                        uint8* dst_argb,
+                        const struct YuvConstants* yuvconstants,
+                        int width);
+void I411ToARGBRow_NEON(const uint8* src_y,
+                        const uint8* src_u,
+                        const uint8* src_v,
+                        uint8* dst_argb,
+                        const struct YuvConstants* yuvconstants,
+                        int width);
+void I422ToRGBARow_NEON(const uint8* src_y,
+                        const uint8* src_u,
+                        const uint8* src_v,
+                        uint8* dst_rgba,
+                        const struct YuvConstants* yuvconstants,
+                        int width);
+void I422ToRGB24Row_NEON(const uint8* src_y,
+                         const uint8* src_u,
+                         const uint8* src_v,
+                         uint8* dst_rgb24,
+                         const struct YuvConstants* yuvconstants,
+                         int width);
+void I422ToRGB565Row_NEON(const uint8* src_y,
+                          const uint8* src_u,
+                          const uint8* src_v,
+                          uint8* dst_rgb565,
+                          const struct YuvConstants* yuvconstants,
+                          int width);
+void I422ToARGB1555Row_NEON(const uint8* src_y,
+                            const uint8* src_u,
+                            const uint8* src_v,
+                            uint8* dst_argb1555,
+                            const struct YuvConstants* yuvconstants,
+                            int width);
+void I422ToARGB4444Row_NEON(const uint8* src_y,
+                            const uint8* src_u,
+                            const uint8* src_v,
+                            uint8* dst_argb4444,
+                            const struct YuvConstants* yuvconstants,
+                            int width);
+void NV12ToARGBRow_NEON(const uint8* src_y,
+                        const uint8* src_uv,
+                        uint8* dst_argb,
+                        const struct YuvConstants* yuvconstants,
+                        int width);
+void NV12ToRGB565Row_NEON(const uint8* src_y,
+                          const uint8* src_uv,
+                          uint8* dst_rgb565,
+                          const struct YuvConstants* yuvconstants,
+                          int width);
+void NV21ToARGBRow_NEON(const uint8* src_y,
+                        const uint8* src_vu,
+                        uint8* dst_argb,
+                        const struct YuvConstants* yuvconstants,
+                        int width);
+void YUY2ToARGBRow_NEON(const uint8* src_yuy2,
+                        uint8* dst_argb,
+                        const struct YuvConstants* yuvconstants,
+                        int width);
+void UYVYToARGBRow_NEON(const uint8* src_uyvy,
+                        uint8* dst_argb,
+                        const struct YuvConstants* yuvconstants,
+                        int width);
+
+void ARGBToYRow_AVX2(const uint8* src_argb, uint8* dst_y, int width);
+void ARGBToYRow_Any_AVX2(const uint8* src_argb, uint8* dst_y, int width);
+void ARGBToYRow_SSSE3(const uint8* src_argb, uint8* dst_y, int width);
+void ARGBToYJRow_AVX2(const uint8* src_argb, uint8* dst_y, int width);
+void ARGBToYJRow_Any_AVX2(const uint8* src_argb, uint8* dst_y, int width);
+void ARGBToYJRow_SSSE3(const uint8* src_argb, uint8* dst_y, int width);
+void BGRAToYRow_SSSE3(const uint8* src_bgra, uint8* dst_y, int width);
+void ABGRToYRow_SSSE3(const uint8* src_abgr, uint8* dst_y, int width);
+void RGBAToYRow_SSSE3(const uint8* src_rgba, uint8* dst_y, int width);
+void RGB24ToYRow_SSSE3(const uint8* src_rgb24, uint8* dst_y, int width);
+void RAWToYRow_SSSE3(const uint8* src_raw, uint8* dst_y, int width);
+void ARGBToYRow_NEON(const uint8* src_argb, uint8* dst_y, int width);
+void ARGBToYJRow_NEON(const uint8* src_argb, uint8* dst_y, int width);
+void ARGBToUV444Row_NEON(const uint8* src_argb, uint8* dst_u, uint8* dst_v,
+                         int width);
+void ARGBToUV411Row_NEON(const uint8* src_argb, uint8* dst_u, uint8* dst_v,
+                         int width);
+void ARGBToUVRow_NEON(const uint8* src_argb, int src_stride_argb,
+                      uint8* dst_u, uint8* dst_v, int width);
+void ARGBToUVJRow_NEON(const uint8* src_argb, int src_stride_argb,
+                       uint8* dst_u, uint8* dst_v, int width);
+void BGRAToUVRow_NEON(const uint8* src_bgra, int src_stride_bgra,
+                      uint8* dst_u, uint8* dst_v, int width);
+void ABGRToUVRow_NEON(const uint8* src_abgr, int src_stride_abgr,
+                      uint8* dst_u, uint8* dst_v, int width);
+void RGBAToUVRow_NEON(const uint8* src_rgba, int src_stride_rgba,
+                      uint8* dst_u, uint8* dst_v, int width);
+void RGB24ToUVRow_NEON(const uint8* src_rgb24, int src_stride_rgb24,
+                       uint8* dst_u, uint8* dst_v, int width);
+void RAWToUVRow_NEON(const uint8* src_raw, int src_stride_raw,
+                     uint8* dst_u, uint8* dst_v, int width);
+void RGB565ToUVRow_NEON(const uint8* src_rgb565, int src_stride_rgb565,
+                        uint8* dst_u, uint8* dst_v, int width);
+void ARGB1555ToUVRow_NEON(const uint8* src_argb1555, int src_stride_argb1555,
+                          uint8* dst_u, uint8* dst_v, int width);
+void ARGB4444ToUVRow_NEON(const uint8* src_argb4444, int src_stride_argb4444,
+                          uint8* dst_u, uint8* dst_v, int width);
+void BGRAToYRow_NEON(const uint8* src_bgra, uint8* dst_y, int width);
+void ABGRToYRow_NEON(const uint8* src_abgr, uint8* dst_y, int width);
+void RGBAToYRow_NEON(const uint8* src_rgba, uint8* dst_y, int width);
+void RGB24ToYRow_NEON(const uint8* src_rgb24, uint8* dst_y, int width);
+void RAWToYRow_NEON(const uint8* src_raw, uint8* dst_y, int width);
+void RGB565ToYRow_NEON(const uint8* src_rgb565, uint8* dst_y, int width);
+void ARGB1555ToYRow_NEON(const uint8* src_argb1555, uint8* dst_y, int width);
+void ARGB4444ToYRow_NEON(const uint8* src_argb4444, uint8* dst_y, int width);
+void ARGBToYRow_C(const uint8* src_argb, uint8* dst_y, int width);
+void ARGBToYJRow_C(const uint8* src_argb, uint8* dst_y, int width);
+void BGRAToYRow_C(const uint8* src_bgra, uint8* dst_y, int width);
+void ABGRToYRow_C(const uint8* src_abgr, uint8* dst_y, int width);
+void RGBAToYRow_C(const uint8* src_rgba, uint8* dst_y, int width);
+void RGB24ToYRow_C(const uint8* src_rgb24, uint8* dst_y, int width);
+void RAWToYRow_C(const uint8* src_raw, uint8* dst_y, int width);
+void RGB565ToYRow_C(const uint8* src_rgb565, uint8* dst_y, int width);
+void ARGB1555ToYRow_C(const uint8* src_argb1555, uint8* dst_y, int width);
+void ARGB4444ToYRow_C(const uint8* src_argb4444, uint8* dst_y, int width);
+void ARGBToYRow_Any_SSSE3(const uint8* src_argb, uint8* dst_y, int width);
+void ARGBToYJRow_Any_SSSE3(const uint8* src_argb, uint8* dst_y, int width);
+void BGRAToYRow_Any_SSSE3(const uint8* src_bgra, uint8* dst_y, int width);
+void ABGRToYRow_Any_SSSE3(const uint8* src_abgr, uint8* dst_y, int width);
+void RGBAToYRow_Any_SSSE3(const uint8* src_rgba, uint8* dst_y, int width);
+void RGB24ToYRow_Any_SSSE3(const uint8* src_rgb24, uint8* dst_y, int width);
+void RAWToYRow_Any_SSSE3(const uint8* src_raw, uint8* dst_y, int width);
+void ARGBToYRow_Any_NEON(const uint8* src_argb, uint8* dst_y, int width);
+void ARGBToYJRow_Any_NEON(const uint8* src_argb, uint8* dst_y, int width);
+void BGRAToYRow_Any_NEON(const uint8* src_bgra, uint8* dst_y, int width);
+void ABGRToYRow_Any_NEON(const uint8* src_abgr, uint8* dst_y, int width);
+void RGBAToYRow_Any_NEON(const uint8* src_rgba, uint8* dst_y, int width);
+void RGB24ToYRow_Any_NEON(const uint8* src_rgb24, uint8* dst_y, int width);
+void RAWToYRow_Any_NEON(const uint8* src_raw, uint8* dst_y, int width);
+void RGB565ToYRow_Any_NEON(const uint8* src_rgb565, uint8* dst_y, int width);
+void ARGB1555ToYRow_Any_NEON(const uint8* src_argb1555, uint8* dst_y,
+                             int width);
+void ARGB4444ToYRow_Any_NEON(const uint8* src_argb4444, uint8* dst_y,
+                             int width);
+
+void ARGBToUVRow_AVX2(const uint8* src_argb, int src_stride_argb,
+                      uint8* dst_u, uint8* dst_v, int width);
+void ARGBToUVJRow_AVX2(const uint8* src_argb, int src_stride_argb,
+                       uint8* dst_u, uint8* dst_v, int width);
+void ARGBToUVRow_SSSE3(const uint8* src_argb, int src_stride_argb,
+                       uint8* dst_u, uint8* dst_v, int width);
+void ARGBToUVJRow_SSSE3(const uint8* src_argb, int src_stride_argb,
+                        uint8* dst_u, uint8* dst_v, int width);
+void BGRAToUVRow_SSSE3(const uint8* src_bgra, int src_stride_bgra,
+                       uint8* dst_u, uint8* dst_v, int width);
+void ABGRToUVRow_SSSE3(const uint8* src_abgr, int src_stride_abgr,
+                       uint8* dst_u, uint8* dst_v, int width);
+void RGBAToUVRow_SSSE3(const uint8* src_rgba, int src_stride_rgba,
+                       uint8* dst_u, uint8* dst_v, int width);
+void ARGBToUVRow_Any_AVX2(const uint8* src_argb, int src_stride_argb,
+                          uint8* dst_u, uint8* dst_v, int width);
+void ARGBToUVJRow_Any_AVX2(const uint8* src_argb, int src_stride_argb,
+                           uint8* dst_u, uint8* dst_v, int width);
+void ARGBToUVRow_Any_SSSE3(const uint8* src_argb, int src_stride_argb,
+                           uint8* dst_u, uint8* dst_v, int width);
+void ARGBToUVJRow_Any_SSSE3(const uint8* src_argb, int src_stride_argb,
+                            uint8* dst_u, uint8* dst_v, int width);
+void BGRAToUVRow_Any_SSSE3(const uint8* src_bgra, int src_stride_bgra,
+                           uint8* dst_u, uint8* dst_v, int width);
+void ABGRToUVRow_Any_SSSE3(const uint8* src_abgr, int src_stride_abgr,
+                           uint8* dst_u, uint8* dst_v, int width);
+void RGBAToUVRow_Any_SSSE3(const uint8* src_rgba, int src_stride_rgba,
+                           uint8* dst_u, uint8* dst_v, int width);
+void ARGBToUV444Row_Any_NEON(const uint8* src_argb, uint8* dst_u, uint8* dst_v,
+                             int width);
+void ARGBToUV411Row_Any_NEON(const uint8* src_argb, uint8* dst_u, uint8* dst_v,
+                             int width);
+void ARGBToUVRow_Any_NEON(const uint8* src_argb, int src_stride_argb,
+                          uint8* dst_u, uint8* dst_v, int width);
+void ARGBToUVJRow_Any_NEON(const uint8* src_argb, int src_stride_argb,
+                           uint8* dst_u, uint8* dst_v, int width);
+void BGRAToUVRow_Any_NEON(const uint8* src_bgra, int src_stride_bgra,
+                          uint8* dst_u, uint8* dst_v, int width);
+void ABGRToUVRow_Any_NEON(const uint8* src_abgr, int src_stride_abgr,
+                          uint8* dst_u, uint8* dst_v, int width);
+void RGBAToUVRow_Any_NEON(const uint8* src_rgba, int src_stride_rgba,
+                          uint8* dst_u, uint8* dst_v, int width);
+void RGB24ToUVRow_Any_NEON(const uint8* src_rgb24, int src_stride_rgb24,
+                           uint8* dst_u, uint8* dst_v, int width);
+void RAWToUVRow_Any_NEON(const uint8* src_raw, int src_stride_raw,
+                         uint8* dst_u, uint8* dst_v, int width);
+void RGB565ToUVRow_Any_NEON(const uint8* src_rgb565, int src_stride_rgb565,
+                            uint8* dst_u, uint8* dst_v, int width);
+void ARGB1555ToUVRow_Any_NEON(const uint8* src_argb1555,
+                              int src_stride_argb1555,
+                              uint8* dst_u, uint8* dst_v, int width);
+void ARGB4444ToUVRow_Any_NEON(const uint8* src_argb4444,
+                              int src_stride_argb4444,
+                              uint8* dst_u, uint8* dst_v, int width);
+void ARGBToUVRow_C(const uint8* src_argb, int src_stride_argb,
+                   uint8* dst_u, uint8* dst_v, int width);
+void ARGBToUVJRow_C(const uint8* src_argb, int src_stride_argb,
+                    uint8* dst_u, uint8* dst_v, int width);
+void BGRAToUVRow_C(const uint8* src_bgra, int src_stride_bgra,
+                   uint8* dst_u, uint8* dst_v, int width);
+void ABGRToUVRow_C(const uint8* src_abgr, int src_stride_abgr,
+                   uint8* dst_u, uint8* dst_v, int width);
+void RGBAToUVRow_C(const uint8* src_rgba, int src_stride_rgba,
+                   uint8* dst_u, uint8* dst_v, int width);
+void RGB24ToUVRow_C(const uint8* src_rgb24, int src_stride_rgb24,
+                    uint8* dst_u, uint8* dst_v, int width);
+void RAWToUVRow_C(const uint8* src_raw, int src_stride_raw,
+                  uint8* dst_u, uint8* dst_v, int width);
+void RGB565ToUVRow_C(const uint8* src_rgb565, int src_stride_rgb565,
+                     uint8* dst_u, uint8* dst_v, int width);
+void ARGB1555ToUVRow_C(const uint8* src_argb1555, int src_stride_argb1555,
+                       uint8* dst_u, uint8* dst_v, int width);
+void ARGB4444ToUVRow_C(const uint8* src_argb4444, int src_stride_argb4444,
+                       uint8* dst_u, uint8* dst_v, int width);
+
+void ARGBToUV444Row_SSSE3(const uint8* src_argb,
+                          uint8* dst_u, uint8* dst_v, int width);
+void ARGBToUV444Row_Any_SSSE3(const uint8* src_argb,
+                              uint8* dst_u, uint8* dst_v, int width);
+
+void ARGBToUV444Row_C(const uint8* src_argb,
+                      uint8* dst_u, uint8* dst_v, int width);
+void ARGBToUV411Row_C(const uint8* src_argb,
+                      uint8* dst_u, uint8* dst_v, int width);
+
+void MirrorRow_AVX2(const uint8* src, uint8* dst, int width);
+void MirrorRow_SSSE3(const uint8* src, uint8* dst, int width);
+void MirrorRow_NEON(const uint8* src, uint8* dst, int width);
+void MirrorRow_DSPR2(const uint8* src, uint8* dst, int width);
+void MirrorRow_MSA(const uint8* src, uint8* dst, int width);
+void MirrorRow_C(const uint8* src, uint8* dst, int width);
+void MirrorRow_Any_AVX2(const uint8* src, uint8* dst, int width);
+void MirrorRow_Any_SSSE3(const uint8* src, uint8* dst, int width);
+void MirrorRow_Any_SSE2(const uint8* src, uint8* dst, int width);
+void MirrorRow_Any_NEON(const uint8* src, uint8* dst, int width);
+void MirrorRow_Any_MSA(const uint8* src, uint8* dst, int width);
+
+void MirrorUVRow_SSSE3(const uint8* src_uv, uint8* dst_u, uint8* dst_v,
+                       int width);
+void MirrorUVRow_NEON(const uint8* src_uv, uint8* dst_u, uint8* dst_v,
+                      int width);
+void MirrorUVRow_DSPR2(const uint8* src_uv, uint8* dst_u, uint8* dst_v,
+                       int width);
+void MirrorUVRow_C(const uint8* src_uv, uint8* dst_u, uint8* dst_v, int width);
+
+void ARGBMirrorRow_AVX2(const uint8* src, uint8* dst, int width);
+void ARGBMirrorRow_SSE2(const uint8* src, uint8* dst, int width);
+void ARGBMirrorRow_NEON(const uint8* src, uint8* dst, int width);
+void ARGBMirrorRow_MSA(const uint8* src, uint8* dst, int width);
+void ARGBMirrorRow_C(const uint8* src, uint8* dst, int width);
+void ARGBMirrorRow_Any_AVX2(const uint8* src, uint8* dst, int width);
+void ARGBMirrorRow_Any_SSE2(const uint8* src, uint8* dst, int width);
+void ARGBMirrorRow_Any_NEON(const uint8* src, uint8* dst, int width);
+void ARGBMirrorRow_Any_MSA(const uint8* src, uint8* dst, int width);
+
+void SplitUVRow_C(const uint8* src_uv, uint8* dst_u, uint8* dst_v, int width);
+void SplitUVRow_SSE2(const uint8* src_uv, uint8* dst_u, uint8* dst_v,
+                     int width);
+void SplitUVRow_AVX2(const uint8* src_uv, uint8* dst_u, uint8* dst_v,
+                     int width);
+void SplitUVRow_NEON(const uint8* src_uv, uint8* dst_u, uint8* dst_v,
+                     int width);
+void SplitUVRow_DSPR2(const uint8* src_uv, uint8* dst_u, uint8* dst_v,
+                      int width);
+void SplitUVRow_Any_SSE2(const uint8* src_uv, uint8* dst_u, uint8* dst_v,
+                         int width);
+void SplitUVRow_Any_AVX2(const uint8* src_uv, uint8* dst_u, uint8* dst_v,
+                         int width);
+void SplitUVRow_Any_NEON(const uint8* src_uv, uint8* dst_u, uint8* dst_v,
+                         int width);
+void SplitUVRow_Any_DSPR2(const uint8* src_uv, uint8* dst_u, uint8* dst_v,
+                          int width);
+
+void MergeUVRow_C(const uint8* src_u, const uint8* src_v, uint8* dst_uv,
+                  int width);
+void MergeUVRow_SSE2(const uint8* src_u, const uint8* src_v, uint8* dst_uv,
+                     int width);
+void MergeUVRow_AVX2(const uint8* src_u, const uint8* src_v, uint8* dst_uv,
+                     int width);
+void MergeUVRow_NEON(const uint8* src_u, const uint8* src_v, uint8* dst_uv,
+                     int width);
+void MergeUVRow_Any_SSE2(const uint8* src_u, const uint8* src_v, uint8* dst_uv,
+                         int width);
+void MergeUVRow_Any_AVX2(const uint8* src_u, const uint8* src_v, uint8* dst_uv,
+                         int width);
+void MergeUVRow_Any_NEON(const uint8* src_u, const uint8* src_v, uint8* dst_uv,
+                         int width);
+
+void CopyRow_SSE2(const uint8* src, uint8* dst, int count);
+void CopyRow_AVX(const uint8* src, uint8* dst, int count);
+void CopyRow_ERMS(const uint8* src, uint8* dst, int count);
+void CopyRow_NEON(const uint8* src, uint8* dst, int count);
+void CopyRow_MIPS(const uint8* src, uint8* dst, int count);
+void CopyRow_C(const uint8* src, uint8* dst, int count);
+void CopyRow_Any_SSE2(const uint8* src, uint8* dst, int count);
+void CopyRow_Any_AVX(const uint8* src, uint8* dst, int count);
+void CopyRow_Any_NEON(const uint8* src, uint8* dst, int count);
+
+void CopyRow_16_C(const uint16* src, uint16* dst, int count);
+
+void ARGBCopyAlphaRow_C(const uint8* src_argb, uint8* dst_argb, int width);
+void ARGBCopyAlphaRow_SSE2(const uint8* src_argb, uint8* dst_argb, int width);
+void ARGBCopyAlphaRow_AVX2(const uint8* src_argb, uint8* dst_argb, int width);
+void ARGBCopyAlphaRow_Any_SSE2(const uint8* src_argb, uint8* dst_argb,
+                               int width);
+void ARGBCopyAlphaRow_Any_AVX2(const uint8* src_argb, uint8* dst_argb,
+                               int width);
+
+void ARGBExtractAlphaRow_C(const uint8* src_argb, uint8* dst_a, int width);
+void ARGBExtractAlphaRow_SSE2(const uint8* src_argb, uint8* dst_a, int width);
+void ARGBExtractAlphaRow_NEON(const uint8* src_argb, uint8* dst_a, int width);
+void ARGBExtractAlphaRow_Any_SSE2(const uint8* src_argb, uint8* dst_a,
+                                  int width);
+void ARGBExtractAlphaRow_Any_NEON(const uint8* src_argb, uint8* dst_a,
+                                  int width);
+
+void ARGBCopyYToAlphaRow_C(const uint8* src_y, uint8* dst_argb, int width);
+void ARGBCopyYToAlphaRow_SSE2(const uint8* src_y, uint8* dst_argb, int width);
+void ARGBCopyYToAlphaRow_AVX2(const uint8* src_y, uint8* dst_argb, int width);
+void ARGBCopyYToAlphaRow_Any_SSE2(const uint8* src_y, uint8* dst_argb,
+                                  int width);
+void ARGBCopyYToAlphaRow_Any_AVX2(const uint8* src_y, uint8* dst_argb,
+                                  int width);
+
+void SetRow_C(uint8* dst, uint8 v8, int count);
+void SetRow_X86(uint8* dst, uint8 v8, int count);
+void SetRow_ERMS(uint8* dst, uint8 v8, int count);
+void SetRow_NEON(uint8* dst, uint8 v8, int count);
+void SetRow_Any_X86(uint8* dst, uint8 v8, int count);
+void SetRow_Any_NEON(uint8* dst, uint8 v8, int count);
+
+void ARGBSetRow_C(uint8* dst_argb, uint32 v32, int count);
+void ARGBSetRow_X86(uint8* dst_argb, uint32 v32, int count);
+void ARGBSetRow_NEON(uint8* dst_argb, uint32 v32, int count);
+void ARGBSetRow_Any_NEON(uint8* dst_argb, uint32 v32, int count);
+
+// ARGBShufflers for BGRAToARGB etc.
+void ARGBShuffleRow_C(const uint8* src_argb, uint8* dst_argb,
+                      const uint8* shuffler, int width);
+void ARGBShuffleRow_SSE2(const uint8* src_argb, uint8* dst_argb,
+                         const uint8* shuffler, int width);
+void ARGBShuffleRow_SSSE3(const uint8* src_argb, uint8* dst_argb,
+                          const uint8* shuffler, int width);
+void ARGBShuffleRow_AVX2(const uint8* src_argb, uint8* dst_argb,
+                         const uint8* shuffler, int width);
+void ARGBShuffleRow_NEON(const uint8* src_argb, uint8* dst_argb,
+                         const uint8* shuffler, int width);
+void ARGBShuffleRow_Any_SSE2(const uint8* src_argb, uint8* dst_argb,
+                             const uint8* shuffler, int width);
+void ARGBShuffleRow_Any_SSSE3(const uint8* src_argb, uint8* dst_argb,
+                              const uint8* shuffler, int width);
+void ARGBShuffleRow_Any_AVX2(const uint8* src_argb, uint8* dst_argb,
+                             const uint8* shuffler, int width);
+void ARGBShuffleRow_Any_NEON(const uint8* src_argb, uint8* dst_argb,
+                             const uint8* shuffler, int width);
+
+void RGB24ToARGBRow_SSSE3(const uint8* src_rgb24, uint8* dst_argb, int width);
+void RAWToARGBRow_SSSE3(const uint8* src_raw, uint8* dst_argb, int width);
+void RAWToRGB24Row_SSSE3(const uint8* src_raw, uint8* dst_rgb24, int width);
+void RGB565ToARGBRow_SSE2(const uint8* src_rgb565, uint8* dst_argb, int width);
+void ARGB1555ToARGBRow_SSE2(const uint8* src_argb1555, uint8* dst_argb,
+                            int width);
+void ARGB4444ToARGBRow_SSE2(const uint8* src_argb4444, uint8* dst_argb,
+                            int width);
+void RGB565ToARGBRow_AVX2(const uint8* src_rgb565, uint8* dst_argb, int width);
+void ARGB1555ToARGBRow_AVX2(const uint8* src_argb1555, uint8* dst_argb,
+                            int width);
+void ARGB4444ToARGBRow_AVX2(const uint8* src_argb4444, uint8* dst_argb,
+                            int width);
+
+void RGB24ToARGBRow_NEON(const uint8* src_rgb24, uint8* dst_argb, int width);
+void RAWToARGBRow_NEON(const uint8* src_raw, uint8* dst_argb, int width);
+void RAWToRGB24Row_NEON(const uint8* src_raw, uint8* dst_rgb24, int width);
+void RGB565ToARGBRow_NEON(const uint8* src_rgb565, uint8* dst_argb, int width);
+void ARGB1555ToARGBRow_NEON(const uint8* src_argb1555, uint8* dst_argb,
+                            int width);
+void ARGB4444ToARGBRow_NEON(const uint8* src_argb4444, uint8* dst_argb,
+                            int width);
+void RGB24ToARGBRow_C(const uint8* src_rgb24, uint8* dst_argb, int width);
+void RAWToARGBRow_C(const uint8* src_raw, uint8* dst_argb, int width);
+void RAWToRGB24Row_C(const uint8* src_raw, uint8* dst_rgb24, int width);
+void RGB565ToARGBRow_C(const uint8* src_rgb, uint8* dst_argb, int width);
+void ARGB1555ToARGBRow_C(const uint8* src_argb, uint8* dst_argb, int width);
+void ARGB4444ToARGBRow_C(const uint8* src_argb, uint8* dst_argb, int width);
+void RGB24ToARGBRow_Any_SSSE3(const uint8* src_rgb24, uint8* dst_argb,
+                              int width);
+void RAWToARGBRow_Any_SSSE3(const uint8* src_raw, uint8* dst_argb, int width);
+void RAWToRGB24Row_Any_SSSE3(const uint8* src_raw, uint8* dst_rgb24, int width);
+
+void RGB565ToARGBRow_Any_SSE2(const uint8* src_rgb565, uint8* dst_argb,
+                              int width);
+void ARGB1555ToARGBRow_Any_SSE2(const uint8* src_argb1555, uint8* dst_argb,
+                                int width);
+void ARGB4444ToARGBRow_Any_SSE2(const uint8* src_argb4444, uint8* dst_argb,
+                                int width);
+void RGB565ToARGBRow_Any_AVX2(const uint8* src_rgb565, uint8* dst_argb,
+                              int width);
+void ARGB1555ToARGBRow_Any_AVX2(const uint8* src_argb1555, uint8* dst_argb,
+                                int width);
+void ARGB4444ToARGBRow_Any_AVX2(const uint8* src_argb4444, uint8* dst_argb,
+                                int width);
+
+void RGB24ToARGBRow_Any_NEON(const uint8* src_rgb24, uint8* dst_argb,
+                             int width);
+void RAWToARGBRow_Any_NEON(const uint8* src_raw, uint8* dst_argb, int width);
+void RAWToRGB24Row_Any_NEON(const uint8* src_raw, uint8* dst_rgb24, int width);
+void RGB565ToARGBRow_Any_NEON(const uint8* src_rgb565, uint8* dst_argb,
+                              int width);
+void ARGB1555ToARGBRow_Any_NEON(const uint8* src_argb1555, uint8* dst_argb,
+                                int width);
+void ARGB4444ToARGBRow_Any_NEON(const uint8* src_argb4444, uint8* dst_argb,
+                                int width);
+
+void ARGBToRGB24Row_SSSE3(const uint8* src_argb, uint8* dst_rgb, int width);
+void ARGBToRAWRow_SSSE3(const uint8* src_argb, uint8* dst_rgb, int width);
+void ARGBToRGB565Row_SSE2(const uint8* src_argb, uint8* dst_rgb, int width);
+void ARGBToARGB1555Row_SSE2(const uint8* src_argb, uint8* dst_rgb, int width);
+void ARGBToARGB4444Row_SSE2(const uint8* src_argb, uint8* dst_rgb, int width);
+
+void ARGBToRGB565DitherRow_C(const uint8* src_argb, uint8* dst_rgb,
+                             const uint32 dither4, int width);
+void ARGBToRGB565DitherRow_SSE2(const uint8* src_argb, uint8* dst_rgb,
+                                const uint32 dither4, int width);
+void ARGBToRGB565DitherRow_AVX2(const uint8* src_argb, uint8* dst_rgb,
+                                const uint32 dither4, int width);
+
+void ARGBToRGB565Row_AVX2(const uint8* src_argb, uint8* dst_rgb, int width);
+void ARGBToARGB1555Row_AVX2(const uint8* src_argb, uint8* dst_rgb, int width);
+void ARGBToARGB4444Row_AVX2(const uint8* src_argb, uint8* dst_rgb, int width);
+
+void ARGBToRGB24Row_NEON(const uint8* src_argb, uint8* dst_rgb, int width);
+void ARGBToRAWRow_NEON(const uint8* src_argb, uint8* dst_rgb, int width);
+void ARGBToRGB565Row_NEON(const uint8* src_argb, uint8* dst_rgb, int width);
+void ARGBToARGB1555Row_NEON(const uint8* src_argb, uint8* dst_rgb, int width);
+void ARGBToARGB4444Row_NEON(const uint8* src_argb, uint8* dst_rgb, int width);
+void ARGBToRGB565DitherRow_NEON(const uint8* src_argb, uint8* dst_rgb,
+                                const uint32 dither4, int width);
+
+void ARGBToRGBARow_C(const uint8* src_argb, uint8* dst_rgb, int width);
+void ARGBToRGB24Row_C(const uint8* src_argb, uint8* dst_rgb, int width);
+void ARGBToRAWRow_C(const uint8* src_argb, uint8* dst_rgb, int width);
+void ARGBToRGB565Row_C(const uint8* src_argb, uint8* dst_rgb, int width);
+void ARGBToARGB1555Row_C(const uint8* src_argb, uint8* dst_rgb, int width);
+void ARGBToARGB4444Row_C(const uint8* src_argb, uint8* dst_rgb, int width);
+
+void J400ToARGBRow_SSE2(const uint8* src_y, uint8* dst_argb, int width);
+void J400ToARGBRow_AVX2(const uint8* src_y, uint8* dst_argb, int width);
+void J400ToARGBRow_NEON(const uint8* src_y, uint8* dst_argb, int width);
+void J400ToARGBRow_C(const uint8* src_y, uint8* dst_argb, int width);
+void J400ToARGBRow_Any_SSE2(const uint8* src_y, uint8* dst_argb, int width);
+void J400ToARGBRow_Any_AVX2(const uint8* src_y, uint8* dst_argb, int width);
+void J400ToARGBRow_Any_NEON(const uint8* src_y, uint8* dst_argb, int width);
+
+void I444ToARGBRow_C(const uint8* src_y,
+                     const uint8* src_u,
+                     const uint8* src_v,
+                     uint8* dst_argb,
+                     const struct YuvConstants* yuvconstants,
+                     int width);
+void I422ToARGBRow_C(const uint8* src_y,
+                     const uint8* src_u,
+                     const uint8* src_v,
+                     uint8* dst_argb,
+                     const struct YuvConstants* yuvconstants,
+                     int width);
+void I422ToARGBRow_C(const uint8* src_y,
+                     const uint8* src_u,
+                     const uint8* src_v,
+                     uint8* dst_argb,
+                     const struct YuvConstants* yuvconstants,
+                     int width);
+void I422AlphaToARGBRow_C(const uint8* y_buf,
+                          const uint8* u_buf,
+                          const uint8* v_buf,
+                          const uint8* a_buf,
+                          uint8* dst_argb,
+                          const struct YuvConstants* yuvconstants,
+                          int width);
+void I411ToARGBRow_C(const uint8* src_y,
+                     const uint8* src_u,
+                     const uint8* src_v,
+                     uint8* dst_argb,
+                     const struct YuvConstants* yuvconstants,
+                     int width);
+void NV12ToARGBRow_C(const uint8* src_y,
+                     const uint8* src_uv,
+                     uint8* dst_argb,
+                     const struct YuvConstants* yuvconstants,
+                     int width);
+void NV12ToRGB565Row_C(const uint8* src_y,
+                       const uint8* src_uv,
+                       uint8* dst_argb,
+                       const struct YuvConstants* yuvconstants,
+                       int width);
+void NV21ToARGBRow_C(const uint8* src_y,
+                     const uint8* src_uv,
+                     uint8* dst_argb,
+                     const struct YuvConstants* yuvconstants,
+                     int width);
+void YUY2ToARGBRow_C(const uint8* src_yuy2,
+                     uint8* dst_argb,
+                     const struct YuvConstants* yuvconstants,
+                     int width);
+void UYVYToARGBRow_C(const uint8* src_uyvy,
+                     uint8* dst_argb,
+                     const struct YuvConstants* yuvconstants,
+                     int width);
+void I422ToRGBARow_C(const uint8* src_y,
+                     const uint8* src_u,
+                     const uint8* src_v,
+                     uint8* dst_rgba,
+                     const struct YuvConstants* yuvconstants,
+                     int width);
+void I422ToRGB24Row_C(const uint8* src_y,
+                      const uint8* src_u,
+                      const uint8* src_v,
+                      uint8* dst_rgb24,
+                      const struct YuvConstants* yuvconstants,
+                      int width);
+void I422ToARGB4444Row_C(const uint8* src_y,
+                         const uint8* src_u,
+                         const uint8* src_v,
+                         uint8* dst_argb4444,
+                         const struct YuvConstants* yuvconstants,
+                         int width);
+void I422ToARGB1555Row_C(const uint8* src_y,
+                         const uint8* src_u,
+                         const uint8* src_v,
+                         uint8* dst_argb4444,
+                         const struct YuvConstants* yuvconstants,
+                         int width);
+void I422ToRGB565Row_C(const uint8* src_y,
+                       const uint8* src_u,
+                       const uint8* src_v,
+                       uint8* dst_rgb565,
+                       const struct YuvConstants* yuvconstants,
+                       int width);
+void I422ToARGBRow_AVX2(const uint8* src_y,
+                        const uint8* src_u,
+                        const uint8* src_v,
+                        uint8* dst_argb,
+                        const struct YuvConstants* yuvconstants,
+                        int width);
+void I422ToARGBRow_AVX2(const uint8* src_y,
+                        const uint8* src_u,
+                        const uint8* src_v,
+                        uint8* dst_argb,
+                        const struct YuvConstants* yuvconstants,
+                        int width);
+void I422ToRGBARow_AVX2(const uint8* src_y,
+                        const uint8* src_u,
+                        const uint8* src_v,
+                        uint8* dst_argb,
+                        const struct YuvConstants* yuvconstants,
+                        int width);
+void I444ToARGBRow_SSSE3(const uint8* src_y,
+                         const uint8* src_u,
+                         const uint8* src_v,
+                         uint8* dst_argb,
+                         const struct YuvConstants* yuvconstants,
+                         int width);
+void I444ToARGBRow_AVX2(const uint8* src_y,
+                        const uint8* src_u,
+                        const uint8* src_v,
+                        uint8* dst_argb,
+                        const struct YuvConstants* yuvconstants,
+                        int width);
+void I444ToARGBRow_SSSE3(const uint8* src_y,
+                         const uint8* src_u,
+                         const uint8* src_v,
+                         uint8* dst_argb,
+                         const struct YuvConstants* yuvconstants,
+                         int width);
+void I444ToARGBRow_AVX2(const uint8* src_y,
+                        const uint8* src_u,
+                        const uint8* src_v,
+                        uint8* dst_argb,
+                        const struct YuvConstants* yuvconstants,
+                        int width);
+void I422ToARGBRow_SSSE3(const uint8* src_y,
+                         const uint8* src_u,
+                         const uint8* src_v,
+                         uint8* dst_argb,
+                         const struct YuvConstants* yuvconstants,
+                         int width);
+void I422AlphaToARGBRow_SSSE3(const uint8* y_buf,
+                              const uint8* u_buf,
+                              const uint8* v_buf,
+                              const uint8* a_buf,
+                              uint8* dst_argb,
+                              const struct YuvConstants* yuvconstants,
+                              int width);
+void I422AlphaToARGBRow_AVX2(const uint8* y_buf,
+                             const uint8* u_buf,
+                             const uint8* v_buf,
+                             const uint8* a_buf,
+                             uint8* dst_argb,
+                             const struct YuvConstants* yuvconstants,
+                             int width);
+void I422ToARGBRow_SSSE3(const uint8* src_y,
+                         const uint8* src_u,
+                         const uint8* src_v,
+                         uint8* dst_argb,
+                         const struct YuvConstants* yuvconstants,
+                         int width);
+void I411ToARGBRow_SSSE3(const uint8* src_y,
+                         const uint8* src_u,
+                         const uint8* src_v,
+                         uint8* dst_argb,
+                         const struct YuvConstants* yuvconstants,
+                         int width);
+void I411ToARGBRow_AVX2(const uint8* src_y,
+                        const uint8* src_u,
+                        const uint8* src_v,
+                        uint8* dst_argb,
+                        const struct YuvConstants* yuvconstants,
+                        int width);
+void NV12ToARGBRow_SSSE3(const uint8* src_y,
+                         const uint8* src_uv,
+                         uint8* dst_argb,
+                         const struct YuvConstants* yuvconstants,
+                         int width);
+void NV12ToARGBRow_AVX2(const uint8* src_y,
+                        const uint8* src_uv,
+                        uint8* dst_argb,
+                        const struct YuvConstants* yuvconstants,
+                        int width);
+void NV12ToRGB565Row_SSSE3(const uint8* src_y,
+                           const uint8* src_uv,
+                           uint8* dst_argb,
+                           const struct YuvConstants* yuvconstants,
+                           int width);
+void NV12ToRGB565Row_AVX2(const uint8* src_y,
+                          const uint8* src_uv,
+                          uint8* dst_argb,
+                          const struct YuvConstants* yuvconstants,
+                          int width);
+void NV21ToARGBRow_SSSE3(const uint8* src_y,
+                         const uint8* src_uv,
+                         uint8* dst_argb,
+                         const struct YuvConstants* yuvconstants,
+                         int width);
+void NV21ToARGBRow_AVX2(const uint8* src_y,
+                        const uint8* src_uv,
+                        uint8* dst_argb,
+                        const struct YuvConstants* yuvconstants,
+                        int width);
+void YUY2ToARGBRow_SSSE3(const uint8* src_yuy2,
+                         uint8* dst_argb,
+                         const struct YuvConstants* yuvconstants,
+                         int width);
+void UYVYToARGBRow_SSSE3(const uint8* src_uyvy,
+                         uint8* dst_argb,
+                         const struct YuvConstants* yuvconstants,
+                         int width);
+void YUY2ToARGBRow_AVX2(const uint8* src_yuy2,
+                        uint8* dst_argb,
+                        const struct YuvConstants* yuvconstants,
+                        int width);
+void UYVYToARGBRow_AVX2(const uint8* src_uyvy,
+                        uint8* dst_argb,
+                        const struct YuvConstants* yuvconstants,
+                        int width);
+void I422ToRGBARow_SSSE3(const uint8* src_y,
+                         const uint8* src_u,
+                         const uint8* src_v,
+                         uint8* dst_rgba,
+                         const struct YuvConstants* yuvconstants,
+                         int width);
+void I422ToARGB4444Row_SSSE3(const uint8* src_y,
+                             const uint8* src_u,
+                             const uint8* src_v,
+                             uint8* dst_argb,
+                             const struct YuvConstants* yuvconstants,
+                             int width);
+void I422ToARGB4444Row_AVX2(const uint8* src_y,
+                            const uint8* src_u,
+                            const uint8* src_v,
+                            uint8* dst_argb,
+                            const struct YuvConstants* yuvconstants,
+                            int width);
+void I422ToARGB1555Row_SSSE3(const uint8* src_y,
+                             const uint8* src_u,
+                             const uint8* src_v,
+                             uint8* dst_argb,
+                             const struct YuvConstants* yuvconstants,
+                             int width);
+void I422ToARGB1555Row_AVX2(const uint8* src_y,
+                            const uint8* src_u,
+                            const uint8* src_v,
+                            uint8* dst_argb,
+                            const struct YuvConstants* yuvconstants,
+                            int width);
+void I422ToRGB565Row_SSSE3(const uint8* src_y,
+                           const uint8* src_u,
+                           const uint8* src_v,
+                           uint8* dst_argb,
+                           const struct YuvConstants* yuvconstants,
+                           int width);
+void I422ToRGB565Row_AVX2(const uint8* src_y,
+                          const uint8* src_u,
+                          const uint8* src_v,
+                          uint8* dst_argb,
+                          const struct YuvConstants* yuvconstants,
+                          int width);
+void I422ToRGB24Row_SSSE3(const uint8* src_y,
+                          const uint8* src_u,
+                          const uint8* src_v,
+                          uint8* dst_rgb24,
+                          const struct YuvConstants* yuvconstants,
+                          int width);
+void I422ToRGB24Row_AVX2(const uint8* src_y,
+                         const uint8* src_u,
+                         const uint8* src_v,
+                         uint8* dst_rgb24,
+                         const struct YuvConstants* yuvconstants,
+                         int width);
+void I422ToARGBRow_Any_AVX2(const uint8* src_y,
+                            const uint8* src_u,
+                            const uint8* src_v,
+                            uint8* dst_argb,
+                            const struct YuvConstants* yuvconstants,
+                            int width);
+void I422ToRGBARow_Any_AVX2(const uint8* src_y,
+                            const uint8* src_u,
+                            const uint8* src_v,
+                            uint8* dst_argb,
+                            const struct YuvConstants* yuvconstants,
+                            int width);
+void I444ToARGBRow_Any_SSSE3(const uint8* src_y,
+                             const uint8* src_u,
+                             const uint8* src_v,
+                             uint8* dst_argb,
+                             const struct YuvConstants* yuvconstants,
+                             int width);
+void I444ToARGBRow_Any_AVX2(const uint8* src_y,
+                            const uint8* src_u,
+                            const uint8* src_v,
+                            uint8* dst_argb,
+                            const struct YuvConstants* yuvconstants,
+                            int width);
+void I422ToARGBRow_Any_SSSE3(const uint8* src_y,
+                             const uint8* src_u,
+                             const uint8* src_v,
+                             uint8* dst_argb,
+                             const struct YuvConstants* yuvconstants,
+                             int width);
+void I422AlphaToARGBRow_Any_SSSE3(const uint8* y_buf,
+                                  const uint8* u_buf,
+                                  const uint8* v_buf,
+                                  const uint8* a_buf,
+                                  uint8* dst_argb,
+                                  const struct YuvConstants* yuvconstants,
+                                  int width);
+void I422AlphaToARGBRow_Any_AVX2(const uint8* y_buf,
+                                 const uint8* u_buf,
+                                 const uint8* v_buf,
+                                 const uint8* a_buf,
+                                 uint8* dst_argb,
+                                 const struct YuvConstants* yuvconstants,
+                                 int width);
+void I411ToARGBRow_Any_SSSE3(const uint8* src_y,
+                             const uint8* src_u,
+                             const uint8* src_v,
+                             uint8* dst_argb,
+                             const struct YuvConstants* yuvconstants,
+                             int width);
+void I411ToARGBRow_Any_AVX2(const uint8* src_y,
+                            const uint8* src_u,
+                            const uint8* src_v,
+                            uint8* dst_argb,
+                            const struct YuvConstants* yuvconstants,
+                            int width);
+void NV12ToARGBRow_Any_SSSE3(const uint8* src_y,
+                             const uint8* src_uv,
+                             uint8* dst_argb,
+                             const struct YuvConstants* yuvconstants,
+                             int width);
+void NV12ToARGBRow_Any_AVX2(const uint8* src_y,
+                            const uint8* src_uv,
+                            uint8* dst_argb,
+                            const struct YuvConstants* yuvconstants,
+                            int width);
+void NV21ToARGBRow_Any_SSSE3(const uint8* src_y,
+                             const uint8* src_vu,
+                             uint8* dst_argb,
+                             const struct YuvConstants* yuvconstants,
+                             int width);
+void NV21ToARGBRow_Any_AVX2(const uint8* src_y,
+                            const uint8* src_vu,
+                            uint8* dst_argb,
+                            const struct YuvConstants* yuvconstants,
+                            int width);
+void NV12ToRGB565Row_Any_SSSE3(const uint8* src_y,
+                               const uint8* src_uv,
+                               uint8* dst_argb,
+                               const struct YuvConstants* yuvconstants,
+                               int width);
+void NV12ToRGB565Row_Any_AVX2(const uint8* src_y,
+                              const uint8* src_uv,
+                              uint8* dst_argb,
+                              const struct YuvConstants* yuvconstants,
+                              int width);
+void YUY2ToARGBRow_Any_SSSE3(const uint8* src_yuy2,
+                             uint8* dst_argb,
+                             const struct YuvConstants* yuvconstants,
+                             int width);
+void UYVYToARGBRow_Any_SSSE3(const uint8* src_uyvy,
+                             uint8* dst_argb,
+                             const struct YuvConstants* yuvconstants,
+                             int width);
+void YUY2ToARGBRow_Any_AVX2(const uint8* src_yuy2,
+                            uint8* dst_argb,
+                            const struct YuvConstants* yuvconstants,
+                            int width);
+void UYVYToARGBRow_Any_AVX2(const uint8* src_uyvy,
+                            uint8* dst_argb,
+                            const struct YuvConstants* yuvconstants,
+                            int width);
+void I422ToRGBARow_Any_SSSE3(const uint8* src_y,
+                             const uint8* src_u,
+                             const uint8* src_v,
+                             uint8* dst_rgba,
+                             const struct YuvConstants* yuvconstants,
+                             int width);
+void I422ToARGB4444Row_Any_SSSE3(const uint8* src_y,
+                                 const uint8* src_u,
+                                 const uint8* src_v,
+                                 uint8* dst_rgba,
+                                 const struct YuvConstants* yuvconstants,
+                                 int width);
+void I422ToARGB4444Row_Any_AVX2(const uint8* src_y,
+                                const uint8* src_u,
+                                const uint8* src_v,
+                                uint8* dst_rgba,
+                                const struct YuvConstants* yuvconstants,
+                                int width);
+void I422ToARGB1555Row_Any_SSSE3(const uint8* src_y,
+                                 const uint8* src_u,
+                                 const uint8* src_v,
+                                 uint8* dst_rgba,
+                                 const struct YuvConstants* yuvconstants,
+                                 int width);
+void I422ToARGB1555Row_Any_AVX2(const uint8* src_y,
+                                const uint8* src_u,
+                                const uint8* src_v,
+                                uint8* dst_rgba,
+                                const struct YuvConstants* yuvconstants,
+                                int width);
+void I422ToRGB565Row_Any_SSSE3(const uint8* src_y,
+                               const uint8* src_u,
+                               const uint8* src_v,
+                               uint8* dst_rgba,
+                               const struct YuvConstants* yuvconstants,
+                               int width);
+void I422ToRGB565Row_Any_AVX2(const uint8* src_y,
+                              const uint8* src_u,
+                              const uint8* src_v,
+                              uint8* dst_rgba,
+                              const struct YuvConstants* yuvconstants,
+                              int width);
+void I422ToRGB24Row_Any_SSSE3(const uint8* src_y,
+                              const uint8* src_u,
+                              const uint8* src_v,
+                              uint8* dst_argb,
+                              const struct YuvConstants* yuvconstants,
+                              int width);
+void I422ToRGB24Row_Any_AVX2(const uint8* src_y,
+                             const uint8* src_u,
+                             const uint8* src_v,
+                             uint8* dst_argb,
+                             const struct YuvConstants* yuvconstants,
+                             int width);
+
+void I400ToARGBRow_C(const uint8* src_y, uint8* dst_argb, int width);
+void I400ToARGBRow_SSE2(const uint8* src_y, uint8* dst_argb, int width);
+void I400ToARGBRow_AVX2(const uint8* src_y, uint8* dst_argb, int width);
+void I400ToARGBRow_NEON(const uint8* src_y, uint8* dst_argb, int width);
+void I400ToARGBRow_Any_SSE2(const uint8* src_y, uint8* dst_argb, int width);
+void I400ToARGBRow_Any_AVX2(const uint8* src_y, uint8* dst_argb, int width);
+void I400ToARGBRow_Any_NEON(const uint8* src_y, uint8* dst_argb, int width);
+
+// ARGB preattenuated alpha blend.
+void ARGBBlendRow_SSSE3(const uint8* src_argb, const uint8* src_argb1,
+                        uint8* dst_argb, int width);
+void ARGBBlendRow_NEON(const uint8* src_argb, const uint8* src_argb1,
+                       uint8* dst_argb, int width);
+void ARGBBlendRow_C(const uint8* src_argb, const uint8* src_argb1,
+                    uint8* dst_argb, int width);
+
+// Unattenuated planar alpha blend.
+void BlendPlaneRow_SSSE3(const uint8* src0, const uint8* src1,
+                         const uint8* alpha, uint8* dst, int width);
+void BlendPlaneRow_Any_SSSE3(const uint8* src0, const uint8* src1,
+                             const uint8* alpha, uint8* dst, int width);
+void BlendPlaneRow_AVX2(const uint8* src0, const uint8* src1,
+                        const uint8* alpha, uint8* dst, int width);
+void BlendPlaneRow_Any_AVX2(const uint8* src0, const uint8* src1,
+                            const uint8* alpha, uint8* dst, int width);
+void BlendPlaneRow_C(const uint8* src0, const uint8* src1,
+                     const uint8* alpha, uint8* dst, int width);
+
+// ARGB multiply images. Same API as Blend, but these require
+// pointer and width alignment for SSE2.
+void ARGBMultiplyRow_C(const uint8* src_argb, const uint8* src_argb1,
+                       uint8* dst_argb, int width);
+void ARGBMultiplyRow_SSE2(const uint8* src_argb, const uint8* src_argb1,
+                          uint8* dst_argb, int width);
+void ARGBMultiplyRow_Any_SSE2(const uint8* src_argb, const uint8* src_argb1,
+                              uint8* dst_argb, int width);
+void ARGBMultiplyRow_AVX2(const uint8* src_argb, const uint8* src_argb1,
+                          uint8* dst_argb, int width);
+void ARGBMultiplyRow_Any_AVX2(const uint8* src_argb, const uint8* src_argb1,
+                              uint8* dst_argb, int width);
+void ARGBMultiplyRow_NEON(const uint8* src_argb, const uint8* src_argb1,
+                          uint8* dst_argb, int width);
+void ARGBMultiplyRow_Any_NEON(const uint8* src_argb, const uint8* src_argb1,
+                              uint8* dst_argb, int width);
+
+// ARGB add images.
+void ARGBAddRow_C(const uint8* src_argb, const uint8* src_argb1,
+                  uint8* dst_argb, int width);
+void ARGBAddRow_SSE2(const uint8* src_argb, const uint8* src_argb1,
+                     uint8* dst_argb, int width);
+void ARGBAddRow_Any_SSE2(const uint8* src_argb, const uint8* src_argb1,
+                         uint8* dst_argb, int width);
+void ARGBAddRow_AVX2(const uint8* src_argb, const uint8* src_argb1,
+                     uint8* dst_argb, int width);
+void ARGBAddRow_Any_AVX2(const uint8* src_argb, const uint8* src_argb1,
+                         uint8* dst_argb, int width);
+void ARGBAddRow_NEON(const uint8* src_argb, const uint8* src_argb1,
+                     uint8* dst_argb, int width);
+void ARGBAddRow_Any_NEON(const uint8* src_argb, const uint8* src_argb1,
+                         uint8* dst_argb, int width);
+
+// ARGB subtract images. Same API as Blend, but these require
+// pointer and width alignment for SSE2.
+void ARGBSubtractRow_C(const uint8* src_argb, const uint8* src_argb1,
+                       uint8* dst_argb, int width);
+void ARGBSubtractRow_SSE2(const uint8* src_argb, const uint8* src_argb1,
+                          uint8* dst_argb, int width);
+void ARGBSubtractRow_Any_SSE2(const uint8* src_argb, const uint8* src_argb1,
+                              uint8* dst_argb, int width);
+void ARGBSubtractRow_AVX2(const uint8* src_argb, const uint8* src_argb1,
+                          uint8* dst_argb, int width);
+void ARGBSubtractRow_Any_AVX2(const uint8* src_argb, const uint8* src_argb1,
+                              uint8* dst_argb, int width);
+void ARGBSubtractRow_NEON(const uint8* src_argb, const uint8* src_argb1,
+                          uint8* dst_argb, int width);
+void ARGBSubtractRow_Any_NEON(const uint8* src_argb, const uint8* src_argb1,
+                              uint8* dst_argb, int width);
+
+void ARGBToRGB24Row_Any_SSSE3(const uint8* src_argb, uint8* dst_rgb, int width);
+void ARGBToRAWRow_Any_SSSE3(const uint8* src_argb, uint8* dst_rgb, int width);
+void ARGBToRGB565Row_Any_SSE2(const uint8* src_argb, uint8* dst_rgb, int width);
+void ARGBToARGB1555Row_Any_SSE2(const uint8* src_argb, uint8* dst_rgb,
+                                int width);
+void ARGBToARGB4444Row_Any_SSE2(const uint8* src_argb, uint8* dst_rgb,
+                                int width);
+
+void ARGBToRGB565DitherRow_Any_SSE2(const uint8* src_argb, uint8* dst_rgb,
+                                    const uint32 dither4, int width);
+void ARGBToRGB565DitherRow_Any_AVX2(const uint8* src_argb, uint8* dst_rgb,
+                                    const uint32 dither4, int width);
+
+void ARGBToRGB565Row_Any_AVX2(const uint8* src_argb, uint8* dst_rgb, int width);
+void ARGBToARGB1555Row_Any_AVX2(const uint8* src_argb, uint8* dst_rgb,
+                                int width);
+void ARGBToARGB4444Row_Any_AVX2(const uint8* src_argb, uint8* dst_rgb,
+                                int width);
+
+void ARGBToRGB24Row_Any_NEON(const uint8* src_argb, uint8* dst_rgb, int width);
+void ARGBToRAWRow_Any_NEON(const uint8* src_argb, uint8* dst_rgb, int width);
+void ARGBToRGB565Row_Any_NEON(const uint8* src_argb, uint8* dst_rgb, int width);
+void ARGBToARGB1555Row_Any_NEON(const uint8* src_argb, uint8* dst_rgb,
+                                int width);
+void ARGBToARGB4444Row_Any_NEON(const uint8* src_argb, uint8* dst_rgb,
+                                int width);
+void ARGBToRGB565DitherRow_Any_NEON(const uint8* src_argb, uint8* dst_rgb,
+                                    const uint32 dither4, int width);
+
+void I444ToARGBRow_Any_NEON(const uint8* src_y,
+                            const uint8* src_u,
+                            const uint8* src_v,
+                            uint8* dst_argb,
+                            const struct YuvConstants* yuvconstants,
+                            int width);
+void I422ToARGBRow_Any_NEON(const uint8* src_y,
+                            const uint8* src_u,
+                            const uint8* src_v,
+                            uint8* dst_argb,
+                            const struct YuvConstants* yuvconstants,
+                            int width);
+void I422AlphaToARGBRow_Any_NEON(const uint8* src_y,
+                                 const uint8* src_u,
+                                 const uint8* src_v,
+                                 const uint8* src_a,
+                                 uint8* dst_argb,
+                                 const struct YuvConstants* yuvconstants,
+                                 int width);
+void I411ToARGBRow_Any_NEON(const uint8* src_y,
+                            const uint8* src_u,
+                            const uint8* src_v,
+                            uint8* dst_argb,
+                            const struct YuvConstants* yuvconstants,
+                            int width);
+void I422ToRGBARow_Any_NEON(const uint8* src_y,
+                            const uint8* src_u,
+                            const uint8* src_v,
+                            uint8* dst_argb,
+                            const struct YuvConstants* yuvconstants,
+                            int width);
+void I422ToRGB24Row_Any_NEON(const uint8* src_y,
+                             const uint8* src_u,
+                             const uint8* src_v,
+                             uint8* dst_argb,
+                             const struct YuvConstants* yuvconstants,
+                             int width);
+void I422ToARGB4444Row_Any_NEON(const uint8* src_y,
+                                const uint8* src_u,
+                                const uint8* src_v,
+                                uint8* dst_argb,
+                                const struct YuvConstants* yuvconstants,
+                                int width);
+void I422ToARGB1555Row_Any_NEON(const uint8* src_y,
+                                const uint8* src_u,
+                                const uint8* src_v,
+                                uint8* dst_argb,
+                                const struct YuvConstants* yuvconstants,
+                                int width);
+void I422ToRGB565Row_Any_NEON(const uint8* src_y,
+                              const uint8* src_u,
+                              const uint8* src_v,
+                              uint8* dst_argb,
+                              const struct YuvConstants* yuvconstants,
+                              int width);
+void NV12ToARGBRow_Any_NEON(const uint8* src_y,
+                            const uint8* src_uv,
+                            uint8* dst_argb,
+                            const struct YuvConstants* yuvconstants,
+                            int width);
+void NV21ToARGBRow_Any_NEON(const uint8* src_y,
+                            const uint8* src_vu,
+                            uint8* dst_argb,
+                            const struct YuvConstants* yuvconstants,
+                            int width);
+void NV12ToRGB565Row_Any_NEON(const uint8* src_y,
+                              const uint8* src_uv,
+                              uint8* dst_argb,
+                              const struct YuvConstants* yuvconstants,
+                              int width);
+void YUY2ToARGBRow_Any_NEON(const uint8* src_yuy2,
+                            uint8* dst_argb,
+                            const struct YuvConstants* yuvconstants,
+                            int width);
+void UYVYToARGBRow_Any_NEON(const uint8* src_uyvy,
+                            uint8* dst_argb,
+                            const struct YuvConstants* yuvconstants,
+                            int width);
+void I422ToARGBRow_DSPR2(const uint8* src_y,
+                         const uint8* src_u,
+                         const uint8* src_v,
+                         uint8* dst_argb,
+                         const struct YuvConstants* yuvconstants,
+                         int width);
+void I422ToARGBRow_DSPR2(const uint8* src_y,
+                         const uint8* src_u,
+                         const uint8* src_v,
+                         uint8* dst_argb,
+                         const struct YuvConstants* yuvconstants,
+                         int width);
+
+void YUY2ToYRow_AVX2(const uint8* src_yuy2, uint8* dst_y, int width);
+void YUY2ToUVRow_AVX2(const uint8* src_yuy2, int stride_yuy2,
+                      uint8* dst_u, uint8* dst_v, int width);
+void YUY2ToUV422Row_AVX2(const uint8* src_yuy2,
+                         uint8* dst_u, uint8* dst_v, int width);
+void YUY2ToYRow_SSE2(const uint8* src_yuy2, uint8* dst_y, int width);
+void YUY2ToUVRow_SSE2(const uint8* src_yuy2, int stride_yuy2,
+                      uint8* dst_u, uint8* dst_v, int width);
+void YUY2ToUV422Row_SSE2(const uint8* src_yuy2,
+                         uint8* dst_u, uint8* dst_v, int width);
+void YUY2ToYRow_NEON(const uint8* src_yuy2, uint8* dst_y, int width);
+void YUY2ToUVRow_NEON(const uint8* src_yuy2, int stride_yuy2,
+                      uint8* dst_u, uint8* dst_v, int width);
+void YUY2ToUV422Row_NEON(const uint8* src_yuy2,
+                         uint8* dst_u, uint8* dst_v, int width);
+void YUY2ToYRow_C(const uint8* src_yuy2, uint8* dst_y, int width);
+void YUY2ToUVRow_C(const uint8* src_yuy2, int stride_yuy2,
+                   uint8* dst_u, uint8* dst_v, int width);
+void YUY2ToUV422Row_C(const uint8* src_yuy2,
+                      uint8* dst_u, uint8* dst_v, int width);
+void YUY2ToYRow_Any_AVX2(const uint8* src_yuy2, uint8* dst_y, int width);
+void YUY2ToUVRow_Any_AVX2(const uint8* src_yuy2, int stride_yuy2,
+                          uint8* dst_u, uint8* dst_v, int width);
+void YUY2ToUV422Row_Any_AVX2(const uint8* src_yuy2,
+                             uint8* dst_u, uint8* dst_v, int width);
+void YUY2ToYRow_Any_SSE2(const uint8* src_yuy2, uint8* dst_y, int width);
+void YUY2ToUVRow_Any_SSE2(const uint8* src_yuy2, int stride_yuy2,
+                          uint8* dst_u, uint8* dst_v, int width);
+void YUY2ToUV422Row_Any_SSE2(const uint8* src_yuy2,
+                             uint8* dst_u, uint8* dst_v, int width);
+void YUY2ToYRow_Any_NEON(const uint8* src_yuy2, uint8* dst_y, int width);
+void YUY2ToUVRow_Any_NEON(const uint8* src_yuy2, int stride_yuy2,
+                          uint8* dst_u, uint8* dst_v, int width);
+void YUY2ToUV422Row_Any_NEON(const uint8* src_yuy2,
+                             uint8* dst_u, uint8* dst_v, int width);
+void UYVYToYRow_AVX2(const uint8* src_uyvy, uint8* dst_y, int width);
+void UYVYToUVRow_AVX2(const uint8* src_uyvy, int stride_uyvy,
+                      uint8* dst_u, uint8* dst_v, int width);
+void UYVYToUV422Row_AVX2(const uint8* src_uyvy,
+                         uint8* dst_u, uint8* dst_v, int width);
+void UYVYToYRow_SSE2(const uint8* src_uyvy, uint8* dst_y, int width);
+void UYVYToUVRow_SSE2(const uint8* src_uyvy, int stride_uyvy,
+                      uint8* dst_u, uint8* dst_v, int width);
+void UYVYToUV422Row_SSE2(const uint8* src_uyvy,
+                         uint8* dst_u, uint8* dst_v, int width);
+void UYVYToYRow_AVX2(const uint8* src_uyvy, uint8* dst_y, int width);
+void UYVYToUVRow_AVX2(const uint8* src_uyvy, int stride_uyvy,
+                      uint8* dst_u, uint8* dst_v, int width);
+void UYVYToUV422Row_AVX2(const uint8* src_uyvy,
+                         uint8* dst_u, uint8* dst_v, int width);
+void UYVYToYRow_NEON(const uint8* src_uyvy, uint8* dst_y, int width);
+void UYVYToUVRow_NEON(const uint8* src_uyvy, int stride_uyvy,
+                      uint8* dst_u, uint8* dst_v, int width);
+void UYVYToUV422Row_NEON(const uint8* src_uyvy,
+                         uint8* dst_u, uint8* dst_v, int width);
+
+void UYVYToYRow_C(const uint8* src_uyvy, uint8* dst_y, int width);
+void UYVYToUVRow_C(const uint8* src_uyvy, int stride_uyvy,
+                   uint8* dst_u, uint8* dst_v, int width);
+void UYVYToUV422Row_C(const uint8* src_uyvy,
+                      uint8* dst_u, uint8* dst_v, int width);
+void UYVYToYRow_Any_AVX2(const uint8* src_uyvy, uint8* dst_y, int width);
+void UYVYToUVRow_Any_AVX2(const uint8* src_uyvy, int stride_uyvy,
+                          uint8* dst_u, uint8* dst_v, int width);
+void UYVYToUV422Row_Any_AVX2(const uint8* src_uyvy,
+                             uint8* dst_u, uint8* dst_v, int width);
+void UYVYToYRow_Any_SSE2(const uint8* src_uyvy, uint8* dst_y, int width);
+void UYVYToUVRow_Any_SSE2(const uint8* src_uyvy, int stride_uyvy,
+                          uint8* dst_u, uint8* dst_v, int width);
+void UYVYToUV422Row_Any_SSE2(const uint8* src_uyvy,
+                             uint8* dst_u, uint8* dst_v, int width);
+void UYVYToYRow_Any_NEON(const uint8* src_uyvy, uint8* dst_y, int width);
+void UYVYToUVRow_Any_NEON(const uint8* src_uyvy, int stride_uyvy,
+                          uint8* dst_u, uint8* dst_v, int width);
+void UYVYToUV422Row_Any_NEON(const uint8* src_uyvy,
+                             uint8* dst_u, uint8* dst_v, int width);
+
+void I422ToYUY2Row_C(const uint8* src_y,
+                     const uint8* src_u,
+                     const uint8* src_v,
+                     uint8* dst_yuy2, int width);
+void I422ToUYVYRow_C(const uint8* src_y,
+                     const uint8* src_u,
+                     const uint8* src_v,
+                     uint8* dst_uyvy, int width);
+void I422ToYUY2Row_SSE2(const uint8* src_y,
+                        const uint8* src_u,
+                        const uint8* src_v,
+                        uint8* dst_yuy2, int width);
+void I422ToUYVYRow_SSE2(const uint8* src_y,
+                        const uint8* src_u,
+                        const uint8* src_v,
+                        uint8* dst_uyvy, int width);
+void I422ToYUY2Row_Any_SSE2(const uint8* src_y,
+                            const uint8* src_u,
+                            const uint8* src_v,
+                            uint8* dst_yuy2, int width);
+void I422ToUYVYRow_Any_SSE2(const uint8* src_y,
+                            const uint8* src_u,
+                            const uint8* src_v,
+                            uint8* dst_uyvy, int width);
+void I422ToYUY2Row_NEON(const uint8* src_y,
+                        const uint8* src_u,
+                        const uint8* src_v,
+                        uint8* dst_yuy2, int width);
+void I422ToUYVYRow_NEON(const uint8* src_y,
+                        const uint8* src_u,
+                        const uint8* src_v,
+                        uint8* dst_uyvy, int width);
+void I422ToYUY2Row_Any_NEON(const uint8* src_y,
+                            const uint8* src_u,
+                            const uint8* src_v,
+                            uint8* dst_yuy2, int width);
+void I422ToUYVYRow_Any_NEON(const uint8* src_y,
+                            const uint8* src_u,
+                            const uint8* src_v,
+                            uint8* dst_uyvy, int width);
+
+// Effects related row functions.
+void ARGBAttenuateRow_C(const uint8* src_argb, uint8* dst_argb, int width);
+void ARGBAttenuateRow_SSSE3(const uint8* src_argb, uint8* dst_argb, int width);
+void ARGBAttenuateRow_AVX2(const uint8* src_argb, uint8* dst_argb, int width);
+void ARGBAttenuateRow_NEON(const uint8* src_argb, uint8* dst_argb, int width);
+void ARGBAttenuateRow_Any_SSE2(const uint8* src_argb, uint8* dst_argb,
+                               int width);
+void ARGBAttenuateRow_Any_SSSE3(const uint8* src_argb, uint8* dst_argb,
+                                int width);
+void ARGBAttenuateRow_Any_AVX2(const uint8* src_argb, uint8* dst_argb,
+                               int width);
+void ARGBAttenuateRow_Any_NEON(const uint8* src_argb, uint8* dst_argb,
+                               int width);
+
+// Inverse table for unattenuate, shared by C and SSE2.
+extern const uint32 fixed_invtbl8[256];
+void ARGBUnattenuateRow_C(const uint8* src_argb, uint8* dst_argb, int width);
+void ARGBUnattenuateRow_SSE2(const uint8* src_argb, uint8* dst_argb, int width);
+void ARGBUnattenuateRow_AVX2(const uint8* src_argb, uint8* dst_argb, int width);
+void ARGBUnattenuateRow_Any_SSE2(const uint8* src_argb, uint8* dst_argb,
+                                 int width);
+void ARGBUnattenuateRow_Any_AVX2(const uint8* src_argb, uint8* dst_argb,
+                                 int width);
+
+void ARGBGrayRow_C(const uint8* src_argb, uint8* dst_argb, int width);
+void ARGBGrayRow_SSSE3(const uint8* src_argb, uint8* dst_argb, int width);
+void ARGBGrayRow_NEON(const uint8* src_argb, uint8* dst_argb, int width);
+
+void ARGBSepiaRow_C(uint8* dst_argb, int width);
+void ARGBSepiaRow_SSSE3(uint8* dst_argb, int width);
+void ARGBSepiaRow_NEON(uint8* dst_argb, int width);
+
+void ARGBColorMatrixRow_C(const uint8* src_argb, uint8* dst_argb,
+                          const int8* matrix_argb, int width);
+void ARGBColorMatrixRow_SSSE3(const uint8* src_argb, uint8* dst_argb,
+                              const int8* matrix_argb, int width);
+void ARGBColorMatrixRow_NEON(const uint8* src_argb, uint8* dst_argb,
+                             const int8* matrix_argb, int width);
+
+void ARGBColorTableRow_C(uint8* dst_argb, const uint8* table_argb, int width);
+void ARGBColorTableRow_X86(uint8* dst_argb, const uint8* table_argb, int width);
+
+void RGBColorTableRow_C(uint8* dst_argb, const uint8* table_argb, int width);
+void RGBColorTableRow_X86(uint8* dst_argb, const uint8* table_argb, int width);
+
+void ARGBQuantizeRow_C(uint8* dst_argb, int scale, int interval_size,
+                       int interval_offset, int width);
+void ARGBQuantizeRow_SSE2(uint8* dst_argb, int scale, int interval_size,
+                          int interval_offset, int width);
+void ARGBQuantizeRow_NEON(uint8* dst_argb, int scale, int interval_size,
+                          int interval_offset, int width);
+
+void ARGBShadeRow_C(const uint8* src_argb, uint8* dst_argb, int width,
+                    uint32 value);
+void ARGBShadeRow_SSE2(const uint8* src_argb, uint8* dst_argb, int width,
+                       uint32 value);
+void ARGBShadeRow_NEON(const uint8* src_argb, uint8* dst_argb, int width,
+                       uint32 value);
+
+// Used for blur.
+void CumulativeSumToAverageRow_SSE2(const int32* topleft, const int32* botleft,
+                                    int width, int area, uint8* dst, int count);
+void ComputeCumulativeSumRow_SSE2(const uint8* row, int32* cumsum,
+                                  const int32* previous_cumsum, int width);
+
+void CumulativeSumToAverageRow_C(const int32* topleft, const int32* botleft,
+                                 int width, int area, uint8* dst, int count);
+void ComputeCumulativeSumRow_C(const uint8* row, int32* cumsum,
+                               const int32* previous_cumsum, int width);
+
+LIBYUV_API
+void ARGBAffineRow_C(const uint8* src_argb, int src_argb_stride,
+                     uint8* dst_argb, const float* uv_dudv, int width);
+LIBYUV_API
+void ARGBAffineRow_SSE2(const uint8* src_argb, int src_argb_stride,
+                        uint8* dst_argb, const float* uv_dudv, int width);
+
+// Used for I420Scale, ARGBScale, and ARGBInterpolate.
+void InterpolateRow_C(uint8* dst_ptr, const uint8* src_ptr,
+                      ptrdiff_t src_stride_ptr,
+                      int width, int source_y_fraction);
+void InterpolateRow_SSSE3(uint8* dst_ptr, const uint8* src_ptr,
+                          ptrdiff_t src_stride_ptr, int width,
+                          int source_y_fraction);
+void InterpolateRow_AVX2(uint8* dst_ptr, const uint8* src_ptr,
+                         ptrdiff_t src_stride_ptr, int width,
+                         int source_y_fraction);
+void InterpolateRow_NEON(uint8* dst_ptr, const uint8* src_ptr,
+                         ptrdiff_t src_stride_ptr, int width,
+                         int source_y_fraction);
+void InterpolateRow_DSPR2(uint8* dst_ptr, const uint8* src_ptr,
+                          ptrdiff_t src_stride_ptr, int width,
+                          int source_y_fraction);
+void InterpolateRow_Any_NEON(uint8* dst_ptr, const uint8* src_ptr,
+                             ptrdiff_t src_stride_ptr, int width,
+                             int source_y_fraction);
+void InterpolateRow_Any_SSSE3(uint8* dst_ptr, const uint8* src_ptr,
+                              ptrdiff_t src_stride_ptr, int width,
+                              int source_y_fraction);
+void InterpolateRow_Any_AVX2(uint8* dst_ptr, const uint8* src_ptr,
+                             ptrdiff_t src_stride_ptr, int width,
+                             int source_y_fraction);
+void InterpolateRow_Any_DSPR2(uint8* dst_ptr, const uint8* src_ptr,
+                              ptrdiff_t src_stride_ptr, int width,
+                              int source_y_fraction);
+
+void InterpolateRow_16_C(uint16* dst_ptr, const uint16* src_ptr,
+                         ptrdiff_t src_stride_ptr,
+                         int width, int source_y_fraction);
+
+// Sobel images.
+void SobelXRow_C(const uint8* src_y0, const uint8* src_y1, const uint8* src_y2,
+                 uint8* dst_sobelx, int width);
+void SobelXRow_SSE2(const uint8* src_y0, const uint8* src_y1,
+                    const uint8* src_y2, uint8* dst_sobelx, int width);
+void SobelXRow_NEON(const uint8* src_y0, const uint8* src_y1,
+                    const uint8* src_y2, uint8* dst_sobelx, int width);
+void SobelYRow_C(const uint8* src_y0, const uint8* src_y1,
+                 uint8* dst_sobely, int width);
+void SobelYRow_SSE2(const uint8* src_y0, const uint8* src_y1,
+                    uint8* dst_sobely, int width);
+void SobelYRow_NEON(const uint8* src_y0, const uint8* src_y1,
+                    uint8* dst_sobely, int width);
+void SobelRow_C(const uint8* src_sobelx, const uint8* src_sobely,
+                uint8* dst_argb, int width);
+void SobelRow_SSE2(const uint8* src_sobelx, const uint8* src_sobely,
+                   uint8* dst_argb, int width);
+void SobelRow_NEON(const uint8* src_sobelx, const uint8* src_sobely,
+                   uint8* dst_argb, int width);
+void SobelToPlaneRow_C(const uint8* src_sobelx, const uint8* src_sobely,
+                       uint8* dst_y, int width);
+void SobelToPlaneRow_SSE2(const uint8* src_sobelx, const uint8* src_sobely,
+                          uint8* dst_y, int width);
+void SobelToPlaneRow_NEON(const uint8* src_sobelx, const uint8* src_sobely,
+                          uint8* dst_y, int width);
+void SobelXYRow_C(const uint8* src_sobelx, const uint8* src_sobely,
+                  uint8* dst_argb, int width);
+void SobelXYRow_SSE2(const uint8* src_sobelx, const uint8* src_sobely,
+                     uint8* dst_argb, int width);
+void SobelXYRow_NEON(const uint8* src_sobelx, const uint8* src_sobely,
+                     uint8* dst_argb, int width);
+void SobelRow_Any_SSE2(const uint8* src_sobelx, const uint8* src_sobely,
+                       uint8* dst_argb, int width);
+void SobelRow_Any_NEON(const uint8* src_sobelx, const uint8* src_sobely,
+                       uint8* dst_argb, int width);
+void SobelToPlaneRow_Any_SSE2(const uint8* src_sobelx, const uint8* src_sobely,
+                              uint8* dst_y, int width);
+void SobelToPlaneRow_Any_NEON(const uint8* src_sobelx, const uint8* src_sobely,
+                              uint8* dst_y, int width);
+void SobelXYRow_Any_SSE2(const uint8* src_sobelx, const uint8* src_sobely,
+                         uint8* dst_argb, int width);
+void SobelXYRow_Any_NEON(const uint8* src_sobelx, const uint8* src_sobely,
+                         uint8* dst_argb, int width);
+
+void ARGBPolynomialRow_C(const uint8* src_argb,
+                         uint8* dst_argb, const float* poly,
+                         int width);
+void ARGBPolynomialRow_SSE2(const uint8* src_argb,
+                            uint8* dst_argb, const float* poly,
+                            int width);
+void ARGBPolynomialRow_AVX2(const uint8* src_argb,
+                            uint8* dst_argb, const float* poly,
+                            int width);
+
+// Scale and convert to half float.
+void HalfFloatRow_C(const uint16* src, uint16* dst, float scale, int width);
+void HalfFloatRow_AVX2(const uint16* src, uint16* dst, float scale, int width);
+void HalfFloatRow_Any_AVX2(const uint16* src, uint16* dst, float scale,
+                           int width);
+void HalfFloatRow_SSE2(const uint16* src, uint16* dst, float scale, int width);
+void HalfFloatRow_Any_SSE2(const uint16* src, uint16* dst, float scale,
+                           int width);
+
+void ARGBLumaColorTableRow_C(const uint8* src_argb, uint8* dst_argb, int width,
+                             const uint8* luma, uint32 lumacoeff);
+void ARGBLumaColorTableRow_SSSE3(const uint8* src_argb, uint8* dst_argb,
+                                 int width,
+                                 const uint8* luma, uint32 lumacoeff);
+
+#ifdef __cplusplus
+}  // extern "C"
+}  // namespace libyuv
+#endif
+
+#endif  // INCLUDE_LIBYUV_ROW_H_
diff --git a/third_party/libyuv/include/libyuv/scale.h b/third_party/libyuv/include/libyuv/scale.h
new file mode 100644
index 0000000000..ae14694598
--- /dev/null
+++ b/third_party/libyuv/include/libyuv/scale.h
@@ -0,0 +1,103 @@
+/*
+ *  Copyright 2011 The LibYuv Project Authors. All rights reserved.
