/* Generated by Cython 0.29.23 */

/* BEGIN: Cython Metadata
{
    "distutils": {
        "depends": [],
        "language": "c++",
        "name": "CMap2D",
        "sources": [
            "CMap2D.pyx"
        ]
    },
    "module_name": "CMap2D"
}
END: Cython Metadata */

#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_23"
#define CYTHON_HEX_VERSION 0x001D17F0
#define CYTHON_FUTURE_DIVISION 0
#include <stddef.h>
#ifndef offsetof
  #define offsetof(type, member) ( (size_t) & ((type*)0) -> member )
#endif
#if !defined(WIN32) && !defined(MS_WINDOWS)
  #ifndef __stdcall
    #define __stdcall
  #endif
  #ifndef __cdecl
    #define __cdecl
  #endif
  #ifndef __fastcall
    #define __fastcall
  #endif
#endif
#ifndef DL_IMPORT
  #define DL_IMPORT(t) t
#endif
#ifndef DL_EXPORT
  #define DL_EXPORT(t) t
#endif
#define __PYX_COMMA ,
#ifndef HAVE_LONG_LONG
  #if PY_VERSION_HEX >= 0x02070000
    #define HAVE_LONG_LONG
  #endif
#endif
#ifndef PY_LONG_LONG
  #define PY_LONG_LONG LONG_LONG
#endif
#ifndef Py_HUGE_VAL
  #define Py_HUGE_VAL HUGE_VAL
#endif
#ifdef PYPY_VERSION
  #define CYTHON_COMPILING_IN_PYPY 1
  #define CYTHON_COMPILING_IN_PYSTON 0
  #define CYTHON_COMPILING_IN_CPYTHON 0
  #undef CYTHON_USE_TYPE_SLOTS
  #define CYTHON_USE_TYPE_SLOTS 0
  #undef CYTHON_USE_PYTYPE_LOOKUP
  #define CYTHON_USE_PYTYPE_LOOKUP 0
  #if PY_VERSION_HEX < 0x03050000
    #undef CYTHON_USE_ASYNC_SLOTS
    #define CYTHON_USE_ASYNC_SLOTS 0
  #elif !defined(CYTHON_USE_ASYNC_SLOTS)
    #define CYTHON_USE_ASYNC_SLOTS 1
  #endif
  #undef CYTHON_USE_PYLIST_INTERNALS
  #define CYTHON_USE_PYLIST_INTERNALS 0
  #undef CYTHON_USE_UNICODE_INTERNALS
  #define CYTHON_USE_UNICODE_INTERNALS 0
  #undef CYTHON_USE_UNICODE_WRITER
  #define CYTHON_USE_UNICODE_WRITER 0
  #undef CYTHON_USE_PYLONG_INTERNALS
  #define CYTHON_USE_PYLONG_INTERNALS 0
  #undef CYTHON_AVOID_BORROWED_REFS
  #define CYTHON_AVOID_BORROWED_REFS 1
  #undef CYTHON_ASSUME_SAFE_MACROS
  #define CYTHON_ASSUME_SAFE_MACROS 0
  #undef CYTHON_UNPACK_METHODS
  #define CYTHON_UNPACK_METHODS 0
  #undef CYTHON_FAST_THREAD_STATE
  #define CYTHON_FAST_THREAD_STATE 0
  #undef CYTHON_FAST_PYCALL
  #define CYTHON_FAST_PYCALL 0
  #undef CYTHON_PEP489_MULTI_PHASE_INIT
  #define CYTHON_PEP489_MULTI_PHASE_INIT 0
  #undef CYTHON_USE_TP_FINALIZE
  #define CYTHON_USE_TP_FINALIZE 0
  #undef CYTHON_USE_DICT_VERSIONS
  #define CYTHON_USE_DICT_VERSIONS 0
  #undef CYTHON_USE_EXC_INFO_STACK
  #define CYTHON_USE_EXC_INFO_STACK 0
#elif defined(PYSTON_VERSION)
  #define CYTHON_COMPILING_IN_PYPY 0
  #define CYTHON_COMPILING_IN_PYSTON 1
  #define CYTHON_COMPILING_IN_CPYTHON 0
  #ifndef CYTHON_USE_TYPE_SLOTS
