b3rb.c

/* This file was automatically generated by CasADi 3.6.3.
 *  It consists of:
 *   1) content generated by CasADi runtime: not copyrighted
 *   2) template code copied from CasADi source: permissively licensed (MIT-0)
 *   3) user code: owned by the user
 *
 */
#ifdef __cplusplus
extern "C" {
#endif

/* How to prefix internal symbols */
#ifdef CASADI_CODEGEN_PREFIX
#define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID)
#define _CASADI_NAMESPACE_CONCAT(NS, ID) NS##ID
#define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID)
#else
#define CASADI_PREFIX(ID) b3rb_##ID
#endif

#include <math.h>

#ifndef casadi_real
#define casadi_real double
#endif

#ifndef casadi_int
#define casadi_int long long int
#endif

/* Add prefix to internal symbols */
#define casadi_f0 CASADI_PREFIX(f0)
#define casadi_f1 CASADI_PREFIX(f1)
#define casadi_f2 CASADI_PREFIX(f2)
#define casadi_f3 CASADI_PREFIX(f3)
#define casadi_f4 CASADI_PREFIX(f4)
#define casadi_f5 CASADI_PREFIX(f5)
#define casadi_f6 CASADI_PREFIX(f6)
#define casadi_f7 CASADI_PREFIX(f7)
#define casadi_f8 CASADI_PREFIX(f8)
#define casadi_fabs CASADI_PREFIX(fabs)
#define casadi_s0 CASADI_PREFIX(s0)
#define casadi_s1 CASADI_PREFIX(s1)
#define casadi_s2 CASADI_PREFIX(s2)
#define casadi_s3 CASADI_PREFIX(s3)
#define casadi_s4 CASADI_PREFIX(s4)
#define casadi_sq CASADI_PREFIX(sq)

casadi_real casadi_sq(casadi_real x)
{
    return x * x;
}

casadi_real casadi_fabs(casadi_real x)
{
/* Pre-c99 compatibility */
#if __STDC_VERSION__ < 199901L
    return x > 0 ? x : -x;
#else
    return fabs(x);
#endif
}

static const casadi_int casadi_s0[6] = { 2, 1, 0, 2, 0, 1 };
static const casadi_int casadi_s1[5] = { 1, 1, 0, 1, 0 };
static const casadi_int casadi_s2[15] = { 1, 6, 0, 1, 2, 3, 4, 5, 6, 0, 0, 0, 0, 0, 0 };
static const casadi_int casadi_s3[7] = { 3, 1, 0, 3, 0, 1, 2 };
static const casadi_int casadi_s4[15] = { 3, 3, 0, 3, 6, 9, 0, 1, 2, 0, 1, 2, 0, 1, 2 };

/* bezier6_solve:(wp_0[2],wp_1[2],T)->(P[1x6]) */
static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem)
{
    w[0] = arg[0] ? arg[0][0] : 0;
    if (res[0] != 0)
        res[0][0] = w[0];
    w[1] = arg[0] ? arg[0][1] : 0;
    w[2] = 5.;
    w[3] = arg[2] ? arg[2][0] : 0;
    w[4] = (w[2] / w[3]);
    w[5] = (w[1] / w[4]);
    w[6] = -5.;
    w[7] = (w[6] / w[3]);
    w[8] = (w[7] / w[4]);
    w[9] = (w[8] * w[0]);
    w[5] = (w[5] - w[9]);
    if (res[0] != 0)
        res[0][1] = w[5];
    w[5] = 4.;
    w[7] = (w[5] * w[7]);
    w[7] = (w[7] / w[3]);
    w[9] = (w[6] / w[3]);
    w[9] = (w[9] - w[4]);
    w[9] = (w[5] * w[9]);
    w[9] = (w[9] / w[3]);
    w[8] = (w[9] * w[8]);
    w[7] = (w[7] + w[8]);
    w[8] = (w[2] / w[3]);
    w[8] = (w[5] * w[8]);
    w[8] = (w[8] / w[3]);
    w[7] = (w[7] / w[8]);
    w[7] = (w[7] * w[0]);
    w[9] = (w[9] / w[4]);
    w[9] = (w[9] / w[8]);
    w[9] = (w[9] * w[1]);
    w[7] = (w[7] - w[9]);
    if (res[0] != 0)
        res[0][2] = w[7];
    w[7] = (w[6] / w[3]);
    w[9] = (w[2] / w[3]);
    w[9] = (w[7] - w[9]);
    w[9] = (w[5] * w[9]);
    w[9] = (w[9] / w[3]);
    w[1] = (w[9] / w[7]);
    w[6] = (w[6] / w[3]);
    w[6] = (w[5] * w[6]);
    w[6] = (w[6] / w[3]);
    w[1] = (w[1] / w[6]);
    w[8] = arg[1] ? arg[1][1] : 0;
    w[1] = (w[1] * w[8]);
    w[2] = (w[2] / w[3]);
    w[4] = (w[2] / w[7]);
    w[9] = (w[9] * w[4]);
    w[5] = (w[5] * w[2]);
    w[5] = (w[5] / w[3]);
    w[9] = (w[9] - w[5]);
    w[9] = (w[9] / w[6]);
    w[6] = arg[1] ? arg[1][0] : 0;
    w[9] = (w[9] * w[6]);
    w[1] = (w[1] - w[9]);
    if (res[0] != 0)
        res[0][3] = w[1];
    w[8] = (w[8] / w[7]);
    w[4] = (w[4] * w[6]);
    w[8] = (w[8] - w[4]);
    if (res[0] != 0)
        res[0][4] = w[8];
    if (res[0] != 0)
        res[0][5] = w[6];
    return 0;
}

int bezier6_solve(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem)
{
    return casadi_f0(arg, res, iw, w, mem);
}

int bezier6_solve_alloc_mem(void)
{
    return 0;
}

int bezier6_solve_init_mem(int mem)
{
    return 0;
}

void bezier6_solve_free_mem(int mem)
{
}

int bezier6_solve_checkout(void)
{
    return 0;
}

void bezier6_solve_release(int mem)
{
}

void bezier6_solve_incref(void)
{
}

void bezier6_solve_decref(void)
{
}

casadi_int bezier6_solve_n_in(void) { return 3; }

casadi_int bezier6_solve_n_out(void) { return 1; }

casadi_real bezier6_solve_default_in(casadi_int i)
{
    switch (i) {
    default:
        return 0;
    }
}

const char* bezier6_solve_name_in(casadi_int i)
{
    switch (i) {
    case 0:
        return "wp_0";
    case 1:
        return "wp_1";
    case 2:
        return "T";
    default:
        return 0;
    }
}

const char* bezier6_solve_name_out(casadi_int i)
{
    switch (i) {
    case 0:
        return "P";
    default:
        return 0;
    }
}

const casadi_int* bezier6_solve_sparsity_in(casadi_int i)
{
    switch (i) {
    case 0:
        return casadi_s0;
    case 1:
        return casadi_s0;
    case 2:
        return casadi_s1;
    default:
        return 0;
    }
}

const casadi_int* bezier6_solve_sparsity_out(casadi_int i)
{
    switch (i) {
    case 0:
        return casadi_s2;
    default:
        return 0;
    }
}

int bezier6_solve_work(casadi_int* sz_arg, casadi_int* sz_res, casadi_int* sz_iw, casadi_int* sz_w)
{
    if (sz_arg)
        *sz_arg = 3;
    if (sz_res)
        *sz_res = 1;
    if (sz_iw)
        *sz_iw = 0;
    if (sz_w)
        *sz_w = 10;
    return 0;
}