+ *
+ *  Use of this source code is governed by a BSD-style license
+ *  that can be found in the LICENSE file in the root of the source
+ *  tree. An additional intellectual property rights grant can be found
+ *  in the file PATENTS. All contributing project authors may
+ *  be found in the AUTHORS file in the root of the source tree.
+ */
+
+#ifndef INCLUDE_LIBYUV_SCALE_H_
+#define INCLUDE_LIBYUV_SCALE_H_
+
+#include "libyuv/basic_types.h"
+
+#ifdef __cplusplus
+namespace libyuv {
+extern "C" {
+#endif
+
+// Supported filtering.
+typedef enum FilterMode {
+  kFilterNone = 0,  // Point sample; Fastest.
+  kFilterLinear = 1,  // Filter horizontally only.
+  kFilterBilinear = 2,  // Faster than box, but lower quality scaling down.
+  kFilterBox = 3  // Highest quality.
+} FilterModeEnum;
+
+// Scale a YUV plane.
+LIBYUV_API
+void ScalePlane(const uint8* src, int src_stride,
+                int src_width, int src_height,
+                uint8* dst, int dst_stride,
+                int dst_width, int dst_height,
+                enum FilterMode filtering);
+
+LIBYUV_API
+void ScalePlane_16(const uint16* src, int src_stride,
+                   int src_width, int src_height,
+                   uint16* dst, int dst_stride,
+                   int dst_width, int dst_height,
+                   enum FilterMode filtering);
+
+// Scales a YUV 4:2:0 image from the src width and height to the
+// dst width and height.
+// If filtering is kFilterNone, a simple nearest-neighbor algorithm is
+// used. This produces basic (blocky) quality at the fastest speed.
+// If filtering is kFilterBilinear, interpolation is used to produce a better
+// quality image, at the expense of speed.
+// If filtering is kFilterBox, averaging is used to produce ever better
+// quality image, at further expense of speed.
+// Returns 0 if successful.
+
+LIBYUV_API
+int I420Scale(const uint8* src_y, int src_stride_y,
+              const uint8* src_u, int src_stride_u,
+              const uint8* src_v, int src_stride_v,
+              int src_width, int src_height,
+              uint8* dst_y, int dst_stride_y,
+              uint8* dst_u, int dst_stride_u,
+              uint8* dst_v, int dst_stride_v,
+              int dst_width, int dst_height,
+              enum FilterMode filtering);
+
+LIBYUV_API
+int I420Scale_16(const uint16* src_y, int src_stride_y,
+                 const uint16* src_u, int src_stride_u,
+                 const uint16* src_v, int src_stride_v,
+                 int src_width, int src_height,
+                 uint16* dst_y, int dst_stride_y,
+                 uint16* dst_u, int dst_stride_u,
+                 uint16* dst_v, int dst_stride_v,
+                 int dst_width, int dst_height,
+                 enum FilterMode filtering);
+
+#ifdef __cplusplus
+// Legacy API.  Deprecated.
+LIBYUV_API
+int Scale(const uint8* src_y, const uint8* src_u, const uint8* src_v,
+          int src_stride_y, int src_stride_u, int src_stride_v,
+          int src_width, int src_height,
+          uint8* dst_y, uint8* dst_u, uint8* dst_v,
+          int dst_stride_y, int dst_stride_u, int dst_stride_v,
+          int dst_width, int dst_height,
+          LIBYUV_BOOL interpolate);
+
+// Legacy API.  Deprecated.
+LIBYUV_API
+int ScaleOffset(const uint8* src_i420, int src_width, int src_height,
+                uint8* dst_i420, int dst_width, int dst_height, int dst_yoffset,
+                LIBYUV_BOOL interpolate);
+
+// For testing, allow disabling of specialized scalers.
+LIBYUV_API
+void SetUseReferenceImpl(LIBYUV_BOOL use);
+#endif  // __cplusplus
+
+#ifdef __cplusplus
+}  // extern "C"
+}  // namespace libyuv
+#endif
+
+#endif  // INCLUDE_LIBYUV_SCALE_H_
diff --git a/third_party/libyuv/include/libyuv/scale_argb.h b/third_party/libyuv/include/libyuv/scale_argb.h
new file mode 100644
index 0000000000..35cd191c0f
--- /dev/null
+++ b/third_party/libyuv/include/libyuv/scale_argb.h
@@ -0,0 +1,56 @@
+/*
+ *  Copyright 2012 The LibYuv Project Authors. All rights reserved.
+ *
+ *  Use of this source code is governed by a BSD-style license
+ *  that can be found in the LICENSE file in the root of the source
+ *  tree. An additional intellectual property rights grant can be found
+ *  in the file PATENTS. All contributing project authors may
+ *  be found in the AUTHORS file in the root of the source tree.
+ */
+
+#ifndef INCLUDE_LIBYUV_SCALE_ARGB_H_
+#define INCLUDE_LIBYUV_SCALE_ARGB_H_
+
+#include "libyuv/basic_types.h"
+#include "libyuv/scale.h"  // For FilterMode
+
+#ifdef __cplusplus
+namespace libyuv {
+extern "C" {
+#endif
+
+LIBYUV_API
+int ARGBScale(const uint8* src_argb, int src_stride_argb,
+              int src_width, int src_height,
+              uint8* dst_argb, int dst_stride_argb,
+              int dst_width, int dst_height,
+              enum FilterMode filtering);
+
+// Clipped scale takes destination rectangle coordinates for clip values.
+LIBYUV_API
+int ARGBScaleClip(const uint8* src_argb, int src_stride_argb,
+                  int src_width, int src_height,
+                  uint8* dst_argb, int dst_stride_argb,
+                  int dst_width, int dst_height,
+                  int clip_x, int clip_y, int clip_width, int clip_height,
+                  enum FilterMode filtering);
+
+// Scale with YUV conversion to ARGB and clipping.
+LIBYUV_API
+int YUVToARGBScaleClip(const uint8* src_y, int src_stride_y,
+                       const uint8* src_u, int src_stride_u,
+                       const uint8* src_v, int src_stride_v,
+                       uint32 src_fourcc,
+                       int src_width, int src_height,
+                       uint8* dst_argb, int dst_stride_argb,
+                       uint32 dst_fourcc,
+                       int dst_width, int dst_height,
+                       int clip_x, int clip_y, int clip_width, int clip_height,
+                       enum FilterMode filtering);
+
+#ifdef __cplusplus
+}  // extern "C"
+}  // namespace libyuv
+#endif
+
+#endif  // INCLUDE_LIBYUV_SCALE_ARGB_H_
diff --git a/third_party/libyuv/include/libyuv/scale_row.h b/third_party/libyuv/include/libyuv/scale_row.h
new file mode 100644
index 0000000000..791fbf7d05
--- /dev/null
+++ b/third_party/libyuv/include/libyuv/scale_row.h
@@ -0,0 +1,503 @@
+/*
+ *  Copyright 2013 The LibYuv Project Authors. All rights reserved.
+ *
+ *  Use of this source code is governed by a BSD-style license
+ *  that can be found in the LICENSE file in the root of the source
+ *  tree. An additional intellectual property rights grant can be found
+ *  in the file PATENTS. All contributing project authors may
+ *  be found in the AUTHORS file in the root of the source tree.
+ */
+
+#ifndef INCLUDE_LIBYUV_SCALE_ROW_H_
+#define INCLUDE_LIBYUV_SCALE_ROW_H_
+
+#include "libyuv/basic_types.h"
+#include "libyuv/scale.h"
+
+#ifdef __cplusplus
+namespace libyuv {
+extern "C" {
+#endif
+
+#if defined(__pnacl__) || defined(__CLR_VER) || \
+    (defined(__i386__) && !defined(__SSE2__))
+#define LIBYUV_DISABLE_X86
+#endif
+// MemorySanitizer does not support assembly code yet. http://crbug.com/344505
+#if defined(__has_feature)
+#if __has_feature(memory_sanitizer)
+#define LIBYUV_DISABLE_X86
+#endif
+#endif
+
+// GCC >= 4.7.0 required for AVX2.
+#if defined(__GNUC__) && (defined(__x86_64__) || defined(__i386__))
+#if (__GNUC__ > 4) || (__GNUC__ == 4 && (__GNUC_MINOR__ >= 7))
+#define GCC_HAS_AVX2 1
+#endif  // GNUC >= 4.7
+#endif  // __GNUC__
+
+// clang >= 3.4.0 required for AVX2.
+#if defined(__clang__) && (defined(__x86_64__) || defined(__i386__))
+#if (__clang_major__ > 3) || (__clang_major__ == 3 && (__clang_minor__ >= 4))
+#define CLANG_HAS_AVX2 1
+#endif  // clang >= 3.4
+#endif  // __clang__
+
+// Visual C 2012 required for AVX2.
+#if defined(_M_IX86) && !defined(__clang__) && \
+    defined(_MSC_VER) && _MSC_VER >= 1700
+#define VISUALC_HAS_AVX2 1
+#endif  // VisualStudio >= 2012
+
+// The following are available on all x86 platforms:
+#if !defined(LIBYUV_DISABLE_X86) && \
+    (defined(_M_IX86) || defined(__x86_64__) || defined(__i386__))
+#define HAS_FIXEDDIV1_X86
+#define HAS_FIXEDDIV_X86
+#define HAS_SCALEARGBCOLS_SSE2
+#define HAS_SCALEARGBCOLSUP2_SSE2
+#define HAS_SCALEARGBFILTERCOLS_SSSE3
+#define HAS_SCALEARGBROWDOWN2_SSE2
+#define HAS_SCALEARGBROWDOWNEVEN_SSE2
+#define HAS_SCALECOLSUP2_SSE2
+#define HAS_SCALEFILTERCOLS_SSSE3
+#define HAS_SCALEROWDOWN2_SSSE3
+#define HAS_SCALEROWDOWN34_SSSE3
+#define HAS_SCALEROWDOWN38_SSSE3
+#define HAS_SCALEROWDOWN4_SSSE3
+#define HAS_SCALEADDROW_SSE2
+#endif
+
+// The following are available on all x86 platforms, but
+// require VS2012, clang 3.4 or gcc 4.7.
+// The code supports NaCL but requires a new compiler and validator.
+#if !defined(LIBYUV_DISABLE_X86) && (defined(VISUALC_HAS_AVX2) || \
+    defined(CLANG_HAS_AVX2) || defined(GCC_HAS_AVX2))
+#define HAS_SCALEADDROW_AVX2
+#define HAS_SCALEROWDOWN2_AVX2
+#define HAS_SCALEROWDOWN4_AVX2
+#endif
+
+// The following are available on Neon platforms:
+#if !defined(LIBYUV_DISABLE_NEON) && !defined(__native_client__) && \
+    (defined(__ARM_NEON__) || defined(LIBYUV_NEON) || defined(__aarch64__))
+#define HAS_SCALEARGBCOLS_NEON
+#define HAS_SCALEARGBROWDOWN2_NEON
+#define HAS_SCALEARGBROWDOWNEVEN_NEON
+#define HAS_SCALEFILTERCOLS_NEON
+#define HAS_SCALEROWDOWN2_NEON
+#define HAS_SCALEROWDOWN34_NEON
+#define HAS_SCALEROWDOWN38_NEON
+#define HAS_SCALEROWDOWN4_NEON
+#define HAS_SCALEARGBFILTERCOLS_NEON
+#endif
+
+// The following are available on Mips platforms:
+#if !defined(LIBYUV_DISABLE_MIPS) && !defined(__native_client__) && \
+    defined(__mips__) && defined(__mips_dsp) && (__mips_dsp_rev >= 2)
+#define HAS_SCALEROWDOWN2_DSPR2
+#define HAS_SCALEROWDOWN4_DSPR2
+#define HAS_SCALEROWDOWN34_DSPR2
+#define HAS_SCALEROWDOWN38_DSPR2
+#endif
+
+// Scale ARGB vertically with bilinear interpolation.
+void ScalePlaneVertical(int src_height,
+                        int dst_width, int dst_height,
+                        int src_stride, int dst_stride,
+                        const uint8* src_argb, uint8* dst_argb,
+                        int x, int y, int dy,
+                        int bpp, enum FilterMode filtering);
+
+void ScalePlaneVertical_16(int src_height,
+                           int dst_width, int dst_height,
+                           int src_stride, int dst_stride,
+                           const uint16* src_argb, uint16* dst_argb,
+                           int x, int y, int dy,
+                           int wpp, enum FilterMode filtering);
+
+// Simplify the filtering based on scale factors.
+enum FilterMode ScaleFilterReduce(int src_width, int src_height,
+                                  int dst_width, int dst_height,
+                                  enum FilterMode filtering);
+
+// Divide num by div and return as 16.16 fixed point result.
+int FixedDiv_C(int num, int div);
+int FixedDiv_X86(int num, int div);
+// Divide num - 1 by div - 1 and return as 16.16 fixed point result.
+int FixedDiv1_C(int num, int div);
+int FixedDiv1_X86(int num, int div);
+#ifdef HAS_FIXEDDIV_X86
+#define FixedDiv FixedDiv_X86
+#define FixedDiv1 FixedDiv1_X86
+#else
+#define FixedDiv FixedDiv_C
+#define FixedDiv1 FixedDiv1_C
+#endif
+
+// Compute slope values for stepping.
+void ScaleSlope(int src_width, int src_height,
+                int dst_width, int dst_height,
+                enum FilterMode filtering,
+                int* x, int* y, int* dx, int* dy);
+
+void ScaleRowDown2_C(const uint8* src_ptr, ptrdiff_t src_stride,
+                     uint8* dst, int dst_width);
+void ScaleRowDown2_16_C(const uint16* src_ptr, ptrdiff_t src_stride,
+                        uint16* dst, int dst_width);
+void ScaleRowDown2Linear_C(const uint8* src_ptr, ptrdiff_t src_stride,
+                           uint8* dst, int dst_width);
+void ScaleRowDown2Linear_16_C(const uint16* src_ptr, ptrdiff_t src_stride,
+                              uint16* dst, int dst_width);
+void ScaleRowDown2Box_C(const uint8* src_ptr, ptrdiff_t src_stride,
+                        uint8* dst, int dst_width);
+void ScaleRowDown2Box_Odd_C(const uint8* src_ptr, ptrdiff_t src_stride,
+                            uint8* dst, int dst_width);
+void ScaleRowDown2Box_16_C(const uint16* src_ptr, ptrdiff_t src_stride,
+                           uint16* dst, int dst_width);
+void ScaleRowDown4_C(const uint8* src_ptr, ptrdiff_t src_stride,
+                     uint8* dst, int dst_width);
+void ScaleRowDown4_16_C(const uint16* src_ptr, ptrdiff_t src_stride,
+                        uint16* dst, int dst_width);
+void ScaleRowDown4Box_C(const uint8* src_ptr, ptrdiff_t src_stride,
+                        uint8* dst, int dst_width);
+void ScaleRowDown4Box_16_C(const uint16* src_ptr, ptrdiff_t src_stride,
+                           uint16* dst, int dst_width);
+void ScaleRowDown34_C(const uint8* src_ptr, ptrdiff_t src_stride,
+                      uint8* dst, int dst_width);
+void ScaleRowDown34_16_C(const uint16* src_ptr, ptrdiff_t src_stride,
+                         uint16* dst, int dst_width);
+void ScaleRowDown34_0_Box_C(const uint8* src_ptr, ptrdiff_t src_stride,
+                            uint8* d, int dst_width);
+void ScaleRowDown34_0_Box_16_C(const uint16* src_ptr, ptrdiff_t src_stride,
+                               uint16* d, int dst_width);
+void ScaleRowDown34_1_Box_C(const uint8* src_ptr, ptrdiff_t src_stride,
+                            uint8* d, int dst_width);
+void ScaleRowDown34_1_Box_16_C(const uint16* src_ptr, ptrdiff_t src_stride,
+                               uint16* d, int dst_width);
+void ScaleCols_C(uint8* dst_ptr, const uint8* src_ptr,
+                 int dst_width, int x, int dx);
+void ScaleCols_16_C(uint16* dst_ptr, const uint16* src_ptr,
+                    int dst_width, int x, int dx);
+void ScaleColsUp2_C(uint8* dst_ptr, const uint8* src_ptr,
+                    int dst_width, int, int);
+void ScaleColsUp2_16_C(uint16* dst_ptr, const uint16* src_ptr,
+                       int dst_width, int, int);
+void ScaleFilterCols_C(uint8* dst_ptr, const uint8* src_ptr,
+                       int dst_width, int x, int dx);
+void ScaleFilterCols_16_C(uint16* dst_ptr, const uint16* src_ptr,
+                          int dst_width, int x, int dx);
+void ScaleFilterCols64_C(uint8* dst_ptr, const uint8* src_ptr,
+                         int dst_width, int x, int dx);
+void ScaleFilterCols64_16_C(uint16* dst_ptr, const uint16* src_ptr,
+                            int dst_width, int x, int dx);
+void ScaleRowDown38_C(const uint8* src_ptr, ptrdiff_t src_stride,
+                      uint8* dst, int dst_width);
+void ScaleRowDown38_16_C(const uint16* src_ptr, ptrdiff_t src_stride,
+                         uint16* dst, int dst_width);
+void ScaleRowDown38_3_Box_C(const uint8* src_ptr,
+                            ptrdiff_t src_stride,
+                            uint8* dst_ptr, int dst_width);
+void ScaleRowDown38_3_Box_16_C(const uint16* src_ptr,
+                               ptrdiff_t src_stride,
+                               uint16* dst_ptr, int dst_width);
+void ScaleRowDown38_2_Box_C(const uint8* src_ptr, ptrdiff_t src_stride,
+                            uint8* dst_ptr, int dst_width);
+void ScaleRowDown38_2_Box_16_C(const uint16* src_ptr, ptrdiff_t src_stride,
+                               uint16* dst_ptr, int dst_width);
+void ScaleAddRow_C(const uint8* src_ptr, uint16* dst_ptr, int src_width);
+void ScaleAddRow_16_C(const uint16* src_ptr, uint32* dst_ptr, int src_width);
+void ScaleARGBRowDown2_C(const uint8* src_argb,
+                         ptrdiff_t src_stride,
+                         uint8* dst_argb, int dst_width);
+void ScaleARGBRowDown2Linear_C(const uint8* src_argb,
+                               ptrdiff_t src_stride,
+                               uint8* dst_argb, int dst_width);
+void ScaleARGBRowDown2Box_C(const uint8* src_argb, ptrdiff_t src_stride,
+                            uint8* dst_argb, int dst_width);
+void ScaleARGBRowDownEven_C(const uint8* src_argb, ptrdiff_t src_stride,
+                            int src_stepx,
+                            uint8* dst_argb, int dst_width);
+void ScaleARGBRowDownEvenBox_C(const uint8* src_argb,
+                               ptrdiff_t src_stride,
+                               int src_stepx,
+                               uint8* dst_argb, int dst_width);
+void ScaleARGBCols_C(uint8* dst_argb, const uint8* src_argb,
+                     int dst_width, int x, int dx);
+void ScaleARGBCols64_C(uint8* dst_argb, const uint8* src_argb,
+                       int dst_width, int x, int dx);
+void ScaleARGBColsUp2_C(uint8* dst_argb, const uint8* src_argb,
+                        int dst_width, int, int);
+void ScaleARGBFilterCols_C(uint8* dst_argb, const uint8* src_argb,
+                           int dst_width, int x, int dx);
+void ScaleARGBFilterCols64_C(uint8* dst_argb, const uint8* src_argb,
+                             int dst_width, int x, int dx);
+
+// Specialized scalers for x86.
+void ScaleRowDown2_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride,
+                         uint8* dst_ptr, int dst_width);
+void ScaleRowDown2Linear_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride,
+                               uint8* dst_ptr, int dst_width);
+void ScaleRowDown2Box_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride,
+                            uint8* dst_ptr, int dst_width);
+void ScaleRowDown2_AVX2(const uint8* src_ptr, ptrdiff_t src_stride,
+                        uint8* dst_ptr, int dst_width);
+void ScaleRowDown2Linear_AVX2(const uint8* src_ptr, ptrdiff_t src_stride,
+                              uint8* dst_ptr, int dst_width);
+void ScaleRowDown2Box_AVX2(const uint8* src_ptr, ptrdiff_t src_stride,
+                           uint8* dst_ptr, int dst_width);
+void ScaleRowDown4_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride,
+                         uint8* dst_ptr, int dst_width);
+void ScaleRowDown4Box_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride,
+                            uint8* dst_ptr, int dst_width);
+void ScaleRowDown4_AVX2(const uint8* src_ptr, ptrdiff_t src_stride,
+                        uint8* dst_ptr, int dst_width);
+void ScaleRowDown4Box_AVX2(const uint8* src_ptr, ptrdiff_t src_stride,
+                           uint8* dst_ptr, int dst_width);
+
+void ScaleRowDown34_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride,
+                          uint8* dst_ptr, int dst_width);
+void ScaleRowDown34_1_Box_SSSE3(const uint8* src_ptr,
+                                ptrdiff_t src_stride,
+                                uint8* dst_ptr, int dst_width);
+void ScaleRowDown34_0_Box_SSSE3(const uint8* src_ptr,
+                                ptrdiff_t src_stride,
+                                uint8* dst_ptr, int dst_width);
+void ScaleRowDown38_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride,
+                          uint8* dst_ptr, int dst_width);
+void ScaleRowDown38_3_Box_SSSE3(const uint8* src_ptr,
+                                ptrdiff_t src_stride,
+                                uint8* dst_ptr, int dst_width);
+void ScaleRowDown38_2_Box_SSSE3(const uint8* src_ptr,
+                                ptrdiff_t src_stride,
+                                uint8* dst_ptr, int dst_width);
+void ScaleRowDown2_Any_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride,
+                             uint8* dst_ptr, int dst_width);
+void ScaleRowDown2Linear_Any_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride,
+                                   uint8* dst_ptr, int dst_width);
+void ScaleRowDown2Box_Any_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride,
+                                uint8* dst_ptr, int dst_width);
+void ScaleRowDown2Box_Odd_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride,
+                                uint8* dst_ptr, int dst_width);
+void ScaleRowDown2_Any_AVX2(const uint8* src_ptr, ptrdiff_t src_stride,
+                            uint8* dst_ptr, int dst_width);
+void ScaleRowDown2Linear_Any_AVX2(const uint8* src_ptr, ptrdiff_t src_stride,
+                                  uint8* dst_ptr, int dst_width);
+void ScaleRowDown2Box_Any_AVX2(const uint8* src_ptr, ptrdiff_t src_stride,
+                               uint8* dst_ptr, int dst_width);
+void ScaleRowDown2Box_Odd_AVX2(const uint8* src_ptr, ptrdiff_t src_stride,
+                               uint8* dst_ptr, int dst_width);
+void ScaleRowDown4_Any_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride,
+                             uint8* dst_ptr, int dst_width);
+void ScaleRowDown4Box_Any_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride,
+                                uint8* dst_ptr, int dst_width);
+void ScaleRowDown4_Any_AVX2(const uint8* src_ptr, ptrdiff_t src_stride,
+                            uint8* dst_ptr, int dst_width);
+void ScaleRowDown4Box_Any_AVX2(const uint8* src_ptr, ptrdiff_t src_stride,
+                               uint8* dst_ptr, int dst_width);
+
+void ScaleRowDown34_Any_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride,
+                              uint8* dst_ptr, int dst_width);
+void ScaleRowDown34_1_Box_Any_SSSE3(const uint8* src_ptr,
+                                    ptrdiff_t src_stride,
+                                    uint8* dst_ptr, int dst_width);
+void ScaleRowDown34_0_Box_Any_SSSE3(const uint8* src_ptr,
+                                    ptrdiff_t src_stride,
+                                    uint8* dst_ptr, int dst_width);
+void ScaleRowDown38_Any_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride,
+                              uint8* dst_ptr, int dst_width);
+void ScaleRowDown38_3_Box_Any_SSSE3(const uint8* src_ptr,
+                                    ptrdiff_t src_stride,
+                                    uint8* dst_ptr, int dst_width);
+void ScaleRowDown38_2_Box_Any_SSSE3(const uint8* src_ptr,
+                                    ptrdiff_t src_stride,
+                                    uint8* dst_ptr, int dst_width);
+
+void ScaleAddRow_SSE2(const uint8* src_ptr, uint16* dst_ptr, int src_width);
+void ScaleAddRow_AVX2(const uint8* src_ptr, uint16* dst_ptr, int src_width);
+void ScaleAddRow_Any_SSE2(const uint8* src_ptr, uint16* dst_ptr, int src_width);
+void ScaleAddRow_Any_AVX2(const uint8* src_ptr, uint16* dst_ptr, int src_width);
+
+void ScaleFilterCols_SSSE3(uint8* dst_ptr, const uint8* src_ptr,
+                           int dst_width, int x, int dx);
+void ScaleColsUp2_SSE2(uint8* dst_ptr, const uint8* src_ptr,
+                       int dst_width, int x, int dx);
+
+
+// ARGB Column functions
+void ScaleARGBCols_SSE2(uint8* dst_argb, const uint8* src_argb,
+                        int dst_width, int x, int dx);
+void ScaleARGBFilterCols_SSSE3(uint8* dst_argb, const uint8* src_argb,
+                               int dst_width, int x, int dx);
+void ScaleARGBColsUp2_SSE2(uint8* dst_argb, const uint8* src_argb,
+                           int dst_width, int x, int dx);
+void ScaleARGBFilterCols_NEON(uint8* dst_argb, const uint8* src_argb,
+                              int dst_width, int x, int dx);
+void ScaleARGBCols_NEON(uint8* dst_argb, const uint8* src_argb,
+                        int dst_width, int x, int dx);
+void ScaleARGBFilterCols_Any_NEON(uint8* dst_argb, const uint8* src_argb,
+                                  int dst_width, int x, int dx);
+void ScaleARGBCols_Any_NEON(uint8* dst_argb, const uint8* src_argb,
+                            int dst_width, int x, int dx);
+
+// ARGB Row functions
+void ScaleARGBRowDown2_SSE2(const uint8* src_argb, ptrdiff_t src_stride,
+                            uint8* dst_argb, int dst_width);
+void ScaleARGBRowDown2Linear_SSE2(const uint8* src_argb, ptrdiff_t src_stride,
+                                  uint8* dst_argb, int dst_width);
+void ScaleARGBRowDown2Box_SSE2(const uint8* src_argb, ptrdiff_t src_stride,
+                               uint8* dst_argb, int dst_width);
+void ScaleARGBRowDown2_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
+                            uint8* dst, int dst_width);
+void ScaleARGBRowDown2Linear_NEON(const uint8* src_argb, ptrdiff_t src_stride,
+                                  uint8* dst_argb, int dst_width);
+void ScaleARGBRowDown2Box_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
+                               uint8* dst, int dst_width);
+void ScaleARGBRowDown2_Any_SSE2(const uint8* src_argb, ptrdiff_t src_stride,
+                                uint8* dst_argb, int dst_width);
+void ScaleARGBRowDown2Linear_Any_SSE2(const uint8* src_argb,
+                                      ptrdiff_t src_stride,
+                                      uint8* dst_argb, int dst_width);
+void ScaleARGBRowDown2Box_Any_SSE2(const uint8* src_argb, ptrdiff_t src_stride,
+                                   uint8* dst_argb, int dst_width);
+void ScaleARGBRowDown2_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
+                                uint8* dst, int dst_width);
+void ScaleARGBRowDown2Linear_Any_NEON(const uint8* src_argb,
+                                      ptrdiff_t src_stride,
+                                      uint8* dst_argb, int dst_width);
+void ScaleARGBRowDown2Box_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
+                                   uint8* dst, int dst_width);
+
+void ScaleARGBRowDownEven_SSE2(const uint8* src_argb, ptrdiff_t src_stride,
+                               int src_stepx, uint8* dst_argb, int dst_width);
+void ScaleARGBRowDownEvenBox_SSE2(const uint8* src_argb, ptrdiff_t src_stride,
+                                  int src_stepx,
+                                  uint8* dst_argb, int dst_width);
+void ScaleARGBRowDownEven_NEON(const uint8* src_argb, ptrdiff_t src_stride,
+                               int src_stepx,
+                               uint8* dst_argb, int dst_width);
+void ScaleARGBRowDownEvenBox_NEON(const uint8* src_argb, ptrdiff_t src_stride,
+                                  int src_stepx,
+                                  uint8* dst_argb, int dst_width);
+void ScaleARGBRowDownEven_Any_SSE2(const uint8* src_argb, ptrdiff_t src_stride,
+                                   int src_stepx,
+                                   uint8* dst_argb, int dst_width);
+void ScaleARGBRowDownEvenBox_Any_SSE2(const uint8* src_argb,
+                                      ptrdiff_t src_stride,
+                                      int src_stepx,
+                                      uint8* dst_argb, int dst_width);
+void ScaleARGBRowDownEven_Any_NEON(const uint8* src_argb, ptrdiff_t src_stride,
+                                   int src_stepx,
+                                   uint8* dst_argb, int dst_width);
+void ScaleARGBRowDownEvenBox_Any_NEON(const uint8* src_argb,
+                                      ptrdiff_t src_stride,
+                                      int src_stepx,
+                                      uint8* dst_argb, int dst_width);
+
+// ScaleRowDown2Box also used by planar functions
+// NEON downscalers with interpolation.
+
+// Note - not static due to reuse in convert for 444 to 420.
+void ScaleRowDown2_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
+                        uint8* dst, int dst_width);
+void ScaleRowDown2Linear_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
+                              uint8* dst, int dst_width);
+void ScaleRowDown2Box_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
+                           uint8* dst, int dst_width);
+
+void ScaleRowDown4_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
+                        uint8* dst_ptr, int dst_width);
+void ScaleRowDown4Box_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
+                           uint8* dst_ptr, int dst_width);
+
+// Down scale from 4 to 3 pixels. Use the neon multilane read/write
+//  to load up the every 4th pixel into a 4 different registers.
+// Point samples 32 pixels to 24 pixels.
+void ScaleRowDown34_NEON(const uint8* src_ptr,
+                         ptrdiff_t src_stride,
+                         uint8* dst_ptr, int dst_width);
+void ScaleRowDown34_0_Box_NEON(const uint8* src_ptr,
+                               ptrdiff_t src_stride,
+                               uint8* dst_ptr, int dst_width);
+void ScaleRowDown34_1_Box_NEON(const uint8* src_ptr,
+                               ptrdiff_t src_stride,
+                               uint8* dst_ptr, int dst_width);
+
+// 32 -> 12
+void ScaleRowDown38_NEON(const uint8* src_ptr,
+                         ptrdiff_t src_stride,
+                         uint8* dst_ptr, int dst_width);
+// 32x3 -> 12x1
+void ScaleRowDown38_3_Box_NEON(const uint8* src_ptr,
+                               ptrdiff_t src_stride,
+                               uint8* dst_ptr, int dst_width);
+// 32x2 -> 12x1
+void ScaleRowDown38_2_Box_NEON(const uint8* src_ptr,
+                               ptrdiff_t src_stride,
+                               uint8* dst_ptr, int dst_width);
+
+void ScaleRowDown2_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
+                            uint8* dst, int dst_width);
+void ScaleRowDown2Linear_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
+                                  uint8* dst, int dst_width);
+void ScaleRowDown2Box_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
+                               uint8* dst, int dst_width);
+void ScaleRowDown2Box_Odd_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
+                               uint8* dst, int dst_width);
+void ScaleRowDown4_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
+                            uint8* dst_ptr, int dst_width);
+void ScaleRowDown4Box_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
+                               uint8* dst_ptr, int dst_width);
+void ScaleRowDown34_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
+                             uint8* dst_ptr, int dst_width);
+void ScaleRowDown34_0_Box_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
+                                   uint8* dst_ptr, int dst_width);
+void ScaleRowDown34_1_Box_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
+                                   uint8* dst_ptr, int dst_width);
+// 32 -> 12
+void ScaleRowDown38_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
+                             uint8* dst_ptr, int dst_width);
+// 32x3 -> 12x1
+void ScaleRowDown38_3_Box_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
+                               uint8* dst_ptr, int dst_width);
+// 32x2 -> 12x1
+void ScaleRowDown38_2_Box_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
+                               uint8* dst_ptr, int dst_width);
+
+void ScaleAddRow_NEON(const uint8* src_ptr, uint16* dst_ptr, int src_width);
+void ScaleAddRow_Any_NEON(const uint8* src_ptr, uint16* dst_ptr, int src_width);
+
+void ScaleFilterCols_NEON(uint8* dst_ptr, const uint8* src_ptr,
+                          int dst_width, int x, int dx);
+
+void ScaleFilterCols_Any_NEON(uint8* dst_ptr, const uint8* src_ptr,
+                              int dst_width, int x, int dx);
+
+void ScaleRowDown2_DSPR2(const uint8* src_ptr, ptrdiff_t src_stride,
+                         uint8* dst, int dst_width);
+void ScaleRowDown2Box_DSPR2(const uint8* src_ptr, ptrdiff_t src_stride,
+                            uint8* dst, int dst_width);
+void ScaleRowDown4_DSPR2(const uint8* src_ptr, ptrdiff_t src_stride,
+                         uint8* dst, int dst_width);
+void ScaleRowDown4Box_DSPR2(const uint8* src_ptr, ptrdiff_t src_stride,
+                            uint8* dst, int dst_width);
+void ScaleRowDown34_DSPR2(const uint8* src_ptr, ptrdiff_t src_stride,
+                          uint8* dst, int dst_width);
+void ScaleRowDown34_0_Box_DSPR2(const uint8* src_ptr, ptrdiff_t src_stride,
+                                uint8* d, int dst_width);
+void ScaleRowDown34_1_Box_DSPR2(const uint8* src_ptr, ptrdiff_t src_stride,
+                                uint8* d, int dst_width);
+void ScaleRowDown38_DSPR2(const uint8* src_ptr, ptrdiff_t src_stride,
+                          uint8* dst, int dst_width);
+void ScaleRowDown38_2_Box_DSPR2(const uint8* src_ptr, ptrdiff_t src_stride,
+                                uint8* dst_ptr, int dst_width);
+void ScaleRowDown38_3_Box_DSPR2(const uint8* src_ptr, ptrdiff_t src_stride,
+                                uint8* dst_ptr, int dst_width);
+
+#ifdef __cplusplus
+}  // extern "C"
+}  // namespace libyuv
+#endif
+
+#endif  // INCLUDE_LIBYUV_SCALE_ROW_H_
diff --git a/third_party/libyuv/include/libyuv/version.h b/third_party/libyuv/include/libyuv/version.h
new file mode 100644
index 0000000000..3a8f6337ca
--- /dev/null
+++ b/third_party/libyuv/include/libyuv/version.h
@@ -0,0 +1,16 @@
+/*
+ *  Copyright 2012 The LibYuv Project Authors. All rights reserved.
+ *
+ *  Use of this source code is governed by a BSD-style license
+ *  that can be found in the LICENSE file in the root of the source
+ *  tree. An additional intellectual property rights grant can be found
+ *  in the file PATENTS. All contributing project authors may
+ *  be found in the AUTHORS file in the root of the source tree.
+ */
+
+#ifndef INCLUDE_LIBYUV_VERSION_H_
+#define INCLUDE_LIBYUV_VERSION_H_
+
+#define LIBYUV_VERSION 1622
+
+#endif  // INCLUDE_LIBYUV_VERSION_H_
diff --git a/third_party/libyuv/include/libyuv/video_common.h b/third_party/libyuv/include/libyuv/video_common.h
new file mode 100644
index 0000000000..cb425426a2
--- /dev/null
+++ b/third_party/libyuv/include/libyuv/video_common.h
@@ -0,0 +1,184 @@
+/*
+ *  Copyright 2011 The LibYuv Project Authors. All rights reserved.
+ *
+ *  Use of this source code is governed by a BSD-style license
+ *  that can be found in the LICENSE file in the root of the source
+ *  tree. An additional intellectual property rights grant can be found
+ *  in the file PATENTS. All contributing project authors may
+ *  be found in the AUTHORS file in the root of the source tree.
+ */
+
+// Common definitions for video, including fourcc and VideoFormat.
+
+#ifndef INCLUDE_LIBYUV_VIDEO_COMMON_H_
+#define INCLUDE_LIBYUV_VIDEO_COMMON_H_
+
+#include "libyuv/basic_types.h"
+
+#ifdef __cplusplus
+namespace libyuv {
+extern "C" {
+#endif
+
+//////////////////////////////////////////////////////////////////////////////
+// Definition of FourCC codes
+//////////////////////////////////////////////////////////////////////////////
+
+// Convert four characters to a FourCC code.
+// Needs to be a macro otherwise the OS X compiler complains when the kFormat*
+// constants are used in a switch.
+#ifdef __cplusplus
+#define FOURCC(a, b, c, d) ( \
+    (static_cast<uint32>(a)) | (static_cast<uint32>(b) << 8) | \
+    (static_cast<uint32>(c) << 16) | (static_cast<uint32>(d) << 24))
+#else
+#define FOURCC(a, b, c, d) ( \
+    ((uint32)(a)) | ((uint32)(b) << 8) | /* NOLINT */ \
+    ((uint32)(c) << 16) | ((uint32)(d) << 24))  /* NOLINT */
+#endif
+
+// Some pages discussing FourCC codes:
+//   http://www.fourcc.org/yuv.php
+//   http://v4l2spec.bytesex.org/spec/book1.htm
+//   http://developer.apple.com/quicktime/icefloe/dispatch020.html
+//   http://msdn.microsoft.com/library/windows/desktop/dd206750.aspx#nv12
+//   http://people.xiph.org/~xiphmont/containers/nut/nut4cc.txt
+
+// FourCC codes grouped according to implementation efficiency.
+// Primary formats should convert in 1 efficient step.
+// Secondary formats are converted in 2 steps.
+// Auxilliary formats call primary converters.
+enum FourCC {
+  // 9 Primary YUV formats: 5 planar, 2 biplanar, 2 packed.
+  FOURCC_I420 = FOURCC('I', '4', '2', '0'),
+  FOURCC_I422 = FOURCC('I', '4', '2', '2'),
+  FOURCC_I444 = FOURCC('I', '4', '4', '4'),
+  FOURCC_I411 = FOURCC('I', '4', '1', '1'),
+  FOURCC_I400 = FOURCC('I', '4', '0', '0'),
+  FOURCC_NV21 = FOURCC('N', 'V', '2', '1'),
+  FOURCC_NV12 = FOURCC('N', 'V', '1', '2'),
+  FOURCC_YUY2 = FOURCC('Y', 'U', 'Y', '2'),
+  FOURCC_UYVY = FOURCC('U', 'Y', 'V', 'Y'),
+
+  // 2 Secondary YUV formats: row biplanar.
+  FOURCC_M420 = FOURCC('M', '4', '2', '0'),
+  FOURCC_Q420 = FOURCC('Q', '4', '2', '0'),  // deprecated.
+
+  // 9 Primary RGB formats: 4 32 bpp, 2 24 bpp, 3 16 bpp.
+  FOURCC_ARGB = FOURCC('A', 'R', 'G', 'B'),
+  FOURCC_BGRA = FOURCC('B', 'G', 'R', 'A'),
+  FOURCC_ABGR = FOURCC('A', 'B', 'G', 'R'),
+  FOURCC_24BG = FOURCC('2', '4', 'B', 'G'),
+  FOURCC_RAW  = FOURCC('r', 'a', 'w', ' '),
+  FOURCC_RGBA = FOURCC('R', 'G', 'B', 'A'),
+  FOURCC_RGBP = FOURCC('R', 'G', 'B', 'P'),  // rgb565 LE.
+  FOURCC_RGBO = FOURCC('R', 'G', 'B', 'O'),  // argb1555 LE.
+  FOURCC_R444 = FOURCC('R', '4', '4', '4'),  // argb4444 LE.
+
+  // 4 Secondary RGB formats: 4 Bayer Patterns. deprecated.
+  FOURCC_RGGB = FOURCC('R', 'G', 'G', 'B'),
+  FOURCC_BGGR = FOURCC('B', 'G', 'G', 'R'),
+  FOURCC_GRBG = FOURCC('G', 'R', 'B', 'G'),
+  FOURCC_GBRG = FOURCC('G', 'B', 'R', 'G'),
+
+  // 1 Primary Compressed YUV format.
+  FOURCC_MJPG = FOURCC('M', 'J', 'P', 'G'),
+
+  // 5 Auxiliary YUV variations: 3 with U and V planes are swapped, 1 Alias.
+  FOURCC_YV12 = FOURCC('Y', 'V', '1', '2'),
+  FOURCC_YV16 = FOURCC('Y', 'V', '1', '6'),
+  FOURCC_YV24 = FOURCC('Y', 'V', '2', '4'),
+  FOURCC_YU12 = FOURCC('Y', 'U', '1', '2'),  // Linux version of I420.
+  FOURCC_J420 = FOURCC('J', '4', '2', '0'),
+  FOURCC_J400 = FOURCC('J', '4', '0', '0'),  // unofficial fourcc
+  FOURCC_H420 = FOURCC('H', '4', '2', '0'),  // unofficial fourcc
+
+  // 14 Auxiliary aliases.  CanonicalFourCC() maps these to canonical fourcc.
+  FOURCC_IYUV = FOURCC('I', 'Y', 'U', 'V'),  // Alias for I420.
+  FOURCC_YU16 = FOURCC('Y', 'U', '1', '6'),  // Alias for I422.
+  FOURCC_YU24 = FOURCC('Y', 'U', '2', '4'),  // Alias for I444.
+  FOURCC_YUYV = FOURCC('Y', 'U', 'Y', 'V'),  // Alias for YUY2.
+  FOURCC_YUVS = FOURCC('y', 'u', 'v', 's'),  // Alias for YUY2 on Mac.
+  FOURCC_HDYC = FOURCC('H', 'D', 'Y', 'C'),  // Alias for UYVY.
+  FOURCC_2VUY = FOURCC('2', 'v', 'u', 'y'),  // Alias for UYVY on Mac.
+  FOURCC_JPEG = FOURCC('J', 'P', 'E', 'G'),  // Alias for MJPG.
+  FOURCC_DMB1 = FOURCC('d', 'm', 'b', '1'),  // Alias for MJPG on Mac.
+  FOURCC_BA81 = FOURCC('B', 'A', '8', '1'),  // Alias for BGGR.
+  FOURCC_RGB3 = FOURCC('R', 'G', 'B', '3'),  // Alias for RAW.
+  FOURCC_BGR3 = FOURCC('B', 'G', 'R', '3'),  // Alias for 24BG.
+  FOURCC_CM32 = FOURCC(0, 0, 0, 32),  // Alias for BGRA kCMPixelFormat_32ARGB
+  FOURCC_CM24 = FOURCC(0, 0, 0, 24),  // Alias for RAW kCMPixelFormat_24RGB
+  FOURCC_L555 = FOURCC('L', '5', '5', '5'),  // Alias for RGBO.
+  FOURCC_L565 = FOURCC('L', '5', '6', '5'),  // Alias for RGBP.
+  FOURCC_5551 = FOURCC('5', '5', '5', '1'),  // Alias for RGBO.
+
+  // 1 Auxiliary compressed YUV format set aside for capturer.
+  FOURCC_H264 = FOURCC('H', '2', '6', '4'),
+
+  // Match any fourcc.
+  FOURCC_ANY = -1,
+};
+
+enum FourCCBpp {
+  // Canonical fourcc codes used in our code.
+  FOURCC_BPP_I420 = 12,
+  FOURCC_BPP_I422 = 16,
+  FOURCC_BPP_I444 = 24,
+  FOURCC_BPP_I411 = 12,
+  FOURCC_BPP_I400 = 8,
+  FOURCC_BPP_NV21 = 12,
+  FOURCC_BPP_NV12 = 12,
+  FOURCC_BPP_YUY2 = 16,
+  FOURCC_BPP_UYVY = 16,
+  FOURCC_BPP_M420 = 12,
+  FOURCC_BPP_Q420 = 12,
+  FOURCC_BPP_ARGB = 32,
+  FOURCC_BPP_BGRA = 32,
+  FOURCC_BPP_ABGR = 32,
+  FOURCC_BPP_RGBA = 32,
+  FOURCC_BPP_24BG = 24,
+  FOURCC_BPP_RAW  = 24,
+  FOURCC_BPP_RGBP = 16,
+  FOURCC_BPP_RGBO = 16,
+  FOURCC_BPP_R444 = 16,
+  FOURCC_BPP_RGGB = 8,
+  FOURCC_BPP_BGGR = 8,
+  FOURCC_BPP_GRBG = 8,
+  FOURCC_BPP_GBRG = 8,
+  FOURCC_BPP_YV12 = 12,
+  FOURCC_BPP_YV16 = 16,
+  FOURCC_BPP_YV24 = 24,
+  FOURCC_BPP_YU12 = 12,
+  FOURCC_BPP_J420 = 12,
+  FOURCC_BPP_J400 = 8,
+  FOURCC_BPP_H420 = 12,
+  FOURCC_BPP_MJPG = 0,  // 0 means unknown.
+  FOURCC_BPP_H264 = 0,
+  FOURCC_BPP_IYUV = 12,
+  FOURCC_BPP_YU16 = 16,
+  FOURCC_BPP_YU24 = 24,
+  FOURCC_BPP_YUYV = 16,
+  FOURCC_BPP_YUVS = 16,
+  FOURCC_BPP_HDYC = 16,
+  FOURCC_BPP_2VUY = 16,
+  FOURCC_BPP_JPEG = 1,
+  FOURCC_BPP_DMB1 = 1,
+  FOURCC_BPP_BA81 = 8,
+  FOURCC_BPP_RGB3 = 24,
+  FOURCC_BPP_BGR3 = 24,
+  FOURCC_BPP_CM32 = 32,
+  FOURCC_BPP_CM24 = 24,
+
+  // Match any fourcc.
+  FOURCC_BPP_ANY  = 0,  // 0 means unknown.
+};
+
+// Converts fourcc aliases into canonical ones.
+LIBYUV_API uint32 CanonicalFourCC(uint32 fourcc);
+
+#ifdef __cplusplus
+}  // extern "C"
+}  // namespace libyuv
+#endif
+
+#endif  // INCLUDE_LIBYUV_VIDEO_COMMON_H_
diff --git a/phonelibs/libyuv/larch64/lib/libyuv.a b/third_party/libyuv/larch64/lib/libyuv.a
similarity index 100%
rename from phonelibs/libyuv/larch64/lib/libyuv.a
rename to third_party/libyuv/larch64/lib/libyuv.a
diff --git a/phonelibs/libyuv/lib/libyuv.a b/third_party/libyuv/lib/libyuv.a
similarity index 100%
rename from phonelibs/libyuv/lib/libyuv.a
rename to third_party/libyuv/lib/libyuv.a
diff --git a/phonelibs/libyuv/mac/lib/libyuv.a b/third_party/libyuv/mac/lib/libyuv.a
similarity index 100%
rename from phonelibs/libyuv/mac/lib/libyuv.a
rename to third_party/libyuv/mac/lib/libyuv.a
diff --git a/phonelibs/libyuv/mac_arm64/lib/libyuv.a b/third_party/libyuv/mac_arm64/lib/libyuv.a
similarity index 100%
rename from phonelibs/libyuv/mac_arm64/lib/libyuv.a
rename to third_party/libyuv/mac_arm64/lib/libyuv.a
diff --git a/phonelibs/libyuv/x64/include b/third_party/libyuv/x64/include
similarity index 100%
rename from phonelibs/libyuv/x64/include
rename to third_party/libyuv/x64/include
diff --git a/phonelibs/libyuv/x64/lib/libyuv.a b/third_party/libyuv/x64/lib/libyuv.a
similarity index 100%
rename from phonelibs/libyuv/x64/lib/libyuv.a
rename to third_party/libyuv/x64/lib/libyuv.a
diff --git a/third_party/linux/include/linux/ion.h b/third_party/linux/include/linux/ion.h
new file mode 100644
index 0000000000..7b5b031f57
--- /dev/null
+++ b/third_party/linux/include/linux/ion.h
@@ -0,0 +1,78 @@
+/****************************************************************************
+ ****************************************************************************
+ ***
+ ***   This header was automatically generated from a Linux kernel header
+ ***   of the same name, to make information necessary for userspace to
+ ***   call into the kernel available to libc.  It contains only constants,
+ ***   structures, and macros generated from the original header, and thus,
+ ***   contains no copyrightable information.
+ ***
+ ***   To edit the content of this header, modify the corresponding
+ ***   source file (e.g. under external/kernel-headers/original/) then
+ ***   run bionic/libc/kernel/tools/update_all.py
+ ***
+ ***   Any manual change here will be lost the next time this script will
+ ***   be run. You've been warned!
+ ***
+ ****************************************************************************
+ ****************************************************************************/
+#ifndef _UAPI_LINUX_ION_H
+#define _UAPI_LINUX_ION_H
+#include <linux/ioctl.h>
+#include <linux/types.h>
+typedef int ion_user_handle_t;
+enum ion_heap_type {
+  ION_HEAP_TYPE_SYSTEM,
+  ION_HEAP_TYPE_SYSTEM_CONTIG,
+  ION_HEAP_TYPE_CARVEOUT,
+  ION_HEAP_TYPE_CHUNK,
+  ION_HEAP_TYPE_DMA,
+  ION_HEAP_TYPE_CUSTOM,
+};
+#define ION_NUM_HEAP_IDS (sizeof(unsigned int) * 8)
+#define ION_FLAG_CACHED 1
+#define ION_FLAG_CACHED_NEEDS_SYNC 2
+struct ion_allocation_data {
+  size_t len;
+  size_t align;
+  unsigned int heap_id_mask;
+  unsigned int flags;
+  ion_user_handle_t handle;
+};
+struct ion_fd_data {
+  ion_user_handle_t handle;
+  int fd;
+};
+struct ion_handle_data {
+  ion_user_handle_t handle;
+};
+struct ion_custom_data {
+  unsigned int cmd;
+  unsigned long arg;
+};
+#define MAX_HEAP_NAME 32
+struct ion_heap_data {
+  char name[MAX_HEAP_NAME];
+  __u32 type;
+  __u32 heap_id;
+  __u32 reserved0;
+  __u32 reserved1;
+  __u32 reserved2;
+};
+struct ion_heap_query {
+  __u32 cnt;
+  __u32 reserved0;
+  __u64 heaps;
+  __u32 reserved1;
+  __u32 reserved2;
+};
+#define ION_IOC_MAGIC 'I'
+#define ION_IOC_ALLOC _IOWR(ION_IOC_MAGIC, 0, struct ion_allocation_data)
+#define ION_IOC_FREE _IOWR(ION_IOC_MAGIC, 1, struct ion_handle_data)
+#define ION_IOC_MAP _IOWR(ION_IOC_MAGIC, 2, struct ion_fd_data)
+#define ION_IOC_SHARE _IOWR(ION_IOC_MAGIC, 4, struct ion_fd_data)
+#define ION_IOC_IMPORT _IOWR(ION_IOC_MAGIC, 5, struct ion_fd_data)
+#define ION_IOC_SYNC _IOWR(ION_IOC_MAGIC, 7, struct ion_fd_data)
+#define ION_IOC_CUSTOM _IOWR(ION_IOC_MAGIC, 6, struct ion_custom_data)
+#define ION_IOC_HEAP_QUERY _IOWR(ION_IOC_MAGIC, 8, struct ion_heap_query)
+#endif
diff --git a/third_party/linux/include/msm_ion.h b/third_party/linux/include/msm_ion.h
new file mode 100644
index 0000000000..d5caed5eb3
--- /dev/null
+++ b/third_party/linux/include/msm_ion.h
@@ -0,0 +1,211 @@
+#ifndef _UAPI_MSM_ION_H
+#define _UAPI_MSM_ION_H
+
+#include <linux/ion.h>
+
+enum msm_ion_heap_types {
+	ION_HEAP_TYPE_MSM_START = ION_HEAP_TYPE_CUSTOM + 1,
+	ION_HEAP_TYPE_SECURE_DMA = ION_HEAP_TYPE_MSM_START,
+	ION_HEAP_TYPE_SYSTEM_SECURE,
+	ION_HEAP_TYPE_HYP_CMA,
+	/*
+	 * if you add a heap type here you should also add it to
+	 * heap_types_info[] in msm_ion.c
+	 */
+};
+
+/**
+ * These are the only ids that should be used for Ion heap ids.
+ * The ids listed are the order in which allocation will be attempted
+ * if specified. Don't swap the order of heap ids unless you know what
+ * you are doing!
+ * Id's are spaced by purpose to allow new Id's to be inserted in-between (for
+ * possible fallbacks)
+ */
+
+enum ion_heap_ids {
+	INVALID_HEAP_ID = -1,
+	ION_CP_MM_HEAP_ID = 8,
+	ION_SECURE_HEAP_ID = 9,
+	ION_SECURE_DISPLAY_HEAP_ID = 10,
+	ION_CP_MFC_HEAP_ID = 12,
+	ION_CP_WB_HEAP_ID = 16, /* 8660 only */
+	ION_CAMERA_HEAP_ID = 20, /* 8660 only */
+	ION_SYSTEM_CONTIG_HEAP_ID = 21,
+	ION_ADSP_HEAP_ID = 22,
+	ION_PIL1_HEAP_ID = 23, /* Currently used for other PIL images */
+	ION_SF_HEAP_ID = 24,
+	ION_SYSTEM_HEAP_ID = 25,
+	ION_PIL2_HEAP_ID = 26, /* Currently used for modem firmware images */
+	ION_QSECOM_HEAP_ID = 27,
+	ION_AUDIO_HEAP_ID = 28,
+
+	ION_MM_FIRMWARE_HEAP_ID = 29,
+
+	ION_HEAP_ID_RESERVED = 31 /** Bit reserved for ION_FLAG_SECURE flag */
+};
+
+/*
+ * The IOMMU heap is deprecated! Here are some aliases for backwards
+ * compatibility:
+ */
+#define ION_IOMMU_HEAP_ID ION_SYSTEM_HEAP_ID
+#define ION_HEAP_TYPE_IOMMU ION_HEAP_TYPE_SYSTEM
+
+enum ion_fixed_position {
+	NOT_FIXED,
+	FIXED_LOW,
+	FIXED_MIDDLE,
+	FIXED_HIGH,
+};
+
+enum cp_mem_usage {
+	VIDEO_BITSTREAM = 0x1,
+	VIDEO_PIXEL = 0x2,
+	VIDEO_NONPIXEL = 0x3,
+	DISPLAY_SECURE_CP_USAGE = 0x4,
+	CAMERA_SECURE_CP_USAGE = 0x5,
+	MAX_USAGE = 0x6,
+	UNKNOWN = 0x7FFFFFFF,
+};
+
+/**
+ * Flags to be used when allocating from the secure heap for
+ * content protection
+ */
+#define ION_FLAG_CP_TOUCH (1 << 17)
+#define ION_FLAG_CP_BITSTREAM (1 << 18)
+#define ION_FLAG_CP_PIXEL  (1 << 19)
+#define ION_FLAG_CP_NON_PIXEL (1 << 20)
+#define ION_FLAG_CP_CAMERA (1 << 21)
+#define ION_FLAG_CP_HLOS (1 << 22)
+#define ION_FLAG_CP_HLOS_FREE (1 << 23)
+#define ION_FLAG_CP_SEC_DISPLAY (1 << 25)
+#define ION_FLAG_CP_APP (1 << 26)
+
+/**
+ * Flag to allow non continguous allocation of memory from secure
+ * heap
+ */
+#define ION_FLAG_ALLOW_NON_CONTIG (1 << 24)
+
+/**
+ * Flag to use when allocating to indicate that a heap is secure.
+ */
+#define ION_FLAG_SECURE (1 << ION_HEAP_ID_RESERVED)
+
+/**
+ * Flag for clients to force contiguous memort allocation
+ *
+ * Use of this flag is carefully monitored!
+ */
+#define ION_FLAG_FORCE_CONTIGUOUS (1 << 30)
+
+/*
+ * Used in conjunction with heap which pool memory to force an allocation
+ * to come from the page allocator directly instead of from the pool allocation
+ */
+#define ION_FLAG_POOL_FORCE_ALLOC (1 << 16)
+
+
+#define ION_FLAG_POOL_PREFETCH (1 << 27)
+
+/**
+* Deprecated! Please use the corresponding ION_FLAG_*
+*/
+#define ION_SECURE ION_FLAG_SECURE
+#define ION_FORCE_CONTIGUOUS ION_FLAG_FORCE_CONTIGUOUS
+
+/**
+ * Macro should be used with ion_heap_ids defined above.
+ */
+#define ION_HEAP(bit) (1 << (bit))
+
+#define ION_ADSP_HEAP_NAME	"adsp"
+#define ION_SYSTEM_HEAP_NAME	"system"
+#define ION_VMALLOC_HEAP_NAME	ION_SYSTEM_HEAP_NAME
+#define ION_KMALLOC_HEAP_NAME	"kmalloc"
+#define ION_AUDIO_HEAP_NAME	"audio"
+#define ION_SF_HEAP_NAME	"sf"
+#define ION_MM_HEAP_NAME	"mm"
+#define ION_CAMERA_HEAP_NAME	"camera_preview"
+#define ION_IOMMU_HEAP_NAME	"iommu"
+#define ION_MFC_HEAP_NAME	"mfc"
+#define ION_WB_HEAP_NAME	"wb"
+#define ION_MM_FIRMWARE_HEAP_NAME	"mm_fw"
+#define ION_PIL1_HEAP_NAME  "pil_1"
+#define ION_PIL2_HEAP_NAME  "pil_2"
+#define ION_QSECOM_HEAP_NAME	"qsecom"
+#define ION_SECURE_HEAP_NAME	"secure_heap"
+#define ION_SECURE_DISPLAY_HEAP_NAME "secure_display"
+
+#define ION_SET_CACHED(__cache)		(__cache | ION_FLAG_CACHED)
+#define ION_SET_UNCACHED(__cache)	(__cache & ~ION_FLAG_CACHED)
+
+#define ION_IS_CACHED(__flags)	((__flags) & ION_FLAG_CACHED)
+
+/* struct ion_flush_data - data passed to ion for flushing caches
+ *
+ * @handle:	handle with data to flush
+ * @fd:		fd to flush
+ * @vaddr:	userspace virtual address mapped with mmap
+ * @offset:	offset into the handle to flush
+ * @length:	length of handle to flush
+ *
+ * Performs cache operations on the handle. If p is the start address
+ * of the handle, p + offset through p + offset + length will have
+ * the cache operations performed
+ */
+struct ion_flush_data {
+	ion_user_handle_t handle;
+	int fd;
+	void *vaddr;
+	unsigned int offset;
+	unsigned int length;
+};
+
+struct ion_prefetch_regions {
+	unsigned int vmid;
+	size_t *sizes;
+	unsigned int nr_sizes;
+};
+
+struct ion_prefetch_data {
+	int heap_id;
+	unsigned long len;
+	/* Is unsigned long bad? 32bit compiler vs 64 bit compiler*/
+	struct ion_prefetch_regions *regions;
+	unsigned int nr_regions;
+};
+
+#define ION_IOC_MSM_MAGIC 'M'
+
+/**
+ * DOC: ION_IOC_CLEAN_CACHES - clean the caches
+ *
+ * Clean the caches of the handle specified.
+ */
+#define ION_IOC_CLEAN_CACHES	_IOWR(ION_IOC_MSM_MAGIC, 0, \
+						struct ion_flush_data)
+/**
+ * DOC: ION_IOC_INV_CACHES - invalidate the caches
+ *
+ * Invalidate the caches of the handle specified.
+ */
+#define ION_IOC_INV_CACHES	_IOWR(ION_IOC_MSM_MAGIC, 1, \
+						struct ion_flush_data)
+/**
+ * DOC: ION_IOC_CLEAN_INV_CACHES - clean and invalidate the caches
+ *
+ * Clean and invalidate the caches of the handle specified.
+ */
+#define ION_IOC_CLEAN_INV_CACHES	_IOWR(ION_IOC_MSM_MAGIC, 2, \
+						struct ion_flush_data)
+
+#define ION_IOC_PREFETCH		_IOWR(ION_IOC_MSM_MAGIC, 3, \
+						struct ion_prefetch_data)
+
+#define ION_IOC_DRAIN			_IOWR(ION_IOC_MSM_MAGIC, 4, \
+						struct ion_prefetch_data)
+
+#endif
diff --git a/phonelibs/mapbox-gl-native-qt/.gitattributes b/third_party/mapbox-gl-native-qt/.gitattributes
similarity index 100%
rename from phonelibs/mapbox-gl-native-qt/.gitattributes
rename to third_party/mapbox-gl-native-qt/.gitattributes
diff --git a/third_party/mapbox-gl-native-qt/build.sh b/third_party/mapbox-gl-native-qt/build.sh
new file mode 100755
index 0000000000..f2936fad3d
--- /dev/null
+++ b/third_party/mapbox-gl-native-qt/build.sh
@@ -0,0 +1,7 @@
+#!/usr/bin/env sh
+cd /tmp
+git clone --recursive https://github.com/commaai/mapbox-gl-native.git
+cd mapbox-gl-native
+mkdir build && cd build
+cmake -DMBGL_WITH_QT=ON ..
+make -j$(nproc) mbgl-qt
diff --git a/third_party/mapbox-gl-native-qt/include/QMapbox b/third_party/mapbox-gl-native-qt/include/QMapbox
new file mode 100644
index 0000000000..a8479c09aa
--- /dev/null
+++ b/third_party/mapbox-gl-native-qt/include/QMapbox
@@ -0,0 +1 @@
+#include "qmapbox.hpp"
diff --git a/third_party/mapbox-gl-native-qt/include/QMapboxGL b/third_party/mapbox-gl-native-qt/include/QMapboxGL
new file mode 100644
index 0000000000..15b55a9abe
--- /dev/null
+++ b/third_party/mapbox-gl-native-qt/include/QMapboxGL
@@ -0,0 +1 @@
+#include "qmapboxgl.hpp"
diff --git a/third_party/mapbox-gl-native-qt/include/qmapbox.hpp b/third_party/mapbox-gl-native-qt/include/qmapbox.hpp
new file mode 100644
index 0000000000..3acc9d55e0
--- /dev/null
+++ b/third_party/mapbox-gl-native-qt/include/qmapbox.hpp
@@ -0,0 +1,147 @@
+#ifndef QMAPBOX_H
+#define QMAPBOX_H
+
+#include <QColor>
+#include <QPair>
+#include <QString>
+#include <QVariant>
+#include <QVector>
+
+// This header follows the Qt coding style: https://wiki.qt.io/Qt_Coding_Style
+
+#if !defined(QT_MAPBOXGL_STATIC)
+#  if defined(QT_BUILD_MAPBOXGL_LIB)
+#    define Q_MAPBOXGL_EXPORT Q_DECL_EXPORT
+#  else
+#    define Q_MAPBOXGL_EXPORT Q_DECL_IMPORT
+#  endif
+#else
+#  define Q_MAPBOXGL_EXPORT
+#endif
+
+namespace QMapbox {
+
+typedef QPair<double, double> Coordinate;
+typedef QPair<Coordinate, double> CoordinateZoom;
+typedef QPair<double, double> ProjectedMeters;
+
+typedef QVector<Coordinate> Coordinates;
+typedef QVector<Coordinates> CoordinatesCollection;
+
+typedef QVector<CoordinatesCollection> CoordinatesCollections;
+
+struct Q_MAPBOXGL_EXPORT Feature {
+    enum Type {
+        PointType = 1,
+        LineStringType,
+        PolygonType
+    };
+
+    /*! Class constructor. */
+    Feature(Type type_ = PointType, const CoordinatesCollections& geometry_ = CoordinatesCollections(),
+            const QVariantMap& properties_ = QVariantMap(), const QVariant& id_ = QVariant())
+        : type(type_), geometry(geometry_), properties(properties_), id(id_) {}
+
+    Type type;
+    CoordinatesCollections geometry;
+    QVariantMap properties;
+    QVariant id;
+};
+
+struct Q_MAPBOXGL_EXPORT ShapeAnnotationGeometry {
+    enum Type {
+        LineStringType = 1,
+        PolygonType,
+        MultiLineStringType,
+        MultiPolygonType
+    };
+
+    /*! Class constructor. */
+    ShapeAnnotationGeometry(Type type_ = LineStringType, const CoordinatesCollections& geometry_ = CoordinatesCollections())
+        : type(type_), geometry(geometry_) {}
+
+    Type type;
+    CoordinatesCollections geometry;
+};
+
+struct Q_MAPBOXGL_EXPORT SymbolAnnotation {
+    Coordinate geometry;
+    QString icon;
+};
+
+struct Q_MAPBOXGL_EXPORT LineAnnotation {
+    /*! Class constructor. */
+    LineAnnotation(const ShapeAnnotationGeometry& geometry_ = ShapeAnnotationGeometry(), float opacity_ = 1.0f,
+            float width_ = 1.0f, const QColor& color_ = Qt::black)
+        : geometry(geometry_), opacity(opacity_), width(width_), color(color_) {}
+
+    ShapeAnnotationGeometry geometry;
+    float opacity;
+    float width;
+    QColor color;
+};
+
+struct Q_MAPBOXGL_EXPORT FillAnnotation {
+    /*! Class constructor. */
+    FillAnnotation(const ShapeAnnotationGeometry& geometry_ = ShapeAnnotationGeometry(), float opacity_ = 1.0f,
+            const QColor& color_ = Qt::black, const QVariant& outlineColor_ = QVariant())
+        : geometry(geometry_), opacity(opacity_), color(color_), outlineColor(outlineColor_) {}
+
+    ShapeAnnotationGeometry geometry;
+    float opacity;
+    QColor color;
+    QVariant outlineColor;
+};
+
+typedef QVariant Annotation;
+typedef quint32 AnnotationID;
+typedef QVector<AnnotationID> AnnotationIDs;
+
+enum NetworkMode {
+    Online, // Default
+    Offline,
+};
+
+Q_MAPBOXGL_EXPORT QVector<QPair<QString, QString> >& defaultStyles();
+
+Q_MAPBOXGL_EXPORT NetworkMode networkMode();
+Q_MAPBOXGL_EXPORT void setNetworkMode(NetworkMode);
+
+// This struct is a 1:1 copy of mbgl::CustomLayerRenderParameters.
+struct Q_MAPBOXGL_EXPORT CustomLayerRenderParameters {
+    double width;
+    double height;
+    double latitude;
+    double longitude;
+    double zoom;
+    double bearing;
+    double pitch;
+    double fieldOfView;
+};
+
+class Q_MAPBOXGL_EXPORT CustomLayerHostInterface {
+public:
+    virtual ~CustomLayerHostInterface() = default;
+    virtual void initialize() = 0;
+    virtual void render(const CustomLayerRenderParameters&) = 0;
+    virtual void deinitialize() = 0;
+};
+
+Q_MAPBOXGL_EXPORT double metersPerPixelAtLatitude(double latitude, double zoom);
+Q_MAPBOXGL_EXPORT ProjectedMeters projectedMetersForCoordinate(const Coordinate &);
+Q_MAPBOXGL_EXPORT Coordinate coordinateForProjectedMeters(const ProjectedMeters &);
+
+} // namespace QMapbox
+
+Q_DECLARE_METATYPE(QMapbox::Coordinate);
+Q_DECLARE_METATYPE(QMapbox::Coordinates);
+Q_DECLARE_METATYPE(QMapbox::CoordinatesCollection);
+Q_DECLARE_METATYPE(QMapbox::CoordinatesCollections);
+Q_DECLARE_METATYPE(QMapbox::Feature);
+
+Q_DECLARE_METATYPE(QMapbox::SymbolAnnotation);
+Q_DECLARE_METATYPE(QMapbox::ShapeAnnotationGeometry);
+Q_DECLARE_METATYPE(QMapbox::LineAnnotation);
+Q_DECLARE_METATYPE(QMapbox::FillAnnotation);
+
+#endif // QMAPBOX_H
diff --git a/third_party/mapbox-gl-native-qt/include/qmapboxgl.hpp b/third_party/mapbox-gl-native-qt/include/qmapboxgl.hpp
new file mode 100644
index 0000000000..337991aa1c
--- /dev/null
+++ b/third_party/mapbox-gl-native-qt/include/qmapboxgl.hpp
@@ -0,0 +1,277 @@
+#ifndef QMAPBOXGL_H
+#define QMAPBOXGL_H
+
+#include <QImage>
+#include <QMapbox>
+#include <QMargins>
+#include <QObject>
+#include <QPointF>
+#include <QSize>
+#include <QString>
+#include <QStringList>
+
+#include <functional>
+
+class QMapboxGLPrivate;
+
+// This header follows the Qt coding style: https://wiki.qt.io/Qt_Coding_Style
+
+class Q_MAPBOXGL_EXPORT QMapboxGLSettings
+{
+public:
+    QMapboxGLSettings();
+
+    enum GLContextMode {
+        UniqueGLContext = 0,
+        SharedGLContext
+    };
+
+    enum MapMode {
+        Continuous = 0,
+        Static
+    };
+
+    enum ConstrainMode {
+        NoConstrain = 0,
+        ConstrainHeightOnly,
+        ConstrainWidthAndHeight
+    };
+
+    enum ViewportMode {
+        DefaultViewport = 0,
+        FlippedYViewport
+    };
+
+    GLContextMode contextMode() const;
+    void setContextMode(GLContextMode);
+
+    MapMode mapMode() const;
+    void setMapMode(MapMode);
+
+    ConstrainMode constrainMode() const;
+    void setConstrainMode(ConstrainMode);
+
+    ViewportMode viewportMode() const;
+    void setViewportMode(ViewportMode);
+
+    unsigned cacheDatabaseMaximumSize() const;
+    void setCacheDatabaseMaximumSize(unsigned);
+
+    QString cacheDatabasePath() const;
+    void setCacheDatabasePath(const QString &);
+
+    QString assetPath() const;
+    void setAssetPath(const QString &);
+
+    QString accessToken() const;
+    void setAccessToken(const QString &);
+
+    QString apiBaseUrl() const;
+    void setApiBaseUrl(const QString &);
+
+    QString localFontFamily() const;
+    void setLocalFontFamily(const QString &);
+
+    std::function<std::string(const std::string &)> resourceTransform() const;
+    void setResourceTransform(const std::function<std::string(const std::string &)> &);
+
+private:
+    GLContextMode m_contextMode;
+    MapMode m_mapMode;
+    ConstrainMode m_constrainMode;
+    ViewportMode m_viewportMode;
+
+    unsigned m_cacheMaximumSize;
+    QString m_cacheDatabasePath;
+    QString m_assetPath;
+    QString m_accessToken;
+    QString m_apiBaseUrl;
+    QString m_localFontFamily;
+    std::function<std::string(const std::string &)> m_resourceTransform;
+};
+
+struct Q_MAPBOXGL_EXPORT QMapboxGLCameraOptions {
+    QVariant center;  // Coordinate
+    QVariant anchor;  // QPointF
+    QVariant zoom;    // double
+    QVariant bearing; // double
+    QVariant pitch;   // double
+};
+
+class Q_MAPBOXGL_EXPORT QMapboxGL : public QObject
+{
+    Q_OBJECT
+    Q_PROPERTY(double latitude READ latitude WRITE setLatitude)
+    Q_PROPERTY(double longitude READ longitude WRITE setLongitude)
+    Q_PROPERTY(double zoom READ zoom WRITE setZoom)
+    Q_PROPERTY(double bearing READ bearing WRITE setBearing)
+    Q_PROPERTY(double pitch READ pitch WRITE setPitch)
+    Q_PROPERTY(QString styleJson READ styleJson WRITE setStyleJson)
+    Q_PROPERTY(QString styleUrl READ styleUrl WRITE setStyleUrl)
+    Q_PROPERTY(double scale READ scale WRITE setScale)
+    Q_PROPERTY(QMapbox::Coordinate coordinate READ coordinate WRITE setCoordinate)
+    Q_PROPERTY(QMargins margins READ margins WRITE setMargins)
+
+public:
+    enum MapChange {
+        MapChangeRegionWillChange = 0,
+        MapChangeRegionWillChangeAnimated,
+        MapChangeRegionIsChanging,
+        MapChangeRegionDidChange,
+        MapChangeRegionDidChangeAnimated,
+        MapChangeWillStartLoadingMap,
+        MapChangeDidFinishLoadingMap,
+        MapChangeDidFailLoadingMap,
+        MapChangeWillStartRenderingFrame,
+        MapChangeDidFinishRenderingFrame,
+        MapChangeDidFinishRenderingFrameFullyRendered,
+        MapChangeWillStartRenderingMap,
+        MapChangeDidFinishRenderingMap,
+        MapChangeDidFinishRenderingMapFullyRendered,
+        MapChangeDidFinishLoadingStyle,
+        MapChangeSourceDidChange
+    };
+
+    enum MapLoadingFailure {
+        StyleParseFailure,
+        StyleLoadFailure,
+        NotFoundFailure,
+        UnknownFailure
+    };
+
+    // Determines the orientation of the map.
+    enum NorthOrientation {
+        NorthUpwards, // Default
+        NorthRightwards,
+        NorthDownwards,
+        NorthLeftwards,
+    };
+
+    QMapboxGL(QObject* parent = 0,
+              const QMapboxGLSettings& = QMapboxGLSettings(),
+              const QSize& size = QSize(),
+              qreal pixelRatio = 1);
+    virtual ~QMapboxGL();
+
+    QString styleJson() const;
+    QString styleUrl() const;
+
+    void setStyleJson(const QString &);
+    void setStyleUrl(const QString &);
+
+    double latitude() const;
+    void setLatitude(double latitude);
+
+    double longitude() const;
+    void setLongitude(double longitude);
+
+    double scale() const;
+    void setScale(double scale, const QPointF &center = QPointF());
+
+    double zoom() const;
+    void setZoom(double zoom);
+
+    double minimumZoom() const;
+    double maximumZoom() const;
+
+    double bearing() const;
+    void setBearing(double degrees);
+    void setBearing(double degrees, const QPointF &center);
+
+    double pitch() const;
+    void setPitch(double pitch);
+    void pitchBy(double pitch);
+
+    NorthOrientation northOrientation() const;
+    void setNorthOrientation(NorthOrientation);
+
+    QMapbox::Coordinate coordinate() const;
+    void setCoordinate(const QMapbox::Coordinate &);
+    void setCoordinateZoom(const QMapbox::Coordinate &, double zoom);
+
+    void jumpTo(const QMapboxGLCameraOptions&);
+
+    void setGestureInProgress(bool inProgress);
+
+    void setTransitionOptions(qint64 duration, qint64 delay = 0);
+
+    void addAnnotationIcon(const QString &name, const QImage &sprite);
+
+    QMapbox::AnnotationID addAnnotation(const QMapbox::Annotation &);
+    void updateAnnotation(QMapbox::AnnotationID, const QMapbox::Annotation &);
+    void removeAnnotation(QMapbox::AnnotationID);
+
+    bool setLayoutProperty(const QString &layer, const QString &property, const QVariant &value);
+    bool setPaintProperty(const QString &layer, const QString &property, const QVariant &value);
+
+    bool isFullyLoaded() const;
+
+    void moveBy(const QPointF &offset);
+    void scaleBy(double scale, const QPointF &center = QPointF());
+    void rotateBy(const QPointF &first, const QPointF &second);
+
+    void resize(const QSize &size);
+
+    double metersPerPixelAtLatitude(double latitude, double zoom) const;
+    QMapbox::ProjectedMeters projectedMetersForCoordinate(const QMapbox::Coordinate &) const;
+    QMapbox::Coordinate coordinateForProjectedMeters(const QMapbox::ProjectedMeters &) const;
+    QPointF pixelForCoordinate(const QMapbox::Coordinate &) const;
+    QMapbox::Coordinate coordinateForPixel(const QPointF &) const;
+
+    QMapbox::CoordinateZoom coordinateZoomForBounds(const QMapbox::Coordinate &sw, QMapbox::Coordinate &ne) const;
+    QMapbox::CoordinateZoom coordinateZoomForBounds(const QMapbox::Coordinate &sw, QMapbox::Coordinate &ne, double bearing, double pitch);
+
+    void setMargins(const QMargins &margins);
+    QMargins margins() const;
+
+    void addSource(const QString &sourceID, const QVariantMap& params);
+    bool sourceExists(const QString &sourceID);
+    void updateSource(const QString &sourceID, const QVariantMap& params);
+    void removeSource(const QString &sourceID);
+
+    void addImage(const QString &name, const QImage &sprite);
+    void removeImage(const QString &name);
+
+    void addCustomLayer(const QString &id,
+        QScopedPointer<QMapbox::CustomLayerHostInterface>& host,
+        const QString& before = QString());
+    void addLayer(const QVariantMap &params, const QString& before = QString());
+    bool layerExists(const QString &id);
+    void removeLayer(const QString &id);
+
+    QVector<QString> layerIds() const;
+
+    void setFilter(const QString &layer, const QVariant &filter);
+    QVariant getFilter(const QString &layer) const;
+    // When rendering on a different thread,
+    // should be called on the render thread.
+    void createRenderer();
+    void destroyRenderer();
+    void setFramebufferObject(quint32 fbo, const QSize &size);
+
+public slots:
+    void render();
+    void connectionEstablished();
+
+    // Commit changes, load all the resources
+    // and renders the map when completed.
