From 86bd28f668af74ea977876331364b2665bad00fb Mon Sep 17 00:00:00 2001 From: Comma Device Date: Mon, 27 May 2019 07:41:56 +0200 Subject: [PATCH 1/2] compiled --- openpilot | 1 + .../lib_mpc_export/acado_solver.o | Bin 274744 -> 274568 bytes .../controls/lib/longitudinal_mpc/libmpc1.so | Bin 405136 -> 405176 bytes .../lib/longitudinal_mpc/longitudinal_mpc.o | Bin 3136 -> 3352 bytes 4 files changed, 1 insertion(+) create mode 120000 openpilot diff --git a/openpilot b/openpilot new file mode 120000 index 00000000000000..0aabae46056be7 --- /dev/null +++ b/openpilot @@ -0,0 +1 @@ +/data/openpilot \ No newline at end of file diff --git a/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_solver.o b/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_solver.o index bcdc5b9e81d8198c0c9821b55b52a098a6e71259..3e33aa6a23ad5c443213c8df6d2a4eb61d9719ac 100644 GIT binary patch delta 3277 zcmbVOZA?>F7(TbX*bCyI6fIRaw1QAkBP!Ew6D>s%BXLw&<`NeR0wN!?E-rD=MEqE0 zvX4+}cA_B$*k&j{mKj{YWG>a2%q=F9NR$|VfHARV{?I@+imlyy?s;$MZlXVSlIHDs zp7--P=k|8^Vdm+H%r2)?eQD`7Nmg=uwg)p)%I2p_?zlooSI-Gkygtp{u{X=pks7=z z70V};MjCu3jUF>79kl1XDPEw|)4mI)__uwgxG&4y(L_BR7r)t}hIcs|>Gv)los-r~ zpSc=or_w?*)8OOsQ?j&$&T%%=BBhxghop|2cKTS^M;%T-eGK0nF8;lZE^#%{@4ns= z_b5%YL201ZT@BQue3U{@z-F+GK z#D$9gIYe915N$X_>+6RI))?(U#dM3$F?i4PL+Uc4VI(q_#A62xp_zTg(DWWT^!NKI zp{aN0gyKg`q4{t!KN;Ln^|<=Yd0D?o0e)JFlJV4&MpE)s;wAgU zkYM9ROG*4lMQ9RQikLjHuyN1b$qYKJ#XY{4V1$sfJf?2wLyLSQyC~#8#{7Y4qjj~du5-tXHFtHqQVR4NtY47h;q{@`!_&$Jy^6wyW1&BNoeaW`j$awW9x0TnAk#MwaYP9K#r+bMxZE@G-uC4iAh{%3!A zhcB#gpFhXfm5poEb!Vg4hc>>7A3D8A4okKh9~*fV67En9aZ7|`5d#@x^?9;Ys%D?& z$@w3g6;9*~vi-8~u0#Aj;$>!mcN&Dv2g|da8W)bcR||Xv`scFeP-Sc50+Fu4ZDJGPW$Ruj za2abHhAq$KWafOJYixop!|44;+gSytyRrq|1)cF_#^jgTK~5jG3izlnBm*o@KFoSK z-HFM&k$xMar`QP4$4=!4T&r!x@yD~o`0Fw39S~Q|ij&qLUWB-eT@)f7$1*XK0H#Db z@&@|H=BaoIafwqSPch(Gx(G#_S_*`nSHUWm|ei7C2=jxu^6~o&Qaj7f7Qd!yqxPy=HS;%U8mS_ z;B3QKQVY#Q`Zk;3bSX^97w<@uobL}YbAep^79IvsP!uhThCf3U^#e_@-U2wxX{7Zt z#SpjPJa%4^uM}alGIp^gGUA%Q6Y*@FzlP@soZTys&9)kyQz-^FvOuBw#HdDL*I>7` zY>r^HN-lKnMqKMm!|U+jUk8&UpV}_wUBWMW5}k^vxPimrbfHCHJUW?nvP+x}4oG^0)Un%;TpE57dOKY#qX5|lXEoSy1u60+-t~q7P zykuF1*(F}!XMCIR0?GBmY=YCv@$JALMD2p}8gQUX;gZ*~UT%D>0*vhxI_qXlvE1ui8@Uw8{x^zvc`qNpabhCe`D^Y@{DMCY&JH}T!9@9vhsS@AOXy}6A}dI3g< zyvtrwNbFmftyEqo-DKWUd83rW0^C%w M5pJrPd6iuJFMQuzga7~l delta 3424 zcmb7GZERCj7(S=>j^53J+dAyJ!CgBB8&laJh*c?cW6B6KiXmE)CANI6z$U|JTr!ds z_d|@vP)m5hpxGwDl`Lii%w|N>p$0Xm5Q!4w4{9_T-4B)#-Ns6NPtSX#+{8q0vb{ae z^L{?(oZB8q6^{N?c(8^~om#q)#~pbq=NmkbHW)kD_mVvwE(mmNEpF^^#K(BGBOjSw zW1A`1_&C4ZqZu7$-<$Syl@T`IdE1^oK44F8FAH=G9A2MI(bm}5!7%7j%?`7&V2fGw z;108~CS?BN+ispWBIfdfh*@cDF~^J@=C8iJrnj`+^wzYQ_JU6HSMk}`hU?wtV)Q@p z`ug-%W4qaFY&9Ew_-8zuZ=S>8Y&Tctc;ef%pS8Z4P<*5Qkr;#<@rFDnzXMzM7VpNo zTg}@Bi01u=0nRo2&jEJl41k}r1MK=w1B{F2PoKBHm%r!}era|OPt3I05>wA;i9esx z6W1ThOQgH!B<7>`@7n^?@xG#k#l1WxrpFzdKD}j4tZ%>{|E6ehWlD3NWGw0*{MbI7 zIA@;@^Qix-olRf7k%5pc>7Uf%WyLFa&*?