    #define CYTHON_USE_TYPE_SLOTS 1
  #endif
  #undef CYTHON_USE_PYTYPE_LOOKUP
  #define CYTHON_USE_PYTYPE_LOOKUP 0
  #undef CYTHON_USE_ASYNC_SLOTS
  #define CYTHON_USE_ASYNC_SLOTS 0
  #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
  #undef CYTHON_PEP489_MULTI_PHASE_INIT
  #define CYTHON_PEP489_MULTI_PHASE_INIT 0
  #undef CYTHON_USE_TP_FINALIZE
  #define CYTHON_USE_TP_FINALIZE 0
  #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
  #ifndef CYTHON_USE_TYPE_SLOTS
    #define CYTHON_USE_TYPE_SLOTS 1
  #endif
  #if PY_VERSION_HEX < 0x02070000
    #undef CYTHON_USE_PYTYPE_LOOKUP
    #define CYTHON_USE_PYTYPE_LOOKUP 0
  #elif !defined(CYTHON_USE_PYTYPE_LOOKUP)
    #define CYTHON_USE_PYTYPE_LOOKUP 1
  #endif
  #if PY_MAJOR_VERSION < 3
    #undef CYTHON_USE_ASYNC_SLOTS
    #define CYTHON_USE_ASYNC_SLOTS 0
  #elif !defined(CYTHON_USE_ASYNC_SLOTS)
    #define CYTHON_USE_ASYNC_SLOTS 1
  #endif
  #if PY_VERSION_HEX < 0x02070000
    #undef CYTHON_USE_PYLONG_INTERNALS
    #define CYTHON_USE_PYLONG_INTERNALS 0
  #elif !defined(CYTHON_USE_PYLONG_INTERNALS)
    #define CYTHON_USE_PYLONG_INTERNALS 1
  #endif
  #ifndef CYTHON_USE_PYLIST_INTERNALS
    #define CYTHON_USE_PYLIST_INTERNALS 1
  #endif
  #ifndef CYTHON_USE_UNICODE_INTERNALS
    #define CYTHON_USE_UNICODE_INTERNALS 1
  #endif
  #if PY_VERSION_HEX < 0x030300F0
    #undef CYTHON_USE_UNICODE_WRITER
    #define CYTHON_USE_UNICODE_WRITER 0
  #elif !defined(CYTHON_USE_UNICODE_WRITER)
    #define CYTHON_USE_UNICODE_WRITER 1
  #endif
  #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
  #ifndef CYTHON_FAST_THREAD_STATE
    #define CYTHON_FAST_THREAD_STATE 1
  #endif
  #ifndef CYTHON_FAST_PYCALL
    #define CYTHON_FAST_PYCALL 1
  #endif
  #ifndef CYTHON_PEP489_MULTI_PHASE_INIT
    #define CYTHON_PEP489_MULTI_PHASE_INIT (PY_VERSION_HEX >= 0x03050000)
  #endif
  #ifndef CYTHON_USE_TP_FINALIZE
    #define CYTHON_USE_TP_FINALIZE (PY_VERSION_HEX >= 0x030400a1)
  #endif
  #ifndef CYTHON_USE_DICT_VERSIONS
    #define CYTHON_USE_DICT_VERSIONS (PY_VERSION_HEX >= 0x030600B1)
  #endif
  #ifndef CYTHON_USE_EXC_INFO_STACK
    #define CYTHON_USE_EXC_INFO_STACK (PY_VERSION_HEX >= 0x030700A3)
  #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"
  #undef SHIFT
  #undef BASE
  #undef MASK
  #ifdef SIZEOF_VOID_P
    enum { __pyx_check_sizeof_voidp = 1 / (int)(SIZEOF_VOID_P == sizeof(void*)) };
  #endif
#endif
#ifndef __has_attribute
  #define __has_attribute(x) 0
#endif
#ifndef __has_cpp_attribute
  #define __has_cpp_attribute(x) 0
#endif
#ifndef CYTHON_RESTRICT
  #if defined(__GNUC__)
    #define CYTHON_RESTRICT __restrict__
  #elif defined(_MSC_VER) && _MSC_VER >= 1400
