From 4317f38bfaf3dcd66986a69b10e9ec4d6bf5361d Mon Sep 17 00:00:00 2001
From: Hakan Carlsson <hakan@builtrobotics.com>
Date: Mon, 6 Mar 2023 19:35:48 +0100
Subject: [PATCH 1/2] Bump cython version

---
 reeds_shepp/reeds_shepp.cpp | 699 +++++++++++++++++++++++++++++-------
 1 file changed, 568 insertions(+), 131 deletions(-)

diff --git a/reeds_shepp/reeds_shepp.cpp b/reeds_shepp/reeds_shepp.cpp
index f08f41c..9eddc79 100644
--- a/reeds_shepp/reeds_shepp.cpp
+++ b/reeds_shepp/reeds_shepp.cpp
@@ -1,14 +1,16 @@
-/* Generated by Cython 0.29.15 */
+/* Generated by Cython 0.29.33 */
 
+#ifndef PY_SSIZE_T_CLEAN
 #define PY_SSIZE_T_CLEAN
+#endif /* PY_SSIZE_T_CLEAN */
 #include "Python.h"
 #ifndef Py_PYTHON_H
     #error Python headers needed to compile C extensions, please install development version of Python.
 #elif PY_VERSION_HEX < 0x02060000 || (0x03000000 <= PY_VERSION_HEX && PY_VERSION_HEX < 0x03030000)
     #error Cython requires Python 2.6+ or Python 3.3+.
 #else
-#define CYTHON_ABI "0_29_15"
-#define CYTHON_HEX_VERSION 0x001D0FF0
+#define CYTHON_ABI "0_29_33"
+#define CYTHON_HEX_VERSION 0x001D21F0
 #define CYTHON_FUTURE_DIVISION 0
 #include <stddef.h>
 #ifndef offsetof
@@ -47,6 +49,7 @@
   #define CYTHON_COMPILING_IN_PYPY 1
   #define CYTHON_COMPILING_IN_PYSTON 0
   #define CYTHON_COMPILING_IN_CPYTHON 0
+  #define CYTHON_COMPILING_IN_NOGIL 0
   #undef CYTHON_USE_TYPE_SLOTS
   #define CYTHON_USE_TYPE_SLOTS 0
   #undef CYTHON_USE_PYTYPE_LOOKUP
@@ -83,10 +86,14 @@
   #define CYTHON_USE_DICT_VERSIONS 0
   #undef CYTHON_USE_EXC_INFO_STACK
   #define CYTHON_USE_EXC_INFO_STACK 0
+  #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC
+    #define CYTHON_UPDATE_DESCRIPTOR_DOC 0
+  #endif
 #elif defined(PYSTON_VERSION)
   #define CYTHON_COMPILING_IN_PYPY 0
   #define CYTHON_COMPILING_IN_PYSTON 1
   #define CYTHON_COMPILING_IN_CPYTHON 0
+  #define CYTHON_COMPILING_IN_NOGIL 0
   #ifndef CYTHON_USE_TYPE_SLOTS
     #define CYTHON_USE_TYPE_SLOTS 1
   #endif
@@ -124,10 +131,59 @@
   #define CYTHON_USE_DICT_VERSIONS 0
   #undef CYTHON_USE_EXC_INFO_STACK
   #define CYTHON_USE_EXC_INFO_STACK 0
+  #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC
+    #define CYTHON_UPDATE_DESCRIPTOR_DOC 0
+  #endif
+#elif defined(PY_NOGIL)
+  #define CYTHON_COMPILING_IN_PYPY 0
+  #define CYTHON_COMPILING_IN_PYSTON 0
+  #define CYTHON_COMPILING_IN_CPYTHON 0
+  #define CYTHON_COMPILING_IN_NOGIL 1
+  #ifndef CYTHON_USE_TYPE_SLOTS
+    #define CYTHON_USE_TYPE_SLOTS 1
+  #endif
+  #undef CYTHON_USE_PYTYPE_LOOKUP
+  #define CYTHON_USE_PYTYPE_LOOKUP 0
+  #ifndef CYTHON_USE_ASYNC_SLOTS
+    #define CYTHON_USE_ASYNC_SLOTS 1
+  #endif
+  #undef CYTHON_USE_PYLIST_INTERNALS
+  #define CYTHON_USE_PYLIST_INTERNALS 0
+  #ifndef CYTHON_USE_UNICODE_INTERNALS
+    #define CYTHON_USE_UNICODE_INTERNALS 1
+  #endif
+  #undef CYTHON_USE_UNICODE_WRITER
+  #define CYTHON_USE_UNICODE_WRITER 0
+  #undef CYTHON_USE_PYLONG_INTERNALS
+  #define CYTHON_USE_PYLONG_INTERNALS 0
+  #ifndef CYTHON_AVOID_BORROWED_REFS
+    #define CYTHON_AVOID_BORROWED_REFS 0
+  #endif
+  #ifndef CYTHON_ASSUME_SAFE_MACROS
+    #define CYTHON_ASSUME_SAFE_MACROS 1
+  #endif
+  #ifndef CYTHON_UNPACK_METHODS
+    #define CYTHON_UNPACK_METHODS 1
+  #endif
+  #undef CYTHON_FAST_THREAD_STATE
+  #define CYTHON_FAST_THREAD_STATE 0
+  #undef CYTHON_FAST_PYCALL
+  #define CYTHON_FAST_PYCALL 0
+  #ifndef CYTHON_PEP489_MULTI_PHASE_INIT
+    #define CYTHON_PEP489_MULTI_PHASE_INIT 1
+  #endif
+  #ifndef CYTHON_USE_TP_FINALIZE
+    #define CYTHON_USE_TP_FINALIZE 1
+  #endif
+  #undef CYTHON_USE_DICT_VERSIONS
+  #define CYTHON_USE_DICT_VERSIONS 0
+  #undef CYTHON_USE_EXC_INFO_STACK
+  #define CYTHON_USE_EXC_INFO_STACK 0
 #else
   #define CYTHON_COMPILING_IN_PYPY 0
   #define CYTHON_COMPILING_IN_PYSTON 0
   #define CYTHON_COMPILING_IN_CPYTHON 1
+  #define CYTHON_COMPILING_IN_NOGIL 0
   #ifndef CYTHON_USE_TYPE_SLOTS
     #define CYTHON_USE_TYPE_SLOTS 1
   #endif
@@ -155,7 +211,7 @@
   #ifndef CYTHON_USE_UNICODE_INTERNALS
     #define CYTHON_USE_UNICODE_INTERNALS 1
   #endif
-  #if PY_VERSION_HEX < 0x030300F0
+  #if PY_VERSION_HEX < 0x030300F0 || PY_VERSION_HEX >= 0x030B00A2
     #undef CYTHON_USE_UNICODE_WRITER
     #define CYTHON_USE_UNICODE_WRITER 0
   #elif !defined(CYTHON_USE_UNICODE_WRITER)
@@ -170,11 +226,14 @@
   #ifndef CYTHON_UNPACK_METHODS
     #define CYTHON_UNPACK_METHODS 1
   #endif
-  #ifndef CYTHON_FAST_THREAD_STATE
+  #if PY_VERSION_HEX >= 0x030B00A4
+    #undef CYTHON_FAST_THREAD_STATE
+    #define CYTHON_FAST_THREAD_STATE 0
+  #elif !defined(CYTHON_FAST_THREAD_STATE)
     #define CYTHON_FAST_THREAD_STATE 1
   #endif
   #ifndef CYTHON_FAST_PYCALL
-    #define CYTHON_FAST_PYCALL 1
+    #define CYTHON_FAST_PYCALL (PY_VERSION_HEX < 0x030A0000)
   #endif
   #ifndef CYTHON_PEP489_MULTI_PHASE_INIT
     #define CYTHON_PEP489_MULTI_PHASE_INIT (PY_VERSION_HEX >= 0x03050000)
@@ -185,15 +244,23 @@
   #ifndef CYTHON_USE_DICT_VERSIONS
     #define CYTHON_USE_DICT_VERSIONS (PY_VERSION_HEX >= 0x030600B1)
   #endif
-  #ifndef CYTHON_USE_EXC_INFO_STACK
+  #if PY_VERSION_HEX >= 0x030B00A4
+    #undef CYTHON_USE_EXC_INFO_STACK
+    #define CYTHON_USE_EXC_INFO_STACK 0
+  #elif !defined(CYTHON_USE_EXC_INFO_STACK)
     #define CYTHON_USE_EXC_INFO_STACK (PY_VERSION_HEX >= 0x030700A3)
   #endif
+  #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC
+    #define CYTHON_UPDATE_DESCRIPTOR_DOC 1
+  #endif
 #endif
 #if !defined(CYTHON_FAST_PYCCALL)
 #define CYTHON_FAST_PYCCALL  (CYTHON_FAST_PYCALL && PY_VERSION_HEX >= 0x030600B1)
 #endif
 #if CYTHON_USE_PYLONG_INTERNALS
-  #include "longintrepr.h"
+  #if PY_MAJOR_VERSION < 3
+    #include "longintrepr.h"
+  #endif
   #undef SHIFT
   #undef BASE
   #undef MASK
@@ -324,9 +391,68 @@ class __Pyx_FakeReference {
   #define __Pyx_DefaultClassType PyClass_Type
 #else
   #define __Pyx_BUILTIN_MODULE_NAME "builtins"
-#if PY_VERSION_HEX >= 0x030800A4 && PY_VERSION_HEX < 0x030800B2
-  #define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\
-          PyCode_New(a, 0, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)
+  #define __Pyx_DefaultClassType PyType_Type
+#if PY_VERSION_HEX >= 0x030B00A1
+    static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int k, int l, int s, int f,
+                                                    PyObject *code, PyObject *c, PyObject* n, PyObject *v,
+                                                    PyObject *fv, PyObject *cell, PyObject* fn,
+                                                    PyObject *name, int fline, PyObject *lnos) {
+        PyObject *kwds=NULL, *argcount=NULL, *posonlyargcount=NULL, *kwonlyargcount=NULL;
+        PyObject *nlocals=NULL, *stacksize=NULL, *flags=NULL, *replace=NULL, *call_result=NULL, *empty=NULL;
+        const char *fn_cstr=NULL;