{to%}xUWM;F|$A>kh!dBLf7=k?6AeTXGFmbPIF8VaLlg}IBw`3?p8ORG3JrMXtPH%FhCaV=Pp z)_82t=6W@;t80qwPp&rR2B!OWO|SlTz#qGe;(b}UCWbwn6r+Z0QUB*C-WMod1B$23 z+=M|}*{e|$kMksSyY&Z_^4ZMhLDFdub?Qf*tO>?YtFK2=ZhaG9)`YFD!Wuad2^fBqg-XL~Zm)@;}|3G+Ck;Ef5X)Dl*Z2PWC z$JP}RznA=V;HK`{&~lf|*Fs_Ei9S*)@gU(l2@g6Yenw_vvuH(`dI+0(9X|pw%*xL~ z0$1)sxWVFCAPswodRh$==;c0CCUKo=bm3Cu@_@Gj=_a?NS5ov&qDx_upbwNt{2+EF zo+3&<1p5Wu>5}k1Y1o};Me<=dCFm|nevIe`DS8}INcZe3mAI9jWxv8E#S(Gt@R901M2rndD`72y)msPnb*tAG@L3ELB6j^0skV39U&y%@T z%6ioT;i?56;iVRTg)gx92gpBQ@mF}W#A}%<&`beAOMt>Vp{NSa%0+2PpaEAstLMll zmE>_s(nPqLO5w*X{z38|viK`JL~pPAaUX9xa}tMltMnrGfgGoNN+`^0a0z=nycoq7 z@wwDJz!&2&8KrAzO@9HF3tHV$E3HFV&>nh~Sm`QB2mXa_lJxk$(AOlbuB02Xdb(jRlI;Y zDRYo;)t$nJ=o`?g(J=5DEc2TvlUsfimLu*ip>H~I*XyZ-Fe@R9H21-TFwGDX&h6xE z9i=nt?0%kTt3ddg644iOO3`V_7AyttQluA@$ZrX2bPH?}^yc}u=v=vu!G1v}iMF=( zDV)ki(+>cvIzdPw-P206Ize5eMA9XTDzO#*DdEaLO8yru{t6$W-x=2Kh9wR!*5buK zLrzu!Mo0Q<^^9hV+zkWE^ha#h%Ha29`l^DES2kx9Ky97AD!;y5t`ES@I{kh=3jKBZ TT5do}m{s7dN8^KVyTas7M7%7nO2sVW}ec5va+;-mXFi{~ zyfgF8thG0@r|3-Bo-<)ZVZjNrH8Uhgr8O7#AMP9aiEbuCKPg`Dc$d77W$KDHY^-k= zZI6VnXk#RMmiZW;vVr->QT}?!N~*RB`cBAwkVe8LLw^Ff7P1Ml2cp6>MBait2nm3^ z3b`DZrhS2gu)GEG6J$9=g-A`y*K}n10LU|tTnIz@b?Cn!BJ75Qn=wsmfPMgy4Ve!) z4EYeU3o-#>L)m{o4}^q5MA!l83~@rff&2_fhx`koXV{Aa?Y174%L>1>_IN6Ob1n2IPp*;?*nhdBlE%%!Pah*$7F1 zJPT35K@l(1I1%wjDLo0g%$VWry!}ta{zm9sq=jmQL_?l~ybOtfh;T|O?H1^xke49+ z347P5@eT>NK&edVn~Y4>eMS>vb&w|^DsV*3LQX=~K)ONhhpd3qLPXdADKcZ4_BH9J zNei_FQfy4qZ(*;YosfV^q)Q=*kR%}eZkU0X2v13+4JIwrJCJrtzd<^W^hZVydq4eG zq?U-9JAI1Sdyp59avFK|uuh*NwH310c+uXEH5&)*QTk^{pFxi9&-#S*X+uJU+aNiR z5s>#GB8-B#A@Q8W+Cz*3okw}g10hY5>}1|LWNFA42J z`W*CjiVL-j;vX9^4ktTi+~DZW&Kr{*H-;YobBNeGNdE%8Pgrl1_&JOtj-VdiOj3_S zjfH$AlUfb5pW$}YFuh`bCuYkRJB%<~WE74nCR(f@F|lI8iXp;rMaRU%uZM`q72!px zO!pPhGRP)~aJr5`EuvQdz6yB_QVxL=+I&%|5w;KOiEe<7bE% z*z*wKPAdF{NF(GT0WGB4poM2(-@tw;w>>cpdPPjYC(Jvi>)C-77Xo|RbT7?UOQ;AB z=8VlVc6M>*S5HJXgaY$_O$+RyXQ)2Ps$%_$$uN+$rd~^ zQr4rbGus_-d8LZ66%FUkl?}8@yR=cTK;R8VPKYx+beUw8S$|S9=|&mY-o%EODV~g zpr0hLi0b@?>P)77g;IVO)i%edM_VTrNO&8uuXL5Q9WjEtIm2rQNlQwI?ML%_#7G2N zuu#JB#GZ>#y~qJuwNB2(BI?C5n!9A93~aVr78)fR(8l@8vYU-#-JB`sR!CNCs3O#% z4lzF7_sQ%{64oXVp1VZid4w+|e`qp>IMItql08lAo?uy9tdR*eo1A_nu}3gaqOH?L zvD2BNQH#ne4q+w*8?;DfA48=s(YP&|A=}EJUZ;Q;`7aoaXzTPDnSB_1U4(387HqQ- z6Xp!xJV&BxJoCCsw%kYsn=3Xfgw3)6t@q{8E(AN3=24A+7tM0Eu@mf?^Y+a2}WUeXZWxeWbAFWDmVH^#)Z$LExwM}b(bAFC(;?*PQ&3(Y?84)GAg|Newi#KbOekR zgW6;qi-dzbD&cnOVFT5;(qKKD;b&izu!G8eN{)QN7}CQz#Cw|T|2*p91!AM=p)rq2 zmChEX@cFo7RZT<_18stNPB#&3CVq{Ys~Py+*!* zhenh$#gQvnRogN|%-U$_CzFN8A|;+jUaJ=OcJ&HiltnqiN0AL`#&c-tk1>vc4W%tg zEx7q`HPO}_gGD>Tr#~W_QcFLL?5{P3L^~6cEw30;XxodVcd*T5=OeVnN*|KIAlmqs z7%_dEMrpJod`+b6F%66M42^EGQ3ETi9-T^~JI82@cIKDRW|~W_HIQ#=U1gnlm`4#N z(kNOV$#ZFa_!r3hp;DPIwqhiflGE>z)o4FaJs0Gh8&AXphd0r~HJ$SKlHXz9i20un z$cJd&9IIqgO{h_Xe&lhXG)`kAti4FDFBwK~PiMIG!T%_&iB(1-*lf#;JwPM5&d334 zeSCJM8A~wAzz%wzMvU5B3oS+<*Ej~&`uIFcy@)kfFK74!i!U6fQ7tis^m3*QuWJzG2q_q?yvv*YRn%g9*UP31u#l5508e?Z~ z=d@(;-h!~r{9n_8T(W0lN@W$^wDPOeYn$a&VK@1B$pf+iazgE4teGgh`X}~rh94o9 zFQ+!n(o5SIBM0oFYorC)SbZYYk)ND0%E0>59y3RhS}m>73&t_9+frrOJX)zw(QHmK zSYKyK-fUSYkIGijC|Muso9R`){FKZ{Z^~LP+GBPbnSGt%@#1lT0MHEG$<73$xNlr= z9=*8iCU%Z-tZx*)XlR5T6P8L)t&?2x9{*Xg#v&TyKWP0Np{K?P!n+gRWTf`PbBgvL zwO9Xz%7riDBSk-F{|{(wOdva6r)}{3szmwi7 zs*TM4PIjW=@BQ0)IA+hwyzkzunM*6~AOC{QNJzHd9)=|&CLpobbaI{7u5^Ecj80573$|#2G3O^u^Wv zZZpazIP+bvNplk{>{!C5TJRjgvn@C$e3b?NobXZ${;kA~;kO6p|C{pETJrQNm$sd= z;8O_KPF~%k#|aO!;Cl&=x8MyDHx9uD?