+    void startStaticRender();
+
+signals:
+    void needsRendering();
+    void mapChanged(QMapboxGL::MapChange);
+    void mapLoadingFailed(QMapboxGL::MapLoadingFailure, const QString &reason);
+    void copyrightsChanged(const QString &copyrightsHtml);
+
+    void staticRenderFinished(const QString &error);
+
+private:
+    Q_DISABLE_COPY(QMapboxGL)
+
+    QMapboxGLPrivate *d_ptr;
+};
+
+Q_DECLARE_METATYPE(QMapboxGL::MapChange);
+Q_DECLARE_METATYPE(QMapboxGL::MapLoadingFailure);
+
+#endif // QMAPBOXGL_H
diff --git a/phonelibs/mapbox-gl-native-qt/x86_64/libqmapboxgl.so b/third_party/mapbox-gl-native-qt/x86_64/libqmapboxgl.so
similarity index 100%
rename from phonelibs/mapbox-gl-native-qt/x86_64/libqmapboxgl.so
rename to third_party/mapbox-gl-native-qt/x86_64/libqmapboxgl.so
diff --git a/phonelibs/nanovg/fontstash.h b/third_party/nanovg/fontstash.h
similarity index 100%
rename from phonelibs/nanovg/fontstash.h
rename to third_party/nanovg/fontstash.h
diff --git a/phonelibs/nanovg/nanovg.c b/third_party/nanovg/nanovg.c
similarity index 100%
rename from phonelibs/nanovg/nanovg.c
rename to third_party/nanovg/nanovg.c
diff --git a/phonelibs/nanovg/nanovg.h b/third_party/nanovg/nanovg.h
similarity index 100%
rename from phonelibs/nanovg/nanovg.h
rename to third_party/nanovg/nanovg.h
diff --git a/phonelibs/nanovg/nanovg_gl.h b/third_party/nanovg/nanovg_gl.h
similarity index 100%
rename from phonelibs/nanovg/nanovg_gl.h
rename to third_party/nanovg/nanovg_gl.h
diff --git a/phonelibs/nanovg/nanovg_gl_utils.h b/third_party/nanovg/nanovg_gl_utils.h
similarity index 100%
rename from phonelibs/nanovg/nanovg_gl_utils.h
rename to third_party/nanovg/nanovg_gl_utils.h
diff --git a/phonelibs/nanovg/stb_image.h b/third_party/nanovg/stb_image.h
similarity index 100%
rename from phonelibs/nanovg/stb_image.h
rename to third_party/nanovg/stb_image.h
diff --git a/phonelibs/nanovg/stb_truetype.h b/third_party/nanovg/stb_truetype.h
similarity index 100%
rename from phonelibs/nanovg/stb_truetype.h
rename to third_party/nanovg/stb_truetype.h
diff --git a/third_party/opencl/include/CL/cl.h b/third_party/opencl/include/CL/cl.h
new file mode 100644
index 0000000000..0086319f5f
--- /dev/null
+++ b/third_party/opencl/include/CL/cl.h
@@ -0,0 +1,1452 @@
+/*******************************************************************************
+ * Copyright (c) 2008-2015 The Khronos Group Inc.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and/or associated documentation files (the
+ * "Materials"), to deal in the Materials without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Materials, and to
+ * permit persons to whom the Materials are furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Materials.
+ *
+ * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS
+ * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS
+ * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT
+ *    https://www.khronos.org/registry/
+ *
+ * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+ * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+ * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
+ * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+ * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
+ ******************************************************************************/
+
+#ifndef __OPENCL_CL_H
+#define __OPENCL_CL_H
+
+#ifdef __APPLE__
+#include <OpenCL/cl_platform.h>
+#else
+#include <CL/cl_platform.h>
+#endif	
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/******************************************************************************/
+
+typedef struct _cl_platform_id *    cl_platform_id;
+typedef struct _cl_device_id *      cl_device_id;
+typedef struct _cl_context *        cl_context;
+typedef struct _cl_command_queue *  cl_command_queue;
+typedef struct _cl_mem *            cl_mem;
+typedef struct _cl_program *        cl_program;
+typedef struct _cl_kernel *         cl_kernel;
+typedef struct _cl_event *          cl_event;
+typedef struct _cl_sampler *        cl_sampler;
+
+typedef cl_uint             cl_bool;                     /* WARNING!  Unlike cl_ types in cl_platform.h, cl_bool is not guaranteed to be the same size as the bool in kernels. */ 
+typedef cl_ulong            cl_bitfield;
+typedef cl_bitfield         cl_device_type;
+typedef cl_uint             cl_platform_info;
+typedef cl_uint             cl_device_info;
+typedef cl_bitfield         cl_device_fp_config;
+typedef cl_uint             cl_device_mem_cache_type;
+typedef cl_uint             cl_device_local_mem_type;
+typedef cl_bitfield         cl_device_exec_capabilities;
+typedef cl_bitfield         cl_device_svm_capabilities;
+typedef cl_bitfield         cl_command_queue_properties;
+typedef intptr_t            cl_device_partition_property;
+typedef cl_bitfield         cl_device_affinity_domain;
+
+typedef intptr_t            cl_context_properties;
+typedef cl_uint             cl_context_info;
+typedef cl_bitfield         cl_queue_properties;
+typedef cl_uint             cl_command_queue_info;
+typedef cl_uint             cl_channel_order;
+typedef cl_uint             cl_channel_type;
+typedef cl_bitfield         cl_mem_flags;
+typedef cl_bitfield         cl_svm_mem_flags;
+typedef cl_uint             cl_mem_object_type;
+typedef cl_uint             cl_mem_info;
+typedef cl_bitfield         cl_mem_migration_flags;
+typedef cl_uint             cl_image_info;
+typedef cl_uint             cl_buffer_create_type;
+typedef cl_uint             cl_addressing_mode;
+typedef cl_uint             cl_filter_mode;
+typedef cl_uint             cl_sampler_info;
+typedef cl_bitfield         cl_map_flags;
+typedef intptr_t            cl_pipe_properties;
+typedef cl_uint             cl_pipe_info;
+typedef cl_uint             cl_program_info;
+typedef cl_uint             cl_program_build_info;
+typedef cl_uint             cl_program_binary_type;
+typedef cl_int              cl_build_status;
+typedef cl_uint             cl_kernel_info;
+typedef cl_uint             cl_kernel_arg_info;
+typedef cl_uint             cl_kernel_arg_address_qualifier;
+typedef cl_uint             cl_kernel_arg_access_qualifier;
+typedef cl_bitfield         cl_kernel_arg_type_qualifier;
+typedef cl_uint             cl_kernel_work_group_info;
+typedef cl_uint             cl_kernel_sub_group_info;
+typedef cl_uint             cl_event_info;
+typedef cl_uint             cl_command_type;
+typedef cl_uint             cl_profiling_info;
+typedef cl_bitfield         cl_sampler_properties;
+typedef cl_uint             cl_kernel_exec_info;
+
+typedef struct _cl_image_format {
+    cl_channel_order        image_channel_order;
+    cl_channel_type         image_channel_data_type;
+} cl_image_format;
+
+typedef struct _cl_image_desc {
+    cl_mem_object_type      image_type;
+    size_t                  image_width;
+    size_t                  image_height;
+    size_t                  image_depth;
+    size_t                  image_array_size;
+    size_t                  image_row_pitch;
+    size_t                  image_slice_pitch;
+    cl_uint                 num_mip_levels;
+    cl_uint                 num_samples;
+#ifdef __GNUC__
+    __extension__   /* Prevents warnings about anonymous union in -pedantic builds */
+#endif
+    union {
+      cl_mem                  buffer;
+      cl_mem                  mem_object;
+    };
+} cl_image_desc;
+
+typedef struct _cl_buffer_region {
+    size_t                  origin;
+    size_t                  size;
+} cl_buffer_region;
+
+
+/******************************************************************************/
+
+/* Error Codes */
+#define CL_SUCCESS                                  0
+#define CL_DEVICE_NOT_FOUND                         -1
+#define CL_DEVICE_NOT_AVAILABLE                     -2
+#define CL_COMPILER_NOT_AVAILABLE                   -3
+#define CL_MEM_OBJECT_ALLOCATION_FAILURE            -4
+#define CL_OUT_OF_RESOURCES                         -5
+#define CL_OUT_OF_HOST_MEMORY                       -6
+#define CL_PROFILING_INFO_NOT_AVAILABLE             -7
+#define CL_MEM_COPY_OVERLAP                         -8
+#define CL_IMAGE_FORMAT_MISMATCH                    -9
+#define CL_IMAGE_FORMAT_NOT_SUPPORTED               -10
+#define CL_BUILD_PROGRAM_FAILURE                    -11
+#define CL_MAP_FAILURE                              -12
+#define CL_MISALIGNED_SUB_BUFFER_OFFSET             -13
+#define CL_EXEC_STATUS_ERROR_FOR_EVENTS_IN_WAIT_LIST -14
+#define CL_COMPILE_PROGRAM_FAILURE                  -15
+#define CL_LINKER_NOT_AVAILABLE                     -16
+#define CL_LINK_PROGRAM_FAILURE                     -17
+#define CL_DEVICE_PARTITION_FAILED                  -18
+#define CL_KERNEL_ARG_INFO_NOT_AVAILABLE            -19
+
+#define CL_INVALID_VALUE                            -30
+#define CL_INVALID_DEVICE_TYPE                      -31
+#define CL_INVALID_PLATFORM                         -32
+#define CL_INVALID_DEVICE                           -33
+#define CL_INVALID_CONTEXT                          -34
+#define CL_INVALID_QUEUE_PROPERTIES                 -35
+#define CL_INVALID_COMMAND_QUEUE                    -36
+#define CL_INVALID_HOST_PTR                         -37
+#define CL_INVALID_MEM_OBJECT                       -38
+#define CL_INVALID_IMAGE_FORMAT_DESCRIPTOR          -39
+#define CL_INVALID_IMAGE_SIZE                       -40
+#define CL_INVALID_SAMPLER                          -41
+#define CL_INVALID_BINARY                           -42
+#define CL_INVALID_BUILD_OPTIONS                    -43
+#define CL_INVALID_PROGRAM                          -44
+#define CL_INVALID_PROGRAM_EXECUTABLE               -45
+#define CL_INVALID_KERNEL_NAME                      -46
+#define CL_INVALID_KERNEL_DEFINITION                -47
+#define CL_INVALID_KERNEL                           -48
+#define CL_INVALID_ARG_INDEX                        -49
+#define CL_INVALID_ARG_VALUE                        -50
+#define CL_INVALID_ARG_SIZE                         -51
+#define CL_INVALID_KERNEL_ARGS                      -52
+#define CL_INVALID_WORK_DIMENSION                   -53
+#define CL_INVALID_WORK_GROUP_SIZE                  -54
+#define CL_INVALID_WORK_ITEM_SIZE                   -55
+#define CL_INVALID_GLOBAL_OFFSET                    -56
+#define CL_INVALID_EVENT_WAIT_LIST                  -57
+#define CL_INVALID_EVENT                            -58
+#define CL_INVALID_OPERATION                        -59
+#define CL_INVALID_GL_OBJECT                        -60
+#define CL_INVALID_BUFFER_SIZE                      -61
+#define CL_INVALID_MIP_LEVEL                        -62
+#define CL_INVALID_GLOBAL_WORK_SIZE                 -63
+#define CL_INVALID_PROPERTY                         -64
+#define CL_INVALID_IMAGE_DESCRIPTOR                 -65
+#define CL_INVALID_COMPILER_OPTIONS                 -66
+#define CL_INVALID_LINKER_OPTIONS                   -67
+#define CL_INVALID_DEVICE_PARTITION_COUNT           -68
+#define CL_INVALID_PIPE_SIZE                        -69
+#define CL_INVALID_DEVICE_QUEUE                     -70
+
+/* OpenCL Version */
+#define CL_VERSION_1_0                              1
+#define CL_VERSION_1_1                              1
+#define CL_VERSION_1_2                              1
+#define CL_VERSION_2_0                              1
+#define CL_VERSION_2_1                              1
+
+/* cl_bool */
+#define CL_FALSE                                    0
+#define CL_TRUE                                     1
+#define CL_BLOCKING                                 CL_TRUE
+#define CL_NON_BLOCKING                             CL_FALSE
+
+/* cl_platform_info */
+#define CL_PLATFORM_PROFILE                         0x0900
+#define CL_PLATFORM_VERSION                         0x0901
+#define CL_PLATFORM_NAME                            0x0902
+#define CL_PLATFORM_VENDOR                          0x0903
+#define CL_PLATFORM_EXTENSIONS                      0x0904
+#define CL_PLATFORM_HOST_TIMER_RESOLUTION           0x0905
+
+/* cl_device_type - bitfield */
+#define CL_DEVICE_TYPE_DEFAULT                      (1 << 0)
+#define CL_DEVICE_TYPE_CPU                          (1 << 1)
+#define CL_DEVICE_TYPE_GPU                          (1 << 2)
+#define CL_DEVICE_TYPE_ACCELERATOR                  (1 << 3)
+#define CL_DEVICE_TYPE_CUSTOM                       (1 << 4)
+#define CL_DEVICE_TYPE_ALL                          0xFFFFFFFF
+
+/* cl_device_info */
+#define CL_DEVICE_TYPE                                   0x1000
+#define CL_DEVICE_VENDOR_ID                              0x1001
+#define CL_DEVICE_MAX_COMPUTE_UNITS                      0x1002
+#define CL_DEVICE_MAX_WORK_ITEM_DIMENSIONS               0x1003
+#define CL_DEVICE_MAX_WORK_GROUP_SIZE                    0x1004
+#define CL_DEVICE_MAX_WORK_ITEM_SIZES                    0x1005
+#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_CHAR            0x1006
+#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_SHORT           0x1007
+#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_INT             0x1008
+#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_LONG            0x1009
+#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_FLOAT           0x100A
+#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_DOUBLE          0x100B
+#define CL_DEVICE_MAX_CLOCK_FREQUENCY                    0x100C
+#define CL_DEVICE_ADDRESS_BITS                           0x100D
+#define CL_DEVICE_MAX_READ_IMAGE_ARGS                    0x100E
+#define CL_DEVICE_MAX_WRITE_IMAGE_ARGS                   0x100F
+#define CL_DEVICE_MAX_MEM_ALLOC_SIZE                     0x1010
+#define CL_DEVICE_IMAGE2D_MAX_WIDTH                      0x1011
+#define CL_DEVICE_IMAGE2D_MAX_HEIGHT                     0x1012
+#define CL_DEVICE_IMAGE3D_MAX_WIDTH                      0x1013
+#define CL_DEVICE_IMAGE3D_MAX_HEIGHT                     0x1014
+#define CL_DEVICE_IMAGE3D_MAX_DEPTH                      0x1015
+#define CL_DEVICE_IMAGE_SUPPORT                          0x1016
+#define CL_DEVICE_MAX_PARAMETER_SIZE                     0x1017
+#define CL_DEVICE_MAX_SAMPLERS                           0x1018
+#define CL_DEVICE_MEM_BASE_ADDR_ALIGN                    0x1019
+#define CL_DEVICE_MIN_DATA_TYPE_ALIGN_SIZE               0x101A
+#define CL_DEVICE_SINGLE_FP_CONFIG                       0x101B
+#define CL_DEVICE_GLOBAL_MEM_CACHE_TYPE                  0x101C
+#define CL_DEVICE_GLOBAL_MEM_CACHELINE_SIZE              0x101D
+#define CL_DEVICE_GLOBAL_MEM_CACHE_SIZE                  0x101E
+#define CL_DEVICE_GLOBAL_MEM_SIZE                        0x101F
+#define CL_DEVICE_MAX_CONSTANT_BUFFER_SIZE               0x1020
+#define CL_DEVICE_MAX_CONSTANT_ARGS                      0x1021
+#define CL_DEVICE_LOCAL_MEM_TYPE                         0x1022
+#define CL_DEVICE_LOCAL_MEM_SIZE                         0x1023
+#define CL_DEVICE_ERROR_CORRECTION_SUPPORT               0x1024
+#define CL_DEVICE_PROFILING_TIMER_RESOLUTION             0x1025
+#define CL_DEVICE_ENDIAN_LITTLE                          0x1026
+#define CL_DEVICE_AVAILABLE                              0x1027
+#define CL_DEVICE_COMPILER_AVAILABLE                     0x1028
+#define CL_DEVICE_EXECUTION_CAPABILITIES                 0x1029
+#define CL_DEVICE_QUEUE_PROPERTIES                       0x102A    /* deprecated */
+#define CL_DEVICE_QUEUE_ON_HOST_PROPERTIES               0x102A
+#define CL_DEVICE_NAME                                   0x102B
+#define CL_DEVICE_VENDOR                                 0x102C
+#define CL_DRIVER_VERSION                                0x102D
+#define CL_DEVICE_PROFILE                                0x102E
+#define CL_DEVICE_VERSION                                0x102F
+#define CL_DEVICE_EXTENSIONS                             0x1030
+#define CL_DEVICE_PLATFORM                               0x1031
+#define CL_DEVICE_DOUBLE_FP_CONFIG                       0x1032
+/* 0x1033 reserved for CL_DEVICE_HALF_FP_CONFIG */
+#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_HALF            0x1034
+#define CL_DEVICE_HOST_UNIFIED_MEMORY                    0x1035   /* deprecated */
+#define CL_DEVICE_NATIVE_VECTOR_WIDTH_CHAR               0x1036
+#define CL_DEVICE_NATIVE_VECTOR_WIDTH_SHORT              0x1037
+#define CL_DEVICE_NATIVE_VECTOR_WIDTH_INT                0x1038
+#define CL_DEVICE_NATIVE_VECTOR_WIDTH_LONG               0x1039
+#define CL_DEVICE_NATIVE_VECTOR_WIDTH_FLOAT              0x103A
+#define CL_DEVICE_NATIVE_VECTOR_WIDTH_DOUBLE             0x103B
+#define CL_DEVICE_NATIVE_VECTOR_WIDTH_HALF               0x103C
+#define CL_DEVICE_OPENCL_C_VERSION                       0x103D
+#define CL_DEVICE_LINKER_AVAILABLE                       0x103E
+#define CL_DEVICE_BUILT_IN_KERNELS                       0x103F
+#define CL_DEVICE_IMAGE_MAX_BUFFER_SIZE                  0x1040
+#define CL_DEVICE_IMAGE_MAX_ARRAY_SIZE                   0x1041
+#define CL_DEVICE_PARENT_DEVICE                          0x1042
+#define CL_DEVICE_PARTITION_MAX_SUB_DEVICES              0x1043
+#define CL_DEVICE_PARTITION_PROPERTIES                   0x1044
+#define CL_DEVICE_PARTITION_AFFINITY_DOMAIN              0x1045
+#define CL_DEVICE_PARTITION_TYPE                         0x1046
+#define CL_DEVICE_REFERENCE_COUNT                        0x1047
+#define CL_DEVICE_PREFERRED_INTEROP_USER_SYNC            0x1048
+#define CL_DEVICE_PRINTF_BUFFER_SIZE                     0x1049
+#define CL_DEVICE_IMAGE_PITCH_ALIGNMENT                  0x104A
+#define CL_DEVICE_IMAGE_BASE_ADDRESS_ALIGNMENT           0x104B
+#define CL_DEVICE_MAX_READ_WRITE_IMAGE_ARGS              0x104C
+#define CL_DEVICE_MAX_GLOBAL_VARIABLE_SIZE               0x104D
+#define CL_DEVICE_QUEUE_ON_DEVICE_PROPERTIES             0x104E
+#define CL_DEVICE_QUEUE_ON_DEVICE_PREFERRED_SIZE         0x104F
+#define CL_DEVICE_QUEUE_ON_DEVICE_MAX_SIZE               0x1050
+#define CL_DEVICE_MAX_ON_DEVICE_QUEUES                   0x1051
+#define CL_DEVICE_MAX_ON_DEVICE_EVENTS                   0x1052
+#define CL_DEVICE_SVM_CAPABILITIES                       0x1053
+#define CL_DEVICE_GLOBAL_VARIABLE_PREFERRED_TOTAL_SIZE   0x1054
+#define CL_DEVICE_MAX_PIPE_ARGS                          0x1055
+#define CL_DEVICE_PIPE_MAX_ACTIVE_RESERVATIONS           0x1056
+#define CL_DEVICE_PIPE_MAX_PACKET_SIZE                   0x1057
+#define CL_DEVICE_PREFERRED_PLATFORM_ATOMIC_ALIGNMENT    0x1058
+#define CL_DEVICE_PREFERRED_GLOBAL_ATOMIC_ALIGNMENT      0x1059
+#define CL_DEVICE_PREFERRED_LOCAL_ATOMIC_ALIGNMENT       0x105A
+#define CL_DEVICE_IL_VERSION                             0x105B
+#define CL_DEVICE_MAX_NUM_SUB_GROUPS                     0x105C
+#define CL_DEVICE_SUB_GROUP_INDEPENDENT_FORWARD_PROGRESS 0x105D
+
+/* cl_device_fp_config - bitfield */
+#define CL_FP_DENORM                                (1 << 0)
+#define CL_FP_INF_NAN                               (1 << 1)
+#define CL_FP_ROUND_TO_NEAREST                      (1 << 2)
+#define CL_FP_ROUND_TO_ZERO                         (1 << 3)
+#define CL_FP_ROUND_TO_INF                          (1 << 4)
+#define CL_FP_FMA                                   (1 << 5)
+#define CL_FP_SOFT_FLOAT                            (1 << 6)
+#define CL_FP_CORRECTLY_ROUNDED_DIVIDE_SQRT         (1 << 7)
+
+/* cl_device_mem_cache_type */
+#define CL_NONE                                     0x0
+#define CL_READ_ONLY_CACHE                          0x1
+#define CL_READ_WRITE_CACHE                         0x2
+
+/* cl_device_local_mem_type */
+#define CL_LOCAL                                    0x1
+#define CL_GLOBAL                                   0x2
+
+/* cl_device_exec_capabilities - bitfield */
+#define CL_EXEC_KERNEL                              (1 << 0)
+#define CL_EXEC_NATIVE_KERNEL                       (1 << 1)
+
+/* cl_command_queue_properties - bitfield */
+#define CL_QUEUE_OUT_OF_ORDER_EXEC_MODE_ENABLE      (1 << 0)
+#define CL_QUEUE_PROFILING_ENABLE                   (1 << 1)
+#define CL_QUEUE_ON_DEVICE                          (1 << 2)
+#define CL_QUEUE_ON_DEVICE_DEFAULT                  (1 << 3)
+
+/* cl_context_info  */
+#define CL_CONTEXT_REFERENCE_COUNT                  0x1080
+#define CL_CONTEXT_DEVICES                          0x1081
+#define CL_CONTEXT_PROPERTIES                       0x1082
+#define CL_CONTEXT_NUM_DEVICES                      0x1083
+
+/* cl_context_properties */
+#define CL_CONTEXT_PLATFORM                         0x1084
+#define CL_CONTEXT_INTEROP_USER_SYNC                0x1085
+    
+/* cl_device_partition_property */
+#define CL_DEVICE_PARTITION_EQUALLY                 0x1086
+#define CL_DEVICE_PARTITION_BY_COUNTS               0x1087
+#define CL_DEVICE_PARTITION_BY_COUNTS_LIST_END      0x0
+#define CL_DEVICE_PARTITION_BY_AFFINITY_DOMAIN      0x1088
+    
+/* cl_device_affinity_domain */
+#define CL_DEVICE_AFFINITY_DOMAIN_NUMA               (1 << 0)
+#define CL_DEVICE_AFFINITY_DOMAIN_L4_CACHE           (1 << 1)
+#define CL_DEVICE_AFFINITY_DOMAIN_L3_CACHE           (1 << 2)
+#define CL_DEVICE_AFFINITY_DOMAIN_L2_CACHE           (1 << 3)
+#define CL_DEVICE_AFFINITY_DOMAIN_L1_CACHE           (1 << 4)
+#define CL_DEVICE_AFFINITY_DOMAIN_NEXT_PARTITIONABLE (1 << 5)
+    
+/* cl_device_svm_capabilities */
+#define CL_DEVICE_SVM_COARSE_GRAIN_BUFFER           (1 << 0)
+#define CL_DEVICE_SVM_FINE_GRAIN_BUFFER             (1 << 1)
+#define CL_DEVICE_SVM_FINE_GRAIN_SYSTEM             (1 << 2)
+#define CL_DEVICE_SVM_ATOMICS                       (1 << 3)
+
+/* cl_command_queue_info */
+#define CL_QUEUE_CONTEXT                            0x1090
+#define CL_QUEUE_DEVICE                             0x1091
+#define CL_QUEUE_REFERENCE_COUNT                    0x1092
+#define CL_QUEUE_PROPERTIES                         0x1093
+#define CL_QUEUE_SIZE                               0x1094
+#define CL_QUEUE_DEVICE_DEFAULT                     0x1095
+
+/* cl_mem_flags and cl_svm_mem_flags - bitfield */
+#define CL_MEM_READ_WRITE                           (1 << 0)
+#define CL_MEM_WRITE_ONLY                           (1 << 1)
+#define CL_MEM_READ_ONLY                            (1 << 2)
+#define CL_MEM_USE_HOST_PTR                         (1 << 3)
+#define CL_MEM_ALLOC_HOST_PTR                       (1 << 4)
+#define CL_MEM_COPY_HOST_PTR                        (1 << 5)
+/* reserved                                         (1 << 6)    */
+#define CL_MEM_HOST_WRITE_ONLY                      (1 << 7)
+#define CL_MEM_HOST_READ_ONLY                       (1 << 8)
+#define CL_MEM_HOST_NO_ACCESS                       (1 << 9)
+#define CL_MEM_SVM_FINE_GRAIN_BUFFER                (1 << 10)   /* used by cl_svm_mem_flags only */
+#define CL_MEM_SVM_ATOMICS                          (1 << 11)   /* used by cl_svm_mem_flags only */
+#define CL_MEM_KERNEL_READ_AND_WRITE                (1 << 12)
+
+/* cl_mem_migration_flags - bitfield */
+#define CL_MIGRATE_MEM_OBJECT_HOST                  (1 << 0)
+#define CL_MIGRATE_MEM_OBJECT_CONTENT_UNDEFINED     (1 << 1)
+
+/* cl_channel_order */
+#define CL_R                                        0x10B0
+#define CL_A                                        0x10B1
+#define CL_RG                                       0x10B2
+#define CL_RA                                       0x10B3
+#define CL_RGB                                      0x10B4
+#define CL_RGBA                                     0x10B5
+#define CL_BGRA                                     0x10B6
+#define CL_ARGB                                     0x10B7
+#define CL_INTENSITY                                0x10B8
+#define CL_LUMINANCE                                0x10B9
+#define CL_Rx                                       0x10BA
+#define CL_RGx                                      0x10BB
+#define CL_RGBx                                     0x10BC
+#define CL_DEPTH                                    0x10BD
+#define CL_DEPTH_STENCIL                            0x10BE
+#define CL_sRGB                                     0x10BF
+#define CL_sRGBx                                    0x10C0
+#define CL_sRGBA                                    0x10C1
+#define CL_sBGRA                                    0x10C2
+#define CL_ABGR                                     0x10C3
+
+/* cl_channel_type */
+#define CL_SNORM_INT8                               0x10D0
+#define CL_SNORM_INT16                              0x10D1
+#define CL_UNORM_INT8                               0x10D2
+#define CL_UNORM_INT16                              0x10D3
+#define CL_UNORM_SHORT_565                          0x10D4
+#define CL_UNORM_SHORT_555                          0x10D5
+#define CL_UNORM_INT_101010                         0x10D6
+#define CL_SIGNED_INT8                              0x10D7
+#define CL_SIGNED_INT16                             0x10D8
+#define CL_SIGNED_INT32                             0x10D9
+#define CL_UNSIGNED_INT8                            0x10DA
+#define CL_UNSIGNED_INT16                           0x10DB
+#define CL_UNSIGNED_INT32                           0x10DC
+#define CL_HALF_FLOAT                               0x10DD
+#define CL_FLOAT                                    0x10DE
+#define CL_UNORM_INT24                              0x10DF
+#define CL_UNORM_INT_101010_2                       0x10E0
+
+/* cl_mem_object_type */
+#define CL_MEM_OBJECT_BUFFER                        0x10F0
+#define CL_MEM_OBJECT_IMAGE2D                       0x10F1
+#define CL_MEM_OBJECT_IMAGE3D                       0x10F2
+#define CL_MEM_OBJECT_IMAGE2D_ARRAY                 0x10F3
+#define CL_MEM_OBJECT_IMAGE1D                       0x10F4
+#define CL_MEM_OBJECT_IMAGE1D_ARRAY                 0x10F5
+#define CL_MEM_OBJECT_IMAGE1D_BUFFER                0x10F6
+#define CL_MEM_OBJECT_PIPE                          0x10F7
+
+/* cl_mem_info */
+#define CL_MEM_TYPE                                 0x1100
+#define CL_MEM_FLAGS                                0x1101
+#define CL_MEM_SIZE                                 0x1102
+#define CL_MEM_HOST_PTR                             0x1103
+#define CL_MEM_MAP_COUNT                            0x1104
+#define CL_MEM_REFERENCE_COUNT                      0x1105
+#define CL_MEM_CONTEXT                              0x1106
+#define CL_MEM_ASSOCIATED_MEMOBJECT                 0x1107
+#define CL_MEM_OFFSET                               0x1108
+#define CL_MEM_USES_SVM_POINTER                     0x1109
+
+/* cl_image_info */
+#define CL_IMAGE_FORMAT                             0x1110
+#define CL_IMAGE_ELEMENT_SIZE                       0x1111
+#define CL_IMAGE_ROW_PITCH                          0x1112
+#define CL_IMAGE_SLICE_PITCH                        0x1113
+#define CL_IMAGE_WIDTH                              0x1114
+#define CL_IMAGE_HEIGHT                             0x1115
+#define CL_IMAGE_DEPTH                              0x1116
+#define CL_IMAGE_ARRAY_SIZE                         0x1117
+#define CL_IMAGE_BUFFER                             0x1118
+#define CL_IMAGE_NUM_MIP_LEVELS                     0x1119
+#define CL_IMAGE_NUM_SAMPLES                        0x111A
+    
+/* cl_pipe_info */
+#define CL_PIPE_PACKET_SIZE                         0x1120
+#define CL_PIPE_MAX_PACKETS                         0x1121
+
+/* cl_addressing_mode */
+#define CL_ADDRESS_NONE                             0x1130
+#define CL_ADDRESS_CLAMP_TO_EDGE                    0x1131
+#define CL_ADDRESS_CLAMP                            0x1132
+#define CL_ADDRESS_REPEAT                           0x1133
+#define CL_ADDRESS_MIRRORED_REPEAT                  0x1134
+
+/* cl_filter_mode */
+#define CL_FILTER_NEAREST                           0x1140
+#define CL_FILTER_LINEAR                            0x1141
+
+/* cl_sampler_info */
+#define CL_SAMPLER_REFERENCE_COUNT                  0x1150
+#define CL_SAMPLER_CONTEXT                          0x1151
+#define CL_SAMPLER_NORMALIZED_COORDS                0x1152
+#define CL_SAMPLER_ADDRESSING_MODE                  0x1153
+#define CL_SAMPLER_FILTER_MODE                      0x1154
+#define CL_SAMPLER_MIP_FILTER_MODE                  0x1155
+#define CL_SAMPLER_LOD_MIN                          0x1156
+#define CL_SAMPLER_LOD_MAX                          0x1157
+
+/* cl_map_flags - bitfield */
+#define CL_MAP_READ                                 (1 << 0)
+#define CL_MAP_WRITE                                (1 << 1)
+#define CL_MAP_WRITE_INVALIDATE_REGION              (1 << 2)
+
+/* cl_program_info */
+#define CL_PROGRAM_REFERENCE_COUNT                  0x1160
+#define CL_PROGRAM_CONTEXT                          0x1161
+#define CL_PROGRAM_NUM_DEVICES                      0x1162
+#define CL_PROGRAM_DEVICES                          0x1163
+#define CL_PROGRAM_SOURCE                           0x1164
+#define CL_PROGRAM_BINARY_SIZES                     0x1165
+#define CL_PROGRAM_BINARIES                         0x1166
+#define CL_PROGRAM_NUM_KERNELS                      0x1167
+#define CL_PROGRAM_KERNEL_NAMES                     0x1168
+#define CL_PROGRAM_IL                               0x1169
+
+/* cl_program_build_info */
+#define CL_PROGRAM_BUILD_STATUS                     0x1181
+#define CL_PROGRAM_BUILD_OPTIONS                    0x1182
+#define CL_PROGRAM_BUILD_LOG                        0x1183
+#define CL_PROGRAM_BINARY_TYPE                      0x1184
+#define CL_PROGRAM_BUILD_GLOBAL_VARIABLE_TOTAL_SIZE 0x1185
+    
+/* cl_program_binary_type */
+#define CL_PROGRAM_BINARY_TYPE_NONE                 0x0
+#define CL_PROGRAM_BINARY_TYPE_COMPILED_OBJECT      0x1
+#define CL_PROGRAM_BINARY_TYPE_LIBRARY              0x2
+#define CL_PROGRAM_BINARY_TYPE_EXECUTABLE           0x4
+
+/* cl_build_status */
+#define CL_BUILD_SUCCESS                            0
+#define CL_BUILD_NONE                               -1
+#define CL_BUILD_ERROR                              -2
+#define CL_BUILD_IN_PROGRESS                        -3
+
+/* cl_kernel_info */
+#define CL_KERNEL_FUNCTION_NAME                     0x1190
+#define CL_KERNEL_NUM_ARGS                          0x1191
+#define CL_KERNEL_REFERENCE_COUNT                   0x1192
+#define CL_KERNEL_CONTEXT                           0x1193
+#define CL_KERNEL_PROGRAM                           0x1194
+#define CL_KERNEL_ATTRIBUTES                        0x1195
+#define CL_KERNEL_MAX_NUM_SUB_GROUPS                0x11B9
+#define CL_KERNEL_COMPILE_NUM_SUB_GROUPS            0x11BA
+
+/* cl_kernel_arg_info */
+#define CL_KERNEL_ARG_ADDRESS_QUALIFIER             0x1196
+#define CL_KERNEL_ARG_ACCESS_QUALIFIER              0x1197
+#define CL_KERNEL_ARG_TYPE_NAME                     0x1198
+#define CL_KERNEL_ARG_TYPE_QUALIFIER                0x1199
+#define CL_KERNEL_ARG_NAME                          0x119A
+
+/* cl_kernel_arg_address_qualifier */
+#define CL_KERNEL_ARG_ADDRESS_GLOBAL                0x119B
+#define CL_KERNEL_ARG_ADDRESS_LOCAL                 0x119C
+#define CL_KERNEL_ARG_ADDRESS_CONSTANT              0x119D
+#define CL_KERNEL_ARG_ADDRESS_PRIVATE               0x119E
+
+/* cl_kernel_arg_access_qualifier */
+#define CL_KERNEL_ARG_ACCESS_READ_ONLY              0x11A0
+#define CL_KERNEL_ARG_ACCESS_WRITE_ONLY             0x11A1
+#define CL_KERNEL_ARG_ACCESS_READ_WRITE             0x11A2
+#define CL_KERNEL_ARG_ACCESS_NONE                   0x11A3
+    
+/* cl_kernel_arg_type_qualifer */
+#define CL_KERNEL_ARG_TYPE_NONE                     0
+#define CL_KERNEL_ARG_TYPE_CONST                    (1 << 0)
+#define CL_KERNEL_ARG_TYPE_RESTRICT                 (1 << 1)
+#define CL_KERNEL_ARG_TYPE_VOLATILE                 (1 << 2)
+#define CL_KERNEL_ARG_TYPE_PIPE                     (1 << 3)
+
+/* cl_kernel_work_group_info */
+#define CL_KERNEL_WORK_GROUP_SIZE                   0x11B0
+#define CL_KERNEL_COMPILE_WORK_GROUP_SIZE           0x11B1
+#define CL_KERNEL_LOCAL_MEM_SIZE                    0x11B2
+#define CL_KERNEL_PREFERRED_WORK_GROUP_SIZE_MULTIPLE 0x11B3
+#define CL_KERNEL_PRIVATE_MEM_SIZE                  0x11B4
+#define CL_KERNEL_GLOBAL_WORK_SIZE                  0x11B5
+
+/* cl_kernel_sub_group_info */
+#define CL_KERNEL_MAX_SUB_GROUP_SIZE_FOR_NDRANGE    0x2033
+#define CL_KERNEL_SUB_GROUP_COUNT_FOR_NDRANGE       0x2034
+#define CL_KERNEL_LOCAL_SIZE_FOR_SUB_GROUP_COUNT    0x11B8
+    
+/* cl_kernel_exec_info */
+#define CL_KERNEL_EXEC_INFO_SVM_PTRS                0x11B6
+#define CL_KERNEL_EXEC_INFO_SVM_FINE_GRAIN_SYSTEM   0x11B7
+
+/* cl_event_info  */
+#define CL_EVENT_COMMAND_QUEUE                      0x11D0
+#define CL_EVENT_COMMAND_TYPE                       0x11D1
+#define CL_EVENT_REFERENCE_COUNT                    0x11D2
+#define CL_EVENT_COMMAND_EXECUTION_STATUS           0x11D3
+#define CL_EVENT_CONTEXT                            0x11D4
+
+/* cl_command_type */
+#define CL_COMMAND_NDRANGE_KERNEL                   0x11F0
+#define CL_COMMAND_TASK                             0x11F1
+#define CL_COMMAND_NATIVE_KERNEL                    0x11F2
+#define CL_COMMAND_READ_BUFFER                      0x11F3
+#define CL_COMMAND_WRITE_BUFFER                     0x11F4
+#define CL_COMMAND_COPY_BUFFER                      0x11F5
+#define CL_COMMAND_READ_IMAGE                       0x11F6
+#define CL_COMMAND_WRITE_IMAGE                      0x11F7
+#define CL_COMMAND_COPY_IMAGE                       0x11F8
+#define CL_COMMAND_COPY_IMAGE_TO_BUFFER             0x11F9
+#define CL_COMMAND_COPY_BUFFER_TO_IMAGE             0x11FA
+#define CL_COMMAND_MAP_BUFFER                       0x11FB
+#define CL_COMMAND_MAP_IMAGE                        0x11FC
+#define CL_COMMAND_UNMAP_MEM_OBJECT                 0x11FD
+#define CL_COMMAND_MARKER                           0x11FE
+#define CL_COMMAND_ACQUIRE_GL_OBJECTS               0x11FF
+#define CL_COMMAND_RELEASE_GL_OBJECTS               0x1200
+#define CL_COMMAND_READ_BUFFER_RECT                 0x1201
+#define CL_COMMAND_WRITE_BUFFER_RECT                0x1202
+#define CL_COMMAND_COPY_BUFFER_RECT                 0x1203
+#define CL_COMMAND_USER                             0x1204
+#define CL_COMMAND_BARRIER                          0x1205
+#define CL_COMMAND_MIGRATE_MEM_OBJECTS              0x1206
+#define CL_COMMAND_FILL_BUFFER                      0x1207
+#define CL_COMMAND_FILL_IMAGE                       0x1208
+#define CL_COMMAND_SVM_FREE                         0x1209
+#define CL_COMMAND_SVM_MEMCPY                       0x120A
+#define CL_COMMAND_SVM_MEMFILL                      0x120B
+#define CL_COMMAND_SVM_MAP                          0x120C
+#define CL_COMMAND_SVM_UNMAP                        0x120D
+
+/* command execution status */
+#define CL_COMPLETE                                 0x0
+#define CL_RUNNING                                  0x1
+#define CL_SUBMITTED                                0x2
+#define CL_QUEUED                                   0x3
+
+/* cl_buffer_create_type  */
+#define CL_BUFFER_CREATE_TYPE_REGION                0x1220
+
+/* cl_profiling_info  */
+#define CL_PROFILING_COMMAND_QUEUED                 0x1280
+#define CL_PROFILING_COMMAND_SUBMIT                 0x1281
+#define CL_PROFILING_COMMAND_START                  0x1282
+#define CL_PROFILING_COMMAND_END                    0x1283
+#define CL_PROFILING_COMMAND_COMPLETE               0x1284
+
+/********************************************************************************************************/
+
+/* Platform API */
+extern CL_API_ENTRY cl_int CL_API_CALL
+clGetPlatformIDs(cl_uint          /* num_entries */,
+                 cl_platform_id * /* platforms */,
+                 cl_uint *        /* num_platforms */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL 
+clGetPlatformInfo(cl_platform_id   /* platform */, 
+                  cl_platform_info /* param_name */,
+                  size_t           /* param_value_size */, 
+                  void *           /* param_value */,
+                  size_t *         /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+/* Device APIs */
+extern CL_API_ENTRY cl_int CL_API_CALL
+clGetDeviceIDs(cl_platform_id   /* platform */,
+               cl_device_type   /* device_type */, 
+               cl_uint          /* num_entries */, 
+               cl_device_id *   /* devices */, 
+               cl_uint *        /* num_devices */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clGetDeviceInfo(cl_device_id    /* device */,
+                cl_device_info  /* param_name */, 
+                size_t          /* param_value_size */, 
+                void *          /* param_value */,
+                size_t *        /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
+    
+extern CL_API_ENTRY cl_int CL_API_CALL
+clCreateSubDevices(cl_device_id                         /* in_device */,
+                   const cl_device_partition_property * /* properties */,
+                   cl_uint                              /* num_devices */,
+                   cl_device_id *                       /* out_devices */,
+                   cl_uint *                            /* num_devices_ret */) CL_API_SUFFIX__VERSION_1_2;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clRetainDevice(cl_device_id /* device */) CL_API_SUFFIX__VERSION_1_2;
+    
+extern CL_API_ENTRY cl_int CL_API_CALL
+clReleaseDevice(cl_device_id /* device */) CL_API_SUFFIX__VERSION_1_2;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clSetDefaultDeviceCommandQueue(cl_context           /* context */,
+                               cl_device_id         /* device */,
+                               cl_command_queue     /* command_queue */) CL_API_SUFFIX__VERSION_2_1;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clGetDeviceAndHostTimer(cl_device_id    /* device */,
+                        cl_ulong*       /* device_timestamp */,
+                        cl_ulong*       /* host_timestamp */) CL_API_SUFFIX__VERSION_2_1;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clGetHostTimer(cl_device_id /* device */,
+               cl_ulong *   /* host_timestamp */)  CL_API_SUFFIX__VERSION_2_1;
+
+    
+/* Context APIs  */
+extern CL_API_ENTRY cl_context CL_API_CALL
+clCreateContext(const cl_context_properties * /* properties */,
+                cl_uint                 /* num_devices */,
+                const cl_device_id *    /* devices */,
+                void (CL_CALLBACK * /* pfn_notify */)(const char *, const void *, size_t, void *),
+                void *                  /* user_data */,
+                cl_int *                /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_context CL_API_CALL
+clCreateContextFromType(const cl_context_properties * /* properties */,
+                        cl_device_type          /* device_type */,
+                        void (CL_CALLBACK *     /* pfn_notify*/ )(const char *, const void *, size_t, void *),
+                        void *                  /* user_data */,
+                        cl_int *                /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clRetainContext(cl_context /* context */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clReleaseContext(cl_context /* context */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clGetContextInfo(cl_context         /* context */, 
+                 cl_context_info    /* param_name */, 
+                 size_t             /* param_value_size */, 
+                 void *             /* param_value */, 
+                 size_t *           /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+/* Command Queue APIs */
+extern CL_API_ENTRY cl_command_queue CL_API_CALL
+clCreateCommandQueueWithProperties(cl_context               /* context */,
+                                   cl_device_id             /* device */,
+                                   const cl_queue_properties *    /* properties */,
+                                   cl_int *                 /* errcode_ret */) CL_API_SUFFIX__VERSION_2_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clRetainCommandQueue(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clReleaseCommandQueue(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clGetCommandQueueInfo(cl_command_queue      /* command_queue */,
+                      cl_command_queue_info /* param_name */,
+                      size_t                /* param_value_size */,
+                      void *                /* param_value */,
+                      size_t *              /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+/* Memory Object APIs */
+extern CL_API_ENTRY cl_mem CL_API_CALL
+clCreateBuffer(cl_context   /* context */,
+               cl_mem_flags /* flags */,
+               size_t       /* size */,
+               void *       /* host_ptr */,
+               cl_int *     /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_mem CL_API_CALL
+clCreateSubBuffer(cl_mem                   /* buffer */,
+                  cl_mem_flags             /* flags */,
+                  cl_buffer_create_type    /* buffer_create_type */,
+                  const void *             /* buffer_create_info */,
+                  cl_int *                 /* errcode_ret */) CL_API_SUFFIX__VERSION_1_1;
+
+extern CL_API_ENTRY cl_mem CL_API_CALL
+clCreateImage(cl_context              /* context */,
+              cl_mem_flags            /* flags */,
+              const cl_image_format * /* image_format */,
+              const cl_image_desc *   /* image_desc */, 
+              void *                  /* host_ptr */,
+              cl_int *                /* errcode_ret */) CL_API_SUFFIX__VERSION_1_2;
+                        
+extern CL_API_ENTRY cl_mem CL_API_CALL
+clCreatePipe(cl_context                 /* context */,
+             cl_mem_flags               /* flags */,
+             cl_uint                    /* pipe_packet_size */,
+             cl_uint                    /* pipe_max_packets */,
+             const cl_pipe_properties * /* properties */,
+             cl_int *                   /* errcode_ret */) CL_API_SUFFIX__VERSION_2_0;
+    
+extern CL_API_ENTRY cl_int CL_API_CALL
+clRetainMemObject(cl_mem /* memobj */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clReleaseMemObject(cl_mem /* memobj */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clGetSupportedImageFormats(cl_context           /* context */,
+                           cl_mem_flags         /* flags */,
+                           cl_mem_object_type   /* image_type */,
+                           cl_uint              /* num_entries */,
+                           cl_image_format *    /* image_formats */,
+                           cl_uint *            /* num_image_formats */) CL_API_SUFFIX__VERSION_1_0;
+                                    
+extern CL_API_ENTRY cl_int CL_API_CALL
+clGetMemObjectInfo(cl_mem           /* memobj */,
+                   cl_mem_info      /* param_name */, 
+                   size_t           /* param_value_size */,
+                   void *           /* param_value */,
+                   size_t *         /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clGetImageInfo(cl_mem           /* image */,
+               cl_image_info    /* param_name */, 
+               size_t           /* param_value_size */,
+               void *           /* param_value */,
+               size_t *         /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
+    
+extern CL_API_ENTRY cl_int CL_API_CALL
+clGetPipeInfo(cl_mem           /* pipe */,
+              cl_pipe_info     /* param_name */,
+              size_t           /* param_value_size */,
+              void *           /* param_value */,
+              size_t *         /* param_value_size_ret */) CL_API_SUFFIX__VERSION_2_0;
+    
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clSetMemObjectDestructorCallback(cl_mem /* memobj */,
+                                 void (CL_CALLBACK * /*pfn_notify*/)( cl_mem /* memobj */, void* /*user_data*/),
+                                 void * /*user_data */ )             CL_API_SUFFIX__VERSION_1_1;
+
+/* SVM Allocation APIs */
+extern CL_API_ENTRY void * CL_API_CALL
+clSVMAlloc(cl_context       /* context */,
+           cl_svm_mem_flags /* flags */,
+           size_t           /* size */,
+           cl_uint          /* alignment */) CL_API_SUFFIX__VERSION_2_0;
+
+extern CL_API_ENTRY void CL_API_CALL
+clSVMFree(cl_context        /* context */,
+          void *            /* svm_pointer */) CL_API_SUFFIX__VERSION_2_0;
+    
+/* Sampler APIs */
+extern CL_API_ENTRY cl_sampler CL_API_CALL
+clCreateSamplerWithProperties(cl_context                     /* context */,
+                              const cl_sampler_properties *  /* normalized_coords */,
+                              cl_int *                       /* errcode_ret */) CL_API_SUFFIX__VERSION_2_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clRetainSampler(cl_sampler /* sampler */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clReleaseSampler(cl_sampler /* sampler */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clGetSamplerInfo(cl_sampler         /* sampler */,
+                 cl_sampler_info    /* param_name */,
+                 size_t             /* param_value_size */,
+                 void *             /* param_value */,
+                 size_t *           /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
+                            
+/* Program Object APIs  */
+extern CL_API_ENTRY cl_program CL_API_CALL
+clCreateProgramWithSource(cl_context        /* context */,
+                          cl_uint           /* count */,
+                          const char **     /* strings */,
+                          const size_t *    /* lengths */,
+                          cl_int *          /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_program CL_API_CALL
+clCreateProgramWithBinary(cl_context                     /* context */,
+                          cl_uint                        /* num_devices */,
+                          const cl_device_id *           /* device_list */,
+                          const size_t *                 /* lengths */,
+                          const unsigned char **         /* binaries */,
+                          cl_int *                       /* binary_status */,
+                          cl_int *                       /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_program CL_API_CALL
+clCreateProgramWithBuiltInKernels(cl_context            /* context */,
+                                  cl_uint               /* num_devices */,
+                                  const cl_device_id *  /* device_list */,
+                                  const char *          /* kernel_names */,
+                                  cl_int *              /* errcode_ret */) CL_API_SUFFIX__VERSION_1_2;
+
+extern CL_API_ENTRY cl_program CL_API_CALL
+clCreateProgramWithIL(cl_context    /* context */,
+                     const void*    /* il */,
+                     size_t         /* length */,
+                     cl_int*        /* errcode_ret */) CL_API_SUFFIX__VERSION_2_1;
+
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clRetainProgram(cl_program /* program */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clReleaseProgram(cl_program /* program */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clBuildProgram(cl_program           /* program */,
+               cl_uint              /* num_devices */,
+               const cl_device_id * /* device_list */,
+               const char *         /* options */, 
+               void (CL_CALLBACK *  /* pfn_notify */)(cl_program /* program */, void * /* user_data */),
+               void *               /* user_data */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clCompileProgram(cl_program           /* program */,
+                 cl_uint              /* num_devices */,
+                 const cl_device_id * /* device_list */,
+                 const char *         /* options */, 
+                 cl_uint              /* num_input_headers */,
+                 const cl_program *   /* input_headers */,
+                 const char **        /* header_include_names */,
+                 void (CL_CALLBACK *  /* pfn_notify */)(cl_program /* program */, void * /* user_data */),
+                 void *               /* user_data */) CL_API_SUFFIX__VERSION_1_2;
+
+extern CL_API_ENTRY cl_program CL_API_CALL
+clLinkProgram(cl_context           /* context */,
+              cl_uint              /* num_devices */,
+              const cl_device_id * /* device_list */,
+              const char *         /* options */, 
+              cl_uint              /* num_input_programs */,
+              const cl_program *   /* input_programs */,
+              void (CL_CALLBACK *  /* pfn_notify */)(cl_program /* program */, void * /* user_data */),
+              void *               /* user_data */,
+              cl_int *             /* errcode_ret */ ) CL_API_SUFFIX__VERSION_1_2;
+
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clUnloadPlatformCompiler(cl_platform_id /* platform */) CL_API_SUFFIX__VERSION_1_2;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clGetProgramInfo(cl_program         /* program */,
+                 cl_program_info    /* param_name */,
+                 size_t             /* param_value_size */,
+                 void *             /* param_value */,
+                 size_t *           /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clGetProgramBuildInfo(cl_program            /* program */,
+                      cl_device_id          /* device */,
+                      cl_program_build_info /* param_name */,
+                      size_t                /* param_value_size */,
+                      void *                /* param_value */,
+                      size_t *              /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
+                            
+/* Kernel Object APIs */
+extern CL_API_ENTRY cl_kernel CL_API_CALL
+clCreateKernel(cl_program      /* program */,
+               const char *    /* kernel_name */,
+               cl_int *        /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clCreateKernelsInProgram(cl_program     /* program */,
+                         cl_uint        /* num_kernels */,
+                         cl_kernel *    /* kernels */,
+                         cl_uint *      /* num_kernels_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_kernel CL_API_CALL
+clCloneKernel(cl_kernel     /* source_kernel */,
+              cl_int*       /* errcode_ret */) CL_API_SUFFIX__VERSION_2_1;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clRetainKernel(cl_kernel    /* kernel */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clReleaseKernel(cl_kernel   /* kernel */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clSetKernelArg(cl_kernel    /* kernel */,
+               cl_uint      /* arg_index */,
+               size_t       /* arg_size */,
+               const void * /* arg_value */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clSetKernelArgSVMPointer(cl_kernel    /* kernel */,
+                         cl_uint      /* arg_index */,
+                         const void * /* arg_value */) CL_API_SUFFIX__VERSION_2_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clSetKernelExecInfo(cl_kernel            /* kernel */,
+                    cl_kernel_exec_info  /* param_name */,
+                    size_t               /* param_value_size */,
+                    const void *         /* param_value */) CL_API_SUFFIX__VERSION_2_0;
+    
+extern CL_API_ENTRY cl_int CL_API_CALL
+clGetKernelInfo(cl_kernel       /* kernel */,
+                cl_kernel_info  /* param_name */,
+                size_t          /* param_value_size */,
+                void *          /* param_value */,
+                size_t *        /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clGetKernelArgInfo(cl_kernel       /* kernel */,
+                   cl_uint         /* arg_indx */,
+                   cl_kernel_arg_info  /* param_name */,
+                   size_t          /* param_value_size */,
+                   void *          /* param_value */,
+                   size_t *        /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_2;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clGetKernelWorkGroupInfo(cl_kernel                  /* kernel */,
+                         cl_device_id               /* device */,
+                         cl_kernel_work_group_info  /* param_name */,
+                         size_t                     /* param_value_size */,
+                         void *                     /* param_value */,
+                         size_t *                   /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clGetKernelSubGroupInfo(cl_kernel                   /* kernel */,
+                        cl_device_id                /* device */,
+                        cl_kernel_sub_group_info    /* param_name */,
+                        size_t                      /* input_value_size */,
+                        const void*                 /*input_value */,
+                        size_t                      /* param_value_size */,
+                        void*                       /* param_value */,
+                        size_t*                     /* param_value_size_ret */ ) CL_API_SUFFIX__VERSION_2_1;
+
+
+/* Event Object APIs */
+extern CL_API_ENTRY cl_int CL_API_CALL
+clWaitForEvents(cl_uint             /* num_events */,
+                const cl_event *    /* event_list */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clGetEventInfo(cl_event         /* event */,
+               cl_event_info    /* param_name */,
+               size_t           /* param_value_size */,
+               void *           /* param_value */,
+               size_t *         /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
+                            
+extern CL_API_ENTRY cl_event CL_API_CALL
+clCreateUserEvent(cl_context    /* context */,
+                  cl_int *      /* errcode_ret */) CL_API_SUFFIX__VERSION_1_1;               
+                            
+extern CL_API_ENTRY cl_int CL_API_CALL
+clRetainEvent(cl_event /* event */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clReleaseEvent(cl_event /* event */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clSetUserEventStatus(cl_event   /* event */,
+                     cl_int     /* execution_status */) CL_API_SUFFIX__VERSION_1_1;
+                     
+extern CL_API_ENTRY cl_int CL_API_CALL
+clSetEventCallback( cl_event    /* event */,
+                    cl_int      /* command_exec_callback_type */,
+                    void (CL_CALLBACK * /* pfn_notify */)(cl_event, cl_int, void *),
+                    void *      /* user_data */) CL_API_SUFFIX__VERSION_1_1;
+
+/* Profiling APIs */
+extern CL_API_ENTRY cl_int CL_API_CALL
+clGetEventProfilingInfo(cl_event            /* event */,
+                        cl_profiling_info   /* param_name */,
+                        size_t              /* param_value_size */,
+                        void *              /* param_value */,
+                        size_t *            /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
+                                
+/* Flush and Finish APIs */
+extern CL_API_ENTRY cl_int CL_API_CALL
+clFlush(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clFinish(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0;
+
+/* Enqueued Commands APIs */
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueReadBuffer(cl_command_queue    /* command_queue */,
+                    cl_mem              /* buffer */,
+                    cl_bool             /* blocking_read */,
+                    size_t              /* offset */,
+                    size_t              /* size */, 
+                    void *              /* ptr */,
+                    cl_uint             /* num_events_in_wait_list */,
+                    const cl_event *    /* event_wait_list */,
+                    cl_event *          /* event */) CL_API_SUFFIX__VERSION_1_0;
+                            
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueReadBufferRect(cl_command_queue    /* command_queue */,
+                        cl_mem              /* buffer */,
+                        cl_bool             /* blocking_read */,
+                        const size_t *      /* buffer_offset */,
+                        const size_t *      /* host_offset */, 
+                        const size_t *      /* region */,
+                        size_t              /* buffer_row_pitch */,
+                        size_t              /* buffer_slice_pitch */,
+                        size_t              /* host_row_pitch */,
+                        size_t              /* host_slice_pitch */,                        
+                        void *              /* ptr */,
+                        cl_uint             /* num_events_in_wait_list */,
+                        const cl_event *    /* event_wait_list */,
+                        cl_event *          /* event */) CL_API_SUFFIX__VERSION_1_1;
+                            
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueWriteBuffer(cl_command_queue   /* command_queue */, 
+                     cl_mem             /* buffer */, 
+                     cl_bool            /* blocking_write */, 
+                     size_t             /* offset */, 
+                     size_t             /* size */, 
+                     const void *       /* ptr */, 
+                     cl_uint            /* num_events_in_wait_list */, 
+                     const cl_event *   /* event_wait_list */, 
+                     cl_event *         /* event */) CL_API_SUFFIX__VERSION_1_0;
+                            
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueWriteBufferRect(cl_command_queue    /* command_queue */,
+                         cl_mem              /* buffer */,
+                         cl_bool             /* blocking_write */,
+                         const size_t *      /* buffer_offset */,
+                         const size_t *      /* host_offset */, 
+                         const size_t *      /* region */,
+                         size_t              /* buffer_row_pitch */,
+                         size_t              /* buffer_slice_pitch */,
+                         size_t              /* host_row_pitch */,
+                         size_t              /* host_slice_pitch */,                        
+                         const void *        /* ptr */,
+                         cl_uint             /* num_events_in_wait_list */,
+                         const cl_event *    /* event_wait_list */,
+                         cl_event *          /* event */) CL_API_SUFFIX__VERSION_1_1;
+                            
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueFillBuffer(cl_command_queue   /* command_queue */,
+                    cl_mem             /* buffer */, 
+                    const void *       /* pattern */, 
+                    size_t             /* pattern_size */, 
+                    size_t             /* offset */, 
+                    size_t             /* size */, 
+                    cl_uint            /* num_events_in_wait_list */, 
+                    const cl_event *   /* event_wait_list */, 
+                    cl_event *         /* event */) CL_API_SUFFIX__VERSION_1_2;
+                            
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueCopyBuffer(cl_command_queue    /* command_queue */, 
+                    cl_mem              /* src_buffer */,
+                    cl_mem              /* dst_buffer */, 
+                    size_t              /* src_offset */,
+                    size_t              /* dst_offset */,
+                    size_t              /* size */, 
+                    cl_uint             /* num_events_in_wait_list */,
+                    const cl_event *    /* event_wait_list */,
+                    cl_event *          /* event */) CL_API_SUFFIX__VERSION_1_0;
+                            
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueCopyBufferRect(cl_command_queue    /* command_queue */, 
+                        cl_mem              /* src_buffer */,
+                        cl_mem              /* dst_buffer */, 
+                        const size_t *      /* src_origin */,
+                        const size_t *      /* dst_origin */,
+                        const size_t *      /* region */, 
+                        size_t              /* src_row_pitch */,
+                        size_t              /* src_slice_pitch */,
+                        size_t              /* dst_row_pitch */,
+                        size_t              /* dst_slice_pitch */,
+                        cl_uint             /* num_events_in_wait_list */,
+                        const cl_event *    /* event_wait_list */,
+                        cl_event *          /* event */) CL_API_SUFFIX__VERSION_1_1;
+                            
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueReadImage(cl_command_queue     /* command_queue */,
+                   cl_mem               /* image */,
+                   cl_bool              /* blocking_read */, 
+                   const size_t *       /* origin[3] */,
+                   const size_t *       /* region[3] */,
+                   size_t               /* row_pitch */,
+                   size_t               /* slice_pitch */, 
+                   void *               /* ptr */,
+                   cl_uint              /* num_events_in_wait_list */,
+                   const cl_event *     /* event_wait_list */,
+                   cl_event *           /* event */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueWriteImage(cl_command_queue    /* command_queue */,
+                    cl_mem              /* image */,
+                    cl_bool             /* blocking_write */, 
+                    const size_t *      /* origin[3] */,
+                    const size_t *      /* region[3] */,
+                    size_t              /* input_row_pitch */,
+                    size_t              /* input_slice_pitch */, 
+                    const void *        /* ptr */,
+                    cl_uint             /* num_events_in_wait_list */,
+                    const cl_event *    /* event_wait_list */,
+                    cl_event *          /* event */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueFillImage(cl_command_queue   /* command_queue */,
+                   cl_mem             /* image */, 
+                   const void *       /* fill_color */, 
+                   const size_t *     /* origin[3] */, 
+                   const size_t *     /* region[3] */, 
+                   cl_uint            /* num_events_in_wait_list */, 
+                   const cl_event *   /* event_wait_list */, 
+                   cl_event *         /* event */) CL_API_SUFFIX__VERSION_1_2;
+                            
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueCopyImage(cl_command_queue     /* command_queue */,
+                   cl_mem               /* src_image */,
+                   cl_mem               /* dst_image */, 
+                   const size_t *       /* src_origin[3] */,
+                   const size_t *       /* dst_origin[3] */,
+                   const size_t *       /* region[3] */, 
+                   cl_uint              /* num_events_in_wait_list */,
+                   const cl_event *     /* event_wait_list */,
+                   cl_event *           /* event */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueCopyImageToBuffer(cl_command_queue /* command_queue */,
+                           cl_mem           /* src_image */,
+                           cl_mem           /* dst_buffer */, 
+                           const size_t *   /* src_origin[3] */,
+                           const size_t *   /* region[3] */, 
+                           size_t           /* dst_offset */,
+                           cl_uint          /* num_events_in_wait_list */,
+                           const cl_event * /* event_wait_list */,
+                           cl_event *       /* event */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueCopyBufferToImage(cl_command_queue /* command_queue */,
+                           cl_mem           /* src_buffer */,
+                           cl_mem           /* dst_image */, 
+                           size_t           /* src_offset */,
+                           const size_t *   /* dst_origin[3] */,
+                           const size_t *   /* region[3] */, 
+                           cl_uint          /* num_events_in_wait_list */,
+                           const cl_event * /* event_wait_list */,
+                           cl_event *       /* event */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY void * CL_API_CALL
+clEnqueueMapBuffer(cl_command_queue /* command_queue */,
+                   cl_mem           /* buffer */,
+                   cl_bool          /* blocking_map */, 
+                   cl_map_flags     /* map_flags */,
+                   size_t           /* offset */,
+                   size_t           /* size */,
+                   cl_uint          /* num_events_in_wait_list */,
+                   const cl_event * /* event_wait_list */,
+                   cl_event *       /* event */,
+                   cl_int *         /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY void * CL_API_CALL
+clEnqueueMapImage(cl_command_queue  /* command_queue */,
+                  cl_mem            /* image */, 
+                  cl_bool           /* blocking_map */, 
+                  cl_map_flags      /* map_flags */, 
+                  const size_t *    /* origin[3] */,
+                  const size_t *    /* region[3] */,
+                  size_t *          /* image_row_pitch */,
+                  size_t *          /* image_slice_pitch */,
+                  cl_uint           /* num_events_in_wait_list */,
+                  const cl_event *  /* event_wait_list */,
+                  cl_event *        /* event */,
+                  cl_int *          /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueUnmapMemObject(cl_command_queue /* command_queue */,
+                        cl_mem           /* memobj */,
+                        void *           /* mapped_ptr */,
+                        cl_uint          /* num_events_in_wait_list */,
+                        const cl_event *  /* event_wait_list */,
+                        cl_event *        /* event */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueMigrateMemObjects(cl_command_queue       /* command_queue */,
+                           cl_uint                /* num_mem_objects */,
+                           const cl_mem *         /* mem_objects */,
+                           cl_mem_migration_flags /* flags */,
+                           cl_uint                /* num_events_in_wait_list */,
+                           const cl_event *       /* event_wait_list */,
+                           cl_event *             /* event */) CL_API_SUFFIX__VERSION_1_2;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueNDRangeKernel(cl_command_queue /* command_queue */,
+                       cl_kernel        /* kernel */,
+                       cl_uint          /* work_dim */,
+                       const size_t *   /* global_work_offset */,
+                       const size_t *   /* global_work_size */,
+                       const size_t *   /* local_work_size */,
+                       cl_uint          /* num_events_in_wait_list */,
+                       const cl_event * /* event_wait_list */,
+                       cl_event *       /* event */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueNativeKernel(cl_command_queue  /* command_queue */,
+					  void (CL_CALLBACK * /*user_func*/)(void *), 
+                      void *            /* args */,
+                      size_t            /* cb_args */, 
+                      cl_uint           /* num_mem_objects */,
+                      const cl_mem *    /* mem_list */,
+                      const void **     /* args_mem_loc */,
+                      cl_uint           /* num_events_in_wait_list */,
+                      const cl_event *  /* event_wait_list */,
+                      cl_event *        /* event */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueMarkerWithWaitList(cl_command_queue  /* command_queue */,
+                            cl_uint           /* num_events_in_wait_list */,
+                            const cl_event *  /* event_wait_list */,
+                            cl_event *        /* event */) CL_API_SUFFIX__VERSION_1_2;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueBarrierWithWaitList(cl_command_queue  /* command_queue */,
+                             cl_uint           /* num_events_in_wait_list */,
+                             const cl_event *  /* event_wait_list */,
+                             cl_event *        /* event */) CL_API_SUFFIX__VERSION_1_2;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueSVMFree(cl_command_queue  /* command_queue */,
+                 cl_uint           /* num_svm_pointers */,
+                 void *[]          /* svm_pointers[] */,
+                 void (CL_CALLBACK * /*pfn_free_func*/)(cl_command_queue /* queue */,
+                                                        cl_uint          /* num_svm_pointers */,
+                                                        void *[]         /* svm_pointers[] */,
+                                                        void *           /* user_data */),
+                 void *            /* user_data */,
+                 cl_uint           /* num_events_in_wait_list */,
+                 const cl_event *  /* event_wait_list */,
+                 cl_event *        /* event */) CL_API_SUFFIX__VERSION_2_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueSVMMemcpy(cl_command_queue  /* command_queue */,
+                   cl_bool           /* blocking_copy */,
+                   void *            /* dst_ptr */,
+                   const void *      /* src_ptr */,
+                   size_t            /* size */,
+                   cl_uint           /* num_events_in_wait_list */,
+                   const cl_event *  /* event_wait_list */,
+                   cl_event *        /* event */) CL_API_SUFFIX__VERSION_2_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueSVMMemFill(cl_command_queue  /* command_queue */,
+                    void *            /* svm_ptr */,
+                    const void *      /* pattern */,
+                    size_t            /* pattern_size */,
+                    size_t            /* size */,
+                    cl_uint           /* num_events_in_wait_list */,
+                    const cl_event *  /* event_wait_list */,
+                    cl_event *        /* event */) CL_API_SUFFIX__VERSION_2_0;
+    
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueSVMMap(cl_command_queue  /* command_queue */,
+                cl_bool           /* blocking_map */,
+                cl_map_flags      /* flags */,
+                void *            /* svm_ptr */,
+                size_t            /* size */,
+                cl_uint           /* num_events_in_wait_list */,
+                const cl_event *  /* event_wait_list */,
+                cl_event *        /* event */) CL_API_SUFFIX__VERSION_2_0;
+    
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueSVMUnmap(cl_command_queue  /* command_queue */,
+                  void *            /* svm_ptr */,
+                  cl_uint           /* num_events_in_wait_list */,
+                  const cl_event *  /* event_wait_list */,
+                  cl_event *        /* event */) CL_API_SUFFIX__VERSION_2_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueSVMMigrateMem(cl_command_queue         /* command_queue */,
+                       cl_uint                  /* num_svm_pointers */,
+                       const void **            /* svm_pointers */,
+                       const size_t *           /* sizes */,
+                       cl_mem_migration_flags   /* flags */,
+                       cl_uint                  /* num_events_in_wait_list */,
+                       const cl_event *         /* event_wait_list */,
+                       cl_event *               /* event */) CL_API_SUFFIX__VERSION_2_1;
+
+
+/* Extension function access
+ *
+ * Returns the extension function address for the given function name,
+ * or NULL if a valid function can not be found.  The client must
+ * check to make sure the address is not NULL, before using or 
+ * calling the returned function address.
+ */
+extern CL_API_ENTRY void * CL_API_CALL 
+clGetExtensionFunctionAddressForPlatform(cl_platform_id /* platform */,
+                                         const char *   /* func_name */) CL_API_SUFFIX__VERSION_1_2;
+    
+
+/* Deprecated OpenCL 1.1 APIs */
+extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_mem CL_API_CALL
+clCreateImage2D(cl_context              /* context */,
+                cl_mem_flags            /* flags */,
+                const cl_image_format * /* image_format */,
+                size_t                  /* image_width */,
+                size_t                  /* image_height */,
+                size_t                  /* image_row_pitch */, 
+                void *                  /* host_ptr */,
+                cl_int *                /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED;
+    
+extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_mem CL_API_CALL
+clCreateImage3D(cl_context              /* context */,
+                cl_mem_flags            /* flags */,
+                const cl_image_format * /* image_format */,
+                size_t                  /* image_width */, 
+                size_t                  /* image_height */,
+                size_t                  /* image_depth */, 
+                size_t                  /* image_row_pitch */, 
+                size_t                  /* image_slice_pitch */, 
+                void *                  /* host_ptr */,
+                cl_int *                /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED;
+    
+extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_int CL_API_CALL
+clEnqueueMarker(cl_command_queue    /* command_queue */,
+                cl_event *          /* event */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED;
+    
+extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_int CL_API_CALL
+clEnqueueWaitForEvents(cl_command_queue /* command_queue */,
+                        cl_uint          /* num_events */,
+                        const cl_event * /* event_list */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED;
+    
+extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_int CL_API_CALL
+clEnqueueBarrier(cl_command_queue /* command_queue */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED;
+
+extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_int CL_API_CALL
+clUnloadCompiler(void) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED;
+    
+extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED void * CL_API_CALL
+clGetExtensionFunctionAddress(const char * /* func_name */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED;
+    
+/* Deprecated OpenCL 2.0 APIs */
+extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_2_DEPRECATED cl_command_queue CL_API_CALL
+clCreateCommandQueue(cl_context                     /* context */,
+                     cl_device_id                   /* device */,
+                     cl_command_queue_properties    /* properties */,
+                     cl_int *                       /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED;
+    
+    
+extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_2_DEPRECATED cl_sampler CL_API_CALL
+clCreateSampler(cl_context          /* context */,
+                cl_bool             /* normalized_coords */,
+                cl_addressing_mode  /* addressing_mode */,
+                cl_filter_mode      /* filter_mode */,
+                cl_int *            /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED;
+    
+extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_2_DEPRECATED cl_int CL_API_CALL
+clEnqueueTask(cl_command_queue  /* command_queue */,
+              cl_kernel         /* kernel */,
+              cl_uint           /* num_events_in_wait_list */,
+              const cl_event *  /* event_wait_list */,
+              cl_event *        /* event */) CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED;
+    
+#ifdef __cplusplus
+}
+#endif
+
+#endif  /* __OPENCL_CL_H */
+
diff --git a/third_party/opencl/include/CL/cl_d3d10.h b/third_party/opencl/include/CL/cl_d3d10.h
new file mode 100644
index 0000000000..d5960a43f7
--- /dev/null
+++ b/third_party/opencl/include/CL/cl_d3d10.h
@@ -0,0 +1,131 @@
+/**********************************************************************************
+ * Copyright (c) 2008-2015 The Khronos Group Inc.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and/or associated documentation files (the
+ * "Materials"), to deal in the Materials without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Materials, and to
+ * permit persons to whom the Materials are furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Materials.
+ *
+ * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS
+ * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS
+ * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT
+ *    https://www.khronos.org/registry/
+ *
+ * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+ * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+ * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
+ * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+ * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
+ **********************************************************************************/
+
+/* $Revision: 11708 $ on $Date: 2010-06-13 23:36:24 -0700 (Sun, 13 Jun 2010) $ */
+
+#ifndef __OPENCL_CL_D3D10_H
+#define __OPENCL_CL_D3D10_H
+
+#include <d3d10.h>
+#include <CL/cl.h>
+#include <CL/cl_platform.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/******************************************************************************
+ * cl_khr_d3d10_sharing                                                       */
+#define cl_khr_d3d10_sharing 1
+
+typedef cl_uint cl_d3d10_device_source_khr;
+typedef cl_uint cl_d3d10_device_set_khr;
+
+/******************************************************************************/
+
+/* Error Codes */
+#define CL_INVALID_D3D10_DEVICE_KHR                  -1002
+#define CL_INVALID_D3D10_RESOURCE_KHR                -1003
+#define CL_D3D10_RESOURCE_ALREADY_ACQUIRED_KHR       -1004
+#define CL_D3D10_RESOURCE_NOT_ACQUIRED_KHR           -1005
+
+/* cl_d3d10_device_source_nv */
+#define CL_D3D10_DEVICE_KHR                          0x4010
+#define CL_D3D10_DXGI_ADAPTER_KHR                    0x4011
+
+/* cl_d3d10_device_set_nv */
+#define CL_PREFERRED_DEVICES_FOR_D3D10_KHR           0x4012
+#define CL_ALL_DEVICES_FOR_D3D10_KHR                 0x4013
+
+/* cl_context_info */
+#define CL_CONTEXT_D3D10_DEVICE_KHR                  0x4014
+#define CL_CONTEXT_D3D10_PREFER_SHARED_RESOURCES_KHR 0x402C
+
+/* cl_mem_info */
+#define CL_MEM_D3D10_RESOURCE_KHR                    0x4015
+
+/* cl_image_info */
+#define CL_IMAGE_D3D10_SUBRESOURCE_KHR               0x4016
+
+/* cl_command_type */
+#define CL_COMMAND_ACQUIRE_D3D10_OBJECTS_KHR         0x4017
+#define CL_COMMAND_RELEASE_D3D10_OBJECTS_KHR         0x4018
+
+/******************************************************************************/
+
+typedef CL_API_ENTRY cl_int (CL_API_CALL *clGetDeviceIDsFromD3D10KHR_fn)(
+    cl_platform_id             platform,
+    cl_d3d10_device_source_khr d3d_device_source,
+    void *                     d3d_object,
+    cl_d3d10_device_set_khr    d3d_device_set,
+    cl_uint                    num_entries,
+    cl_device_id *             devices,
+    cl_uint *                  num_devices) CL_API_SUFFIX__VERSION_1_0;
+
+typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D10BufferKHR_fn)(
+    cl_context     context,
+    cl_mem_flags   flags,
+    ID3D10Buffer * resource,
+    cl_int *       errcode_ret) CL_API_SUFFIX__VERSION_1_0;
+
+typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D10Texture2DKHR_fn)(
+    cl_context        context,
+    cl_mem_flags      flags,
+    ID3D10Texture2D * resource,
+    UINT              subresource,
+    cl_int *          errcode_ret) CL_API_SUFFIX__VERSION_1_0;
+
+typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D10Texture3DKHR_fn)(
+    cl_context        context,
+    cl_mem_flags      flags,
+    ID3D10Texture3D * resource,
+    UINT              subresource,
+    cl_int *          errcode_ret) CL_API_SUFFIX__VERSION_1_0;
+
+typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueAcquireD3D10ObjectsKHR_fn)(
+    cl_command_queue command_queue,
+    cl_uint          num_objects,
+    const cl_mem *   mem_objects,
+    cl_uint          num_events_in_wait_list,
+    const cl_event * event_wait_list,
+    cl_event *       event) CL_API_SUFFIX__VERSION_1_0;
+
+typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueReleaseD3D10ObjectsKHR_fn)(
+    cl_command_queue command_queue,
+    cl_uint          num_objects,
+    const cl_mem *   mem_objects,
+    cl_uint          num_events_in_wait_list,
+    const cl_event * event_wait_list,
+    cl_event *       event) CL_API_SUFFIX__VERSION_1_0;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  /* __OPENCL_CL_D3D10_H */
+
diff --git a/third_party/opencl/include/CL/cl_d3d11.h b/third_party/opencl/include/CL/cl_d3d11.h
new file mode 100644
index 0000000000..39f9072398
--- /dev/null
+++ b/third_party/opencl/include/CL/cl_d3d11.h
@@ -0,0 +1,131 @@
+/**********************************************************************************
+ * Copyright (c) 2008-2015 The Khronos Group Inc.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and/or associated documentation files (the
+ * "Materials"), to deal in the Materials without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Materials, and to
+ * permit persons to whom the Materials are furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Materials.