+        const char *name_cstr=NULL;
+        PyCodeObject* co=NULL;
+        PyObject *type, *value, *traceback;
+        PyErr_Fetch(&type, &value, &traceback);
+        if (!(kwds=PyDict_New())) goto end;
+        if (!(argcount=PyLong_FromLong(a))) goto end;
+        if (PyDict_SetItemString(kwds, "co_argcount", argcount) != 0) goto end;
+        if (!(posonlyargcount=PyLong_FromLong(0))) goto end;
+        if (PyDict_SetItemString(kwds, "co_posonlyargcount", posonlyargcount) != 0) goto end;
+        if (!(kwonlyargcount=PyLong_FromLong(k))) goto end;
+        if (PyDict_SetItemString(kwds, "co_kwonlyargcount", kwonlyargcount) != 0) goto end;
+        if (!(nlocals=PyLong_FromLong(l))) goto end;
+        if (PyDict_SetItemString(kwds, "co_nlocals", nlocals) != 0) goto end;
+        if (!(stacksize=PyLong_FromLong(s))) goto end;
+        if (PyDict_SetItemString(kwds, "co_stacksize", stacksize) != 0) goto end;
+        if (!(flags=PyLong_FromLong(f))) goto end;
+        if (PyDict_SetItemString(kwds, "co_flags", flags) != 0) goto end;
+        if (PyDict_SetItemString(kwds, "co_code", code) != 0) goto end;
+        if (PyDict_SetItemString(kwds, "co_consts", c) != 0) goto end;
+        if (PyDict_SetItemString(kwds, "co_names", n) != 0) goto end;
+        if (PyDict_SetItemString(kwds, "co_varnames", v) != 0) goto end;
+        if (PyDict_SetItemString(kwds, "co_freevars", fv) != 0) goto end;
+        if (PyDict_SetItemString(kwds, "co_cellvars", cell) != 0) goto end;
+        if (PyDict_SetItemString(kwds, "co_linetable", lnos) != 0) goto end;
+        if (!(fn_cstr=PyUnicode_AsUTF8AndSize(fn, NULL))) goto end;
+        if (!(name_cstr=PyUnicode_AsUTF8AndSize(name, NULL))) goto end;
+        if (!(co = PyCode_NewEmpty(fn_cstr, name_cstr, fline))) goto end;
+        if (!(replace = PyObject_GetAttrString((PyObject*)co, "replace"))) goto cleanup_code_too;
+        if (!(empty = PyTuple_New(0))) goto cleanup_code_too; // unfortunately __pyx_empty_tuple isn't available here
+        if (!(call_result = PyObject_Call(replace, empty, kwds))) goto cleanup_code_too;
+        Py_XDECREF((PyObject*)co);
+        co = (PyCodeObject*)call_result;
+        call_result = NULL;
+        if (0) {
+            cleanup_code_too:
+            Py_XDECREF((PyObject*)co);
+            co = NULL;
+        }
+        end:
+        Py_XDECREF(kwds);
+        Py_XDECREF(argcount);
+        Py_XDECREF(posonlyargcount);
+        Py_XDECREF(kwonlyargcount);
+        Py_XDECREF(nlocals);
+        Py_XDECREF(stacksize);
+        Py_XDECREF(replace);
+        Py_XDECREF(call_result);
+        Py_XDECREF(empty);
+        if (type) {
+            PyErr_Restore(type, value, traceback);
+        }
+        return co;
+    }
 #else
   #define __Pyx_PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\
           PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)
@@ -440,8 +566,12 @@ static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) {
 #endif
 #if PY_VERSION_HEX > 0x03030000 && defined(PyUnicode_KIND)
   #define CYTHON_PEP393_ENABLED 1
-  #define __Pyx_PyUnicode_READY(op)       (likely(PyUnicode_IS_READY(op)) ?\
-                                              0 : _PyUnicode_Ready((PyObject *)(op)))
+  #if PY_VERSION_HEX >= 0x030C0000
+    #define __Pyx_PyUnicode_READY(op)       (0)
+  #else
+    #define __Pyx_PyUnicode_READY(op)       (likely(PyUnicode_IS_READY(op)) ?\
+                                                0 : _PyUnicode_Ready((PyObject *)(op)))
+  #endif
   #define __Pyx_PyUnicode_GET_LENGTH(u)   PyUnicode_GET_LENGTH(u)
   #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_READ_CHAR(u, i)
   #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u)   PyUnicode_MAX_CHAR_VALUE(u)
@@ -449,7 +579,15 @@ static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) {
   #define __Pyx_PyUnicode_DATA(u)         PyUnicode_DATA(u)
   #define __Pyx_PyUnicode_READ(k, d, i)   PyUnicode_READ(k, d, i)
   #define __Pyx_PyUnicode_WRITE(k, d, i, ch)  PyUnicode_WRITE(k, d, i, ch)
-  #define __Pyx_PyUnicode_IS_TRUE(u)      (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : PyUnicode_GET_SIZE(u)))
+  #if PY_VERSION_HEX >= 0x030C0000
+    #define __Pyx_PyUnicode_IS_TRUE(u)      (0 != PyUnicode_GET_LENGTH(u))
+  #else
+    #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x03090000
+    #define __Pyx_PyUnicode_IS_TRUE(u)      (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : ((PyCompactUnicodeObject *)(u))->wstr_length))
+    #else
+    #define __Pyx_PyUnicode_IS_TRUE(u)      (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : PyUnicode_GET_SIZE(u)))
+    #endif
+  #endif
 #else
   #define CYTHON_PEP393_ENABLED 0
   #define PyUnicode_1BYTE_KIND  1
@@ -498,8 +636,10 @@ static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) {
   #define PyString_Type                PyUnicode_Type
   #define PyString_Check               PyUnicode_Check
   #define PyString_CheckExact          PyUnicode_CheckExact
+#ifndef PyObject_Unicode
   #define PyObject_Unicode             PyObject_Str
 #endif
+#endif
 #if PY_MAJOR_VERSION >= 3
   #define __Pyx_PyBaseString_Check(obj) PyUnicode_Check(obj)
   #define __Pyx_PyBaseString_CheckExact(obj) PyUnicode_CheckExact(obj)
@@ -510,6 +650,13 @@ static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) {
 #ifndef PySet_CheckExact
   #define PySet_CheckExact(obj)        (Py_TYPE(obj) == &PySet_Type)
 #endif
+#if PY_VERSION_HEX >= 0x030900A4
+  #define __Pyx_SET_REFCNT(obj, refcnt) Py_SET_REFCNT(obj, refcnt)
+  #define __Pyx_SET_SIZE(obj, size) Py_SET_SIZE(obj, size)
+#else
+  #define __Pyx_SET_REFCNT(obj, refcnt) Py_REFCNT(obj) = (refcnt)
+  #define __Pyx_SET_SIZE(obj, size) Py_SIZE(obj) = (size)
+#endif
 #if CYTHON_ASSUME_SAFE_MACROS
   #define __Pyx_PySequence_SIZE(seq)  Py_SIZE(seq)
 #else
@@ -543,13 +690,13 @@ static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) {
 #if PY_VERSION_HEX < 0x030200A4
   typedef long Py_hash_t;
   #define __Pyx_PyInt_FromHash_t PyInt_FromLong
-  #define __Pyx_PyInt_AsHash_t   PyInt_AsLong
+  #define __Pyx_PyInt_AsHash_t   __Pyx_PyIndex_AsHash_t
 #else
   #define __Pyx_PyInt_FromHash_t PyInt_FromSsize_t
-  #define __Pyx_PyInt_AsHash_t   PyInt_AsSsize_t
+  #define __Pyx_PyInt_AsHash_t   __Pyx_PyIndex_AsSsize_t
 #endif
 #if PY_MAJOR_VERSION >= 3
-  #define __Pyx_PyMethod_New(func, self, klass) ((self) ? PyMethod_New(func, self) : (Py_INCREF(func), func))
+  #define __Pyx_PyMethod_New(func, self, klass) ((self) ? ((void)(klass), PyMethod_New(func, self)) : __Pyx_NewRef(func))
 #else
   #define __Pyx_PyMethod_New(func, self, klass) PyMethod_New(func, self, klass)
 #endif
@@ -571,8 +718,10 @@ static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) {
     } __Pyx_PyAsyncMethodsStruct;
 #endif
 