=7;e3`?G&gy&lDnS>Wv@aG6Gx8TQLm-Sa$ z@C_0lpq;W16;x4!1^>k;oaoGFTV-|8UtT=~y$By+!N(Ck$$~#j_&f`~mhb`#enjH= z+Byqyk_zmw;9k`4!~X%Vv)}_Lf3pQoCp_qs=yo?yYhH;&x_ zx2I2O*%o#(;j1k8X2MG?_m`A2lCPf7@q~w2@J9)c zx8Sx4=@`lX0nadTd<0bE$El)ROM$luFZvI7xds28@>g4NBQ+Jf;+xW}1`B%w;f}Aa z?)EIgqb+zI;Ug^gvxHBw;JYL~K$~YFKBEE!7W}*soaUTAV7oMThlQO?_+bmaobWme zeu(g93$ENF$cVYqnIHT0)tw)_L$;n^!S5z~ss+EF@N5hI8sV!fcs1dr68F9A3nz>r zFvn}BY`)e~>^j2FS@79}Yp1X7##+L|Eciac<1P5-5;qRr89eI(<;k$*(RWGPaxHit z!iy~Ubi&ImxUIq%nV!VX8IPuqXH~|*^w-$e#^T9wtj>6GvXdFcTa)9$H<&L?^1rF# zqXB{q+s>t?)e3yt^E8iHR)XbC#tT^wzTIw{f>O*1pSZ1DjVQ)W-JMI;0i*Vqcu9t$c+ zL))PXFM0T8n^v?kA;8$5HPQyvmNh`Aesg;Yb=%yLwxj^#iMbC6<(d14P|NOJE;!G< z-Bf*gH(B3N_m%qM=FJs!y-$y!uY^l_dk1>^yd+V{#d)(-uCb9aSAK_FOXiOgxhm(+ zf~x4gV6H8q33Z|iS=5Ey?bKvbfU#lGNE_6biv|egwYaB4WcJa9_AyfD_A(|d4z~R% zI@8BkwK!EoJ#+gT-uIc&W%u?s3S{*7ealrV2SW?e@M%5N({`nmB}=*~`mr!+^2HAH zOH1aOH2VERgrtvyUTM=BR>G>N>?C2_?Ce=8*JC|ou9rLH`ZjwUa#i%paoHlO0*mXt zqK1y84tuF=Re{FL2R>(RW8{M)jYUg8HDeoWT9C2*;jX-T3G=RKcrcs^!0+Kr68{{k zVny!b0oS*#O&)fQqQRKxT{guZVl}=>TYB z|5F= zFA%ApB{YX9ndn!=wVOWF1={wSIZ!YC(AC&cenwbX6o5k+f9_VGCmFQ0VTcR<0*GYS3qMQ9Kv0`+^0lR3+>)kHQ zo&|bZqS1ZtEHqG&zxPjbW*&a;RiTZj{pOh8v)?6B%S=_VVgERrNPb^)GkRe3I`B8q zffWaa+OiUj$^$)Zzxh{uePE)`*@;AZumIOTO@z~tXl*IRIH)L9+m?a za@ND=2xkTzb+j(17Jn4LO5u=cb1EA5E( ze*peB;D;@^UR01a75D)Q{uuBy;8j=fie;x3Fnw{NyFRDlmw&x)M$2+4c6~k2bfa%i z?-R5B(wTn<74?mo`u3Y{NLBpx&2LP&-cNPAOxN4+-7K5%bfRR56Vuc%X9HAb0DVt z`+i|z#V0K{;{gl9-DYRG`+D|Z#b@q*=7|1v>3+d2^jz;Rnt@k5w!0wh3*%UW)A+zM z7Tj}w>>oqH)jMEXWkK2oG_~tX4<94fn2Bcre-8MzEBIS`*`H$kD=WMh_5eig(b;k{ z@~xdE35$3yU$#}~qrU8KLdW?rF^ZM<__3ZMC(rkn83qP0vCZ;317wE$0G4M9tG&&x zrQeFxeVbU}e@}ELU|DBoCi0LVw#$WdH?5${Odl-=AMetWktYSBAx{kQd>_RA5LJE| z%zhMle;4Kw`diYTE==sNyjKXjRhY6Qgl!bMb0~Yk+;Y6Mp=0kXH23PQpPR!WwhaD$ zD0>8R&qsGUjr2=<-OUw4;%Xd~S{QubkVB%5p6zK~6Oz6XmD@m@XH^Qs@OOpyJU zTYI@5cp!A;=X$WQVq?!lf39`0r|>Z5`&~>ujd@5E6OUtlXB7IjBY@{ev2m=Pe;CD< z*b)Ny@Mt!Y)mPph&2ID)>FopANzjiEV);l``dq{Q<|QKc#j03BvCN_N>q^ z-GI@BK6C?nRp=!n*$dE>emAlYSp-UoXLMGa-0(^doBhY@W*|R5O19YjCiV|eaKlXu zFNA^o+nX?^sKD!HW)lxy?lYS0!*h!t8jTFo5-a@@nE8<9$H%fwqQt}Fq^)<1hbN%q zit*@_c!n+)iz0&qVg2 z7^upllgNtWsVE97hNq#CtVF&L4>mkME1yVXc*vsFqv`B=GvYIay)7bq|1{Q3=r5=Nj|ReC6mF>>Jb2sF|`y z!)KzeFl-6Z!tgS9M;0Dx7f|rx{ws#RG?Tq59yVn;mA7WF6=oerGui#3>@Bk})X>H( zIR!^&u>)e=7_+5g^_wFd>yA05tMc(#68}02vyM5;pUWN+-p&7-&)yXJwFQ?K;Ul7= z)eEtaz_@yBBw24u2mGYUG;W6&)zOPs5-q;UCl+C|vT2?9vL*0J=+~F9bnl{-hh6^>dyR`9F&0GFLmYbIp~J~DweXre$}1j0>I}4Bghk0>HQ#^ z=4DF^<}-8I(7xeGZvTXYmTT}}DeIBs7JATFtz}b;jQfvCXnDC$Qe|Z>oA2;;M3zqE zIDXK(-^5A}e+zlv`euBK15XM6)FijirOSQXnZ5~&XLm_j+-Y(WUs%Zc^k3naHP?&ZjIZQAJLetDCRJEKd&;w)Fv;#Z#^Z#G>NJID3PhzytAcdn~p z#2i7cwH-rS+fZvd7MK^>xg36~dYrSo4$PURO+Pw(BRvV@8PhLRX&=S+31b zk9Q|Ivcg=m9J5>pM!;m4wjA+Iull&zj3n+^&fH#FY!>&dVDEJpllgC7JtltEF?lvo zjY(A8LRV7kY?mCFg)ZN#MrOhP7@2i^#$ydNp$}v!{5nHl z!FE@^W9Ua2OQ?MEIlZ?nI1@`42jhqMK8V$nNqCj#H^c(Kkj*RafS`!j=8A!3N`2BFy`YU%ts>TqqXG{|7)E-)>hxf zZ(gr=>nbvL%vggVKTw&qUQcB_X*lZ=s>RN7MaO2iSkNNu1(~jMKI7W?sTcIS?hGw% zx&uSG%(lh7LMz_2^AZ<55Z2>VRBaPn=YdV3#c$g}S6AB;+`^*y$W!er<8wtkP{wB? zo`BciL|(W-?~xx>{O6SS%h&C^RD0=rpa8e!iEEJQ6-A+TE|)=1bto-g4lbtj`7k!eNMV+2oY{!1TkuCo9THE6D1HBgi+{=4$^GqGv zgB{z04;GnY%XdDSyU9!2ibYn76A(LA?