/* bezier6_traj:(t,T,P[1x6])->(r[3]) */
static int casadi_f1(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem)
{
    w[0] = arg[2] ? arg[2][0] : 0;
    w[1] = 1.;
    w[2] = arg[0] ? arg[0][0] : 0;
    w[3] = arg[1] ? arg[1][0] : 0;
    w[4] = (w[2] / w[3]);
    w[5] = (w[1] - w[4]);
    w[5] = (w[0] * w[5]);
    w[6] = arg[2] ? arg[2][1] : 0;
    w[7] = (w[6] * w[4]);
    w[5] = (w[5] + w[7]);
    w[7] = (w[1] - w[4]);
    w[5] = (w[5] * w[7]);
    w[7] = (w[1] - w[4]);
    w[7] = (w[6] * w[7]);
    w[8] = arg[2] ? arg[2][2] : 0;
    w[9] = (w[8] * w[4]);
    w[7] = (w[7] + w[9]);
    w[9] = (w[7] * w[4]);
    w[5] = (w[5] + w[9]);
    w[9] = (w[1] - w[4]);
    w[5] = (w[5] * w[9]);
    w[9] = (w[1] - w[4]);
    w[7] = (w[7] * w[9]);
    w[9] = (w[1] - w[4]);
    w[9] = (w[8] * w[9]);
    w[10] = arg[2] ? arg[2][3] : 0;
    w[11] = (w[10] * w[4]);
    w[9] = (w[9] + w[11]);
    w[11] = (w[9] * w[4]);
    w[7] = (w[7] + w[11]);
    w[11] = (w[7] * w[4]);
    w[5] = (w[5] + w[11]);
    w[11] = (w[1] - w[4]);
    w[5] = (w[5] * w[11]);
    w[11] = (w[1] - w[4]);
    w[7] = (w[7] * w[11]);
    w[11] = (w[1] - w[4]);
    w[9] = (w[9] * w[11]);
    w[11] = (w[1] - w[4]);
    w[11] = (w[10] * w[11]);
    w[12] = arg[2] ? arg[2][4] : 0;
    w[13] = (w[12] * w[4]);
    w[11] = (w[11] + w[13]);
    w[13] = (w[11] * w[4]);
    w[9] = (w[9] + w[13]);
    w[13] = (w[9] * w[4]);
    w[7] = (w[7] + w[13]);
    w[13] = (w[7] * w[4]);
    w[5] = (w[5] + w[13]);
    w[13] = (w[1] - w[4]);
    w[5] = (w[5] * w[13]);
    w[13] = (w[1] - w[4]);
    w[7] = (w[7] * w[13]);
    w[13] = (w[1] - w[4]);
    w[9] = (w[9] * w[13]);
    w[13] = (w[1] - w[4]);
    w[11] = (w[11] * w[13]);
    w[13] = (w[1] - w[4]);
    w[13] = (w[12] * w[13]);
    w[14] = arg[2] ? arg[2][5] : 0;
    w[15] = (w[14] * w[4]);
    w[13] = (w[13] + w[15]);
    w[13] = (w[13] * w[4]);
    w[11] = (w[11] + w[13]);
    w[11] = (w[11] * w[4]);
    w[9] = (w[9] + w[11]);
    w[9] = (w[9] * w[4]);
    w[7] = (w[7] + w[9]);
    w[7] = (w[7] * w[4]);
    w[5] = (w[5] + w[7]);
    if (res[0] != 0)
        res[0][0] = w[5];
    w[5] = 5.;
    w[0] = (w[6] - w[0]);
    w[0] = (w[5] * w[0]);
    w[0] = (w[0] / w[3]);
    w[7] = (w[2] / w[3]);
    w[4] = (w[1] - w[7]);
    w[4] = (w[0] * w[4]);
    w[6] = (w[8] - w[6]);
    w[6] = (w[5] * w[6]);
    w[6] = (w[6] / w[3]);
    w[9] = (w[6] * w[7]);
    w[4] = (w[4] + w[9]);
    w[9] = (w[1] - w[7]);
    w[4] = (w[4] * w[9]);
    w[9] = (w[1] - w[7]);
    w[9] = (w[6] * w[9]);
    w[8] = (w[10] - w[8]);
    w[8] = (w[5] * w[8]);
    w[8] = (w[8] / w[3]);
    w[11] = (w[8] * w[7]);
    w[9] = (w[9] + w[11]);
    w[11] = (w[9] * w[7]);
    w[4] = (w[4] + w[11]);
    w[11] = (w[1] - w[7]);
    w[4] = (w[4] * w[11]);
    w[11] = (w[1] - w[7]);
    w[9] = (w[9] * w[11]);
    w[11] = (w[1] - w[7]);
    w[11] = (w[8] * w[11]);
    w[10] = (w[12] - w[10]);
    w[10] = (w[5] * w[10]);
    w[10] = (w[10] / w[3]);
    w[13] = (w[10] * w[7]);
    w[11] = (w[11] + w[13]);
    w[13] = (w[11] * w[7]);
    w[9] = (w[9] + w[13]);
    w[13] = (w[9] * w[7]);
    w[4] = (w[4] + w[13]);
    w[13] = (w[1] - w[7]);
    w[4] = (w[4] * w[13]);
    w[13] = (w[1] - w[7]);
    w[9] = (w[9] * w[13]);
    w[13] = (w[1] - w[7]);
    w[11] = (w[11] * w[13]);
    w[13] = (w[1] - w[7]);
    w[13] = (w[10] * w[13]);
    w[14] = (w[14] - w[12]);
    w[5] = (w[5] * w[14]);
    w[5] = (w[5] / w[3]);
    w[14] = (w[5] * w[7]);
    w[13] = (w[13] + w[14]);
    w[13] = (w[13] * w[7]);
    w[11] = (w[11] + w[13]);
    w[11] = (w[11] * w[7]);
    w[9] = (w[9] + w[11]);
    w[9] = (w[9] * w[7]);
    w[4] = (w[4] + w[9]);
    if (res[0] != 0)
        res[0][1] = w[4];
    w[4] = 4.;
    w[0] = (w[6] - w[0]);
    w[0] = (w[4] * w[0]);
    w[0] = (w[0] / w[3]);
    w[2] = (w[2] / w[3]);
    w[9] = (w[1] - w[2]);
    w[0] = (w[0] * w[9]);
    w[6] = (w[8] - w[6]);
    w[6] = (w[4] * w[6]);
    w[6] = (w[6] / w[3]);
    w[9] = (w[6] * w[2]);
    w[0] = (w[0] + w[9]);
    w[9] = (w[1] - w[2]);
    w[0] = (w[0] * w[9]);
    w[9] = (w[1] - w[2]);
    w[6] = (w[6] * w[9]);
    w[8] = (w[10] - w[8]);
    w[8] = (w[4] * w[8]);
    w[8] = (w[8] / w[3]);
    w[9] = (w[8] * w[2]);
    w[6] = (w[6] + w[9]);
    w[9] = (w[6] * w[2]);
    w[0] = (w[0] + w[9]);
    w[9] = (w[1] - w[2]);
    w[0] = (w[0] * w[9]);
    w[9] = (w[1] - w[2]);
    w[6] = (w[6] * w[9]);
    w[1] = (w[1] - w[2]);
    w[8] = (w[8] * w[1]);
    w[5] = (w[5] - w[10]);
    w[4] = (w[4] * w[5]);
    w[4] = (w[4] / w[3]);
    w[4] = (w[4] * w[2]);
    w[8] = (w[8] + w[4]);
    w[8] = (w[8] * w[2]);
    w[6] = (w[6] + w[8]);
    w[6] = (w[6] * w[2]);
    w[0] = (w[0] + w[6]);
    if (res[0] != 0)
        res[0][2] = w[0];
    return 0;
}

int bezier6_traj(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem)
{
    return casadi_f1(arg, res, iw, w, mem);
}

int bezier6_traj_alloc_mem(void)
{
    return 0;
}

int bezier6_traj_init_mem(int mem)
{
    return 0;
}

void bezier6_traj_free_mem(int mem)
{
}

int bezier6_traj_checkout(void)
{
    return 0;
}

void bezier6_traj_release(int mem)
{
}

void bezier6_traj_incref(void)
{
}

void bezier6_traj_decref(void)
{
}

casadi_int bezier6_traj_n_in(void) { return 3; }

casadi_int bezier6_traj_n_out(void) { return 1; }

casadi_real bezier6_traj_default_in(casadi_int i)
{
    switch (i) {
    default:
        return 0;
    }
}

const char* bezier6_traj_name_in(casadi_int i)
{
    switch (i) {
    case 0:
        return "t";
    case 1:
        return "T";
    case 2:
        return "P";
    default:
        return 0;
    }
}

const char* bezier6_traj_name_out(casadi_int i)
{
    switch (i) {
    case 0:
        return "r";
    default:
        return 0;
    }
}

const casadi_int* bezier6_traj_sparsity_in(casadi_int i)
{
    switch (i) {
    case 0:
        return casadi_s1;
    case 1:
        return casadi_s1;
    case 2:
        return casadi_s2;
    default:
        return 0;
    }
}

const casadi_int* bezier6_traj_sparsity_out(casadi_int i)
{
    switch (i) {
    case 0:
        return casadi_s3;
    default:
        return 0;
    }
}

int bezier6_traj_work(casadi_int* sz_arg, casadi_int* sz_res, casadi_int* sz_iw, casadi_int* sz_w)
{
    if (sz_arg)
        *sz_arg = 3;
    if (sz_res)
        *sz_res = 1;
    if (sz_iw)
        *sz_iw = 0;
    if (sz_w)
        *sz_w = 16;
    return 0;
}