+ *
+ * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS
+ * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS
+ * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT
+ *    https://www.khronos.org/registry/
+ *
+ * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+ * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+ * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
+ * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+ * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
+ **********************************************************************************/
+
+/* $Revision: 11708 $ on $Date: 2010-06-13 23:36:24 -0700 (Sun, 13 Jun 2010) $ */
+
+#ifndef __OPENCL_CL_D3D11_H
+#define __OPENCL_CL_D3D11_H
+
+#include <d3d11.h>
+#include <CL/cl.h>
+#include <CL/cl_platform.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/******************************************************************************
+ * cl_khr_d3d11_sharing                                                       */
+#define cl_khr_d3d11_sharing 1
+
+typedef cl_uint cl_d3d11_device_source_khr;
+typedef cl_uint cl_d3d11_device_set_khr;
+
+/******************************************************************************/
+
+/* Error Codes */
+#define CL_INVALID_D3D11_DEVICE_KHR                  -1006
+#define CL_INVALID_D3D11_RESOURCE_KHR                -1007
+#define CL_D3D11_RESOURCE_ALREADY_ACQUIRED_KHR       -1008
+#define CL_D3D11_RESOURCE_NOT_ACQUIRED_KHR           -1009
+
+/* cl_d3d11_device_source */
+#define CL_D3D11_DEVICE_KHR                          0x4019
+#define CL_D3D11_DXGI_ADAPTER_KHR                    0x401A
+
+/* cl_d3d11_device_set */
+#define CL_PREFERRED_DEVICES_FOR_D3D11_KHR           0x401B
+#define CL_ALL_DEVICES_FOR_D3D11_KHR                 0x401C
+
+/* cl_context_info */
+#define CL_CONTEXT_D3D11_DEVICE_KHR                  0x401D
+#define CL_CONTEXT_D3D11_PREFER_SHARED_RESOURCES_KHR 0x402D
+
+/* cl_mem_info */
+#define CL_MEM_D3D11_RESOURCE_KHR                    0x401E
+
+/* cl_image_info */
+#define CL_IMAGE_D3D11_SUBRESOURCE_KHR               0x401F
+
+/* cl_command_type */
+#define CL_COMMAND_ACQUIRE_D3D11_OBJECTS_KHR         0x4020
+#define CL_COMMAND_RELEASE_D3D11_OBJECTS_KHR         0x4021
+
+/******************************************************************************/
+
+typedef CL_API_ENTRY cl_int (CL_API_CALL *clGetDeviceIDsFromD3D11KHR_fn)(
+    cl_platform_id             platform,
+    cl_d3d11_device_source_khr d3d_device_source,
+    void *                     d3d_object,
+    cl_d3d11_device_set_khr    d3d_device_set,
+    cl_uint                    num_entries,
+    cl_device_id *             devices,
+    cl_uint *                  num_devices) CL_API_SUFFIX__VERSION_1_2;
+
+typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D11BufferKHR_fn)(
+    cl_context     context,
+    cl_mem_flags   flags,
+    ID3D11Buffer * resource,
+    cl_int *       errcode_ret) CL_API_SUFFIX__VERSION_1_2;
+
+typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D11Texture2DKHR_fn)(
+    cl_context        context,
+    cl_mem_flags      flags,
+    ID3D11Texture2D * resource,
+    UINT              subresource,
+    cl_int *          errcode_ret) CL_API_SUFFIX__VERSION_1_2;
+
+typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D11Texture3DKHR_fn)(
+    cl_context        context,
+    cl_mem_flags      flags,
+    ID3D11Texture3D * resource,
+    UINT              subresource,
+    cl_int *          errcode_ret) CL_API_SUFFIX__VERSION_1_2;
+
+typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueAcquireD3D11ObjectsKHR_fn)(
+    cl_command_queue command_queue,
+    cl_uint          num_objects,
+    const cl_mem *   mem_objects,
+    cl_uint          num_events_in_wait_list,
+    const cl_event * event_wait_list,
+    cl_event *       event) CL_API_SUFFIX__VERSION_1_2;
+
+typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueReleaseD3D11ObjectsKHR_fn)(
+    cl_command_queue command_queue,
+    cl_uint          num_objects,
+    const cl_mem *   mem_objects,
+    cl_uint          num_events_in_wait_list,
+    const cl_event * event_wait_list,
+    cl_event *       event) CL_API_SUFFIX__VERSION_1_2;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  /* __OPENCL_CL_D3D11_H */
+
diff --git a/third_party/opencl/include/CL/cl_dx9_media_sharing.h b/third_party/opencl/include/CL/cl_dx9_media_sharing.h
new file mode 100644
index 0000000000..2729e8b9e8
--- /dev/null
+++ b/third_party/opencl/include/CL/cl_dx9_media_sharing.h
@@ -0,0 +1,132 @@
+/**********************************************************************************
+ * Copyright (c) 2008-2015 The Khronos Group Inc.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and/or associated documentation files (the
+ * "Materials"), to deal in the Materials without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Materials, and to
+ * permit persons to whom the Materials are furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Materials.
+ *
+ * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS
+ * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS
+ * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT
+ *    https://www.khronos.org/registry/
+ *
+ * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+ * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+ * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
+ * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+ * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
+ **********************************************************************************/
+
+/* $Revision: 11708 $ on $Date: 2010-06-13 23:36:24 -0700 (Sun, 13 Jun 2010) $ */
+
+#ifndef __OPENCL_CL_DX9_MEDIA_SHARING_H
+#define __OPENCL_CL_DX9_MEDIA_SHARING_H
+
+#include <CL/cl.h>
+#include <CL/cl_platform.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/******************************************************************************/
+/* cl_khr_dx9_media_sharing                                                   */
+#define cl_khr_dx9_media_sharing 1
+
+typedef cl_uint             cl_dx9_media_adapter_type_khr;
+typedef cl_uint             cl_dx9_media_adapter_set_khr;
+    
+#if defined(_WIN32)
+#include <d3d9.h>
+typedef struct _cl_dx9_surface_info_khr
+{
+    IDirect3DSurface9 *resource;
+    HANDLE shared_handle;
+} cl_dx9_surface_info_khr;
+#endif
+
+
+/******************************************************************************/
+
+/* Error Codes */
+#define CL_INVALID_DX9_MEDIA_ADAPTER_KHR                -1010
+#define CL_INVALID_DX9_MEDIA_SURFACE_KHR                -1011
+#define CL_DX9_MEDIA_SURFACE_ALREADY_ACQUIRED_KHR       -1012
+#define CL_DX9_MEDIA_SURFACE_NOT_ACQUIRED_KHR           -1013
+
+/* cl_media_adapter_type_khr */
+#define CL_ADAPTER_D3D9_KHR                              0x2020
+#define CL_ADAPTER_D3D9EX_KHR                            0x2021
+#define CL_ADAPTER_DXVA_KHR                              0x2022
+
+/* cl_media_adapter_set_khr */
+#define CL_PREFERRED_DEVICES_FOR_DX9_MEDIA_ADAPTER_KHR   0x2023
+#define CL_ALL_DEVICES_FOR_DX9_MEDIA_ADAPTER_KHR         0x2024
+
+/* cl_context_info */
+#define CL_CONTEXT_ADAPTER_D3D9_KHR                      0x2025
+#define CL_CONTEXT_ADAPTER_D3D9EX_KHR                    0x2026
+#define CL_CONTEXT_ADAPTER_DXVA_KHR                      0x2027
+
+/* cl_mem_info */
+#define CL_MEM_DX9_MEDIA_ADAPTER_TYPE_KHR                0x2028
+#define CL_MEM_DX9_MEDIA_SURFACE_INFO_KHR                0x2029
+
+/* cl_image_info */
+#define CL_IMAGE_DX9_MEDIA_PLANE_KHR                     0x202A
+
+/* cl_command_type */
+#define CL_COMMAND_ACQUIRE_DX9_MEDIA_SURFACES_KHR        0x202B
+#define CL_COMMAND_RELEASE_DX9_MEDIA_SURFACES_KHR        0x202C
+
+/******************************************************************************/
+
+typedef CL_API_ENTRY cl_int (CL_API_CALL *clGetDeviceIDsFromDX9MediaAdapterKHR_fn)(
+    cl_platform_id                   platform,
+    cl_uint                          num_media_adapters,
+    cl_dx9_media_adapter_type_khr *  media_adapter_type,
+    void *                           media_adapters,
+    cl_dx9_media_adapter_set_khr     media_adapter_set,
+    cl_uint                          num_entries,
+    cl_device_id *                   devices,
+    cl_uint *                        num_devices) CL_API_SUFFIX__VERSION_1_2;
+
+typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromDX9MediaSurfaceKHR_fn)(
+    cl_context                    context,
+    cl_mem_flags                  flags,
+    cl_dx9_media_adapter_type_khr adapter_type,
+    void *                        surface_info,
+    cl_uint                       plane,                                                                          
+    cl_int *                      errcode_ret) CL_API_SUFFIX__VERSION_1_2;
+
+typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueAcquireDX9MediaSurfacesKHR_fn)(
+    cl_command_queue command_queue,
+    cl_uint          num_objects,
+    const cl_mem *   mem_objects,
+    cl_uint          num_events_in_wait_list,
+    const cl_event * event_wait_list,
+    cl_event *       event) CL_API_SUFFIX__VERSION_1_2;
+
+typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueReleaseDX9MediaSurfacesKHR_fn)(
+    cl_command_queue command_queue,
+    cl_uint          num_objects,
+    const cl_mem *   mem_objects,
+    cl_uint          num_events_in_wait_list,
+    const cl_event * event_wait_list,
+    cl_event *       event) CL_API_SUFFIX__VERSION_1_2;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  /* __OPENCL_CL_DX9_MEDIA_SHARING_H */
+
diff --git a/third_party/opencl/include/CL/cl_egl.h b/third_party/opencl/include/CL/cl_egl.h
new file mode 100644
index 0000000000..a765bd5266
--- /dev/null
+++ b/third_party/opencl/include/CL/cl_egl.h
@@ -0,0 +1,136 @@
+/*******************************************************************************
+ * Copyright (c) 2008-2015 The Khronos Group Inc.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and/or associated documentation files (the
+ * "Materials"), to deal in the Materials without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Materials, and to
+ * permit persons to whom the Materials are furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Materials.
+ *
+ * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS
+ * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS
+ * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT
+ *    https://www.khronos.org/registry/
+ *
+ * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+ * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+ * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
+ * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+ * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
+ ******************************************************************************/
+
+#ifndef __OPENCL_CL_EGL_H
+#define __OPENCL_CL_EGL_H
+
+#ifdef __APPLE__
+
+#else
+#include <CL/cl.h>
+#endif  
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+/* Command type for events created with clEnqueueAcquireEGLObjectsKHR */
+#define CL_COMMAND_EGL_FENCE_SYNC_OBJECT_KHR  0x202F
+#define CL_COMMAND_ACQUIRE_EGL_OBJECTS_KHR    0x202D
+#define CL_COMMAND_RELEASE_EGL_OBJECTS_KHR    0x202E
+
+/* Error type for clCreateFromEGLImageKHR */
+#define CL_INVALID_EGL_OBJECT_KHR             -1093
+#define CL_EGL_RESOURCE_NOT_ACQUIRED_KHR      -1092
+
+/* CLeglImageKHR is an opaque handle to an EGLImage */
+typedef void* CLeglImageKHR;
+
+/* CLeglDisplayKHR is an opaque handle to an EGLDisplay */
+typedef void* CLeglDisplayKHR;
+
+/* CLeglSyncKHR is an opaque handle to an EGLSync object */
+typedef void* CLeglSyncKHR;
+
+/* properties passed to clCreateFromEGLImageKHR */
+typedef intptr_t cl_egl_image_properties_khr;
+
+
+#define cl_khr_egl_image 1
+
+extern CL_API_ENTRY cl_mem CL_API_CALL
+clCreateFromEGLImageKHR(cl_context                  /* context */,
+                        CLeglDisplayKHR             /* egldisplay */,
+                        CLeglImageKHR               /* eglimage */,
+                        cl_mem_flags                /* flags */,
+                        const cl_egl_image_properties_khr * /* properties */,
+                        cl_int *                    /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromEGLImageKHR_fn)(
+	cl_context                  context,
+	CLeglDisplayKHR             egldisplay,
+	CLeglImageKHR               eglimage,
+	cl_mem_flags                flags,
+	const cl_egl_image_properties_khr * properties,
+	cl_int *                    errcode_ret);
+
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueAcquireEGLObjectsKHR(cl_command_queue /* command_queue */,
+                              cl_uint          /* num_objects */,
+                              const cl_mem *   /* mem_objects */,
+                              cl_uint          /* num_events_in_wait_list */,
+                              const cl_event * /* event_wait_list */,
+                              cl_event *       /* event */) CL_API_SUFFIX__VERSION_1_0;
+
+typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueAcquireEGLObjectsKHR_fn)(
+	cl_command_queue command_queue,
+	cl_uint          num_objects,
+	const cl_mem *   mem_objects,
+	cl_uint          num_events_in_wait_list,
+	const cl_event * event_wait_list,
+	cl_event *       event);
+
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueReleaseEGLObjectsKHR(cl_command_queue /* command_queue */,
+                              cl_uint          /* num_objects */,
+                              const cl_mem *   /* mem_objects */,
+                              cl_uint          /* num_events_in_wait_list */,
+                              const cl_event * /* event_wait_list */,
+                              cl_event *       /* event */) CL_API_SUFFIX__VERSION_1_0;
+
+typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueReleaseEGLObjectsKHR_fn)(
+	cl_command_queue command_queue,
+	cl_uint          num_objects,
+	const cl_mem *   mem_objects,
+	cl_uint          num_events_in_wait_list,
+	const cl_event * event_wait_list,
+	cl_event *       event);
+
+
+#define cl_khr_egl_event 1
+
+extern CL_API_ENTRY cl_event CL_API_CALL
+clCreateEventFromEGLSyncKHR(cl_context      /* context */,
+                            CLeglSyncKHR    /* sync */,
+                            CLeglDisplayKHR /* display */,
+                            cl_int *        /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+typedef CL_API_ENTRY cl_event (CL_API_CALL *clCreateEventFromEGLSyncKHR_fn)(
+	cl_context      context,
+	CLeglSyncKHR    sync,
+	CLeglDisplayKHR display,
+	cl_int *        errcode_ret);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __OPENCL_CL_EGL_H */
diff --git a/third_party/opencl/include/CL/cl_ext.h b/third_party/opencl/include/CL/cl_ext.h
new file mode 100644
index 0000000000..7941583895
--- /dev/null
+++ b/third_party/opencl/include/CL/cl_ext.h
@@ -0,0 +1,391 @@
+/*******************************************************************************
+ * Copyright (c) 2008-2015 The Khronos Group Inc.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and/or associated documentation files (the
+ * "Materials"), to deal in the Materials without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Materials, and to
+ * permit persons to whom the Materials are furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Materials.
+ *
+ * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS
+ * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS
+ * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT
+ *    https://www.khronos.org/registry/
+ *
+ * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+ * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+ * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
+ * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+ * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
+ ******************************************************************************/
+
+/* $Revision: 11928 $ on $Date: 2010-07-13 09:04:56 -0700 (Tue, 13 Jul 2010) $ */
+
+/* cl_ext.h contains OpenCL extensions which don't have external */
+/* (OpenGL, D3D) dependencies.                                   */
+
+#ifndef __CL_EXT_H
+#define __CL_EXT_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifdef __APPLE__
+        #include <OpenCL/cl.h>
+    #include <AvailabilityMacros.h>
+#else
+        #include <CL/cl.h>
+#endif
+
+/* cl_khr_fp16 extension - no extension #define since it has no functions  */
+#define CL_DEVICE_HALF_FP_CONFIG                    0x1033
+
+/* Memory object destruction
+ *
+ * Apple extension for use to manage externally allocated buffers used with cl_mem objects with CL_MEM_USE_HOST_PTR
+ *
+ * Registers a user callback function that will be called when the memory object is deleted and its resources 
+ * freed. Each call to clSetMemObjectCallbackFn registers the specified user callback function on a callback 
+ * stack associated with memobj. The registered user callback functions are called in the reverse order in 
+ * which they were registered. The user callback functions are called and then the memory object is deleted 
+ * and its resources freed. This provides a mechanism for the application (and libraries) using memobj to be 
+ * notified when the memory referenced by host_ptr, specified when the memory object is created and used as 
+ * the storage bits for the memory object, can be reused or freed.
+ *
+ * The application may not call CL api's with the cl_mem object passed to the pfn_notify.
+ *
+ * Please check for the "cl_APPLE_SetMemObjectDestructor" extension using clGetDeviceInfo(CL_DEVICE_EXTENSIONS)
+ * before using.
+ */
+#define cl_APPLE_SetMemObjectDestructor 1
+cl_int  CL_API_ENTRY clSetMemObjectDestructorAPPLE(  cl_mem /* memobj */, 
+                                        void (* /*pfn_notify*/)( cl_mem /* memobj */, void* /*user_data*/), 
+                                        void * /*user_data */ )             CL_EXT_SUFFIX__VERSION_1_0;  
+
+
+/* Context Logging Functions
+ *
+ * The next three convenience functions are intended to be used as the pfn_notify parameter to clCreateContext().
+ * Please check for the "cl_APPLE_ContextLoggingFunctions" extension using clGetDeviceInfo(CL_DEVICE_EXTENSIONS)
+ * before using.
+ *
+ * clLogMessagesToSystemLog fowards on all log messages to the Apple System Logger 
+ */
+#define cl_APPLE_ContextLoggingFunctions 1
+extern void CL_API_ENTRY clLogMessagesToSystemLogAPPLE(  const char * /* errstr */, 
+                                            const void * /* private_info */, 
+                                            size_t       /* cb */, 
+                                            void *       /* user_data */ )  CL_EXT_SUFFIX__VERSION_1_0;
+
+/* clLogMessagesToStdout sends all log messages to the file descriptor stdout */
+extern void CL_API_ENTRY clLogMessagesToStdoutAPPLE(   const char * /* errstr */, 
+                                          const void * /* private_info */, 
+                                          size_t       /* cb */, 
+                                          void *       /* user_data */ )    CL_EXT_SUFFIX__VERSION_1_0;
+
+/* clLogMessagesToStderr sends all log messages to the file descriptor stderr */
+extern void CL_API_ENTRY clLogMessagesToStderrAPPLE(   const char * /* errstr */, 
+                                          const void * /* private_info */, 
+                                          size_t       /* cb */, 
+                                          void *       /* user_data */ )    CL_EXT_SUFFIX__VERSION_1_0;
+
+
+/************************ 
+* cl_khr_icd extension *                                                  
+************************/
+#define cl_khr_icd 1
+
+/* cl_platform_info                                                        */
+#define CL_PLATFORM_ICD_SUFFIX_KHR                  0x0920
+
+/* Additional Error Codes                                                  */
+#define CL_PLATFORM_NOT_FOUND_KHR                   -1001
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clIcdGetPlatformIDsKHR(cl_uint          /* num_entries */,
+                       cl_platform_id * /* platforms */,
+                       cl_uint *        /* num_platforms */);
+
+typedef CL_API_ENTRY cl_int (CL_API_CALL *clIcdGetPlatformIDsKHR_fn)(
+    cl_uint          /* num_entries */,
+    cl_platform_id * /* platforms */,
+    cl_uint *        /* num_platforms */);
+
+
+/* Extension: cl_khr_image2D_buffer
+ *
+ * This extension allows a 2D image to be created from a cl_mem buffer without a copy.
+ * The type associated with a 2D image created from a buffer in an OpenCL program is image2d_t.
+ * Both the sampler and sampler-less read_image built-in functions are supported for 2D images
+ * and 2D images created from a buffer.  Similarly, the write_image built-ins are also supported
+ * for 2D images created from a buffer.
+ *
+ * When the 2D image from buffer is created, the client must specify the width,
+ * height, image format (i.e. channel order and channel data type) and optionally the row pitch
+ *
+ * The pitch specified must be a multiple of CL_DEVICE_IMAGE_PITCH_ALIGNMENT pixels.
+ * The base address of the buffer must be aligned to CL_DEVICE_IMAGE_BASE_ADDRESS_ALIGNMENT pixels.
+ */
+    
+/*************************************
+ * cl_khr_initalize_memory extension *
+ *************************************/
+    
+#define CL_CONTEXT_MEMORY_INITIALIZE_KHR            0x2030
+    
+    
+/**************************************
+ * cl_khr_terminate_context extension *
+ **************************************/
+    
+#define CL_DEVICE_TERMINATE_CAPABILITY_KHR          0x2031
+#define CL_CONTEXT_TERMINATE_KHR                    0x2032
+
+#define cl_khr_terminate_context 1
+extern CL_API_ENTRY cl_int CL_API_CALL clTerminateContextKHR(cl_context /* context */) CL_EXT_SUFFIX__VERSION_1_2;
+
+typedef CL_API_ENTRY cl_int (CL_API_CALL *clTerminateContextKHR_fn)(cl_context /* context */) CL_EXT_SUFFIX__VERSION_1_2;
+    
+    
+/*
+ * Extension: cl_khr_spir
+ *
+ * This extension adds support to create an OpenCL program object from a 
+ * Standard Portable Intermediate Representation (SPIR) instance
+ */
+
+#define CL_DEVICE_SPIR_VERSIONS                     0x40E0
+#define CL_PROGRAM_BINARY_TYPE_INTERMEDIATE         0x40E1
+
+
+/******************************************
+* cl_nv_device_attribute_query extension *
+******************************************/
+/* cl_nv_device_attribute_query extension - no extension #define since it has no functions */
+#define CL_DEVICE_COMPUTE_CAPABILITY_MAJOR_NV       0x4000
+#define CL_DEVICE_COMPUTE_CAPABILITY_MINOR_NV       0x4001
+#define CL_DEVICE_REGISTERS_PER_BLOCK_NV            0x4002
+#define CL_DEVICE_WARP_SIZE_NV                      0x4003
+#define CL_DEVICE_GPU_OVERLAP_NV                    0x4004
+#define CL_DEVICE_KERNEL_EXEC_TIMEOUT_NV            0x4005
+#define CL_DEVICE_INTEGRATED_MEMORY_NV              0x4006
+
+/*********************************
+* cl_amd_device_attribute_query *
+*********************************/
+#define CL_DEVICE_PROFILING_TIMER_OFFSET_AMD        0x4036
+
+/*********************************
+* cl_arm_printf extension
+*********************************/
+#define CL_PRINTF_CALLBACK_ARM                      0x40B0
+#define CL_PRINTF_BUFFERSIZE_ARM                    0x40B1
+
+#ifdef CL_VERSION_1_1
+   /***********************************
+    * cl_ext_device_fission extension *
+    ***********************************/
+    #define cl_ext_device_fission   1
+    
+    extern CL_API_ENTRY cl_int CL_API_CALL
+    clReleaseDeviceEXT( cl_device_id /*device*/ ) CL_EXT_SUFFIX__VERSION_1_1; 
+    
+    typedef CL_API_ENTRY cl_int 
+    (CL_API_CALL *clReleaseDeviceEXT_fn)( cl_device_id /*device*/ ) CL_EXT_SUFFIX__VERSION_1_1;
+
+    extern CL_API_ENTRY cl_int CL_API_CALL
+    clRetainDeviceEXT( cl_device_id /*device*/ ) CL_EXT_SUFFIX__VERSION_1_1; 
+    
+    typedef CL_API_ENTRY cl_int 
+    (CL_API_CALL *clRetainDeviceEXT_fn)( cl_device_id /*device*/ ) CL_EXT_SUFFIX__VERSION_1_1;
+
+    typedef cl_ulong  cl_device_partition_property_ext;
+    extern CL_API_ENTRY cl_int CL_API_CALL
+    clCreateSubDevicesEXT(  cl_device_id /*in_device*/,
+                            const cl_device_partition_property_ext * /* properties */,
+                            cl_uint /*num_entries*/,
+                            cl_device_id * /*out_devices*/,
+                            cl_uint * /*num_devices*/ ) CL_EXT_SUFFIX__VERSION_1_1;
+
+    typedef CL_API_ENTRY cl_int 
+    ( CL_API_CALL * clCreateSubDevicesEXT_fn)(  cl_device_id /*in_device*/,
+                                                const cl_device_partition_property_ext * /* properties */,
+                                                cl_uint /*num_entries*/,
+                                                cl_device_id * /*out_devices*/,
+                                                cl_uint * /*num_devices*/ ) CL_EXT_SUFFIX__VERSION_1_1;
+
+    /* cl_device_partition_property_ext */
+    #define CL_DEVICE_PARTITION_EQUALLY_EXT             0x4050
+    #define CL_DEVICE_PARTITION_BY_COUNTS_EXT           0x4051
+    #define CL_DEVICE_PARTITION_BY_NAMES_EXT            0x4052
+    #define CL_DEVICE_PARTITION_BY_AFFINITY_DOMAIN_EXT  0x4053
+    
+    /* clDeviceGetInfo selectors */
+    #define CL_DEVICE_PARENT_DEVICE_EXT                 0x4054
+    #define CL_DEVICE_PARTITION_TYPES_EXT               0x4055
+    #define CL_DEVICE_AFFINITY_DOMAINS_EXT              0x4056
+    #define CL_DEVICE_REFERENCE_COUNT_EXT               0x4057
+    #define CL_DEVICE_PARTITION_STYLE_EXT               0x4058
+    
+    /* error codes */
+    #define CL_DEVICE_PARTITION_FAILED_EXT              -1057
+    #define CL_INVALID_PARTITION_COUNT_EXT              -1058
+    #define CL_INVALID_PARTITION_NAME_EXT               -1059
+    
+    /* CL_AFFINITY_DOMAINs */
+    #define CL_AFFINITY_DOMAIN_L1_CACHE_EXT             0x1
+    #define CL_AFFINITY_DOMAIN_L2_CACHE_EXT             0x2
+    #define CL_AFFINITY_DOMAIN_L3_CACHE_EXT             0x3
+    #define CL_AFFINITY_DOMAIN_L4_CACHE_EXT             0x4
+    #define CL_AFFINITY_DOMAIN_NUMA_EXT                 0x10
+    #define CL_AFFINITY_DOMAIN_NEXT_FISSIONABLE_EXT     0x100
+    
+    /* cl_device_partition_property_ext list terminators */
+    #define CL_PROPERTIES_LIST_END_EXT                  ((cl_device_partition_property_ext) 0)
+    #define CL_PARTITION_BY_COUNTS_LIST_END_EXT         ((cl_device_partition_property_ext) 0)
+    #define CL_PARTITION_BY_NAMES_LIST_END_EXT          ((cl_device_partition_property_ext) 0 - 1)
+
+/*********************************
+* cl_qcom_ext_host_ptr extension
+*********************************/
+
+#define CL_MEM_EXT_HOST_PTR_QCOM                  (1 << 29)
+
+#define CL_DEVICE_EXT_MEM_PADDING_IN_BYTES_QCOM   0x40A0      
+#define CL_DEVICE_PAGE_SIZE_QCOM                  0x40A1
+#define CL_IMAGE_ROW_ALIGNMENT_QCOM               0x40A2
+#define CL_IMAGE_SLICE_ALIGNMENT_QCOM             0x40A3
+#define CL_MEM_HOST_UNCACHED_QCOM                 0x40A4
+#define CL_MEM_HOST_WRITEBACK_QCOM                0x40A5
+#define CL_MEM_HOST_WRITETHROUGH_QCOM             0x40A6
+#define CL_MEM_HOST_WRITE_COMBINING_QCOM          0x40A7
+
+typedef cl_uint                                   cl_image_pitch_info_qcom;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clGetDeviceImageInfoQCOM(cl_device_id             device,
+                         size_t                   image_width,
+                         size_t                   image_height,
+                         const cl_image_format   *image_format,
+                         cl_image_pitch_info_qcom param_name,
+                         size_t                   param_value_size,
+                         void                    *param_value,
+                         size_t                  *param_value_size_ret);
+
+typedef struct _cl_mem_ext_host_ptr
+{
+    /* Type of external memory allocation. */
+    /* Legal values will be defined in layered extensions. */
+    cl_uint  allocation_type;
+            
+    /* Host cache policy for this external memory allocation. */
+    cl_uint  host_cache_policy;
+
+} cl_mem_ext_host_ptr;
+
+/*********************************
+* cl_qcom_ion_host_ptr extension
+*********************************/
+
+#define CL_MEM_ION_HOST_PTR_QCOM                  0x40A8
+
+typedef struct _cl_mem_ion_host_ptr
+{
+    /* Type of external memory allocation. */
+    /* Must be CL_MEM_ION_HOST_PTR_QCOM for ION allocations. */
+    cl_mem_ext_host_ptr  ext_host_ptr;
+
+    /* ION file descriptor */
+    int                  ion_filedesc;
+            
+    /* Host pointer to the ION allocated memory */
+    void*                ion_hostptr;
+
+} cl_mem_ion_host_ptr;
+
+#endif /* CL_VERSION_1_1 */
+
+
+#ifdef CL_VERSION_2_0
+/*********************************
+* cl_khr_sub_groups extension
+*********************************/
+#define cl_khr_sub_groups 1
+
+typedef cl_uint  cl_kernel_sub_group_info_khr;
+
+/* cl_khr_sub_group_info */
+#define CL_KERNEL_MAX_SUB_GROUP_SIZE_FOR_NDRANGE_KHR	0x2033
+#define CL_KERNEL_SUB_GROUP_COUNT_FOR_NDRANGE_KHR		0x2034
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clGetKernelSubGroupInfoKHR(cl_kernel /* in_kernel */,
+						   cl_device_id /*in_device*/,
+						   cl_kernel_sub_group_info_khr /* param_name */,
+						   size_t /*input_value_size*/,
+						   const void * /*input_value*/,
+						   size_t /*param_value_size*/,
+						   void* /*param_value*/,
+						   size_t* /*param_value_size_ret*/ ) CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED;
+						   
+typedef CL_API_ENTRY cl_int
+     ( CL_API_CALL * clGetKernelSubGroupInfoKHR_fn)(cl_kernel /* in_kernel */,
+						      cl_device_id /*in_device*/,
+						      cl_kernel_sub_group_info_khr /* param_name */,
+						      size_t /*input_value_size*/,
+						      const void * /*input_value*/,
+						      size_t /*param_value_size*/,
+						      void* /*param_value*/,
+						      size_t* /*param_value_size_ret*/ ) CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED;
+#endif /* CL_VERSION_2_0 */
+
+#ifdef CL_VERSION_2_1
+/*********************************
+* cl_khr_priority_hints extension
+*********************************/
+#define cl_khr_priority_hints 1
+
+typedef cl_uint  cl_queue_priority_khr;
+
+/* cl_command_queue_properties */
+#define CL_QUEUE_PRIORITY_KHR 0x1096
+
+/* cl_queue_priority_khr */
+#define CL_QUEUE_PRIORITY_HIGH_KHR (1<<0)
+#define CL_QUEUE_PRIORITY_MED_KHR (1<<1)
+#define CL_QUEUE_PRIORITY_LOW_KHR (1<<2)
+
+#endif /* CL_VERSION_2_1 */
+
+#ifdef CL_VERSION_2_1
+/*********************************
+* cl_khr_throttle_hints extension
+*********************************/
+#define cl_khr_throttle_hints 1
+
+typedef cl_uint  cl_queue_throttle_khr;
+
+/* cl_command_queue_properties */
+#define CL_QUEUE_THROTTLE_KHR 0x1097
+
+/* cl_queue_throttle_khr */
+#define CL_QUEUE_THROTTLE_HIGH_KHR (1<<0)
+#define CL_QUEUE_THROTTLE_MED_KHR (1<<1)
+#define CL_QUEUE_THROTTLE_LOW_KHR (1<<2)
+
+#endif /* CL_VERSION_2_1 */
+
+#ifdef __cplusplus
+}
+#endif
+
+
+#endif /* __CL_EXT_H */
diff --git a/third_party/opencl/include/CL/cl_ext_qcom.h b/third_party/opencl/include/CL/cl_ext_qcom.h
new file mode 100644
index 0000000000..6328a1cd93
--- /dev/null
+++ b/third_party/opencl/include/CL/cl_ext_qcom.h
@@ -0,0 +1,255 @@
+/* Copyright (c) 2009-2017 Qualcomm Technologies, Inc.  All Rights Reserved.
+ * Qualcomm Technologies Proprietary and Confidential.
+ */
+
+#ifndef __OPENCL_CL_EXT_QCOM_H
+#define __OPENCL_CL_EXT_QCOM_H
+
+// Needed by cl_khr_egl_event extension 
+#include <EGL/egl.h>
+#include <EGL/eglext.h>
+#include <CL/cl_ext.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+/************************************
+ * cl_qcom_create_buffer_from_image *
+ ************************************/
+
+#define CL_BUFFER_FROM_IMAGE_ROW_PITCH_QCOM         0x40C0
+#define CL_BUFFER_FROM_IMAGE_SLICE_PITCH_QCOM       0x40C1
+
+extern CL_API_ENTRY cl_mem CL_API_CALL
+clCreateBufferFromImageQCOM(cl_mem       image,
+                            cl_mem_flags flags,
+                            cl_int      *errcode_ret);
+
+
+/************************************
+ * cl_qcom_limited_printf extension *
+ ************************************/
+
+/* Builtin printf function buffer size in bytes. */
+#define CL_DEVICE_PRINTF_BUFFER_SIZE_QCOM           0x1049
+
+
+/*************************************
+ * cl_qcom_extended_images extension *
+ *************************************/
+
+#define CL_CONTEXT_ENABLE_EXTENDED_IMAGES_QCOM      0x40AA
+#define CL_DEVICE_EXTENDED_IMAGE2D_MAX_WIDTH_QCOM   0x40AB
+#define CL_DEVICE_EXTENDED_IMAGE2D_MAX_HEIGHT_QCOM  0x40AC
+#define CL_DEVICE_EXTENDED_IMAGE3D_MAX_WIDTH_QCOM   0x40AD
+#define CL_DEVICE_EXTENDED_IMAGE3D_MAX_HEIGHT_QCOM  0x40AE
+#define CL_DEVICE_EXTENDED_IMAGE3D_MAX_DEPTH_QCOM   0x40AF
+
+/*************************************
+ * cl_qcom_perf_hint extension *
+ *************************************/
+
+typedef cl_uint                                     cl_perf_hint;
+
+#define CL_CONTEXT_PERF_HINT_QCOM                   0x40C2
+
+/*cl_perf_hint*/
+#define CL_PERF_HINT_HIGH_QCOM                      0x40C3
+#define CL_PERF_HINT_NORMAL_QCOM                    0x40C4
+#define CL_PERF_HINT_LOW_QCOM                       0x40C5
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clSetPerfHintQCOM(cl_context    context,
+                  cl_perf_hint  perf_hint);
+
+// This extension is published at Khronos, so its definitions are made in cl_ext.h.
+// This duplication is for backward compatibility.
+
+#ifndef CL_MEM_ANDROID_NATIVE_BUFFER_HOST_PTR_QCOM
+
+/*********************************
+* cl_qcom_android_native_buffer_host_ptr extension
+*********************************/
+
+#define CL_MEM_ANDROID_NATIVE_BUFFER_HOST_PTR_QCOM                  0x40C6
+
+
+typedef struct _cl_mem_android_native_buffer_host_ptr
+{
+    // Type of external memory allocation.
+    // Must be CL_MEM_ANDROID_NATIVE_BUFFER_HOST_PTR_QCOM for Android native buffers.
+    cl_mem_ext_host_ptr  ext_host_ptr;
+
+    // Virtual pointer to the android native buffer
+    void*                anb_ptr;
+
+} cl_mem_android_native_buffer_host_ptr;
+
+#endif   //#ifndef CL_MEM_ANDROID_NATIVE_BUFFER_HOST_PTR_QCOM
+
+/***********************************
+* cl_img_egl_image extension *
+************************************/
+typedef void* CLeglImageIMG;
+typedef void* CLeglDisplayIMG;
+
+extern CL_API_ENTRY cl_mem CL_API_CALL
+clCreateFromEGLImageIMG(cl_context      context,
+                        cl_mem_flags     flags,
+                        CLeglImageIMG    image,
+                        CLeglDisplayIMG  display,
+                        cl_int           *errcode_ret);
+
+
+/*********************************
+* cl_qcom_other_image extension
+*********************************/
+
+// Extended flag for creating/querying QCOM non-standard images
+#define CL_MEM_OTHER_IMAGE_QCOM                             (1<<25)
+
+// cl_channel_type
+#define CL_QCOM_UNORM_MIPI10                                0x4159
+#define CL_QCOM_UNORM_MIPI12                                0x415A
+#define CL_QCOM_UNSIGNED_MIPI10                             0x415B
+#define CL_QCOM_UNSIGNED_MIPI12                             0x415C
+#define CL_QCOM_UNORM_INT10                                 0x415D
+#define CL_QCOM_UNORM_INT12                                 0x415E
+#define CL_QCOM_UNSIGNED_INT16                              0x415F
+
+// cl_channel_order
+// Dedicate 0x4130-0x415F range for QCOM extended image formats
+// 0x4130 - 0x4132 range is assigned to pixel-oriented compressed format
+#define CL_QCOM_BAYER                                       0x414E
+
+#define CL_QCOM_NV12                                        0x4133
+#define CL_QCOM_NV12_Y                                      0x4134
+#define CL_QCOM_NV12_UV                                     0x4135
+
+#define CL_QCOM_TILED_NV12                                  0x4136
+#define CL_QCOM_TILED_NV12_Y                                0x4137
+#define CL_QCOM_TILED_NV12_UV                               0x4138
+
+#define CL_QCOM_P010                                        0x413C
+#define CL_QCOM_P010_Y                                      0x413D
+#define CL_QCOM_P010_UV                                     0x413E
+
+#define CL_QCOM_TILED_P010                                  0x413F
+#define CL_QCOM_TILED_P010_Y                                0x4140
+#define CL_QCOM_TILED_P010_UV                               0x4141
+
+
+#define CL_QCOM_TP10                                        0x4145
+#define CL_QCOM_TP10_Y                                      0x4146
+#define CL_QCOM_TP10_UV                                     0x4147
+
+#define CL_QCOM_TILED_TP10                                  0x4148
+#define CL_QCOM_TILED_TP10_Y                                0x4149
+#define CL_QCOM_TILED_TP10_UV                               0x414A
+
+/*********************************
+* cl_qcom_compressed_image extension
+*********************************/
+
+// Extended flag for creating/querying QCOM non-planar compressed images
+#define CL_MEM_COMPRESSED_IMAGE_QCOM                        (1<<27)
+
+// Extended image format
+// cl_channel_order
+#define CL_QCOM_COMPRESSED_RGBA                             0x4130
+#define CL_QCOM_COMPRESSED_RGBx                             0x4131
+
+#define CL_QCOM_COMPRESSED_NV12_Y                           0x413A
+#define CL_QCOM_COMPRESSED_NV12_UV                          0x413B
+
+#define CL_QCOM_COMPRESSED_P010                             0x4142
+#define CL_QCOM_COMPRESSED_P010_Y                           0x4143
+#define CL_QCOM_COMPRESSED_P010_UV                          0x4144
+
+#define CL_QCOM_COMPRESSED_TP10                             0x414B
+#define CL_QCOM_COMPRESSED_TP10_Y                           0x414C
+#define CL_QCOM_COMPRESSED_TP10_UV                          0x414D
+
+#define CL_QCOM_COMPRESSED_NV12_4R                          0x414F
+#define CL_QCOM_COMPRESSED_NV12_4R_Y                        0x4150
+#define CL_QCOM_COMPRESSED_NV12_4R_UV                       0x4151
+/*********************************
+* cl_qcom_compressed_yuv_image_read extension
+*********************************/
+
+// Extended flag for creating/querying QCOM compressed images
+#define CL_MEM_COMPRESSED_YUV_IMAGE_QCOM                    (1<<28)
+
+// Extended image format
+#define CL_QCOM_COMPRESSED_NV12                             0x10C4
+
+// Extended flag for setting ION buffer allocation type
+#define CL_MEM_ION_HOST_PTR_COMPRESSED_YUV_QCOM                 0x40CD
+#define CL_MEM_ION_HOST_PTR_PROTECTED_COMPRESSED_YUV_QCOM       0x40CE
+
+/*********************************
+* cl_qcom_accelerated_image_ops
+*********************************/
+#define CL_MEM_OBJECT_WEIGHT_IMAGE_QCOM                         0x4110
+#define CL_DEVICE_HOF_MAX_NUM_PHASES_QCOM                       0x4111
+#define CL_DEVICE_HOF_MAX_FILTER_SIZE_X_QCOM                    0x4112
+#define CL_DEVICE_HOF_MAX_FILTER_SIZE_Y_QCOM                    0x4113
+#define CL_DEVICE_BLOCK_MATCHING_MAX_REGION_SIZE_X_QCOM         0x4114
+#define CL_DEVICE_BLOCK_MATCHING_MAX_REGION_SIZE_Y_QCOM         0x4115
+
+//Extended flag for specifying weight image type
+#define CL_WEIGHT_IMAGE_SEPARABLE_QCOM                          (1<<0)
+
+// Box Filter
+typedef struct _cl_box_filter_size_qcom
+{
+    // Width of box filter on X direction.
+    float box_filter_width;
+
+    // Height of box filter on Y direction.
+    float box_filter_height;
+} cl_box_filter_size_qcom;
+
+// HOF Weight Image Desc
+typedef struct _cl_weight_desc_qcom
+{
+    /** Coordinate of the "center" point of the weight image,
+        based on the weight image's top-left corner as the origin. */
+    size_t        center_coord_x;
+    size_t        center_coord_y;
+    cl_bitfield   flags;
+} cl_weight_desc_qcom;
+
+typedef struct _cl_weight_image_desc_qcom
+{
+    cl_image_desc           image_desc;
+    cl_weight_desc_qcom     weight_desc;
+} cl_weight_image_desc_qcom;
+
+/*************************************
+ * cl_qcom_protected_context extension *
+ *************************************/
+
+#define CL_CONTEXT_PROTECTED_QCOM                    0x40C7
+#define CL_MEM_ION_HOST_PTR_PROTECTED_QCOM           0x40C8
+
+/*************************************
+ * cl_qcom_priority_hint extension *
+ *************************************/
+#define CL_PRIORITY_HINT_NONE_QCOM                   0
+typedef cl_uint                                     cl_priority_hint;
+
+#define CL_CONTEXT_PRIORITY_HINT_QCOM               0x40C9
+
+/*cl_priority_hint*/
+#define CL_PRIORITY_HINT_HIGH_QCOM                  0x40CA
+#define CL_PRIORITY_HINT_NORMAL_QCOM                0x40CB
+#define CL_PRIORITY_HINT_LOW_QCOM                   0x40CC
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __OPENCL_CL_EXT_QCOM_H */
diff --git a/third_party/opencl/include/CL/cl_gl.h b/third_party/opencl/include/CL/cl_gl.h
new file mode 100644
index 0000000000..945daa83d7
--- /dev/null
+++ b/third_party/opencl/include/CL/cl_gl.h
@@ -0,0 +1,167 @@
+/**********************************************************************************
+ * Copyright (c) 2008-2015 The Khronos Group Inc.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and/or associated documentation files (the
+ * "Materials"), to deal in the Materials without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Materials, and to
+ * permit persons to whom the Materials are furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Materials.
+ *
+ * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS
+ * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS
+ * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT
+ *    https://www.khronos.org/registry/
+ *
+ * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+ * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+ * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
+ * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+ * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
+ **********************************************************************************/
+
+#ifndef __OPENCL_CL_GL_H
+#define __OPENCL_CL_GL_H
+
+#ifdef __APPLE__
+#include <OpenCL/cl.h>
+#else
+#include <CL/cl.h>
+#endif	
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef cl_uint     cl_gl_object_type;
+typedef cl_uint     cl_gl_texture_info;
+typedef cl_uint     cl_gl_platform_info;
+typedef struct __GLsync *cl_GLsync;
+
+/* cl_gl_object_type = 0x2000 - 0x200F enum values are currently taken           */
+#define CL_GL_OBJECT_BUFFER                     0x2000
+#define CL_GL_OBJECT_TEXTURE2D                  0x2001
+#define CL_GL_OBJECT_TEXTURE3D                  0x2002
+#define CL_GL_OBJECT_RENDERBUFFER               0x2003
+#define CL_GL_OBJECT_TEXTURE2D_ARRAY            0x200E
+#define CL_GL_OBJECT_TEXTURE1D                  0x200F
+#define CL_GL_OBJECT_TEXTURE1D_ARRAY            0x2010
+#define CL_GL_OBJECT_TEXTURE_BUFFER             0x2011
+
+/* cl_gl_texture_info           */
+#define CL_GL_TEXTURE_TARGET                    0x2004
+#define CL_GL_MIPMAP_LEVEL                      0x2005
+#define CL_GL_NUM_SAMPLES                       0x2012
+
+
+extern CL_API_ENTRY cl_mem CL_API_CALL
+clCreateFromGLBuffer(cl_context     /* context */,
+                     cl_mem_flags   /* flags */,
+                     cl_GLuint      /* bufobj */,
+                     int *          /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_mem CL_API_CALL
+clCreateFromGLTexture(cl_context      /* context */,
+                      cl_mem_flags    /* flags */,
+                      cl_GLenum       /* target */,
+                      cl_GLint        /* miplevel */,
+                      cl_GLuint       /* texture */,
+                      cl_int *        /* errcode_ret */) CL_API_SUFFIX__VERSION_1_2;
+    
+extern CL_API_ENTRY cl_mem CL_API_CALL
+clCreateFromGLRenderbuffer(cl_context   /* context */,
+                           cl_mem_flags /* flags */,
+                           cl_GLuint    /* renderbuffer */,
+                           cl_int *     /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clGetGLObjectInfo(cl_mem                /* memobj */,
+                  cl_gl_object_type *   /* gl_object_type */,
+                  cl_GLuint *           /* gl_object_name */) CL_API_SUFFIX__VERSION_1_0;
+                  
+extern CL_API_ENTRY cl_int CL_API_CALL
+clGetGLTextureInfo(cl_mem               /* memobj */,
+                   cl_gl_texture_info   /* param_name */,
+                   size_t               /* param_value_size */,
+                   void *               /* param_value */,
+                   size_t *             /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueAcquireGLObjects(cl_command_queue      /* command_queue */,
+                          cl_uint               /* num_objects */,
+                          const cl_mem *        /* mem_objects */,
+                          cl_uint               /* num_events_in_wait_list */,
+                          const cl_event *      /* event_wait_list */,
+                          cl_event *            /* event */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueReleaseGLObjects(cl_command_queue      /* command_queue */,
+                          cl_uint               /* num_objects */,
+                          const cl_mem *        /* mem_objects */,
+                          cl_uint               /* num_events_in_wait_list */,
+                          const cl_event *      /* event_wait_list */,
+                          cl_event *            /* event */) CL_API_SUFFIX__VERSION_1_0;
+
+
+/* Deprecated OpenCL 1.1 APIs */
+extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_mem CL_API_CALL
+clCreateFromGLTexture2D(cl_context      /* context */,
+                        cl_mem_flags    /* flags */,
+                        cl_GLenum       /* target */,
+                        cl_GLint        /* miplevel */,
+                        cl_GLuint       /* texture */,
+                        cl_int *        /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED;
+    
+extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_mem CL_API_CALL
+clCreateFromGLTexture3D(cl_context      /* context */,
+                        cl_mem_flags    /* flags */,
+                        cl_GLenum       /* target */,
+                        cl_GLint        /* miplevel */,
+                        cl_GLuint       /* texture */,
+                        cl_int *        /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED;
+    
+/* cl_khr_gl_sharing extension  */
+    
+#define cl_khr_gl_sharing 1
+    
+typedef cl_uint     cl_gl_context_info;
+    
+/* Additional Error Codes  */
+#define CL_INVALID_GL_SHAREGROUP_REFERENCE_KHR  -1000
+    
+/* cl_gl_context_info  */
+#define CL_CURRENT_DEVICE_FOR_GL_CONTEXT_KHR    0x2006
+#define CL_DEVICES_FOR_GL_CONTEXT_KHR           0x2007
+    
+/* Additional cl_context_properties  */
+#define CL_GL_CONTEXT_KHR                       0x2008
+#define CL_EGL_DISPLAY_KHR                      0x2009
+#define CL_GLX_DISPLAY_KHR                      0x200A
+#define CL_WGL_HDC_KHR                          0x200B
+#define CL_CGL_SHAREGROUP_KHR                   0x200C
+    
+extern CL_API_ENTRY cl_int CL_API_CALL
+clGetGLContextInfoKHR(const cl_context_properties * /* properties */,
+                      cl_gl_context_info            /* param_name */,
+                      size_t                        /* param_value_size */,
+                      void *                        /* param_value */,
+                      size_t *                      /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
+    
+typedef CL_API_ENTRY cl_int (CL_API_CALL *clGetGLContextInfoKHR_fn)(
+    const cl_context_properties * properties,
+    cl_gl_context_info            param_name,
+    size_t                        param_value_size,
+    void *                        param_value,
+    size_t *                      param_value_size_ret);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  /* __OPENCL_CL_GL_H */
diff --git a/third_party/opencl/include/CL/cl_gl_ext.h b/third_party/opencl/include/CL/cl_gl_ext.h
new file mode 100644
index 0000000000..e3c14c6408
--- /dev/null
+++ b/third_party/opencl/include/CL/cl_gl_ext.h
@@ -0,0 +1,74 @@
+/**********************************************************************************
+ * Copyright (c) 2008-2015 The Khronos Group Inc.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and/or associated documentation files (the
+ * "Materials"), to deal in the Materials without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Materials, and to
+ * permit persons to whom the Materials are furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Materials.
+ *
+ * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS
+ * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS
+ * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT
+ *    https://www.khronos.org/registry/
+ *
+ * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+ * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+ * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
+ * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+ * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
+ **********************************************************************************/
+
+/* $Revision: 11708 $ on $Date: 2010-06-13 23:36:24 -0700 (Sun, 13 Jun 2010) $ */
+
+/* cl_gl_ext.h contains vendor (non-KHR) OpenCL extensions which have           */
+/* OpenGL dependencies.                                                         */
+
+#ifndef __OPENCL_CL_GL_EXT_H
+#define __OPENCL_CL_GL_EXT_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifdef __APPLE__
+    #include <OpenCL/cl_gl.h>
+#else
+    #include <CL/cl_gl.h>
+#endif
+
+/*
+ * For each extension, follow this template
+ *  cl_VEN_extname extension  */
+/* #define cl_VEN_extname 1
+ * ... define new types, if any
+ * ... define new tokens, if any
+ * ... define new APIs, if any
+ *
+ *  If you need GLtypes here, mirror them with a cl_GLtype, rather than including a GL header
+ *  This allows us to avoid having to decide whether to include GL headers or GLES here.
+ */
+
+/* 
+ *  cl_khr_gl_event  extension
+ *  See section 9.9 in the OpenCL 1.1 spec for more information
+ */
+#define CL_COMMAND_GL_FENCE_SYNC_OBJECT_KHR     0x200D
+
+extern CL_API_ENTRY cl_event CL_API_CALL
+clCreateEventFromGLsyncKHR(cl_context           /* context */,
+                           cl_GLsync            /* cl_GLsync */,
+                           cl_int *             /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_1;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif	/* __OPENCL_CL_GL_EXT_H  */
diff --git a/third_party/opencl/include/CL/cl_platform.h b/third_party/opencl/include/CL/cl_platform.h
new file mode 100644
index 0000000000..4e334a2918
--- /dev/null
+++ b/third_party/opencl/include/CL/cl_platform.h
@@ -0,0 +1,1333 @@
+/**********************************************************************************
+ * Copyright (c) 2008-2015 The Khronos Group Inc.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and/or associated documentation files (the
+ * "Materials"), to deal in the Materials without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Materials, and to
+ * permit persons to whom the Materials are furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Materials.
+ *
+ * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS
+ * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS
+ * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT
+ *    https://www.khronos.org/registry/
+ *
+ * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+ * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+ * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
+ * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+ * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
+ **********************************************************************************/
+
+/* $Revision: 11803 $ on $Date: 2010-06-25 10:02:12 -0700 (Fri, 25 Jun 2010) $ */
+
+#ifndef __CL_PLATFORM_H
+#define __CL_PLATFORM_H
+
+#ifdef __APPLE__
+    /* Contains #defines for AVAILABLE_MAC_OS_X_VERSION_10_6_AND_LATER below */
+    #include <AvailabilityMacros.h>
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#if defined(_WIN32)
+    #define CL_API_ENTRY
+    #define CL_API_CALL     __stdcall
+    #define CL_CALLBACK     __stdcall
+#else
+    #define CL_API_ENTRY
+    #define CL_API_CALL
+    #define CL_CALLBACK
+#endif
+
+/*
+ * Deprecation flags refer to the last version of the header in which the
+ * feature was not deprecated.
+ *
+ * E.g. VERSION_1_1_DEPRECATED means the feature is present in 1.1 without
+ * deprecation but is deprecated in versions later than 1.1.
+ */
+
+#ifdef __APPLE__
+    #define CL_EXTENSION_WEAK_LINK       __attribute__((weak_import))
+    #define CL_API_SUFFIX__VERSION_1_0                  AVAILABLE_MAC_OS_X_VERSION_10_6_AND_LATER
+    #define CL_EXT_SUFFIX__VERSION_1_0                  CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_6_AND_LATER
+    #define CL_API_SUFFIX__VERSION_1_1                  AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER
+    #define GCL_API_SUFFIX__VERSION_1_1                 AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER
+    #define CL_EXT_SUFFIX__VERSION_1_1                  CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER
+    #define CL_EXT_SUFFIX__VERSION_1_0_DEPRECATED       CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_6_AND_LATER_BUT_DEPRECATED_IN_MAC_OS_X_VERSION_10_7
+    
+    #ifdef AVAILABLE_MAC_OS_X_VERSION_10_8_AND_LATER
+        #define CL_API_SUFFIX__VERSION_1_2              AVAILABLE_MAC_OS_X_VERSION_10_8_AND_LATER
+        #define GCL_API_SUFFIX__VERSION_1_2             AVAILABLE_MAC_OS_X_VERSION_10_8_AND_LATER
+        #define CL_EXT_SUFFIX__VERSION_1_2              CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_8_AND_LATER
+        #define CL_EXT_PREFIX__VERSION_1_1_DEPRECATED
+        #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED   CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER_BUT_DEPRECATED_IN_MAC_OS_X_VERSION_10_8
+    #else
+        #warning  This path should never happen outside of internal operating system development.  AvailabilityMacros do not function correctly here!
+        #define CL_API_SUFFIX__VERSION_1_2              AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER
+        #define GCL_API_SUFFIX__VERSION_1_2             AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER
+        #define CL_EXT_SUFFIX__VERSION_1_2              CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER
+        #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED   CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER
+    #endif
+#else
+    #define CL_EXTENSION_WEAK_LINK  
+    #define CL_API_SUFFIX__VERSION_1_0
+    #define CL_EXT_SUFFIX__VERSION_1_0
+    #define CL_API_SUFFIX__VERSION_1_1
+    #define CL_EXT_SUFFIX__VERSION_1_1
+    #define CL_API_SUFFIX__VERSION_1_2
+    #define CL_EXT_SUFFIX__VERSION_1_2
+    #define CL_API_SUFFIX__VERSION_2_0
+    #define CL_EXT_SUFFIX__VERSION_2_0
+    #define CL_API_SUFFIX__VERSION_2_1
+    #define CL_EXT_SUFFIX__VERSION_2_1
+    
+    #ifdef __GNUC__
+        #ifdef CL_USE_DEPRECATED_OPENCL_1_0_APIS
+            #define CL_EXT_SUFFIX__VERSION_1_0_DEPRECATED
+            #define CL_EXT_PREFIX__VERSION_1_0_DEPRECATED    
+        #else
+            #define CL_EXT_SUFFIX__VERSION_1_0_DEPRECATED __attribute__((deprecated))
+            #define CL_EXT_PREFIX__VERSION_1_0_DEPRECATED    
+        #endif
+    
+        #ifdef CL_USE_DEPRECATED_OPENCL_1_1_APIS
+            #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED    
+            #define CL_EXT_PREFIX__VERSION_1_1_DEPRECATED    
+        #else
+            #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED __attribute__((deprecated))
+            #define CL_EXT_PREFIX__VERSION_1_1_DEPRECATED    
+        #endif
+
+        #ifdef CL_USE_DEPRECATED_OPENCL_1_2_APIS
+            #define CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED
+            #define CL_EXT_PREFIX__VERSION_1_2_DEPRECATED
+        #else
+            #define CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED __attribute__((deprecated))
+            #define CL_EXT_PREFIX__VERSION_1_2_DEPRECATED
+         #endif
+
+        #ifdef CL_USE_DEPRECATED_OPENCL_2_0_APIS
+            #define CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED
+            #define CL_EXT_PREFIX__VERSION_2_0_DEPRECATED
+        #else
+            #define CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED __attribute__((deprecated))
+            #define CL_EXT_PREFIX__VERSION_2_0_DEPRECATED
+        #endif
+    #elif _WIN32
+        #ifdef CL_USE_DEPRECATED_OPENCL_1_0_APIS
+            #define CL_EXT_SUFFIX__VERSION_1_0_DEPRECATED
+            #define CL_EXT_PREFIX__VERSION_1_0_DEPRECATED    
+        #else
+            #define CL_EXT_SUFFIX__VERSION_1_0_DEPRECATED 
+            #define CL_EXT_PREFIX__VERSION_1_0_DEPRECATED __declspec(deprecated)     
+        #endif
+    
+        #ifdef CL_USE_DEPRECATED_OPENCL_1_1_APIS
+            #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED
+            #define CL_EXT_PREFIX__VERSION_1_1_DEPRECATED    
+        #else
+            #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED 
+            #define CL_EXT_PREFIX__VERSION_1_1_DEPRECATED __declspec(deprecated)     
+        #endif
+    
+        #ifdef CL_USE_DEPRECATED_OPENCL_1_2_APIS
+            #define CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED
+            #define CL_EXT_PREFIX__VERSION_1_2_DEPRECATED
+        #else
+            #define CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED
+            #define CL_EXT_PREFIX__VERSION_1_2_DEPRECATED __declspec(deprecated)
+        #endif
+
+        #ifdef CL_USE_DEPRECATED_OPENCL_2_0_APIS
+            #define CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED
+            #define CL_EXT_PREFIX__VERSION_2_0_DEPRECATED
+        #else
+            #define CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED 
+            #define CL_EXT_PREFIX__VERSION_2_0_DEPRECATED __declspec(deprecated)
+        #endif
+    #else
+        #define CL_EXT_SUFFIX__VERSION_1_0_DEPRECATED
+        #define CL_EXT_PREFIX__VERSION_1_0_DEPRECATED
+    
+        #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED
+        #define CL_EXT_PREFIX__VERSION_1_1_DEPRECATED
+    
+        #define CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED
+        #define CL_EXT_PREFIX__VERSION_1_2_DEPRECATED
+
+        #define CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED
+        #define CL_EXT_PREFIX__VERSION_2_0_DEPRECATED
+    #endif
+#endif
+
+#if (defined (_WIN32) && defined(_MSC_VER))
+
+/* scalar types  */
+typedef signed   __int8         cl_char;
+typedef unsigned __int8         cl_uchar;
+typedef signed   __int16        cl_short;
+typedef unsigned __int16        cl_ushort;
+typedef signed   __int32        cl_int;
+typedef unsigned __int32        cl_uint;
+typedef signed   __int64        cl_long;
+typedef unsigned __int64        cl_ulong;
+
+typedef unsigned __int16        cl_half;
+typedef float                   cl_float;
+typedef double                  cl_double;
+
+/* Macro names and corresponding values defined by OpenCL */
+#define CL_CHAR_BIT         8
+#define CL_SCHAR_MAX        127
+#define CL_SCHAR_MIN        (-127-1)
+#define CL_CHAR_MAX         CL_SCHAR_MAX
+#define CL_CHAR_MIN         CL_SCHAR_MIN
+#define CL_UCHAR_MAX        255
+#define CL_SHRT_MAX         32767
+#define CL_SHRT_MIN         (-32767-1)
+#define CL_USHRT_MAX        65535
+#define CL_INT_MAX          2147483647
+#define CL_INT_MIN          (-2147483647-1)
+#define CL_UINT_MAX         0xffffffffU
+#define CL_LONG_MAX         ((cl_long) 0x7FFFFFFFFFFFFFFFLL)
+#define CL_LONG_MIN         ((cl_long) -0x7FFFFFFFFFFFFFFFLL - 1LL)
+#define CL_ULONG_MAX        ((cl_ulong) 0xFFFFFFFFFFFFFFFFULL)
+
+#define CL_FLT_DIG          6
+#define CL_FLT_MANT_DIG     24
+#define CL_FLT_MAX_10_EXP   +38
+#define CL_FLT_MAX_EXP      +128
+#define CL_FLT_MIN_10_EXP   -37
+#define CL_FLT_MIN_EXP      -125
+#define CL_FLT_RADIX        2
+#define CL_FLT_MAX          340282346638528859811704183484516925440.0f
+#define CL_FLT_MIN          1.175494350822287507969e-38f
+#define CL_FLT_EPSILON      0x1.0p-23f
+
+#define CL_DBL_DIG          15
+#define CL_DBL_MANT_DIG     53
+#define CL_DBL_MAX_10_EXP   +308
+#define CL_DBL_MAX_EXP      +1024
+#define CL_DBL_MIN_10_EXP   -307
+#define CL_DBL_MIN_EXP      -1021
+#define CL_DBL_RADIX        2
+#define CL_DBL_MAX          179769313486231570814527423731704356798070567525844996598917476803157260780028538760589558632766878171540458953514382464234321326889464182768467546703537516986049910576551282076245490090389328944075868508455133942304583236903222948165808559332123348274797826204144723168738177180919299881250404026184124858368.0
+#define CL_DBL_MIN          2.225073858507201383090e-308
+#define CL_DBL_EPSILON      2.220446049250313080847e-16
+
+#define  CL_M_E             2.718281828459045090796
+#define  CL_M_LOG2E         1.442695040888963387005
+#define  CL_M_LOG10E        0.434294481903251816668
+#define  CL_M_LN2           0.693147180559945286227
+#define  CL_M_LN10          2.302585092994045901094
+#define  CL_M_PI            3.141592653589793115998
+#define  CL_M_PI_2          1.570796326794896557999
+#define  CL_M_PI_4          0.785398163397448278999
+#define  CL_M_1_PI          0.318309886183790691216
+#define  CL_M_2_PI          0.636619772367581382433
+#define  CL_M_2_SQRTPI      1.128379167095512558561
+#define  CL_M_SQRT2         1.414213562373095145475
+#define  CL_M_SQRT1_2       0.707106781186547572737
+
+#define  CL_M_E_F           2.71828174591064f
+#define  CL_M_LOG2E_F       1.44269502162933f
+#define  CL_M_LOG10E_F      0.43429449200630f
+#define  CL_M_LN2_F         0.69314718246460f
+#define  CL_M_LN10_F        2.30258512496948f
+#define  CL_M_PI_F          3.14159274101257f
+#define  CL_M_PI_2_F        1.57079637050629f
+#define  CL_M_PI_4_F        0.78539818525314f
+#define  CL_M_1_PI_F        0.31830987334251f
+#define  CL_M_2_PI_F        0.63661974668503f
+#define  CL_M_2_SQRTPI_F    1.12837922573090f
+#define  CL_M_SQRT2_F       1.41421353816986f
+#define  CL_M_SQRT1_2_F     0.70710676908493f
+
+#define CL_NAN              (CL_INFINITY - CL_INFINITY)
+#define CL_HUGE_VALF        ((cl_float) 1e50)
+#define CL_HUGE_VAL         ((cl_double) 1e500)
+#define CL_MAXFLOAT         CL_FLT_MAX
+#define CL_INFINITY         CL_HUGE_VALF
+
+#else
+
+#include <stdint.h>
+
+/* scalar types  */
+typedef int8_t          cl_char;
+typedef uint8_t         cl_uchar;
+typedef int16_t         cl_short    __attribute__((aligned(2)));
+typedef uint16_t        cl_ushort   __attribute__((aligned(2)));
+typedef int32_t         cl_int      __attribute__((aligned(4)));
+typedef uint32_t        cl_uint     __attribute__((aligned(4)));
+typedef int64_t         cl_long     __attribute__((aligned(8)));
+typedef uint64_t        cl_ulong    __attribute__((aligned(8)));
+
+typedef uint16_t        cl_half     __attribute__((aligned(2)));
+typedef float           cl_float    __attribute__((aligned(4)));
+typedef double          cl_double   __attribute__((aligned(8)));
+
+/* Macro names and corresponding values defined by OpenCL */
+#define CL_CHAR_BIT         8
+#define CL_SCHAR_MAX        127
+#define CL_SCHAR_MIN        (-127-1)
+#define CL_CHAR_MAX         CL_SCHAR_MAX
+#define CL_CHAR_MIN         CL_SCHAR_MIN
+#define CL_UCHAR_MAX        255
+#define CL_SHRT_MAX         32767
+#define CL_SHRT_MIN         (-32767-1)
+#define CL_USHRT_MAX        65535
+#define CL_INT_MAX          2147483647
+#define CL_INT_MIN          (-2147483647-1)
+#define CL_UINT_MAX         0xffffffffU
+#define CL_LONG_MAX         ((cl_long) 0x7FFFFFFFFFFFFFFFLL)
+#define CL_LONG_MIN         ((cl_long) -0x7FFFFFFFFFFFFFFFLL - 1LL)
+#define CL_ULONG_MAX        ((cl_ulong) 0xFFFFFFFFFFFFFFFFULL)
+
+#define CL_FLT_DIG          6
+#define CL_FLT_MANT_DIG     24
+#define CL_FLT_MAX_10_EXP   +38
+#define CL_FLT_MAX_EXP      +128
+#define CL_FLT_MIN_10_EXP   -37
+#define CL_FLT_MIN_EXP      -125
+#define CL_FLT_RADIX        2
+#define CL_FLT_MAX          0x1.fffffep127f
+#define CL_FLT_MIN          0x1.0p-126f
+#define CL_FLT_EPSILON      0x1.0p-23f
+
+#define CL_DBL_DIG          15
+#define CL_DBL_MANT_DIG     53
+#define CL_DBL_MAX_10_EXP   +308
+#define CL_DBL_MAX_EXP      +1024
+#define CL_DBL_MIN_10_EXP   -307
+#define CL_DBL_MIN_EXP      -1021
+#define CL_DBL_RADIX        2
+#define CL_DBL_MAX          0x1.fffffffffffffp1023
+#define CL_DBL_MIN          0x1.0p-1022
+#define CL_DBL_EPSILON      0x1.0p-52
+
+#define  CL_M_E             2.718281828459045090796
+#define  CL_M_LOG2E         1.442695040888963387005
+#define  CL_M_LOG10E        0.434294481903251816668
+#define  CL_M_LN2           0.693147180559945286227
+#define  CL_M_LN10          2.302585092994045901094
+#define  CL_M_PI            3.141592653589793115998
+#define  CL_M_PI_2          1.570796326794896557999
+#define  CL_M_PI_4          0.785398163397448278999
+#define  CL_M_1_PI          0.318309886183790691216
+#define  CL_M_2_PI          0.636619772367581382433
+#define  CL_M_2_SQRTPI      1.128379167095512558561
+#define  CL_M_SQRT2         1.414213562373095145475
+#define  CL_M_SQRT1_2       0.707106781186547572737
+
+#define  CL_M_E_F           2.71828174591064f
+#define  CL_M_LOG2E_F       1.44269502162933f
+#define  CL_M_LOG10E_F      0.43429449200630f
+#define  CL_M_LN2_F         0.69314718246460f
+#define  CL_M_LN10_F        2.30258512496948f
+#define  CL_M_PI_F          3.14159274101257f
+#define  CL_M_PI_2_F        1.57079637050629f
+#define  CL_M_PI_4_F        0.78539818525314f
+#define  CL_M_1_PI_F        0.31830987334251f
+#define  CL_M_2_PI_F        0.63661974668503f
+#define  CL_M_2_SQRTPI_F    1.12837922573090f
+#define  CL_M_SQRT2_F       1.41421353816986f
+#define  CL_M_SQRT1_2_F     0.70710676908493f
+
+#if defined( __GNUC__ )
+   #define CL_HUGE_VALF     __builtin_huge_valf()
+   #define CL_HUGE_VAL      __builtin_huge_val()
+   #define CL_NAN           __builtin_nanf( "" )
+#else
+   #define CL_HUGE_VALF     ((cl_float) 1e50)
+   #define CL_HUGE_VAL      ((cl_double) 1e500)
+   float nanf( const char * );
+   #define CL_NAN           nanf( "" )  
+#endif
+#define CL_MAXFLOAT         CL_FLT_MAX
+#define CL_INFINITY         CL_HUGE_VALF
+
+#endif
+
+#include <stddef.h>
+
+/* Mirror types to GL types. Mirror types allow us to avoid deciding which 87s to load based on whether we are using GL or GLES here. */
+typedef unsigned int cl_GLuint;
+typedef int          cl_GLint;
+typedef unsigned int cl_GLenum;
+
+/*
+ * Vector types 
+ *
+ *  Note:   OpenCL requires that all types be naturally aligned. 
+ *          This means that vector types must be naturally aligned.
+ *          For example, a vector of four floats must be aligned to
+ *          a 16 byte boundary (calculated as 4 * the natural 4-byte 
+ *          alignment of the float).  The alignment qualifiers here
+ *          will only function properly if your compiler supports them
+ *          and if you don't actively work to defeat them.  For example,
+ *          in order for a cl_float4 to be 16 byte aligned in a struct,
+ *          the start of the struct must itself be 16-byte aligned. 
+ *
+ *          Maintaining proper alignment is the user's responsibility.