@C-O7Fz(?6zM?sE$;r2W!THuR$pu#e_|XS zUhZ4GXOr)O;@`dQ-5A|t%fxfgZfv1`6{8o|ZN;w^IxTQ%oy6+SbA8(dzizjTQDL?i+{f{aWO`y_|Th|a1sPR49VN1rw4~cJ$62I&&F#LURW=} zJEN~P!|~CT%@umOSAO2>t)9a+O>2g3fIhLU)q^j+wPA0xdL}{VLT3y8W~*ln^wJ%z zo*mGGcD8zIp_`x^pr`I?^#tLs2`8XOK<}t%^~`||+TH3|37rnTS?IS~J=M@>D_cEh zz47~&l0B^+Z~Pgg{oPhiEOg0xt)67)(tW4^dT9+RfKL9P)g#VXH9;SNzHqSB(+nMb z1m*B`3SII*n`f;^FKzSehOUJ^1-Stz-*-bFUs@AAu~VxA4zId@ADFR{q;wy&JE6SNFD` z-P-DDXZ&f9oz{V?g46HeJNN2N`yM3I-{2FgkT-s>?y$AL!AI`ZT`Yl5+pG7pt$mX( z->VN`WB40;^(foQ?V<^nt$e$vKEk$U2luVgd)k_J@xfKViz-A_J!6i*?MqR$mh9gn zXrt{#tN=5F;s1Cny9vCwO7G5w@i(ea>$$!Bvnte9x{v=-g~p_x{{nQt&o+4g@YWehiy2C!^B-W2Ne|o>(ldl0_+x8WIexE+T zUj0q0XHker1P(%-Md(X=BL>hRu(aY=)Z+Kt#?ppMBY$alJ5k#lO$@qBQ=>t8k zTlz|DhwxYtggqBP6+F%-Vis)$YxsR1=tJ#?pKkN`dzmicD~e}h_gZT3&p*%y+qZFS z4mQ4TKdkI=5EDL~_df{NckrM&Jx!|^0IFS_Q)PkRfJ*ziX1G%L?QR2kvbe{R49%rlG&Y%5I@2eN> zz;4JB59$A`y!DX&whj-i`BZlf5l0zCkb4v!M3(drOL`>l^qIbdmGZxTrbn?tzWy`) zj$p@RSqYrN4B5QpGkAYI?|&4Tdh(Q`dS!mW3`zc%biVdqYM9!^Gy1=30NVer8X(&L zZyGSs^uGURQ@|U~=pjZn^PheB=&sqom6fE9?h>rgZlkHAy9yV}R|Iu*SElg(K@l9? zHI~@Bdf}+9an#;5T%F8S`P8C2$%~KcSB~bY1&xi(4C-jEDu&I>4C-jE!m+EEK^@Ii zxY%1nP)BoRN;5B>5b?`La}|L%A~UF?xeCXdkr~eO)Dy5*oy}D=ekouEbv9SwIDKIT zbv9Swp%hVPa}|#7CCs4C<|@1^MJ}JsRYW(6sI$2WH$R3T(Z++nfW7K)uA*_)-3;n* zuEHZIq7LUO9KTmEgF2k6aPbrpK^@MODS6+7h|}R*{@NFM@a^h!uF4ce5p_CO;n5Vi zd^(rXF{I7YxkjpQNVqzWON7>oA`N`VN%UGB#Z`14im0Qw3hzr1bre_O{V1Z2;wn6r zBI+ov!uwO?@=;tx44{ZQimUK}6#0cW3VYRATt#0)5p@<<;e#on&f+ROjw0$TuEOIf zqR!$fdh--Nn?8K|GQ1h=NSe>+0xvr;(I%%u$;S^B^Z53|5 zJ0hVD+A918ihR!#PYEBUldy`$(OomBleP*UMG~ujZS92~8zJ9k!*UHjN_cu&u)HrieOhtMGd$q7K_Cd^$zcVOyER6OUd^ zwG+JTYu%}vr)`ZKM@XhRU#n`!pvdL(wUo{zt;YFxCcSRZ54d$Y5lYCQnjzD4A5ShuJz=_XRsT^^O`ey zS1%teTST1U>b<^0Ze;JI6^OSVXTG`?>uTChoAfe1?pcDD_)MZM!|K3!;RT}n-Ty6r zptkbR|Au$g=#DM^#5elS`Rc+gRc8-G7;c?X_&Orw&fQrn`uOTfN1A+RZIuO=TSsS2 zUGt^tmkYDAwpQj>uO%8eX=nHltHXz%34BN$hBSev)af(XN?urx)FgiFJH0DES*H(W zrq>THM^>9 z%wgW;JAJTi`^$XmkNRMCLE12fKlz;=7tvsuH`R!?nMeGr_wDqY*=T@vnzQd=`2-&R zJw9Q^Z|1jtua9HNyco$LYyN|!rF80Bjbjn@pqV$KGTWjG?t2y%O_CPPd57c^Fd`Ovlgb(=<1J=w_euOVnn^y6CKjM!b>1IPV z@5TI&A2Eha{Dz<4I}IIjjFAJ9%y)vZP5Suiso2Ah{eXc`ms2Q1H=B__4cU{akYN5o^KKyvAE_ z={$Z~9sifGA$9}z{RK9h<2U?*9;fs9LQUZ7g_^@Z5-NeWK-siCe872qaD@8orVM-^ zpOD0lR#Dac;QOmVxIh`imve%*{;;{37oNx0Hg)H9N4WLpq*3UkStn-~bo>&QZpb)I zRo+9i^|#vDglB}99;lT{rIirg%rjA4xb?@{{qT*MXsv)33)*^N&upS6@ESo+eMnlN z-ay3P1w`p;-Y976#Y5tEre^nf%&(xW_rwgv=SD#{@l-)auauRmH^Zq!AK`_9w%*OO zoak+QC+HOGeGB62K~cH&mWvqOm4H53$~BR8O?^PO2ut+xfqK#~QZYs4)Pa@-)PT(;YL0f;2K7;79JXO%vTOigEJ(U*<+ImUQ zUZTtSPSC8De{>N}V!ac}j?Y8F!W}%g36(VbE-f!WzeGqUdMZzB!lt~E=O9;#^@6Yi zl*@WU$Z5i@7f$^~cr!mH8XdDtHinrnLysV7QweAPhUM8j{NJ$Ly1<{OTunR^x&Fr` za32z#$BRLySTBFE(WMmDTf#yKpGq@1jBM&f_!!dz|CuwArvjvoV^ zpF3Ap+Aecx6Nskk2`}GHcn{&$D@?W$ZoRjwnsDniiYHY5rDnVQ-ex^G#d@nmJ7w}F z_k+WjA*HLd-FnBz{e-XNHO=rS>lKZ)L|d<7JWF``M!XLo95MgL<&%Uj;xR24LF)}U zW4cKzPVrPhTd%5llIV535Oluvnz%oRwqCpEgD*72yp+@3Oy1<6-3Yht+_8jPZzsBm z@bpDyZ@9A+18lwLj#DPh8h^GF zU2EdU1g+j^L&@c`i2i`HHqb?%$wu4po+!fmM4#nD+QdtU*C4+d32lH&b==4pZN73y+8FI~P?