/* bezier6_rover:(t,T,PX[1x6],PY[1x6])->(x,y,psi,V,omega) */
static int casadi_f2(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem)
{
    w[0] = arg[2] ? arg[2][0] : 0;
    w[1] = 1.;
    w[2] = arg[0] ? arg[0][0] : 0;
    w[3] = arg[1] ? arg[1][0] : 0;
    w[4] = (w[2] / w[3]);
    w[5] = (w[1] - w[4]);
    w[5] = (w[0] * w[5]);
    w[6] = arg[2] ? arg[2][1] : 0;
    w[7] = (w[6] * w[4]);
    w[5] = (w[5] + w[7]);
    w[7] = (w[1] - w[4]);
    w[5] = (w[5] * w[7]);
    w[7] = (w[1] - w[4]);
    w[7] = (w[6] * w[7]);
    w[8] = arg[2] ? arg[2][2] : 0;
    w[9] = (w[8] * w[4]);
    w[7] = (w[7] + w[9]);
    w[9] = (w[7] * w[4]);
    w[5] = (w[5] + w[9]);
    w[9] = (w[1] - w[4]);
    w[5] = (w[5] * w[9]);
    w[9] = (w[1] - w[4]);
    w[7] = (w[7] * w[9]);
    w[9] = (w[1] - w[4]);
    w[9] = (w[8] * w[9]);
    w[10] = arg[2] ? arg[2][3] : 0;
    w[11] = (w[10] * w[4]);
    w[9] = (w[9] + w[11]);
    w[11] = (w[9] * w[4]);
    w[7] = (w[7] + w[11]);
    w[11] = (w[7] * w[4]);
    w[5] = (w[5] + w[11]);
    w[11] = (w[1] - w[4]);
    w[5] = (w[5] * w[11]);
    w[11] = (w[1] - w[4]);
    w[7] = (w[7] * w[11]);
    w[11] = (w[1] - w[4]);
    w[9] = (w[9] * w[11]);
    w[11] = (w[1] - w[4]);
    w[11] = (w[10] * w[11]);
    w[12] = arg[2] ? arg[2][4] : 0;
    w[13] = (w[12] * w[4]);
    w[11] = (w[11] + w[13]);
    w[13] = (w[11] * w[4]);
    w[9] = (w[9] + w[13]);
    w[13] = (w[9] * w[4]);
    w[7] = (w[7] + w[13]);
    w[13] = (w[7] * w[4]);
    w[5] = (w[5] + w[13]);
    w[13] = (w[1] - w[4]);
    w[5] = (w[5] * w[13]);
    w[13] = (w[1] - w[4]);
    w[7] = (w[7] * w[13]);
    w[13] = (w[1] - w[4]);
    w[9] = (w[9] * w[13]);
    w[13] = (w[1] - w[4]);
    w[11] = (w[11] * w[13]);
    w[13] = (w[1] - w[4]);
    w[13] = (w[12] * w[13]);
    w[14] = arg[2] ? arg[2][5] : 0;
    w[15] = (w[14] * w[4]);
    w[13] = (w[13] + w[15]);
    w[13] = (w[13] * w[4]);
    w[11] = (w[11] + w[13]);
    w[11] = (w[11] * w[4]);
    w[9] = (w[9] + w[11]);
    w[9] = (w[9] * w[4]);
    w[7] = (w[7] + w[9]);
    w[7] = (w[7] * w[4]);
    w[5] = (w[5] + w[7]);
    if (res[0] != 0)
        res[0][0] = w[5];
    w[5] = arg[3] ? arg[3][0] : 0;
    w[7] = (w[2] / w[3]);
    w[4] = (w[1] - w[7]);
    w[4] = (w[5] * w[4]);
    w[9] = arg[3] ? arg[3][1] : 0;
    w[11] = (w[9] * w[7]);
    w[4] = (w[4] + w[11]);
    w[11] = (w[1] - w[7]);
    w[4] = (w[4] * w[11]);
    w[11] = (w[1] - w[7]);
    w[11] = (w[9] * w[11]);
    w[13] = arg[3] ? arg[3][2] : 0;
    w[15] = (w[13] * w[7]);
    w[11] = (w[11] + w[15]);
    w[15] = (w[11] * w[7]);
    w[4] = (w[4] + w[15]);
    w[15] = (w[1] - w[7]);
    w[4] = (w[4] * w[15]);
    w[15] = (w[1] - w[7]);
    w[11] = (w[11] * w[15]);
    w[15] = (w[1] - w[7]);
    w[15] = (w[13] * w[15]);
    w[16] = arg[3] ? arg[3][3] : 0;
    w[17] = (w[16] * w[7]);
    w[15] = (w[15] + w[17]);
    w[17] = (w[15] * w[7]);
    w[11] = (w[11] + w[17]);
    w[17] = (w[11] * w[7]);
    w[4] = (w[4] + w[17]);
    w[17] = (w[1] - w[7]);
    w[4] = (w[4] * w[17]);
    w[17] = (w[1] - w[7]);
    w[11] = (w[11] * w[17]);
    w[17] = (w[1] - w[7]);
    w[15] = (w[15] * w[17]);
    w[17] = (w[1] - w[7]);
    w[17] = (w[16] * w[17]);
    w[18] = arg[3] ? arg[3][4] : 0;
    w[19] = (w[18] * w[7]);
    w[17] = (w[17] + w[19]);
    w[19] = (w[17] * w[7]);
    w[15] = (w[15] + w[19]);
    w[19] = (w[15] * w[7]);
    w[11] = (w[11] + w[19]);
    w[19] = (w[11] * w[7]);
    w[4] = (w[4] + w[19]);
    w[19] = (w[1] - w[7]);
    w[4] = (w[4] * w[19]);
    w[19] = (w[1] - w[7]);
    w[11] = (w[11] * w[19]);
    w[19] = (w[1] - w[7]);
    w[15] = (w[15] * w[19]);
    w[19] = (w[1] - w[7]);
    w[17] = (w[17] * w[19]);
    w[19] = (w[1] - w[7]);
    w[19] = (w[18] * w[19]);
    w[20] = arg[3] ? arg[3][5] : 0;
    w[21] = (w[20] * w[7]);
    w[19] = (w[19] + w[21]);
    w[19] = (w[19] * w[7]);
    w[17] = (w[17] + w[19]);
    w[17] = (w[17] * w[7]);
    w[15] = (w[15] + w[17]);
    w[15] = (w[15] * w[7]);
    w[11] = (w[11] + w[15]);
    w[11] = (w[11] * w[7]);
    w[4] = (w[4] + w[11]);
    if (res[1] != 0)
        res[1][0] = w[4];
    w[4] = 5.;
    w[5] = (w[9] - w[5]);
    w[5] = (w[4] * w[5]);
    w[5] = (w[5] / w[3]);
    w[11] = (w[2] / w[3]);
    w[7] = (w[1] - w[11]);
    w[7] = (w[5] * w[7]);
    w[9] = (w[13] - w[9]);
    w[9] = (w[4] * w[9]);
    w[9] = (w[9] / w[3]);
    w[15] = (w[9] * w[11]);
    w[7] = (w[7] + w[15]);
    w[15] = (w[1] - w[11]);
    w[7] = (w[7] * w[15]);
    w[15] = (w[1] - w[11]);
    w[15] = (w[9] * w[15]);
    w[13] = (w[16] - w[13]);
    w[13] = (w[4] * w[13]);
    w[13] = (w[13] / w[3]);
    w[17] = (w[13] * w[11]);
    w[15] = (w[15] + w[17]);
    w[17] = (w[15] * w[11]);
    w[7] = (w[7] + w[17]);
    w[17] = (w[1] - w[11]);
    w[7] = (w[7] * w[17]);
    w[17] = (w[1] - w[11]);
    w[15] = (w[15] * w[17]);
    w[17] = (w[1] - w[11]);