+ */
+
+/* Define basic vector types */
+#if defined( __VEC__ )
+   #include <altivec.h>   /* may be omitted depending on compiler. AltiVec spec provides no way to detect whether the header is required. */
+   typedef vector unsigned char     __cl_uchar16;
+   typedef vector signed char       __cl_char16;
+   typedef vector unsigned short    __cl_ushort8;
+   typedef vector signed short      __cl_short8;
+   typedef vector unsigned int      __cl_uint4;
+   typedef vector signed int        __cl_int4;
+   typedef vector float             __cl_float4;
+   #define  __CL_UCHAR16__  1
+   #define  __CL_CHAR16__   1
+   #define  __CL_USHORT8__  1
+   #define  __CL_SHORT8__   1
+   #define  __CL_UINT4__    1
+   #define  __CL_INT4__     1
+   #define  __CL_FLOAT4__   1
+#endif
+
+#if defined( __SSE__ )
+    #if defined( __MINGW64__ )
+        #include <intrin.h>
+    #else
+        #include <xmmintrin.h>
+    #endif
+    #if defined( __GNUC__ )
+        typedef float __cl_float4   __attribute__((vector_size(16)));
+    #else
+        typedef __m128 __cl_float4;
+    #endif
+    #define __CL_FLOAT4__   1
+#endif
+
+#if defined( __SSE2__ )
+    #if defined( __MINGW64__ )
+        #include <intrin.h>
+    #else
+        #include <emmintrin.h>
+    #endif
+    #if defined( __GNUC__ )
+        typedef cl_uchar    __cl_uchar16    __attribute__((vector_size(16)));
+        typedef cl_char     __cl_char16     __attribute__((vector_size(16)));
+        typedef cl_ushort   __cl_ushort8    __attribute__((vector_size(16)));
+        typedef cl_short    __cl_short8     __attribute__((vector_size(16)));
+        typedef cl_uint     __cl_uint4      __attribute__((vector_size(16)));
+        typedef cl_int      __cl_int4       __attribute__((vector_size(16)));
+        typedef cl_ulong    __cl_ulong2     __attribute__((vector_size(16)));
+        typedef cl_long     __cl_long2      __attribute__((vector_size(16)));
+        typedef cl_double   __cl_double2    __attribute__((vector_size(16)));
+    #else
+        typedef __m128i __cl_uchar16;
+        typedef __m128i __cl_char16;
+        typedef __m128i __cl_ushort8;
+        typedef __m128i __cl_short8;
+        typedef __m128i __cl_uint4;
+        typedef __m128i __cl_int4;
+        typedef __m128i __cl_ulong2;
+        typedef __m128i __cl_long2;
+        typedef __m128d __cl_double2;
+    #endif
+    #define __CL_UCHAR16__  1
+    #define __CL_CHAR16__   1
+    #define __CL_USHORT8__  1
+    #define __CL_SHORT8__   1
+    #define __CL_INT4__     1
+    #define __CL_UINT4__    1
+    #define __CL_ULONG2__   1
+    #define __CL_LONG2__    1
+    #define __CL_DOUBLE2__  1
+#endif
+
+#if defined( __MMX__ )
+    #include <mmintrin.h>
+    #if defined( __GNUC__ )
+        typedef cl_uchar    __cl_uchar8     __attribute__((vector_size(8)));
+        typedef cl_char     __cl_char8      __attribute__((vector_size(8)));
+        typedef cl_ushort   __cl_ushort4    __attribute__((vector_size(8)));
+        typedef cl_short    __cl_short4     __attribute__((vector_size(8)));
+        typedef cl_uint     __cl_uint2      __attribute__((vector_size(8)));
+        typedef cl_int      __cl_int2       __attribute__((vector_size(8)));
+        typedef cl_ulong    __cl_ulong1     __attribute__((vector_size(8)));
+        typedef cl_long     __cl_long1      __attribute__((vector_size(8)));
+        typedef cl_float    __cl_float2     __attribute__((vector_size(8)));
+    #else
+        typedef __m64       __cl_uchar8;
+        typedef __m64       __cl_char8;
+        typedef __m64       __cl_ushort4;
+        typedef __m64       __cl_short4;
+        typedef __m64       __cl_uint2;
+        typedef __m64       __cl_int2;
+        typedef __m64       __cl_ulong1;
+        typedef __m64       __cl_long1;
+        typedef __m64       __cl_float2;
+    #endif
+    #define __CL_UCHAR8__   1
+    #define __CL_CHAR8__    1
+    #define __CL_USHORT4__  1
+    #define __CL_SHORT4__   1
+    #define __CL_INT2__     1
+    #define __CL_UINT2__    1
+    #define __CL_ULONG1__   1
+    #define __CL_LONG1__    1
+    #define __CL_FLOAT2__   1
+#endif
+
+#if defined( __AVX__ )
+    #if defined( __MINGW64__ )
+        #include <intrin.h>
+    #else
+        #include <immintrin.h> 
+    #endif
+    #if defined( __GNUC__ )
+        typedef cl_float    __cl_float8     __attribute__((vector_size(32)));
+        typedef cl_double   __cl_double4    __attribute__((vector_size(32)));
+    #else
+        typedef __m256      __cl_float8;
+        typedef __m256d     __cl_double4;
+    #endif
+    #define __CL_FLOAT8__   1
+    #define __CL_DOUBLE4__  1
+#endif
+
+/* Define capabilities for anonymous struct members. */
+#if defined( __GNUC__) && ! defined( __STRICT_ANSI__ )
+#define  __CL_HAS_ANON_STRUCT__ 1
+#define  __CL_ANON_STRUCT__ __extension__
+#elif defined( _WIN32) && (_MSC_VER >= 1500)
+   /* Microsoft Developer Studio 2008 supports anonymous structs, but
+    * complains by default. */
+#define  __CL_HAS_ANON_STRUCT__ 1
+#define  __CL_ANON_STRUCT__
+   /* Disable warning C4201: nonstandard extension used : nameless
+    * struct/union */
+#pragma warning( push )
+#pragma warning( disable : 4201 )
+#else
+#define  __CL_HAS_ANON_STRUCT__ 0
+#define  __CL_ANON_STRUCT__
+#endif
+
+/* Define alignment keys */
+#if defined( __GNUC__ )
+    #define CL_ALIGNED(_x)          __attribute__ ((aligned(_x)))
+#elif defined( _WIN32) && (_MSC_VER)
+    /* Alignment keys neutered on windows because MSVC can't swallow function arguments with alignment requirements     */
+    /* http://msdn.microsoft.com/en-us/library/373ak2y1%28VS.71%29.aspx                                                 */
+    /* #include <crtdefs.h>                                                                                             */
+    /* #define CL_ALIGNED(_x)          _CRT_ALIGN(_x)                                                                   */
+    #define CL_ALIGNED(_x)
+#else
+   #warning  Need to implement some method to align data here
+   #define  CL_ALIGNED(_x)
+#endif
+
+/* Indicate whether .xyzw, .s0123 and .hi.lo are supported */
+#if __CL_HAS_ANON_STRUCT__
+    /* .xyzw and .s0123...{f|F} are supported */
+    #define CL_HAS_NAMED_VECTOR_FIELDS 1
+    /* .hi and .lo are supported */
+    #define CL_HAS_HI_LO_VECTOR_FIELDS 1
+#endif
+
+/* Define cl_vector types */
+
+/* ---- cl_charn ---- */
+typedef union
+{
+    cl_char  CL_ALIGNED(2) s[2];
+#if __CL_HAS_ANON_STRUCT__
+   __CL_ANON_STRUCT__ struct{ cl_char  x, y; };
+   __CL_ANON_STRUCT__ struct{ cl_char  s0, s1; };
+   __CL_ANON_STRUCT__ struct{ cl_char  lo, hi; };
+#endif
+#if defined( __CL_CHAR2__) 
+    __cl_char2     v2;
+#endif
+}cl_char2;
+
+typedef union
+{
+    cl_char  CL_ALIGNED(4) s[4];
+#if __CL_HAS_ANON_STRUCT__
+   __CL_ANON_STRUCT__ struct{ cl_char  x, y, z, w; };
+   __CL_ANON_STRUCT__ struct{ cl_char  s0, s1, s2, s3; };
+   __CL_ANON_STRUCT__ struct{ cl_char2 lo, hi; };
+#endif
+#if defined( __CL_CHAR2__) 
+    __cl_char2     v2[2];
+#endif
+#if defined( __CL_CHAR4__) 
+    __cl_char4     v4;
+#endif
+}cl_char4;
+
+/* cl_char3 is identical in size, alignment and behavior to cl_char4. See section 6.1.5. */
+typedef  cl_char4  cl_char3;
+
+typedef union
+{
+    cl_char   CL_ALIGNED(8) s[8];
+#if __CL_HAS_ANON_STRUCT__
+   __CL_ANON_STRUCT__ struct{ cl_char  x, y, z, w; };
+   __CL_ANON_STRUCT__ struct{ cl_char  s0, s1, s2, s3, s4, s5, s6, s7; };
+   __CL_ANON_STRUCT__ struct{ cl_char4 lo, hi; };
+#endif
+#if defined( __CL_CHAR2__) 
+    __cl_char2     v2[4];
+#endif
+#if defined( __CL_CHAR4__) 
+    __cl_char4     v4[2];
+#endif
+#if defined( __CL_CHAR8__ )
+    __cl_char8     v8;
+#endif
+}cl_char8;
+
+typedef union
+{
+    cl_char  CL_ALIGNED(16) s[16];
+#if __CL_HAS_ANON_STRUCT__
+   __CL_ANON_STRUCT__ struct{ cl_char  x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; };
+   __CL_ANON_STRUCT__ struct{ cl_char  s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; };
+   __CL_ANON_STRUCT__ struct{ cl_char8 lo, hi; };
+#endif
+#if defined( __CL_CHAR2__) 
+    __cl_char2     v2[8];
+#endif
+#if defined( __CL_CHAR4__) 
+    __cl_char4     v4[4];
+#endif
+#if defined( __CL_CHAR8__ )
+    __cl_char8     v8[2];
+#endif
+#if defined( __CL_CHAR16__ )
+    __cl_char16    v16;
+#endif
+}cl_char16;
+
+
+/* ---- cl_ucharn ---- */
+typedef union
+{
+    cl_uchar  CL_ALIGNED(2) s[2];
+#if __CL_HAS_ANON_STRUCT__
+   __CL_ANON_STRUCT__ struct{ cl_uchar  x, y; };
+   __CL_ANON_STRUCT__ struct{ cl_uchar  s0, s1; };
+   __CL_ANON_STRUCT__ struct{ cl_uchar  lo, hi; };
+#endif
+#if defined( __cl_uchar2__) 
+    __cl_uchar2     v2;
+#endif
+}cl_uchar2;
+
+typedef union
+{
+    cl_uchar  CL_ALIGNED(4) s[4];
+#if __CL_HAS_ANON_STRUCT__
+   __CL_ANON_STRUCT__ struct{ cl_uchar  x, y, z, w; };
+   __CL_ANON_STRUCT__ struct{ cl_uchar  s0, s1, s2, s3; };
+   __CL_ANON_STRUCT__ struct{ cl_uchar2 lo, hi; };
+#endif
+#if defined( __CL_UCHAR2__) 
+    __cl_uchar2     v2[2];
+#endif
+#if defined( __CL_UCHAR4__) 
+    __cl_uchar4     v4;
+#endif
+}cl_uchar4;
+
+/* cl_uchar3 is identical in size, alignment and behavior to cl_uchar4. See section 6.1.5. */
+typedef  cl_uchar4  cl_uchar3;
+
+typedef union
+{
+    cl_uchar   CL_ALIGNED(8) s[8];
+#if __CL_HAS_ANON_STRUCT__
+   __CL_ANON_STRUCT__ struct{ cl_uchar  x, y, z, w; };
+   __CL_ANON_STRUCT__ struct{ cl_uchar  s0, s1, s2, s3, s4, s5, s6, s7; };
+   __CL_ANON_STRUCT__ struct{ cl_uchar4 lo, hi; };
+#endif
+#if defined( __CL_UCHAR2__) 
+    __cl_uchar2     v2[4];
+#endif
+#if defined( __CL_UCHAR4__) 
+    __cl_uchar4     v4[2];
+#endif
+#if defined( __CL_UCHAR8__ )
+    __cl_uchar8     v8;
+#endif
+}cl_uchar8;
+
+typedef union
+{
+    cl_uchar  CL_ALIGNED(16) s[16];
+#if __CL_HAS_ANON_STRUCT__
+   __CL_ANON_STRUCT__ struct{ cl_uchar  x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; };
+   __CL_ANON_STRUCT__ struct{ cl_uchar  s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; };
+   __CL_ANON_STRUCT__ struct{ cl_uchar8 lo, hi; };
+#endif
+#if defined( __CL_UCHAR2__) 
+    __cl_uchar2     v2[8];
+#endif
+#if defined( __CL_UCHAR4__) 
+    __cl_uchar4     v4[4];
+#endif
+#if defined( __CL_UCHAR8__ )
+    __cl_uchar8     v8[2];
+#endif
+#if defined( __CL_UCHAR16__ )
+    __cl_uchar16    v16;
+#endif
+}cl_uchar16;
+
+
+/* ---- cl_shortn ---- */
+typedef union
+{
+    cl_short  CL_ALIGNED(4) s[2];
+#if __CL_HAS_ANON_STRUCT__
+   __CL_ANON_STRUCT__ struct{ cl_short  x, y; };
+   __CL_ANON_STRUCT__ struct{ cl_short  s0, s1; };
+   __CL_ANON_STRUCT__ struct{ cl_short  lo, hi; };
+#endif
+#if defined( __CL_SHORT2__) 
+    __cl_short2     v2;
+#endif
+}cl_short2;
+
+typedef union
+{
+    cl_short  CL_ALIGNED(8) s[4];
+#if __CL_HAS_ANON_STRUCT__
+   __CL_ANON_STRUCT__ struct{ cl_short  x, y, z, w; };
+   __CL_ANON_STRUCT__ struct{ cl_short  s0, s1, s2, s3; };
+   __CL_ANON_STRUCT__ struct{ cl_short2 lo, hi; };
+#endif
+#if defined( __CL_SHORT2__) 
+    __cl_short2     v2[2];
+#endif
+#if defined( __CL_SHORT4__) 
+    __cl_short4     v4;
+#endif
+}cl_short4;
+
+/* cl_short3 is identical in size, alignment and behavior to cl_short4. See section 6.1.5. */
+typedef  cl_short4  cl_short3;
+
+typedef union
+{
+    cl_short   CL_ALIGNED(16) s[8];
+#if __CL_HAS_ANON_STRUCT__
+   __CL_ANON_STRUCT__ struct{ cl_short  x, y, z, w; };
+   __CL_ANON_STRUCT__ struct{ cl_short  s0, s1, s2, s3, s4, s5, s6, s7; };
+   __CL_ANON_STRUCT__ struct{ cl_short4 lo, hi; };
+#endif
+#if defined( __CL_SHORT2__) 
+    __cl_short2     v2[4];
+#endif
+#if defined( __CL_SHORT4__) 
+    __cl_short4     v4[2];
+#endif
+#if defined( __CL_SHORT8__ )
+    __cl_short8     v8;
+#endif
+}cl_short8;
+
+typedef union
+{
+    cl_short  CL_ALIGNED(32) s[16];
+#if __CL_HAS_ANON_STRUCT__
+   __CL_ANON_STRUCT__ struct{ cl_short  x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; };
+   __CL_ANON_STRUCT__ struct{ cl_short  s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; };
+   __CL_ANON_STRUCT__ struct{ cl_short8 lo, hi; };
+#endif
+#if defined( __CL_SHORT2__) 
+    __cl_short2     v2[8];
+#endif
+#if defined( __CL_SHORT4__) 
+    __cl_short4     v4[4];
+#endif
+#if defined( __CL_SHORT8__ )
+    __cl_short8     v8[2];
+#endif
+#if defined( __CL_SHORT16__ )
+    __cl_short16    v16;
+#endif
+}cl_short16;
+
+
+/* ---- cl_ushortn ---- */
+typedef union
+{
+    cl_ushort  CL_ALIGNED(4) s[2];
+#if __CL_HAS_ANON_STRUCT__
+   __CL_ANON_STRUCT__ struct{ cl_ushort  x, y; };
+   __CL_ANON_STRUCT__ struct{ cl_ushort  s0, s1; };
+   __CL_ANON_STRUCT__ struct{ cl_ushort  lo, hi; };
+#endif
+#if defined( __CL_USHORT2__) 
+    __cl_ushort2     v2;
+#endif
+}cl_ushort2;
+
+typedef union
+{
+    cl_ushort  CL_ALIGNED(8) s[4];
+#if __CL_HAS_ANON_STRUCT__
+   __CL_ANON_STRUCT__ struct{ cl_ushort  x, y, z, w; };
+   __CL_ANON_STRUCT__ struct{ cl_ushort  s0, s1, s2, s3; };
+   __CL_ANON_STRUCT__ struct{ cl_ushort2 lo, hi; };
+#endif
+#if defined( __CL_USHORT2__) 
+    __cl_ushort2     v2[2];
+#endif
+#if defined( __CL_USHORT4__) 
+    __cl_ushort4     v4;
+#endif
+}cl_ushort4;
+
+/* cl_ushort3 is identical in size, alignment and behavior to cl_ushort4. See section 6.1.5. */
+typedef  cl_ushort4  cl_ushort3;
+
+typedef union
+{
+    cl_ushort   CL_ALIGNED(16) s[8];
+#if __CL_HAS_ANON_STRUCT__
+   __CL_ANON_STRUCT__ struct{ cl_ushort  x, y, z, w; };
+   __CL_ANON_STRUCT__ struct{ cl_ushort  s0, s1, s2, s3, s4, s5, s6, s7; };
+   __CL_ANON_STRUCT__ struct{ cl_ushort4 lo, hi; };
+#endif
+#if defined( __CL_USHORT2__) 
+    __cl_ushort2     v2[4];
+#endif
+#if defined( __CL_USHORT4__) 
+    __cl_ushort4     v4[2];
+#endif
+#if defined( __CL_USHORT8__ )
+    __cl_ushort8     v8;
+#endif
+}cl_ushort8;
+
+typedef union
+{
+    cl_ushort  CL_ALIGNED(32) s[16];
+#if __CL_HAS_ANON_STRUCT__
+   __CL_ANON_STRUCT__ struct{ cl_ushort  x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; };
+   __CL_ANON_STRUCT__ struct{ cl_ushort  s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; };
+   __CL_ANON_STRUCT__ struct{ cl_ushort8 lo, hi; };
+#endif
+#if defined( __CL_USHORT2__) 
+    __cl_ushort2     v2[8];
+#endif
+#if defined( __CL_USHORT4__) 
+    __cl_ushort4     v4[4];
+#endif
+#if defined( __CL_USHORT8__ )
+    __cl_ushort8     v8[2];
+#endif
+#if defined( __CL_USHORT16__ )
+    __cl_ushort16    v16;
+#endif
+}cl_ushort16;
+
+/* ---- cl_intn ---- */
+typedef union
+{
+    cl_int  CL_ALIGNED(8) s[2];
+#if __CL_HAS_ANON_STRUCT__
+   __CL_ANON_STRUCT__ struct{ cl_int  x, y; };
+   __CL_ANON_STRUCT__ struct{ cl_int  s0, s1; };
+   __CL_ANON_STRUCT__ struct{ cl_int  lo, hi; };
+#endif
+#if defined( __CL_INT2__) 
+    __cl_int2     v2;
+#endif
+}cl_int2;
+
+typedef union
+{
+    cl_int  CL_ALIGNED(16) s[4];
+#if __CL_HAS_ANON_STRUCT__
+   __CL_ANON_STRUCT__ struct{ cl_int  x, y, z, w; };
+   __CL_ANON_STRUCT__ struct{ cl_int  s0, s1, s2, s3; };
+   __CL_ANON_STRUCT__ struct{ cl_int2 lo, hi; };
+#endif
+#if defined( __CL_INT2__) 
+    __cl_int2     v2[2];
+#endif
+#if defined( __CL_INT4__) 
+    __cl_int4     v4;
+#endif
+}cl_int4;
+
+/* cl_int3 is identical in size, alignment and behavior to cl_int4. See section 6.1.5. */
+typedef  cl_int4  cl_int3;
+
+typedef union
+{
+    cl_int   CL_ALIGNED(32) s[8];
+#if __CL_HAS_ANON_STRUCT__
+   __CL_ANON_STRUCT__ struct{ cl_int  x, y, z, w; };
+   __CL_ANON_STRUCT__ struct{ cl_int  s0, s1, s2, s3, s4, s5, s6, s7; };
+   __CL_ANON_STRUCT__ struct{ cl_int4 lo, hi; };
+#endif
+#if defined( __CL_INT2__) 
+    __cl_int2     v2[4];
+#endif
+#if defined( __CL_INT4__) 
+    __cl_int4     v4[2];
+#endif
+#if defined( __CL_INT8__ )
+    __cl_int8     v8;
+#endif
+}cl_int8;
+
+typedef union
+{
+    cl_int  CL_ALIGNED(64) s[16];
+#if __CL_HAS_ANON_STRUCT__
+   __CL_ANON_STRUCT__ struct{ cl_int  x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; };
+   __CL_ANON_STRUCT__ struct{ cl_int  s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; };
+   __CL_ANON_STRUCT__ struct{ cl_int8 lo, hi; };
+#endif
+#if defined( __CL_INT2__) 
+    __cl_int2     v2[8];
+#endif
+#if defined( __CL_INT4__) 
+    __cl_int4     v4[4];
+#endif
+#if defined( __CL_INT8__ )
+    __cl_int8     v8[2];
+#endif
+#if defined( __CL_INT16__ )
+    __cl_int16    v16;
+#endif
+}cl_int16;
+
+
+/* ---- cl_uintn ---- */
+typedef union
+{
+    cl_uint  CL_ALIGNED(8) s[2];
+#if __CL_HAS_ANON_STRUCT__
+   __CL_ANON_STRUCT__ struct{ cl_uint  x, y; };
+   __CL_ANON_STRUCT__ struct{ cl_uint  s0, s1; };
+   __CL_ANON_STRUCT__ struct{ cl_uint  lo, hi; };
+#endif
+#if defined( __CL_UINT2__) 
+    __cl_uint2     v2;
+#endif
+}cl_uint2;
+
+typedef union
+{
+    cl_uint  CL_ALIGNED(16) s[4];
+#if __CL_HAS_ANON_STRUCT__
+   __CL_ANON_STRUCT__ struct{ cl_uint  x, y, z, w; };
+   __CL_ANON_STRUCT__ struct{ cl_uint  s0, s1, s2, s3; };
+   __CL_ANON_STRUCT__ struct{ cl_uint2 lo, hi; };
+#endif
+#if defined( __CL_UINT2__) 
+    __cl_uint2     v2[2];
+#endif
+#if defined( __CL_UINT4__) 
+    __cl_uint4     v4;
+#endif
+}cl_uint4;
+
+/* cl_uint3 is identical in size, alignment and behavior to cl_uint4. See section 6.1.5. */
+typedef  cl_uint4  cl_uint3;
+
+typedef union
+{
+    cl_uint   CL_ALIGNED(32) s[8];
+#if __CL_HAS_ANON_STRUCT__
+   __CL_ANON_STRUCT__ struct{ cl_uint  x, y, z, w; };
+   __CL_ANON_STRUCT__ struct{ cl_uint  s0, s1, s2, s3, s4, s5, s6, s7; };
+   __CL_ANON_STRUCT__ struct{ cl_uint4 lo, hi; };
+#endif
+#if defined( __CL_UINT2__) 
+    __cl_uint2     v2[4];
+#endif
+#if defined( __CL_UINT4__) 
+    __cl_uint4     v4[2];
+#endif
+#if defined( __CL_UINT8__ )
+    __cl_uint8     v8;
+#endif
+}cl_uint8;
+
+typedef union
+{
+    cl_uint  CL_ALIGNED(64) s[16];
+#if __CL_HAS_ANON_STRUCT__
+   __CL_ANON_STRUCT__ struct{ cl_uint  x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; };
+   __CL_ANON_STRUCT__ struct{ cl_uint  s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; };
+   __CL_ANON_STRUCT__ struct{ cl_uint8 lo, hi; };
+#endif
+#if defined( __CL_UINT2__) 
+    __cl_uint2     v2[8];
+#endif
+#if defined( __CL_UINT4__) 
+    __cl_uint4     v4[4];
+#endif
+#if defined( __CL_UINT8__ )
+    __cl_uint8     v8[2];
+#endif
+#if defined( __CL_UINT16__ )
+    __cl_uint16    v16;
+#endif
+}cl_uint16;
+
+/* ---- cl_longn ---- */
+typedef union
+{
+    cl_long  CL_ALIGNED(16) s[2];
+#if __CL_HAS_ANON_STRUCT__
+   __CL_ANON_STRUCT__ struct{ cl_long  x, y; };
+   __CL_ANON_STRUCT__ struct{ cl_long  s0, s1; };
+   __CL_ANON_STRUCT__ struct{ cl_long  lo, hi; };
+#endif
+#if defined( __CL_LONG2__) 
+    __cl_long2     v2;
+#endif
+}cl_long2;
+
+typedef union
+{
+    cl_long  CL_ALIGNED(32) s[4];
+#if __CL_HAS_ANON_STRUCT__
+   __CL_ANON_STRUCT__ struct{ cl_long  x, y, z, w; };
+   __CL_ANON_STRUCT__ struct{ cl_long  s0, s1, s2, s3; };
+   __CL_ANON_STRUCT__ struct{ cl_long2 lo, hi; };
+#endif
+#if defined( __CL_LONG2__) 
+    __cl_long2     v2[2];
+#endif
+#if defined( __CL_LONG4__) 
+    __cl_long4     v4;
+#endif
+}cl_long4;
+
+/* cl_long3 is identical in size, alignment and behavior to cl_long4. See section 6.1.5. */
+typedef  cl_long4  cl_long3;
+
+typedef union
+{
+    cl_long   CL_ALIGNED(64) s[8];
+#if __CL_HAS_ANON_STRUCT__
+   __CL_ANON_STRUCT__ struct{ cl_long  x, y, z, w; };
+   __CL_ANON_STRUCT__ struct{ cl_long  s0, s1, s2, s3, s4, s5, s6, s7; };
+   __CL_ANON_STRUCT__ struct{ cl_long4 lo, hi; };
+#endif
+#if defined( __CL_LONG2__) 
+    __cl_long2     v2[4];
+#endif
+#if defined( __CL_LONG4__) 
+    __cl_long4     v4[2];
+#endif
+#if defined( __CL_LONG8__ )
+    __cl_long8     v8;
+#endif
+}cl_long8;
+
+typedef union
+{
+    cl_long  CL_ALIGNED(128) s[16];
+#if __CL_HAS_ANON_STRUCT__
+   __CL_ANON_STRUCT__ struct{ cl_long  x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; };
+   __CL_ANON_STRUCT__ struct{ cl_long  s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; };
+   __CL_ANON_STRUCT__ struct{ cl_long8 lo, hi; };
+#endif
+#if defined( __CL_LONG2__) 
+    __cl_long2     v2[8];
+#endif
+#if defined( __CL_LONG4__) 
+    __cl_long4     v4[4];
+#endif
+#if defined( __CL_LONG8__ )
+    __cl_long8     v8[2];
+#endif
+#if defined( __CL_LONG16__ )
+    __cl_long16    v16;
+#endif
+}cl_long16;
+
+
+/* ---- cl_ulongn ---- */
+typedef union
+{
+    cl_ulong  CL_ALIGNED(16) s[2];
+#if __CL_HAS_ANON_STRUCT__
+   __CL_ANON_STRUCT__ struct{ cl_ulong  x, y; };
+   __CL_ANON_STRUCT__ struct{ cl_ulong  s0, s1; };
+   __CL_ANON_STRUCT__ struct{ cl_ulong  lo, hi; };
+#endif
+#if defined( __CL_ULONG2__) 
+    __cl_ulong2     v2;
+#endif
+}cl_ulong2;
+
+typedef union
+{
+    cl_ulong  CL_ALIGNED(32) s[4];
+#if __CL_HAS_ANON_STRUCT__
+   __CL_ANON_STRUCT__ struct{ cl_ulong  x, y, z, w; };
+   __CL_ANON_STRUCT__ struct{ cl_ulong  s0, s1, s2, s3; };
+   __CL_ANON_STRUCT__ struct{ cl_ulong2 lo, hi; };
+#endif
+#if defined( __CL_ULONG2__) 
+    __cl_ulong2     v2[2];
+#endif
+#if defined( __CL_ULONG4__) 
+    __cl_ulong4     v4;
+#endif
+}cl_ulong4;
+
+/* cl_ulong3 is identical in size, alignment and behavior to cl_ulong4. See section 6.1.5. */
+typedef  cl_ulong4  cl_ulong3;
+
+typedef union
+{
+    cl_ulong   CL_ALIGNED(64) s[8];
+#if __CL_HAS_ANON_STRUCT__
+   __CL_ANON_STRUCT__ struct{ cl_ulong  x, y, z, w; };
+   __CL_ANON_STRUCT__ struct{ cl_ulong  s0, s1, s2, s3, s4, s5, s6, s7; };
+   __CL_ANON_STRUCT__ struct{ cl_ulong4 lo, hi; };
+#endif
+#if defined( __CL_ULONG2__) 
+    __cl_ulong2     v2[4];
+#endif
+#if defined( __CL_ULONG4__) 
+    __cl_ulong4     v4[2];
+#endif
+#if defined( __CL_ULONG8__ )
+    __cl_ulong8     v8;
+#endif
+}cl_ulong8;
+
+typedef union
+{
+    cl_ulong  CL_ALIGNED(128) s[16];
+#if __CL_HAS_ANON_STRUCT__
+   __CL_ANON_STRUCT__ struct{ cl_ulong  x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; };
+   __CL_ANON_STRUCT__ struct{ cl_ulong  s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; };
+   __CL_ANON_STRUCT__ struct{ cl_ulong8 lo, hi; };
+#endif
+#if defined( __CL_ULONG2__) 
+    __cl_ulong2     v2[8];
+#endif
+#if defined( __CL_ULONG4__) 
+    __cl_ulong4     v4[4];
+#endif
+#if defined( __CL_ULONG8__ )
+    __cl_ulong8     v8[2];
+#endif
+#if defined( __CL_ULONG16__ )
+    __cl_ulong16    v16;
+#endif
+}cl_ulong16;
+
+
+/* --- cl_floatn ---- */
+
+typedef union
+{
+    cl_float  CL_ALIGNED(8) s[2];
+#if __CL_HAS_ANON_STRUCT__
+   __CL_ANON_STRUCT__ struct{ cl_float  x, y; };
+   __CL_ANON_STRUCT__ struct{ cl_float  s0, s1; };
+   __CL_ANON_STRUCT__ struct{ cl_float  lo, hi; };
+#endif
+#if defined( __CL_FLOAT2__) 
+    __cl_float2     v2;
+#endif
+}cl_float2;
+
+typedef union
+{
+    cl_float  CL_ALIGNED(16) s[4];
+#if __CL_HAS_ANON_STRUCT__
+   __CL_ANON_STRUCT__ struct{ cl_float   x, y, z, w; };
+   __CL_ANON_STRUCT__ struct{ cl_float   s0, s1, s2, s3; };
+   __CL_ANON_STRUCT__ struct{ cl_float2  lo, hi; };
+#endif
+#if defined( __CL_FLOAT2__) 
+    __cl_float2     v2[2];
+#endif
+#if defined( __CL_FLOAT4__) 
+    __cl_float4     v4;
+#endif
+}cl_float4;
+
+/* cl_float3 is identical in size, alignment and behavior to cl_float4. See section 6.1.5. */
+typedef  cl_float4  cl_float3;
+
+typedef union
+{
+    cl_float   CL_ALIGNED(32) s[8];
+#if __CL_HAS_ANON_STRUCT__
+   __CL_ANON_STRUCT__ struct{ cl_float   x, y, z, w; };
+   __CL_ANON_STRUCT__ struct{ cl_float   s0, s1, s2, s3, s4, s5, s6, s7; };
+   __CL_ANON_STRUCT__ struct{ cl_float4  lo, hi; };
+#endif
+#if defined( __CL_FLOAT2__) 
+    __cl_float2     v2[4];
+#endif
+#if defined( __CL_FLOAT4__) 
+    __cl_float4     v4[2];
+#endif
+#if defined( __CL_FLOAT8__ )
+    __cl_float8     v8;
+#endif
+}cl_float8;
+
+typedef union
+{
+    cl_float  CL_ALIGNED(64) s[16];
+#if __CL_HAS_ANON_STRUCT__
+   __CL_ANON_STRUCT__ struct{ cl_float  x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; };
+   __CL_ANON_STRUCT__ struct{ cl_float  s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; };
+   __CL_ANON_STRUCT__ struct{ cl_float8 lo, hi; };
+#endif
+#if defined( __CL_FLOAT2__) 
+    __cl_float2     v2[8];
+#endif
+#if defined( __CL_FLOAT4__) 
+    __cl_float4     v4[4];
+#endif
+#if defined( __CL_FLOAT8__ )
+    __cl_float8     v8[2];
+#endif
+#if defined( __CL_FLOAT16__ )
+    __cl_float16    v16;
+#endif
+}cl_float16;
+
+/* --- cl_doublen ---- */
+
+typedef union
+{
+    cl_double  CL_ALIGNED(16) s[2];
+#if __CL_HAS_ANON_STRUCT__
+   __CL_ANON_STRUCT__ struct{ cl_double  x, y; };
+   __CL_ANON_STRUCT__ struct{ cl_double s0, s1; };
+   __CL_ANON_STRUCT__ struct{ cl_double lo, hi; };
+#endif
+#if defined( __CL_DOUBLE2__) 
+    __cl_double2     v2;
+#endif
+}cl_double2;
+
+typedef union
+{
+    cl_double  CL_ALIGNED(32) s[4];
+#if __CL_HAS_ANON_STRUCT__
+   __CL_ANON_STRUCT__ struct{ cl_double  x, y, z, w; };
+   __CL_ANON_STRUCT__ struct{ cl_double  s0, s1, s2, s3; };
+   __CL_ANON_STRUCT__ struct{ cl_double2 lo, hi; };
+#endif
+#if defined( __CL_DOUBLE2__) 
+    __cl_double2     v2[2];
+#endif
+#if defined( __CL_DOUBLE4__) 
+    __cl_double4     v4;
+#endif
+}cl_double4;
+
+/* cl_double3 is identical in size, alignment and behavior to cl_double4. See section 6.1.5. */
+typedef  cl_double4  cl_double3;
+
+typedef union
+{
+    cl_double   CL_ALIGNED(64) s[8];
+#if __CL_HAS_ANON_STRUCT__
+   __CL_ANON_STRUCT__ struct{ cl_double  x, y, z, w; };
+   __CL_ANON_STRUCT__ struct{ cl_double  s0, s1, s2, s3, s4, s5, s6, s7; };
+   __CL_ANON_STRUCT__ struct{ cl_double4 lo, hi; };
+#endif
+#if defined( __CL_DOUBLE2__) 
+    __cl_double2     v2[4];
+#endif
+#if defined( __CL_DOUBLE4__) 
+    __cl_double4     v4[2];
+#endif
+#if defined( __CL_DOUBLE8__ )
+    __cl_double8     v8;
+#endif
+}cl_double8;
+
+typedef union
+{
+    cl_double  CL_ALIGNED(128) s[16];
+#if __CL_HAS_ANON_STRUCT__
+   __CL_ANON_STRUCT__ struct{ cl_double  x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; };
+   __CL_ANON_STRUCT__ struct{ cl_double  s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; };
+   __CL_ANON_STRUCT__ struct{ cl_double8 lo, hi; };
+#endif
+#if defined( __CL_DOUBLE2__) 
+    __cl_double2     v2[8];
+#endif
+#if defined( __CL_DOUBLE4__) 
+    __cl_double4     v4[4];
+#endif
+#if defined( __CL_DOUBLE8__ )
+    __cl_double8     v8[2];
+#endif
+#if defined( __CL_DOUBLE16__ )
+    __cl_double16    v16;
+#endif
+}cl_double16;
+
+/* Macro to facilitate debugging 
+ * Usage:
+ *   Place CL_PROGRAM_STRING_DEBUG_INFO on the line before the first line of your source. 
+ *   The first line ends with:   CL_PROGRAM_STRING_DEBUG_INFO \"
+ *   Each line thereafter of OpenCL C source must end with: \n\
+ *   The last line ends in ";
+ *
+ *   Example:
+ *
+ *   const char *my_program = CL_PROGRAM_STRING_DEBUG_INFO "\
+ *   kernel void foo( int a, float * b )             \n\
+ *   {                                               \n\
+ *      // my comment                                \n\
+ *      *b[ get_global_id(0)] = a;                   \n\
+ *   }                                               \n\
+ *   ";
+ *
+ * This should correctly set up the line, (column) and file information for your source 
+ * string so you can do source level debugging.
+ */
+#define  __CL_STRINGIFY( _x )               # _x
+#define  _CL_STRINGIFY( _x )                __CL_STRINGIFY( _x )
+#define  CL_PROGRAM_STRING_DEBUG_INFO       "#line "  _CL_STRINGIFY(__LINE__) " \"" __FILE__ "\" \n\n" 
+  
+#ifdef __cplusplus
+}
+#endif
+
+#undef __CL_HAS_ANON_STRUCT__
+#undef __CL_ANON_STRUCT__
+#if defined( _WIN32) && (_MSC_VER >= 1500)
+#pragma warning( pop )
+#endif
+
+#endif  /* __CL_PLATFORM_H  */
diff --git a/third_party/opencl/include/CL/opencl.h b/third_party/opencl/include/CL/opencl.h
new file mode 100644
index 0000000000..9855cd75e7
--- /dev/null
+++ b/third_party/opencl/include/CL/opencl.h
@@ -0,0 +1,59 @@
+/*******************************************************************************
+ * Copyright (c) 2008-2015 The Khronos Group Inc.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and/or associated documentation files (the
+ * "Materials"), to deal in the Materials without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Materials, and to
+ * permit persons to whom the Materials are furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Materials.
+ *
+ * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS
+ * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS
+ * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT
+ *    https://www.khronos.org/registry/
+ *
+ * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+ * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+ * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
+ * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+ * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
+ ******************************************************************************/
+
+/* $Revision: 11708 $ on $Date: 2010-06-13 23:36:24 -0700 (Sun, 13 Jun 2010) $ */
+
+#ifndef __OPENCL_H
+#define __OPENCL_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifdef __APPLE__
+
+#include <OpenCL/cl.h>
+#include <OpenCL/cl_gl.h>
+#include <OpenCL/cl_gl_ext.h>
+#include <OpenCL/cl_ext.h>
+
+#else
+
+#include <CL/cl.h>
+#include <CL/cl_gl.h>
+#include <CL/cl_gl_ext.h>
+#include <CL/cl_ext.h>
+
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  /* __OPENCL_H   */
+
diff --git a/phonelibs/openmax/include/OMX_Audio.h b/third_party/openmax/include/OMX_Audio.h
similarity index 100%
rename from phonelibs/openmax/include/OMX_Audio.h
rename to third_party/openmax/include/OMX_Audio.h
diff --git a/phonelibs/openmax/include/OMX_Component.h b/third_party/openmax/include/OMX_Component.h
similarity index 100%
rename from phonelibs/openmax/include/OMX_Component.h
rename to third_party/openmax/include/OMX_Component.h
diff --git a/phonelibs/openmax/include/OMX_ContentPipe.h b/third_party/openmax/include/OMX_ContentPipe.h
similarity index 100%
rename from phonelibs/openmax/include/OMX_ContentPipe.h
rename to third_party/openmax/include/OMX_ContentPipe.h
diff --git a/phonelibs/openmax/include/OMX_Core.h b/third_party/openmax/include/OMX_Core.h
similarity index 100%
rename from phonelibs/openmax/include/OMX_Core.h
rename to third_party/openmax/include/OMX_Core.h
diff --git a/phonelibs/openmax/include/OMX_CoreExt.h b/third_party/openmax/include/OMX_CoreExt.h
similarity index 100%
rename from phonelibs/openmax/include/OMX_CoreExt.h
rename to third_party/openmax/include/OMX_CoreExt.h
diff --git a/phonelibs/openmax/include/OMX_IVCommon.h b/third_party/openmax/include/OMX_IVCommon.h
similarity index 100%
rename from phonelibs/openmax/include/OMX_IVCommon.h
rename to third_party/openmax/include/OMX_IVCommon.h
diff --git a/phonelibs/openmax/include/OMX_Image.h b/third_party/openmax/include/OMX_Image.h
similarity index 100%
rename from phonelibs/openmax/include/OMX_Image.h
rename to third_party/openmax/include/OMX_Image.h
diff --git a/phonelibs/openmax/include/OMX_Index.h b/third_party/openmax/include/OMX_Index.h
similarity index 100%
rename from phonelibs/openmax/include/OMX_Index.h
rename to third_party/openmax/include/OMX_Index.h
diff --git a/phonelibs/openmax/include/OMX_IndexExt.h b/third_party/openmax/include/OMX_IndexExt.h
similarity index 100%
rename from phonelibs/openmax/include/OMX_IndexExt.h
rename to third_party/openmax/include/OMX_IndexExt.h
diff --git a/phonelibs/openmax/include/OMX_Other.h b/third_party/openmax/include/OMX_Other.h
similarity index 100%
rename from phonelibs/openmax/include/OMX_Other.h
rename to third_party/openmax/include/OMX_Other.h
diff --git a/phonelibs/openmax/include/OMX_QCOMExtns.h b/third_party/openmax/include/OMX_QCOMExtns.h
similarity index 100%
rename from phonelibs/openmax/include/OMX_QCOMExtns.h
rename to third_party/openmax/include/OMX_QCOMExtns.h
diff --git a/phonelibs/openmax/include/OMX_Skype_VideoExtensions.h b/third_party/openmax/include/OMX_Skype_VideoExtensions.h
similarity index 100%
rename from phonelibs/openmax/include/OMX_Skype_VideoExtensions.h
rename to third_party/openmax/include/OMX_Skype_VideoExtensions.h
diff --git a/phonelibs/openmax/include/OMX_Types.h b/third_party/openmax/include/OMX_Types.h
similarity index 100%
rename from phonelibs/openmax/include/OMX_Types.h
rename to third_party/openmax/include/OMX_Types.h
diff --git a/phonelibs/openmax/include/OMX_Video.h b/third_party/openmax/include/OMX_Video.h
similarity index 100%
rename from phonelibs/openmax/include/OMX_Video.h
rename to third_party/openmax/include/OMX_Video.h
diff --git a/phonelibs/openmax/include/OMX_VideoExt.h b/third_party/openmax/include/OMX_VideoExt.h
similarity index 100%
rename from phonelibs/openmax/include/OMX_VideoExt.h
rename to third_party/openmax/include/OMX_VideoExt.h
diff --git a/third_party/qrcode/QrCode.cc b/third_party/qrcode/QrCode.cc
new file mode 100644
index 0000000000..b9de86215e
--- /dev/null
+++ b/third_party/qrcode/QrCode.cc
@@ -0,0 +1,862 @@
+/* 
+ * QR Code generator library (C++)
+ * 
+ * Copyright (c) Project Nayuki. (MIT License)
+ * https://www.nayuki.io/page/qr-code-generator-library
+ * 
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ * - The above copyright notice and this permission notice shall be included in
+ *   all copies or substantial portions of the Software.
+ * - The Software is provided "as is", without warranty of any kind, express or
+ *   implied, including but not limited to the warranties of merchantability,
+ *   fitness for a particular purpose and noninfringement. In no event shall the
+ *   authors or copyright holders be liable for any claim, damages or other
+ *   liability, whether in an action of contract, tort or otherwise, arising from,
+ *   out of or in connection with the Software or the use or other dealings in the
+ *   Software.
+ */
+
+#include <algorithm>
+#include <climits>
+#include <cstddef>
+#include <cstdlib>
+#include <cstring>
+#include <sstream>
+#include <stdexcept>
+#include <utility>
+#include "QrCode.hpp"
+
+using std::int8_t;
+using std::uint8_t;
+using std::size_t;
+using std::vector;
+
+
+namespace qrcodegen {
+
+QrSegment::Mode::Mode(int mode, int cc0, int cc1, int cc2) :
+		modeBits(mode) {
+	numBitsCharCount[0] = cc0;
+	numBitsCharCount[1] = cc1;
+	numBitsCharCount[2] = cc2;
+}
+
+
+int QrSegment::Mode::getModeBits() const {
+	return modeBits;
+}
+
+
+int QrSegment::Mode::numCharCountBits(int ver) const {
+	return numBitsCharCount[(ver + 7) / 17];
+}
+
+
+const QrSegment::Mode QrSegment::Mode::NUMERIC     (0x1, 10, 12, 14);
+const QrSegment::Mode QrSegment::Mode::ALPHANUMERIC(0x2,  9, 11, 13);
+const QrSegment::Mode QrSegment::Mode::BYTE        (0x4,  8, 16, 16);
+const QrSegment::Mode QrSegment::Mode::KANJI       (0x8,  8, 10, 12);
+const QrSegment::Mode QrSegment::Mode::ECI         (0x7,  0,  0,  0);
+
+
+QrSegment QrSegment::makeBytes(const vector<uint8_t> &data) {
+	if (data.size() > static_cast<unsigned int>(INT_MAX))
+		throw std::length_error("Data too long");
+	BitBuffer bb;
+	for (uint8_t b : data)
+		bb.appendBits(b, 8);
+	return QrSegment(Mode::BYTE, static_cast<int>(data.size()), std::move(bb));
+}
+
+
+QrSegment QrSegment::makeNumeric(const char *digits) {
+	BitBuffer bb;
+	int accumData = 0;
+	int accumCount = 0;
+	int charCount = 0;
+	for (; *digits != '\0'; digits++, charCount++) {
+		char c = *digits;
+		if (c < '0' || c > '9')
+			throw std::domain_error("String contains non-numeric characters");
+		accumData = accumData * 10 + (c - '0');
+		accumCount++;
+		if (accumCount == 3) {
+			bb.appendBits(static_cast<uint32_t>(accumData), 10);
+			accumData = 0;
+			accumCount = 0;
+		}
+	}
+	if (accumCount > 0)  // 1 or 2 digits remaining
+		bb.appendBits(static_cast<uint32_t>(accumData), accumCount * 3 + 1);
+	return QrSegment(Mode::NUMERIC, charCount, std::move(bb));
+}
+
+
+QrSegment QrSegment::makeAlphanumeric(const char *text) {
+	BitBuffer bb;
+	int accumData = 0;
+	int accumCount = 0;
+	int charCount = 0;
+	for (; *text != '\0'; text++, charCount++) {
+		const char *temp = std::strchr(ALPHANUMERIC_CHARSET, *text);
+		if (temp == nullptr)
+			throw std::domain_error("String contains unencodable characters in alphanumeric mode");
+		accumData = accumData * 45 + static_cast<int>(temp - ALPHANUMERIC_CHARSET);
+		accumCount++;
+		if (accumCount == 2) {
+			bb.appendBits(static_cast<uint32_t>(accumData), 11);
+			accumData = 0;
+			accumCount = 0;
+		}
+	}
+	if (accumCount > 0)  // 1 character remaining
+		bb.appendBits(static_cast<uint32_t>(accumData), 6);
+	return QrSegment(Mode::ALPHANUMERIC, charCount, std::move(bb));
+}
+
+
+vector<QrSegment> QrSegment::makeSegments(const char *text) {
+	// Select the most efficient segment encoding automatically
+	vector<QrSegment> result;
+	if (*text == '\0');  // Leave result empty
+	else if (isNumeric(text))
+		result.push_back(makeNumeric(text));
+	else if (isAlphanumeric(text))
+		result.push_back(makeAlphanumeric(text));
+	else {
+		vector<uint8_t> bytes;
+		for (; *text != '\0'; text++)
+			bytes.push_back(static_cast<uint8_t>(*text));
+		result.push_back(makeBytes(bytes));
+	}
+	return result;
+}
+
+
+QrSegment QrSegment::makeEci(long assignVal) {
+	BitBuffer bb;
+	if (assignVal < 0)
+		throw std::domain_error("ECI assignment value out of range");
+	else if (assignVal < (1 << 7))
+		bb.appendBits(static_cast<uint32_t>(assignVal), 8);
+	else if (assignVal < (1 << 14)) {
+		bb.appendBits(2, 2);
+		bb.appendBits(static_cast<uint32_t>(assignVal), 14);
+	} else if (assignVal < 1000000L) {
+		bb.appendBits(6, 3);
+		bb.appendBits(static_cast<uint32_t>(assignVal), 21);
+	} else
+		throw std::domain_error("ECI assignment value out of range");
+	return QrSegment(Mode::ECI, 0, std::move(bb));
+}
+
+
+QrSegment::QrSegment(Mode md, int numCh, const std::vector<bool> &dt) :
+		mode(md),
+		numChars(numCh),
+		data(dt) {
+	if (numCh < 0)
+		throw std::domain_error("Invalid value");
+}
+
+
+QrSegment::QrSegment(Mode md, int numCh, std::vector<bool> &&dt) :
+		mode(md),
+		numChars(numCh),
+		data(std::move(dt)) {
+	if (numCh < 0)
+		throw std::domain_error("Invalid value");
+}
+
+
+int QrSegment::getTotalBits(const vector<QrSegment> &segs, int version) {
+	int result = 0;
+	for (const QrSegment &seg : segs) {
+		int ccbits = seg.mode.numCharCountBits(version);
+		if (seg.numChars >= (1L << ccbits))
+			return -1;  // The segment's length doesn't fit the field's bit width
+		if (4 + ccbits > INT_MAX - result)
+			return -1;  // The sum will overflow an int type
+		result += 4 + ccbits;
+		if (seg.data.size() > static_cast<unsigned int>(INT_MAX - result))
+			return -1;  // The sum will overflow an int type
+		result += static_cast<int>(seg.data.size());
+	}
+	return result;
+}
+
+
+bool QrSegment::isAlphanumeric(const char *text) {
+	for (; *text != '\0'; text++) {
+		if (std::strchr(ALPHANUMERIC_CHARSET, *text) == nullptr)
+			return false;
+	}
+	return true;
+}
+
+
+bool QrSegment::isNumeric(const char *text) {
+	for (; *text != '\0'; text++) {
+		char c = *text;
+		if (c < '0' || c > '9')
+			return false;
+	}
+	return true;
+}
+
+
+QrSegment::Mode QrSegment::getMode() const {
+	return mode;
+}
+
+
+int QrSegment::getNumChars() const {
+	return numChars;
+}
+
+
+const std::vector<bool> &QrSegment::getData() const {
+	return data;
+}
+
+
+const char *QrSegment::ALPHANUMERIC_CHARSET = "0123456789ABCDEFGHIJKLMNOPQRSTUVWXYZ $%*+-./:";
+
+
+
+int QrCode::getFormatBits(Ecc ecl) {
+	switch (ecl) {
+		case Ecc::LOW     :  return 1;
+		case Ecc::MEDIUM  :  return 0;
+		case Ecc::QUARTILE:  return 3;
+		case Ecc::HIGH    :  return 2;
+		default:  throw std::logic_error("Assertion error");
+	}
+}
+
+
+QrCode QrCode::encodeText(const char *text, Ecc ecl) {
+	vector<QrSegment> segs = QrSegment::makeSegments(text);
+	return encodeSegments(segs, ecl);
+}
+
+
+QrCode QrCode::encodeBinary(const vector<uint8_t> &data, Ecc ecl) {
+	vector<QrSegment> segs{QrSegment::makeBytes(data)};
+	return encodeSegments(segs, ecl);
+}
+
+
+QrCode QrCode::encodeSegments(const vector<QrSegment> &segs, Ecc ecl,
+		int minVersion, int maxVersion, int mask, bool boostEcl) {
+	if (!(MIN_VERSION <= minVersion && minVersion <= maxVersion && maxVersion <= MAX_VERSION) || mask < -1 || mask > 7)
+		throw std::invalid_argument("Invalid value");
+	
+	// Find the minimal version number to use
+	int version, dataUsedBits;
+	for (version = minVersion; ; version++) {
+		int dataCapacityBits = getNumDataCodewords(version, ecl) * 8;  // Number of data bits available
+		dataUsedBits = QrSegment::getTotalBits(segs, version);
+		if (dataUsedBits != -1 && dataUsedBits <= dataCapacityBits)
+			break;  // This version number is found to be suitable
+		if (version >= maxVersion) {  // All versions in the range could not fit the given data
+			std::ostringstream sb;
+			if (dataUsedBits == -1)
+				sb << "Segment too long";
+			else {
+				sb << "Data length = " << dataUsedBits << " bits, ";
+				sb << "Max capacity = " << dataCapacityBits << " bits";
+			}
+			throw data_too_long(sb.str());
+		}
+	}
+	if (dataUsedBits == -1)
+		throw std::logic_error("Assertion error");
+	
+	// Increase the error correction level while the data still fits in the current version number
+	for (Ecc newEcl : vector<Ecc>{Ecc::MEDIUM, Ecc::QUARTILE, Ecc::HIGH}) {  // From low to high
+		if (boostEcl && dataUsedBits <= getNumDataCodewords(version, newEcl) * 8)
+			ecl = newEcl;
+	}
+	
+	// Concatenate all segments to create the data bit string
+	BitBuffer bb;
+	for (const QrSegment &seg : segs) {
+		bb.appendBits(static_cast<uint32_t>(seg.getMode().getModeBits()), 4);
+		bb.appendBits(static_cast<uint32_t>(seg.getNumChars()), seg.getMode().numCharCountBits(version));
+		bb.insert(bb.end(), seg.getData().begin(), seg.getData().end());
+	}
+	if (bb.size() != static_cast<unsigned int>(dataUsedBits))
+		throw std::logic_error("Assertion error");
+	
+	// Add terminator and pad up to a byte if applicable
+	size_t dataCapacityBits = static_cast<size_t>(getNumDataCodewords(version, ecl)) * 8;
+	if (bb.size() > dataCapacityBits)
+		throw std::logic_error("Assertion error");
+	bb.appendBits(0, std::min(4, static_cast<int>(dataCapacityBits - bb.size())));
+	bb.appendBits(0, (8 - static_cast<int>(bb.size() % 8)) % 8);
+	if (bb.size() % 8 != 0)
+		throw std::logic_error("Assertion error");
+	
+	// Pad with alternating bytes until data capacity is reached
+	for (uint8_t padByte = 0xEC; bb.size() < dataCapacityBits; padByte ^= 0xEC ^ 0x11)
+		bb.appendBits(padByte, 8);
+	
+	// Pack bits into bytes in big endian
+	vector<uint8_t> dataCodewords(bb.size() / 8);
+	for (size_t i = 0; i < bb.size(); i++)
+		dataCodewords[i >> 3] |= (bb.at(i) ? 1 : 0) << (7 - (i & 7));
+	
+	// Create the QR Code object
+	return QrCode(version, ecl, dataCodewords, mask);
+}
+
+
+QrCode::QrCode(int ver, Ecc ecl, const vector<uint8_t> &dataCodewords, int msk) :
+		// Initialize fields and check arguments
+		version(ver),
+		errorCorrectionLevel(ecl) {
+	if (ver < MIN_VERSION || ver > MAX_VERSION)
+		throw std::domain_error("Version value out of range");
+	if (msk < -1 || msk > 7)
+		throw std::domain_error("Mask value out of range");
+	size = ver * 4 + 17;
+	size_t sz = static_cast<size_t>(size);
+	modules    = vector<vector<bool> >(sz, vector<bool>(sz));  // Initially all white
+	isFunction = vector<vector<bool> >(sz, vector<bool>(sz));
+	
+	// Compute ECC, draw modules
+	drawFunctionPatterns();
+	const vector<uint8_t> allCodewords = addEccAndInterleave(dataCodewords);
+	drawCodewords(allCodewords);
+	
+	// Do masking
+	if (msk == -1) {  // Automatically choose best mask
+		long minPenalty = LONG_MAX;
+		for (int i = 0; i < 8; i++) {
+			applyMask(i);
+			drawFormatBits(i);
+			long penalty = getPenaltyScore();
+			if (penalty < minPenalty) {
+				msk = i;
+				minPenalty = penalty;
+			}
+			applyMask(i);  // Undoes the mask due to XOR
+		}
+	}
+	if (msk < 0 || msk > 7)
+		throw std::logic_error("Assertion error");
+	this->mask = msk;
+	applyMask(msk);  // Apply the final choice of mask
+	drawFormatBits(msk);  // Overwrite old format bits
+	
+	isFunction.clear();
+	isFunction.shrink_to_fit();
+}
+
+
+int QrCode::getVersion() const {
+	return version;
+}
+
+
+int QrCode::getSize() const {
+	return size;
+}
+
+
+QrCode::Ecc QrCode::getErrorCorrectionLevel() const {
+	return errorCorrectionLevel;
+}
+
+
+int QrCode::getMask() const {
+	return mask;
+}
+
+
+bool QrCode::getModule(int x, int y) const {
+	return 0 <= x && x < size && 0 <= y && y < size && module(x, y);
+}
+
+
+std::string QrCode::toSvgString(int border) const {
+	if (border < 0)
+		throw std::domain_error("Border must be non-negative");
+	if (border > INT_MAX / 2 || border * 2 > INT_MAX - size)
+		throw std::overflow_error("Border too large");
+	
+	std::ostringstream sb;
+	sb << "<?xml version=\"1.0\" encoding=\"UTF-8\"?>\n";
+	sb << "<!DOCTYPE svg PUBLIC \"-//W3C//DTD SVG 1.1//EN\" \"http://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd\">\n";
+	sb << "<svg xmlns=\"http://www.w3.org/2000/svg\" version=\"1.1\" viewBox=\"0 0 ";
+	sb << (size + border * 2) << " " << (size + border * 2) << "\" stroke=\"none\">\n";
+	sb << "\t<rect width=\"100%\" height=\"100%\" fill=\"#FFFFFF\"/>\n";
+	sb << "\t<path d=\"";
+	for (int y = 0; y < size; y++) {
+		for (int x = 0; x < size; x++) {
+			if (getModule(x, y)) {
+				if (x != 0 || y != 0)
+					sb << " ";
+				sb << "M" << (x + border) << "," << (y + border) << "h1v1h-1z";
+			}
+		}
+	}
+	sb << "\" fill=\"#000000\"/>\n";
+	sb << "</svg>\n";
+	return sb.str();
+}
+
+
+void QrCode::drawFunctionPatterns() {
+	// Draw horizontal and vertical timing patterns
+	for (int i = 0; i < size; i++) {
+		setFunctionModule(6, i, i % 2 == 0);
+		setFunctionModule(i, 6, i % 2 == 0);
+	}
+	
+	// Draw 3 finder patterns (all corners except bottom right; overwrites some timing modules)
+	drawFinderPattern(3, 3);
+	drawFinderPattern(size - 4, 3);
+	drawFinderPattern(3, size - 4);
+	
+	// Draw numerous alignment patterns
+	const vector<int> alignPatPos = getAlignmentPatternPositions();
+	size_t numAlign = alignPatPos.size();
+	for (size_t i = 0; i < numAlign; i++) {
+		for (size_t j = 0; j < numAlign; j++) {
+			// Don't draw on the three finder corners
+			if (!((i == 0 && j == 0) || (i == 0 && j == numAlign - 1) || (i == numAlign - 1 && j == 0)))
+				drawAlignmentPattern(alignPatPos.at(i), alignPatPos.at(j));
+		}
+	}
+	
+	// Draw configuration data
+	drawFormatBits(0);  // Dummy mask value; overwritten later in the constructor
+	drawVersion();
+}
+
+
+void QrCode::drawFormatBits(int msk) {
+	// Calculate error correction code and pack bits
+	int data = getFormatBits(errorCorrectionLevel) << 3 | msk;  // errCorrLvl is uint2, msk is uint3
+	int rem = data;
+	for (int i = 0; i < 10; i++)
+		rem = (rem << 1) ^ ((rem >> 9) * 0x537);
+	int bits = (data << 10 | rem) ^ 0x5412;  // uint15
+	if (bits >> 15 != 0)
+		throw std::logic_error("Assertion error");
+	
+	// Draw first copy
+	for (int i = 0; i <= 5; i++)
+		setFunctionModule(8, i, getBit(bits, i));
+	setFunctionModule(8, 7, getBit(bits, 6));
+	setFunctionModule(8, 8, getBit(bits, 7));
+	setFunctionModule(7, 8, getBit(bits, 8));
+	for (int i = 9; i < 15; i++)
+		setFunctionModule(14 - i, 8, getBit(bits, i));
+	
+	// Draw second copy
+	for (int i = 0; i < 8; i++)
+		setFunctionModule(size - 1 - i, 8, getBit(bits, i));
+	for (int i = 8; i < 15; i++)
+		setFunctionModule(8, size - 15 + i, getBit(bits, i));
+	setFunctionModule(8, size - 8, true);  // Always black
+}
+
+
+void QrCode::drawVersion() {
+	if (version < 7)
+		return;
+	
+	// Calculate error correction code and pack bits
+	int rem = version;  // version is uint6, in the range [7, 40]
+	for (int i = 0; i < 12; i++)
+		rem = (rem << 1) ^ ((rem >> 11) * 0x1F25);
+	long bits = static_cast<long>(version) << 12 | rem;  // uint18
+	if (bits >> 18 != 0)
+		throw std::logic_error("Assertion error");
+	
+	// Draw two copies
+	for (int i = 0; i < 18; i++) {
+		bool bit = getBit(bits, i);
+		int a = size - 11 + i % 3;
+		int b = i / 3;
+		setFunctionModule(a, b, bit);
+		setFunctionModule(b, a, bit);
+	}
+}
+
+
+void QrCode::drawFinderPattern(int x, int y) {
+	for (int dy = -4; dy <= 4; dy++) {
+		for (int dx = -4; dx <= 4; dx++) {
+			int dist = std::max(std::abs(dx), std::abs(dy));  // Chebyshev/infinity norm
+			int xx = x + dx, yy = y + dy;
+			if (0 <= xx && xx < size && 0 <= yy && yy < size)
+				setFunctionModule(xx, yy, dist != 2 && dist != 4);
+		}
+	}
+}
+
+
+void QrCode::drawAlignmentPattern(int x, int y) {
+	for (int dy = -2; dy <= 2; dy++) {
+		for (int dx = -2; dx <= 2; dx++)
+			setFunctionModule(x + dx, y + dy, std::max(std::abs(dx), std::abs(dy)) != 1);
+	}
+}
+
+
+void QrCode::setFunctionModule(int x, int y, bool isBlack) {
+	size_t ux = static_cast<size_t>(x);
+	size_t uy = static_cast<size_t>(y);
+	modules   .at(uy).at(ux) = isBlack;
+	isFunction.at(uy).at(ux) = true;
+}
+
+
+bool QrCode::module(int x, int y) const {
+	return modules.at(static_cast<size_t>(y)).at(static_cast<size_t>(x));
+}
+
+
+vector<uint8_t> QrCode::addEccAndInterleave(const vector<uint8_t> &data) const {
+	if (data.size() != static_cast<unsigned int>(getNumDataCodewords(version, errorCorrectionLevel)))
+		throw std::invalid_argument("Invalid argument");
+	
+	// Calculate parameter numbers
+	int numBlocks = NUM_ERROR_CORRECTION_BLOCKS[static_cast<int>(errorCorrectionLevel)][version];
+	int blockEccLen = ECC_CODEWORDS_PER_BLOCK  [static_cast<int>(errorCorrectionLevel)][version];
+	int rawCodewords = getNumRawDataModules(version) / 8;
+	int numShortBlocks = numBlocks - rawCodewords % numBlocks;
+	int shortBlockLen = rawCodewords / numBlocks;
+	
+	// Split data into blocks and append ECC to each block
+	vector<vector<uint8_t> > blocks;
+	const vector<uint8_t> rsDiv = reedSolomonComputeDivisor(blockEccLen);
+	for (int i = 0, k = 0; i < numBlocks; i++) {
+		vector<uint8_t> dat(data.cbegin() + k, data.cbegin() + (k + shortBlockLen - blockEccLen + (i < numShortBlocks ? 0 : 1)));
+		k += static_cast<int>(dat.size());
+		const vector<uint8_t> ecc = reedSolomonComputeRemainder(dat, rsDiv);
+		if (i < numShortBlocks)
+			dat.push_back(0);
+		dat.insert(dat.end(), ecc.cbegin(), ecc.cend());
+		blocks.push_back(std::move(dat));
+	}
+	
+	// Interleave (not concatenate) the bytes from every block into a single sequence
+	vector<uint8_t> result;
+	for (size_t i = 0; i < blocks.at(0).size(); i++) {
+		for (size_t j = 0; j < blocks.size(); j++) {
+			// Skip the padding byte in short blocks
+			if (i != static_cast<unsigned int>(shortBlockLen - blockEccLen) || j >= static_cast<unsigned int>(numShortBlocks))
+				result.push_back(blocks.at(j).at(i));
+		}
+	}
+	if (result.size() != static_cast<unsigned int>(rawCodewords))
+		throw std::logic_error("Assertion error");
+	return result;
+}
+
+
+void QrCode::drawCodewords(const vector<uint8_t> &data) {
+	if (data.size() != static_cast<unsigned int>(getNumRawDataModules(version) / 8))
+		throw std::invalid_argument("Invalid argument");
+	
+	size_t i = 0;  // Bit index into the data
+	// Do the funny zigzag scan
+	for (int right = size - 1; right >= 1; right -= 2) {  // Index of right column in each column pair
+		if (right == 6)
+			right = 5;
+		for (int vert = 0; vert < size; vert++) {  // Vertical counter
+			for (int j = 0; j < 2; j++) {
+				size_t x = static_cast<size_t>(right - j);  // Actual x coordinate
+				bool upward = ((right + 1) & 2) == 0;
+				size_t y = static_cast<size_t>(upward ? size - 1 - vert : vert);  // Actual y coordinate
+				if (!isFunction.at(y).at(x) && i < data.size() * 8) {
+					modules.at(y).at(x) = getBit(data.at(i >> 3), 7 - static_cast<int>(i & 7));
+					i++;
+				}
+				// If this QR Code has any remainder bits (0 to 7), they were assigned as
+				// 0/false/white by the constructor and are left unchanged by this method
+			}
+		}
+	}
+	if (i != data.size() * 8)
+		throw std::logic_error("Assertion error");
+}
+
+
+void QrCode::applyMask(int msk) {
+	if (msk < 0 || msk > 7)
+		throw std::domain_error("Mask value out of range");
+	size_t sz = static_cast<size_t>(size);
+	for (size_t y = 0; y < sz; y++) {
+		for (size_t x = 0; x < sz; x++) {
+			bool invert;
+			switch (msk) {
+				case 0:  invert = (x + y) % 2 == 0;                    break;
+				case 1:  invert = y % 2 == 0;                          break;
+				case 2:  invert = x % 3 == 0;                          break;
+				case 3:  invert = (x + y) % 3 == 0;                    break;
+				case 4:  invert = (x / 3 + y / 2) % 2 == 0;            break;
+				case 5:  invert = x * y % 2 + x * y % 3 == 0;          break;
+				case 6:  invert = (x * y % 2 + x * y % 3) % 2 == 0;    break;
+				case 7:  invert = ((x + y) % 2 + x * y % 3) % 2 == 0;  break;
+				default:  throw std::logic_error("Assertion error");
+			}
+			modules.at(y).at(x) = modules.at(y).at(x) ^ (invert & !isFunction.at(y).at(x));
+		}
+	}
+}
+
+
+long QrCode::getPenaltyScore() const {
+	long result = 0;
+	
+	// Adjacent modules in row having same color, and finder-like patterns
+	for (int y = 0; y < size; y++) {
+		bool runColor = false;
+		int runX = 0;
+		std::array<int,7> runHistory = {};
+		for (int x = 0; x < size; x++) {
+			if (module(x, y) == runColor) {
+				runX++;
+				if (runX == 5)
+					result += PENALTY_N1;
+				else if (runX > 5)
+					result++;
+			} else {
+				finderPenaltyAddHistory(runX, runHistory);
+				if (!runColor)
+					result += finderPenaltyCountPatterns(runHistory) * PENALTY_N3;
+				runColor = module(x, y);
+				runX = 1;
+			}
+		}
+		result += finderPenaltyTerminateAndCount(runColor, runX, runHistory) * PENALTY_N3;
+	}
+	// Adjacent modules in column having same color, and finder-like patterns
+	for (int x = 0; x < size; x++) {
+		bool runColor = false;
+		int runY = 0;
+		std::array<int,7> runHistory = {};
+		for (int y = 0; y < size; y++) {
+			if (module(x, y) == runColor) {
+				runY++;
+				if (runY == 5)
+					result += PENALTY_N1;
+				else if (runY > 5)
+					result++;
+			} else {
+				finderPenaltyAddHistory(runY, runHistory);
+				if (!runColor)
+					result += finderPenaltyCountPatterns(runHistory) * PENALTY_N3;
+				runColor = module(x, y);
+				runY = 1;
+			}
+		}
+		result += finderPenaltyTerminateAndCount(runColor, runY, runHistory) * PENALTY_N3;
+	}
+	
+	// 2*2 blocks of modules having same color
+	for (int y = 0; y < size - 1; y++) {
+		for (int x = 0; x < size - 1; x++) {
+			bool  color = module(x, y);
+			if (  color == module(x + 1, y) &&
+			      color == module(x, y + 1) &&
+			      color == module(x + 1, y + 1))
+				result += PENALTY_N2;
+		}
+	}
+	
+	// Balance of black and white modules
+	int black = 0;
+	for (const vector<bool> &row : modules) {
+		for (bool color : row) {
+			if (color)
+				black++;
+		}
+	}
+	int total = size * size;  // Note that size is odd, so black/total != 1/2
+	// Compute the smallest integer k >= 0 such that (45-5k)% <= black/total <= (55+5k)%
+	int k = static_cast<int>((std::abs(black * 20L - total * 10L) + total - 1) / total) - 1;
+	result += k * PENALTY_N4;
+	return result;
+}
+
+
+vector<int> QrCode::getAlignmentPatternPositions() const {
+	if (version == 1)
+		return vector<int>();
+	else {
+		int numAlign = version / 7 + 2;
+		int step = (version == 32) ? 26 :
+			(version*4 + numAlign*2 + 1) / (numAlign*2 - 2) * 2;
+		vector<int> result;
+		for (int i = 0, pos = size - 7; i < numAlign - 1; i++, pos -= step)
+			result.insert(result.begin(), pos);
+		result.insert(result.begin(), 6);
+		return result;
+	}
+}
+
+
+int QrCode::getNumRawDataModules(int ver) {
+	if (ver < MIN_VERSION || ver > MAX_VERSION)
+		throw std::domain_error("Version number out of range");
+	int result = (16 * ver + 128) * ver + 64;
+	if (ver >= 2) {
+		int numAlign = ver / 7 + 2;
+		result -= (25 * numAlign - 10) * numAlign - 55;
+		if (ver >= 7)
+			result -= 36;
+	}
+	if (!(208 <= result && result <= 29648))
+		throw std::logic_error("Assertion error");
+	return result;
+}
+
+
+int QrCode::getNumDataCodewords(int ver, Ecc ecl) {
+	return getNumRawDataModules(ver) / 8
+		- ECC_CODEWORDS_PER_BLOCK    [static_cast<int>(ecl)][ver]
+		* NUM_ERROR_CORRECTION_BLOCKS[static_cast<int>(ecl)][ver];
+}
+
+
+vector<uint8_t> QrCode::reedSolomonComputeDivisor(int degree) {
+	if (degree < 1 || degree > 255)
+		throw std::domain_error("Degree out of range");
+	// Polynomial coefficients are stored from highest to lowest power, excluding the leading term which is always 1.
+	// For example the polynomial x^3 + 255x^2 + 8x + 93 is stored as the uint8 array {255, 8, 93}.
+	vector<uint8_t> result(static_cast<size_t>(degree));
+	result.at(result.size() - 1) = 1;  // Start off with the monomial x^0
+	
+	// Compute the product polynomial (x - r^0) * (x - r^1) * (x - r^2) * ... * (x - r^{degree-1}),
+	// and drop the highest monomial term which is always 1x^degree.
+	// Note that r = 0x02, which is a generator element of this field GF(2^8/0x11D).
+	uint8_t root = 1;
+	for (int i = 0; i < degree; i++) {
+		// Multiply the current product by (x - r^i)
+		for (size_t j = 0; j < result.size(); j++) {
+			result.at(j) = reedSolomonMultiply(result.at(j), root);
+			if (j + 1 < result.size())
+				result.at(j) ^= result.at(j + 1);
+		}
+		root = reedSolomonMultiply(root, 0x02);
+	}
+	return result;
+}
+
+
+vector<uint8_t> QrCode::reedSolomonComputeRemainder(const vector<uint8_t> &data, const vector<uint8_t> &divisor) {
+	vector<uint8_t> result(divisor.size());
+	for (uint8_t b : data) {  // Polynomial division
+		uint8_t factor = b ^ result.at(0);
+		result.erase(result.begin());
+		result.push_back(0);
+		for (size_t i = 0; i < result.size(); i++)
+			result.at(i) ^= reedSolomonMultiply(divisor.at(i), factor);
+	}
+	return result;
+}
+
+
+uint8_t QrCode::reedSolomonMultiply(uint8_t x, uint8_t y) {
+	// Russian peasant multiplication
+	int z = 0;
+	for (int i = 7; i >= 0; i--) {
+		z = (z << 1) ^ ((z >> 7) * 0x11D);
+		z ^= ((y >> i) & 1) * x;
+	}
+	if (z >> 8 != 0)
+		throw std::logic_error("Assertion error");
+	return static_cast<uint8_t>(z);
+}
+
+
+int QrCode::finderPenaltyCountPatterns(const std::array<int,7> &runHistory) const {
+	int n = runHistory.at(1);
+	if (n > size * 3)
+		throw std::logic_error("Assertion error");
+	bool core = n > 0 && runHistory.at(2) == n && runHistory.at(3) == n * 3 && runHistory.at(4) == n && runHistory.at(5) == n;
+	return (core && runHistory.at(0) >= n * 4 && runHistory.at(6) >= n ? 1 : 0)
+	     + (core && runHistory.at(6) >= n * 4 && runHistory.at(0) >= n ? 1 : 0);
+}
+
+
+int QrCode::finderPenaltyTerminateAndCount(bool currentRunColor, int currentRunLength, std::array<int,7> &runHistory) const {
+	if (currentRunColor) {  // Terminate black run
+		finderPenaltyAddHistory(currentRunLength, runHistory);
+		currentRunLength = 0;
+	}
+	currentRunLength += size;  // Add white border to final run
+	finderPenaltyAddHistory(currentRunLength, runHistory);
+	return finderPenaltyCountPatterns(runHistory);
+}
+
+
+void QrCode::finderPenaltyAddHistory(int currentRunLength, std::array<int,7> &runHistory) const {
+	if (runHistory.at(0) == 0)
+		currentRunLength += size;  // Add white border to initial run
+	std::copy_backward(runHistory.cbegin(), runHistory.cend() - 1, runHistory.end());
+	runHistory.at(0) = currentRunLength;
+}
+
+
+bool QrCode::getBit(long x, int i) {
+	return ((x >> i) & 1) != 0;
+}
+
+
+/*---- Tables of constants ----*/
+
+const int QrCode::PENALTY_N1 =  3;
+const int QrCode::PENALTY_N2 =  3;
+const int QrCode::PENALTY_N3 = 40;
+const int QrCode::PENALTY_N4 = 10;
+
+
+const int8_t QrCode::ECC_CODEWORDS_PER_BLOCK[4][41] = {
+	// Version: (note that index 0 is for padding, and is set to an illegal value)
+	//0,  1,  2,  3,  4,  5,  6,  7,  8,  9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40    Error correction level
+	{-1,  7, 10, 15, 20, 26, 18, 20, 24, 30, 18, 20, 24, 26, 30, 22, 24, 28, 30, 28, 28, 28, 28, 30, 30, 26, 28, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30},  // Low
+	{-1, 10, 16, 26, 18, 24, 16, 18, 22, 22, 26, 30, 22, 22, 24, 24, 28, 28, 26, 26, 26, 26, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28},  // Medium
+	{-1, 13, 22, 18, 26, 18, 24, 18, 22, 20, 24, 28, 26, 24, 20, 30, 24, 28, 28, 26, 30, 28, 30, 30, 30, 30, 28, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30},  // Quartile
+	{-1, 17, 28, 22, 16, 22, 28, 26, 26, 24, 28, 24, 28, 22, 24, 24, 30, 28, 28, 26, 28, 30, 24, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30, 30},  // High
+};
+
+const int8_t QrCode::NUM_ERROR_CORRECTION_BLOCKS[4][41] = {
+	// Version: (note that index 0 is for padding, and is set to an illegal value)
+	//0, 1, 2, 3, 4, 5, 6, 7, 8, 9,10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40    Error correction level
+	{-1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 4,  4,  4,  4,  4,  6,  6,  6,  6,  7,  8,  8,  9,  9, 10, 12, 12, 12, 13, 14, 15, 16, 17, 18, 19, 19, 20, 21, 22, 24, 25},  // Low
+	{-1, 1, 1, 1, 2, 2, 4, 4, 4, 5, 5,  5,  8,  9,  9, 10, 10, 11, 13, 14, 16, 17, 17, 18, 20, 21, 23, 25, 26, 28, 29, 31, 33, 35, 37, 38, 40, 43, 45, 47, 49},  // Medium
+	{-1, 1, 1, 2, 2, 4, 4, 6, 6, 8, 8,  8, 10, 12, 16, 12, 17, 16, 18, 21, 20, 23, 23, 25, 27, 29, 34, 34, 35, 38, 40, 43, 45, 48, 51, 53, 56, 59, 62, 65, 68},  // Quartile
+	{-1, 1, 1, 2, 4, 4, 4, 5, 6, 8, 8, 11, 11, 16, 16, 18, 16, 19, 21, 25, 25, 25, 34, 30, 32, 35, 37, 40, 42, 45, 48, 51, 54, 57, 60, 63, 66, 70, 74, 77, 81},  // High
+};
+
+
+data_too_long::data_too_long(const std::string &msg) :
+	std::length_error(msg) {}
+
+
+
+BitBuffer::BitBuffer()
+	: std::vector<bool>() {}
+
+
+void BitBuffer::appendBits(std::uint32_t val, int len) {
+	if (len < 0 || len > 31 || val >> len != 0)
+		throw std::domain_error("Value out of range");
+	for (int i = len - 1; i >= 0; i--)  // Append bit by bit
+		this->push_back(((val >> i) & 1) != 0);
+}
+
+}
diff --git a/third_party/qrcode/QrCode.hpp b/third_party/qrcode/QrCode.hpp
new file mode 100644
index 0000000000..7341e41029
--- /dev/null
+++ b/third_party/qrcode/QrCode.hpp
@@ -0,0 +1,556 @@
+/* 
+ * QR Code generator library (C++)
+ * 
+ * Copyright (c) Project Nayuki. (MIT License)
+ * https://www.nayuki.io/page/qr-code-generator-library
+ * 
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ * - The above copyright notice and this permission notice shall be included in
+ *   all copies or substantial portions of the Software.
+ * - The Software is provided "as is", without warranty of any kind, express or
+ *   implied, including but not limited to the warranties of merchantability,
+ *   fitness for a particular purpose and noninfringement. In no event shall the
+ *   authors or copyright holders be liable for any claim, damages or other
+ *   liability, whether in an action of contract, tort or otherwise, arising from,
+ *   out of or in connection with the Software or the use or other dealings in the
+ *   Software.
+ */
+
+#pragma once
+
+#include <array>
+#include <cstdint>
+#include <stdexcept>
+#include <string>
+#include <vector>
+
+
+namespace qrcodegen {
+
+/* 
+ * A segment of character/binary/control data in a QR Code symbol.
+ * Instances of this class are immutable.
+ * The mid-level way to create a segment is to take the payload data
+ * and call a static factory function such as QrSegment::makeNumeric().
+ * The low-level way to create a segment is to custom-make the bit buffer
+ * and call the QrSegment() constructor with appropriate values.
+ * This segment class imposes no length restrictions, but QR Codes have restrictions.
+ * Even in the most favorable conditions, a QR Code can only hold 7089 characters of data.
+ * Any segment longer than this is meaningless for the purpose of generating QR Codes.
+ */
+class QrSegment final {
+	
+	/*---- Public helper enumeration ----*/
+	
+	/* 
+	 * Describes how a segment's data bits are interpreted. Immutable.
+	 */
+	public: class Mode final {
+		
+		/*-- Constants --*/
+		
+		public: static const Mode NUMERIC;
+		public: static const Mode ALPHANUMERIC;
+		public: static const Mode BYTE;
+		public: static const Mode KANJI;
+		public: static const Mode ECI;
+		
+		
+		/*-- Fields --*/
+		
+		// The mode indicator bits, which is a uint4 value (range 0 to 15).
+		private: int modeBits;
+		
+		// Number of character count bits for three different version ranges.
+		private: int numBitsCharCount[3];
+		
+		
+		/*-- Constructor --*/
+		
+		private: Mode(int mode, int cc0, int cc1, int cc2);
+		
+		
+		/*-- Methods --*/
+		
+		/* 
+		 * (Package-private) Returns the mode indicator bits, which is an unsigned 4-bit value (range 0 to 15).
+		 */
+		public: int getModeBits() const;
+		
+		/* 
+		 * (Package-private) Returns the bit width of the character count field for a segment in
+		 * this mode in a QR Code at the given version number. The result is in the range [0, 16].
+		 */
+		public: int numCharCountBits(int ver) const;
+		
+	};
+	
+	
+	
+	/*---- Static factory functions (mid level) ----*/
+	
+	/* 
+	 * Returns a segment representing the given binary data encoded in
+	 * byte mode. All input byte vectors are acceptable. Any text string
+	 * can be converted to UTF-8 bytes and encoded as a byte mode segment.
+	 */
+	public: static QrSegment makeBytes(const std::vector<std::uint8_t> &data);
+	
+	
+	/* 
+	 * Returns a segment representing the given string of decimal digits encoded in numeric mode.
+	 */
+	public: static QrSegment makeNumeric(const char *digits);
+	
+	
+	/* 
+	 * Returns a segment representing the given text string encoded in alphanumeric mode.
+	 * The characters allowed are: 0 to 9, A to Z (uppercase only), space,
+	 * dollar, percent, asterisk, plus, hyphen, period, slash, colon.
+	 */
+	public: static QrSegment makeAlphanumeric(const char *text);
+	
+	
+	/* 
+	 * Returns a list of zero or more segments to represent the given text string. The result
+	 * may use various segment modes and switch modes to optimize the length of the bit stream.
+	 */
+	public: static std::vector<QrSegment> makeSegments(const char *text);
+	
+	
+	/* 
+	 * Returns a segment representing an Extended Channel Interpretation
+	 * (ECI) designator with the given assignment value.
+	 */
+	public: static QrSegment makeEci(long assignVal);
+	
+	
+	/*---- Public static helper functions ----*/
+	
+	/* 
+	 * Tests whether the given string can be encoded as a segment in alphanumeric mode.
+	 * A string is encodable iff each character is in the following set: 0 to 9, A to Z
+	 * (uppercase only), space, dollar, percent, asterisk, plus, hyphen, period, slash, colon.
+	 */
+	public: static bool isAlphanumeric(const char *text);
+	
+	
+	/* 
+	 * Tests whether the given string can be encoded as a segment in numeric mode.
+	 * A string is encodable iff each character is in the range 0 to 9.
+	 */
+	public: static bool isNumeric(const char *text);
+	
+	
+	
+	/*---- Instance fields ----*/
+	
+	/* The mode indicator of this segment. Accessed through getMode(). */
+	private: Mode mode;
+	
+	/* The length of this segment's unencoded data. Measured in characters for
+	 * numeric/alphanumeric/kanji mode, bytes for byte mode, and 0 for ECI mode.
+	 * Always zero or positive. Not the same as the data's bit length.
+	 * Accessed through getNumChars(). */
+	private: int numChars;
+	
+	/* The data bits of this segment. Accessed through getData(). */
+	private: std::vector<bool> data;
+	
+	
+	/*---- Constructors (low level) ----*/
+	
+	/* 
+	 * Creates a new QR Code segment with the given attributes and data.
+	 * The character count (numCh) must agree with the mode and the bit buffer length,
+	 * but the constraint isn't checked. The given bit buffer is copied and stored.
+	 */
+	public: QrSegment(Mode md, int numCh, const std::vector<bool> &dt);
+	
+	
+	/* 
+	 * Creates a new QR Code segment with the given parameters and data.
+	 * The character count (numCh) must agree with the mode and the bit buffer length,
+	 * but the constraint isn't checked. The given bit buffer is moved and stored.
+	 */
+	public: QrSegment(Mode md, int numCh, std::vector<bool> &&dt);
+	
+	
+	/*---- Methods ----*/
+	
+	/* 
+	 * Returns the mode field of this segment.
+	 */
+	public: Mode getMode() const;
+	
+	
+	/* 
+	 * Returns the character count field of this segment.
+	 */
+	public: int getNumChars() const;
+	
+	
+	/* 
+	 * Returns the data bits of this segment.
+	 */
+	public: const std::vector<bool> &getData() const;
+	
+	
+	// (Package-private) Calculates the number of bits needed to encode the given segments at
+	// the given version. Returns a non-negative number if successful. Otherwise returns -1 if a
+	// segment has too many characters to fit its length field, or the total bits exceeds INT_MAX.