-Ra_7kaSVtQXIn zCYtW|yL`Q$KmLF!TC-jW@aG3~F<;AmUXGQx*;9m2Nodx4 z8ha6Ly}$HE!mT&5P9)rVb=6YBmDuV%6dK0HH2HQH_Rd2dK>Q3gddqHCofl%VUNV~HS5h%A5#JAO=jN`9-A&J z@~1t=FGd<_9l&0MTkqYwo^XHj9;Aghj3Euu?k3^_y>F-o;46e%uRA+Rxb>p5^Muz{ z%Zg7>{Q{h45T3A6*0Tt&8X~+(xb>FBFBC4HMcNpdUHety z1GG6g67eTOhqH)PY5f=$$_u^h&Q7sJr&pGF+3S0BQddCTUs)Jqf5wi#``UR>tUa2I z;6q~Vqw&p7j!<~djkp2J~LLDa+MVR1v{6*1o;mjpK?&4tXRD8VfkOf*a1qyU$)vIHM( z)JVas&@53bEH^MMD=REBD@`=lG{v+M5YP9UXYNsa-v4`j-~YP4>w2ed@0s84o|${r z=Q)Qtv+Y<=9{vvsh#04tAwepwGQa&jKEuDz&E)Ve@~1rCbjRm1bz2)Y*0yOvnS^g^ zqZ?bw?8aBDWA?Yme>W8=)ON^&kS8G35D^}Nd;z%&QUoc3s4yClt&pc6jUaD9RB$75 z2qHYc4mksv2T>tR)3P;BrfHu5c@;88Fi3BJ`b)$SN+H2!Ow%qyKMBc%Oon_0*$3GS z83bX-`y6yfNHd5Cn;=afPRKFHImmFx5s0RFXxaxxjV(6&5)vmNZ6VzuuR}z52QmOs z1=$T*2k8R&1M(8&JIFN1J&@larywHif=q$D3(0`&g?K?4hHFSHhSY0XiuNWkk3;_h z@-wAC8b}0W8DuRa5+cG6QfYmlzlN-av?uH%qrx+= z(FIDSL-#b&S?Hrz5jzf9M2t|cL4JjN4|y5V0x}aaAMy=EgjJ9wW=zw5BK--;B|Y?!gtnKP7Gm>GRM#;c=)@;Oj6d9sZFXOi~M>`ayn_Nv#~(SHz8aM+NgN z-R;e6*&;0*7sk&+!~lzxBL-9qR31c3SkW*s;42_vP(=`vSp+d{MJR+6LBwQh7}Vlf z2kc*{YhJS#AMU(~yaK^%n%}t%zg@ff_K`iuk|gh!G6QH%XR!f#mcurOK95pLGo!5m*vme>(R#iJ(5 zl5a@Av>xz4;FZRVKxgnZs$RKuk*aYRMPNPW%Dh2RY3;ma-X6xmKqreg&IiUOXJtxK z4cBr!Jw*APXUGaYDeo03`Os?F5n|{?$ZH|(j~MCAoWVoIszlf(m6i)*QJTZZ2U|ei zsxo_0-Wa0->=;_Q7h)s*hL#fV29SrOg&@;T7N&8cY$%Rg)@1-cq$;oOQltz4AI6@)1>(| z!UqvPYP!U;2%kmsq1cFXq7_3Wdz9F10kSlQkq)-?>(b8!#2!FLiMnbF6U%DU31)yd$6{Q=_&>e_Kkns>!q7aI@qv`<<8s(wJX0RFJ)dnFU}JAem*Vni-ZqoEbXgSN+5xnJ%GyD7$NP))2Mwxcy&t??{I4)OQ+$?p_iw4 z%CL(%H^#^fbq4#blEtZk@ulwQYHS9(^+)N1gPbs^vM}RBs59=!ILWGE`-AeH8zRfx zPfeOmxfU7i!(xL6&=y}s?220xdPbNt;OK0b*N@nEV`W%)@X?tvS*TDLiB3Ia91Oz* zc~-(VsD;&3VyeMfVv~MD!Vb#&6;0$qBd(=0?$jt*-y~{b5%pT?Wob@xPm7`LK{N7E zX0r*B?Mr2bVx|axQjH3*m6T~bu_ZKp4jETkI+HVKiOeB(Ax#7=S9(%FkA=-mWSP}3 zNy8mv{|-%%#l|p~GkEWG39HA~IJ84}l4s4TJa9e3G1}|lQ#ZyG~VQ(HkbTA z^`tCc&C7$dVGNh^)p#d7AlUlA-$rjZVaCC5XL9Q_>B)Ynw0G#SaEn8Xnh11&@9120c>A-Em7;>B$b$DL`FJ;tD4FBve04?22-!48N$MqMa;WgPkT00tp zYqa6_mBnap_{iQ&2$c4PRDLL}D|)yaNl^j8llIC?)wG`frjZzG%!qOZ&!L&uno1V$ zMWS^Jj3TfRmc3^$&3I4aAlOl~ZdL34rU!St!CEg`@GP4mYm@oh)Vgd{7Q)ykY~9xlcL2N48lgj?I=-bU^DZ<+r+Qt#wnf&NVcB!;hHX1Y9;8pHE>CIM8Nhi>Z8)Ou&wVgDs8dB+F~SWjtrt)^H8;DNvaVC*7^#tj$Zs18R=k`mCH<+ z>}JTNr>4J=-`2?@jP-3}1Ny2lB%6n^pE#Gca|9oGLN+poh{IHIj1k!m8-jRcLdc^{ z`43u*8;xOL57BU`ihC2AYUG0Tn=FgmFO@cgrc;5jxg8$Ylvg!)v~b9%hDY%<4O>&4 zU(W0~N+Xc2cciokB|CNpJHz16f_ z@U{r{8g107t?yE6HX5w`zkiDQiU#P$m$LD*XyV?)Iu^rv(Nfx3+QJVR>Fu#$(2IxK z68ta$MXs%-`R(gkmcEv>!uF6Tm*Kz0=G4}-2&Bg~63fIxn+Z$=!FMKJq$O{=#g~6& zE>z8fCU}IAd%rU~?M+(G-`&a1Bs|E1&nLXI1?Pkhu;Ar{r&;hHB;G-rV8}6xcecBuQ2}=c6PsXR zpCWve1ur5z(}I6S_#z8#dq>t@Xu+FE+!*;lKz19lskGQUNccGm{sQ6J;X7OOA>lz5 z`~u;fEqFw+>6>vDK6I6FEzM#xmhd?idF0!T;ww z8`*V}tR>olKSp?h1%HX~Q4;TcYYnU=BGZ!L2f`Ow@M^*fjm;@eW7LEG*>{ylS1K)* z69_+N!41MS`BC7OCwmDGvf!5p?`*+so6UNSvkwN04U=&#&0_OU!sl4qADzUu7!QngvP;H<(Xs4%V>$jk zZS2FpYm7ffk71jPhaMiob{QW$oW#B`>K~3}n~i@w;$+oEzemQf3&vZI#0J0Hz@Gu% z-fqu##_x|Lu@d8-sbkn~V|i*4{ziE$)fv3JfqiiU`!hzPN1bf3(dN-uw!QSBN8hzI z8|tCu1*}S_@!#W_A7KkWEYhXT($YO_C4Qx|#|^fHXg>KBww#oO{y8bAx!Kg4ZobZ@ zTPS*AkaYQK1A6!Li6)J9pAM1q zcc2&8wCV-$s#j)j;oSVpvC3*;OKJ6H11ooCe^`|!&2ZU5vV8MTc!YQ9M-BE+W?8;Q z_LJYT&y9zl>SipS^_3ZW-B#{rd^5W_ubPg(`T9Q{%mmPJ_F9R53sw5&oaY5v+VPnb zW-D|U*>eZmzjow*Fwe*MZti_HsKBfawoISWURjNqt=dsKO z)Y+veLUlJxaE!53q^=rfDWS`5id5+GwNRzImw#-#zuJ*sq35LN9pwn^x?=WmB^)vF z3Bd8?P_u0od>?Qz^|#!