    w[17] = (w[13] * w[17]);
    w[16] = (w[18] - w[16]);
    w[16] = (w[4] * w[16]);
    w[16] = (w[16] / w[3]);
    w[19] = (w[16] * w[11]);
    w[17] = (w[17] + w[19]);
    w[19] = (w[17] * w[11]);
    w[15] = (w[15] + w[19]);
    w[19] = (w[15] * w[11]);
    w[7] = (w[7] + w[19]);
    w[19] = (w[1] - w[11]);
    w[7] = (w[7] * w[19]);
    w[19] = (w[1] - w[11]);
    w[15] = (w[15] * w[19]);
    w[19] = (w[1] - w[11]);
    w[17] = (w[17] * w[19]);
    w[19] = (w[1] - w[11]);
    w[19] = (w[16] * w[19]);
    w[20] = (w[20] - w[18]);
    w[20] = (w[4] * w[20]);
    w[20] = (w[20] / w[3]);
    w[18] = (w[20] * w[11]);
    w[19] = (w[19] + w[18]);
    w[19] = (w[19] * w[11]);
    w[17] = (w[17] + w[19]);
    w[17] = (w[17] * w[11]);
    w[15] = (w[15] + w[17]);
    w[15] = (w[15] * w[11]);
    w[7] = (w[7] + w[15]);
    w[0] = (w[6] - w[0]);
    w[0] = (w[4] * w[0]);
    w[0] = (w[0] / w[3]);
    w[15] = (w[2] / w[3]);
    w[11] = (w[1] - w[15]);
    w[11] = (w[0] * w[11]);
    w[6] = (w[8] - w[6]);
    w[6] = (w[4] * w[6]);
    w[6] = (w[6] / w[3]);
    w[17] = (w[6] * w[15]);
    w[11] = (w[11] + w[17]);
    w[17] = (w[1] - w[15]);
    w[11] = (w[11] * w[17]);
    w[17] = (w[1] - w[15]);
    w[17] = (w[6] * w[17]);
    w[8] = (w[10] - w[8]);
    w[8] = (w[4] * w[8]);
    w[8] = (w[8] / w[3]);
    w[19] = (w[8] * w[15]);
    w[17] = (w[17] + w[19]);
    w[19] = (w[17] * w[15]);
    w[11] = (w[11] + w[19]);
    w[19] = (w[1] - w[15]);
    w[11] = (w[11] * w[19]);
    w[19] = (w[1] - w[15]);
    w[17] = (w[17] * w[19]);
    w[19] = (w[1] - w[15]);
    w[19] = (w[8] * w[19]);
    w[10] = (w[12] - w[10]);
    w[10] = (w[4] * w[10]);
    w[10] = (w[10] / w[3]);
    w[18] = (w[10] * w[15]);
    w[19] = (w[19] + w[18]);
    w[18] = (w[19] * w[15]);
    w[17] = (w[17] + w[18]);
    w[18] = (w[17] * w[15]);
    w[11] = (w[11] + w[18]);
    w[18] = (w[1] - w[15]);
    w[11] = (w[11] * w[18]);
    w[18] = (w[1] - w[15]);
    w[17] = (w[17] * w[18]);
    w[18] = (w[1] - w[15]);
    w[19] = (w[19] * w[18]);
    w[18] = (w[1] - w[15]);
    w[18] = (w[10] * w[18]);
    w[14] = (w[14] - w[12]);
    w[4] = (w[4] * w[14]);
    w[4] = (w[4] / w[3]);
    w[14] = (w[4] * w[15]);
    w[18] = (w[18] + w[14]);
    w[18] = (w[18] * w[15]);
    w[19] = (w[19] + w[18]);
    w[19] = (w[19] * w[15]);
    w[17] = (w[17] + w[19]);
    w[17] = (w[17] * w[15]);
    w[11] = (w[11] + w[17]);
    w[17] = atan2(w[7], w[11]);
    if (res[2] != 0)
        res[2][0] = w[17];
    w[17] = casadi_sq(w[11]);
    w[15] = casadi_sq(w[7]);
    w[17] = (w[17] + w[15]);
    w[15] = sqrt(w[17]);
    if (res[3] != 0)
        res[3][0] = w[15];
    w[15] = 4.;
    w[5] = (w[9] - w[5]);
    w[5] = (w[15] * w[5]);
    w[5] = (w[5] / w[3]);
    w[19] = (w[2] / w[3]);
    w[18] = (w[1] - w[19]);
    w[5] = (w[5] * w[18]);
    w[9] = (w[13] - w[9]);
    w[9] = (w[15] * w[9]);
    w[9] = (w[9] / w[3]);
    w[18] = (w[9] * w[19]);
    w[5] = (w[5] + w[18]);
    w[18] = (w[1] - w[19]);
    w[5] = (w[5] * w[18]);
    w[18] = (w[1] - w[19]);
    w[9] = (w[9] * w[18]);
    w[13] = (w[16] - w[13]);
    w[13] = (w[15] * w[13]);
    w[13] = (w[13] / w[3]);
    w[18] = (w[13] * w[19]);
    w[9] = (w[9] + w[18]);
    w[18] = (w[9] * w[19]);
    w[5] = (w[5] + w[18]);
    w[18] = (w[1] - w[19]);
    w[5] = (w[5] * w[18]);
    w[18] = (w[1] - w[19]);
    w[9] = (w[9] * w[18]);
    w[18] = (w[1] - w[19]);
    w[13] = (w[13] * w[18]);
    w[20] = (w[20] - w[16]);
    w[20] = (w[15] * w[20]);
    w[20] = (w[20] / w[3]);
    w[20] = (w[20] * w[19]);
    w[13] = (w[13] + w[20]);
    w[13] = (w[13] * w[19]);
    w[9] = (w[9] + w[13]);
    w[9] = (w[9] * w[19]);
    w[5] = (w[5] + w[9]);
    w[11] = (w[11] * w[5]);
    w[0] = (w[6] - w[0]);
    w[0] = (w[15] * w[0]);
    w[0] = (w[0] / w[3]);
    w[2] = (w[2] / w[3]);
    w[5] = (w[1] - w[2]);
    w[0] = (w[0] * w[5]);
    w[6] = (w[8] - w[6]);
    w[6] = (w[15] * w[6]);
    w[6] = (w[6] / w[3]);
    w[5] = (w[6] * w[2]);
    w[0] = (w[0] + w[5]);
    w[5] = (w[1] - w[2]);
    w[0] = (w[0] * w[5]);
    w[5] = (w[1] - w[2]);
    w[6] = (w[6] * w[5]);
    w[8] = (w[10] - w[8]);
    w[8] = (w[15] * w[8]);
    w[8] = (w[8] / w[3]);
    w[5] = (w[8] * w[2]);
    w[6] = (w[6] + w[5]);
    w[5] = (w[6] * w[2]);
    w[0] = (w[0] + w[5]);
    w[5] = (w[1] - w[2]);
    w[0] = (w[0] * w[5]);
    w[5] = (w[1] - w[2]);
    w[6] = (w[6] * w[5]);
    w[1] = (w[1] - w[2]);
    w[8] = (w[8] * w[1]);
    w[4] = (w[4] - w[10]);
    w[15] = (w[15] * w[4]);
    w[15] = (w[15] / w[3]);
    w[15] = (w[15] * w[2]);
    w[8] = (w[8] + w[15]);
    w[8] = (w[8] * w[2]);
    w[6] = (w[6] + w[8]);
    w[6] = (w[6] * w[2]);
    w[0] = (w[0] + w[6]);
    w[7] = (w[7] * w[0]);
    w[11] = (w[11] - w[7]);
    w[11] = (w[11] / w[17]);
    if (res[4] != 0)
        res[4][0] = w[11];
    return 0;
}