-#if defined(WIN32) || defined(MS_WINDOWS)
-  #define _USE_MATH_DEFINES
+#if defined(_WIN32) || defined(WIN32) || defined(MS_WINDOWS)
+  #if !defined(_USE_MATH_DEFINES)
+    #define _USE_MATH_DEFINES
+  #endif
 #endif
 #include <math.h>
 #ifdef NAN
@@ -590,11 +739,10 @@ static CYTHON_INLINE float __PYX_NAN() {
 #define __Pyx_truncl truncl
 #endif
 
-
+#define __PYX_MARK_ERR_POS(f_index, lineno) \
+    { __pyx_filename = __pyx_f[f_index]; (void)__pyx_filename; __pyx_lineno = lineno; (void)__pyx_lineno; __pyx_clineno = __LINE__; (void)__pyx_clineno; }
 #define __PYX_ERR(f_index, lineno, Ln_error) \
-{ \
-  __pyx_filename = __pyx_f[f_index]; __pyx_lineno = lineno; __pyx_clineno = __LINE__; goto Ln_error; \
-}
+    { __PYX_MARK_ERR_POS(f_index, lineno) goto Ln_error; }
 
 #ifndef __PYX_EXTERN_C
   #ifdef __cplusplus
@@ -704,6 +852,7 @@ static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x);
     (likely(PyTuple_CheckExact(obj)) ? __Pyx_NewRef(obj) : PySequence_Tuple(obj))
 static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject*);
 static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t);
+static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*);
 #if CYTHON_ASSUME_SAFE_MACROS
 #define __pyx_PyFloat_AsDouble(x) (PyFloat_CheckExact(x) ? PyFloat_AS_DOUBLE(x) : PyFloat_AsDouble(x))
 #else
@@ -1008,7 +1157,7 @@ static CYTHON_INLINE int __Pyx_PyList_Append(PyObject* list, PyObject* x) {
     if (likely(L->allocated > len) & likely(len > (L->allocated >> 1))) {
         Py_INCREF(x);
         PyList_SET_ITEM(list, len, x);
-        Py_SIZE(list) = len+1;
+        __Pyx_SET_SIZE(list, len + 1);
         return 0;
     }
     return PyList_Append(list, x);
@@ -1023,7 +1172,7 @@ static CYTHON_INLINE void __Pyx_RaiseClosureNameError(const char *varname);
 /* FetchCommonType.proto */
 static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type);
 
-/* CythonFunction.proto */
+/* CythonFunctionShared.proto */
 #define __Pyx_CyFunction_USED 1
 #define __Pyx_CYFUNCTION_STATICMETHOD  0x01
 #define __Pyx_CYFUNCTION_CLASSMETHOD   0x02
@@ -1051,6 +1200,7 @@ typedef struct {
     PyObject *func_classobj;
     void *defaults;
     int defaults_pyobjects;
+    size_t defaults_size;  // used by FusedFunction for copying defaults
     int flags;
     PyObject *defaults_tuple;
     PyObject *defaults_kwdict;
@@ -1059,9 +1209,7 @@ typedef struct {
 } __pyx_CyFunctionObject;
 static PyTypeObject *__pyx_CyFunctionType = 0;
 #define __Pyx_CyFunction_Check(obj)  (__Pyx_TypeCheck(obj, __pyx_CyFunctionType))
-#define __Pyx_CyFunction_NewEx(ml, flags, qualname, self, module, globals, code)\
-    __Pyx_CyFunction_New(__pyx_CyFunctionType, ml, flags, qualname, self, module, globals, code)
-static PyObject *__Pyx_CyFunction_New(PyTypeObject *, PyMethodDef *ml,
+static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject* op, PyMethodDef *ml,
                                       int flags, PyObject* qualname,
                                       PyObject *self,
                                       PyObject *module, PyObject *globals,
@@ -1077,6 +1225,13 @@ static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *m,
                                                               PyObject *dict);
 static int __pyx_CyFunction_init(void);
 