{jZapLFiT(guu!vC_7-aUO5sQ8@s%OWc0QrBZWTJ~_XJ}| zL2uiYgi@p67f;)t3C5E}Z<|@yiguMgxb{kfyR>f4U|~}_aGy&Two|_tERx&5NbwZOCf~FOL5GSpv~afUxWH3xK3+^_(7nE? z@~_UYX_byeFQ!aliS;j{ zLArNNO24kTDJS96&&SNRm55moe$LD~kk(q;eviSC&dL9 z&irJ$kSBHwflmM)1iY#NUgVRLvJZGu;P`8Po;S)0zc#|`h}nP66dsmdsJYKWRMoNG zY;0Nm-K8m1^2T1Za+~CX2rs-IVs;8SE`-HDR)0`%R92?x_~?3fNNzr zDX*idEkC$X#QXTL4MJb` zVUGzt#FvR)ESu}gqJ$-1<0lOUHezC%EuwHGBYUk|7#wB4OhZ!2S?L{vE*12z|UMa|!Jx9UjQU z{>u9VvipTAO9I(yp<|n|RpyrCp>^r^V6M4WZ}`^i4zXqMUz@RKF!p>*b0$WeZ*R`T zK=aGZrR$+B*aow0pE+gQo(z(0dp(G~>eH|h!E6f);AetaYzu0OwGACZ*l(h2XDB-< zbX}-yLui=P-NR%X#)PqnrteePXdcm$MT$h9mh3gvkhccOhD@xy)et-pnsbMX^%FaL zIvVt#i@k)WF+c8N>T%5P3TNVZ%%2QL<1&5tnsC;iy~odlv*|X?mye8K-Pn6&OCwl! zUy=T%BRdTG?HHDgWLdj^u*W<^-_5kSfPxh@~xbq&?N$8|| z7+$q}`MdY9!$QxGXY(AIZ+;~9pM6H65y&I%W!{46crRNj^zM7nztCszWp4|;q#IiW zUDmNX`;>(st9VLJh?QGj;eN9N@WScKeS69(yZ2s6ZziEt;wd^$EQ@3|*d{u; z0`2~0Aesm8u0gD~+3wj7FueBq^3n&)O8E~D!20)uvUY>nr=q9IE)OLyt`0+1crh{s zmDDHjm+@%B6SVA|6o$tvYP~$1-EBtNjbtB+2tPiWwGjI6(d>RZo{sI2E$Lx)Mm!$d z*T9QMFn+>ddMd-awC}CwWGdGB_Hs9GjRhsTYE1*aA0Bl>!Eb87f75_(larIu7yO$I zcy|MSAD*P~;CTZ+_R-t*>(Az-#DIVKHeWX8QTB`JXsJx&~Tpo^TuEJGb z^{pN0t~XbE)vsIYRX-slVcOc)lFaHK@7;TvR+CtNFnXdZ%4e)ApxZ=O@8~qw>G%n* z&m5CnaXyn=QI4^$3dcm(+4vc*NO%(&{kY4^C)0IS#N!`FdaA1p?B9MhseYVeLYQm5 zW1Q)3Z@9JxnME_!zU@`d>J$09&$D3Oc|JSkQ5c=ZoeS7b**}v${J-?i(!^=LvVX$w znF=4rx$f+xsV<*8dTGkP_0n=aVOq?*#P_vII^?a5!y zXKkWRcm!_Hw49#ByS!@F@A0ZhXE{BqytJB1d;(3gmG`{r!O!HgE-bq&cqt2H{*hPR z!&O1oJQCLP1cQZni`+#g=l2}JCmZaa#>s-FM&V{p-Tev6U-`mLgF$Q%kFuSH=em(% zhaGppv(|PYp=``W&zE)PUv}Y&=e!|eQ=XovKRc}7)h4d%^>f+!`aW8IQr%5{)kEv> zn)@c7V{`NRxrytmJOVph_3C}S++)n)hPD^*^0aP?v>(M24ZR~9!lxPfeD-nK6+{1q zvHoQh%k|c_0M@%69~~>>e4fJUnBbbH^S`+MX?E@7+t*(o!`A;b(zgEE5Rdisb3NDN z+nMUuARnAbsyU1v{o5ma!*vg5m*C+!DYee9F7+NPzu4w{dHs|**R|a89*#x{HAPcu zdVIIGXZ|5{_7_q2<-_3(Cp?;MNVDbi+>hS+9DSXLzV@iS$%}0vFXy1I87t>WEA@NZ zvm5T=#cRFtHCEoU_$CUgE$?Y9paR|fb=i9>^dmwUtY#PwSASXTs=CG*d~ zf=_qVKEAJ*;{fG|2Ltl24MCsIwXLt8ujTLDe3Of&iDm_&E3TngPp%Ef|IpU#<#KyM zy{K^(Y|4FPe1?cOmhmSLPr!@rApX_sdduvv{J%ziQvBxTo6c)PcCE*kS(REs(|k36 zZ@?IT)~{Yh6^Tkj;W@U%`Vmx6SLhsjqFL!M!eRyHBe6k*br4u%i6s%%CR>0_CD@z5 z2!XYbSWm)21r{Q)c*0r;%q6kA2n!Hcl*Bp_<|nYW5^GPGm%utC)@O^>v?kCdz)sRI zoUr;5U|l2@LfCbI-7T@^gk2R_H;MTZc1d9ONz9k9^8)KFG5hA5+2&ZB5@3G`GBP|a zu=^!;1935CKM8EG#QrAiduXw)%%RH(!#vqj+!@1JKXtHT2R z-fI2HZernjW3IGW-lty770>vwuBhmAmw~w=@Fy`}`eAKGt?W}T(hKmETNpIK)%p#- zXN^8KJHb+H4{C(k7%q3;HtqMj*t82BZPU)T@|bpgj3*X}j>TffBJf&&%|qKD761+( zRKE0n;xw@k{7{!jH+rK_eRNpS;Hw^NgLhcr;J>gqX3z7<-?r8#|B}b!tF@NJ*@G`5 zQja~(XH&0fRU5SWD(}gzDsQp!vRucT;uk_#eZSeX`U@kp`pY-9`i-w-xPIM)9>l{k z*L$k#{`Tq6X|8l={J}9lIwH+=xqXH!2)ka#0Z+KfA4qc@AE90OJ4(wxfjwc7Eup4( zile63uGK8Eha&L=5FQhkIm)ZLD?g z$DxZA(AChh-m7(Y#=(w5(D))+3wpoSohkIDTK8h;W}9o>CC~?;E1{QdK|bi~(Ej*- ze^zO&J05!I)>`*?=o07!(AS{X3H?E>yBvDKwp#ZoPyDo`$49kpPyF$sV0*1Q8oI}> zTK53xgxx3ry4fBS0DW$6t-BC<*}hu$0qDh_*1E4lmmferd^MQyZLNC{bjf$M?pY#z zsMfs#I^hT^gr0K@_Rx-BYTaQt-BfrI_FnjDP1TuN_Z$F&YHQua(4P3J_6T%epE|b# z6DPV+ojUf9K5Ee3iAbjd_G0zF_-o%=fU z4(JFRp3RtC=NfFmj8hR^q=2OTA?e{bsgU-rAK0Fz(&8u^df}SiIf%_C`cjyj)dJ3VIQC(=%8)r3Fu|e8==oZ?