int bezier6_rover(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem)
{
    return casadi_f2(arg, res, iw, w, mem);
}

int bezier6_rover_alloc_mem(void)
{
    return 0;
}

int bezier6_rover_init_mem(int mem)
{
    return 0;
}

void bezier6_rover_free_mem(int mem)
{
}

int bezier6_rover_checkout(void)
{
    return 0;
}

void bezier6_rover_release(int mem)
{
}

void bezier6_rover_incref(void)
{
}

void bezier6_rover_decref(void)
{
}

casadi_int bezier6_rover_n_in(void) { return 4; }

casadi_int bezier6_rover_n_out(void) { return 5; }

casadi_real bezier6_rover_default_in(casadi_int i)
{
    switch (i) {
    default:
        return 0;
    }
}

const char* bezier6_rover_name_in(casadi_int i)
{
    switch (i) {
    case 0:
        return "t";
    case 1:
        return "T";
    case 2:
        return "PX";
    case 3:
        return "PY";
    default:
        return 0;
    }
}

const char* bezier6_rover_name_out(casadi_int i)
{
    switch (i) {
    case 0:
        return "x";
    case 1:
        return "y";
    case 2:
        return "psi";
    case 3:
        return "V";
    case 4:
        return "omega";
    default:
        return 0;
    }
}

const casadi_int* bezier6_rover_sparsity_in(casadi_int i)
{
    switch (i) {
    case 0:
        return casadi_s1;
    case 1:
        return casadi_s1;
    case 2:
        return casadi_s2;
    case 3:
        return casadi_s2;
    default:
        return 0;
    }
}

const casadi_int* bezier6_rover_sparsity_out(casadi_int i)
{
    switch (i) {
    case 0:
        return casadi_s1;
    case 1:
        return casadi_s1;
    case 2:
        return casadi_s1;
    case 3:
        return casadi_s1;
    case 4:
        return casadi_s1;
    default:
        return 0;
    }
}

int bezier6_rover_work(casadi_int* sz_arg, casadi_int* sz_res, casadi_int* sz_iw, casadi_int* sz_w)
{
    if (sz_arg)
        *sz_arg = 4;
    if (sz_res)
        *sz_res = 5;
    if (sz_iw)
        *sz_iw = 0;
    if (sz_w)
        *sz_w = 22;
    return 0;
}

/* ackermann_steering:(L,omega,V)->(delta) */
static int casadi_f3(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem)
{
    w[0] = arg[0] ? arg[0][0] : 0;
    w[1] = arg[1] ? arg[1][0] : 0;
    w[0] = (w[0] * w[1]);
    w[1] = arg[2] ? arg[2][0] : 0;
    w[0] = (w[0] / w[1]);
    w[0] = atan(w[0]);
    if (res[0] != 0)
        res[0][0] = w[0];
    return 0;
}

int ackermann_steering(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem)
{
    return casadi_f3(arg, res, iw, w, mem);
}

int ackermann_steering_alloc_mem(void)
{
    return 0;
}

int ackermann_steering_init_mem(int mem)
{
    return 0;
}

void ackermann_steering_free_mem(int mem)
{
}

int ackermann_steering_checkout(void)
{
    return 0;
}

void ackermann_steering_release(int mem)
{
}

void ackermann_steering_incref(void)
{
}

void ackermann_steering_decref(void)
{
}

casadi_int ackermann_steering_n_in(void) { return 3; }

casadi_int ackermann_steering_n_out(void) { return 1; }

casadi_real ackermann_steering_default_in(casadi_int i)
{
    switch (i) {
    default:
        return 0;
    }
}

const char* ackermann_steering_name_in(casadi_int i)
{
    switch (i) {
    case 0:
        return "L";
    case 1:
        return "omega";
    case 2:
        return "V";
    default:
        return 0;
    }
}

const char* ackermann_steering_name_out(casadi_int i)
{
    switch (i) {
    case 0:
        return "delta";
    default:
        return 0;
    }
}

const casadi_int* ackermann_steering_sparsity_in(casadi_int i)
{
    switch (i) {
    case 0:
        return casadi_s1;
    case 1:
        return casadi_s1;
    case 2:
        return casadi_s1;
    default:
        return 0;
    }
}

const casadi_int* ackermann_steering_sparsity_out(casadi_int i)
{
    switch (i) {
    case 0:
        return casadi_s1;
    default:
        return 0;
    }
}

int ackermann_steering_work(casadi_int* sz_arg, casadi_int* sz_res, casadi_int* sz_iw, casadi_int* sz_w)
{
    if (sz_arg)
        *sz_arg = 3;
    if (sz_res)
        *sz_res = 1;
    if (sz_iw)
        *sz_iw = 0;
    if (sz_w)
        *sz_w = 2;
    return 0;
}

/* differential_steering:(L,omega,w)->(Vw) */
static int casadi_f4(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem)
{
    w[0] = arg[0] ? arg[0][0] : 0;
    w[1] = casadi_sq(w[0]);
    w[2] = arg[2] ? arg[2][0] : 0;
    w[3] = casadi_sq(w[2]);
    w[1] = (w[1] + w[3]);
    w[1] = sqrt(w[1]);
    w[3] = 2.;
    w[1] = (w[1] / w[3]);
    w[3] = arg[1] ? arg[1][0] : 0;
    w[1] = (w[1] * w[3]);
    w[0] = (w[0] / w[2]);
    w[0] = atan(w[0]);
    w[0] = cos(w[0]);
    w[1] = (w[1] / w[0]);
    if (res[0] != 0)
        res[0][0] = w[1];
    return 0;
}

int differential_steering(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem)
{
    return casadi_f4(arg, res, iw, w, mem);
}

int differential_steering_alloc_mem(void)
{
    return 0;
}

int differential_steering_init_mem(int mem)
{
    return 0;
}

void differential_steering_free_mem(int mem)
{
}

int differential_steering_checkout(void)
{
    return 0;
}

void differential_steering_release(int mem)
{
}

void differential_steering_incref(void)
{
}

void differential_steering_decref(void)
{
}

casadi_int differential_steering_n_in(void) { return 3; }

casadi_int differential_steering_n_out(void) { return 1; }

casadi_real differential_steering_default_in(casadi_int i)
{
    switch (i) {
    default:
        return 0;
    }
}

const char* differential_steering_name_in(casadi_int i)
{
    switch (i) {
    case 0:
        return "L";
    case 1:
        return "omega";
    case 2:
        return "w";
    default:
        return 0;
    }
}

const char* differential_steering_name_out(casadi_int i)
{
    switch (i) {
    case 0:
        return "Vw";
    default:
        return 0;
    }
}

const casadi_int* differential_steering_sparsity_in(casadi_int i)
{
    switch (i) {
    case 0:
        return casadi_s1;
    case 1:
        return casadi_s1;
    case 2:
        return casadi_s1;
    default:
        return 0;
    }
}

const casadi_int* differential_steering_sparsity_out(casadi_int i)
{
    switch (i) {
    case 0:
        return casadi_s1;
    default:
        return 0;
    }
}

int differential_steering_work(casadi_int* sz_arg, casadi_int* sz_res, casadi_int* sz_iw, casadi_int* sz_w)
{
    if (sz_arg)
        *sz_arg = 3;
    if (sz_res)
        *sz_res = 1;
    if (sz_iw)
        *sz_iw = 0;
    if (sz_w)
        *sz_w = 4;
    return 0;
}