+/* CythonFunction.proto */
+static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml,
+                                      int flags, PyObject* qualname,
+                                      PyObject *closure,
+                                      PyObject *module, PyObject *globals,
+                                      PyObject* code);
+
 /* PyObjectCall.proto */
 #if CYTHON_COMPILING_IN_CPYTHON
 static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw);
@@ -1137,13 +1292,21 @@ static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args,
 #ifndef Py_MEMBER_SIZE
 #define Py_MEMBER_SIZE(type, member) sizeof(((type *)0)->member)
 #endif
+#if CYTHON_FAST_PYCALL
   static size_t __pyx_pyframe_localsplus_offset = 0;
   #include "frameobject.h"
+#if PY_VERSION_HEX >= 0x030b00a6
+  #ifndef Py_BUILD_CORE
+    #define Py_BUILD_CORE 1
+  #endif
+  #include "internal/pycore_frame.h"
+#endif
   #define __Pxy_PyFrame_Initialize_Offsets()\
     ((void)__Pyx_BUILD_ASSERT_EXPR(sizeof(PyFrameObject) == offsetof(PyFrameObject, f_localsplus) + Py_MEMBER_SIZE(PyFrameObject, f_localsplus)),\
      (void)(__pyx_pyframe_localsplus_offset = ((size_t)PyFrame_Type.tp_basicsize) - Py_MEMBER_SIZE(PyFrameObject, f_localsplus)))
   #define __Pyx_PyFrame_GetLocalsplus(frame)\
     (assert(__pyx_pyframe_localsplus_offset), (PyObject **)(((char *)(frame)) + __pyx_pyframe_localsplus_offset))
+#endif // CYTHON_FAST_PYCALL
 #endif
 
 /* PyObjectCallMethO.proto */
@@ -1193,6 +1356,17 @@ static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_nam
 #define __Pyx_PyObject_GenericGetAttr PyObject_GenericGetAttr
 #endif
 
+/* PyErrExceptionMatches.proto */
+#if CYTHON_FAST_THREAD_STATE
+#define __Pyx_PyErr_ExceptionMatches(err) __Pyx_PyErr_ExceptionMatchesInState(__pyx_tstate, err)
+static CYTHON_INLINE int __Pyx_PyErr_ExceptionMatchesInState(PyThreadState* tstate, PyObject* err);
+#else
+#define __Pyx_PyErr_ExceptionMatches(err)  PyErr_ExceptionMatches(err)
+#endif
+
+/* PyObjectGetAttrStrNoError.proto */
+static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name);
+
 /* SetupReduce.proto */
 static int __Pyx_setup_reduce(PyObject* type_obj);
 
@@ -1248,12 +1422,17 @@ static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object);
 static void __Pyx_AddTraceback(const char *funcname, int c_line,
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-/* CIntToPy.proto */
-static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value);
+/* GCCDiagnostics.proto */
+#if defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 6))
+#define __Pyx_HAS_GCC_DIAGNOSTIC
+#endif
 
 /* CIntFromPy.proto */
 static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *);
 
+/* CIntToPy.proto */
+static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value);
+
 /* CIntToPy.proto */
 static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value);
 
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   PyObject *__pyx_v_q0 = 0;
   PyObject *__pyx_v_q1 = 0;
   PyObject *__pyx_v_turning_radius = 0;
+  int __pyx_lineno = 0;
+  const char *__pyx_filename = NULL;
+  int __pyx_clineno = 0;
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   Py_ssize_t __pyx_t_3;
   PyObject *__pyx_t_4 = NULL;
   Py_ssize_t __pyx_t_5;
+  int __pyx_lineno = 0;
+  const char *__pyx_filename = NULL;
+  int __pyx_clineno = 0;
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   PyObject *__pyx_r = NULL;
   __Pyx_RefNannyDeclarations
   PyObject *__pyx_t_1 = NULL;
+  int __pyx_lineno = 0;
+  const char *__pyx_filename = NULL;
+  int __pyx_clineno = 0;
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   int __pyx_t_1;
+  int __pyx_lineno = 0;
+  const char *__pyx_filename = NULL;
+  int __pyx_clineno = 0;
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   double __pyx_t_2;
+  int __pyx_lineno = 0;
+  const char *__pyx_filename = NULL;
+  int __pyx_clineno = 0;
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@@ -1826,7 +2020,7 @@ static PyObject *__pyx_pf_11reeds_shepp_16PyReedsSheppPath_6sample(struct __pyx_
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+  __pyx_t_1 = __Pyx_CyFunction_New(&__pyx_mdef_11reeds_shepp_16PyReedsSheppPath_6sample_1f, 0, __pyx_n_s_sample_locals_f, ((PyObject*)__pyx_cur_scope), __pyx_n_s_reeds_shepp, __pyx_d, ((PyObject *)__pyx_codeobj__3)); if (unlikely(!__pyx_t_1)) __PYX_ERR(1, 66, __pyx_L1_error)
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 static PyObject *__pyx_pw_11reeds_shepp_16PyReedsSheppPath_4type_1f(PyObject *__pyx_self, PyObject *__pyx_args, PyObject *__pyx_kwds) {
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   PyObject *__pyx_v_l = 0;
+  int __pyx_lineno = 0;
+  const char *__pyx_filename = NULL;
+  int __pyx_clineno = 0;
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   PyObject *__pyx_t_3 = NULL;
   int __pyx_t_4;
+  int __pyx_lineno = 0;
+  const char *__pyx_filename = NULL;
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+  int __pyx_lineno = 0;
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@@ -2152,6 +2355,9 @@ static PyObject *__pyx_pf_11reeds_shepp_16PyReedsSheppPath_10__reduce_cython__(C
   PyObject *__pyx_r = NULL;
   __Pyx_RefNannyDeclarations
   PyObject *__pyx_t_1 = NULL;
+  int __pyx_lineno = 0;
+  const char *__pyx_filename = NULL;
+  int __pyx_clineno = 0;
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   PyObject *__pyx_t_1 = NULL;
+  int __pyx_lineno = 0;
+  const char *__pyx_filename = NULL;
+  int __pyx_clineno = 0;
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   PyObject *__pyx_v_q0 = 0;
   PyObject *__pyx_v_q1 = 0;
   PyObject *__pyx_v_rho = 0;
+  int __pyx_lineno = 0;
+  const char *__pyx_filename = NULL;
+  int __pyx_clineno = 0;
   PyObject *__pyx_r = 0;
   __Pyx_RefNannyDeclarations
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   PyObject *__pyx_t_1 = NULL;
   PyObject *__pyx_t_2 = NULL;
   PyObject *__pyx_t_3 = NULL;
+  int __pyx_lineno = 0;
+  const char *__pyx_filename = NULL;
+  int __pyx_clineno = 0;
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   PyObject *__pyx_v_q1 = 0;
   PyObject *__pyx_v_rho = 0;
   PyObject *__pyx_v_step_size = 0;
+  int __pyx_lineno = 0;
+  const char *__pyx_filename = NULL;
+  int __pyx_clineno = 0;
   PyObject *__pyx_r = 0;
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   PyObject *__pyx_t_1 = NULL;
   PyObject *__pyx_t_2 = NULL;
   PyObject *__pyx_t_3 = NULL;
+  int __pyx_lineno = 0;
+  const char *__pyx_filename = NULL;
+  int __pyx_clineno = 0;
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   PyObject *__pyx_v_q0 = 0;
   PyObject *__pyx_v_q1 = 0;
   PyObject *__pyx_v_rho = 0;
+  int __pyx_lineno = 0;
+  const char *__pyx_filename = NULL;
+  int __pyx_clineno = 0;
   PyObject *__pyx_r = 0;
   __Pyx_RefNannyDeclarations
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   PyObject *__pyx_t_1 = NULL;
   PyObject *__pyx_t_2 = NULL;
   PyObject *__pyx_t_3 = NULL;
+  int __pyx_lineno = 0;
+  const char *__pyx_filename = NULL;
+  int __pyx_clineno = 0;
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   PyObject *__pyx_t_5 = NULL;
   PyObject *__pyx_t_6 = NULL;
   int __pyx_t_7;
+  int __pyx_lineno = 0;
+  const char *__pyx_filename = NULL;
+  int __pyx_clineno = 0;
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   int __pyx_t_6;
   PyObject *__pyx_t_7 = NULL;
+  int __pyx_lineno = 0;
+  const char *__pyx_filename = NULL;
+  int __pyx_clineno = 0;
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-    ++Py_REFCNT(o);
+    __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1);
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-    --Py_REFCNT(o);
+    __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1);
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   (*Py_TYPE(o)->tp_free)(o);
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   #if PY_VERSION_HEX >= 0x030400a1
   0, /*tp_finalize*/
   #endif
-  #if PY_VERSION_HEX >= 0x030800b1
+  #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800)
   0, /*tp_vectorcall*/
   #endif
   #if PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000
   0, /*tp_print*/
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+  #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000
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 static struct __pyx_obj_11reeds_shepp___pyx_scope_struct__sample *__pyx_freelist_11reeds_shepp___pyx_scope_struct__sample[8];
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   #if PY_VERSION_HEX >= 0x030400a1
   0, /*tp_finalize*/
   #endif
-  #if PY_VERSION_HEX >= 0x030800b1
+  #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800)
   0, /*tp_vectorcall*/
   #endif
   #if PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000
   0, /*tp_print*/
   #endif
+  #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000
+  0, /*tp_pypy_flags*/
+  #endif
 };
 