}xtrQC$o7IYh#C zqU&%Nw`4b323^eG_*i#E9SdUUCeWdN;aY1%gbZ3=>&}99ybDixz)n4oSAVQKSRt?Z zSnp-)v4KCaLl3dX!z611e^tasAzrwFzrRCo!SlB3p7sUr*1B&nJ{Y9;3XrLo?A!Q^ z9lF!L4asZo@y0u0TfJR(*b3g~wcB+UtKz{s^mewcn|SXXdIxrjPurn~+gg{1DqOY! zC8GEcTg+zu#ST5nwxX0@5_spWqNu3Ij1Mt;QM5L|uciNL+Z$K`W(dN+ow4jL@?ksm zP}T`G%dStek(pQ}5`zxEyX{$~yw_A$6zjY}R;%IAR(B@y8O( z!;09bi&nMZgLdf-JqSyqFMqaN4{EfsnQ11@40rvCKetPdVh4E9E;MM)LH@-q{ce5E z;aYbd&)uavdDw2|0N4io%t!3jJJ{2X*Sa$TO`>rOs?I}O3jRO` zIs_IPT+l)vfMy9wEcDiO*hsMMv^3snw;n1S7N-cSL3Op&xli%9eY%ThSLi;xXSwc+ zeoijeV=)c(v z`RWS26VI!_c=rG}ye)sMLhr_|^OY5PcUzAh{BQ*ZYIsjx3)p^b02Ynef+(K4M|VUO z46Ab&iuu=|0@0>4Yz+}u!dYJY>%Ds0f94^b@o=46G)x3BqU(T70%o4nZjc{G;k0sa zmHfmWJ-pEXEc{u3931|M>4&drK0!|}dz5$hL~rXG_E?>{1v=K)#drt%i2SM8YSPB> z=RU!lEaY!|g6R@5neX~UkJ9t7F%<9zFpc>Qlw)^H!H#8@6Cz?S3Lc)xJM6_+FT>7| zBMq~F+pCez^f24QOZMuX%{xDXtwi)Lf@pLx_N_|(`CdJ?#kB?44(XJh@aH0^h!=Qc zjG`^#72au|-o-v?NuArz!<-^MB6}uwuV%~m(tUa-`=Axr9Bll#a(H=c9|rseKfe!C zzZmc8n2!F1ywj(8H(QUl_>@oekQOVj*EH(kjH{;#j~a5kH-{8}FpaL#PR?H@M} z42#Jzv;kWbN2mz z>j8e{m>y_kGQV-RPSKhb++IoQ6fMCTZ8@4cMXPYJhDA`PXk`koaTLKRT4TDsxd%?o z8sFHP2dhJ}$`0GH8SFg&JN@=4S+$_CyO}|qlBFaL8Oxwf$toOMiy71@S%r%YMg(<@`Ju*WmA9e`-s$;T>#$kCgsAIAU$8iWVsAIAUZ$=Sy zOjhCe`oIk8n5@E^Q{>h$Sw*y#a2!fELq{I)J^WSYWEG8{RG2}XlT|p*qnkmU zlT|o=xM2o$PFCS!-xoohla(oX&x455Ia&VB_jY%JL3a5xVD68-YirhLVOX*0` z=0RCwm``A^IvPua)`}t#JnpdW9IZ~pD!L6t)Tvm7x21?W6|3-e6j7&Q6&}qie$buw zwx={5f>o^6fnw?mtRgy6B!pjqcef6~D*7K3QHNj^-iadW5Uj#uDWVR+D!emA)FD`f z$5G_gAy`Fpp@=#JtMI!hq7K0-yz76!|4Fzy1gq@trieNOE0Z_`dk+!n5Uk2zzEL8f z4#6t?UWx?r#3N!-)9F=3qeL^PQ?Lr}K@oKdR^dGg6s*GgP(+=ARe0b35uYlrun?R&1*N$qMHcKZ;$CPMs=xAVt(MScMOwh&l$V@CPWOj=?HiKIJq`9fMW)5Q^M72CImn z6j8@u6+Vn2p*;5|_^ZyrD*8c+sB^Firx!tO3!Q*f_(K#?Cu0>pf+E%lGLmpQ8Ed{g zn9wL9)X`WandVT!1eu?l~LBI;zU!c!@tPR7b49*Xq#s(JFFpLJ(Tbxv00 z8$%KEoUD=V2u!|pGM1Qh(&}Wa$~l%I>SV0K$5F(_hGC0c?9KD(&8JV}u2u^PIO|;6-?<};NnX!qs--64{q=}|(;4;ndk6fHh zv_sNfy}4*KNt@zX^nR-KJ0`Z8#>^#JDZ>idvC4If3DL1p-PMACs0~|)%-(V1kZTHNj<`Ld@bK_ zM(+e~XPiX+eff(g;d=y6Jc)VWt99lTReE#Y>Ac?58{b?bG}6L2`xT}!Jos0brkSSv zv0wErESl#7iaYQh+^eJ$+h#fVC(n%dYSH`(3bYk$;XbF}N}lYB0esjgbcMCBPUfp` zWAt(^=#bR?cXmYz(d+i}EvNKXvrFiQ5~@zwRgJYOOFrdGmBmNdX!vL;XBGKgV8Pp) z^*ha5#$dvCpVkA|D6>V$>fQ+DiyBp{F9*#J6OFa;mKmv=Mtr|;P zjNme}65FW^{>K?is6+hTvvMR)V*q!Z!JkSN$c~NXo59%fKIb9l^|syAuwLJGXHTv% z-NX$tbU%gidYu_*tRa8zbEpUt05y1GDwm1^JJ~MI=HH%!LzO0hN#xIq&grqYewD5Y zx`59{47-ItPd{%?Bz7LHnk0;yhx%%n;#a^8f*Oek{v*t7M^|y5-%v|5zxOxfcJRqU z#qgCv_2r)n6~SwuYzbw&!v(!li28V_3jG8h!o=?}QPfQE?Nv)Jl7aXVQ1I5DEnnxk z7qEV+F6fTnjmxE%iz!byk|K}B*+t!%Y`tXW5u&ZX-OeQ3`s?@t!jJHD6c=p$sdhVj zGbd_G}c#w9puy^$f0Xg^*gXzN8P7l_`-4}wm% z{_egdKAa1mtT$QoBiwqO(FnpbdE8~xX1$l{d7`6vx}dGs0=-Ri4$lW2XT87Z1ku*J zr>+rxl>c}cYcy=G>^QW{3>`28q7B1&WHlCNGk$Nip2P}xE>gie?vfK`4kn5ShsgK{ z-z;eBkEWe?&k|)F;U@%b{S|kAqBD8G6_ML=UCuP3C-Fqk>?j|7MUPFkUcmJ^Sy^v& z@xm7zqHb%YtqGsR4~j~M(htrHFwI2BAR3SKKk$UQn9f7~&^rZNuXDOeW|cf0X2I4g zO2_auHr(AL{?+7cbXBd>x!lqEgCE|vBu z(R=wYL0?z*2gs4rRuJvSa|La^3}`#ii}+^H_!9i{tC%F#yPxb$q=$HLUqd04mu1~K zXqO1XiH_%q*RUy%=QCiHY`q9<4_R674LM4<^^S;3gdgDtMWwB2;$kGs(9&P}l*QSf z@O&r_{u7>C7x-&rb%>|K>fdg>`IP8Xo)0?NddZ88u70pyjna&8>$McE2ye}=h}x`o zxV)sY@yNeGFQ||$IYry?XGG`lVS=_^57iYfqGFn0zZLZOXJl^m1=`A6^kzX@Z%q1< z=!^UWXgpMF{=(|&VJRd4U%QDqtoJ*0C45=AtW@nDBMI-pXZ(#yyH1mI9<}H-qEmU1 zpktEdq*Q;tiGc5-w*CAd=B0~G_;o!X*?N7%4Kg}KJ%tHlhUDhbck6u}GYL=S71uGNtXDBs5^cS5@f6_>y2jfoV zbZ<{*o{v)5EWRGOL#&%h3R#Kw`#QY$`t!