/* se2_U:(e[3])->(U[3x3]) */
static int casadi_f5(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem)
{
    w[0] = 1.0000000000000000e-03;
    w[1] = arg[0] ? arg[0][2] : 0;
    w[2] = casadi_fabs(w[1]);
    w[2] = (w[0] < w[2]);
    w[3] = sin(w[1]);
    w[4] = (w[1] * w[3]);
    w[5] = 2.;
    w[6] = cos(w[1]);
    w[7] = 1.;
    w[8] = (w[6] - w[7]);
    w[8] = (w[5] * w[8]);
    w[4] = (w[4] / w[8]);
    w[4] = (w[2] ? w[4] : 0);
    w[2] = (!w[2]);
    w[8] = -1.;
    w[9] = casadi_sq(w[1]);
    w[10] = 12.;
    w[9] = (w[9] / w[10]);
    w[9] = (w[8] + w[9]);
    w[11] = casadi_sq(w[1]);
    w[11] = casadi_sq(w[11]);
    w[12] = 720.;
    w[11] = (w[11] / w[12]);
    w[9] = (w[9] + w[11]);
    w[2] = (w[2] ? w[9] : 0);
    w[4] = (w[4] + w[2]);
    if (res[0] != 0)
        res[0][0] = w[4];
    w[2] = (w[1] / w[5]);
    if (res[0] != 0)
        res[0][1] = w[2];
    w[9] = 0.;
    if (res[0] != 0)
        res[0][2] = w[9];
    w[2] = (-w[2]);
    if (res[0] != 0)
        res[0][3] = w[2];
    if (res[0] != 0)
        res[0][4] = w[4];
    if (res[0] != 0)
        res[0][5] = w[9];
    w[9] = casadi_fabs(w[1]);
    w[9] = (w[0] < w[9]);
    w[4] = arg[0] ? arg[0][0] : 0;
    w[2] = (w[1] * w[4]);
    w[2] = (w[2] * w[3]);
    w[11] = (w[7] - w[6]);
    w[13] = arg[0] ? arg[0][1] : 0;
    w[14] = (w[1] * w[13]);
    w[15] = (w[5] * w[4]);
    w[14] = (w[14] - w[15]);
    w[11] = (w[11] * w[14]);
    w[2] = (w[2] + w[11]);
    w[11] = (w[5] * w[1]);
    w[14] = (w[7] - w[6]);
    w[11] = (w[11] * w[14]);
    w[2] = (w[2] / w[11]);
    w[2] = (w[9] ? w[2] : 0);
    w[9] = (!w[9]);
    w[11] = (w[13] / w[5]);
    w[14] = (w[1] * w[4]);
    w[14] = (w[14] / w[10]);
    w[11] = (w[11] - w[14]);
    w[14] = casadi_sq(w[1]);
    w[14] = (w[1] * w[14]);
    w[14] = (w[14] * w[4]);
    w[14] = (w[14] / w[12]);
    w[11] = (w[11] + w[14]);
    w[9] = (w[9] ? w[11] : 0);
    w[2] = (w[2] + w[9]);
    if (res[0] != 0)
        res[0][6] = w[2];
    w[2] = casadi_fabs(w[1]);
    w[0] = (w[0] < w[2]);
    w[2] = (w[1] * w[13]);
    w[2] = (w[2] * w[3]);
    w[3] = (w[7] - w[6]);
    w[9] = (w[1] * w[4]);
    w[11] = (w[5] * w[13]);
    w[9] = (w[9] + w[11]);
    w[3] = (w[3] * w[9]);
    w[2] = (w[2] - w[3]);
    w[3] = (w[5] * w[1]);
    w[7] = (w[7] - w[6]);
    w[3] = (w[3] * w[7]);
    w[2] = (w[2] / w[3]);
    w[2] = (w[0] ? w[2] : 0);
    w[0] = (!w[0]);
    w[4] = (w[4] / w[5]);
    w[5] = (w[1] * w[13]);
    w[5] = (w[5] / w[10]);
    w[4] = (w[4] + w[5]);
    w[5] = casadi_sq(w[1]);
    w[1] = (w[1] * w[5]);
    w[1] = (w[1] * w[13]);
    w[1] = (w[1] / w[12]);
    w[4] = (w[4] + w[1]);
    w[4] = (-w[4]);
    w[0] = (w[0] ? w[4] : 0);
    w[2] = (w[2] + w[0]);
    if (res[0] != 0)
        res[0][7] = w[2];
    if (res[0] != 0)
        res[0][8] = w[8];
    return 0;
}

int se2_U(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem)
{
    return casadi_f5(arg, res, iw, w, mem);
}

int se2_U_alloc_mem(void)
{
    return 0;
}

int se2_U_init_mem(int mem)
{
    return 0;
}

void se2_U_free_mem(int mem)
{
}

int se2_U_checkout(void)
{
    return 0;
}

void se2_U_release(int mem)
{
}

void se2_U_incref(void)
{
}

void se2_U_decref(void)
{
}

casadi_int se2_U_n_in(void) { return 1; }

casadi_int se2_U_n_out(void) { return 1; }

casadi_real se2_U_default_in(casadi_int i)
{
    switch (i) {
    default:
        return 0;
    }
}

const char* se2_U_name_in(casadi_int i)
{
    switch (i) {
    case 0:
        return "e";
    default:
        return 0;
    }
}

const char* se2_U_name_out(casadi_int i)
{
    switch (i) {
    case 0:
        return "U";
    default:
        return 0;
    }
}

const casadi_int* se2_U_sparsity_in(casadi_int i)
{
    switch (i) {
    case 0:
        return casadi_s3;
    default:
        return 0;
    }
}

const casadi_int* se2_U_sparsity_out(casadi_int i)
{
    switch (i) {
    case 0:
        return casadi_s4;
    default:
        return 0;
    }
}

int se2_U_work(casadi_int* sz_arg, casadi_int* sz_res, casadi_int* sz_iw, casadi_int* sz_w)
{
    if (sz_arg)
        *sz_arg = 1;
    if (sz_res)
        *sz_res = 1;
    if (sz_iw)
        *sz_iw = 0;
    if (sz_w)
        *sz_w = 16;
    return 0;
}