+	public: static int getTotalBits(const std::vector<QrSegment> &segs, int version);
+	
+	
+	/*---- Private constant ----*/
+	
+	/* The set of all legal characters in alphanumeric mode, where
+	 * each character value maps to the index in the string. */
+	private: static const char *ALPHANUMERIC_CHARSET;
+	
+};
+
+
+
+/* 
+ * A QR Code symbol, which is a type of two-dimension barcode.
+ * Invented by Denso Wave and described in the ISO/IEC 18004 standard.
+ * Instances of this class represent an immutable square grid of black and white cells.
+ * The class provides static factory functions to create a QR Code from text or binary data.
+ * The class covers the QR Code Model 2 specification, supporting all versions (sizes)
+ * from 1 to 40, all 4 error correction levels, and 4 character encoding modes.
+ * 
+ * Ways to create a QR Code object:
+ * - High level: Take the payload data and call QrCode::encodeText() or QrCode::encodeBinary().
+ * - Mid level: Custom-make the list of segments and call QrCode::encodeSegments().
+ * - Low level: Custom-make the array of data codeword bytes (including
+ *   segment headers and final padding, excluding error correction codewords),
+ *   supply the appropriate version number, and call the QrCode() constructor.
+ * (Note that all ways require supplying the desired error correction level.)
+ */
+class QrCode final {
+	
+	/*---- Public helper enumeration ----*/
+	
+	/* 
+	 * The error correction level in a QR Code symbol.
+	 */
+	public: enum class Ecc {
+		LOW = 0 ,  // The QR Code can tolerate about  7% erroneous codewords
+		MEDIUM  ,  // The QR Code can tolerate about 15% erroneous codewords
+		QUARTILE,  // The QR Code can tolerate about 25% erroneous codewords
+		HIGH    ,  // The QR Code can tolerate about 30% erroneous codewords
+	};
+	
+	
+	// Returns a value in the range 0 to 3 (unsigned 2-bit integer).
+	private: static int getFormatBits(Ecc ecl);
+	
+	
+	
+	/*---- Static factory functions (high level) ----*/
+	
+	/* 
+	 * Returns a QR Code representing the given Unicode text string at the given error correction level.
+	 * As a conservative upper bound, this function is guaranteed to succeed for strings that have 2953 or fewer
+	 * UTF-8 code units (not Unicode code points) if the low error correction level is used. The smallest possible
+	 * QR Code version is automatically chosen for the output. The ECC level of the result may be higher than
+	 * the ecl argument if it can be done without increasing the version.
+	 */
+	public: static QrCode encodeText(const char *text, Ecc ecl);
+	
+	
+	/* 
+	 * Returns a QR Code representing the given binary data at the given error correction level.
+	 * This function always encodes using the binary segment mode, not any text mode. The maximum number of
+	 * bytes allowed is 2953. The smallest possible QR Code version is automatically chosen for the output.
+	 * The ECC level of the result may be higher than the ecl argument if it can be done without increasing the version.
+	 */
+	public: static QrCode encodeBinary(const std::vector<std::uint8_t> &data, Ecc ecl);
+	
+	
+	/*---- Static factory functions (mid level) ----*/
+	
+	/* 
+	 * Returns a QR Code representing the given segments with the given encoding parameters.
+	 * The smallest possible QR Code version within the given range is automatically
+	 * chosen for the output. Iff boostEcl is true, then the ECC level of the result
+	 * may be higher than the ecl argument if it can be done without increasing the
+	 * version. The mask number is either between 0 to 7 (inclusive) to force that
+	 * mask, or -1 to automatically choose an appropriate mask (which may be slow).
+	 * This function allows the user to create a custom sequence of segments that switches
+	 * between modes (such as alphanumeric and byte) to encode text in less space.
+	 * This is a mid-level API; the high-level API is encodeText() and encodeBinary().
+	 */
+	public: static QrCode encodeSegments(const std::vector<QrSegment> &segs, Ecc ecl,
+		int minVersion=1, int maxVersion=40, int mask=-1, bool boostEcl=true);  // All optional parameters
+	
+	
+	
+	/*---- Instance fields ----*/
+	
+	// Immutable scalar parameters:
+	
+	/* The version number of this QR Code, which is between 1 and 40 (inclusive).
+	 * This determines the size of this barcode. */
+	private: int version;
+	
+	/* The width and height of this QR Code, measured in modules, between
+	 * 21 and 177 (inclusive). This is equal to version * 4 + 17. */
+	private: int size;
+	
+	/* The error correction level used in this QR Code. */
+	private: Ecc errorCorrectionLevel;
+	
+	/* The index of the mask pattern used in this QR Code, which is between 0 and 7 (inclusive).
+	 * Even if a QR Code is created with automatic masking requested (mask = -1),
+	 * the resulting object still has a mask value between 0 and 7. */
+	private: int mask;
+	
+	// Private grids of modules/pixels, with dimensions of size*size:
+	
+	// The modules of this QR Code (false = white, true = black).
+	// Immutable after constructor finishes. Accessed through getModule().
+	private: std::vector<std::vector<bool> > modules;
+	
+	// Indicates function modules that are not subjected to masking. Discarded when constructor finishes.
+	private: std::vector<std::vector<bool> > isFunction;
+	
+	
+	
+	/*---- Constructor (low level) ----*/
+	
+	/* 
+	 * Creates a new QR Code with the given version number,
+	 * error correction level, data codeword bytes, and mask number.
+	 * This is a low-level API that most users should not use directly.
+	 * A mid-level API is the encodeSegments() function.
+	 */
+	public: QrCode(int ver, Ecc ecl, const std::vector<std::uint8_t> &dataCodewords, int msk);
+	
+	
+	
+	/*---- Public instance methods ----*/
+	
+	/* 
+	 * Returns this QR Code's version, in the range [1, 40].
+	 */
+	public: int getVersion() const;
+	
+	
+	/* 
+	 * Returns this QR Code's size, in the range [21, 177].
+	 */
+	public: int getSize() const;
+	
+	
+	/* 
+	 * Returns this QR Code's error correction level.
+	 */
+	public: Ecc getErrorCorrectionLevel() const;
+	
+	
+	/* 
+	 * Returns this QR Code's mask, in the range [0, 7].
+	 */
+	public: int getMask() const;
+	
+	
+	/* 
+	 * Returns the color of the module (pixel) at the given coordinates, which is false
+	 * for white or true for black. The top left corner has the coordinates (x=0, y=0).
+	 * If the given coordinates are out of bounds, then false (white) is returned.
+	 */
+	public: bool getModule(int x, int y) const;
+	
+	
+	/* 
+	 * Returns a string of SVG code for an image depicting this QR Code, with the given number
+	 * of border modules. The string always uses Unix newlines (\n), regardless of the platform.
+	 */
+	public: std::string toSvgString(int border) const;
+	
+	
+	
+	/*---- Private helper methods for constructor: Drawing function modules ----*/
+	
+	// Reads this object's version field, and draws and marks all function modules.
+	private: void drawFunctionPatterns();
+	
+	
+	// Draws two copies of the format bits (with its own error correction code)
+	// based on the given mask and this object's error correction level field.
+	private: void drawFormatBits(int msk);
+	
+	
+	// Draws two copies of the version bits (with its own error correction code),
+	// based on this object's version field, iff 7 <= version <= 40.
+	private: void drawVersion();
+	
+	
+	// Draws a 9*9 finder pattern including the border separator,
+	// with the center module at (x, y). Modules can be out of bounds.
+	private: void drawFinderPattern(int x, int y);
+	
+	
+	// Draws a 5*5 alignment pattern, with the center module
+	// at (x, y). All modules must be in bounds.
+	private: void drawAlignmentPattern(int x, int y);
+	
+	
+	// Sets the color of a module and marks it as a function module.
+	// Only used by the constructor. Coordinates must be in bounds.
+	private: void setFunctionModule(int x, int y, bool isBlack);
+	
+	
+	// Returns the color of the module at the given coordinates, which must be in range.
+	private: bool module(int x, int y) const;
+	
+	
+	/*---- Private helper methods for constructor: Codewords and masking ----*/
+	
+	// Returns a new byte string representing the given data with the appropriate error correction
+	// codewords appended to it, based on this object's version and error correction level.
+	private: std::vector<std::uint8_t> addEccAndInterleave(const std::vector<std::uint8_t> &data) const;
+	
+	
+	// Draws the given sequence of 8-bit codewords (data and error correction) onto the entire
+	// data area of this QR Code. Function modules need to be marked off before this is called.
+	private: void drawCodewords(const std::vector<std::uint8_t> &data);
+	
+	
+	// XORs the codeword modules in this QR Code with the given mask pattern.
+	// The function modules must be marked and the codeword bits must be drawn
+	// before masking. Due to the arithmetic of XOR, calling applyMask() with
+	// the same mask value a second time will undo the mask. A final well-formed
+	// QR Code needs exactly one (not zero, two, etc.) mask applied.
+	private: void applyMask(int msk);
+	
+	
+	// Calculates and returns the penalty score based on state of this QR Code's current modules.
+	// This is used by the automatic mask choice algorithm to find the mask pattern that yields the lowest score.
+	private: long getPenaltyScore() const;
+	
+	
+	
+	/*---- Private helper functions ----*/
+	
+	// Returns an ascending list of positions of alignment patterns for this version number.
+	// Each position is in the range [0,177), and are used on both the x and y axes.
+	// This could be implemented as lookup table of 40 variable-length lists of unsigned bytes.
+	private: std::vector<int> getAlignmentPatternPositions() const;
+	
+	
+	// Returns the number of data bits that can be stored in a QR Code of the given version number, after
+	// all function modules are excluded. This includes remainder bits, so it might not be a multiple of 8.
+	// The result is in the range [208, 29648]. This could be implemented as a 40-entry lookup table.
+	private: static int getNumRawDataModules(int ver);
+	
+	
+	// Returns the number of 8-bit data (i.e. not error correction) codewords contained in any
+	// QR Code of the given version number and error correction level, with remainder bits discarded.
+	// This stateless pure function could be implemented as a (40*4)-cell lookup table.
+	private: static int getNumDataCodewords(int ver, Ecc ecl);
+	
+	
+	// Returns a Reed-Solomon ECC generator polynomial for the given degree. This could be
+	// implemented as a lookup table over all possible parameter values, instead of as an algorithm.
+	private: static std::vector<std::uint8_t> reedSolomonComputeDivisor(int degree);
+	
+	
+	// Returns the Reed-Solomon error correction codeword for the given data and divisor polynomials.
+	private: static std::vector<std::uint8_t> reedSolomonComputeRemainder(const std::vector<std::uint8_t> &data, const std::vector<std::uint8_t> &divisor);
+	
+	
+	// Returns the product of the two given field elements modulo GF(2^8/0x11D).
+	// All inputs are valid. This could be implemented as a 256*256 lookup table.
+	private: static std::uint8_t reedSolomonMultiply(std::uint8_t x, std::uint8_t y);
+	
+	
+	// Can only be called immediately after a white run is added, and
+	// returns either 0, 1, or 2. A helper function for getPenaltyScore().
+	private: int finderPenaltyCountPatterns(const std::array<int,7> &runHistory) const;
+	
+	
+	// Must be called at the end of a line (row or column) of modules. A helper function for getPenaltyScore().
+	private: int finderPenaltyTerminateAndCount(bool currentRunColor, int currentRunLength, std::array<int,7> &runHistory) const;
+	
+	
+	// Pushes the given value to the front and drops the last value. A helper function for getPenaltyScore().
+	private: void finderPenaltyAddHistory(int currentRunLength, std::array<int,7> &runHistory) const;
+	
+	
+	// Returns true iff the i'th bit of x is set to 1.
+	private: static bool getBit(long x, int i);
+	
+	
+	/*---- Constants and tables ----*/
+	
+	// The minimum version number supported in the QR Code Model 2 standard.
+	public: static constexpr int MIN_VERSION =  1;
+	
+	// The maximum version number supported in the QR Code Model 2 standard.
+	public: static constexpr int MAX_VERSION = 40;
+	
+	
+	// For use in getPenaltyScore(), when evaluating which mask is best.
+	private: static const int PENALTY_N1;
+	private: static const int PENALTY_N2;
+	private: static const int PENALTY_N3;
+	private: static const int PENALTY_N4;
+	
+	
+	private: static const std::int8_t ECC_CODEWORDS_PER_BLOCK[4][41];
+	private: static const std::int8_t NUM_ERROR_CORRECTION_BLOCKS[4][41];
+	
+};
+
+
+
+/*---- Public exception class ----*/
+
+/* 
+ * Thrown when the supplied data does not fit any QR Code version. Ways to handle this exception include:
+ * - Decrease the error correction level if it was greater than Ecc::LOW.
+ * - If the encodeSegments() function was called with a maxVersion argument, then increase
+ *   it if it was less than QrCode::MAX_VERSION. (This advice does not apply to the other
+ *   factory functions because they search all versions up to QrCode::MAX_VERSION.)
+ * - Split the text data into better or optimal segments in order to reduce the number of bits required.
+ * - Change the text or binary data to be shorter.
+ * - Change the text to fit the character set of a particular segment mode (e.g. alphanumeric).
+ * - Propagate the error upward to the caller/user.
+ */
+class data_too_long : public std::length_error {
+	
+	public: explicit data_too_long(const std::string &msg);
+	
+};
+
+
+
+/* 
+ * An appendable sequence of bits (0s and 1s). Mainly used by QrSegment.
+ */
+class BitBuffer final : public std::vector<bool> {
+	
+	/*---- Constructor ----*/
+	
+	// Creates an empty bit buffer (length 0).
+	public: BitBuffer();
+	
+	
+	
+	/*---- Method ----*/
+	
+	// Appends the given number of low-order bits of the given value
+	// to this buffer. Requires 0 <= len <= 31 and val < 2^len.
+	public: void appendBits(std::uint32_t val, int len);
+	
+};
+
+}
diff --git a/third_party/qt-plugins/build_qtlocation.sh b/third_party/qt-plugins/build_qtlocation.sh
new file mode 100755
index 0000000000..09e6182d1f
--- /dev/null
+++ b/third_party/qt-plugins/build_qtlocation.sh
@@ -0,0 +1,8 @@
+#!/usr/bin/env sh
+
+# Qtlocation plugin with extra fields parsed from api response
+cd /tmp
+git clone https://github.com/commaai/qtlocation.git
+cd qtlocation
+qmake
+make -j$(nproc)
diff --git a/phonelibs/qt-plugins/x86_64/geoservices/.gitattributes b/third_party/qt-plugins/x86_64/geoservices/.gitattributes
similarity index 100%
rename from phonelibs/qt-plugins/x86_64/geoservices/.gitattributes
rename to third_party/qt-plugins/x86_64/geoservices/.gitattributes
diff --git a/phonelibs/qt-plugins/x86_64/geoservices/libqtgeoservices_mapbox.so b/third_party/qt-plugins/x86_64/geoservices/libqtgeoservices_mapbox.so
similarity index 100%
rename from phonelibs/qt-plugins/x86_64/geoservices/libqtgeoservices_mapbox.so
rename to third_party/qt-plugins/x86_64/geoservices/libqtgeoservices_mapbox.so
diff --git a/phonelibs/snpe/aarch64 b/third_party/snpe/aarch64
similarity index 100%
rename from phonelibs/snpe/aarch64
rename to third_party/snpe/aarch64
diff --git a/phonelibs/snpe/aarch64-android-clang6.0/libPlatformValidatorShared.so b/third_party/snpe/aarch64-android-clang6.0/libPlatformValidatorShared.so
similarity index 100%
rename from phonelibs/snpe/aarch64-android-clang6.0/libPlatformValidatorShared.so
rename to third_party/snpe/aarch64-android-clang6.0/libPlatformValidatorShared.so
diff --git a/phonelibs/snpe/aarch64-android-clang6.0/libSNPE.so b/third_party/snpe/aarch64-android-clang6.0/libSNPE.so
similarity index 100%
rename from phonelibs/snpe/aarch64-android-clang6.0/libSNPE.so
rename to third_party/snpe/aarch64-android-clang6.0/libSNPE.so
diff --git a/phonelibs/snpe/aarch64-android-clang6.0/libSNPE_G.so b/third_party/snpe/aarch64-android-clang6.0/libSNPE_G.so
similarity index 100%
rename from phonelibs/snpe/aarch64-android-clang6.0/libSNPE_G.so
rename to third_party/snpe/aarch64-android-clang6.0/libSNPE_G.so
diff --git a/phonelibs/snpe/aarch64-android-clang6.0/libc++_shared.so b/third_party/snpe/aarch64-android-clang6.0/libc++_shared.so
similarity index 100%
rename from phonelibs/snpe/aarch64-android-clang6.0/libc++_shared.so
rename to third_party/snpe/aarch64-android-clang6.0/libc++_shared.so
diff --git a/phonelibs/snpe/aarch64-android-clang6.0/libcalculator.so b/third_party/snpe/aarch64-android-clang6.0/libcalculator.so
similarity index 100%
rename from phonelibs/snpe/aarch64-android-clang6.0/libcalculator.so
rename to third_party/snpe/aarch64-android-clang6.0/libcalculator.so
diff --git a/phonelibs/snpe/aarch64-android-clang6.0/libcalculator_domains.so b/third_party/snpe/aarch64-android-clang6.0/libcalculator_domains.so
similarity index 100%
rename from phonelibs/snpe/aarch64-android-clang6.0/libcalculator_domains.so
rename to third_party/snpe/aarch64-android-clang6.0/libcalculator_domains.so
diff --git a/phonelibs/snpe/aarch64-android-clang6.0/libhta.so b/third_party/snpe/aarch64-android-clang6.0/libhta.so
similarity index 100%
rename from phonelibs/snpe/aarch64-android-clang6.0/libhta.so
rename to third_party/snpe/aarch64-android-clang6.0/libhta.so
diff --git a/phonelibs/snpe/aarch64-android-clang6.0/libsnpe_adsp.so b/third_party/snpe/aarch64-android-clang6.0/libsnpe_adsp.so
similarity index 100%
rename from phonelibs/snpe/aarch64-android-clang6.0/libsnpe_adsp.so
rename to third_party/snpe/aarch64-android-clang6.0/libsnpe_adsp.so
diff --git a/phonelibs/snpe/aarch64-android-clang6.0/libsnpe_dsp_domains.so b/third_party/snpe/aarch64-android-clang6.0/libsnpe_dsp_domains.so
similarity index 100%
rename from phonelibs/snpe/aarch64-android-clang6.0/libsnpe_dsp_domains.so
rename to third_party/snpe/aarch64-android-clang6.0/libsnpe_dsp_domains.so
diff --git a/phonelibs/snpe/aarch64-android-clang6.0/libsnpe_dsp_domains_system.so b/third_party/snpe/aarch64-android-clang6.0/libsnpe_dsp_domains_system.so
similarity index 100%
rename from phonelibs/snpe/aarch64-android-clang6.0/libsnpe_dsp_domains_system.so
rename to third_party/snpe/aarch64-android-clang6.0/libsnpe_dsp_domains_system.so
diff --git a/phonelibs/snpe/aarch64-android-clang6.0/libsnpe_dsp_domains_v2.so b/third_party/snpe/aarch64-android-clang6.0/libsnpe_dsp_domains_v2.so
similarity index 100%
rename from phonelibs/snpe/aarch64-android-clang6.0/libsnpe_dsp_domains_v2.so
rename to third_party/snpe/aarch64-android-clang6.0/libsnpe_dsp_domains_v2.so
diff --git a/phonelibs/snpe/aarch64-android-clang6.0/libsnpe_dsp_domains_v2_system.so b/third_party/snpe/aarch64-android-clang6.0/libsnpe_dsp_domains_v2_system.so
similarity index 100%
rename from phonelibs/snpe/aarch64-android-clang6.0/libsnpe_dsp_domains_v2_system.so
rename to third_party/snpe/aarch64-android-clang6.0/libsnpe_dsp_domains_v2_system.so
diff --git a/phonelibs/snpe/aarch64-android-clang6.0/libsymphony-cpu.so b/third_party/snpe/aarch64-android-clang6.0/libsymphony-cpu.so
similarity index 100%
rename from phonelibs/snpe/aarch64-android-clang6.0/libsymphony-cpu.so
rename to third_party/snpe/aarch64-android-clang6.0/libsymphony-cpu.so
diff --git a/phonelibs/snpe/aarch64-linux-gcc4.9/libPlatformValidatorShared.so b/third_party/snpe/aarch64-linux-gcc4.9/libPlatformValidatorShared.so
similarity index 100%
rename from phonelibs/snpe/aarch64-linux-gcc4.9/libPlatformValidatorShared.so
rename to third_party/snpe/aarch64-linux-gcc4.9/libPlatformValidatorShared.so
diff --git a/phonelibs/snpe/aarch64-linux-gcc4.9/libSNPE.so b/third_party/snpe/aarch64-linux-gcc4.9/libSNPE.so
similarity index 100%
rename from phonelibs/snpe/aarch64-linux-gcc4.9/libSNPE.so
rename to third_party/snpe/aarch64-linux-gcc4.9/libSNPE.so
diff --git a/phonelibs/snpe/aarch64-linux-gcc4.9/libatomic.so.1 b/third_party/snpe/aarch64-linux-gcc4.9/libatomic.so.1
similarity index 100%
rename from phonelibs/snpe/aarch64-linux-gcc4.9/libatomic.so.1
rename to third_party/snpe/aarch64-linux-gcc4.9/libatomic.so.1
diff --git a/phonelibs/snpe/aarch64-linux-gcc4.9/libcalculator.so b/third_party/snpe/aarch64-linux-gcc4.9/libcalculator.so
similarity index 100%
rename from phonelibs/snpe/aarch64-linux-gcc4.9/libcalculator.so
rename to third_party/snpe/aarch64-linux-gcc4.9/libcalculator.so
diff --git a/phonelibs/snpe/aarch64-linux-gcc4.9/libcalculator_domains.so b/third_party/snpe/aarch64-linux-gcc4.9/libcalculator_domains.so
similarity index 100%
rename from phonelibs/snpe/aarch64-linux-gcc4.9/libcalculator_domains.so
rename to third_party/snpe/aarch64-linux-gcc4.9/libcalculator_domains.so
diff --git a/phonelibs/snpe/aarch64-linux-gcc4.9/libsnpe_adsp.so b/third_party/snpe/aarch64-linux-gcc4.9/libsnpe_adsp.so
similarity index 100%
rename from phonelibs/snpe/aarch64-linux-gcc4.9/libsnpe_adsp.so
rename to third_party/snpe/aarch64-linux-gcc4.9/libsnpe_adsp.so
diff --git a/phonelibs/snpe/aarch64-linux-gcc4.9/libsnpe_dsp_domains_v2.so b/third_party/snpe/aarch64-linux-gcc4.9/libsnpe_dsp_domains_v2.so
similarity index 100%
rename from phonelibs/snpe/aarch64-linux-gcc4.9/libsnpe_dsp_domains_v2.so
rename to third_party/snpe/aarch64-linux-gcc4.9/libsnpe_dsp_domains_v2.so
diff --git a/phonelibs/snpe/aarch64-linux-gcc4.9/libsymphony-cpu.so b/third_party/snpe/aarch64-linux-gcc4.9/libsymphony-cpu.so
similarity index 100%
rename from phonelibs/snpe/aarch64-linux-gcc4.9/libsymphony-cpu.so
rename to third_party/snpe/aarch64-linux-gcc4.9/libsymphony-cpu.so
diff --git a/phonelibs/snpe/dsp/libcalculator_domains_skel.so b/third_party/snpe/dsp/libcalculator_domains_skel.so
similarity index 100%
rename from phonelibs/snpe/dsp/libcalculator_domains_skel.so
rename to third_party/snpe/dsp/libcalculator_domains_skel.so
diff --git a/phonelibs/snpe/dsp/libcalculator_skel.so b/third_party/snpe/dsp/libcalculator_skel.so
similarity index 100%
rename from phonelibs/snpe/dsp/libcalculator_skel.so
rename to third_party/snpe/dsp/libcalculator_skel.so
diff --git a/phonelibs/snpe/dsp/libsnpe_dsp_domains_skel.so b/third_party/snpe/dsp/libsnpe_dsp_domains_skel.so
similarity index 100%
rename from phonelibs/snpe/dsp/libsnpe_dsp_domains_skel.so
rename to third_party/snpe/dsp/libsnpe_dsp_domains_skel.so
diff --git a/phonelibs/snpe/dsp/libsnpe_dsp_skel.so b/third_party/snpe/dsp/libsnpe_dsp_skel.so
similarity index 100%
rename from phonelibs/snpe/dsp/libsnpe_dsp_skel.so
rename to third_party/snpe/dsp/libsnpe_dsp_skel.so
diff --git a/phonelibs/snpe/dsp/libsnpe_dsp_v65_domains_v2_skel.so b/third_party/snpe/dsp/libsnpe_dsp_v65_domains_v2_skel.so
similarity index 100%
rename from phonelibs/snpe/dsp/libsnpe_dsp_v65_domains_v2_skel.so
rename to third_party/snpe/dsp/libsnpe_dsp_v65_domains_v2_skel.so
diff --git a/phonelibs/snpe/dsp/libsnpe_dsp_v66_domains_v2_skel.so b/third_party/snpe/dsp/libsnpe_dsp_v66_domains_v2_skel.so
similarity index 100%
rename from phonelibs/snpe/dsp/libsnpe_dsp_v66_domains_v2_skel.so
rename to third_party/snpe/dsp/libsnpe_dsp_v66_domains_v2_skel.so
diff --git a/third_party/snpe/include/DiagLog/IDiagLog.hpp b/third_party/snpe/include/DiagLog/IDiagLog.hpp
new file mode 100644
index 0000000000..018b567256
--- /dev/null
+++ b/third_party/snpe/include/DiagLog/IDiagLog.hpp
@@ -0,0 +1,84 @@
+//=============================================================================
+//
+//  Copyright (c) 2015, 2020 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+#ifndef __IDIAGLOG_HPP_
+#define __IDIAGLOG_HPP_
+
+#include <string>
+
+#include "DiagLog/Options.hpp"
+#include "DlSystem/String.hpp"
+#include "DlSystem/ZdlExportDefine.hpp"
+
+namespace zdl
+{
+namespace DiagLog
+{
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/// @brief .
+///
+/// Interface for controlling logging for zdl components.
+
+class ZDL_EXPORT IDiagLog
+{
+public:
+
+   /// @brief .
+   ///
+   /// Sets the options after initialization occurs.
+   ///
+   /// @param[in] loggingOptions The options to set up diagnostic logging.
+   ///
+   /// @return False if the options could not be set. Ensure logging is not started.
+   virtual bool setOptions(const Options& loggingOptions) = 0;
+
+   /// @brief .
+   ///
+   /// Gets the curent options for the diag logger.
+   ///
+   /// @return Diag log options object.
+   virtual Options getOptions() = 0;
+
+   /// @brief .
+   ///
+   /// Allows for setting the log mask once diag logging has started
+   ///
+   /// @return True if the level was set successfully, false if a failure occurred.
+   virtual bool setDiagLogMask(const std::string& mask) = 0;
+
+   /// @brief .
+   ///
+   /// Allows for setting the log mask once diag logging has started
+   ///
+   /// @return True if the level was set successfully, false if a failure occurred.
+   virtual bool setDiagLogMask(const zdl::DlSystem::String& mask) = 0;
+
+   /// @brief .
+   ///
+   /// Enables logging for zdl components.
+   ///
+   /// Logging should be started prior to the instantiation of zdl components
+   /// to ensure all events are captured.
+   ///
+   /// @return False if diagnostic logging could not be started.
+   virtual bool start(void) = 0;
+
+   /// @brief Disables logging for zdl components.
+   virtual bool stop(void) = 0;
+
+   virtual ~IDiagLog() {};
+};
+
+} // DiagLog namespace
+} // zdl namespace
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#endif
diff --git a/third_party/snpe/include/DiagLog/Options.hpp b/third_party/snpe/include/DiagLog/Options.hpp
new file mode 100644
index 0000000000..798fa3f124
--- /dev/null
+++ b/third_party/snpe/include/DiagLog/Options.hpp
@@ -0,0 +1,79 @@
+//=============================================================================
+//
+//  Copyright (c) 2015, 2020 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+#ifndef __DIAGLOG_OPTIONS_HPP_
+#define __DIAGLOG_OPTIONS_HPP_
+
+#include <string>
+#include "DlSystem/ZdlExportDefine.hpp"
+
+namespace zdl
+{
+namespace DiagLog
+{
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/// @brief .
+///
+/// Options for setting up diagnostic logging for zdl components.
+class ZDL_EXPORT Options
+{
+public:
+   Options() :
+      DiagLogMask(""),
+      LogFileDirectory("diaglogs"),
+      LogFileName("DiagLog"),
+      LogFileRotateCount(20),
+      LogFileReplace(true)
+   {
+      // Solves the empty string problem with multiple std libs
+      DiagLogMask.reserve(1);
+   }
+
+   /// @brief .
+   ///
+   /// Enables diag logging only on the specified area mask (DNN_RUNTIME=ON | OFF)
+   std::string DiagLogMask;
+
+   /// @brief .
+   ///
+   /// The path to the directory where log files will be written.
+   /// The path may be relative or absolute. Relative paths are interpreted
+   /// from the current working directory.
+   /// Default value is "diaglogs"
+   std::string LogFileDirectory;
+
+   /// @brief .
+   ///
+   //// The name used for log files. If this value is empty then BaseName will be
+   /// used as the default file name.
+   /// Default value is "DiagLog"
+   std::string LogFileName;
+
+   /// @brief .
+   ///
+   /// The maximum number of log files to create. If set to 0 no log rotation
+   /// will be used and the log file name specified will be used each time, overwriting
+   /// any existing log file that may exist.
+   /// Default value is 20
+   uint32_t LogFileRotateCount;
+
+   /// @brief
+   ///
+   /// If the log file already exists, control whether it will be replaced
+   /// (existing contents truncated), or appended.
+   /// Default value is true
+   bool LogFileReplace;
+};
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+} // DiagLog namespace
+} // zdl namespace
+
+
+#endif
diff --git a/third_party/snpe/include/DlContainer/IDlContainer.hpp b/third_party/snpe/include/DlContainer/IDlContainer.hpp
new file mode 100644
index 0000000000..4e29b39bb4
--- /dev/null
+++ b/third_party/snpe/include/DlContainer/IDlContainer.hpp
@@ -0,0 +1,191 @@
+//=============================================================================
+//
+//  Copyright (c) 2015-2020 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+
+#ifndef ZEROTH_IDNC_CONTAINER_HPP
+#define ZEROTH_IDNC_CONTAINER_HPP
+
+#include <memory>
+#include <stdint.h>
+#include <string>
+#include <vector>
+#include <set>
+
+#include "DlSystem/ZdlExportDefine.hpp"
+#include "DlSystem/String.hpp"
+
+namespace zdl {
+namespace DlContainer {
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+class IDlContainer;
+class dlc_error;
+
+/**
+ * The structure of a record in a DL container.
+ */
+struct ZDL_EXPORT DlcRecord
+{
+   /// Name of the record.
+   std::string name;
+   /// Byte blob holding the data for the record.
+   std::vector<uint8_t> data;
+
+   DlcRecord();
+   DlcRecord( DlcRecord&& other )
+      : name(std::move(other.name))
+      , data(std::move(other.data))
+   {}
+   DlcRecord(const std::string& new_name)
+      : name(new_name)
+      , data()
+   {
+      if(name.empty())
+      {
+         name.reserve(1);
+      }
+   }
+   DlcRecord(const DlcRecord&) = delete;
+};
+
+// The maximum length of any record name.
+extern const uint32_t RECORD_NAME_MAX_SIZE;
+// The maximum size of the record payload (bytes).
+extern const uint32_t RECORD_DATA_MAX_SIZE;
+// The maximum number of records in an archive at one time.
+extern const uint32_t ARCHIVE_MAX_RECORDS;
+
+/**
+ * Represents a container for a neural network model which can
+ * be used to load the model into the SNPE runtime.
+ */
+class ZDL_EXPORT IDlContainer
+{
+public:
+   /**
+    * Initializes a container from a container archive file.
+    *
+    * @param[in] filename Container archive file path.
+    *
+    * @return A pointer to the initialized container
+    */
+   static std::unique_ptr<IDlContainer>
+   open(const std::string &filename) noexcept;
+
+   /**
+    * Initializes a container from a container archive file.
+    *
+    * @param[in] filename Container archive file path.
+    *
+    * @return A pointer to the initialized container
+    */
+   static std::unique_ptr<IDlContainer>
+   open(const zdl::DlSystem::String &filename) noexcept;
+
+   /**
+    * Initializes a container from a byte buffer.
+    *
+    * @param[in] buffer Byte buffer holding the contents of an archive
+    *                   file.
+    *
+    * @return A pointer to the initialized container
+    */
+   static std::unique_ptr<IDlContainer>
+   open(const std::vector<uint8_t> &buffer) noexcept;
+
+   /**
+    * Initializes a container from a byte buffer.
+    *
+    * @param[in] buffer Byte buffer holding the contents of an archive
+    *                   file.
+    *
+    * @param[in] size Size of the byte buffer.
+    *
+    * @return A pointer to the initialized container
+    */
+   static std::unique_ptr<IDlContainer>
+   open(const uint8_t* buffer, const size_t size) noexcept;
+
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+   /**
+    * Get the record catalog for a container.
+    *
+    * @param[out] catalog Buffer that will hold the record names on
+    *                    return.
+    */
+   virtual void getCatalog(std::set<std::string> &catalog) const = 0;
+
+    /**
+     * Get the record catalog for a container.
+     *
+     * @param[out] catalog Buffer that will hold the record names on
+     *                    return.
+     */
+   virtual void getCatalog(std::set<zdl::DlSystem::String> &catalog) const = 0;
+
+   /**
+    * Get a record from a container by name.
+    *
+    * @param[in] name Name of the record to fetch.
+    * @param[out] record The passed in record will be populated with the
+    *                   record data on return. Note that the caller
+    *                   will own the data in the record and is
+    *                   responsible for freeing it if needed.
+    */
+   virtual void getRecord(const std::string &name, DlcRecord &record) const = 0;
+
+   /**
+    * Get a record from a container by name.
+    *
+    * @param[in] name Name of the record to fetch.
+    * @param[out] record The passed in record will be populated with the
+    *                   record data on return. Note that the caller
+    *                   will own the data in the record and is
+    *                   responsible for freeing it if needed.
+    */
+   virtual void getRecord(const zdl::DlSystem::String &name, DlcRecord &record) const = 0;
+
+   /**
+    * Save the container to an archive on disk. This function will save the
+    * container if the filename is different from the file that it was opened
+    * from, or if at least one record was modified since the container was
+    * opened.
+    *
+    * It will truncate any existing file at the target path.
+    *
+    * @param filename Container archive file path.
+    *
+    * @return indication of success/failure
+    */
+   virtual bool save(const std::string &filename) = 0;
+
+   /**
+    * Save the container to an archive on disk. This function will save the
+    * container if the filename is different from the file that it was opened
+    * from, or if at least one record was modified since the container was
+    * opened.
+    *
+    * It will truncate any existing file at the target path.
+    *
+    * @param filename Container archive file path.
+    *
+    * @return indication of success/failure
+    */
+   virtual bool save (const zdl::DlSystem::String &filename) = 0;
+
+   virtual ~IDlContainer() {}
+};
+
+} // ns DlContainer
+} // ns zdl
+
+
+#endif
diff --git a/third_party/snpe/include/DlSystem/DlEnums.hpp b/third_party/snpe/include/DlSystem/DlEnums.hpp
new file mode 100644
index 0000000000..1447063553
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/DlEnums.hpp
@@ -0,0 +1,202 @@
+//==============================================================================
+//
+//  Copyright (c) 2014-2020 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+#ifndef _DL_ENUMS_HPP_
+#define _DL_ENUMS_HPP_
+
+#include "DlSystem/ZdlExportDefine.hpp"
+
+
+namespace zdl {
+namespace DlSystem
+{
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * Enumeration of supported target runtimes.
+ */
+enum class Runtime_t
+{
+   /// Run the processing on Snapdragon CPU.
+   /// Data: float 32bit
+   /// Math: float 32bit
+   CPU_FLOAT32  = 0,
+
+   /// Run the processing on the Adreno GPU.
+   /// Data: float 16bit
+   /// Math: float 32bit
+   GPU_FLOAT32_16_HYBRID = 1,
+
+   /// Run the processing on the Hexagon DSP.
+   /// Data: 8bit fixed point Tensorflow style format
+   /// Math: 8bit fixed point Tensorflow style format
+   DSP_FIXED8_TF = 2,
+
+   /// Run the processing on the Adreno GPU.
+   /// Data: float 16bit
+   /// Math: float 16bit
+   GPU_FLOAT16 = 3,
+
+   /// Run the processing on Snapdragon AIX+HVX.
+   /// Data: 8bit fixed point Tensorflow style format
+   /// Math: 8bit fixed point Tensorflow style format
+   AIP_FIXED8_TF = 5,
+   AIP_FIXED_TF = AIP_FIXED8_TF,
+
+   /// Default legacy enum to retain backward compatibility.
+   /// CPU = CPU_FLOAT32
+   CPU = CPU_FLOAT32,
+
+   /// Default legacy enum to retain backward compatibility.
+   /// GPU = GPU_FLOAT32_16_HYBRID
+   GPU = GPU_FLOAT32_16_HYBRID,
+
+   /// Default legacy enum to retain backward compatibility.
+   /// DSP = DSP_FIXED8_TF
+   DSP = DSP_FIXED8_TF,
+
+   /// Special value indicating the property is unset.
+   UNSET = -1
+};
+
+/**
+ * Enumeration of runtime available check options.
+ */
+enum class RuntimeCheckOption_t
+{
+   /// Perform standard runtime available check
+   DEFAULT = 0,
+   /// Perform standard runtime available check
+   NORMAL_CHECK = 0,
+   /// Perform basic runtime available check, may be runtime specific
+   BASIC_CHECK = 1,
+};
+
+/**
+ * Enumeration of various performance profiles that can be requested.
+ */
+enum class PerformanceProfile_t
+{
+    /// Run in a standard mode.
+    /// This mode will be deprecated in the future and replaced with BALANCED.
+    DEFAULT = 0,
+    /// Run in a balanced mode.
+    BALANCED = 0,
+
+    /// Run in high performance mode
+    HIGH_PERFORMANCE = 1,
+
+    /// Run in a power sensitive mode, at the expense of performance.
+    POWER_SAVER = 2,
+
+    /// Use system settings.  SNPE makes no calls to any performance related APIs.
+    SYSTEM_SETTINGS = 3,
+
+    /// Run in sustained high performance mode
+    SUSTAINED_HIGH_PERFORMANCE = 4,
+
+    /// Run in burst mode
+    BURST = 5,
+
+    /// Run in lower clock than POWER_SAVER, at the expense of performance.
+    LOW_POWER_SAVER = 6,
+
+    /// Run in higher clock and provides better performance than POWER_SAVER.
+    HIGH_POWER_SAVER = 7,
+
+    /// Run in lower balanced mode
+    LOW_BALANCED = 8,
+};
+
+/**
+ * Enumeration of various profilngLevels that can be requested.
+ */
+enum class ProfilingLevel_t
+{
+    /// No profiling.
+    /// Collects no runtime stats in the DiagLog
+    OFF = 0,
+
+    /// Basic profiling
+    /// Collects some runtime stats in the DiagLog
+    BASIC = 1,
+
+    /// Detailed profiling
+    /// Collects more runtime stats in the DiagLog, including per-layer statistics
+    /// Performance may be impacted
+    DETAILED = 2,
+
+    /// Moderate profiling
+    /// Collects more runtime stats in the DiagLog, no per-layer statistics
+    MODERATE = 3
+};
+
+/**
+ * Enumeration of various execution priority hints.
+ */
+enum class ExecutionPriorityHint_t
+{
+    /// Normal priority
+    NORMAL = 0,
+
+    /// Higher than normal priority
+    HIGH = 1,
+
+    /// Lower priority
+    LOW = 2
+
+};
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++*/
+
+/**
+ * Enumeration that lists the supported image encoding formats.
+ */
+enum class ImageEncoding_t
+{
+   /// For unknown image type. Also used as a default value for ImageEncoding_t.
+   UNKNOWN = 0,
+
+   /// The RGB format consists of 3 bytes per pixel: one byte for
+   /// Red, one for Green, and one for Blue. The byte ordering is
+   /// endian independent and is always in RGB byte order.
+   RGB = 1,
+
+   /// The ARGB32 format consists of 4 bytes per pixel: one byte for
+   /// Red, one for Green, one for Blue, and one for the alpha channel.
+   /// The alpha channel is ignored. The byte ordering depends on the
+   /// underlying CPU. For little endian CPUs, the byte order is BGRA.
+   /// For big endian CPUs, the byte order is ARGB.
+   ARGB32 = 2,
+
+   /// The RGBA format consists of 4 bytes per pixel: one byte for
+   /// Red, one for Green, one for Blue, and one for the alpha channel.
+   /// The alpha channel is ignored. The byte ordering is endian independent
+   /// and is always in RGBA byte order.
+   RGBA = 3,
+
+   /// The GRAYSCALE format is for 8-bit grayscale.
+   GRAYSCALE = 4,
+
+   /// NV21 is the Android version of YUV. The Chrominance is down
+   /// sampled and has a subsampling ratio of 4:2:0. Note that this
+   /// image format has 3 channels, but the U and V channels
+   /// are subsampled. For every four Y pixels there is one U and one V pixel. @newpage
+   NV21 = 5,
+
+   /// The BGR format consists of 3 bytes per pixel: one byte for
+   /// Red, one for Green and one for Blue. The byte ordering is
+   /// endian independent and is always BGR byte order.
+   BGR = 6
+};
+
+}} // namespaces end
+
+
+#endif
diff --git a/third_party/snpe/include/DlSystem/DlError.hpp b/third_party/snpe/include/DlSystem/DlError.hpp
new file mode 100644
index 0000000000..f0a66e8e45
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/DlError.hpp
@@ -0,0 +1,247 @@
+//==============================================================================
+//
+//  Copyright (c) 2016-2020 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+#ifndef _DL_ERROR_HPP_
+#define _DL_ERROR_HPP_
+
+#include <stdint.h>
+#include <limits> // numeric_limits
+
+#include "DlSystem/ZdlExportDefine.hpp"
+
+namespace zdl {
+namespace DlSystem {
+
+// clang and arm gcc different in how ZDL_EXPORT is used with enum class
+#if !defined (__clang__)
+enum class ErrorCode : uint32_t ZDL_EXPORT {
+#else
+enum class ZDL_EXPORT ErrorCode : uint32_t {
+#endif // ARM64V8A
+   NONE = 0,
+
+   // System config errors
+   SNPE_CONFIG_MISSING_PARAM                             = 100,
+   SNPE_CONFIG_INVALID_PARAM                             = 101,
+   SNPE_CONFIG_MISSING_FILE                              = 102,
+   SNPE_CONFIG_NNCONFIG_NOT_SET                          = 103,
+   SNPE_CONFIG_NNCONFIG_INVALID                          = 104,
+   SNPE_CONFIG_WRONG_INPUT_NAME                          = 105,
+   SNPE_CONFIG_INCORRECT_INPUT_DIMENSIONS                = 106,
+   SNPE_CONFIG_DIMENSIONS_MODIFICATION_NOT_SUPPORTED     = 107,
+   SNPE_CONFIG_BOTH_OUTPUT_LAYER_TENSOR_NAMES_SET        = 108,
+
+   SNPE_CONFIG_NNCONFIG_ONLY_TENSOR_SUPPORTED            = 120,
+   SNPE_CONFIG_NNCONFIG_ONLY_USER_BUFFER_SUPPORTED       = 121,
+
+   // DlSystem errors
+   SNPE_DLSYSTEM_MISSING_BUFFER                          = 200,
+   SNPE_DLSYSTEM_TENSOR_CAST_FAILED                      = 201,
+   SNPE_DLSYSTEM_FIXED_POINT_PARAM_INVALID               = 202,
+   SNPE_DLSYSTEM_SIZE_MISMATCH                           = 203,
+   SNPE_DLSYSTEM_NAME_NOT_FOUND                          = 204,
+   SNPE_DLSYSTEM_VALUE_MISMATCH                          = 205,
+   SNPE_DLSYSTEM_INSERT_FAILED                           = 206,
+   SNPE_DLSYSTEM_TENSOR_FILE_READ_FAILED                 = 207,
+   SNPE_DLSYSTEM_DIAGLOG_FAILURE                         = 208,
+   SNPE_DLSYSTEM_LAYER_NOT_SET                           = 209,
+   SNPE_DLSYSTEM_WRONG_NUMBER_INPUT_BUFFERS              = 210,
+   SNPE_DLSYSTEM_RUNTIME_TENSOR_SHAPE_MISMATCH           = 211,
+   SNPE_DLSYSTEM_TENSOR_MISSING                          = 212,
+   SNPE_DLSYSTEM_TENSOR_ITERATION_UNSUPPORTED            = 213,
+   SNPE_DLSYSTEM_BUFFER_MANAGER_MISSING                  = 214,
+   SNPE_DLSYSTEM_RUNTIME_BUFFER_SOURCE_UNSUPPORTED       = 215,
+   SNPE_DLSYSTEM_BUFFER_CAST_FAILED                      = 216,
+   SNPE_DLSYSTEM_WRONG_TRANSITION_TYPE                   = 217,
+   SNPE_DLSYSTEM_LAYER_ALREADY_REGISTERED                = 218,
+
+   SNPE_DLSYSTEM_BUFFERENCODING_UNKNOWN                  = 240,
+   SNPE_DLSYSTEM_BUFFER_INVALID_PARAM                    = 241,
+
+   // DlContainer errors
+   SNPE_DLCONTAINER_MODEL_PARSING_FAILED                 = 300,
+   SNPE_DLCONTAINER_UNKNOWN_LAYER_CODE                   = 301,
+   SNPE_DLCONTAINER_MISSING_LAYER_PARAM                  = 302,
+   SNPE_DLCONTAINER_LAYER_PARAM_NOT_SUPPORTED            = 303,
+   SNPE_DLCONTAINER_LAYER_PARAM_INVALID                  = 304,
+   SNPE_DLCONTAINER_TENSOR_DATA_MISSING                  = 305,
+   SNPE_DLCONTAINER_MODEL_LOAD_FAILED                    = 306,
+   SNPE_DLCONTAINER_MISSING_RECORDS                      = 307,
+   SNPE_DLCONTAINER_INVALID_RECORD                       = 308,
+   SNPE_DLCONTAINER_WRITE_FAILURE                        = 309,
+   SNPE_DLCONTAINER_READ_FAILURE                         = 310,
+   SNPE_DLCONTAINER_BAD_CONTAINER                        = 311,
+   SNPE_DLCONTAINER_BAD_DNN_FORMAT_VERSION               = 312,
+   SNPE_DLCONTAINER_UNKNOWN_AXIS_ANNOTATION              = 313,
+   SNPE_DLCONTAINER_UNKNOWN_SHUFFLE_TYPE                 = 314,
+   SNPE_DLCONTAINER_TEMP_FILE_FAILURE                    = 315,
+
+   // Network errors
+   SNPE_NETWORK_EMPTY_NETWORK                            = 400,
+   SNPE_NETWORK_CREATION_FAILED                          = 401,
+   SNPE_NETWORK_PARTITION_FAILED                         = 402,
+   SNPE_NETWORK_NO_OUTPUT_DEFINED                        = 403,
+   SNPE_NETWORK_MISMATCH_BETWEEN_NAMES_AND_DIMS          = 404,
+   SNPE_NETWORK_MISSING_INPUT_NAMES                      = 405,
+   SNPE_NETWORK_MISSING_OUTPUT_NAMES                     = 406,
+
+   // Host runtime errors
+   SNPE_HOST_RUNTIME_TARGET_UNAVAILABLE                  = 500,
+
+   // CPU runtime errors
+   SNPE_CPU_LAYER_NOT_SUPPORTED                          = 600,
+   SNPE_CPU_LAYER_PARAM_NOT_SUPPORTED                    = 601,
+   SNPE_CPU_LAYER_PARAM_INVALID                          = 602,
+   SNPE_CPU_LAYER_PARAM_COMBINATION_INVALID              = 603,
+   SNPE_CPU_BUFFER_NOT_FOUND                             = 604,
+   SNPE_CPU_NETWORK_NOT_SUPPORTED                        = 605,
+   SNPE_CPU_UDO_OPERATION_FAILED                         = 606,
+
+   // CPU fixed-point runtime errors
+   SNPE_CPU_FXP_LAYER_NOT_SUPPORTED                      = 700,
+   SNPE_CPU_FXP_LAYER_PARAM_NOT_SUPPORTED                = 701,
+   SNPE_CPU_FXP_LAYER_PARAM_INVALID                      = 702,
+
+   // GPU runtime errors
+   SNPE_GPU_LAYER_NOT_SUPPORTED                          = 800,
+   SNPE_GPU_LAYER_PARAM_NOT_SUPPORTED                    = 801,
+   SNPE_GPU_LAYER_PARAM_INVALID                          = 802,
+   SNPE_GPU_LAYER_PARAM_COMBINATION_INVALID              = 803,
+   SNPE_GPU_KERNEL_COMPILATION_FAILED                    = 804,
+   SNPE_GPU_CONTEXT_NOT_SET                              = 805,
+   SNPE_GPU_KERNEL_NOT_SET                               = 806,
+   SNPE_GPU_KERNEL_PARAM_INVALID                         = 807,
+   SNPE_GPU_OPENCL_CHECK_FAILED                          = 808,
+   SNPE_GPU_OPENCL_FUNCTION_ERROR                        = 809,
+   SNPE_GPU_BUFFER_NOT_FOUND                             = 810,
+   SNPE_GPU_TENSOR_DIM_INVALID                           = 811,
+   SNPE_GPU_MEMORY_FLAGS_INVALID                         = 812,
+   SNPE_GPU_UNEXPECTED_NUMBER_OF_IO                      = 813,
+   SNPE_GPU_LAYER_PROXY_ERROR                            = 814,
+   SNPE_GPU_BUFFER_IN_USE                                = 815,
+   SNPE_GPU_BUFFER_MODIFICATION_ERROR                    = 816,
+   SNPE_GPU_DATA_ARRANGEMENT_INVALID                     = 817,
+   SNPE_GPU_UDO_OPERATION_FAILED                         = 818,
+   // DSP runtime errors
+   SNPE_DSP_LAYER_NOT_SUPPORTED                          = 900,
+   SNPE_DSP_LAYER_PARAM_NOT_SUPPORTED                    = 901,
+   SNPE_DSP_LAYER_PARAM_INVALID                          = 902,
+   SNPE_DSP_LAYER_PARAM_COMBINATION_INVALID              = 903,
+   SNPE_DSP_STUB_NOT_PRESENT                             = 904,
+   SNPE_DSP_LAYER_NAME_TRUNCATED                         = 905,
+   SNPE_DSP_LAYER_INPUT_BUFFER_NAME_TRUNCATED            = 906,
+   SNPE_DSP_LAYER_OUTPUT_BUFFER_NAME_TRUNCATED           = 907,
+   SNPE_DSP_RUNTIME_COMMUNICATION_ERROR                  = 908,
+   SNPE_DSP_RUNTIME_INVALID_PARAM_ERROR                  = 909,
+   SNPE_DSP_RUNTIME_SYSTEM_ERROR                         = 910,
+   SNPE_DSP_RUNTIME_CRASHED_ERROR                        = 911,
+
+   // Model validataion errors
+   SNPE_MODEL_VALIDATION_LAYER_NOT_SUPPORTED             = 1000,
+   SNPE_MODEL_VALIDATION_LAYER_PARAM_NOT_SUPPORTED       = 1001,
+   SNPE_MODEL_VALIDATION_LAYER_PARAM_INVALID             = 1002,
+   SNPE_MODEL_VALIDATION_LAYER_PARAM_MISSING             = 1003,
+   SNPE_MODEL_VALIDATION_LAYER_PARAM_COMBINATION_INVALID = 1004,
+   SNPE_MODEL_VALIDATION_LAYER_ORDERING_INVALID          = 1005,
+   SNPE_MODEL_VALIDATION_INVALID_CONSTRAINT              = 1006,
+   SNPE_MODEL_VALIDATION_MISSING_BUFFER                  = 1007,
+   SNPE_MODEL_VALIDATION_BUFFER_REUSE_NOT_SUPPORTED      = 1008,
+   SNPE_MODEL_VALIDATION_LAYER_COULD_NOT_BE_ASSIGNED     = 1009,
+   SNPE_MODEL_VALIDATION_UDO_LAYER_FAILED                = 1010,
+
+   // UDL errors
+   SNPE_UDL_LAYER_EMPTY_UDL_NETWORK                      = 1100,
+   SNPE_UDL_LAYER_PARAM_INVALID                          = 1101,
+   SNPE_UDL_LAYER_INSTANCE_MISSING                       = 1102,
+   SNPE_UDL_LAYER_SETUP_FAILED                           = 1103,
+   SNPE_UDL_EXECUTE_FAILED                               = 1104,
+   SNPE_UDL_BUNDLE_INVALID                               = 1105,
+   SNPE_UDO_REGISTRATION_FAILED                          = 1106,
+   SNPE_UDO_GET_PACKAGE_FAILED                           = 1107,
+   SNPE_UDO_GET_IMPLEMENTATION_FAILED                    = 1108,
+
+   // Dependent library errors
+   SNPE_STD_LIBRARY_ERROR                                = 1200,
+
+   // Unknown exception (catch (...)), Has no component attached to this
+   SNPE_UNKNOWN_EXCEPTION                                = 1210,
+
+   // Storage Errors
+   SNPE_STORAGE_INVALID_KERNEL_REPO                      = 1300,
+
+   // AIP runtime errors
+   SNPE_AIP_LAYER_NOT_SUPPORTED                          = 1400,
+   SNPE_AIP_LAYER_PARAM_NOT_SUPPORTED                    = 1401,
+   SNPE_AIP_LAYER_PARAM_INVALID                          = 1402,
+   SNPE_AIP_LAYER_PARAM_COMBINATION_INVALID              = 1403,
+   SNPE_AIP_STUB_NOT_PRESENT                             = 1404,
+   SNPE_AIP_LAYER_NAME_TRUNCATED                         = 1405,
+   SNPE_AIP_LAYER_INPUT_BUFFER_NAME_TRUNCATED            = 1406,
+   SNPE_AIP_LAYER_OUTPUT_BUFFER_NAME_TRUNCATED           = 1407,
+   SNPE_AIP_RUNTIME_COMMUNICATION_ERROR                  = 1408,
+   SNPE_AIP_RUNTIME_INVALID_PARAM_ERROR                  = 1409,
+   SNPE_AIP_RUNTIME_SYSTEM_ERROR                         = 1410,
+   SNPE_AIP_RUNTIME_TENSOR_MISSING                       = 1411,
+   SNPE_AIP_RUNTIME_TENSOR_SHAPE_MISMATCH                = 1412,
+   SNPE_AIP_RUNTIME_BAD_AIX_RECORD                       = 1413,
+
+   // DlCaching errors
+   SNPE_DLCACHING_INVALID_METADATA                       = 1500,
+   SNPE_DLCACHING_INVALID_INITBLOB                       = 1501,
+
+   // Infrastructure Errors
+   SNPE_INFRA_CLUSTERMGR_INSTANCE_INVALID                = 1600,
+   SNPE_INFRA_CLUSTERMGR_EXECUTE_SYNC_FAILED             = 1601
+
+};
+
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * Returns the error code of the last error encountered.
+ *
+ * @return The error code.
+ *
+ * @note The returned error code is significant only when the return
+ *       value of the call indicated an error.
+ */
+ZDL_EXPORT ErrorCode getLastErrorCode();
+
+/**
+ * Returns the error string of the last error encountered.
+ *
+ * @return The error string.
+ *
+ * @note The returned error string is significant only when the return
+ *       value of the call indicated an error.
+ */
+ZDL_EXPORT const char* getLastErrorString();
+
+/**
+ * Returns the info string of the last error encountered.
+ */
+ZDL_EXPORT const char* getLastInfoString();
+
+/**
+ * Returns the uint32_t representation of the error code enum.
+ *
+ * @param[in] code The error code to be converted.
+ *
+ * @return uint32_t representation of the error code.
+ */
+ZDL_EXPORT uint32_t enumToUInt32(zdl::DlSystem::ErrorCode code);
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+} // DlSystem
+} // zdl
+
+#endif // _DL_ERROR_HPP_
+
diff --git a/third_party/snpe/include/DlSystem/DlOptional.hpp b/third_party/snpe/include/DlSystem/DlOptional.hpp
new file mode 100644
index 0000000000..4f83e6b4e4
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/DlOptional.hpp
@@ -0,0 +1,225 @@
+//==============================================================================
+//
+//  Copyright (c) 2016, 2020 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+#ifndef _DL_SYSTEM_OPTIONAL_HPP_
+#define _DL_SYSTEM_OPTIONAL_HPP_
+
+#include <cstdio>
+#include <utility>
+#include <stdexcept>
+
+#include "DlSystem/ZdlExportDefine.hpp"
+
+namespace zdl {
+namespace DlSystem {
+
+template <typename T>
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * @brief .
+ *
+ * Class to manage a value that may or may not exist. The boolean value
+ * of the Optional class is true if the object contains a value and false
+ * if it does not contain a value.
+ *
+ * The class must be evaluated and confirmed as true (containing a value)
+ * before being dereferenced.
+ */
+class ZDL_EXPORT Optional final {
+public:
+   enum class LIFECYCLE {
+      NONE = 0,
+      REFERENCE_OWNED = 1,
+      POINTER_OWNED = 2,
+      POINTER_NOT_OWNED = 3
+   };
+
+   struct ReferenceCount {
+      size_t count = 0;
+
+      void increment() { count++; }
+
+      size_t decrement() {
+         if (count > 0) {
+            count--;
+         }
+         return count;
+      }
+   };
+
+   using U = typename std::remove_pointer<T>::type;
+
+   /**
+    * The default constructor is set to not have any value, and is
+    * therefore evaluated as false.
+    */
+   // Do not explicit it so we can return {}
+   Optional() {
+      m_Type = LIFECYCLE::NONE;
+   }
+
+   /**
+    * Construct an Optional class using an object.
+    * @param[in] Reference to an object v
+    * @param[out] Optional instance of object v
+    */
+   template <typename Q = T>
+   Optional (const T& v, typename std::enable_if<!std::is_pointer<Q>::value>::type* = 0)
+           : m_Type(LIFECYCLE::REFERENCE_OWNED) {
+      try {
+         m_StoragePtr = new T(v);
+      } catch (...) {
+         m_StoragePtr = nullptr;
+         m_Type = LIFECYCLE::NONE;
+      }
+   }
+
+   template <typename Q = T>
+   Optional(U* v, LIFECYCLE type, typename std::enable_if<std::is_pointer<Q>::value>::type* = 0)
+           : m_Type(type) {
+      switch (m_Type) {
+         case LIFECYCLE::POINTER_OWNED:
+            m_StoragePtr = v;
+            m_Count = new ReferenceCount();
+            m_Count->increment();
+            break;
+         case LIFECYCLE::POINTER_NOT_OWNED:
+            m_StoragePtr = v;
+            break;
+         case LIFECYCLE::REFERENCE_OWNED:
+            throw std::bad_exception();
+         case LIFECYCLE::NONE:
+            break;
+      }
+   }
+
+   Optional(const Optional &other) : m_Type(other.m_Type), m_Count(other.m_Count) {
+      if (isReference()) {
+         m_StoragePtr = new U(*other.m_StoragePtr);
+      } else if (isPointer()) {
+         m_StoragePtr = other.m_StoragePtr;
+         if (isOwned()) {
+            m_Count->increment();
+         }
+      }
+   }
+
+   Optional& operator=(const Optional& other) noexcept {
+      Optional tmp(other);
+      swap(std::move(tmp));
+      return *this;
+   }
+
+   Optional(Optional&& other) noexcept {
+      swap(std::move(other));
+   }
+
+   Optional& operator=(Optional&& other) noexcept {
+      swap(std::move(other));
+      return *this;
+   }
+
+   ~Optional() {
+      if (isOwned()) {
+         if (isReference() || (isPointer() && m_Count->decrement() == 0)) {
+            delete m_StoragePtr;
+            delete m_Count;
+         }
+      }
+   }
+
+   /**
+    * Boolean value of Optional class is only true when there exists a value.
+    */
+   operator bool() const noexcept { return isValid(); }
+
+   bool operator!() const noexcept { return !isValid(); }
+
+   /**
+    * Get reference of Optional object
+    * @warning User must validate Optional has value before.
+    */
+   const T& operator*() { return this->GetReference(); }
+
+   /**
+    * Get reference of Optional object
+    * @warning User must validate Optional has value before.
+    */
+   const T& operator*() const { return this->GetReference(); }
+
+   operator T&() { return this->GetReference(); }
+
+   T operator->() {
+      T self = this->GetReference();
+      return self;
+   }
+private:
+   void swap(Optional&& other) {
+      m_Type = other.m_Type;
+      m_StoragePtr = other.m_StoragePtr;
+      m_Count = other.m_Count;
+
+      other.m_Type = LIFECYCLE::NONE;
+      other.m_StoragePtr = nullptr;
+      other.m_Count = nullptr;
+   }
+
+   template <typename Q = T>
+   typename std::enable_if<std::is_same<U, Q>::value, const Q&>::type GetReference() const noexcept {
+      if (!isReference()) std::terminate();
+      return *static_cast<const Q*>(m_StoragePtr);
+   }
+
+   template <typename Q = T>
+   typename std::enable_if<std::is_same<U*, Q>::value, const Q&>::type GetReference() const noexcept {
+      if (!isPointer()) std::terminate();
+      return static_cast<const Q&>(m_StoragePtr);
+   }
+
+   template <typename Q = T>
+   typename std::enable_if<std::is_same<U, Q>::value, Q&>::type GetReference() noexcept {
+      if (!isReference()) std::terminate();
+      return *m_StoragePtr;
+   }
+
+   template <typename Q = T>
+   typename std::enable_if<std::is_same<U*, Q>::value, Q&>::type GetReference() noexcept {
+      if (!isPointer()) std::terminate();
+      return m_StoragePtr;
+   }
+
+   bool isPointer() const {
+      return m_Type == LIFECYCLE::POINTER_OWNED || m_Type == LIFECYCLE::POINTER_NOT_OWNED;
+   }
+
+   bool isOwned() const {
+      return m_Type == LIFECYCLE::REFERENCE_OWNED || m_Type == LIFECYCLE::POINTER_OWNED;
+   }
+
+   bool isReference() const {
+      return m_Type == LIFECYCLE::REFERENCE_OWNED;
+   }
+
+   bool isValid() const {
+      return m_Type != LIFECYCLE::NONE;
+   }
+
+   U* m_StoragePtr = nullptr;
+   LIFECYCLE m_Type;
+   ReferenceCount *m_Count = nullptr;
+};
+
+} // ns DlSystem
+} // ns zdl
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#endif // _DL_SYSTEM_OPTIONAL_HPP_
diff --git a/third_party/snpe/include/DlSystem/DlVersion.hpp b/third_party/snpe/include/DlSystem/DlVersion.hpp
new file mode 100644
index 0000000000..beb8d75f21
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/DlVersion.hpp
@@ -0,0 +1,78 @@
+//==============================================================================
+//
+//  Copyright (c) 2014-2015 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+
+#ifndef _DL_VERSION_HPP_
+#define _DL_VERSION_HPP_
+
+#include "ZdlExportDefine.hpp"
+#include <stdint.h>
+#include <string>
+#include "DlSystem/String.hpp"
+
+
+namespace zdl {
+namespace DlSystem
+{
+   class Version_t;
+}}
+
+
+namespace zdl { namespace DlSystem
+{
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * A class that contains the different portions of a version number.
+ */
+class ZDL_EXPORT Version_t
+{
+public:
+   /// Holds the major version number. Changes in this value indicate
+   /// major changes that break backward compatibility.
+   int32_t         Major;
+
+   /// Holds the minor version number. Changes in this value indicate
+   /// minor changes made to library that are backwards compatible
+   /// (such as additions to the interface).
+   int32_t         Minor;
+
+   /// Holds the teeny version number. Changes in this value indicate
+   /// changes such as bug fixes and patches made to the library that
+   /// do not affect the interface.
+   int32_t         Teeny;
+
+   /// This string holds information about the build version.
+   ///
+   std::string     Build;
+
+   static zdl::DlSystem::Version_t fromString(const std::string &stringValue);
+
+   static zdl::DlSystem::Version_t fromString(const zdl::DlSystem::String &stringValue);
+
+   /**
+    * @brief Returns a string in the form Major.Minor.Teeny.Build
+    *
+    * @return A formatted string holding the version information.
+    */
+   const std::string toString() const;
+
+   /**
+    * @brief Returns a string in the form Major.Minor.Teeny.Build
+    *
+    * @return A formatted string holding the version information.
+    */
+   const zdl::DlSystem::String asString() const;
+};
+
+}}
+
+/** @} */ /* end_addtogroup c_plus_plus_apis */
+
+#endif
diff --git a/third_party/snpe/include/DlSystem/IBufferAttributes.hpp b/third_party/snpe/include/DlSystem/IBufferAttributes.hpp
new file mode 100644
index 0000000000..f893e0a237
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/IBufferAttributes.hpp
@@ -0,0 +1,86 @@
+//==============================================================================
+//
+// Copyright (c) 2017-2019 Qualcomm Technologies, Inc.
+// All Rights Reserved.
+// Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+#ifndef _IBUFFER_ATTRIBUTES_HPP
+#define _IBUFFER_ATTRIBUTES_HPP
+#include "IUserBuffer.hpp"
+#include "TensorShape.hpp"
+#include "ZdlExportDefine.hpp"
+
+namespace zdl {
+    namespace DlSystem {
+        class UserBufferEncoding;
+    }
+}
+
+namespace zdl {
+namespace DlSystem {
+
+/**
+ * @brief IBufferAttributes returns a buffer's dimension and alignment
+ *        requirements, along with info on its encoding type
+ */
+class ZDL_EXPORT IBufferAttributes {
+public:
+
+    /**
+      * @brief Gets the buffer's element size, in bytes
+      *
+      * This can be used to compute the memory size required
+      * to back this buffer.
+      *
+      * @return Element size, in bytes
+     */
+    virtual size_t getElementSize() const noexcept = 0;
+
+    /**
+      * @brief Gets the element's encoding type
+      *
+      * @return encoding type
+     */
+    virtual zdl::DlSystem::UserBufferEncoding::ElementType_t getEncodingType() const noexcept = 0;
+
+    /**
+      * @brief Gets the number of elements in each dimension
+      *
+      * @return Dimension size, in terms of number of elements
+     */
+    virtual const TensorShape getDims() const noexcept = 0;
+
+    /**
+      * @brief Gets the alignment requirement of each dimension
+      *
+      * Alignment per each dimension is expressed as an multiple, for
+      * example, if one particular dimension can accept multiples of 8,
+      * the alignment will be 8.
+      *
+      * @return Alignment in each dimension, in terms of multiple of
+      *         number of elements
+     */
+    virtual const TensorShape getAlignments() const noexcept = 0;
+
+    /**
+      * @brief Gets the buffer encoding returned from the network responsible
+      * for generating this buffer. Depending on the encoding type, this will
+      * be an instance of an encoding type specific derived class.
+      *
+      * @return Derived user buffer encoding object.
+     */
+    virtual zdl::DlSystem::UserBufferEncoding* getEncoding() const noexcept = 0;
+
+    virtual ~IBufferAttributes() {}
+};
+
+
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+}
+}
+
+#endif
diff --git a/third_party/snpe/include/DlSystem/ITensor.hpp b/third_party/snpe/include/DlSystem/ITensor.hpp
new file mode 100644
index 0000000000..2f006c857f
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/ITensor.hpp
@@ -0,0 +1,146 @@
+//=============================================================================
+//
+//  Copyright (c) 2015-2020 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+
+#ifndef _ITENSOR_HPP_
+#define _ITENSOR_HPP_
+
+#include "ITensorItr.hpp"
+#include "ITensorItrImpl.hpp"
+#include "TensorShape.hpp"
+#include "ZdlExportDefine.hpp"
+#include <memory>
+#include <ostream>
+#include <cmath>
+
+namespace zdl {
+namespace DlSystem
+{
+   class ITensor;
+}}
+
+namespace zdl { namespace DlSystem
+{
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * Represents a tensor which holds n-dimensional data. It is important to
+ * understand how the tensor data is represented in memory 
+ * relative to the tensor dimensions. Tensors store data in 
+ * memory in row-major order (i.e. the last tensor dimension is 
+ * the fastest varying one). For example, if you have a two 
+ * dimensional tensor with 3 rows and 2 columns (i.e. the tensor 
+ * dimensions are 3,2 as returned in tensor dimension vectors)
+ * with the following data in terms rows and columns: 
+ *  
+ * | 1 2 | <br/>
+ * | 3 4 | <br/>
+ * | 5 6 | <br/>
+ *  
+ * This data would be stored in memory as 1,2,3,4,5,6. 
+ */
+class ZDL_EXPORT ITensor 
+{
+public:
+
+   typedef zdl::DlSystem::ITensorItr<false> iterator;
+   typedef zdl::DlSystem::ITensorItr<true> const_iterator;
+
+   virtual ~ITensor() {}
+
+   /**
+    * Returns a tensor iterator pointing to the beginning 
+    * of the data in the tensor.
+    * 
+    * @return A tensor iterator that points to the first data
+    *         element in the tensor.
+    */
+   virtual iterator begin() = 0;
+
+   /**
+    * Returns the const version of a tensor iterator 
+    * pointing to the beginning of the data in the tensor.
+    * 
+    * @return A tensor const iterator that points to the first data
+    *         element in the tensor.
+    */
+   virtual const_iterator cbegin() const = 0;
+
+   /**
+    * Returns a tensor iterator pointing to the end of the
+    * data in the tensor. This tensor should not be
+    * dereferenced.
+    * 
+    * @return A tensor iterator that points to the end of the data 
+    *         (one past the last element) in the tensor.
+    */
+   virtual iterator end() = 0;
+
+   /**
+    * Returns the const version of a tensor iterator 
+    * pointing to the end of the data in the tensor. This
+    * tensor should not be dereferenced.
+    * 
+    * @return A tensor const iterator that points to the end of the
+    *         data (one past the last element) in the tensor.
+    */
+   virtual const_iterator cend() const = 0;
+
+   /**
+    * @brief Gets the shape of this tensor.
+    *  
+    * The last element of the vector represents the fastest varying
+    * dimension and the zeroth element represents the slowest 
+    * varying dimension, etc. 
+    * 
+    * @return A shape class holding the tensor dimensions.
+    */
+   virtual TensorShape getShape() const = 0;
+
+   /**
+    * Returns the element size of the data in the tensor 
+    * (discounting strides). This is how big a buffer would
+    * need to be to hold the tensor data contiguously in
+    * memory.
+    *  
+    * @return The size of the tensor (in elements).
+    */
+   virtual size_t getSize() const = 0;
+
+   /**
+    * @brief Serializes the tensor to an output stream.
+    * 
+    * @param[in] output The output stream to which to write the tensor 
+    *  
+    * @throw std::runtime_error If the stream is ever in a bad 
+    *        state before the tensor is fully serialized.
+    */
+   virtual void serialize(std::ostream &output) const = 0;
+
+   friend iterator;
+   friend const_iterator;
+
+   virtual bool isQuantized() {return false;}
+   virtual float GetDelta() {return NAN;};
+   virtual float GetOffset() {return NAN;};
+
+protected:
+
+   /**
+    * Returns the tensor iterator implementation.
+    * 
+    * @return A pointer to the tensor iterator implementation.
+    */
+   virtual std::unique_ptr<::DlSystem::ITensorItrImpl> getItrImpl() const = 0;
+};
+
+}}
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#endif
diff --git a/third_party/snpe/include/DlSystem/ITensorFactory.hpp b/third_party/snpe/include/DlSystem/ITensorFactory.hpp
new file mode 100644
index 0000000000..57d2c8ea99
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/ITensorFactory.hpp
@@ -0,0 +1,92 @@
+//=============================================================================
+//
+//  Copyright (c) 2015-2016 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+
+#ifndef _ITENSOR_FACTORY_HPP
+#define _ITENSOR_FACTORY_HPP
+
+#include "ITensor.hpp"
+#include "TensorShape.hpp"
+#include "ZdlExportDefine.hpp"
+#include <istream>
+
+namespace zdl {
+    namespace DlSystem
+    {
+        class ITensor;
+        class TensorShape;
+    }
+}
+
+namespace zdl { namespace DlSystem
+{
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * Factory interface class to create ITensor objects.
+ */
+class ZDL_EXPORT ITensorFactory
+{
+public:
+   virtual ~ITensorFactory() = default;
+
+   /**
+    * Creates a new ITensor with uninitialized data. 
+    *  
+    * The strides for the tensor will match the tensor dimensions 
+    * (i.e., the tensor data is contiguous in memory).
+    *  
+    * @param[in] shape The dimensions for the tensor in which the last
+    * element of the vector represents the fastest varying
+    * dimension and the zeroth element represents the slowest
+    * varying, etc.
+    * 
+    * @return A pointer to the created tensor or nullptr if creating failed.
+    */
+   virtual std::unique_ptr<ITensor>
+      createTensor(const TensorShape &shape) noexcept = 0;
+
+   /**
+    * Creates a new ITensor by loading it from a file.
+    *  
+    * @param[in] input The input stream from which to read the tensor 
+    *                  data.
+    *  
+    * @return A pointer to the created tensor or nullptr if creating failed.
+    *
+    */
+   virtual std::unique_ptr<ITensor> createTensor(std::istream &input) noexcept = 0;
+
+   /**
+    * Create a new ITensor with specific data.
+    * (i.e. the tensor data is contiguous in memory). This tensor is
+    * primarily used to create a tensor where tensor size can't be
+    * computed directly from dimension. One such example is
+    * NV21-formatted image, or any YUV formatted image
+    *
+    * @param[in] shape The dimensions for the tensor in which the last
+    * element of the vector represents the fastest varying
+    * dimension and the zeroth element represents the slowest
+    * varying, etc.
+    *
+    * @param[in] data The actual data with which the Tensor object is filled.
+    *
+    * @param[in] dataSize The size of data
+    *
+    * @return A pointer to the created tensor
+    */
+   virtual std::unique_ptr<ITensor>
+      createTensor(const TensorShape &shape, const unsigned char *data, size_t dataSize) noexcept = 0;
+};
+
+}}
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#endif
diff --git a/third_party/snpe/include/DlSystem/ITensorItr.hpp b/third_party/snpe/include/DlSystem/ITensorItr.hpp
new file mode 100644
index 0000000000..4ce12a9f11
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/ITensorItr.hpp
@@ -0,0 +1,182 @@
+//=============================================================================
+//
+//  Copyright (c) 2015 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+
+#ifndef _ITENSOR_ITR_HPP_
+#define _ITENSOR_ITR_HPP_
+
+#include "ZdlExportDefine.hpp"
+#include "ITensorItrImpl.hpp"
+
+#include <memory>
+#include <iterator>
+#include <iostream>
+
+namespace zdl {
+namespace DlSystem
+{
+   template<bool IS_CONST> class ITensorItr;
+   class ITensor;
+   void ZDL_EXPORT fill(ITensorItr<false> first, ITensorItr<false> end, float val);
+   template<class InItr, class OutItr> OutItr ZDL_EXPORT copy(InItr first, InItr last, OutItr result)
+   {
+      return std::copy(first, last, result);
+   }
+}}
+namespace DlSystem
+{
+   class ITensorItrImpl;
+}
+
+namespace zdl { namespace DlSystem
+{
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * A bidirectional iterator (with limited random access 
+ * capabilities) for the zdl::DlSystem::ITensor class.
+ *  
+ * This is a standard bidrectional iterator and is compatible
+ * with standard algorithm functions that operate on bidirectional 
+ * access iterators (e.g., std::copy, std::fill, etc.). It uses a
+ * template parameter to create const and non-const iterators 
+ * from the same code. Iterators are easiest to declare via the 
+ * typedefs iterator and const_iterator in the ITensor class 
+ * (e.g., zdl::DlSystem::ITensor::iterator). 
+ *  
+ * Note that if the tensor the iterator is traversing was 
+ * created with nondefault (i.e., nontrivial) strides, the 
+ * iterator will obey the strides when traversing the tensor 
+ * data. 
+ *  
+ * Also note that nontrivial strides dramatically affect the
+ * performance of the iterator (on the order of 20x slower). 