 static struct __pyx_obj_11reeds_shepp___pyx_scope_struct_1_type *__pyx_freelist_11reeds_shepp___pyx_scope_struct_1_type[8];
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   #if PY_VERSION_HEX >= 0x030400a1
   0, /*tp_finalize*/
   #endif
-  #if PY_VERSION_HEX >= 0x030800b1
+  #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800)
   0, /*tp_vectorcall*/
   #endif
   #if PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000
   0, /*tp_print*/
   #endif
+  #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000
+  0, /*tp_pypy_flags*/
+  #endif
 };
 
 static PyMethodDef __pyx_methods[] = {
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 static int __Pyx_modinit_type_init_code(void) {
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-#if PY_MAJOR_VERSION < 3
-#ifdef CYTHON_NO_PYINIT_EXPORT
-#define __Pyx_PyMODINIT_FUNC void
-#else
+#ifndef CYTHON_NO_PYINIT_EXPORT
 #define __Pyx_PyMODINIT_FUNC PyMODINIT_FUNC
+#elif PY_MAJOR_VERSION < 3
+#ifdef __cplusplus
+#define __Pyx_PyMODINIT_FUNC extern "C" void
+#else
+#define __Pyx_PyMODINIT_FUNC void
 #endif
 #else
-#ifdef CYTHON_NO_PYINIT_EXPORT
-#define __Pyx_PyMODINIT_FUNC PyObject *
+#ifdef __cplusplus
+#define __Pyx_PyMODINIT_FUNC extern "C" PyObject *
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-#define __Pyx_PyMODINIT_FUNC PyMODINIT_FUNC
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 #endif
 
@@ -3642,6 +3889,9 @@ static CYTHON_SMALL_CODE int __pyx_pymod_exec_reeds_shepp(PyObject *__pyx_pyinit
 #endif
 {
   PyObject *__pyx_t_1 = NULL;
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+  const char *__pyx_filename = NULL;
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-        if (likely(PyString_CheckExact(key)) || likely(PyString_Check(key))) {
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-                    (PyUnicode_GET_SIZE(**name) != PyUnicode_GET_SIZE(key)) ? 1 :
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-                        (PyUnicode_GET_SIZE(**argname) != PyUnicode_GET_SIZE(key)) ? 1 :
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                         PyUnicode_Compare(**argname, key);
                     if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad;
@@ -4127,7 +4375,7 @@ static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i,
 /* ObjectGetItem */
 #if CYTHON_USE_TYPE_SLOTS
 static PyObject *__Pyx_PyObject_GetIndex(PyObject *obj, PyObject* index) {
-    PyObject *runerr;
+    PyObject *runerr = NULL;
     Py_ssize_t key_value;
     PySequenceMethods *m = Py_TYPE(obj)->tp_as_sequence;
     if (unlikely(!(m && m->sq_item))) {
@@ -4197,7 +4445,7 @@ static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type) {
     goto done;
 }
 
-/* CythonFunction */
+/* CythonFunctionShared */
 #include <structmember.h>
 static PyObject *
 __Pyx_CyFunction_get_doc(__pyx_CyFunctionObject *op, CYTHON_UNUSED void *closure)
@@ -4490,7 +4738,8 @@ static PyObject *
 __Pyx_CyFunction_reduce(__pyx_CyFunctionObject *m, CYTHON_UNUSED PyObject *args)
 {
 #if PY_MAJOR_VERSION >= 3
-    return PyUnicode_FromString(m->func.m_ml->ml_name);
+    Py_INCREF(m->func_qualname);
+    return m->func_qualname;
 #else
     return PyString_FromString(m->func.m_ml->ml_name);
 #endif
@@ -4504,10 +4753,9 @@ static PyMethodDef __pyx_CyFunction_methods[] = {
 #else
 #define __Pyx_CyFunction_weakreflist(cyfunc) ((cyfunc)->func.m_weakreflist)
 #endif
-static PyObject *__Pyx_CyFunction_New(PyTypeObject *type, PyMethodDef *ml, int flags, PyObject* qualname,
-                                      PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) {
-    __pyx_CyFunctionObject *op = PyObject_GC_New(__pyx_CyFunctionObject, type);
-    if (op == NULL)
+static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject *op, PyMethodDef *ml, int flags, PyObject* qualname,
+                                       PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) {
+    if (unlikely(op == NULL))
         return NULL;
     op->flags = flags;
     __Pyx_CyFunction_weakreflist(op) = NULL;
@@ -4528,12 +4776,12 @@ static PyObject *__Pyx_CyFunction_New(PyTypeObject *type, PyMethodDef *ml, int f
     Py_XINCREF(code);
     op->func_code = code;
     op->defaults_pyobjects = 0;
+    op->defaults_size = 0;
     op->defaults = NULL;
     op->defaults_tuple = NULL;
     op->defaults_kwdict = NULL;
     op->defaults_getter = NULL;
     op->func_annotations = NULL;
-    PyObject_GC_Track(op);
     return (PyObject *) op;
 }
 static int
@@ -4596,6 +4844,7 @@ static int __Pyx_CyFunction_traverse(__pyx_CyFunctionObject *m, visitproc visit,
 }
 static PyObject *__Pyx_CyFunction_descr_get(PyObject *func, PyObject *obj, PyObject *type)
 {
+#if PY_MAJOR_VERSION < 3
     __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func;
     if (m->flags & __Pyx_CYFUNCTION_STATICMETHOD) {
         Py_INCREF(func);
@@ -4608,6 +4857,7 @@ static PyObject *__Pyx_CyFunction_descr_get(PyObject *func, PyObject *obj, PyObj
     }
     if (obj == Py_None)
         obj = NULL;
+#endif
     return __Pyx_PyMethod_New(func, obj, type);
 }
 static PyObject*
@@ -4692,6 +4942,14 @@ static PyObject *__Pyx_CyFunction_CallAsMethod(PyObject *func, PyObject *args, P
         self = PyTuple_GetItem(args, 0);
         if (unlikely(!self)) {
             Py_DECREF(new_args);
+#if PY_MAJOR_VERSION > 2
+            PyErr_Format(PyExc_TypeError,
+                         "unbound method %.200S() needs an argument",
+                         cyfunc->func_qualname);
+#else
+            PyErr_SetString(PyExc_TypeError,
+                            "unbound method needs an argument");
+#endif
             return NULL;
         }
         result = __Pyx_CyFunction_CallMethod(func, self, new_args, kw);
@@ -4760,12 +5018,15 @@ static PyTypeObject __pyx_CyFunctionType_type = {
 #if PY_VERSION_HEX >= 0x030400a1
     0,
 #endif
-#if PY_VERSION_HEX >= 0x030800b1
+#if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800)
     0,
 #endif
 #if PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000
     0,
 #endif
+#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000
+    0,
+#endif
 };
 static int __pyx_CyFunction_init(void) {
     __pyx_CyFunctionType = __Pyx_FetchCommonType(&__pyx_CyFunctionType_type);
@@ -4781,6 +5042,7 @@ static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *func, size_t
         return PyErr_NoMemory();
     memset(m->defaults, 0, size);
     m->defaults_pyobjects = pyobjects;
+    m->defaults_size = size;
     return m->defaults;
 }
 static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *func, PyObject *tuple) {
@@ -4799,11 +5061,24 @@ static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *func, Py
     Py_INCREF(dict);
 }
 