/* se2_U_inv:(e[3])->(U_inv[3x3]) */
static int casadi_f6(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem)
{
    w[0] = 1.0000000000000000e-03;
    w[1] = arg[0] ? arg[0][2] : 0;
    w[2] = casadi_fabs(w[1]);
    w[2] = (w[0] < w[2]);
    w[3] = sin(w[1]);
    w[4] = (w[3] / w[1]);
    w[4] = (w[2] ? w[4] : 0);
    w[2] = (!w[2]);
    w[5] = 1.;
    w[6] = casadi_sq(w[1]);
    w[7] = 6.;
    w[6] = (w[6] / w[7]);
    w[6] = (w[5] - w[6]);
    w[8] = casadi_sq(w[1]);
    w[8] = casadi_sq(w[8]);
    w[9] = 120.;
    w[8] = (w[8] / w[9]);
    w[6] = (w[6] + w[8]);
    w[2] = (w[2] ? w[6] : 0);
    w[4] = (w[4] + w[2]);
    w[2] = (-w[4]);
    if (res[0] != 0)
        res[0][0] = w[2];
    w[2] = casadi_fabs(w[1]);
    w[2] = (w[0] < w[2]);
    w[6] = cos(w[1]);
    w[8] = (w[5] - w[6]);
    w[8] = (w[8] / w[1]);
    w[8] = (-w[8]);
    w[8] = (w[2] ? w[8] : 0);
    w[2] = (!w[2]);
    w[10] = 2.;
    w[11] = (w[1] / w[10]);
    w[12] = casadi_sq(w[1]);
    w[12] = (w[1] * w[12]);
    w[13] = 24.;
    w[12] = (w[12] / w[13]);
    w[11] = (w[11] - w[12]);
    w[2] = (w[2] ? w[11] : 0);
    w[8] = (w[8] + w[2]);
    if (res[0] != 0)
        res[0][1] = w[8];
    w[2] = 0.;
    if (res[0] != 0)
        res[0][2] = w[2];
    w[8] = (-w[8]);
    if (res[0] != 0)
        res[0][3] = w[8];
    w[4] = (-w[4]);
    if (res[0] != 0)
        res[0][4] = w[4];
    if (res[0] != 0)
        res[0][5] = w[2];
    w[2] = casadi_fabs(w[1]);
    w[2] = (w[0] < w[2]);
    w[4] = arg[0] ? arg[0][0] : 0;
    w[8] = (w[1] * w[6]);
    w[8] = (w[8] - w[1]);
    w[8] = (w[8] + w[3]);
    w[11] = (w[10] * w[3]);
    w[11] = (w[11] * w[6]);
    w[12] = (w[11] / w[10]);
    w[8] = (w[8] - w[12]);
    w[8] = (w[4] * w[8]);
    w[12] = arg[0] ? arg[0][1] : 0;
    w[14] = (w[10] * w[6]);
    w[15] = (w[10] * w[6]);
    w[15] = (w[15] * w[6]);
    w[15] = (w[15] - w[5]);
    w[16] = (w[15] / w[10]);
    w[14] = (w[14] - w[16]);
    w[16] = 1.5000000000000000e+00;
    w[14] = (w[14] - w[16]);
    w[14] = (w[12] * w[14]);
    w[8] = (w[8] + w[14]);
    w[14] = casadi_sq(w[1]);
    w[17] = (w[5] - w[6]);
    w[14] = (w[14] * w[17]);
    w[8] = (w[8] / w[14]);
    w[8] = (-w[8]);
    w[8] = (w[2] ? w[8] : 0);
    w[2] = (!w[2]);
    w[14] = (w[12] / w[10]);
    w[17] = (w[1] * w[4]);
    w[17] = (w[17] / w[7]);
    w[14] = (w[14] + w[17]);
    w[17] = casadi_sq(w[1]);
    w[17] = (w[17] * w[12]);
    w[17] = (w[17] / w[13]);
    w[14] = (w[14] - w[17]);
    w[17] = casadi_sq(w[1]);
    w[17] = (w[1] * w[17]);
    w[17] = (w[17] * w[4]);
    w[17] = (w[17] / w[9]);
    w[14] = (w[14] - w[17]);
    w[17] = casadi_sq(w[1]);
    w[17] = casadi_sq(w[17]);
    w[17] = (w[17] * w[12]);
    w[18] = 720.;
    w[17] = (w[17] / w[18]);
    w[14] = (w[14] + w[17]);
    w[2] = (w[2] ? w[14] : 0);
    w[8] = (w[8] + w[2]);
    w[8] = (-w[8]);
    if (res[0] != 0)
        res[0][6] = w[8];
    w[8] = casadi_fabs(w[1]);
    w[0] = (w[0] < w[8]);
    w[8] = -2.;
    w[8] = (w[8] * w[6]);
    w[15] = (w[15] / w[10]);
    w[8] = (w[8] + w[15]);
    w[8] = (w[8] + w[16]);
    w[8] = (w[4] * w[8]);
    w[16] = (w[1] * w[6]);
    w[16] = (w[16] - w[1]);
    w[16] = (w[16] + w[3]);
    w[11] = (w[11] / w[10]);
    w[16] = (w[16] - w[11]);
    w[16] = (w[12] * w[16]);
    w[8] = (w[8] + w[16]);
    w[16] = casadi_sq(w[1]);
    w[5] = (w[5] - w[6]);
    w[16] = (w[16] * w[5]);
    w[8] = (w[8] / w[16]);
    w[8] = (-w[8]);
    w[8] = (w[0] ? w[8] : 0);
    w[0] = (!w[0]);
    w[16] = (w[1] * w[12]);
    w[16] = (w[16] / w[7]);
    w[10] = (w[4] / w[10]);
    w[16] = (w[16] - w[10]);
    w[10] = casadi_sq(w[1]);
    w[10] = (w[10] * w[4]);
    w[10] = (w[10] / w[13]);
    w[16] = (w[16] + w[10]);
    w[10] = casadi_sq(w[1]);
    w[10] = (w[1] * w[10]);
    w[10] = (w[10] * w[12]);
    w[10] = (w[10] / w[9]);
    w[16] = (w[16] - w[10]);
    w[1] = casadi_sq(w[1]);
    w[1] = casadi_sq(w[1]);
    w[1] = (w[1] * w[4]);
    w[1] = (w[1] / w[18]);
    w[16] = (w[16] - w[1]);
    w[0] = (w[0] ? w[16] : 0);
    w[8] = (w[8] + w[0]);
    w[8] = (-w[8]);
    if (res[0] != 0)
        res[0][7] = w[8];
    w[8] = -1.;
    if (res[0] != 0)
        res[0][8] = w[8];
    return 0;
}

int se2_U_inv(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem)
{
    return casadi_f6(arg, res, iw, w, mem);
}

int se2_U_inv_alloc_mem(void)
{
    return 0;
}

int se2_U_inv_init_mem(int mem)
{
    return 0;
}

void se2_U_inv_free_mem(int mem)
{
}

int se2_U_inv_checkout(void)
{
    return 0;
}

void se2_U_inv_release(int mem)
{
}

void se2_U_inv_incref(void)
{
}

void se2_U_inv_decref(void)
{
}

casadi_int se2_U_inv_n_in(void) { return 1; }

casadi_int se2_U_inv_n_out(void) { return 1; }

casadi_real se2_U_inv_default_in(casadi_int i)
{
    switch (i) {
    default:
        return 0;
    }
}

const char* se2_U_inv_name_in(casadi_int i)
{
    switch (i) {
    case 0:
        return "e";
    default:
        return 0;
    }
}

const char* se2_U_inv_name_out(casadi_int i)
{
    switch (i) {
    case 0:
        return "U_inv";
    default:
        return 0;
    }
}

const casadi_int* se2_U_inv_sparsity_in(casadi_int i)
{
    switch (i) {
    case 0:
        return casadi_s3;
    default:
        return 0;
    }
}

const casadi_int* se2_U_inv_sparsity_out(casadi_int i)
{
    switch (i) {
    case 0:
        return casadi_s4;
    default:
        return 0;
    }
}

int se2_U_inv_work(casadi_int* sz_arg, casadi_int* sz_res, casadi_int* sz_iw, casadi_int* sz_w)
{
    if (sz_arg)
        *sz_arg = 1;
    if (sz_res)
        *sz_res = 1;
    if (sz_iw)
        *sz_iw = 0;
    if (sz_w)
        *sz_w = 19;
    return 0;
}

/* se2_error:(p[3],r[3])->(error[3]) */
static int casadi_f7(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem)
{
    w[0] = arg[1] ? arg[1][2] : 0;
    w[1] = arg[0] ? arg[0][2] : 0;
    w[0] = (w[0] - w[1]);
    w[2] = casadi_fabs(w[0]);
    w[3] = 9.9999999999999995e-08;
    w[2] = (w[2] < w[3]);
    w[4] = 1.;
    w[5] = -1.6666666666666666e-01;
    w[6] = casadi_sq(w[0]);
    w[5] = (w[5] * w[6]);
    w[5] = (w[4] + w[5]);
    w[6] = 8.3333333333333332e-03;
    w[7] = casadi_sq(w[0]);
    w[7] = casadi_sq(w[7]);
    w[6] = (w[6] * w[7]);
    w[5] = (w[5] + w[6]);
    w[5] = (w[2] ? w[5] : 0);
    w[2] = (!w[2]);
    w[6] = sin(w[0]);
    w[6] = (w[6] / w[0]);
    w[2] = (w[2] ? w[6] : 0);
    w[5] = (w[5] + w[2]);
    w[2] = casadi_sq(w[5]);
    w[6] = casadi_fabs(w[0]);
    w[6] = (w[6] < w[3]);
    w[3] = 5.0000000000000000e-01;
    w[3] = (w[3] * w[0]);
    w[7] = -4.1666666666666664e-02;
    w[8] = casadi_sq(w[0]);
    w[8] = (w[0] * w[8]);
    w[7] = (w[7] * w[8]);
    w[3] = (w[3] + w[7]);
    w[7] = 1.3888888888888889e-03;
    w[8] = casadi_sq(w[0]);
    w[8] = casadi_sq(w[8]);
    w[8] = (w[0] * w[8]);
    w[7] = (w[7] * w[8]);
    w[3] = (w[3] + w[7]);
    w[3] = (w[6] ? w[3] : 0);
    w[6] = (!w[6]);
    w[7] = cos(w[0]);
    w[4] = (w[4] - w[7]);
    w[4] = (w[4] / w[0]);
    w[6] = (w[6] ? w[4] : 0);
    w[3] = (w[3] + w[6]);
    w[6] = casadi_sq(w[3]);
    w[2] = (w[2] + w[6]);
    w[6] = (w[5] / w[2]);
    w[4] = (-w[1]);
    w[7] = cos(w[4]);
    w[8] = arg[1] ? arg[1][0] : 0;
    w[9] = (w[7] * w[8]);
    w[4] = sin(w[4]);
    w[10] = arg[1] ? arg[1][1] : 0;
    w[11] = (w[4] * w[10]);
    w[9] = (w[9] - w[11]);
    w[1] = (-w[1]);
    w[11] = cos(w[1]);
    w[12] = arg[0] ? arg[0][0] : 0;
    w[13] = (w[11] * w[12]);
    w[1] = sin(w[1]);
    w[14] = arg[0] ? arg[0][1] : 0;
    w[15] = (w[1] * w[14]);
    w[13] = (w[13] - w[15]);
    w[9] = (w[9] - w[13]);
    w[6] = (w[6] * w[9]);
    w[13] = (w[3] / w[2]);
    w[4] = (w[4] * w[8]);
    w[7] = (w[7] * w[10]);
    w[4] = (w[4] + w[7]);
    w[1] = (w[1] * w[12]);
    w[11] = (w[11] * w[14]);
    w[1] = (w[1] + w[11]);
    w[4] = (w[4] - w[1]);
    w[13] = (w[13] * w[4]);
    w[6] = (w[6] + w[13]);
    if (res[0] != 0)
        res[0][0] = w[6];
    w[5] = (w[5] / w[2]);
    w[5] = (w[5] * w[4]);
    w[3] = (w[3] / w[2]);
    w[3] = (w[3] * w[9]);
    w[5] = (w[5] - w[3]);
    if (res[0] != 0)
        res[0][1] = w[5];
    if (res[0] != 0)
        res[0][2] = w[0];
    return 0;
}