+ */ 
+template<bool IS_CONST=true>
+class ZDL_EXPORT ITensorItr : public std::iterator<std::bidirectional_iterator_tag, float>
+{
+public:
+
+   typedef typename std::conditional<IS_CONST, const float&, float&>::type VALUE_REF;
+
+   ITensorItr() = delete;
+   virtual ~ITensorItr() {}
+
+   ITensorItr(std::unique_ptr<::DlSystem::ITensorItrImpl> impl, 
+              bool isTrivial = false, 
+              float* data = nullptr)
+      : m_Impl(impl->clone())
+      , m_IsTrivial(isTrivial)
+      , m_Data(data)
+      , m_DataStart(data) {}
+
+   ITensorItr(const ITensorItr<IS_CONST>& itr)
+      : m_Impl(itr.m_Impl->clone()),
+        m_IsTrivial(itr.m_IsTrivial),
+        m_Data(itr.m_Data),
+        m_DataStart(itr.m_DataStart) {}
+
+   zdl::DlSystem::ITensorItr<IS_CONST>& operator=(const ITensorItr<IS_CONST>& other)
+   {
+      if (this == &other) return *this;
+      m_Impl = std::move(other.m_Impl->clone());
+      m_IsTrivial = other.m_IsTrivial;
+      m_Data = other.m_Data;
+      m_DataStart = other.m_DataStart;
+      return *this;
+   }
+
+   inline zdl::DlSystem::ITensorItr<IS_CONST>& operator++()
+   {
+      if (m_IsTrivial) m_Data++; else m_Impl->increment();
+      return *this;
+   }
+   inline zdl::DlSystem::ITensorItr<IS_CONST> operator++(int)
+   {
+      ITensorItr tmp(*this);
+      operator++();
+      return tmp;
+   }
+   inline zdl::DlSystem::ITensorItr<IS_CONST>& operator--()
+   {
+      if (m_IsTrivial) m_Data--; else m_Impl->decrement();
+      return *this;
+   }
+   inline zdl::DlSystem::ITensorItr<IS_CONST> operator--(int)
+   {
+      ITensorItr tmp(*this);
+      operator--();
+      return tmp;
+   }
+   inline zdl::DlSystem::ITensorItr<IS_CONST>& operator+=(int rhs)
+   {
+      if (m_IsTrivial) m_Data += rhs; else m_Impl->increment(rhs);
+      return *this;
+   }
+   inline friend zdl::DlSystem::ITensorItr<IS_CONST> operator+(zdl::DlSystem::ITensorItr<IS_CONST> lhs, int rhs)
+      { lhs += rhs; return lhs; }
+   inline zdl::DlSystem::ITensorItr<IS_CONST>& operator-=(int rhs)
+   {
+      if (m_IsTrivial) m_Data -= rhs; else m_Impl->decrement(rhs);
+      return *this;
+   }
+   inline friend zdl::DlSystem::ITensorItr<IS_CONST> operator-(zdl::DlSystem::ITensorItr<IS_CONST> lhs, int rhs)
+      { lhs -= rhs; return lhs; }
+
+   inline size_t operator-(const zdl::DlSystem::ITensorItr<IS_CONST>& rhs)
+   {
+      if (m_IsTrivial) return (m_Data - m_DataStart) - (rhs.m_Data - rhs.m_DataStart);
+      return m_Impl->getPosition() - rhs.m_Impl->getPosition();
+   }
+
+   inline friend bool operator<(const ITensorItr<IS_CONST>& lhs, const ITensorItr<IS_CONST>& rhs)
+   {
+      if (lhs.m_IsTrivial) return lhs.m_Data < rhs.m_Data;
+      return lhs.m_Impl->dataPointer() < rhs.m_Impl->dataPointer();
+   }
+   inline friend bool operator>(const ITensorItr<IS_CONST>& lhs, const ITensorItr<IS_CONST>& rhs)
+      { return rhs < lhs; }
+   inline friend bool operator<=(const ITensorItr<IS_CONST>& lhs, const ITensorItr<IS_CONST>& rhs)
+      { return !(lhs > rhs); }
+   inline friend bool operator>=(const ITensorItr<IS_CONST>& lhs, const ITensorItr<IS_CONST>& rhs)
+      { return !(lhs < rhs); }
+
+   inline bool operator==(const ITensorItr<IS_CONST>& rhs) const
+   {
+      if (m_IsTrivial) return m_Data == rhs.m_Data;
+      return m_Impl->dataPointer() == rhs.m_Impl->dataPointer();
+   }
+   inline bool operator!=(const ITensorItr<IS_CONST>& rhs) const
+      { return !operator==(rhs); }
+
+   inline VALUE_REF operator[](size_t idx)
+   {
+      if (m_IsTrivial) return *(m_DataStart + idx);
+      return m_Impl->getReferenceAt(idx);
+   }
+   inline VALUE_REF operator*()
+      { if (m_IsTrivial) return *m_Data; else return m_Impl->getReference(); }
+   inline VALUE_REF operator->()
+      { return *(*this); }
+   inline float* dataPointer() const
+      { if (m_IsTrivial) return m_Data; else return m_Impl->dataPointer(); }
+
+
+protected:
+   std::unique_ptr<::DlSystem::ITensorItrImpl> m_Impl;
+   bool m_IsTrivial = false;
+   float* m_Data = nullptr;
+   float* m_DataStart = nullptr;
+};
+
+}}
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#endif
diff --git a/third_party/snpe/include/DlSystem/ITensorItrImpl.hpp b/third_party/snpe/include/DlSystem/ITensorItrImpl.hpp
new file mode 100644
index 0000000000..069e7a1d69
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/ITensorItrImpl.hpp
@@ -0,0 +1,42 @@
+//=============================================================================
+//
+//  Copyright (c) 2015-2020 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+
+#ifndef _ITENSOR_ITR_IMPL_HPP_
+#define _ITENSOR_ITR_IMPL_HPP_
+
+#include "ZdlExportDefine.hpp"
+
+#include <memory>
+#include <iterator>
+
+namespace DlSystem
+{
+   class ITensorItrImpl;
+}
+
+class ZDL_EXPORT DlSystem::ITensorItrImpl
+{
+public:
+   ITensorItrImpl() {}
+   virtual ~ITensorItrImpl() {}
+
+   virtual float getValue() const = 0;
+   virtual float& getReference() = 0;
+   virtual float& getReferenceAt(size_t idx) = 0;
+   virtual float* dataPointer() const = 0;
+   virtual void increment(int incVal = 1) = 0;
+   virtual void decrement(int decVal = 1) = 0;
+   virtual size_t getPosition() = 0;
+   virtual std::unique_ptr<DlSystem::ITensorItrImpl> clone() = 0;
+
+private:
+   ITensorItrImpl& operator=(const ITensorItrImpl& other) = delete;
+   ITensorItrImpl(const ITensorItrImpl& other) = delete;
+};
+
+#endif
diff --git a/third_party/snpe/include/DlSystem/IUDL.hpp b/third_party/snpe/include/DlSystem/IUDL.hpp
new file mode 100644
index 0000000000..2e9dddc48f
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/IUDL.hpp
@@ -0,0 +1,98 @@
+//=============================================================================
+//
+//  Copyright (c) 2016-2017 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+
+#ifndef _DL_SYSTEM_IUDL_HPP_
+#define _DL_SYSTEM_IUDL_HPP_
+
+#include "ZdlExportDefine.hpp"
+
+namespace zdl {
+namespace DlSystem {
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * @brief .
+ *
+ * Base class user concrete UDL implementation.
+ *
+ * All functions are marked as:
+ *
+ * - virtual
+ * - noexcept
+ *
+ * User should make sure no exceptions are propagated outside of
+ * their module. Errors can be communicated via return values.
+ */
+class ZDL_EXPORT IUDL {
+public:
+   /**
+    * @brief .
+    *
+    * Destructor
+    */
+   virtual ~IUDL() = default;
+
+   /**
+    * @brief Sets up the user's environment.
+    * This is called by the SNPE framework to allow the user the
+    * opportunity to setup anything which is needed for running
+    * user defined layers.
+    *
+    * @param cookie User provided opaque data returned by the SNPE
+    *               runtime
+    *
+    * @param insz How many elements in input size array
+    * @param indim Pointer to a buffer that holds input dimension
+    *               array
+    * @param indimsz Input dimension size  array of the buffer
+    *                 'indim'. Corresponds to indim
+    *
+    * @param outsz How many elements in output size array
+    * @param outdim Pointer to a buffer that holds output
+    *              dimension array
+    * @param outdimsz Output dimension size of the buffer 'oudim'.
+    *                  Corresponds to indim
+    *
+    * @return true on success, false otherwise
+    */
+   virtual bool setup(void *cookie,
+                      size_t insz, const size_t **indim, const size_t *indimsz,
+                      size_t outsz, const size_t **outdim, const size_t *outdimsz)  = 0;
+
+   /**
+    * @brief Close the instance. Invoked by the SNPE
+    * framework to allow the user the opportunity to release any resources
+    * allocated during setup.
+    *
+    * @param cookie - User provided opaque data returned by the SNPE runtime
+    */
+   virtual void close(void *cookie) noexcept = 0;
+
+   /**
+    * @brief Execute the user defined layer
+    *
+    * @param cookie User provided opaque data returned by the SNPE 
+    *               runtime
+    *
+    * @param input Const pointer to a float buffer that contains
+    *               the input
+    *
+    * @param output Float pointer to a buffer that would hold
+    *                 the user defined layer's output. This buffer
+    *                 is allocated and owned by SNPE runtime.
+    */
+   virtual bool execute(void *cookie, const float **input, float **output)  = 0;
+};
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+} // ns DlSystem
+
+} // ns zdl
+
+#endif // _DL_SYSTEM_IUDL_HPP_
diff --git a/third_party/snpe/include/DlSystem/IUserBuffer.hpp b/third_party/snpe/include/DlSystem/IUserBuffer.hpp
new file mode 100644
index 0000000000..5e5731dd83
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/IUserBuffer.hpp
@@ -0,0 +1,421 @@
+//==============================================================================
+//
+// Copyright (c) 2017-2020 Qualcomm Technologies, Inc.
+// All Rights Reserved.
+// Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+#ifndef _IUSER_BUFFER_HPP
+#define _IUSER_BUFFER_HPP
+
+#include "TensorShape.hpp"
+#include "ZdlExportDefine.hpp"
+#include <math.h>
+
+namespace zdl {
+namespace DlSystem {
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+
+/**
+  * @brief .
+  *
+  * A base class buffer encoding type
+  */
+class ZDL_EXPORT UserBufferEncoding {
+public:
+
+    /**
+      * @brief .
+      *
+      * An enum class of all supported element types in a IUserBuffer
+      */
+    enum class ElementType_t
+    {
+        /// Unknown element type.
+        UNKNOWN         = 0,
+
+        /// Each element is presented by float.
+        FLOAT           = 1,
+
+        /// Each element is presented by an unsigned int.
+        UNSIGNED8BIT    = 2,
+
+        /// Each element is presented by an 8-bit quantized value.
+        TF8             = 10,
+
+        /// Each element is presented by an 16-bit quantized value.
+        TF16            = 11
+    };
+
+    /**
+      * @brief Retrieves the size of the element, in bytes.
+      *
+      * @return Size of the element, in bytes.
+     */
+    virtual size_t getElementSize() const noexcept = 0;
+
+    /**
+      * @brief Retrieves the element type
+      *
+      * @return Element type
+     */
+    ElementType_t getElementType() const noexcept {return m_ElementType;};
+
+    virtual ~UserBufferEncoding() {}
+
+protected:
+    UserBufferEncoding(ElementType_t  elementType) : m_ElementType(elementType) {};
+private:
+    const ElementType_t  m_ElementType;
+};
+
+/**
+  * @brief .
+  *
+  * A base class buffer source type
+  *
+  * @note User buffer from CPU support all kinds of runtimes;
+  *       User buffer from GLBUFFER support only GPU runtime.
+  */
+class ZDL_EXPORT UserBufferSource {
+public:
+   enum class SourceType_t
+   {
+      /// Unknown buffer source type.
+      UNKNOWN = 0,
+
+      /// The network inputs are from CPU buffer.
+      CPU = 1,
+
+      /// The network inputs are from OpenGL buffer.
+      GLBUFFER = 2
+   };
+
+   /**
+     * @brief Retrieves the source type
+     *
+     * @return Source type
+    */
+   SourceType_t getSourceType() const noexcept {return m_SourceType;};
+
+protected:
+   UserBufferSource(SourceType_t sourceType): m_SourceType(sourceType) {};
+private:
+   const SourceType_t m_SourceType;
+};
+
+/**
+  * @brief .
+  *
+  * An source type where input data is delivered from OpenGL buffer
+  */
+class ZDL_EXPORT UserBufferSourceGLBuffer : public UserBufferSource{
+public:
+   UserBufferSourceGLBuffer() : UserBufferSource(SourceType_t::GLBUFFER) {};
+};
+
+/**
+  * @brief .
+  *
+  * An encoding type where each element is represented by an unsigned int
+  */
+class ZDL_EXPORT UserBufferEncodingUnsigned8Bit : public UserBufferEncoding {
+public:
+    UserBufferEncodingUnsigned8Bit() : UserBufferEncoding(ElementType_t::UNSIGNED8BIT) {};
+    size_t getElementSize() const noexcept override;
+
+protected:
+    UserBufferEncodingUnsigned8Bit(ElementType_t  elementType) : UserBufferEncoding(elementType) {};
+
+};
+
+/**
+  * @brief .
+  *
+  * An encoding type where each element is represented by a float
+  */
+class ZDL_EXPORT UserBufferEncodingFloat : public UserBufferEncoding {
+public:
+    UserBufferEncodingFloat() : UserBufferEncoding(ElementType_t::FLOAT) {};
+    size_t getElementSize() const noexcept override;
+
+};
+
+/**
+  * @brief .
+  *
+  * An encoding type where each element is represented by tf8, which is an
+  * 8-bit quantizd value, which has an exact representation of 0.0
+  */
+
+class ZDL_EXPORT UserBufferEncodingTf8 : public UserBufferEncodingUnsigned8Bit {
+public:
+    UserBufferEncodingTf8() = delete;
+    UserBufferEncodingTf8(unsigned char stepFor0, float stepSize) :
+            UserBufferEncodingUnsigned8Bit(ElementType_t::TF8),
+            m_StepExactly0(stepFor0),
+            m_QuantizedStepSize(stepSize) {};
+
+    UserBufferEncodingTf8(const zdl::DlSystem::UserBufferEncoding &ubEncoding) : UserBufferEncodingUnsigned8Bit(ubEncoding.getElementType()){
+            const zdl::DlSystem::UserBufferEncodingTf8* ubEncodingTf8
+                            = dynamic_cast <const zdl::DlSystem::UserBufferEncodingTf8*> (&ubEncoding);
+            if (ubEncodingTf8) {
+                m_StepExactly0 = ubEncodingTf8->getStepExactly0();
+                m_QuantizedStepSize = ubEncodingTf8->getQuantizedStepSize();
+            }
+    }
+
+/**
+      * @brief Sets the step value that represents 0
+      *
+      * @param[in] stepExactly0 The step value that represents 0
+      *
+     */
+
+    void setStepExactly0(const unsigned char stepExactly0) {
+        m_StepExactly0 = stepExactly0;
+    }
+
+
+/**
+      * @brief Sets the float value that each step represents
+      *
+      * @param[in] quantizedStepSize The float value of each step size
+      *
+     */
+
+    void setQuantizedStepSize(const float quantizedStepSize) {
+        m_QuantizedStepSize = quantizedStepSize;
+    }
+
+
+/**
+      * @brief Retrieves the step that represents 0.0
+      *
+      * @return Step value
+     */
+
+    unsigned char getStepExactly0() const {
+        return m_StepExactly0;
+    }
+
+
+/**
+     * Calculates the minimum floating point value that
+     * can be represented with this encoding.
+     *
+     * @return Minimum representable floating point value
+     */
+
+    float getMin() const {
+        return m_QuantizedStepSize * (0 - m_StepExactly0);
+    }
+
+
+/**
+     * Calculates the maximum floating point value that
+     * can be represented with this encoding.
+     *
+     * @return Maximum representable floating point value
+     */
+
+    float getMax() const {
+        return m_QuantizedStepSize * (255 - m_StepExactly0);
+    }
+
+
+/**
+      * @brief Retrieves the step size
+      *
+      * @return Step size
+     */
+
+    float getQuantizedStepSize() const {
+        return m_QuantizedStepSize;
+    }
+
+private:
+    unsigned char m_StepExactly0;
+
+    float m_QuantizedStepSize;
+};
+
+
+
+class ZDL_EXPORT UserBufferEncodingTfN : public UserBufferEncoding {
+public:
+   UserBufferEncodingTfN() = delete;
+   UserBufferEncodingTfN(uint64_t stepFor0, float stepSize, uint8_t bWidth=8):
+                                           UserBufferEncoding(getTypeFromWidth(bWidth)),
+                                           bitWidth(bWidth),
+                                           m_StepExactly0(stepFor0),
+                                           m_QuantizedStepSize(stepSize){};
+
+   UserBufferEncodingTfN(const zdl::DlSystem::UserBufferEncoding &ubEncoding) : UserBufferEncoding(ubEncoding.getElementType()){
+            const zdl::DlSystem::UserBufferEncodingTfN* ubEncodingTfN
+                            = dynamic_cast <const zdl::DlSystem::UserBufferEncodingTfN*> (&ubEncoding);
+            if (ubEncodingTfN) {
+                m_StepExactly0 = ubEncodingTfN->getStepExactly0();
+                m_QuantizedStepSize = ubEncodingTfN->getQuantizedStepSize();
+                bitWidth = ubEncodingTfN->bitWidth;
+            }
+   }
+
+   size_t getElementSize() const noexcept override;
+   /**
+      * @brief Sets the step value that represents 0
+      *
+      * @param[in] stepExactly0 The step value that represents 0
+      *
+     */
+   void setStepExactly0(uint64_t stepExactly0) {
+      m_StepExactly0 = stepExactly0;
+   }
+
+   /**
+     * @brief Sets the float value that each step represents
+     *
+     * @param[in] quantizedStepSize The float value of each step size
+     *
+    */
+   void setQuantizedStepSize(const float quantizedStepSize) {
+      m_QuantizedStepSize = quantizedStepSize;
+   }
+
+   /**
+     * @brief Retrieves the step that represents 0.0
+     *
+     * @return Step value
+    */
+   uint64_t getStepExactly0() const {
+      return m_StepExactly0;
+   }
+
+   /**
+    * Calculates the minimum floating point value that
+    * can be represented with this encoding.
+    *
+    * @return Minimum representable floating point value
+    */
+   float getMin() const {
+      return static_cast<float>(m_QuantizedStepSize * (0 - (double)m_StepExactly0));
+   }
+
+   /**
+    * Calculates the maximum floating point value that
+    * can be represented with this encoding.
+    *
+    * @return Maximum representable floating point value
+    */
+   float getMax() const{
+       return static_cast<float>(m_QuantizedStepSize * (pow(2,bitWidth)-1 - (double)m_StepExactly0));
+   };
+
+   /**
+     * @brief Retrieves the step size
+     *
+     * @return Step size
+    */
+   float getQuantizedStepSize() const {
+      return m_QuantizedStepSize;
+   }
+
+   ElementType_t getTypeFromWidth(uint8_t width);
+
+   uint8_t bitWidth;
+private:
+   uint64_t m_StepExactly0;
+   float m_QuantizedStepSize;
+};
+
+
+/**
+ * @brief UserBuffer contains a pointer and info on how to walk it and interpret its content.
+ */
+class ZDL_EXPORT IUserBuffer {
+public:
+    virtual ~IUserBuffer() = default;
+    
+    /**
+      * @brief Retrieves the total number of bytes between elements in each dimension if
+      * the buffer were to be interpreted as a multi-dimensional array.
+      *
+      * @return Number of bytes between elements in each dimension.
+      * e.g. A tightly packed tensor of floats with dimensions [4, 3, 2] would
+      * return strides of [24, 8, 4].
+     */
+    virtual const TensorShape& getStrides() const = 0;
+
+    /**
+      * @brief Retrieves the size of the buffer, in bytes.
+      *
+      * @return Size of the underlying buffer, in bytes.
+     */
+    virtual size_t getSize() const = 0;
+
+    /**
+      * @brief Retrieves the size of the inference data in the buffer, in bytes.
+      *
+      * The inference results from a dynamic-sized model may not be exactly the same size
+      * as the UserBuffer provided to SNPE. This function can be used to get the amount
+      * of output inference data, which may be less or greater than the size of the UserBuffer.
+      *
+      * If the inference results fit in the UserBuffer, getOutputSize() would be less than
+      * or equal to getSize(). But if the inference results were more than the capacity of
+      * the provided UserBuffer, the results would be truncated to fit the UserBuffer. But,
+      * getOutputSize() would be greater than getSize(), which indicates a bigger buffer
+      * needs to be provided to SNPE to hold all of the inference results.
+      *
+      * @return Size required for the buffer to hold all inference results, which can be less
+      * or more than the size of the buffer, in bytes.
+    */
+    virtual size_t getOutputSize() const = 0;
+
+    /**
+      * @brief Changes the underlying memory that backs the UserBuffer.
+      *
+      * This can be used to avoid creating multiple UserBuffer objects
+      * when the only thing that differs is the memory location.
+      *
+      * @param[in] buffer Pointer to the memory location
+      *
+      * @return Whether the set succeeds.
+     */
+    virtual bool setBufferAddress(void *buffer) noexcept = 0;
+
+    /**
+      * @brief Gets a const reference to the data encoding object of
+      *        the underlying buffer
+      *
+      * This is necessary when the UserBuffer is filled by SNPE with
+      * data types such as TF8, where the caller needs to know the quantization
+      * parameters in order to interpret the data properly
+      *
+      * @return A read-only encoding object
+     */
+    virtual const UserBufferEncoding& getEncoding() const noexcept = 0;
+
+    /**
+      * @brief Gets a reference to the data encoding object of
+      *        the underlying buffer
+      *
+      * This is necessary when the UserBuffer is re-used, and the encoding
+      * parameters can change.  For example, each input can be quantized with
+      * different step sizes.
+      *
+      * @return Data encoding meta-data
+     */
+    virtual UserBufferEncoding& getEncoding() noexcept = 0;
+
+};
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+}
+}
+
+#endif
diff --git a/third_party/snpe/include/DlSystem/IUserBufferFactory.hpp b/third_party/snpe/include/DlSystem/IUserBufferFactory.hpp
new file mode 100644
index 0000000000..59803fbd8f
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/IUserBufferFactory.hpp
@@ -0,0 +1,81 @@
+//=============================================================================
+//
+//  Copyright (c) 2017 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+
+#ifndef _IUSERBUFFER_FACTORY_HPP
+#define _IUSERBUFFER_FACTORY_HPP
+
+#include "IUserBuffer.hpp"
+#include "TensorShape.hpp"
+#include "ZdlExportDefine.hpp"
+#include "DlEnums.hpp"
+namespace zdl {
+    namespace DlSystem {
+        class IUserBuffer;
+
+        class TensorShape;
+    }
+}
+
+namespace zdl {
+namespace DlSystem {
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+* Factory interface class to create IUserBuffer objects.
+*/
+class ZDL_EXPORT IUserBufferFactory {
+public:
+    virtual ~IUserBufferFactory() = default;
+
+    /**
+     * @brief Creates a UserBuffer
+     *
+     * @param[in] buffer Pointer to the buffer that the caller supplies
+     *
+     * @param[in] bufSize Buffer size, in bytes
+     *
+     * @param[in] strides Total number of bytes between elements in each dimension.
+     *          E.g. A tightly packed tensor of floats with dimensions [4, 3, 2] would have strides of [24, 8, 4].
+     *
+     * @param[in] userBufferEncoding Reference to an UserBufferEncoding object
+     *
+     * @note Caller has to ensure that memory pointed to by buffer stays accessible
+     *       for the lifetime of the object created
+     */
+    virtual std::unique_ptr<IUserBuffer>
+    createUserBuffer(void *buffer, size_t bufSize, const zdl::DlSystem::TensorShape &strides, zdl::DlSystem::UserBufferEncoding* userBufferEncoding) noexcept = 0;
+
+    /**
+     * @brief Creates a UserBuffer
+     *
+     * @param[in] buffer Pointer to the buffer that the caller supplies
+     *
+     * @param[in] bufSize Buffer size, in bytes
+     *
+     * @param[in] strides Total number of bytes between elements in each dimension.
+     *          E.g. A tightly packed tensor of floats with dimensions [4, 3, 2] would have strides of [24, 8, 4].
+     *
+     * @param[in] userBufferEncoding Reference to an UserBufferEncoding object
+     *
+     * @param[in] userBufferSource Reference to an UserBufferSource object
+     *
+     * @note Caller has to ensure that memory pointed to by buffer stays accessible
+     *       for the lifetime of the object created
+     */
+    virtual std::unique_ptr<IUserBuffer>
+    createUserBuffer(void *buffer, size_t bufSize, const zdl::DlSystem::TensorShape &strides, zdl::DlSystem::UserBufferEncoding* userBufferEncoding, zdl::DlSystem::UserBufferSource* userBufferSource) noexcept = 0;
+};
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+}
+}
+
+
+#endif
diff --git a/third_party/snpe/include/DlSystem/PlatformConfig.hpp b/third_party/snpe/include/DlSystem/PlatformConfig.hpp
new file mode 100644
index 0000000000..3f15f177e3
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/PlatformConfig.hpp
@@ -0,0 +1,203 @@
+//=============================================================================
+//
+//  Copyright (c) 2017-2018 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+
+#ifndef _DL_SYSTEM_PLATFORM_CONFIG_HPP_
+#define _DL_SYSTEM_PLATFORM_CONFIG_HPP_
+
+#include "DlSystem/ZdlExportDefine.hpp"
+#include <string>
+
+namespace zdl{
+namespace DlSystem
+{
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+
+/**
+  * @brief .
+  *
+  * A structure OpenGL configuration
+  *
+  * @note When certain OpenGL context and display are provided to UserGLConfig for using
+  *       GPU buffer as input directly, the user MUST ensure the particular OpenGL
+  *       context and display remain vaild throughout the execution of neural network models.
+  */
+struct ZDL_EXPORT UserGLConfig
+{
+   /// Holds user EGL context.
+   ///
+   void* userGLContext = nullptr;
+
+   /// Holds user EGL display.
+   void* userGLDisplay = nullptr;
+};
+
+/**
+  * @brief .
+  *
+  * A structure Gpu configuration
+  */
+struct ZDL_EXPORT UserGpuConfig{
+   /// Holds user OpenGL configuration.
+   ///
+   UserGLConfig userGLConfig;
+};
+
+/**
+  * @brief .
+  *
+  * A class user platform configuration
+  */
+class ZDL_EXPORT PlatformConfig
+{
+public:
+
+   /**
+     * @brief .
+     *
+     * An enum class of all supported platform types
+     */
+   enum class PlatformType_t
+   {
+      /// Unknown platform type.
+      UNKNOWN = 0,
+
+      /// Snapdragon CPU.
+      CPU = 1,
+
+      /// Adreno GPU.
+      GPU = 2,
+
+      /// Hexagon DSP.
+      DSP = 3
+   };
+
+   /**
+     * @brief .
+     *
+     * A union class user platform configuration information
+     */
+   union PlatformConfigInfo
+   {
+      /// Holds user GPU Configuration.
+      ///
+      UserGpuConfig userGpuConfig;
+
+      PlatformConfigInfo(){};
+   };
+
+   PlatformConfig() : m_PlatformType(PlatformType_t::UNKNOWN),
+                      m_PlatformOptions("") {};
+
+   /**
+     * @brief Retrieves the platform type
+     *
+     * @return Platform type
+     */
+   PlatformType_t getPlatformType() const {return m_PlatformType;};
+
+   /**
+     * @brief Indicates whther the plaform configuration is valid.
+     *
+     * @return True if the platform configuration is valid; false otherwise.
+     */
+   bool isValid() const {return (PlatformType_t::UNKNOWN != m_PlatformType);};
+
+   /**
+     * @brief Retrieves the Gpu configuration
+     *
+     * @param[out] userGpuConfig The passed in userGpuConfig populated with the Gpu configuration on return.
+     *
+     * @return True if Gpu configuration was retrieved; false otherwise.
+     */
+   bool getUserGpuConfig(UserGpuConfig& userGpuConfig) const
+   {
+      if(m_PlatformType == PlatformType_t::GPU)
+      {
+         userGpuConfig = m_PlatformConfigInfo.userGpuConfig;
+         return true;
+      }
+      else
+      {
+         return false;
+      }
+   }
+
+   /**
+     * @brief Sets the Gpu configuration
+     *
+     * @param[in] userGpuConfig Gpu Configuration
+     *
+     * @return True if Gpu configuration was successfully set; false otherwise.
+     */
+   bool setUserGpuConfig(UserGpuConfig& userGpuConfig)
+   {
+      if((userGpuConfig.userGLConfig.userGLContext != nullptr) && (userGpuConfig.userGLConfig.userGLDisplay != nullptr))
+      {
+         switch (m_PlatformType)
+         {
+         case PlatformType_t::GPU:
+            m_PlatformConfigInfo.userGpuConfig = userGpuConfig;
+            return true;
+         case PlatformType_t::UNKNOWN:
+            m_PlatformType = PlatformType_t::GPU;
+            m_PlatformConfigInfo.userGpuConfig = userGpuConfig;
+            return true;
+         default:
+            return false;
+         }
+      }
+      else
+         return false;
+   }
+
+   /**
+     * @brief Sets the platform options
+     *
+     * @param[in] options Options as a string in the form of "keyword:options"
+     *
+     * @return True if options are pass validation; otherwise false.  If false, the options are not updated.
+     */
+   bool setPlatformOptions(std::string options) {
+      std::string oldOptions = m_PlatformOptions;
+      m_PlatformOptions = options;
+      if (isOptionsValid()) {
+         return true;
+      } else {
+         m_PlatformOptions = oldOptions;
+         return false;
+      }
+   }
+
+   /**
+     * @brief Indicates whther the plaform configuration is valid.
+     *
+     * @return True if the platform configuration is valid; false otherwise.
+     */
+   bool isOptionsValid() const;
+
+   /**
+     * @brief Gets the platform options
+     *
+     * @return Options as a string
+     */
+   std::string getPlatformOptions() const { return m_PlatformOptions; }
+
+private:
+   PlatformType_t m_PlatformType;
+   PlatformConfigInfo m_PlatformConfigInfo;
+   std::string m_PlatformOptions;
+};
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+}} //namespace end
+
+#endif
diff --git a/third_party/snpe/include/DlSystem/RuntimeList.hpp b/third_party/snpe/include/DlSystem/RuntimeList.hpp
new file mode 100644
index 0000000000..1088a5b31f
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/RuntimeList.hpp
@@ -0,0 +1,154 @@
+//=============================================================================
+//
+//  Copyright (c) 2019 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+
+#include "ZdlExportDefine.hpp"
+#include "DlSystem/DlEnums.hpp"
+#include "DlSystem/StringList.hpp"
+#include <cstddef>
+#include <memory>
+
+#ifndef DL_SYSTEM_RUNTIME_LIST_HPP
+#define DL_SYSTEM_RUNTIME_LIST_HPP
+
+namespace DlSystem
+{
+   // Forward declaration of Runtime List implementation.
+   class RuntimeListImpl;
+}
+
+namespace zdl
+{
+namespace DlSystem
+{
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+  * @brief .
+  *
+  * A class representing list of runtimes
+  */
+class ZDL_EXPORT RuntimeList final
+{
+public:
+
+    /**
+    * @brief .
+    *
+    * Creates a new runtime list
+    *
+    */
+   RuntimeList();
+
+   /**
+   * @brief .
+   *
+   * copy constructor.
+   * @param[in] other object to copy.
+   */
+   RuntimeList(const RuntimeList& other);
+
+   /**
+   * @brief .
+   *
+   * constructor with single Runtime_t object
+   * @param[in] Runtime_t object
+   */
+   RuntimeList(const zdl::DlSystem::Runtime_t& runtime);
+
+   /**
+    * @brief .
+    *
+    * assignment operator.
+    */
+   RuntimeList& operator=(const RuntimeList& other);
+
+   /**
+    * @brief .
+    *
+    * subscript operator.
+    */
+   Runtime_t& operator[](size_t index);
+
+   /**
+    * @brief Adds runtime to the end of the runtime list
+    *        order of precedence is former followed by latter entry
+    *
+    * @param[in] runtime to add
+    *
+    * Ruturns false If the runtime already exists
+    */
+   bool add(const zdl::DlSystem::Runtime_t& runtime);
+
+   /**
+    * @brief Removes the runtime from the list
+    *
+    * @param[in] runtime to be removed
+    *
+    * @note If the runtime is not found, nothing is done.
+    */
+   void remove(const zdl::DlSystem::Runtime_t runtime) noexcept;
+
+   /**
+    * @brief Returns the number of runtimes in the list
+    */
+   size_t size() const noexcept;
+
+   /**
+    * @brief Returns true if the list is empty
+    */
+   bool empty() const noexcept;
+
+   /**
+    * @brief .
+    *
+    * Removes all runtime from the list
+    */
+   void clear() noexcept;
+
+   /**
+    * @brief .
+    *
+    * Returns a StringList of names from the runtime list in
+    * order of precedence
+    */
+   zdl::DlSystem::StringList getRuntimeListNames() const;
+
+   /**
+    * @brief .
+    *
+    * @param[in] runtime string
+    * Returns a Runtime enum corresponding to the in param string
+    *
+    */
+   static zdl::DlSystem::Runtime_t stringToRuntime(const char* runtimeStr);
+
+   /**
+    * @brief .
+    *
+    * @param[in] runtime
+    * Returns a string corresponding to the in param runtime enum
+    *
+    */
+   static const char* runtimeToString(const zdl::DlSystem::Runtime_t runtime);
+
+   ~RuntimeList();
+
+private:
+   void deepCopy(const RuntimeList &other);
+   std::unique_ptr<::DlSystem::RuntimeListImpl> m_RuntimeListImpl;
+};
+
+} // DlSystem namespace
+} // zdl namespace
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#endif // DL_SYSTEM_RUNTIME_LIST_HPP
+
diff --git a/third_party/snpe/include/DlSystem/String.hpp b/third_party/snpe/include/DlSystem/String.hpp
new file mode 100644
index 0000000000..c1eba3bad9
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/String.hpp
@@ -0,0 +1,104 @@
+//=============================================================================
+//
+//  Copyright (c) 2017, 2020 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+
+#ifndef PLATFORM_STANDARD_STRING_HPP
+#define PLATFORM_STANDARD_STRING_HPP
+
+#include <cstdio>
+#include <string>
+#include <ostream>
+#include "DlSystem/ZdlExportDefine.hpp"
+
+namespace zdl
+{
+namespace DlSystem
+{
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * @brief .
+ *
+ * Class for wrapping char * as a really stripped down std::string replacement.
+ */
+class ZDL_EXPORT String final
+{
+public:
+   String() = delete;
+
+   /**
+    * Construct a string from std::string reference.
+    * @param str Reference to a std::string
+    */
+   explicit String(const std::string& str);
+
+   /**
+    * Construct a string from char* reference.
+    * @param a char*
+    */
+   explicit String(const char* str);
+
+   /**
+    * move constructor.
+    */
+   String(String&& other) noexcept;
+
+   /**
+    * copy constructor.
+    */
+   String(const String& other) = delete;
+
+   /**
+    * assignment operator.
+    */
+   String& operator=(const String&) = delete;
+
+   /**
+    * move assignment operator.
+    */
+   String& operator=(String&&) = delete;
+
+   /**
+    * class comparators
+    */
+   bool operator<(const String& rhs) const noexcept;
+   bool operator>(const String& rhs) const noexcept;
+   bool operator<=(const String& rhs) const noexcept;
+   bool operator>=(const String& rhs) const noexcept;
+   bool operator==(const String& rhs) const noexcept;
+   bool operator!=(const String& rhs) const noexcept;
+
+   /**
+    * class comparators against std::string
+    */
+   bool operator<(const std::string& rhs) const noexcept;
+   bool operator>(const std::string& rhs) const noexcept;
+   bool operator<=(const std::string& rhs) const noexcept;
+   bool operator>=(const std::string& rhs) const noexcept;
+   bool operator==(const std::string& rhs) const noexcept;
+   bool operator!=(const std::string& rhs) const noexcept;
+
+   const char* c_str() const noexcept;
+
+   ~String();
+private:
+
+   char* m_string;
+};
+
+/**
+ * overloaded << operator
+ */
+ZDL_EXPORT std::ostream& operator<<(std::ostream& os, const String& str) noexcept;
+
+} // DlSystem namespace
+} // zdl namespace
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#endif // PLATFORM_STANDARD_STRING_HPP
diff --git a/third_party/snpe/include/DlSystem/StringList.hpp b/third_party/snpe/include/DlSystem/StringList.hpp
new file mode 100644
index 0000000000..a9a7d5ed89
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/StringList.hpp
@@ -0,0 +1,107 @@
+//=============================================================================
+//
+//  Copyright (c) 2016 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+#include <cstdio>
+#include "ZdlExportDefine.hpp"
+
+#ifndef DL_SYSTEM_STRINGLIST_HPP
+#define DL_SYSTEM_STRINGLIST_HPP
+
+namespace zdl
+{
+namespace DlSystem
+{
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * @brief .
+ *
+ * Class for holding an order list of null-terminated ASCII strings.
+ */
+class ZDL_EXPORT StringList final
+{
+public:
+   StringList() {}
+
+   /**
+    * Construct a string list with some pre-allocated memory.
+    * @warning Contents of the list will be uninitialized
+    * @param[in] length Number of elements for which to pre-allocate space.
+    */
+   explicit StringList(size_t length);
+
+   /**
+    * Append a string to the list.
+    * @param[in] str Null-terminated ASCII string to append to the list.
+    */
+   void append(const char* str);
+
+   /**
+    * Returns the string at the indicated position,
+    *  or an empty string if the positions is greater than the size
+    *  of the list.
+    * @param[in] idx Position in the list of the desired string
+    */
+   const char* at(size_t idx) const noexcept;
+
+   /**
+    * Pointer to the first string in the list.
+    *  Can be used to iterate through the list.
+    */
+   const char** begin() const noexcept;
+
+   /**
+    * Pointer to one after the last string in the list.
+    *  Can be used to iterate through the list.
+    */
+   const char** end() const noexcept;
+
+   /**
+    * Return the number of valid string pointers held by this list.
+    */
+   size_t size() const noexcept;
+
+
+   /**
+    * assignment operator. 
+    */
+   StringList& operator=(const StringList&) noexcept;
+
+   /**
+    * copy constructor.
+    * @param[in] other object to copy.
+    */
+   StringList(const StringList& other);
+
+   /**
+    * move constructor.
+    * @param[in] other object to move.    
+    */
+   StringList(StringList&& other) noexcept;
+
+   ~StringList();
+private:
+   void copy(const StringList& other);
+
+   void resize(size_t length);
+
+   void clear();
+
+   static const char* s_Empty;
+   const char** m_Strings = nullptr;
+   const char** m_End = nullptr;
+   size_t       m_Size = 0;
+};
+
+} // DlSystem namespace
+} // zdl namespace
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#endif // DL_SYSTEM_STRINGLIST_HPP
+
diff --git a/third_party/snpe/include/DlSystem/TensorMap.hpp b/third_party/snpe/include/DlSystem/TensorMap.hpp
new file mode 100644
index 0000000000..feecec6667
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/TensorMap.hpp
@@ -0,0 +1,120 @@
+//=============================================================================
+//
+//  Copyright (c) 2016 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+#include <memory>
+#include "ZdlExportDefine.hpp"
+#include "ITensor.hpp"
+#include "StringList.hpp"
+
+#ifndef DL_SYSTEM_TENSOR_MAP_HPP
+#define DL_SYSTEM_TENSOR_MAP_HPP
+
+namespace DlSystem
+{
+   // Forward declaration of tensor map implementation.
+   class TensorMapImpl;
+}
+
+namespace zdl
+{
+namespace DlSystem
+{
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+  * @brief .
+  *
+  * A class representing the map of tensor.
+  */
+class ZDL_EXPORT TensorMap final
+{
+public:
+
+  /**
+   * @brief .
+   *
+   * Creates a new empty tensor map
+   */
+   TensorMap();
+
+  /**
+   * copy constructor.
+   * @param[in] other object to copy. 
+   */
+   TensorMap(const TensorMap& other);
+
+  /**
+    * assignment operator. 
+    */
+   TensorMap& operator=(const TensorMap& other);
+
+   /**
+    * @brief Adds a name and the corresponding tensor pointer
+    *        to the map
+    *
+    * @param[in] name The name of the tensor
+    * @param[out] tensor The pointer to the tensor
+    *
+    * @note If a tensor with the same name already exists, the
+    *       tensor is replaced with the existing tensor.
+    */
+   void add(const char *name, zdl::DlSystem::ITensor *tensor);
+
+   /**
+    * @brief Removes a mapping of tensor and its name by its name
+    *
+    * @param[in] name The name of tensor to be removed
+    *
+    * @note If no tensor with the specified name is found, nothing
+    *       is done.
+    */
+   void remove(const char *name) noexcept;
+
+   /**
+    * @brief Returns the number of tensors in the map
+    */
+   size_t size() const noexcept;
+
+   /**
+    * @brief .
+    *
+    * Removes all tensors from the map
+    */
+   void clear() noexcept;
+
+   /**
+    * @brief Returns the tensor given its name.
+    *  
+    * @param[in] name The name of the tensor to get. 
+    *  
+    * @return nullptr if no tensor with the specified name is 
+    *         found; otherwise, a valid pointer to the tensor.
+    */
+   zdl::DlSystem::ITensor* getTensor(const char *name) const noexcept;
+
+   /**
+    * @brief .
+    *
+    * Returns the names of all tensors
+    */
+   zdl::DlSystem::StringList getTensorNames() const;
+
+   ~TensorMap();
+private:
+   void swap(const TensorMap &other);
+   std::unique_ptr<::DlSystem::TensorMapImpl> m_TensorMapImpl;
+};
+
+} // DlSystem namespace
+} // zdl namespace
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#endif // DL_SYSTEM_TENSOR_MAP_HPP
+
diff --git a/third_party/snpe/include/DlSystem/TensorShape.hpp b/third_party/snpe/include/DlSystem/TensorShape.hpp
new file mode 100644
index 0000000000..99583dccb4
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/TensorShape.hpp
@@ -0,0 +1,203 @@
+//=============================================================================
+//
+//  Copyright (c) 2016 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+#include <initializer_list>
+#include <cstdio>
+#include <memory>
+#include <vector>
+#include "ZdlExportDefine.hpp"
+
+#ifndef DL_SYSTEM_TENSOR_SHAPE_HPP
+#define DL_SYSTEM_TENSOR_SHAPE_HPP
+
+namespace DlSystem
+{
+   // Forward declaration of tensor shape implementation.
+   class TensorShapeImpl;
+}
+
+namespace zdl
+{
+namespace DlSystem
+{
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * @brief .
+ *
+ * Convenient typedef to represent dimension
+ */
+using Dimension = size_t;
+
+/**
+  * @brief .
+  *
+  * A class representing the shape of tensor. It is used at the
+  * time of creation of tensor.
+  */
+class ZDL_EXPORT TensorShape final
+{
+public:
+
+    /**
+    * @brief .
+    *
+    * Creates a new shape with a list of dims specified in
+    * initializer list fashion.
+    *
+    * @param[in] dims The dimensions are specified in which the last
+    * element of the vector represents the fastest varying
+    * dimension and the zeroth element represents the slowest
+    * varying, etc.
+    *
+    */
+   TensorShape(std::initializer_list<Dimension> dims);
+
+   /**
+    * @brief .
+    *
+    * Creates a new shape with a list of dims specified in array
+    *
+    * @param[in] dims The dimensions are specified in which the last
+    * element of the vector represents the fastest varying
+    * dimension and the zeroth element represents the slowest
+    * varying, etc.
+    *
+    * @param[in] size Size of the array.
+    *
+    */
+   TensorShape(const Dimension *dims, size_t size);
+
+    /**
+    * @brief .
+    *
+    * Creates a new shape with a vector of dims specified in
+    * vector fashion.
+    *
+    * @param[in] dims The dimensions are specified in which the last
+    * element of the vector represents the fastest varying
+    * dimension and the zeroth element represents the slowest
+    * varying, etc.
+    * 
+    */   
+   TensorShape(std::vector<Dimension> dims);
+
+   /**
+   * @brief .
+   *   
+   * copy constructor.
+   * @param[in] other object to copy. 
+   */   
+   TensorShape(const TensorShape& other);
+
+   /**
+    * @brief .
+    *  
+    * assignment operator. 
+    */   
+   TensorShape& operator=(const TensorShape& other);
+
+    /**
+    * @brief .
+    *
+    * Creates a new shape with no dims. It can be extended later
+    * by invoking concatenate.
+    */
+   TensorShape();
+
+  /**
+    * @brief .
+    *
+    * Concatenates additional dimensions specified in 
+    * initializer list fashion to the existing dimensions. 
+    *
+    * @param[in] dims The dimensions are specified in which the last
+    * element of the vector represents the fastest varying
+    * dimension and the zeroth element represents the slowest
+    * varying, etc.
+    *
+   */
+   void concatenate(std::initializer_list<Dimension> dims);
+
+   /**
+    * @brief .
+    *
+    * Concatenates additional dimensions specified in 
+    * the array to the existing dimensions. 
+    *
+    * @param[in] dims The dimensions are specified in which the last
+    * element of the vector represents the fastest varying
+    * dimension and the zeroth element represents the slowest
+    * varying, etc.
+    * 
+    * @param[in] size Size of the array.
+    *
+   */
+   void concatenate(const Dimension *dims, size_t size);
+
+  /**
+    * @brief .
+    *
+    * Concatenates an additional dimension to the existing
+    * dimensions.
+    *
+    * @param[in] dim The dimensions are specified in which the last element
+    * of the vector represents the fastest varying dimension and the
+    * zeroth element represents the slowest varying, etc.
+    *
+   */
+   void concatenate(const Dimension &dim);
+
+  /**
+    * @brief .
+    *
+    * Retrieves a single dimension, based on its index.
+    *
+    * @return The value of dimension
+    *
+    * @throws std::out_of_range if the index is >= the number of
+    * dimensions (or rank).
+    */
+   Dimension& operator[](size_t index);
+   Dimension& operator[](size_t index) const;
+
+  /**
+    * @brief .
+    *
+    * Retrieves the rank i.e. number of dimensions.
+    *
+    * @return The rank
+    */
+   size_t rank() const;
+
+  /**
+    * @brief .
+    *
+    * Retrieves a pointer to the first dimension of shape
+    *
+    * @return nullptr if no dimension exists; otherwise, points to
+    * the first dimension. 
+    *
+    */
+   const Dimension* getDimensions() const;
+
+   ~TensorShape();
+
+private:
+   void swap(const TensorShape &other);
+   std::unique_ptr<::DlSystem::TensorShapeImpl> m_TensorShapeImpl;
+};
+
+} // DlSystem namespace
+} // zdl namespace
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#endif // DL_SYSTEM_TENSOR_SHAPE_HPP
+
diff --git a/third_party/snpe/include/DlSystem/TensorShapeMap.hpp b/third_party/snpe/include/DlSystem/TensorShapeMap.hpp
new file mode 100644
index 0000000000..cef946e2e6
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/TensorShapeMap.hpp
@@ -0,0 +1,127 @@
+//=============================================================================
+//
+//  Copyright (c) 2017-2020 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+#include <initializer_list>
+#include <cstdio>
+#include <memory>
+#include "ZdlExportDefine.hpp"
+#include "DlSystem/TensorShape.hpp"
+#include "DlSystem/StringList.hpp"
+
+#ifndef DL_SYSTEM_TENSOR_SHAPE_MAP_HPP
+#define DL_SYSTEM_TENSOR_SHAPE_MAP_HPP
+
+namespace DlSystem
+{
+   // Forward declaration of tensor shape map implementation.
+   class TensorShapeMapImpl;
+}
+
+namespace zdl
+{
+namespace DlSystem
+{
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+  * @brief .
+  *
+  * A class representing the map of names and tensorshapes.
+  */
+class ZDL_EXPORT TensorShapeMap final
+{
+public:
+
+    /**
+    * @brief .
+    *
+    * Creates a new tensor shape map
+    *
+    */
+   TensorShapeMap();
+
+   /**
+   * @brief .
+   *
+   * copy constructor.
+   * @param[in] other object to copy.
+   */
+   TensorShapeMap(const TensorShapeMap& other);
+
+   /**
+    * @brief .
+    *
+    * assignment operator.
+    */
+   TensorShapeMap& operator=(const TensorShapeMap& other);
+
+   /**
+    * @brief Adds a name and the corresponding tensor pointer
+    *        to the map
+    *
+    * @param[in] name The name of the tensor
+    * @param[out] tensor The pointer to the tensor
+    *
+    * @note If a tensor with the same name already exists, no new
+    *       tensor is added.
+    */
+   void add(const char *name, const zdl::DlSystem::TensorShape& tensorShape);
+
+   /**
+    * @brief Removes a mapping of tensor and its name by its name
+    *
+    * @param[in] name The name of tensor to be removed
+    *
+    * @note If no tensor with the specified name is found, nothing
+    *       is done.
+    */
+   void remove(const char *name) noexcept;
+
+   /**
+    * @brief Returns the number of tensors in the map
+    */
+   size_t size() const noexcept;
+
+   /**
+    * @brief .
+    *
+    * Removes all tensors from the map
+    */
+   void clear() noexcept;
+
+   /**
+    * @brief Returns the tensor given its name.
+    *
+    * @param[in] name The name of the tensor to get.
+    *
+    * @return nullptr if no tensor with the specified name is
+    *         found; otherwise, a valid pointer to the tensor.
+    */
+   zdl::DlSystem::TensorShape getTensorShape(const char *name) const noexcept;
+
+   /**
+    * @brief .
+    *
+    * Returns the names of all tensor shapes
+    */
+   zdl::DlSystem::StringList getTensorShapeNames() const;
+
+   ~TensorShapeMap();
+private:
+   void swap(const TensorShapeMap &other);
+   std::unique_ptr<::DlSystem::TensorShapeMapImpl> m_TensorShapeMapImpl;
+};
+
+} // DlSystem namespace
+} // zdl namespace
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#endif // DL_SYSTEM_TENSOR_SHAPE_MAP_HPP
+
diff --git a/third_party/snpe/include/DlSystem/UDLContext.hpp b/third_party/snpe/include/DlSystem/UDLContext.hpp
new file mode 100644
index 0000000000..6b7c07d3eb
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/UDLContext.hpp
@@ -0,0 +1,244 @@
+//==============================================================================
+//
+// Copyright (c) 2016 Qualcomm Technologies, Inc.
+// All Rights Reserved.
+// Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+#ifndef UDL_CONTEXT_HPP
+#define UDL_CONTEXT_HPP
+
+#include <cstring> // memset
+#include <tuple>
+
+#include "ZdlExportDefine.hpp"
+
+namespace zdl { namespace DlSystem {
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * @brief .
+ *
+ * UDLContext holds the user defined layer context which 
+ * consists of a layer name, layer ID, blob and blob size. 
+ *  
+ * An instance of UDLContext is passed as an argument to the
+ * UDLFactoryFunc provided by the user every time the SNPE 
+ * runtime encounters an unknown layer descriptor. The instance 
+ * of a UDLContext is created by the SNPE runtime and is 
+ * consumed by the user's factory function. The user should 
+ * obtain a copy of this class and should not assume any 
+ * prolonged object lifetime beyond the UDLFactoryFunction.
+ */
+class ZDL_EXPORT UDLContext final {
+public:
+   /**
+    * @brief Constructor
+    *
+    * @param[in] name name of the layer
+    *
+    * @param[in] type layer type
+    *
+    * @param[in] id identifier for the layer
+    *
+    * @param[in] id Blob/bytes as packed by the user code as part of
+    *           the Python converter script
+    */
+   UDLContext(const std::string& name,
+              const std::string& type,
+              int32_t id,
+              const std::string& blob) :
+      m_Name(name), m_Type(type), m_Size(blob.size()), m_Id(id) {
+      // FIXME not dealing with alloc error
+      m_Buffer = new uint8_t[m_Size];
+      std::memcpy(m_Buffer, blob.data(), m_Size);
+   }
+
+   /**
+    * @brief .
+    *
+    * Empty constructor is useful for
+    * creating an empty UDLContext and then run copy constructor
+    * from a fully initialized one.
+    */
+   explicit UDLContext() {}
+
+   /**
+    * @brief .
+    *
+    * destructor Deallocates any internal allocated memory
+    */
+   ~UDLContext() { release(); }
+
+   /**
+    * @brief .
+    *
+    * Deallocate any internally allocated memory
+    */
+   void release() {
+      if (m_Buffer && m_Size)
+         std::memset(m_Buffer, 0, m_Size);
+      delete []m_Buffer;
+      m_Buffer = nullptr;
+      m_Size = 0;
+   }
+
+   /**
+    * @brief .
+    *
+    * Copy Constructor - makes a copy from ctx
+    *
+    * @param[in] ctx Source UDLContext to copy from
+    */
+   UDLContext(const UDLContext& ctx) : m_Name(ctx.m_Name),
+      m_Type(ctx.m_Type),
+      m_Id(ctx.m_Id) {
+      std::tuple<uint8_t*, size_t> cpy = ctx.getCopy();
+      // current compiler does not support get<type>
+      m_Buffer = std::get<0>(cpy);
+      m_Size = std::get<1>(cpy);
+   }
+
+   /**
+    * @brief 
+    *
+    * Assignment operator - makes a copy from ctx
+    *
+    * @param[in] ctx Source UDLContext to copy from
+    *
+    * @return this
+    */
+   UDLContext& operator=(const UDLContext& ctx) {
+      UDLContext c (ctx);
+      this->swap(c); // non throwing swap
+      return *this;
+   }
+
+   /**
+    * @brief .
+    *
+    * Move Constructor - Move internals from ctx into this
+    *
+    * @param[in] ctx Source UDLContext to move from
+    */
+   UDLContext(UDLContext&& ctx) :
+      m_Name(std::move(ctx.m_Name)),
+      m_Type(std::move(ctx.m_Type)),
+      m_Buffer(ctx.m_Buffer),
+      m_Size(ctx.m_Size),
+      m_Id(ctx.m_Id) {
+      ctx.clear();
+   }
+
+   /**
+    * @brief .
+    *
+    * Assignment move - Move assignment operator from ctx
+    *
+    * @param[in] ctx Source UDLContext to move from
+    *
+    * @return this
+    */
+   UDLContext& operator=(UDLContext&& ctx) {
+      m_Name = std::move(ctx.m_Name);
+      m_Type = std::move(ctx.m_Type);
+      m_Buffer = ctx.m_Buffer;
+      m_Size = ctx.m_Size;
+      m_Id = ctx.m_Id;
+      ctx.clear();
+      return *this;
+   }
+
+   /**
+    * @brief .
+    *
+    * Obtain the name of the layer
+    *
+    * @return const reference to the name of the layer
+    */
+   const std::string& getName() const noexcept { return m_Name; }
+
+   /**
+    * @brief .
+    *
+    * Obtain the type of the layer
+    *
+    * @return const reference to the type of the layer
+    */
+   const std::string& getType() const noexcept { return m_Type; }
+
+   /**
+    * @brief .
+    *
+    * Obtain the Id of the layer
+    *
+    * @return The id of the layer
+    */
+   int32_t getId() const noexcept  { return m_Id; }
+
+   /**
+    * @brief .
+    *
+    * Obtain the size of the blob
+    *
+    * @return Size of the internal blob
+    */
+   size_t getSize() const noexcept { return m_Size; }
+
+   /**
+    * @brief .
+    *
+    * Get a const pointer to the internal blob
+    *
+    * @return Const pointer to the internal blob
+    */
+   const uint8_t* getBlob() const noexcept { return m_Buffer; }
+
+   /**
+    * @brief .
+    *
+    * Get a copy of the blob/size into a tuple
+    *
+    * @return A tuple with a pointer to a copy of the blob and a
+    *         size
+    */
+   std::tuple<uint8_t*, size_t> getCopy() const {
+      uint8_t* buf = new uint8_t[m_Size];
+      // FIXME missing memcpy
+      std::memcpy(buf, m_Buffer, m_Size);
+      return std::make_tuple(buf, m_Size);
+   }
+
+   /**
+    * @brief .
+    *
+    * Set zeros in the internals members
+    */
+   void clear() {
+      m_Name.clear();
+      m_Type.clear();
+      m_Buffer = 0;
+      m_Size = 0;
+      m_Id = -1;
+   }
+private:
+   void swap(UDLContext& c) noexcept {
+      std::swap(m_Name, c.m_Name);
+      std::swap(m_Type, c.m_Type);
+      std::swap(m_Id,   c.m_Id);
+      std::swap(m_Buffer, c.m_Buffer);
+      std::swap(m_Size, c.m_Size);
+   }
+   std::string m_Name; // name of the layer instance
+   std::string m_Type; // The actual layer type
+   uint8_t*    m_Buffer = nullptr;
+   size_t      m_Size = 0;
+   int32_t     m_Id = -1;
+};
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+}}
+
+#endif /* UDL_CONTEXT_HPP */
diff --git a/third_party/snpe/include/DlSystem/UDLFunc.hpp b/third_party/snpe/include/DlSystem/UDLFunc.hpp
new file mode 100644
index 0000000000..633ce985bf
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/UDLFunc.hpp
@@ -0,0 +1,84 @@
+//==============================================================================
+//
+//  Copyright (c) 2015 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+#ifndef _UDL_FUNC_HPP_
+#define _UDL_FUNC_HPP_
+
+#include <functional>
+
+#include "ZdlExportDefine.hpp"
+#include <DlSystem/IUDL.hpp>
+
+namespace zdl {
+    namespace DlSystem {
+        class UDLContext;
+    }
+}
+
+namespace zdl { namespace DlSystem {
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+/**
+ * @brief .
+ *
+ * Definition of UDLFactoyFunc, using/typedef and default FactoryFunction
+ * UDLBundle - a simple way to bundle func and cookie into one type
+ */
+
+
+/**
+ * @brief .
+ * 
+ * Convenient typedef for user defined layer creation factory
+ *
+ * @param[out] void* Cookie - a user opaque data that was passed during SNPE's runtime's
+ *        CreateInstance. SNPE's runtime is passing this back to the user.
+ *
+ * @param[out] DlSystem::UDLContext* - The specific Layer Description context what is passe
+ *        SNPE runtime.
+ *
+ * @return IUDL* - a Concrete instance of IUDL derivative
+ */
+using UDLFactoryFunc = std::function<zdl::DlSystem::IUDL* (void*, const zdl::DlSystem::UDLContext*)>;
+
+/**
+ * @brief .
+ *
+ * default UDL factory implementation
+ *
+ * @param[out] DlSystem::UDLContext* - The specific Layer Description context what is passe
+ *        SNPE runtime.
+ *
+ * @param[out] void* Cookie - a user opaque data that was passed during SNPE's runtime's
+ *        CreateInstance. SNPE's runtime is passing this back to the user.
+ * 
+ * @return IUDL* - nullptr to indicate SNPE's runtime that there is no specific
+ *         implementation for UDL. When SNPE's runtime sees nullptr as a return
+ *         value from the factory, it will halt execution if model has an unknown layer
+ *
+ */
+inline ZDL_EXPORT zdl::DlSystem::IUDL* DefaultUDLFunc(void*, const zdl::DlSystem::UDLContext*) { return nullptr; }
+
+/**
+ * @brief .
+ * 
+ * Simple struct to bundle 2 elements.
+ * A user defined cookie that would be returned for each
+ * IUDL call. The user can place anything there and the
+ * SNPE runtime will provide it back
+ */
+struct ZDL_EXPORT UDLBundle {
+   void          *cookie = nullptr;
+   UDLFactoryFunc func   = DefaultUDLFunc;
+};
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+}}
+
+
+#endif // _UDL_FUNC_HPP_
diff --git a/third_party/snpe/include/DlSystem/UserBufferMap.hpp b/third_party/snpe/include/DlSystem/UserBufferMap.hpp
new file mode 100644
index 0000000000..a03ddfe1d1
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/UserBufferMap.hpp
@@ -0,0 +1,122 @@
+//=============================================================================
+//
+//  Copyright (c) 2017 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+#include <memory>
+#include "ZdlExportDefine.hpp"
+#include "StringList.hpp"
+
+#ifndef DL_SYSTEM_USER_BUFFER_MAP_HPP
+#define DL_SYSTEM_USER_BUFFER_MAP_HPP
+
+namespace DlSystem
+{
+    // Forward declaration of UserBuffer map implementation.
+    class UserBufferMapImpl;
+}
+
+namespace zdl
+{
+namespace DlSystem
+{
+class IUserBuffer;
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+  * @brief .
+  *
+  * A class representing the map of UserBuffer.
+  */
+class ZDL_EXPORT UserBufferMap final
+{
+public:
+
+    /**
+     * @brief .
+     *
+     * Creates a new empty UserBuffer map
+     */
+    UserBufferMap();
+
+    /**
+     * copy constructor.
+     * @param[in] other object to copy.
+     */
+    UserBufferMap(const UserBufferMap& other);
+
+    /**
+      * assignment operator.
+      */
+    UserBufferMap& operator=(const UserBufferMap& other);
+
+    /**
+     * @brief Adds a name and the corresponding UserBuffer pointer
+     *        to the map
+     *
+     * @param[in] name The name of the UserBuffer
+     * @param[in] userBuffer The pointer to the UserBuffer
+     *
+     * @note If a UserBuffer with the same name already exists, the new
+     *       UserBuffer pointer would be updated.
+     */
+    void add(const char *name, zdl::DlSystem::IUserBuffer *buffer);
+
+    /**
+     * @brief Removes a mapping of one UserBuffer and its name by its name
+     *
+     * @param[in] name The name of UserBuffer to be removed
+     *
+     * @note If no UserBuffer with the specified name is found, nothing
+     *       is done.
+     */
+    void remove(const char *name) noexcept;
+
+    /**
+     * @brief Returns the number of UserBuffers in the map
+     */
+    size_t size() const noexcept;
+
+    /**
+     * @brief .
+     *
+     * Removes all UserBuffers from the map
+     */
+    void clear() noexcept;
+
+    /**
+     * @brief Returns the UserBuffer given its name.
+     *
+     * @param[in] name The name of the UserBuffer to get.
+     *
+     * @return nullptr if no UserBuffer with the specified name is
+     *         found; otherwise, a valid pointer to the UserBuffer.
+     */
+    zdl::DlSystem::IUserBuffer* getUserBuffer(const char *name) const noexcept;
+
+    /**
+     * @brief .
+     *
+     * Returns the names of all UserBuffers
+     *
+     * @return A list of UserBuffer names.
+     */
+    zdl::DlSystem::StringList getUserBufferNames() const;
+
+    ~UserBufferMap();
+private:
+    void swap(const UserBufferMap &other);
+    std::unique_ptr<::DlSystem::UserBufferMapImpl> m_UserBufferMapImpl;
+};
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+} // DlSystem namespace
+} // zdl namespace
+
+
+#endif // DL_SYSTEM_TENSOR_MAP_HPP
+
diff --git a/third_party/snpe/include/DlSystem/ZdlExportDefine.hpp b/third_party/snpe/include/DlSystem/ZdlExportDefine.hpp
new file mode 100644
index 0000000000..92eb786d31
--- /dev/null
+++ b/third_party/snpe/include/DlSystem/ZdlExportDefine.hpp
@@ -0,0 +1,13 @@
+//=============================================================================
+//
+//  Copyright (c) 2015, 2020 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//=============================================================================
+
+#pragma once
+
+#ifndef ZDL_EXPORT
+#define ZDL_EXPORT
+#endif
diff --git a/third_party/snpe/include/PlatformValidator/PlatformValidator.hpp b/third_party/snpe/include/PlatformValidator/PlatformValidator.hpp
new file mode 100644
index 0000000000..e74278ead7
--- /dev/null
+++ b/third_party/snpe/include/PlatformValidator/PlatformValidator.hpp
@@ -0,0 +1,93 @@
+// =============================================================================
+//
+// Copyright (c) 2018-2019 Qualcomm Technologies, Inc.
+// All Rights Reserved.
+// Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+// =============================================================================
+
+#ifndef SNPE_PLATFORMVALIDATOR_HPP
+#define SNPE_PLATFORMVALIDATOR_HPP
+
+#include "DlSystem/DlEnums.hpp"
+#include "DlSystem/DlMacros.hpp"
+SNPE_DISABLE_WARNINGS("-Wdelete-non-virtual-dtor","-Wdelete-non-virtual-dtor")
+#include <string>
+#include <memory>
+SNPE_ENABLE_WARNINGS
+
+namespace zdl
+{
+   namespace SNPE
+   {
+      class PlatformValidator;
+
+      class IPlatformValidatorRuntime;
+   }
+}
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+* The class for checking SNPE compatibility/capability of a device.
+*
+*/
+
+class zdl::SNPE::PlatformValidator
+{
+public:
+   /**
+    * @brief Default Constructor of the PlatformValidator Class
+    *
+    * @return A new instance of a PlatformValidator object
+    *         that can be used to check the SNPE compatibility
+    *         of a device
+    */
+   PlatformValidator();
+
+   ~PlatformValidator();
+
+   /**
+    * @brief Sets the runtime processor for compatibility check
+    *
+    * @return Void
+    */
+   void setRuntime(zdl::DlSystem::Runtime_t runtime);
+
+   /**
+    * @brief Checks if the Runtime prerequisites for SNPE are available.
+    *
+    * @return True if the Runtime prerequisites are available, else false.
+    */
+   bool isRuntimeAvailable();
+
+   /**
+    * @brief Returns the core version for the Runtime selected.
+    *
+    * @return String which contains the actual core version value
+    */
+   std::string getCoreVersion();
+
+   /**
+    * @brief Returns the library version for the Runtime selected.
+    *
+    * @return String which contains the actual lib version value
+    */
+   std::string getLibVersion();
+
+   /**
+    * @brief Runs a small program on the runtime and Checks if SNPE is supported for Runtime.
+    *
+    * @return If True, the device is ready for SNPE execution, else not.
+    */
+
+   bool runtimeCheck();
+
+private:
+    zdl::DlSystem::Runtime_t m_runtimeType;
+    std::unique_ptr<IPlatformValidatorRuntime> m_platformValidatorRuntime;
+};
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#endif //SNPE_PLATFORMVALIDATOR_HPP
diff --git a/third_party/snpe/include/SNPE/ApplicationBufferMap.hpp b/third_party/snpe/include/SNPE/ApplicationBufferMap.hpp
new file mode 100644
index 0000000000..380a3e0e6e
--- /dev/null
+++ b/third_party/snpe/include/SNPE/ApplicationBufferMap.hpp
@@ -0,0 +1,101 @@
+//==============================================================================
+//
+//  Copyright (c) 2019 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+#ifndef PSNPE_APPLICATIONBUFFERMAP_HPP
+#define PSNPE_APPLICATIONBUFFERMAP_HPP
+#include <vector>
+#include <string>
+#include <unordered_map>
+
+#include "DlSystem/UserBufferMap.hpp"
+#include "DlSystem/ZdlExportDefine.hpp"
+
+namespace zdl
+{
+namespace PSNPE
+{
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * @brief .
+ *
+ * A class representing the UserBufferMap of Input and Output asynchronous mode.
+ */
+
+class ZDL_EXPORT ApplicationBufferMap final
+{
+
+ public:
+   /**
+    * @brief Adds a name and the corresponding buffer
+    *        to the map
+    *
+    * @param[in] name The name of the UserBuffer
+    * @param[in] buffer The vector of the uint8_t data
+    *
+    * @note If a UserBuffer with the same name already exists, the new
+    *       UserBuffer pointer would be updated.
+    */
+   void add(const char* name, std::vector<uint8_t>& buff) noexcept;
+   void add(const char* name, std::vector<float>& buff) noexcept;
+   /**
+    * @brief Removes a mapping of one UserBuffer and its name by its name
+    *
+    * @param[in] name The name of UserBuffer to be removed
+    *
+    * @note If no UserBuffer with the specified name is found, nothing
+    *       is done.
+    */
+   void remove(const char* name) noexcept;
+
+   /**
+    * @brief Returns the number of UserBuffers in the map
+    */
+   size_t size() const noexcept;
+
+   /**
+    * @brief .
+    *
+    * Removes all UserBuffers from the map
+    */
+   void clear() noexcept;
+
+   /**
+    * @brief Returns the UserBuffer given its name.
+    *
+    * @param[in] name The name of the UserBuffer to get.
+    *
+    * @return nullptr if no UserBuffer with the specified name is
+    *         found; otherwise, a valid pointer to the UserBuffer.
+    */
+   const std::vector<uint8_t>& getUserBuffer(const char* name) const;
+   const std::vector<uint8_t>& operator[](const char* name) const;
+   /**
+    * @brief .
+    *
+    * Returns the names of all UserAsyncBufferMap
+    *
+    * @return A list of UserBuffer names.
+    */
+   zdl::DlSystem::StringList getUserBufferNames() const;
+   const std::unordered_map<std::string, std::vector<uint8_t>>& getUserBuffer() const;
+   explicit ApplicationBufferMap();
+   ~ApplicationBufferMap();
+   explicit ApplicationBufferMap(
+     const std::unordered_map<std::string, std::vector<uint8_t>> buffer);
+
+ private:
+   std::unordered_map<std::string, std::vector<uint8_t>> m_UserMap;
+};
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+} // namespace PSNPE
+} // namespace zdl
+
+#endif // PSNPE_APPLICATIONBUFFERMAP_HPP
diff --git a/third_party/snpe/include/SNPE/PSNPE.hpp b/third_party/snpe/include/SNPE/PSNPE.hpp
new file mode 100644
index 0000000000..c0a6fb55d6
--- /dev/null
+++ b/third_party/snpe/include/SNPE/PSNPE.hpp
@@ -0,0 +1,194 @@
+// =============================================================================
+//
+// Copyright (c) 2019-2020 Qualcomm Technologies, Inc.
+// All Rights Reserved.
+// Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+// =============================================================================
+
+#ifndef PSNPE_HPP
+#define PSNPE_HPP
+
+#include <cstdlib>
+#include <functional>
+#include "SNPE/SNPE.hpp"
+#include "DlSystem/UserBufferMap.hpp"
+#include "DlContainer/IDlContainer.hpp"
+#include "DlSystem/DlEnums.hpp"
+#include "DlSystem/ZdlExportDefine.hpp"
+
+#include "UserBufferList.hpp"
+#include "RuntimeConfigList.hpp"
+#include "ApplicationBufferMap.hpp"
+
+namespace zdl
+{
+namespace PSNPE
+{
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ *@ brief build snpe instance in serial or parallel
+ *
+ */
+enum ZDL_EXPORT BuildMode {
+   SERIAL = 0,
+   PARALLEL = 1
+};
+/**
+ * @brief  Input and output transmission mode
+ */
+enum ZDL_EXPORT InputOutputTransmissionMode
+{
+   sync = 0,
+   outputAsync = 1,
+   inputOutputAsync = 2
+};
+
+/**
+ * @brief  A structure representing parameters of callback function of Async Output mode
+ */
+struct ZDL_EXPORT OutputAsyncCallbackParam
+{
+   size_t dataIndex;
+   bool executeStatus;
+   OutputAsyncCallbackParam(size_t _index,bool _status)
+     : dataIndex(_index),executeStatus(_status){};
+};
+/**
+ * @brief  A structure representing parameters of callback function of Async Input/Output mode
+ */
+struct ZDL_EXPORT InputOutputAsyncCallbackParam
+{
+   size_t dataIndex;
+   const ApplicationBufferMap& outputMap;
+   bool executeStatus;
+   InputOutputAsyncCallbackParam(size_t _index, const ApplicationBufferMap& output_map,bool _status)
+     : dataIndex(_index)
+     , outputMap(output_map)
+     ,executeStatus(_status){
+
+     };
+};
+/**
+ * @brief  This callback is called when the output data is ready, only use for Output Async mode
+ */
+using OutputAsyncCallbackFunc = std::function<void(OutputAsyncCallbackParam)>;
+/**
+ * @brief  This callback is called when the output data is ready, only use for Output-Input Async mode
+ */
+using InputOutputAsyncCallbackFunc = std::function<void(InputOutputAsyncCallbackParam)>;
+/**
+ * @brief   This callback is called when the input data is ready,only use for Output-Input Async mode 
+ */
+using InputOutputAsyncInputCallback = std::function<std::shared_ptr<ApplicationBufferMap>(const std::vector<std::string> &,
+    const zdl::DlSystem::StringList &)>;
+/**
+ * @brief .
+ *
+ * A structure PSNPE configuration
+ *
+ */
+struct ZDL_EXPORT BuildConfig final
+{
+   BuildMode buildMode = BuildMode::SERIAL; ///< Specify build in serial mode or parallel mode
+   zdl::DlContainer::IDlContainer* container;///< The opened container ptr
+   zdl::DlSystem::StringList outputBufferNames;///< Specify the output layer name
+   RuntimeConfigList runtimeConfigList;///< The runtime config list for PSNPE, @see RuntimeConfig
+   size_t inputThreadNumbers = 1;///< Specify the number of threads used in the execution phase to process input data, only used in inputOutputAsync mode
+   size_t outputThreadNumbers = 1;///< Specify the number of threads used in the execution phase to process output data, only used in inputOutputAsync and outputAsync mode
+   OutputAsyncCallbackFunc outputCallback;///< The callback to deal with output data ,only used in outputAsync mode
+   InputOutputAsyncCallbackFunc inputOutputCallback;///< The callback to deal with output data ,only used in inputOutputAsync mode
+   InputOutputAsyncInputCallback inputOutputInputCallback;///< The callback to deal with input data ,only used in inputOutputAsync mode
+   InputOutputTransmissionMode inputOutputTransmissionMode = InputOutputTransmissionMode::sync;///< Specify execution mode
+   zdl::DlSystem::ProfilingLevel_t profilingLevel = zdl::DlSystem::ProfilingLevel_t::OFF;///< Specify profiling level for Diaglog
+   uint64_t encode[2] = {0, 0};
+   bool enableInitCache = false;
+};
+/**
+ * @brief .
+ *
+ * The class for executing SNPE instances in parallel.
+ */
+class ZDL_EXPORT PSNPE final
+{
+ public:
+   ~PSNPE();
+
+   explicit PSNPE() noexcept :m_TransmissionMode(InputOutputTransmissionMode::sync){};
+
+   /**
+    * @brief Build snpe instances.
+    *
+    */
+   bool build(BuildConfig& buildConfig) noexcept;
+
+   /**
+    * @brief Execute snpe instances in Async Output mode and Sync mode
+    *
+    * @param[in] inputBufferList A list of user buffers that contains the input data
+    *
+    * @param[in,out] outputBufferList A list of user buffers that will hold the output data
+    *
+    */
+   bool execute(UserBufferList& inputBufferList, UserBufferList& outputBufferList) noexcept;
+
+   /**
+    * @brief  Execute snpe instances in Async Input/Output mode
+    *
+    * @param[in]inputMap A map of input buffers that contains input data. The names of buffers
+    *                     need to be matched with names retrived through getInputTensorNames()
+    *
+    * @param dataIndex Index of the input data
+    *
+    * @param isTF8buff Whether prefer to using 8 bit quantized element for inference
+    *
+    * @return True if executed successfully; flase, otherwise.
+    */
+   bool executeInputOutputAsync(const std::vector<std::string>& inputMap, size_t dataIndex, bool isTF8buff) noexcept;
+   bool executeInputOutputAsync(const std::vector<std::string>& inputMap, size_t dataIndex, bool isTF8buff,bool isTF8Outputbuff) noexcept;
+   /**
+    * @brief Returns the input layer names of the network.
+    *
+    * @return StringList which contains the input layer names
+    */
+   const zdl::DlSystem::StringList getInputTensorNames() const noexcept;
+
+   /**
+    * @brief Returns the output layer names of the network.
+    *
+    * @return StringList which contains the output layer names
+    */
+   const zdl::DlSystem::StringList getOutputTensorNames() const noexcept;
+
+   /**
+    * @brief Returns the input tensor dimensions of the network.
+    *
+    * @return TensorShape which contains the dimensions.
+    */
+   const zdl::DlSystem::TensorShape getInputDimensions() const noexcept;
+
+   /**
+    * @brief Returns attributes of buffers.
+    *
+    * @see zdl::SNPE
+    *
+    * @return BufferAttributes of input/output tensor named.
+    */
+   const zdl::DlSystem::TensorShape getBufferAttributesDims(const char *name) const noexcept;
+
+   zdl::DlSystem::Optional<zdl::DlSystem::IBufferAttributes*> getInputOutputBufferAttributes(const char *name) const noexcept;
+
+ private:
+   PSNPE(const PSNPE&) = delete;
+   PSNPE& operator=(const PSNPE&) = delete;
+   zdl::PSNPE::InputOutputTransmissionMode m_TransmissionMode;
+
+};
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+} // namespace PSNPE
+} // namespace zdl
+#endif // PSNPE_HPP
diff --git a/third_party/snpe/include/SNPE/RuntimeConfigList.hpp b/third_party/snpe/include/SNPE/RuntimeConfigList.hpp
new file mode 100644
index 0000000000..837dba092a
--- /dev/null
+++ b/third_party/snpe/include/SNPE/RuntimeConfigList.hpp
@@ -0,0 +1,85 @@
+//==============================================================================
+//
+//  Copyright (c) 2019-2020 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+#ifndef PSNPE_RUNTIMECONFIGLIST_HPP
+#define PSNPE_RUNTIMECONFIGLIST_HPP
+
+#include <iostream>
+#include "DlContainer/IDlContainer.hpp"
+#include "DlSystem/DlEnums.hpp"
+#include "DlSystem/RuntimeList.hpp"
+#include "DlSystem/TensorShapeMap.hpp"
+#include "DlSystem/ZdlExportDefine.hpp"
+namespace zdl {
+namespace PSNPE {
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * @brief .