+/* CythonFunction */
+static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, int flags, PyObject* qualname,
+                                      PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) {
+    PyObject *op = __Pyx_CyFunction_Init(
+        PyObject_GC_New(__pyx_CyFunctionObject, __pyx_CyFunctionType),
+        ml, flags, qualname, closure, module, globals, code
+    );
+    if (likely(op)) {
+        PyObject_GC_Track(op);
+    }
+    return op;
+}
+
 /* PyObjectCall */
 #if CYTHON_COMPILING_IN_CPYTHON
 static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw) {
     PyObject *result;
-    ternaryfunc call = func->ob_type->tp_call;
+    ternaryfunc call = Py_TYPE(func)->tp_call;
     if (unlikely(!call))
         return PyObject_Call(func, arg, kw);
     if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object")))
@@ -5149,7 +5424,7 @@ static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func) {
         return __Pyx_PyFunction_FastCall(func, NULL, 0);
     }
 #endif
-#ifdef __Pyx_CyFunction_USED
+#if defined(__Pyx_CyFunction_USED) && defined(NDEBUG)
     if (likely(PyCFunction_Check(func) || __Pyx_CyFunction_Check(func)))
 #else
     if (likely(PyCFunction_Check(func)))
@@ -5208,7 +5483,7 @@ static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObjec
         if (likely(PyCFunction_GET_FLAGS(func) & METH_O)) {
             return __Pyx_PyObject_CallMethO(func, arg);
 #if CYTHON_FAST_PYCCALL
-        } else if (PyCFunction_GET_FLAGS(func) & METH_FASTCALL) {
+        } else if (__Pyx_PyFastCFunction_Check(func)) {
             return __Pyx_PyCFunction_FastCall(func, &arg, 1);
 #endif
         }
@@ -5266,9 +5541,7 @@ static void __Pyx_WriteUnraisable(const char *name, CYTHON_UNUSED int clineno,
     PyGILState_STATE state;
     if (nogil)
         state = PyGILState_Ensure();
-#ifdef _MSC_VER
-    else state = (PyGILState_STATE)-1;
-#endif
+    else state = (PyGILState_STATE)0;
 #endif
     __Pyx_PyThreadState_assign
     __Pyx_ErrFetch(&old_exc, &old_val, &old_tb);
@@ -5347,6 +5620,53 @@ static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_nam
 }
 #endif
 
+/* PyErrExceptionMatches */
+#if CYTHON_FAST_THREAD_STATE
+static int __Pyx_PyErr_ExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) {
+    Py_ssize_t i, n;
+    n = PyTuple_GET_SIZE(tuple);
+#if PY_MAJOR_VERSION >= 3
+    for (i=0; i<n; i++) {
+        if (exc_type == PyTuple_GET_ITEM(tuple, i)) return 1;
+    }
+#endif
+    for (i=0; i<n; i++) {
+        if (__Pyx_PyErr_GivenExceptionMatches(exc_type, PyTuple_GET_ITEM(tuple, i))) return 1;
+    }
+    return 0;
+}
+static CYTHON_INLINE int __Pyx_PyErr_ExceptionMatchesInState(PyThreadState* tstate, PyObject* err) {
+    PyObject *exc_type = tstate->curexc_type;
+    if (exc_type == err) return 1;
+    if (unlikely(!exc_type)) return 0;
+    if (unlikely(PyTuple_Check(err)))
+        return __Pyx_PyErr_ExceptionMatchesTuple(exc_type, err);
+    return __Pyx_PyErr_GivenExceptionMatches(exc_type, err);
+}
+#endif
+
+/* PyObjectGetAttrStrNoError */
+static void __Pyx_PyObject_GetAttrStr_ClearAttributeError(void) {
+    __Pyx_PyThreadState_declare
+    __Pyx_PyThreadState_assign
+    if (likely(__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError)))
+        __Pyx_PyErr_Clear();
+}
+static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name) {
+    PyObject *result;
+#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_TYPE_SLOTS && PY_VERSION_HEX >= 0x030700B1
+    PyTypeObject* tp = Py_TYPE(obj);
+    if (likely(tp->tp_getattro == PyObject_GenericGetAttr)) {
+        return _PyObject_GenericGetAttrWithDict(obj, attr_name, NULL, 1);
+    }
+#endif
+    result = __Pyx_PyObject_GetAttrStr(obj, attr_name);
+    if (unlikely(!result)) {
+        __Pyx_PyObject_GetAttrStr_ClearAttributeError();
+    }
+    return result;
+}
+
 /* SetupReduce */
 static int __Pyx_setup_reduce_is_named(PyObject* meth, PyObject* name) {
   int ret;
@@ -5367,17 +5687,35 @@ static int __Pyx_setup_reduce_is_named(PyObject* meth, PyObject* name) {
 static int __Pyx_setup_reduce(PyObject* type_obj) {
     int ret = 0;
     PyObject *object_reduce = NULL;
+    PyObject *object_getstate = NULL;
     PyObject *object_reduce_ex = NULL;
     PyObject *reduce = NULL;
     PyObject *reduce_ex = NULL;
     PyObject *reduce_cython = NULL;
     PyObject *setstate = NULL;
     PyObject *setstate_cython = NULL;
+    PyObject *getstate = NULL;
+#if CYTHON_USE_PYTYPE_LOOKUP
+    getstate = _PyType_Lookup((PyTypeObject*)type_obj, __pyx_n_s_getstate);
+#else
+    getstate = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_getstate);
+    if (!getstate && PyErr_Occurred()) {
+        goto __PYX_BAD;
+    }
+#endif
+    if (getstate) {
 #if CYTHON_USE_PYTYPE_LOOKUP
-    if (_PyType_Lookup((PyTypeObject*)type_obj, __pyx_n_s_getstate)) goto __PYX_GOOD;
+        object_getstate = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_getstate);
 #else
-    if (PyObject_HasAttr(type_obj, __pyx_n_s_getstate)) goto __PYX_GOOD;
+        object_getstate = __Pyx_PyObject_GetAttrStrNoError((PyObject*)&PyBaseObject_Type, __pyx_n_s_getstate);
+        if (!object_getstate && PyErr_Occurred()) {
+            goto __PYX_BAD;
+        }
 #endif
+        if (object_getstate != getstate) {
+            goto __PYX_GOOD;
+        }
+    }
 #if CYTHON_USE_PYTYPE_LOOKUP
     object_reduce_ex = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD;
 #else
@@ -5392,15 +5730,23 @@ static int __Pyx_setup_reduce(PyObject* type_obj) {
 #endif
         reduce = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce); if (unlikely(!reduce)) goto __PYX_BAD;
         if (reduce == object_reduce || __Pyx_setup_reduce_is_named(reduce, __pyx_n_s_reduce_cython)) {
-            reduce_cython = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce_cython); if (unlikely(!reduce_cython)) goto __PYX_BAD;
-            ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce, reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD;
-            ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD;
+            reduce_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_reduce_cython);
+            if (likely(reduce_cython)) {
+                ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce, reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD;
+                ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD;
+            } else if (reduce == object_reduce || PyErr_Occurred()) {
+                goto __PYX_BAD;
+            }
             setstate = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_setstate);
             if (!setstate) PyErr_Clear();
             if (!setstate || __Pyx_setup_reduce_is_named(setstate, __pyx_n_s_setstate_cython)) {
-                setstate_cython = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_setstate_cython); if (unlikely(!setstate_cython)) goto __PYX_BAD;
-                ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate, setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD;
-                ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD;
+                setstate_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate_cython);
+                if (likely(setstate_cython)) {
+                    ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate, setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD;
+                    ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD;
+                } else if (!setstate || PyErr_Occurred()) {
+                    goto __PYX_BAD;
+                }
             }
             PyType_Modified((PyTypeObject*)type_obj);
         }
@@ -5414,6 +5760,8 @@ static int __Pyx_setup_reduce(PyObject* type_obj) {
 #if !CYTHON_USE_PYTYPE_LOOKUP
     Py_XDECREF(object_reduce);
     Py_XDECREF(object_reduce_ex);
+    Py_XDECREF(object_getstate);
+    Py_XDECREF(getstate);
 #endif
     Py_XDECREF(reduce);
     Py_XDECREF(reduce_ex);
@@ -5451,7 +5799,7 @@ static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UIN
 