&edeZ%ij>v}79YNX$WM+NA{DN@n!v94T zJB4q#fnrnni5u9Y@rk7#EgU{cmcEU8cS(rsp8-4(G+whu*TXo2zXs@8t@rAn>$Sj^OXzR5+^NHTd zD+F!5Vd)gn8~GJMAEJ9Chf^;^;wuJGxF3&nW1OuQn!ZnTSX;T=((n#1!Y70;;JI!r zH@dIy)^&Y0{4G|L8Z%3p_mxU(MtB(ANU1j0_JkJ`en8fy^;5XzmcmC&oC?*n<*|0} zY;mEIsMC6>Q8wXOPf7bZl&y$x>z#|62w!|t8Xm=KmqK2EsxrrQOCZyX~BQuX=!63^EBX+Eh}oN~%wz2x(I z!X3k9L4Nq0Edq;_j#~RLm~gsT&pd-5>|+R*mmFo|P=Y`ah7xhW^3Z#o@T`u^v@10K z#r4XB7m|Gp;U@?$DVM+@!abriEkJ9oRedWzSRBD;6dc9Vv_KGIx~9^%r}VC?MG@|p zDNDfTb~AJ%JYuy>XW)fHgaX2?H!FUr@Tt;HEx})b$BBxqm-5w72J440pH?($yj>zD zR(07&9`+M0jVV3uD*GYQ{)pWe>gCCMMBBqyS3Wx0-iux1D}~DAKStYQ1JoC_O3&uO z?E#xN)eGkaNDuw^Xu#h7_sgU|&u?$P$9pIxvGXG7qrSyGH=H-^V87d2eGihxhjp;u z(^P$nt8{8FzN&-0Q-JywSLt&8V+VVzkNOf9->Nk2XusP>eR+HCBc3AC>buLmpYo+5 mt-hb#@p;*|9qs*XI2IJ#2~L)H$kC1Aqmjf1y8KS|cK-)u@l6*1 diff --git a/selfdrive/controls/lib/longitudinal_mpc/longitudinal_mpc.o b/selfdrive/controls/lib/longitudinal_mpc/longitudinal_mpc.o index f10c23217ac96000f0f7346673d085ec793f4621..5f959887818b591b6bf7ef46cb39d8fc1841b1f1 100644 GIT binary patch delta 1241 zcmZ{iUr19?9LIm>ZujooJCmu{Hl4?r5YB{xf}(#;E$2g7f|^L+HI@Ee`$JGvB`AI1B_x6OfK3gCq&mEvAcSSf_!>?5hU)843K~b`X{WC8Qe=^_!Rkw`$&Bo zBtl_N>NqM-wS_BE%_2^PH`48Z`$-jBjcmbTY@iNo2m{!l7`+`zHwm%jeMtMUQ_z;S z*|f!KySCmVM%PYA(bZ#)sBsfV=N(|I+F+v8EQ+mrFB-I$LNK`r1r76D$TZ*^YyD+I z6N>L?>l!Qi+8srIHLmE(w$o4i717oOriM+>os;!id;$!R&k>N-A%a}D$ZRnrfOWDY zfbqQ(jD-y_rtfP603HH9OUC32~CZ~k2XgkAZDs@~ijGHa2 z?-1+1IlA6+IJ#JUh|Q&m&8JaY-q)b9dFk}I{knIW-LOL<&E%iYMH@sny(CH{;y>Ix zl+w#$$UDXUir{COjV|-4H?n%3#zZ$-$?VTE``*mnL6KBmS_}ew;Wy53Z8Pmul|0_t zjF=v~P}cN@dz6_T#UHqJgEi$8%q5pwDR(n2<@nFggybID!vmHu z&24u-=Om9G;XFUuan7wc)@a%}H}m9XKbhsVU?s3FsCj{0yyOdX&fy-K;nw^n$1H2Z@Jcm9eIKLJkT!At@bQF!nxT%A@?<9mBz5!yPjjU z24Y&@QzV-Y%PWWEzB9dprw4kjUYYEXs}S{z5{lEX;+EHC(-okMjw$tMmCh-<6oNi%{NV}Z}1y!Vvom&y5?-+X^(jsv)U2(e50!0OGd6Ykf&$Ozb@()hr B^hE#w delta 1013 zcmZ8fO-vI(6n?YY-R^FSDMeFS>a>vr3LHc{XhM`CYKg`g4Z*|uh({luokqz4yKE{mjeW_hss* zLR?tUT0fByv@ntHOsn7bB6YQmQ&$>!b#uU$+&Cj7*H4N`eaxO*=OMKNU`nFjou}RE zb1qzTqOflGH55bs$I)LrO3D65(G5P3x_V2|($k9egFp8Wb|#{EiuxkblxJOPHU)ZC zK993<3?tV#UUoyg08$)(<3L~S2R;86^qIRu7y#~pG>C7?7xA%{IK>!_Q(O{33k731 z-!g>jdq8XJy@WF-VtBb93cq)Omitrco1_CKE=a|M2*pV;T$~T`In+!G#-=%4AB)hJ z9i=ZklH43PoLp(_p)Wr~H_)x-JKqkGc45@JNZZ?>P@=Hqh~%~4@gii9!j_2PI7mT= zcxR|p3qMPAJ>?U-ZepCA5+Q9f0V7wb&f=F1R zG*2|4PHvY?g^OHsbfFRQ(y>p@uyqfUq9fol_H9h*HiiH1w2gE)4{})>x#DaRZW}72 YBHBjgoXx^V>T~4|F7_+TlA<&44|i|9zyJUM From 6c361a5b18bd4ac2a0fef618602d47fc841ffd7b Mon Sep 17 00:00:00 2001 From: Arne Schwarck Date: Mon, 27 May 2019 13:12:53 +0200 Subject: [PATCH 2/2] add CS.carState to self.car_state --- selfdrive/controls/lib/long_mpc.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/long_mpc.py b/selfdrive/controls/lib/long_mpc.py index 1e4e0150b20b45..03465fef8b8cc7 100644 --- a/selfdrive/controls/lib/long_mpc.py +++ b/selfdrive/controls/lib/long_mpc.py @@ -85,7 +85,7 @@ def get_TR(self): return 2.7 # 30m at 40km/hr def update(self, CS, lead, v_cruise_setpoint): - self.car_state = CS + self.car_state = CS.carState self.v_ego = CS.carState.vEgo # Setup current mpc state