+ *
+ * The structure for configuring a BulkSNPE runtime
+ *
+ */
+struct ZDL_EXPORT RuntimeConfig final {
+    zdl::DlSystem::Runtime_t runtime;
+    zdl::DlSystem::RuntimeList runtimeList;
+    zdl::DlSystem::PerformanceProfile_t perfProfile;
+    zdl::DlSystem::TensorShapeMap inputDimensionsMap;
+    bool enableCPUFallback;
+    RuntimeConfig()
+        : runtime{zdl::DlSystem::Runtime_t::CPU_FLOAT32},
+          perfProfile{zdl::DlSystem::PerformanceProfile_t::HIGH_PERFORMANCE},
+          enableCPUFallback{false} {}
+    RuntimeConfig(const RuntimeConfig& other) {
+        runtime = other.runtime;
+        runtimeList = other.runtimeList;
+        perfProfile = other.perfProfile;
+        enableCPUFallback = other.enableCPUFallback;
+        inputDimensionsMap = other.inputDimensionsMap;
+    }
+
+    RuntimeConfig& operator=(const RuntimeConfig& other) {
+        this->runtimeList = other.runtimeList;
+        this->runtime = other.runtime;
+        this->perfProfile = other.perfProfile;
+        this->enableCPUFallback = other.enableCPUFallback;
+        this->inputDimensionsMap = other.inputDimensionsMap;
+        return *this;
+    }
+
+    ~RuntimeConfig() {}
+};
+
+/**
+ * @brief .
+ *
+ * The class for creating a RuntimeConfig container.
+ *
+ */
+class ZDL_EXPORT RuntimeConfigList final {
+   public:
+    RuntimeConfigList();
+    RuntimeConfigList(const size_t size);
+    void push_back(const RuntimeConfig& runtimeConfig);
+    RuntimeConfig& operator[](const size_t index);
+    RuntimeConfigList& operator=(const RuntimeConfigList& other);
+    size_t size() const noexcept;
+    size_t capacity() const noexcept;
+    void clear() noexcept;
+    ~RuntimeConfigList() = default;
+
+   private:
+    void swap(const RuntimeConfigList& other);
+    std::vector<RuntimeConfig> m_runtimeConfigs;
+};
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+}  // namespace PSNPE
+}  // namespace zdl
+#endif  // PSNPE_RUNTIMECONFIGLIST_HPP
diff --git a/third_party/snpe/include/SNPE/SNPE.hpp b/third_party/snpe/include/SNPE/SNPE.hpp
new file mode 100644
index 0000000000..239690ab2c
--- /dev/null
+++ b/third_party/snpe/include/SNPE/SNPE.hpp
@@ -0,0 +1,244 @@
+//==============================================================================
+//
+//  Copyright (c) 2015-2020 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+#ifndef _SNPE_SNPE_HPP_
+#define _SNPE_SNPE_HPP_
+
+#include "DlSystem/DlOptional.hpp"
+#include "DlSystem/DlVersion.hpp"
+#include "DlSystem/IBufferAttributes.hpp"
+#include "DlSystem/ITensor.hpp"
+#include "DlSystem/TensorShape.hpp"
+#include "DlSystem/TensorMap.hpp"
+#include "DlSystem/String.hpp"
+#include "DlSystem/StringList.hpp"
+#include "DlSystem/IUserBuffer.hpp"
+#include "DlSystem/UserBufferMap.hpp"
+#include "DlSystem/ZdlExportDefine.hpp"
+
+namespace zdl {
+   namespace SNPE
+   {
+      class SnpeRuntime;
+   }
+}
+namespace zdl {
+   namespace DiagLog
+   {
+      class IDiagLog;
+   }
+}
+
+namespace zdl { namespace SNPE {
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * @brief .
+ *
+ * The SNPE interface class definition
+ */
+class ZDL_EXPORT SNPE final
+{
+public:
+
+   // keep this undocumented to be hidden in doxygen using HIDE_UNDOC_MEMBERS
+   explicit SNPE(std::unique_ptr<zdl::SNPE::SnpeRuntime>&& runtime) noexcept;
+   ~SNPE();
+
+   /**
+    * @brief Gets the names of input tensors to the network
+    *
+    * To support multiple input scenarios, where multiple tensors are
+    * passed through execute() in a TensorMap, each tensor needs to
+    * be uniquely named. The names of tensors can be retrieved
+    * through this function.
+    *
+    * In the case of a single input, one name will be returned.
+    *
+    * @note Note that because the returned value is an Optional list,
+    * the list must be verified as boolean true value before being
+    * dereferenced.
+    *
+    * @return An Optional List of input tensor names.
+    *
+    * @see zdl::DlSystem::Optional
+    */
+   zdl::DlSystem::Optional<zdl::DlSystem::StringList>
+      getInputTensorNames() const noexcept;
+
+    /**
+     * @brief Gets the names of output tensors to the network
+     *
+     * @return List of output tensor names.
+     */
+   zdl::DlSystem::Optional<zdl::DlSystem::StringList>
+      getOutputTensorNames() const noexcept;
+
+   /**
+    * @brief Gets the name of output tensor from the input layer name
+    *
+    * @return Output tensor name.
+    */
+   zdl::DlSystem::StringList
+      getOutputTensorNamesByLayerName(const char *name) const noexcept;
+
+   /**
+    * @brief Processes the input data and returns the output
+    *
+    * @param[in] A map of tensors that contains the input data for
+    *            each input. The names of tensors needs to be
+    *            matched with names retrieved through
+    *            getInputTensorNames()
+    *
+    * @param[in,out] An empty map of tensors that will contain the output
+    *                data of potentially multiple layers (the key
+    *                in the map is the layer name) upon return
+    *
+    * @note output tensormap has to be empty.  To forward propagate
+    *       and get results in user-supplied tensors, use
+    *       executeWithSuppliedOutputTensors.
+    */
+   bool execute(const zdl::DlSystem::TensorMap &input,
+                zdl::DlSystem::TensorMap &output) noexcept;
+
+   /**
+    * @brief Processes the input data and returns the output
+    *
+    * @param[in] A single tensor contains the input data.
+    *
+    * @param[in,out] An empty map of tensors that will contain the output
+    *                data of potentially multiple layers (the key
+    *                in the map is the layer name) upon return
+    *
+    * @note output tensormap has to be empty.
+    */
+   bool execute(const zdl::DlSystem::ITensor *input,
+                zdl::DlSystem::TensorMap &output) noexcept;
+
+   /**
+    * @brief Processes the input data and returns the output, using
+    *        user-supplied buffers
+    *
+    * @param[in] A map of UserBuffers that contains the input data for
+    *            each input. The names of UserBuffers needs to be
+    *            matched with names retrieved through
+    *            getInputTensorNames()
+    *
+    * @param[in,out] A map of UserBuffers that will hold the output
+    *                data of potentially multiple layers (the key
+    *                in the map is the UserBuffer name)
+    *
+    * @note input and output UserBuffer maps must be fully pre-populated. with
+    *       dimensions matching what the network expects.
+    *       For example, if there are 5 output UserBuffers they all have to be
+    *       present in map.
+    *
+    *       Caller must guarantee that for the duration of execute(), the buffer
+    *       stored in UserBuffer would remain valid.  For more detail on buffer
+    *       ownership and lifetime requirements, please refer to zdl::DlSystem::UserBuffer
+    *       documentation.
+    */
+   bool execute(const zdl::DlSystem::UserBufferMap &input,
+                const zdl::DlSystem::UserBufferMap &output) noexcept;
+
+    /**
+    * @brief Returns the version string embedded at model conversion
+    * time.
+    *
+    * @return Model version string, which is a free-form string
+    *         supplied at the time of the conversion
+    *
+    */
+   zdl::DlSystem::String getModelVersion() const noexcept;
+
+   /**
+    * @brief Returns the dimensions of the input data to the model in the
+    * form of TensorShape. The dimensions in TensorShape corresponds to
+    * what the tensor dimensions would need to be for an input tensor to
+    * the model.
+    *
+    * @param[in] layer input name.
+    *
+    * @note Note that this function only makes sense for networks 
+    *       that have a fixed input size. For networks in which the
+    *       input size varies with each call of Execute(), this
+    *       function should not be used.
+    *
+    * @note Because the returned type is an Optional instance, it must
+    *       be verified as a boolean true value before being dereferenced.
+    * 
+    * @return An Optional instance of TensorShape that maintains dimensions,
+    *         matching the tensor dimensions for input to the model,
+    *         where the last entry is the fastest varying dimension, etc.
+    *  
+    * @see zdl::DlSystem::ITensor
+    * @see zdl::DlSystem::TensorShape
+    * @see zdl::DlSystem::Optional
+    */
+   zdl::DlSystem::Optional<zdl::DlSystem::TensorShape>
+      getInputDimensions() const noexcept;
+   zdl::DlSystem::Optional<zdl::DlSystem::TensorShape>
+      getInputDimensions(const char *name) const noexcept;
+
+   /**
+    * @brief Gets the output layer(s) for the network. 
+    *  
+    * Note that the output layers returned by this function may be 
+    * different than those specified when the network was created 
+    * via the zdl::SNPE::SNPEBuilder. For example, if the
+    * network was created in debug mode with no explicit output 
+    * layers specified, this will contain all layers.
+    *
+    * @note Note that because the returned value is an Optional StringList,
+    * the list must be verified as a boolean true value before being
+    * dereferenced.
+    *
+    * @return A List of output layer names.
+    *
+    * @see zdl::DlSystem::Optional
+    */
+   zdl::DlSystem::Optional<zdl::DlSystem::StringList>
+      getOutputLayerNames() const noexcept;
+
+   /**
+     * @brief Returns attributes of buffers used to feed input tensors and receive result from output tensors.
+     *
+     * @param[in] Tensor name.
+     *
+     * @return BufferAttributes of input/output tensor named
+     */
+   zdl::DlSystem::Optional<zdl::DlSystem::IBufferAttributes*> getInputOutputBufferAttributes(const char *name) const noexcept;
+
+   zdl::DlSystem::Optional<zdl::DlSystem::IBufferAttributes*> getInputOutputBufferAttributesTf8(const char *name) const noexcept;
+
+   /**
+    * @brief .
+    *
+    * Get the diagnostic logging interface
+    *
+    * @note Note that because the returned type is an Optional instance,
+    * it must be verified as a boolean true value before being
+    * dereferenced.
+    *
+    * @see zdl::DlSystem::Optional
+    */
+   zdl::DlSystem::Optional<zdl::DiagLog::IDiagLog*>
+      getDiagLogInterface() noexcept;
+
+private:
+   SNPE(const SNPE&) = delete;
+   SNPE& operator=(const SNPE&) = delete;
+
+   std::unique_ptr<SnpeRuntime> m_Runtime;
+};
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+}}
+
+#endif
diff --git a/third_party/snpe/include/SNPE/SNPEBuilder.hpp b/third_party/snpe/include/SNPE/SNPEBuilder.hpp
new file mode 100644
index 0000000000..f314d88bcf
--- /dev/null
+++ b/third_party/snpe/include/SNPE/SNPEBuilder.hpp
@@ -0,0 +1,283 @@
+//==============================================================================
+//
+//  Copyright (c) 2017-2019 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+#ifndef _SNPE_BUILDER_HPP_
+#define _SNPE_BUILDER_HPP_
+
+#include "SNPE/SNPE.hpp"
+#include "DlSystem/DlEnums.hpp"
+#include "DlSystem/UDLFunc.hpp"
+#include "DlSystem/DlOptional.hpp"
+#include "DlSystem/TensorShapeMap.hpp"
+#include "DlSystem/PlatformConfig.hpp"
+#include "DlSystem/RuntimeList.hpp"
+
+namespace zdl {
+   namespace DlContainer
+   {
+      class IDlContainer;
+   }
+}
+
+struct SNPEBuilderImpl;
+
+
+namespace zdl { namespace SNPE {
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * The builder class for creating SNPE objects.
+ * Not meant to be extended.
+ */
+class ZDL_EXPORT SNPEBuilder final
+{
+private:
+   std::unique_ptr<::SNPEBuilderImpl> m_Impl;
+public:
+
+   /**
+    * @brief Constructor of NeuralNetwork Builder with a supplied model.
+    *
+    * @param[in] container A container holding the model.
+    *
+    * @return A new instance of a SNPEBuilder object
+    *         that can be used to configure and build
+    *         an instance of SNPE.
+    *
+    */
+   explicit SNPEBuilder(
+      zdl::DlContainer::IDlContainer* container);
+   ~SNPEBuilder();
+
+   /**
+    * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE. Please use
+    *       setRuntimeProcessorOrder()
+    *
+    * @brief Sets the runtime processor.
+    *
+    * @param[in] targetRuntimeProcessor The target runtime.
+    *
+    * @return The current instance of SNPEBuilder.
+    */
+   SNPEBuilder& setRuntimeProcessor(
+      zdl::DlSystem::Runtime_t targetRuntimeProcessor);
+
+   /**
+    * @brief Requests a performance profile.
+    *
+    * @param[in] targetRuntimeProfile The target performance profile.
+    *
+    * @return The current instance of SNPEBuilder.
+    */
+   SNPEBuilder& setPerformanceProfile(
+      zdl::DlSystem::PerformanceProfile_t performanceProfile);
+
+   /**
+    * @brief Sets the profiling level. Default profiling level for
+    *        SNPEBuilder is off. Off and basic only applies to DSP runtime.
+    *
+    * @param[in] profilingLevel The target profiling level.
+    *
+    * @return The current instance of SNPEBuilder.
+    */
+   SNPEBuilder& setProfilingLevel(
+      zdl::DlSystem::ProfilingLevel_t profilingLevel);
+
+    /**
+     * @brief Sets a preference for execution priority.
+     *
+     * This allows the caller to give coarse hint to SNPE runtime
+     * about the priority of the network.  SNPE runtime is free to use
+     * this information to co-ordinate between different workloads
+     * that may or may not extend beyond SNPE.
+     *
+     * @param[in] ExecutionPriorityHint_t The target performance profile.
+     *
+     * @return The current instance of SNPEBuilder.
+     */
+   SNPEBuilder& setExecutionPriorityHint(
+            zdl::DlSystem::ExecutionPriorityHint_t priority);
+
+    /**
+    * @brief Sets the layers that will generate output.
+    *
+    * @param[in] outputLayerNames List of layer names to
+    *                             output. An empty list will
+    *                             result in only the final
+    *                             layer of the model being
+    *                             the output layer.  The list
+    *                             will be copied.
+    *
+    * @return The current instance of SNPEBuilder.
+    */
+   SNPEBuilder& setOutputLayers(
+      const zdl::DlSystem::StringList& outputLayerNames);
+
+   /**
+   * @brief Sets the output tensor names.
+   *
+   * @param[in] outputTensorNames List of tensor names to
+   *                             output. An empty list will
+   *                             result in producing output for the final
+   *                             output tensor of the model.
+   *                             The list will be copied.
+   *
+   * @return The current instance of SNPEBuilder.
+   */
+   SNPEBuilder& setOutputTensors(
+      const zdl::DlSystem::StringList& outputTensorNames);
+
+   /**
+    * @brief Passes in a User-defined layer.
+    *
+    * @param udlBundle Bundle of udl factory function and a cookie
+    *
+    * @return The current instance of SNPEBuilder.
+    */
+   SNPEBuilder& setUdlBundle(
+      zdl::DlSystem::UDLBundle udlBundle);
+
+   /**
+    * @brief Sets whether this neural network will perform inference with
+    *        input from user-supplied buffers, and write output to user-supplied
+    *        buffers.  Default behaviour is to use tensors created by
+    *        ITensorFactory.
+    *
+    * @param[in] bufferMode Whether to use user-supplied buffer or not.
+    *
+    * @return The current instance of SNPEBuilder.
+    */
+   SNPEBuilder& setUseUserSuppliedBuffers(
+      bool bufferMode);
+
+    /**
+    * @brief Sets the debug mode of the runtime.
+    *
+    * @param[in] debugMode This enables debug mode for the runtime. It
+    *                      does two things. For an empty
+    *                      outputLayerNames list, all layers will be
+    *                      output. It might also disable some internal
+    *                      runtime optimizations (e.g., some networks
+    *                      might be optimized by combining layers,
+    *                      etc.).
+    *
+    * @return The current instance of SNPEBuilder.
+    */
+   SNPEBuilder& setDebugMode(
+      bool debugMode);
+
+   /**
+    * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE. Please use
+    *       setRuntimeProcessorOrder()
+    *
+    * @brief Sets the mode of CPU fallback functionality.
+    *
+    * @param[in] mode   This flag enables/disables the functionality
+    *                   of CPU fallback. When the CPU fallback
+    *                   functionality is enabled, layers in model that
+    *                   violates runtime constraints will run on CPU
+    *                   while the rest of non-violating layers will
+    *                   run on the chosen runtime processor. In
+    *                   disabled mode, models with layers violating
+    *                   runtime constraints will NOT run on the chosen
+    *                   runtime processor and will result in runtime
+    *                   exception. By default, the functionality is
+    *                   enabled.
+    *
+    * @return The current instance of SNPEBuilder.
+    */
+   SNPEBuilder& setCPUFallbackMode(
+      bool mode);
+
+
+   /**
+    * @brief Sets network's input dimensions to enable resizing of
+    *        the spatial dimensions of each layer for fully convolutional networks,
+    *        and the batch dimension for all networks.
+    *
+    * @param[in] tensorShapeMap The map of input names and their new dimensions.
+    *                           The new dimensions overwrite the input dimensions
+    *                           embedded in the model and then resize each layer
+    *                           of the model. If the model contains
+    *                           layers whose dimensions cannot be resized e.g FullyConnected,
+    *                           exception will be thrown when SNPE instance is actually built.
+    *                           In general the batch dimension is always resizable.
+    *                           After resizing of layers' dimensions in model based
+    *                           on new input dimensions, the new model is revalidated
+    *                           against all runtime constraints, whose failures may
+    *                           result in cpu fallback situation.
+    *
+    * @return The current instance of SNPEBuilder.
+    */
+   SNPEBuilder& setInputDimensions(const zdl::DlSystem::TensorShapeMap& inputDimensionsMap);
+
+   /**
+    * @brief Sets the mode of init caching functionality.
+    *
+    * @param[in] mode   This flag enables/disables the functionality of init caching.
+    *                   When init caching functionality is enabled, a set of init caches
+    *                   will be created during network building/initialization process
+    *                   and will be added to DLC container. If such DLC container is saved
+    *                   by the user, in subsequent network building/initialization processes
+    *                   these init caches will be loaded from the DLC so as to reduce initialization time.
+    *                   In disable mode, no init caches will be added to DLC container.
+    *
+    * @return The current instance of SNPEBuilder.
+    */
+   SNPEBuilder& setInitCacheMode(
+      bool cacheMode);
+
+   /**
+    * @brief Returns an instance of SNPE based on the current parameters.
+    *
+    * @return A new instance of a SNPE object that can be used
+    *         to execute models or null if any errors occur.
+    */
+   std::unique_ptr<SNPE> build() noexcept;
+
+   /**
+    * @brief Sets the platform configuration.
+    *
+    * @param[in] platformConfig The platform configuration.
+    *
+    * @return The current instance of SNPEBuilder.
+    */
+   SNPEBuilder& setPlatformConfig(const zdl::DlSystem::PlatformConfig& platformConfig);
+
+   /**
+    * @brief Sets network's runtime order of precedence. Example:
+    *        CPU_FLOAT32, GPU_FLOAT16, AIP_FIXED8_TF
+    *        Note:- setRuntimeProcessor() or setCPUFallbackMode() will be silently ignored when
+    *        setRuntimeProcessorOrder() is invoked
+    *
+    * @param[in] runtimeList The list of runtime in order of precedence
+    *
+    * @return The current instance of SNPEBuilder.
+    */
+   SNPEBuilder& setRuntimeProcessorOrder(const zdl::DlSystem::RuntimeList& runtimeList);
+
+    /**
+    * @brief Sets the unconsumed tensors as output
+    *
+    * @param[in] setOutput This enables unconsumed tensors (i.e)
+    *                      outputs which are not inputs to any
+    *                      layer (basically dead ends) to be marked
+    *                      for output
+    *
+    * @return The current instance of SNPEBuilder.
+    */
+   SNPEBuilder& setUnconsumedTensorsAsOutputs(
+      bool setOutput);
+
+};
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+}}
+
+#endif
diff --git a/third_party/snpe/include/SNPE/SNPEFactory.hpp b/third_party/snpe/include/SNPE/SNPEFactory.hpp
new file mode 100644
index 0000000000..7bef45d877
--- /dev/null
+++ b/third_party/snpe/include/SNPE/SNPEFactory.hpp
@@ -0,0 +1,131 @@
+//==============================================================================
+//
+//  Copyright (c) 2015-2020 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+#ifndef _SNPE_FACTORY_HPP_
+#define _SNPE_FACTORY_HPP_
+
+#include "SNPE/SNPE.hpp"
+#include "DlSystem/DlEnums.hpp"
+#include "DlSystem/UDLFunc.hpp"
+#include "DlSystem/ZdlExportDefine.hpp"
+#include "DlSystem/DlOptional.hpp"
+
+namespace zdl {
+   namespace DlSystem
+   {
+      class ITensorFactory;
+      class IUserBufferFactory;
+   }
+   namespace DlContainer
+   {
+      class IDlContainer;
+   }
+}
+
+
+
+namespace zdl { namespace SNPE {
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * The factory class for creating SNPE objects.
+ *
+ */
+class ZDL_EXPORT SNPEFactory
+{
+public:
+
+   /**
+    * Indicates whether the supplied runtime is available on the
+    * current platform.
+    *
+    * @param[in] runtime The target runtime to check.
+    *
+    * @param[in] option Extent to perform runtime available check.
+    *
+    * @return True if the supplied runtime is available; false,
+    *         otherwise.
+    */
+   static bool isRuntimeAvailable(zdl::DlSystem::Runtime_t runtime);
+
+   /**
+    * Indicates whether the supplied runtime is available on the
+    * current platform.
+    *
+    * @param[in] runtime The target runtime to check.
+    *
+    * @param[in] option Extent to perform runtime available check.
+    *
+    * @return True if the supplied runtime is available; false,
+    *         otherwise.
+    */
+   static bool isRuntimeAvailable(zdl::DlSystem::Runtime_t runtime,
+                                  zdl::DlSystem::RuntimeCheckOption_t option);
+
+   /**
+    * Gets a reference to the tensor factory.
+    *
+    * @return A reference to the tensor factory.
+    */
+   static zdl::DlSystem::ITensorFactory& getTensorFactory();
+
+   /**
+    * Gets a reference to the UserBuffer factory.
+    *
+    * @return A reference to the UserBuffer factory.
+    */
+   static zdl::DlSystem::IUserBufferFactory& getUserBufferFactory();
+
+   /**
+    * Gets the version of the SNPE library.
+    *
+    * @return Version of the SNPE library.
+    *
+    */
+   static zdl::DlSystem::Version_t getLibraryVersion();
+
+   /**
+    * Set the SNPE storage location for all SNPE instances in this
+    * process. Note that this may only be called once, and if so
+    * must be called before creating any SNPE instances.
+    *
+    * @param[in] storagePath Absolute path to a directory which SNPE may
+    *  use for caching and other storage purposes.
+    *
+    * @return True if the supplied path was succesfully set as
+    *  the SNPE storage location, false otherwise.
+    */
+   static bool setSNPEStorageLocation(const char* storagePath);
+
+   /**
+    * @brief Register a user-defined op package with SNPE.
+    *
+    * @param[in] regLibraryPath Path to the registration library
+    *                      that allows clients to register a set of operations that are
+    *                      part of the package, and share op info with SNPE
+    *
+    * @return True if successful, False otherwise.
+    */
+   static bool addOpPackage( const std::string& regLibraryPath );
+
+   /**
+    * Indicates whether the OpenGL and OpenCL interoperability is supported
+    * on GPU platform.
+    *
+    * @return True if the OpenGL and OpenCl interop is supported; false,
+    *         otherwise.
+    */
+   static bool isGLCLInteropSupported();
+};
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+}}
+
+
+#endif
diff --git a/third_party/snpe/include/SNPE/UserBufferList.hpp b/third_party/snpe/include/SNPE/UserBufferList.hpp
new file mode 100644
index 0000000000..a660bca0f6
--- /dev/null
+++ b/third_party/snpe/include/SNPE/UserBufferList.hpp
@@ -0,0 +1,49 @@
+//==============================================================================
+//
+//  Copyright (c) 2019 Qualcomm Technologies, Inc.
+//  All Rights Reserved.
+//  Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+#ifndef PSNPE_USERBUFFERLIST_HPP
+#define PSNPE_USERBUFFERLIST_HPP
+
+#include <vector>
+#include "DlSystem/UserBufferMap.hpp"
+#include "DlSystem/ZdlExportDefine.hpp"
+
+namespace zdl {
+namespace PSNPE
+{
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+/**
+* @brief .
+*
+* The class for creating a UserBufferMap container.
+*
+*/
+class ZDL_EXPORT UserBufferList final
+{
+public:
+   UserBufferList();
+   UserBufferList(const size_t size);
+   void push_back(const zdl::DlSystem::UserBufferMap &userBufferMap);
+   zdl::DlSystem::UserBufferMap& operator[](const size_t index);
+   UserBufferList& operator =(const UserBufferList &other);
+   size_t size() const noexcept;
+   size_t capacity() const noexcept;
+   void clear() noexcept;
+   ~UserBufferList() = default;
+
+private:
+   void swap(const UserBufferList &other);
+   std::vector<zdl::DlSystem::UserBufferMap> m_userBufferMaps;
+
+};
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+} // namespace PSNPE
+} // namespace zdl
+#endif //PSNPE_USERBUFFERLIST_HPP
diff --git a/third_party/snpe/include/SnpeUdo/UdoBase.h b/third_party/snpe/include/SnpeUdo/UdoBase.h
new file mode 100644
index 0000000000..be370e1ac5
--- /dev/null
+++ b/third_party/snpe/include/SnpeUdo/UdoBase.h
@@ -0,0 +1,483 @@
+//==============================================================================
+//
+// Copyright (c) 2019-2020 Qualcomm Technologies, Inc.
+// All Rights Reserved.
+// Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+#ifndef SNPE_UDO_BASE_H
+#define SNPE_UDO_BASE_H
+
+#include <stdint.h>
+
+// Provide values to use for API version.
+#define API_VERSION_MAJOR 1
+#define API_VERSION_MINOR 5
+#define API_VERSION_TEENY 0
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+// Defines a bitmask of enum values.
+typedef uint32_t SnpeUdo_Bitmask_t;
+
+// A string of characters, rather than an array of bytes.
+// Assumed to be UTF-8.
+typedef char* SnpeUdo_String_t;
+
+// The maximum allowable length of a SnpeUdo_String_t in bytes,
+// including null terminator. SNPE will truncate strings longer
+// than this.
+#define SNPE_UDO_MAX_STRING_SIZE 1024
+
+/**
+  * An enum which holds the various error types.
+  * The error types are divided to classes :
+  * 0 - 99    : generic errors
+  * 100 - 200 : errors related to configuration
+  *
+  */
+typedef enum
+{
+   /// No Error
+   SNPE_UDO_NO_ERROR                    = 0,
+   /// Unsupported value for core type
+   SNPE_UDO_WRONG_CORE                  = 1,
+   /// Invalid attribute/argument passed into UDO API
+   SNPE_UDO_INVALID_ARGUMENT            = 2,
+   /// Unsupported feature error
+   SNPE_UDO_UNSUPPORTED_FEATURE         = 3,
+   /// Error relating to memory allocation
+   SNPE_UDO_MEM_ALLOC_ERROR             = 4,
+   /* Configuration Specific errors */
+   /// No op with given attributes available in library
+   SNPE_UDO_WRONG_OPERATION             = 100,
+   /// Unsupported value for core type in UDO configuration
+   SNPE_UDO_WRONG_CORE_TYPE             = 101,
+   /// Wrong number of params in UDO definition
+   SNPE_UDO_WRONG_NUM_OF_PARAMS         = 102,
+   /// Wrong number of dimensions for tensor(s) in UDO definition
+   SNPE_UDO_WRONG_NUM_OF_DIMENSIONS     = 103,
+   /// Wrong number of input tensors in UDO definition
+   SNPE_UDO_WRONG_NUM_OF_INPUTS         = 104,
+   /// Wrong number of output tensors in UDO definition
+   SNPE_UDO_WRONG_NUM_OF_OUTPUTS        = 105,
+   SNPE_UDO_PROGRAM_CACHE_NOT_FOUND     = 106,
+   SNPE_UDO_UNKNOWN_ERROR               = 0xFFFFFFFF
+} SnpeUdo_ErrorType_t;
+
+/**
+  * An enum which holds the various data types.
+  * Designed to be used as single values or combined into a bitfield parameter
+  * (0x1, 0x2, 0x4, etc)
+  * \n FIXED_XX types are targeted for data in tensors.
+  * \n UINT / INT types are targeted for scalar params
+  */
+typedef enum
+{
+   /// data type: 16-bit floating point
+   SNPE_UDO_DATATYPE_FLOAT_16       = 0x01,
+   /// data type: 32-bit floating point
+   SNPE_UDO_DATATYPE_FLOAT_32       = 0x02,
+   /// data type: 4-bit fixed point
+   SNPE_UDO_DATATYPE_FIXED_4        = 0x04,
+   /// data type: 8-bit fixed point
+   SNPE_UDO_DATATYPE_FIXED_8        = 0x08,
+   /// data type: 16-bit fixed point
+   SNPE_UDO_DATATYPE_FIXED_16       = 0x10,
+   /// data type: 32-bit fixed point
+   SNPE_UDO_DATATYPE_FIXED_32       = 0x20,
+   /// data type: 8-bit unsigned integer
+   SNPE_UDO_DATATYPE_UINT_8         = 0x100,
+   /// data type: 16-bit unsigned integer
+   SNPE_UDO_DATATYPE_UINT_16        = 0x200,
+   /// data type: 32-bit unsigned integer
+   SNPE_UDO_DATATYPE_UINT_32        = 0x400,
+   /// data type: 8-bit signed integer
+   SNPE_UDO_DATATYPE_INT_8          = 0x1000,
+   /// data type: 16-bit signed integer
+   SNPE_UDO_DATATYPE_INT_16         = 0x2000,
+   /// data type: 32-bit signed integer
+   SNPE_UDO_DATATYPE_INT_32         = 0x4000,
+   SNPE_UDO_DATATYPE_LAST           = 0xFFFFFFFF
+} SnpeUdo_DataType_t;
+
+/**
+  * An enum which holds the various layouts.
+  * Designed to be used as single values or combined into a bitfield parameter
+  * (0x1, 0x2, 0x4, etc)
+  */
+typedef enum
+{
+   /// data layout (4D): NHWC (batch-height-width-channel)
+   SNPE_UDO_LAYOUT_NHWC             = 0x01,
+   /// data layout (4D): NCHW (batch-channel-height-width)
+   SNPE_UDO_LAYOUT_NCHW             = 0x02,
+   /// data layout (5D): NDHWC (batch-dimension-height-width-channel)
+   SNPE_UDO_LAYOUT_NDHWC            = 0x04,
+   SNPE_UDO_LAYOUT_GPU_OPTIMAL1     = 0x08,
+   SNPE_UDO_LAYOUT_GPU_OPTIMAL2     = 0x10,
+   SNPE_UDO_LAYOUT_DSP_OPTIMAL1     = 0x11,
+   SNPE_UDO_LAYOUT_DSP_OPTIMAL2     = 0x12,
+   // Indicates no data will be allocated for this tensor.
+   // Used to specify optional inputs/outputs positionally.
+   SNPE_UDO_LAYOUT_NULL             = 0x13,
+   SNPE_UDO_LAYOUT_LAST             = 0xFFFFFFFF
+} SnpeUdo_TensorLayout_t;
+
+/**
+  * An enum which holds the UDO library Core type .
+  * Designed to be used as single values or combined into a bitfield parameter
+  * (0x1, 0x2, 0x4, etc)
+  */
+typedef enum
+{
+   /// Library target IP Core is undefined
+   SNPE_UDO_CORETYPE_UNDEFINED   = 0x00,
+   /// Library target IP Core is CPU
+   SNPE_UDO_CORETYPE_CPU         = 0x01,
+   /// Library target IP Core is GPU
+   SNPE_UDO_CORETYPE_GPU         = 0x02,
+   /// Library target IP Core is DSP
+   SNPE_UDO_CORETYPE_DSP         = 0x04,
+   SNPE_UDO_CORETYPE_LAST         = 0xFFFFFFFF
+} SnpeUdo_CoreType_t;
+
+/**
+  * An enum to specify the parameter type : Scalar or Tensor
+  */
+typedef enum
+{
+   /// UDO static param type: scalar
+   SNPE_UDO_PARAMTYPE_SCALAR,
+   /// UDO static param type: string
+   SNPE_UDO_PARAMTYPE_STRING,
+   /// UDO static param type: tensor
+   SNPE_UDO_PARAMTYPE_TENSOR,
+   SNPE_UDO_PARAMTYPE_LAST   = 0xFFFFFFFF
+} SnpeUdo_ParamType_t;
+
+/**
+  * An enum to specify quantization type
+  */
+typedef enum
+{
+   /// Tensor Quantization type: NONE. Signifies unquantized tensor data
+   SNPE_UDO_QUANTIZATION_NONE,
+   /// Tensor Quantization type: Tensorflow-style
+   SNPE_UDO_QUANTIZATION_TF,
+   SNPE_UDO_QUANTIZATION_QMN,
+   SNPE_UDO_QUANTIZATION_LAST   = 0xFFFFFFFF
+} SnpeUdo_QuantizationType_t;
+
+/**
+ * @brief A struct which is used to provide a version number using 3 values : major, minor, teeny
+ *
+ */
+typedef struct
+{
+   /// version field: major - for backward-incompatible changes
+   uint32_t major;
+   /// version field: minor - for backward-compatible feature updates
+   uint32_t minor;
+   /// version field: teeny - for minor bug-fixes and clean-up
+   uint32_t teeny;
+} SnpeUdo_Version_t;
+
+/**
+ * @brief A struct returned from version query, contains the Library version and API version
+ *
+ */
+typedef struct
+{
+   /// Version of UDO library. Controlled by users
+   SnpeUdo_Version_t libVersion;
+   /// Version of SNPE UDO API used in compiling library. Determined by SNPE
+   SnpeUdo_Version_t apiVersion;
+} SnpeUdo_LibVersion_t;
+
+/**
+ * @brief A union to hold the value of a generic type. Allows defining a parameter struct
+ * in a generic way, with a "value" location that holds the data regardless of the type.
+ *
+ */
+typedef union
+{
+   /// value type: float
+   float    floatValue;
+   /// value type: unsigned 32-bit integer
+   uint32_t uint32Value;
+   /// value type: signed 32-bit integer
+   int32_t  int32Value;
+   /// value type: unsigned 16-bit integer
+   uint16_t uint16Value;
+   /// value type: signed 16-bit integer
+   int16_t  int16Value;
+   /// value type: unsigned 8-bit integer
+   uint8_t  uint8Value;
+   /// value type: signed 8-bit integer
+   int8_t   int8Value;
+} SnpeUdo_Value_t;
+
+/**
+ * @brief A struct which defines a scalar parameter : name, data type, and union of values
+ *
+ */
+typedef struct
+{
+   /// The parameter data type : float, int, etc.
+   SnpeUdo_DataType_t  dataType;
+   /// a union of specified type which holds the data
+   SnpeUdo_Value_t dataValue;
+} SnpeUdo_ScalarParam_t;
+
+/**
+ * @brief A struct which defines the quantization parameters in case of Tensorflow style quantization
+ *
+ */
+typedef struct
+{
+   /// minimum value of the quantization range of data
+   float minValue;
+   /// maximum value of the quantization range of data
+   float maxValue;
+} SnpeUdo_TFQuantize_t;
+
+/**
+ * @brief A struct which defines the quantization type, and union of supported quantization structs
+ *
+ */
+typedef struct
+{
+   /// quantization type (only TF-style currently supported)
+   SnpeUdo_QuantizationType_t quantizeType;
+   union
+   {
+     /// TF-style min-max quantization ranges
+     SnpeUdo_TFQuantize_t TFParams;
+   };
+} SnpeUdo_QuantizeParams_t;
+
+/**
+ * @brief A struct which defines the datatype associated with a specified core-type
+ * This should be used to denote the datatypes for a single tensor info, depending
+ * on the intended execution core.
+ *
+ */
+typedef struct
+{
+    /// The IP Core
+    SnpeUdo_CoreType_t     coreType;
+    /// The associated datatype for this coreType
+    SnpeUdo_DataType_t       dataType;
+} SnpeUdo_PerCoreDatatype_t;
+
+/**
+ * @brief A struct which defines a tensor parameter : name, data type, layout, quantization, more.
+ *        Also holds a pointer to the tensor data.
+ *
+ */
+typedef struct
+{
+   /// The maximum allowable dimensions of the tensor. The memory held in
+   /// _tensorData_ is guaranteed to be large enough for this.
+   uint32_t*                maxDimensions;
+   /// The current dimensions of the tensor. An operation may modify the current
+   /// dimensions of its output, to indicate cases where the output has been
+   /// "resized".
+   /// Note that for static parameters, the current and max dimensions must
+   /// match.
+   uint32_t*                currDimensions;
+   /// Quantization params applicable to the tensor. Currently only supports
+   /// Tensorflow quantization style.
+   SnpeUdo_QuantizeParams_t quantizeParams;
+   /// Number of dimensions to the tensor: 3D, 4D, etc.
+   uint32_t                 tensorRank;
+   /// The parameter data type: float, int, etc.
+   SnpeUdo_DataType_t       dataType;
+   /// The tensor layout type: NCHW, NHWC, etc.
+   SnpeUdo_TensorLayout_t   layout;
+   /// Opaque pointer to tensor data. User may be required to re-interpret the pointer
+   /// based on core-specific definitions.
+   void*                    tensorData;
+} SnpeUdo_TensorParam_t;
+
+/**
+ * @brief A struct which defines tensor information for activation tensors only
+ *
+ * It describes an activation tensor object using its name, the intended layout and the datatype
+ * it will take depending on the intended runtime core. The repeated field indicates that
+ * that the tensor info describes several input/output activation tensors, which all share the
+ * aforementioned properties.
+ */
+typedef struct
+{
+    /// The tensor name
+    SnpeUdo_String_t    tensorName;
+    /// The tensor layout type: NCHW, NHWC, etc.
+    SnpeUdo_TensorLayout_t   layout;
+    /// The per core datatype: {SNPE_UDO_DATATYPE, SNPE_UDO_CORE_TYPE}
+    SnpeUdo_PerCoreDatatype_t* perCoreDatatype;
+    /// A boolean field indicating that this tensorinfo will be repeated e.x for ops such as Concat or Split
+    bool repeated;
+
+} SnpeUdo_TensorInfo_t;
+
+
+/**
+ * @brief struct which defines a UDO parameter - a union of scalar, tensor and string parameters
+ *
+ */
+typedef struct
+{
+   /// Type is scalar or tensor
+  SnpeUdo_ParamType_t paramType;
+  /// The param name, for example : "offset", "activation_type"
+  SnpeUdo_String_t    paramName;
+  union
+  {
+    /// scalar param value
+    SnpeUdo_ScalarParam_t scalarParam;
+    /// tensor param value
+    SnpeUdo_TensorParam_t tensorParam;
+    /// string param value
+    SnpeUdo_String_t      stringParam;
+  };
+} SnpeUdo_Param_t;
+
+/**
+ * @brief A struct which defines Operation information which is specific for IP core (CPU, GPU, DSP ...)
+ *
+ */
+typedef struct
+{
+   /// The IP Core
+   SnpeUdo_CoreType_t     udoCoreType;
+   /// Bitmask, defines supported internal calculation types (like FLOAT_32, etc)
+   /// Based on SnpeUdo_DataType
+   SnpeUdo_Bitmask_t      operationCalculationTypes;
+} SnpeUdo_OpCoreInfo_t;
+
+/**
+ * @brief A struct which defines the common and core-specific Operation information
+ *
+ */
+typedef struct
+{
+   /// Operation type
+   SnpeUdo_String_t      operationType;
+   /// A bitmask describing which IP Cores (CPU, GPU, DSP ...) support this operation
+   /// Translated based on SnpeUdo_CoreType
+   SnpeUdo_Bitmask_t     supportedByCores;
+   /// Number of static parameters defined by the op
+   uint32_t              numOfStaticParams;
+   /// Array of static parameters. Can be scalar or tensor params
+   SnpeUdo_Param_t*      staticParams;
+   /// Number of input tensors this op receives
+   uint32_t              numOfInputs;
+   /// Array of input tensor names to this operation
+   SnpeUdo_String_t*      inputNames;
+   /// Number of output tensors this op receives
+   uint32_t              numOfOutputs;
+   /// Array of output tensor names to this operation
+   SnpeUdo_String_t*      outputNames;
+   /// Number of cores that the op can execute on
+   uint32_t              numOfCoreInfo;
+   /// Array of per-core information entries
+   SnpeUdo_OpCoreInfo_t* opPerCoreInfo;
+    /// Array of input tensor infos for this operation
+   SnpeUdo_TensorInfo_t*     inputInfos;
+   /// Array of output tensor infos for this operation
+   SnpeUdo_TensorInfo_t*     outputInfos;
+} SnpeUdo_OperationInfo_t;
+
+/**
+ * @brief A struct which provides the implementation library info : type, name
+ *
+ */
+typedef struct
+{
+   /// Defines the IP Core that this implementation library is targeting
+   SnpeUdo_CoreType_t     udoCoreType;
+   /// library name. will be looked at in the standard library path
+   SnpeUdo_String_t       libraryName;
+} SnpeUdo_LibraryInfo_t;
+
+/**
+ * @brief A struct returned by the registration library and contains information on the UDO package :
+ * name, operations, libraries, etc.
+ *
+ */
+typedef struct
+{
+   /// A string containing the package name
+   SnpeUdo_String_t         packageName;
+   /// A bitmask describing supported IP cores (CPU, GPU, DSP ...)
+   /// Translated based on SnpeUdo_CoreType
+   SnpeUdo_Bitmask_t        supportedCoreTypes;
+   /// The number of implementation libraries in the package
+   uint32_t                numOfImplementationLib;
+   /// Array of implementation libraries names/types
+   SnpeUdo_LibraryInfo_t*   implementationLib;
+   /// A string containing all operation types separated by space
+   SnpeUdo_String_t         operationsString;
+   /// Number of supported operations
+   uint32_t                numOfOperations;
+   /// Array of Operation info structs. Each entry describes one
+   /// Operation (name, params, inputs, outputs)
+   SnpeUdo_OperationInfo_t* operationsInfo;
+} SnpeUdo_RegInfo_t;
+
+/**
+* @brief A struct returned by the implementation library and contains information on the
+* specific library: name, IP Core, operations, etc.
+*
+*/
+typedef struct
+{
+   /// Defines the IP Core that this implementation library is targeting
+   SnpeUdo_CoreType_t     udoCoreType;
+   /// A string containing the package name
+   SnpeUdo_String_t       packageName;
+   /// A string containing all operation types separated by space
+   SnpeUdo_String_t       operationsString;
+   /// Number of supported operations
+   uint32_t              numOfOperations;
+} SnpeUdo_ImpInfo_t;
+
+/**
+ * @brief This struct defines an operation. It is used for validation
+ * or creation of an operation.
+ * In case of using it for creation, the static params which are tensors
+ * contain pointers to the real data (weights, for example), and input/output
+ * tensors also include pointers to the buffers used.
+ */
+typedef struct
+{
+   /// The IP Core that the operation is defined for - CPU, GPU, DSP...
+   SnpeUdo_CoreType_t      udoCoreType;
+   /// Operation type
+   SnpeUdo_String_t        operationType;
+   /// The number of static parameters provided in the staticParams array.
+   /// this number has to match the number provided by the UDO Registration library information
+   uint32_t               numOfStaticParams;
+   /// Array of static parameters
+   SnpeUdo_Param_t*        staticParams;
+   /// The number of input parameters provided in inputs array.
+   /// this number has to match the number provided by the UDO Registration library information
+   uint32_t               numOfInputs;
+   /// Array of input tensors, providing layout, data type, sizes, etc
+   /// When used to create an operation, also contains the initial location of the data
+   SnpeUdo_TensorParam_t*  inputs;
+   /// The number of output parameters provided in inputs array.
+   /// this number has to match the number provided by the UDO Registration library information
+   uint32_t               numOfOutputs;
+   /// Array of output tensors, providing layout, data type, sizes, etc
+   /// When used to create an operation, also contains the initial location of the data
+   SnpeUdo_TensorParam_t*  outputs;
+} SnpeUdo_OpDefinition_t;
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#endif //SNPE_UDO_BASE_H
diff --git a/third_party/snpe/include/SnpeUdo/UdoImpl.h b/third_party/snpe/include/SnpeUdo/UdoImpl.h
new file mode 100644
index 0000000000..bd29bc251d
--- /dev/null
+++ b/third_party/snpe/include/SnpeUdo/UdoImpl.h
@@ -0,0 +1,323 @@
+//==============================================================================
+//
+// Copyright (c) 2019-2020 Qualcomm Technologies, Inc.
+// All Rights Reserved.
+// Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+#ifndef SNPE_UDO_IMPL_H
+#define SNPE_UDO_IMPL_H
+
+#include <stdbool.h>
+
+#include "SnpeUdo/UdoShared.h"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+typedef struct _SnpeUdo_OpFactory_t* SnpeUdo_OpFactory_t;
+typedef struct _SnpeUdo_Operation_t* SnpeUdo_Operation_t;
+
+/**
+ * @brief Initialize the shared library's data structures. Calling any other
+ *        library function before this one will result in error.
+ *
+ * @param[in] globalInfrastructure Global core-specific infrastructure to be
+ *            used by operations created in this library. The definition and
+ *            semantics of this object will be defined in the corresponding
+ *            implementation header for the core type.
+ * @return Error code
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_initImplLibrary(void* globalInfrastructure);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_InitImplLibraryFunction_t)(void*);
+
+/**
+ * @brief A function to query the API version of the UDO implementation library.
+ *        The function populates a SnpeUdo_LibVersion_t struct, which contains a SnpeUdo_Version_t
+ *        struct for API version and library version.
+ *
+ * @param[in, out] version A pointer to struct which contains major, minor, teeny information for
+ *                 library and api versions.
+ *
+ * @return Error code
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_getImplVersion(SnpeUdo_LibVersion_t** version);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_getImplVersion_t)(SnpeUdo_LibVersion_t** version);
+
+/**
+ * @brief Release the shared library's data structures, and invalidate any
+ *        handles returned by the library. The behavior of any outstanding
+ *        asynchronous calls made to this library when this function is called
+ *        are undefined. All library functions (except SnpeUdo_initImplLibrary) will
+ *        return an error after this function has been successfully called.
+ *
+ *        It should be possible to call SnpeUdo_initImplLibrary after calling this
+ *        function, and re-initialize the library.
+ *
+ * @return Error code
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_terminateImplLibrary(void);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_TerminateImplLibraryFunction_t)(void);
+
+
+/**
+ * @brief A function to query info on the UDO implementation library.
+ *        The function populates a structure which contains information about
+ *        operations that are part of this library
+ *
+ * @param[in, out] implementationInfo A pointer to struct which contains information
+ *                 on the operations
+ *
+ * @return error code
+ *
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_getImpInfo(SnpeUdo_ImpInfo_t** implementationInfo);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_GetImpInfoFunction_t)(SnpeUdo_ImpInfo_t** implementationInfo);
+
+/**
+ * @brief A function to create an operation factory.
+ *        The function receives the operation type, and an array of static parameters,
+ *        and returns operation factory handler
+ *
+ * @param[in] udoCoreType The Core type to create the operation on. An error will
+ *            be returned if this does not match the core type of the library.
+ *
+ * @param[in] perFactoryInfrastructure CreateOpFactory infrastructure appropriate to this
+ *            core type. The definition and semantics of this object will be defined
+ *            in the corresponding implementation header for the core type.
+ *
+ * @param[in] operationType A string containing Operation type. for example "MY_CONV"
+ *
+ * @param[in] numOfStaticParams The number of static parameters.
+ *
+ * @param[in] staticParams Array of static parameters
+ *
+ * @param[in,out] opFactory Handler to Operation Factory, to be used when creating operations
+ *
+ * @return Error Code
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_createOpFactory(SnpeUdo_CoreType_t    udoCoreType,
+                        void*                perFactoryInfrastructure,
+                        SnpeUdo_String_t      operationType,
+                        uint32_t             numOfStaticParams,
+                        SnpeUdo_Param_t*      staticParams,
+                        SnpeUdo_OpFactory_t*  opFactory);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_CreateOpFactoryFunction_t)(SnpeUdo_CoreType_t,
+                                     void*,
+                                     SnpeUdo_String_t,
+                                     uint32_t,
+                                     SnpeUdo_Param_t*,
+                                     SnpeUdo_OpFactory_t*);
+
+
+/**
+ * @brief A function to release the resources allocated for an operation factory
+ *        created by this library.
+ *
+ * @param[in] factory The operation factory to release. Upon success this handle will be invalidated.
+ *
+ * @return Error Code
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_releaseOpFactory(SnpeUdo_OpFactory_t opFactory);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_ReleaseOpFactoryFunction_t)(SnpeUdo_OpFactory_t);
+
+/**
+ * @brief A function to create an operation from the factory.
+ *        The function receives array of inputs and array of outputs, and creates an operation
+ *        instance, returning the operation instance handler.
+ *
+ * @param[in] opFactory OpFactory instance containing the parameters for this operation.
+ *
+ * @param[in] perOpInfrastructure Per-Op infrastructure for this operation. The definition
+ *            and semantics of this object will be defined in the implementation header
+ *            appropriate to this core type.
+ *
+ * @param[in] numOfInputs The number of input tensors this operation will receive.
+ *
+ * @param[in] inputs Array of input tensors, providing both the sizes and initial
+ *            location of the data.
+ *
+ * @param[in] numOfOutputs Number of output tensors this operation will produce.
+ *
+ * @param[in] outputs Array of output tensors, providing both the sizes and
+ *            initial location of the data.
+ *
+ * @param[in,out] operation Handle for newly created operation instance.
+ *
+ * @return Error Code
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_createOperation(SnpeUdo_OpFactory_t    opFactory,
+                        void*                 perOpInfrastructure,
+                        uint32_t              numOfInputs,
+                        SnpeUdo_TensorParam_t* inputs,
+                        uint32_t              numOfOutputs,
+                        SnpeUdo_TensorParam_t* outputs,
+                        SnpeUdo_Operation_t*   operation);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_CreateOperationFunction_t)(SnpeUdo_OpFactory_t,
+                                     void*,
+                                     uint32_t,
+                                     SnpeUdo_TensorParam_t*,
+                                     uint32_t,
+                                     SnpeUdo_TensorParam_t*,
+                                     SnpeUdo_Operation_t*);
+
+/**
+ * @brief A pointer to notification function.
+ *
+ *        The notification function supports the non-blocking (e.g. asynchronous) execution use-case.
+ *        In case an "executeUdoOp" function is called with "blocking" set to zero, and a
+ *        notify function, this function will be called by the implementation library at the
+ *        end of execution. The implementation library will pass the notify function the ID
+ *        that was provided to it when "executeUdoOp" was called.
+ *
+ * @param[in] ID 32-bit value, that was provided to executeUdoOp by the calling entity.
+ *            Can be used to track the notifications, in case of multiple execute calls issued.
+ *
+ * @return Error code
+ *
+ */
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_ExternalNotify_t)(const uint32_t ID);
+
+/**
+ * @brief Operation execution function.
+ *
+ *        Calling this function will run the operation on set of inputs, generating a set of outputs.
+ *        The call can be blocking (synchronous) or non-blocking (asynchronous). To support the
+ *        non-blocking mode, the calling entity can pass an ID and a notification function.
+ *        At the end of the execution this notification function would be called, passing it the ID.
+ *        <b> NOTE: Asynchronous execution mode not supported in this release. </b>
+ *
+ * @param[in] operation handle to the operation on which execute is invoked
+ * @param[in] blocking flag to indicate execution mode.
+ *            If set, execution is blocking,
+ *            e.g SnpeUdo_executeOp call does not return until execution is done.
+ *            If not set, SnpeUdo_executeOp returns immediately, and the
+ *            library will call the notification function (if set) when execution is done.
+ *
+ * @param[in] ID 32-bit number that can be used by the calling entity to track execution
+ *            in case of non-blocking execution.
+ *            For example, it can be a sequence number, increased by one on each call.
+ *
+ * @param[in] notifyFunc Pointer to notification function. if the pointer is set, and execution is
+ *            non-blocking, the library will call this function at end of execution,
+ *            passing the number provided as ID
+ *
+ * @return Error code
+ *
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_executeOp(SnpeUdo_Operation_t operation,
+                  bool         blocking,
+                  const uint32_t ID,
+                  SnpeUdo_ExternalNotify_t notifyFunc);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_ExecuteOpFunction_t)(SnpeUdo_Operation_t,
+                               bool,
+                               const uint32_t,
+                               SnpeUdo_ExternalNotify_t);
+
+/**
+ * @brief A function to setting the inputs & outputs. part of SnpeUdo_Operation struct,
+ *        returned from creation of a new operation instance.
+ *        <b> Not supported in this release. </b>
+ *
+ *        This function allows the calling entity to change some of the inputs and outputs
+ *        between calls to execute.
+ *        Note that the change is limited to changing the <b> pointer </b> to the tensor data only.
+ *        Any other change may be rejected by the implementation library, causing
+ *        immediate invalidation of the operation instance
+ *
+ * @param[in] operation Operation on which IO tensors are set
+ *
+ * @param[in] inputs array of tensor parameters. The calling entity may provide a subset of the
+ *            operation inputs, providing only those that it wants to change.
+ *
+ * @param[in] outputs array of tensor parameters. The calling entity may provide a subset of the
+ *            operation outputs, providing only those that it wants to change.
+ *
+ * @return Error code
+ *
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_setOpIO(SnpeUdo_Operation_t operation,
+                SnpeUdo_TensorParam_t* inputs,
+                SnpeUdo_TensorParam_t* outputs);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_SetOpIOFunction_t)(SnpeUdo_Operation_t,
+                             SnpeUdo_TensorParam_t*,
+                             SnpeUdo_TensorParam_t*);
+
+/**
+ * @brief A function to return execution times.
+ *
+ *        This function can be called to query the operation execution times on the IP core
+ *        on which the operation is run. The time is provided in micro-seconds
+ *
+ * @param[in] operation Handle to operation whose execution time is being profiled
+ *
+ * @param[in,out] executionTime pointer to a uint32 value.This function writes the operation
+ *                execution time in usec into this value.
+ *
+ * @return Error code
+ *
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_profileOp(SnpeUdo_Operation_t operation, uint32_t *executionTime);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_ProfileOpFunction_t)(SnpeUdo_Operation_t, uint32_t*);
+
+/**
+ * @brief A function to release the operation instance
+ *        \n When it is called, the implementation library needs to release all resources
+ *        allocated for this operation instance.
+ *        \n Note that all function pointers which are part of SnpeUdo_Operation become
+ *        <b> invalid </b> once releaseUdoOp call returns.
+ *
+ * @param[in] operation Handle to operation to be released
+ * @return Error code
+ *
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_releaseOp(SnpeUdo_Operation_t operation);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_ReleaseOpFunction_t)(SnpeUdo_Operation_t);
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#ifdef __cplusplus
+} // extern "C"
+#endif
+
+#endif //SNPE_UDO_IMPL_H
diff --git a/third_party/snpe/include/SnpeUdo/UdoImplCpu.h b/third_party/snpe/include/SnpeUdo/UdoImplCpu.h
new file mode 100644
index 0000000000..3bbe0638e6
--- /dev/null
+++ b/third_party/snpe/include/SnpeUdo/UdoImplCpu.h
@@ -0,0 +1,44 @@
+//==============================================================================
+//
+// Copyright (c) 2019-2020 Qualcomm Technologies, Inc.
+// All Rights Reserved.
+// Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+// Header to be used by a CPU UDO Implementation library
+
+#ifndef SNPE_UDO_IMPL_CPU_H
+#define SNPE_UDO_IMPL_CPU_H
+
+#include <stdio.h>
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * @brief This struct provides the infrastructure needed by a developer of
+ * CPU UDO Implementation library.
+ *
+ * The framework/runtime which loads the CPU UDO implementation library provides
+ * this infrastructure data to the loaded library at the time of op factory creation.
+ * as an opaque pointer. It contains hooks for the UDO library to invoke supported
+ * functionality at the time of execution
+ *
+ * @param getData function pointer to retrieve raw tensor data from opaque pointer
+ *  passed into the UDO when creating an instance.
+ * @param getDataSize function pointer to retrieve tensor data size from opaque pointer
+ */
+
+typedef struct
+{
+   /// function pointer to retrieve raw tensor data from opaque pointer
+   /// passed into the UDO when creating an instance.
+   float* (*getData)(void*);
+   /// function pointer to retrieve tensor data size from opaque pointer
+   size_t (*getDataSize) (void*);
+} SnpeUdo_CpuInfrastructure_t;
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#endif // SNPE_UDO_IMPL_CPU_H
\ No newline at end of file
diff --git a/third_party/snpe/include/SnpeUdo/UdoImplDsp.h b/third_party/snpe/include/SnpeUdo/UdoImplDsp.h
new file mode 100644
index 0000000000..7e85bf15d8
--- /dev/null
+++ b/third_party/snpe/include/SnpeUdo/UdoImplDsp.h
@@ -0,0 +1,187 @@
+//==============================================================================
+//
+// Copyright (c) 2019-2020 Qualcomm Technologies, Inc.
+// All Rights Reserved.
+// Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+//==============================================================================
+/*
+ * THIS HEADER FILE IS COPIED FROM HEXAGON-NN PROJECT
+ *
+ */
+//==============================================================================
+
+
+// Header to be used by a DSP Hexnn UDO Implementation library
+
+#ifndef SNPE_UDO_IMPL_DSP_H
+#define SNPE_UDO_IMPL_DSP_H
+#include <stdio.h>
+#include "SnpeUdo/UdoImpl.h"
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * @brief A function to validate that a set of params is supported by an operation
+ *        This function is HexNN specific, use case is when registration library is not in use.
+ *        Optional function.
+ *
+ * @param[in] operationType Operation type
+ * @param[in] numOfStaticParams Number of static params defined by the op
+ * @param[in] staticParams Array of static params to the op
+ * @return Error code, indicating if the operation can be created on this set of configuration or not.
+ *
+ */
+
+SnpeUdo_ErrorType_t
+SnpeUdo_validateOperation (SnpeUdo_String_t operationType,
+                           uint32_t numOfStaticParams,
+                           const SnpeUdo_Param_t* staticParams);
+
+typedef SnpeUdo_ErrorType_t (*SnpeUdo_ValidateOperationFunction_t) (SnpeUdo_String_t,
+                                                                    uint32_t,
+                                                                    const SnpeUdo_Param_t*);
+
+
+// enum used for indicating input/outout tensor data layouts on DSP, plain vs d32
+typedef enum {
+        SNPE_UDO_DSP_TENSOR_LAYOUT_PLAIN,
+        SNPE_UDO_DSP_TENSOR_LAYOUT_D32
+} SnpeUdo_HexNNTensorLayout_t;
+
+/**
+ * @brief A function to query numbers of inputs and outputs,
+ *        quantization type of each input and each output as arrays,
+ *        and data layout (plain vs d32) of each input and each output as arrays
+ *        of an operation.
+ * inputsQuantTypes and inputsLayouts should point to arrays of size numOfInputs
+ * outputsQuantTypes and outputsLayouts should point to arrays of size numOfOutputs
+ *
+ * Note: inputsLayouts and inputsLayouts can point to NULL, in this case, it is
+ * assumed all inputs and/or outputs have plain data layouts, i.e. no D32
+ *
+ * @param[in] operationType Operation type
+ * @param[in] numOfStaticParams Number of static params defined by the op
+ * @param[in] staticParams Array of static params to the op
+ * @param[in,out] numOfInputs Number of input tensors to the op
+ * @param[in,out] inputsQuantTypes Array of Quantization info for each input tensor
+ * @param[in,out] inputsLayouts Array of layout type for each input tensor
+ * @param[in,out] numOfOutputs Number of output tensors to the op
+ * @param[in,out] outputsQuantTypes Array of Quantization info for each output tensor
+ * @param[in,out] outputsLayouts Array of layout type for each output tensor
+ * @return error code, indicating status of query
+ */
+
+SnpeUdo_ErrorType_t
+SnpeUdo_queryOperation (SnpeUdo_String_t operationType,
+                        uint32_t numOfStaticParams,
+                        const SnpeUdo_Param_t* staticParams,
+                        uint32_t* numOfInputs,
+                        SnpeUdo_QuantizationType_t** inputsQuantTypes,
+                        SnpeUdo_HexNNTensorLayout_t** inputsLayouts,
+                        uint32_t* numOfOutputs,
+                        SnpeUdo_QuantizationType_t** outputsQuantTypes,
+                        SnpeUdo_HexNNTensorLayout_t** outputsLayouts);
+
+typedef SnpeUdo_ErrorType_t (*SnpeUdo_QueryOperationFunction_t) (SnpeUdo_String_t,
+                                                                 uint32_t,
+                                                                 const SnpeUdo_Param_t*,
+                                                                 uint32_t*,
+                                                                 SnpeUdo_QuantizationType_t**,
+                                                                 SnpeUdo_HexNNTensorLayout_t**,
+                                                                 uint32_t*,
+                                                                 SnpeUdo_QuantizationType_t**,
+                                                                 SnpeUdo_HexNNTensorLayout_t**);
+
+
+
+// Global infrastructure functions supported by Hexagon-NN v2
+typedef void (*workerThread_t) (void* perOpInfrastructure, void* userData);
+typedef int (*udoSetOutputTensorSize_t) (void* perOpInfrastructure, uint32_t outIdx, uint32_t size);
+typedef int (*udoGetInputD32Paddings_t) (void* perOpInfrastructure, uint32_t inIdx,
+                                         uint32_t* heightPadBefore, uint32_t* heightPadAfter,
+                                         uint32_t* widthPadBefore, uint32_t* widthPadAfter,
+                                         uint32_t* depthPadBefore, uint32_t* depthPadAfter);
+typedef int (*udoSetOutputD32ShapeSizePaddings_t) (void* perOpInfrastructure, uint32_t outIdx,
+                                                   uint32_t batch,
+                                                   uint32_t height, uint32_t heightPadBefore, uint32_t heightPadAfter,
+                                                   uint32_t width, uint32_t widthPadBefore, uint32_t widthPadAfter,
+                                                   uint32_t depth, uint32_t depthPadBefore, uint32_t depthPadAfter,
+                                                   SnpeUdo_DataType_t dataType);
+typedef void* (*udoMemalign_t) (size_t n, size_t size);
+typedef void* (*udoMalloc_t) (size_t size);
+typedef void* (*udoCalloc_t) (size_t n, size_t size);
+typedef void (*udoFree_t) (void* ptr);
+typedef uint32_t (*udoGetVtcmSize_t) (void* perOpInfrastructure);
+typedef void* (*udoGetVtcmPtr_t) (void* perOpInfrastructure);
+typedef uint32_t (*udoVtcmIsReal_t) (void* perOpInfrastructure);
+typedef void (*udoRunWorkerThreads_t) (void* perOpInfrastructure, uint32_t nThreads, workerThread_t w, void* userData);
+
+typedef struct hexNNv2GlobalInfra {
+    udoSetOutputTensorSize_t udoSetOutputTensorSize;
+    udoGetInputD32Paddings_t udoGetInputD32Paddings;
+    udoSetOutputD32ShapeSizePaddings_t udoSetOutputD32ShapeSizePaddings;
+    udoMemalign_t udoMemalign;
+    udoMalloc_t udoMalloc;
+    udoCalloc_t udoCalloc;
+    udoFree_t udoFree;
+    udoGetVtcmSize_t udoGetVtcmSize;
+    udoGetVtcmPtr_t udoGetVtcmPtr;
+    udoVtcmIsReal_t udoVtcmIsReal;
+    udoRunWorkerThreads_t udoRunWorkerThreads;
+} SnpeUdo_HexNNv2GlobalInfra_t;
+
+// hexnn types
+typedef enum hexnnInfraType {
+   UDO_INFRA_HEXNN_V2,
+   UDO_INFRA_HEXNN_V3   // reserved, do not use
+} SnpeUdo_HexNNInfraType_t;
+
+
+/**
+ * @brief Infrastructures needed by a developer of DSP Hexnn UDO Implementation library.
+ *
+ * The framework/runtime which loads the Hexnn UDO implementation library provides
+ * this infrastructure to the loaded library by calling "SnpeUdo_initImplLibrary"
+ * function, and passing it (cast to void*). The Hexnn UDO library is expected
+ * to cast it back to this structure.
+ *
+ */
+typedef struct dspGlobalInfrastructure {
+    SnpeUdo_Version_t   dspInfraVersion;     // api version
+    SnpeUdo_HexNNInfraType_t infraType;
+    SnpeUdo_HexNNv2GlobalInfra_t hexNNv2Infra;
+} SnpeUdo_DspGlobalInfrastructure_t;
+
+
+/**
+ * hexnn v2 per op factory infrastructure
+ *
+ * The framework/runtime passes per op factory infrastructure as a void pointer
+ * to HexNN UDO implementation library by calling function "SnpeUdo_createOpFactory".
+ * UDO implementation library is expected to cast it back to this following struct.
+ *
+ */
+typedef struct hexnnv2OpFactoryInfra {
+   unsigned long graphId;
+} SnpeUdo_HexNNv2OpFactoryInfra_t;
+
+
+/**
+ * hexnn v2 per operation infrastructure
+ *
+ * The framework/runtime passes per operation infrastructure as a void pointer
+ * to HexNN UDO implementation library by calling function "SnpeUdo_createOperation".
+ * UDO implementation library is expected to cast it to the following type and save it.
+ *
+ * This is needed to be passed back into some functions from global infrastructure.
+ *
+ */
+typedef void* SnpeUdo_HexNNv2OpInfra_t;
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#endif // SNPE_UDO_IMPL_DSP_H
diff --git a/third_party/snpe/include/SnpeUdo/UdoImplGpu.h b/third_party/snpe/include/SnpeUdo/UdoImplGpu.h
new file mode 100644
index 0000000000..1af654d110
--- /dev/null
+++ b/third_party/snpe/include/SnpeUdo/UdoImplGpu.h
@@ -0,0 +1,112 @@
+//==============================================================================
+//
+// Copyright (c) 2019-2020 Qualcomm Technologies, Inc.
+// All Rights Reserved.
+// Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+// Header to be used by a GPU UDO Implementation library
+
+#ifndef SNPE_UDO_IMPL_GPU_H
+#define SNPE_UDO_IMPL_GPU_H
+
+#include "CL/cl.h"
+#include "SnpeUdo/UdoBase.h"
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * This header defines version 0.0.0 of the GPU UDO Infrastructure.
+ * It defines the interpretation of the global and per-OpFactory infrastructure pointers
+ * as well as the interpretation of tensorData pointers.
+ *
+ * The per-Operation infrastructure pointer is defined to be null, and should not be used.
+ *
+ * The SnpeUdoTensorParam_t struct below provides the interpretation for
+ * the tensorData opaque pointer for SnpeUdoTensorParams representing inputs or outputs.
+ *
+ * The tensorData opaque pointer populated in SnpeUdoScalarParam_t structs should be interpreted
+ * as a host-readable data pointer.
+ *
+ */
+
+/**
+ * @brief Function to retrieve opencl program from Program Cache repository.
+ * @param programCache is opaque pointer to Program Cache repository provided by
+ * SNPE GPU UDO runtime.
+ * @param programName is name associated with opencl program for UDO.
+ * @param program is pointer to opencl program which will be populated with
+ * valid opencl program if found in Program Cache repository.
+ * @return SnpeUdo_ErrorType_t is error type returned. SNPE_UDO_NO_ERROR is returned
+ * on success.
+ */
+typedef SnpeUdo_ErrorType_t (*SnpeUdo_getProgram_t)
+   (void* programCache, const char* programName, cl_program* program);
+
+/**
+ * @brief Function to store valid opencl program in Program Cache repository.
+ * @param programCache is opaque pointer to Program Cache repository provided by
+ * SNPE GPU UDO runtime.
+ * @param programName is name associated with opencl program for UDO.
+ * @param program is valid opencl program after program is built.
+ * @return SnpeUdo_ErrorType_t is error type returned. SNPE_UDO_NO_ERROR is returned
+ * on success.
+ * */
+typedef SnpeUdo_ErrorType_t (*SnpeUdo_storeProgram_t)
+   (void* programCache, const char * programName, cl_program program);
+
+/**
+ * @brief Global Infrastructure Definition for GPU UDO Implementations.
+ */
+typedef struct {
+   // Infrastructure definition version. This header is 0.0.0
+   SnpeUdo_Version_t   gpuInfraVersion;
+   SnpeUdo_getProgram_t SnpeUdo_getProgram;
+   SnpeUdo_storeProgram_t SnpeUdo_storeProgram;
+} SnpeUdo_GpuInfrastructure_t;
+
+/**
+ * @brief Per OpFactory Infrastructure Definition for GPU UDO Implementations.
+ * @note  This version of the infrastructure definition guarantees that the same
+ *        Per OpFactory infrastructure pointer will be provided to all OpFactories
+ *        in the same network.
+ */
+typedef struct
+{
+   cl_context context;
+   cl_command_queue commandQueue;
+   void* programCache;
+} SnpeUdo_GpuOpFactoryInfrastructure_t;
+
+/**
+ * @brief Opaque tensorData definition for operation inputs and outputs.
+ *
+ * The following is a list of all SnpeUdoTensorLayout_t values supported by the
+ * GPU UDO implementation, and how the parameters of the struct should be
+ * interpreted in each case:
+ *
+ * SNPE_UDO_LAYOUT_NHWC:
+ *   mem shall be single-element array, pointing to a cl buffer memory object.
+ *   the dimensions of this object match the dimensions specified in the encompassing
+ *   SnpeUdoTensorParam_t's currDimensions.
+ *
+ *   memCount shall be 1.
+ *
+ *   paddedRank and paddedDimensions are undefined and shall be ignored by the UDO
+ *   implementation.
+ *
+ */
+typedef struct
+{
+   cl_mem*   mem;
+   uint32_t  memCount;
+   uint32_t  paddedRank;
+   uint32_t* paddedDimensions;
+
+} SnpeUdo_GpuTensorData_t;
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#endif // SNPE_UDO_IMPL_GPU_H
diff --git a/third_party/snpe/include/SnpeUdo/UdoReg.h b/third_party/snpe/include/SnpeUdo/UdoReg.h
new file mode 100644
index 0000000000..a5d2398833
--- /dev/null
+++ b/third_party/snpe/include/SnpeUdo/UdoReg.h
@@ -0,0 +1,108 @@
+//==============================================================================
+//
+// Copyright (c) 2019-2020 Qualcomm Technologies, Inc.
+// All Rights Reserved.
+// Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+#ifndef SNPE_UDO_REG_H
+#define SNPE_UDO_REG_H
+
+#include "SnpeUdo/UdoShared.h"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * @brief Initialize the shared library's data structures. Calling any other
+ *        library function before this one will result in an error being returned.
+ *
+ * @return Error code
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_initRegLibrary(void);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_InitRegLibraryFunction_t)(void);
+
+/**
+ * @brief A function to query the API version of the UDO registration library.
+ *        The function populates a SnpeUdo_LibVersion_t struct, which contains a SnpeUdo_Version_t
+ *        struct for API version and library version.
+ *
+ * @param[in, out] version A pointer to struct which contains major, minor, teeny information for
+ *                 library and api versions.
+ *
+ * @return Error code
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_getRegLibraryVersion(SnpeUdo_LibVersion_t** version);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_getRegLibraryVersion_t)(SnpeUdo_LibVersion_t** version);
+
+/**
+ * @brief Release the shared library's data structures, and invalidate any
+ *        handles returned by the library. The behavior of any outstanding
+ *        asynchronous calls made to this library when this function is called
+ *        are undefined. All library functions (except SnpeUdo_InitRegLibrary) will
+ *        return an error after this function has been successfully called.
+ *
+ *        It should be possible to call SnpeUdo_InitRegLibrary after calling this
+ *        function, and re-initialize the library.
+ *
+ * @return Error code
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_terminateRegLibrary(void);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_TerminateRegLibraryFunction_t)(void);
+
+
+/**
+ * @brief A function to query the info on the UDO set.
+ *        The function populates a structure which contains information about
+ *        the package and operations contained in it.
+ *
+ * @param[in, out] registrationInfo A struct which contains information on the set of UDOs
+ *
+ * @return Error code
+ *
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_getRegInfo(SnpeUdo_RegInfo_t** registrationInfo);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_GetRegInfoFunction_t)(SnpeUdo_RegInfo_t** registrationInfo);
+
+/**
+ * @brief A function to validate that a set of params is supported by an operation
+ *        The function receives an operation definition struct, and returns if this configuration is
+ *        supported (e.g. if an operation can be created using this configuration)
+ *
+ * @param[in] opDefinition A struct of SnpeUdo_OpDefinition type, containing the information needed to
+ *            validate that an operation can be created with this configuration.
+ *
+ * @return Error code, indicating is the operation can be created on this set or not.
+ *
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_validateOperation(SnpeUdo_OpDefinition_t* opDefinition);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_ValidateOperationFunction_t)(SnpeUdo_OpDefinition_t* opDefinition);
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#ifdef __cplusplus
+} // extern "C"
+#endif
+
+#endif //SNPE_UDO_REG_H
diff --git a/third_party/snpe/include/SnpeUdo/UdoShared.h b/third_party/snpe/include/SnpeUdo/UdoShared.h
new file mode 100644
index 0000000000..6fd50c318a
--- /dev/null
+++ b/third_party/snpe/include/SnpeUdo/UdoShared.h
@@ -0,0 +1,46 @@
+//==============================================================================
+//
+// Copyright (c) 2019-2020 Qualcomm Technologies, Inc.
+// All Rights Reserved.
+// Confidential and Proprietary - Qualcomm Technologies, Inc.
+//
+//==============================================================================
+
+#ifndef SNPE_UDO_SHARED_H
+#define SNPE_UDO_SHARED_H
+
+#include "SnpeUdo/UdoBase.h"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+/** @addtogroup c_plus_plus_apis C++
+@{ */
+
+/**
+ * @brief A function to return the various versions as they relate to the UDO
+ *        The function returns a struct containing the the following:
+ *        libVersion: the version of the implementation library compiled for the UDO. Set by user
+ *        apiVersion: the version of the UDO API used in compiling the implementation library.
+ *        Set by SNPE
+ *
+ * @param[in, out] version A pointer to Version struct of type SnpeUdo_LibVersion_t
+ *
+ * @return Error code
+ *
+ */
+SnpeUdo_ErrorType_t
+SnpeUdo_getVersion (SnpeUdo_LibVersion_t** version);
+
+typedef SnpeUdo_ErrorType_t
+(*SnpeUdo_GetVersionFunction_t) (SnpeUdo_LibVersion_t** version);
+
+#ifdef __cplusplus
+} // extern "C"
+#endif
+
+/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
+
+#endif // SNPE_UDO_SHARED_H
diff --git a/phonelibs/snpe/larch64 b/third_party/snpe/larch64
similarity index 100%
rename from phonelibs/snpe/larch64
rename to third_party/snpe/larch64
diff --git a/phonelibs/snpe/x86_64 b/third_party/snpe/x86_64
similarity index 100%
rename from phonelibs/snpe/x86_64
rename to third_party/snpe/x86_64
diff --git a/phonelibs/snpe/x86_64-linux-clang/libSNPE.so b/third_party/snpe/x86_64-linux-clang/libSNPE.so
similarity index 100%
rename from phonelibs/snpe/x86_64-linux-clang/libSNPE.so
rename to third_party/snpe/x86_64-linux-clang/libSNPE.so
diff --git a/phonelibs/snpe/x86_64-linux-clang/libomp.so b/third_party/snpe/x86_64-linux-clang/libomp.so
similarity index 100%
rename from phonelibs/snpe/x86_64-linux-clang/libomp.so
rename to third_party/snpe/x86_64-linux-clang/libomp.so
diff --git a/phonelibs/snpe/x86_64-linux-clang/libsymphony-cpu.so b/third_party/snpe/x86_64-linux-clang/libsymphony-cpu.so
similarity index 100%
rename from phonelibs/snpe/x86_64-linux-clang/libsymphony-cpu.so
rename to third_party/snpe/x86_64-linux-clang/libsymphony-cpu.so
diff --git a/third_party/zlib/build.txt b/third_party/zlib/build.txt
new file mode 100644
index 0000000000..b67f9cd57a
--- /dev/null
+++ b/third_party/zlib/build.txt
@@ -0,0 +1,5 @@
+# with neos tree
+cd ~/android/system
+mka libz
+
+cp ~/android/system/out/target/product/oneplus3/obj/STATIC_LIBRARIES/libz_intermediates/libz.a lib/
diff --git a/phonelibs/zlib/lib/libz.a b/third_party/zlib/lib/libz.a
similarity index 100%
rename from phonelibs/zlib/lib/libz.a
rename to third_party/zlib/lib/libz.a
diff --git a/tools/sim/Dockerfile.sim b/tools/sim/Dockerfile.sim
index 9afb4e4e1b..06dfaef790 100644
--- a/tools/sim/Dockerfile.sim
+++ b/tools/sim/Dockerfile.sim
@@ -49,7 +49,7 @@ RUN mkdir -p $HOME/openpilot
 
 COPY SConstruct $HOME/openpilot/
 
-COPY ./phonelibs $HOME/openpilot/phonelibs
+COPY ./third_party $HOME/openpilot/third_party
 COPY ./pyextra $HOME/openpilot/pyextra
 COPY ./site_scons $HOME/openpilot/site_scons
 COPY ./rednose $HOME/openpilot/rednose