 /* CLineInTraceback */
 #ifndef CYTHON_CLINE_IN_TRACEBACK
-static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line) {
+static int __Pyx_CLineForTraceback(CYTHON_UNUSED PyThreadState *tstate, int c_line) {
     PyObject *use_cline;
     PyObject *ptype, *pvalue, *ptraceback;
 #if CYTHON_COMPILING_IN_CPYTHON
@@ -5481,7 +5829,7 @@ static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line) {
     }
     if (!use_cline) {
         c_line = 0;
-        PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False);
+        (void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False);
     }
     else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) {
         c_line = 0;
@@ -5555,7 +5903,7 @@ static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) {
     if (__pyx_code_cache.count == __pyx_code_cache.max_count) {
         int new_max = __pyx_code_cache.max_count + 64;
         entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Realloc(
-            __pyx_code_cache.entries, (size_t)new_max*sizeof(__Pyx_CodeObjectCacheEntry));
+            __pyx_code_cache.entries, ((size_t)new_max) * sizeof(__Pyx_CodeObjectCacheEntry));
         if (unlikely(!entries)) {
             return;
         }
@@ -5575,33 +5923,40 @@ static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) {
 #include "compile.h"
 #include "frameobject.h"
 #include "traceback.h"
+#if PY_VERSION_HEX >= 0x030b00a6
+  #ifndef Py_BUILD_CORE
+    #define Py_BUILD_CORE 1
+  #endif
+  #include "internal/pycore_frame.h"
+#endif
 static PyCodeObject* __Pyx_CreateCodeObjectForTraceback(
             const char *funcname, int c_line,
             int py_line, const char *filename) {
-    PyCodeObject *py_code = 0;
-    PyObject *py_srcfile = 0;
-    PyObject *py_funcname = 0;
+    PyCodeObject *py_code = NULL;
+    PyObject *py_funcname = NULL;
     #if PY_MAJOR_VERSION < 3
+    PyObject *py_srcfile = NULL;
     py_srcfile = PyString_FromString(filename);
-    #else
-    py_srcfile = PyUnicode_FromString(filename);
-    #endif
     if (!py_srcfile) goto bad;
+    #endif
     if (c_line) {
         #if PY_MAJOR_VERSION < 3
         py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line);
+        if (!py_funcname) goto bad;
         #else
         py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line);
+        if (!py_funcname) goto bad;
+        funcname = PyUnicode_AsUTF8(py_funcname);
+        if (!funcname) goto bad;
         #endif
     }
     else {
         #if PY_MAJOR_VERSION < 3
         py_funcname = PyString_FromString(funcname);
-        #else
-        py_funcname = PyUnicode_FromString(funcname);
+        if (!py_funcname) goto bad;
         #endif
     }
-    if (!py_funcname) goto bad;
+    #if PY_MAJOR_VERSION < 3
     py_code = __Pyx_PyCode_New(
         0,
         0,
@@ -5620,11 +5975,16 @@ static PyCodeObject* __Pyx_CreateCodeObjectForTraceback(
         __pyx_empty_bytes  /*PyObject *lnotab*/
     );
     Py_DECREF(py_srcfile);
-    Py_DECREF(py_funcname);
+    #else
+    py_code = PyCode_NewEmpty(filename, funcname, py_line);
+    #endif
+    Py_XDECREF(py_funcname);  // XDECREF since it's only set on Py3 if cline
     return py_code;
 bad:
-    Py_XDECREF(py_srcfile);
     Py_XDECREF(py_funcname);
+    #if PY_MAJOR_VERSION < 3
+    Py_XDECREF(py_srcfile);
+    #endif
     return NULL;
 }
 static void __Pyx_AddTraceback(const char *funcname, int c_line,
@@ -5632,14 +5992,24 @@ static void __Pyx_AddTraceback(const char *funcname, int c_line,
     PyCodeObject *py_code = 0;
     PyFrameObject *py_frame = 0;
     PyThreadState *tstate = __Pyx_PyThreadState_Current;
+    PyObject *ptype, *pvalue, *ptraceback;
     if (c_line) {
         c_line = __Pyx_CLineForTraceback(tstate, c_line);
     }
     py_code = __pyx_find_code_object(c_line ? -c_line : py_line);
     if (!py_code) {
+        __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback);
         py_code = __Pyx_CreateCodeObjectForTraceback(
             funcname, c_line, py_line, filename);
-        if (!py_code) goto bad;
+        if (!py_code) {
+            /* If the code object creation fails, then we should clear the
+               fetched exception references and propagate the new exception */
+            Py_XDECREF(ptype);
+            Py_XDECREF(pvalue);
+            Py_XDECREF(ptraceback);
+            goto bad;
+        }
+        __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback);
         __pyx_insert_code_object(c_line ? -c_line : py_line, py_code);
     }
     py_frame = PyFrame_New(
@@ -5678,40 +6048,16 @@ static void __Pyx_AddTraceback(const char *funcname, int c_line,
         return (target_type) value;\
     }
 