int se2_error(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem)
{
    return casadi_f7(arg, res, iw, w, mem);
}

int se2_error_alloc_mem(void)
{
    return 0;
}

int se2_error_init_mem(int mem)
{
    return 0;
}

void se2_error_free_mem(int mem)
{
}

int se2_error_checkout(void)
{
    return 0;
}

void se2_error_release(int mem)
{
}

void se2_error_incref(void)
{
}

void se2_error_decref(void)
{
}

casadi_int se2_error_n_in(void) { return 2; }

casadi_int se2_error_n_out(void) { return 1; }

casadi_real se2_error_default_in(casadi_int i)
{
    switch (i) {
    default:
        return 0;
    }
}

const char* se2_error_name_in(casadi_int i)
{
    switch (i) {
    case 0:
        return "p";
    case 1:
        return "r";
    default:
        return 0;
    }
}

const char* se2_error_name_out(casadi_int i)
{
    switch (i) {
    case 0:
        return "error";
    default:
        return 0;
    }
}

const casadi_int* se2_error_sparsity_in(casadi_int i)
{
    switch (i) {
    case 0:
        return casadi_s3;
    case 1:
        return casadi_s3;
    default:
        return 0;
    }
}

const casadi_int* se2_error_sparsity_out(casadi_int i)
{
    switch (i) {
    case 0:
        return casadi_s3;
    default:
        return 0;
    }
}

int se2_error_work(casadi_int* sz_arg, casadi_int* sz_res, casadi_int* sz_iw, casadi_int* sz_w)
{
    if (sz_arg)
        *sz_arg = 2;
    if (sz_res)
        *sz_res = 1;
    if (sz_iw)
        *sz_iw = 0;
    if (sz_w)
        *sz_w = 16;
    return 0;
}

/* predict:(x0[3],omega,u)->(x1[3]) */
static int casadi_f8(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem)
{
    w[0] = arg[0] ? arg[0][2] : 0;
    w[1] = cos(w[0]);
    w[2] = arg[1] ? arg[1][0] : 0;
    w[3] = casadi_fabs(w[2]);
    w[4] = 9.9999999999999995e-08;
    w[3] = (w[3] < w[4]);
    w[5] = 1.;
    w[6] = -1.6666666666666666e-01;
    w[7] = casadi_sq(w[2]);
    w[6] = (w[6] * w[7]);
    w[6] = (w[5] + w[6]);
    w[7] = 8.3333333333333332e-03;
    w[8] = casadi_sq(w[2]);
    w[8] = casadi_sq(w[8]);
    w[7] = (w[7] * w[8]);
    w[6] = (w[6] + w[7]);
    w[6] = (w[3] ? w[6] : 0);
    w[3] = (!w[3]);
    w[7] = sin(w[2]);
    w[7] = (w[7] / w[2]);
    w[3] = (w[3] ? w[7] : 0);
    w[6] = (w[6] + w[3]);
    w[3] = arg[2] ? arg[2][0] : 0;
    w[6] = (w[6] * w[3]);
    w[7] = (w[1] * w[6]);
    w[8] = sin(w[0]);
    w[9] = casadi_fabs(w[2]);
    w[9] = (w[9] < w[4]);
    w[4] = 5.0000000000000000e-01;
    w[4] = (w[4] * w[2]);
    w[10] = -4.1666666666666664e-02;
    w[11] = casadi_sq(w[2]);
    w[11] = (w[2] * w[11]);
    w[10] = (w[10] * w[11]);
    w[4] = (w[4] + w[10]);
    w[10] = 1.3888888888888889e-03;
    w[11] = casadi_sq(w[2]);
    w[11] = casadi_sq(w[11]);
    w[11] = (w[2] * w[11]);
    w[10] = (w[10] * w[11]);
    w[4] = (w[4] + w[10]);
    w[4] = (w[9] ? w[4] : 0);
    w[9] = (!w[9]);
    w[10] = cos(w[2]);
    w[5] = (w[5] - w[10]);
    w[5] = (w[5] / w[2]);
    w[9] = (w[9] ? w[5] : 0);
    w[4] = (w[4] + w[9]);
    w[4] = (w[4] * w[3]);
    w[3] = (w[8] * w[4]);
    w[7] = (w[7] - w[3]);
    w[3] = arg[0] ? arg[0][0] : 0;
    w[7] = (w[7] + w[3]);
    if (res[0] != 0)
        res[0][0] = w[7];
    w[8] = (w[8] * w[6]);
    w[1] = (w[1] * w[4]);
    w[8] = (w[8] + w[1]);
    w[1] = arg[0] ? arg[0][1] : 0;
    w[8] = (w[8] + w[1]);
    if (res[0] != 0)
        res[0][1] = w[8];
    w[0] = (w[0] + w[2]);
    if (res[0] != 0)
        res[0][2] = w[0];
    return 0;
}

int predict(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem)
{
    return casadi_f8(arg, res, iw, w, mem);
}

int predict_alloc_mem(void)
{
    return 0;
}

int predict_init_mem(int mem)
{
    return 0;
}

void predict_free_mem(int mem)
{
}

int predict_checkout(void)
{
    return 0;
}

void predict_release(int mem)
{
}

void predict_incref(void)
{
}

void predict_decref(void)
{
}

casadi_int predict_n_in(void) { return 3; }

casadi_int predict_n_out(void) { return 1; }

casadi_real predict_default_in(casadi_int i)
{
    switch (i) {
    default:
        return 0;
    }
}

const char* predict_name_in(casadi_int i)
{
    switch (i) {
    case 0:
        return "x0";
    case 1:
        return "omega";
    case 2:
        return "u";
    default:
        return 0;
    }
}

const char* predict_name_out(casadi_int i)
{
    switch (i) {
    case 0:
        return "x1";
    default:
        return 0;
    }
}

const casadi_int* predict_sparsity_in(casadi_int i)
{
    switch (i) {
    case 0:
        return casadi_s3;
    case 1:
        return casadi_s1;
    case 2:
        return casadi_s1;
    default:
        return 0;
    }
}

const casadi_int* predict_sparsity_out(casadi_int i)
{
    switch (i) {
    case 0:
        return casadi_s3;
    default:
        return 0;
    }
}

int predict_work(casadi_int* sz_arg, casadi_int* sz_res, casadi_int* sz_iw, casadi_int* sz_w)
{
    if (sz_arg)
        *sz_arg = 3;
    if (sz_res)
        *sz_res = 1;
    if (sz_iw)
        *sz_iw = 0;
    if (sz_w)
        *sz_w = 12;
    return 0;
}

#ifdef __cplusplus
} /* extern "C" */
#endif