-/* CIntToPy */
-static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value) {
-    const int neg_one = (int) ((int) 0 - (int) 1), const_zero = (int) 0;
-    const int is_unsigned = neg_one > const_zero;
-    if (is_unsigned) {
-        if (sizeof(int) < sizeof(long)) {
-            return PyInt_FromLong((long) value);
-        } else if (sizeof(int) <= sizeof(unsigned long)) {
-            return PyLong_FromUnsignedLong((unsigned long) value);
-#ifdef HAVE_LONG_LONG
-        } else if (sizeof(int) <= sizeof(unsigned PY_LONG_LONG)) {
-            return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value);
-#endif
-        }
-    } else {
-        if (sizeof(int) <= sizeof(long)) {
-            return PyInt_FromLong((long) value);
-#ifdef HAVE_LONG_LONG
-        } else if (sizeof(int) <= sizeof(PY_LONG_LONG)) {
-            return PyLong_FromLongLong((PY_LONG_LONG) value);
-#endif
-        }
-    }
-    {
-        int one = 1; int little = (int)*(unsigned char *)&one;
-        unsigned char *bytes = (unsigned char *)&value;
-        return _PyLong_FromByteArray(bytes, sizeof(int),
-                                     little, !is_unsigned);
-    }
-}
-
 /* CIntFromPy */
 static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *x) {
-    const int neg_one = (int) ((int) 0 - (int) 1), const_zero = (int) 0;
+#ifdef __Pyx_HAS_GCC_DIAGNOSTIC
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wconversion"
+#endif
+    const int neg_one = (int) -1, const_zero = (int) 0;
+#ifdef __Pyx_HAS_GCC_DIAGNOSTIC
+#pragma GCC diagnostic pop
+#endif
     const int is_unsigned = neg_one > const_zero;
 #if PY_MAJOR_VERSION < 3
     if (likely(PyInt_Check(x))) {
@@ -5898,9 +6244,54 @@ static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *x) {
     return (int) -1;
 }
 
+/* CIntToPy */
+static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value) {
+#ifdef __Pyx_HAS_GCC_DIAGNOSTIC
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wconversion"
+#endif
+    const int neg_one = (int) -1, const_zero = (int) 0;
+#ifdef __Pyx_HAS_GCC_DIAGNOSTIC
+#pragma GCC diagnostic pop
+#endif
+    const int is_unsigned = neg_one > const_zero;
+    if (is_unsigned) {
+        if (sizeof(int) < sizeof(long)) {
+            return PyInt_FromLong((long) value);
+        } else if (sizeof(int) <= sizeof(unsigned long)) {
+            return PyLong_FromUnsignedLong((unsigned long) value);
+#ifdef HAVE_LONG_LONG
+        } else if (sizeof(int) <= sizeof(unsigned PY_LONG_LONG)) {
+            return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value);
+#endif
+        }
+    } else {
+        if (sizeof(int) <= sizeof(long)) {
+            return PyInt_FromLong((long) value);
+#ifdef HAVE_LONG_LONG
+        } else if (sizeof(int) <= sizeof(PY_LONG_LONG)) {
+            return PyLong_FromLongLong((PY_LONG_LONG) value);
+#endif
+        }
+    }
+    {
+        int one = 1; int little = (int)*(unsigned char *)&one;
+        unsigned char *bytes = (unsigned char *)&value;
+        return _PyLong_FromByteArray(bytes, sizeof(int),
+                                     little, !is_unsigned);
+    }
+}
+
 /* CIntToPy */
 static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value) {
-    const long neg_one = (long) ((long) 0 - (long) 1), const_zero = (long) 0;
+#ifdef __Pyx_HAS_GCC_DIAGNOSTIC
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wconversion"
+#endif
+    const long neg_one = (long) -1, const_zero = (long) 0;
+#ifdef __Pyx_HAS_GCC_DIAGNOSTIC
+#pragma GCC diagnostic pop
+#endif
     const int is_unsigned = neg_one > const_zero;
     if (is_unsigned) {
         if (sizeof(long) < sizeof(long)) {
@@ -5931,7 +6322,14 @@ static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value) {
 
 /* CIntFromPy */
 static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *x) {
-    const long neg_one = (long) ((long) 0 - (long) 1), const_zero = (long) 0;
+#ifdef __Pyx_HAS_GCC_DIAGNOSTIC
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wconversion"
+#endif
+    const long neg_one = (long) -1, const_zero = (long) 0;
+#ifdef __Pyx_HAS_GCC_DIAGNOSTIC
+#pragma GCC diagnostic pop
+#endif
     const int is_unsigned = neg_one > const_zero;
 #if PY_MAJOR_VERSION < 3
     if (likely(PyInt_Check(x))) {
@@ -6220,11 +6618,33 @@ static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches2(PyObject *err, PyObj
 
 /* CheckBinaryVersion */
 static int __Pyx_check_binary_version(void) {
-    char ctversion[4], rtversion[4];
-    PyOS_snprintf(ctversion, 4, "%d.%d", PY_MAJOR_VERSION, PY_MINOR_VERSION);
-    PyOS_snprintf(rtversion, 4, "%s", Py_GetVersion());
-    if (ctversion[0] != rtversion[0] || ctversion[2] != rtversion[2]) {
+    char ctversion[5];
+    int same=1, i, found_dot;
+    const char* rt_from_call = Py_GetVersion();
+    PyOS_snprintf(ctversion, 5, "%d.%d", PY_MAJOR_VERSION, PY_MINOR_VERSION);
+    found_dot = 0;
+    for (i = 0; i < 4; i++) {
+        if (!ctversion[i]) {
+            same = (rt_from_call[i] < '0' || rt_from_call[i] > '9');
+            break;
+        }
+        if (rt_from_call[i] != ctversion[i]) {
+            same = 0;
+            break;
+        }
+    }
+    if (!same) {
+        char rtversion[5] = {'\0'};
         char message[200];
+        for (i=0; i<4; ++i) {
+            if (rt_from_call[i] == '.') {
+                if (found_dot) break;
+                found_dot = 1;
+            } else if (rt_from_call[i] < '0' || rt_from_call[i] > '9') {
+                break;
+            }
+            rtversion[i] = rt_from_call[i];
+        }
         PyOS_snprintf(message, sizeof(message),
                       "compiletime version %s of module '%.100s' "
                       "does not match runtime version %s",
@@ -6482,6 +6902,23 @@ static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) {
   Py_DECREF(x);
   return ival;
 }
+static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) {
+  if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) {
+    return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o);
+#if PY_MAJOR_VERSION < 3
+  } else if (likely(PyInt_CheckExact(o))) {
+    return PyInt_AS_LONG(o);
+#endif
+  } else {
+    Py_ssize_t ival;
+    PyObject *x;
+    x = PyNumber_Index(o);
+    if (!x) return -1;
+    ival = PyInt_AsLong(x);
+    Py_DECREF(x);
+    return ival;
+  }
+}
 static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) {
   return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False);
 }

From b45474201907ca0c11d273b1483bd965a7d3a373 Mon Sep 17 00:00:00 2001
From: Hakan Carlsson <hakan@builtrobotics.com>
Date: Mon, 6 Mar 2023 19:49:50 +0100
Subject: [PATCH 2/2] Update demo script

---
 demos/demo.py |   3 ++-
 fig/demo.png  | Bin 41934 -> 44085 bytes
 2 files changed, 2 insertions(+), 1 deletion(-)

diff --git a/demos/demo.py b/demos/demo.py
index 30342a2..bf356fe 100644
--- a/demos/demo.py
+++ b/demos/demo.py
@@ -78,13 +78,14 @@ def plot_path(q0, q1):
 
 
 def plot_table(cols):
-    rows = ((len(qs)) / cols)
+    rows = int((len(qs)) / cols)
     for i,(q0, q1) in enumerate(qs):
         plt.subplot(rows, cols, i+1)
         plot_path(q0, q1)
         dist = reeds_shepp.path_length(q0, q1, rho)
         print(reeds_shepp.path_type(q0, q1, rho))
         plt.title('length: {:.2f}'.format(dist))
+    plt.tight_layout()
     plt.savefig('fig/demo.png')
     plt.show()
 
diff --git a/fig/demo.png b/fig/demo.png
index babd704e436779ca3d203c9e02ae3647aeeacb96..0232f800cde1503f7ebd1151f1b3b9762e0d9761 100644
GIT binary patch
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