    #define CYTHON_RESTRICT __restrict
  #elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L
    #define CYTHON_RESTRICT restrict
  #else
    #define CYTHON_RESTRICT
  #endif
#endif
#ifndef CYTHON_UNUSED
# if defined(__GNUC__)
#   if !(defined(__cplusplus)) || (__GNUC__ > 3 || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4))
#     define CYTHON_UNUSED __attribute__ ((__unused__))
#   else
#     define CYTHON_UNUSED
#   endif
# elif defined(__ICC) || (defined(__INTEL_COMPILER) && !defined(_MSC_VER))
#   define CYTHON_UNUSED __attribute__ ((__unused__))
# else
#   define CYTHON_UNUSED
# endif
#endif
#ifndef CYTHON_MAYBE_UNUSED_VAR
#  if defined(__cplusplus)
     template<class T> void CYTHON_MAYBE_UNUSED_VAR( const T& ) { }
#  else
#    define CYTHON_MAYBE_UNUSED_VAR(x) (void)(x)
#  endif
#endif
#ifndef CYTHON_NCP_UNUSED
# if CYTHON_COMPILING_IN_CPYTHON
#  define CYTHON_NCP_UNUSED
# else
#  define CYTHON_NCP_UNUSED CYTHON_UNUSED
# endif
#endif
#define __Pyx_void_to_None(void_result) ((void)(void_result), Py_INCREF(Py_None), Py_None)
#ifdef _MSC_VER
    #ifndef _MSC_STDINT_H_
        #if _MSC_VER < 1300
           typedef unsigned char     uint8_t;
           typedef unsigned int      uint32_t;
        #else
           typedef unsigned __int8   uint8_t;
           typedef unsigned __int32  uint32_t;
        #endif
    #endif
#else
   #include <stdint.h>
#endif
#ifndef CYTHON_FALLTHROUGH
  #if defined(__cplusplus) && __cplusplus >= 201103L
    #if __has_cpp_attribute(fallthrough)
      #define CYTHON_FALLTHROUGH [[fallthrough]]
    #elif __has_cpp_attribute(clang::fallthrough)
      #define CYTHON_FALLTHROUGH [[clang::fallthrough]]
    #elif __has_cpp_attribute(gnu::fallthrough)
      #define CYTHON_FALLTHROUGH [[gnu::fallthrough]]
    #endif
  #endif
  #ifndef CYTHON_FALLTHROUGH
    #if __has_attribute(fallthrough)
      #define CYTHON_FALLTHROUGH __attribute__((fallthrough))
    #else
      #define CYTHON_FALLTHROUGH
    #endif
  #endif
  #if defined(__clang__ ) && defined(__apple_build_version__)
    #if __apple_build_version__ < 7000000
      #undef  CYTHON_FALLTHROUGH
      #define CYTHON_FALLTHROUGH
    #endif
  #endif
#endif

#ifndef __cplusplus
  #error "Cython files generated with the C++ option must be compiled with a C++ compiler."
#endif
#ifndef CYTHON_INLINE
  #if defined(__clang__)
    #define CYTHON_INLINE __inline__ __attribute__ ((__unused__))
  #else
    #define CYTHON_INLINE inline
  #endif
#endif
template<typename T>
void __Pyx_call_destructor(T& x) {
    x.~T();
}
template<typename T>
class __Pyx_FakeReference {
  public:
    __Pyx_FakeReference() : ptr(NULL) { }
    __Pyx_FakeReference(const T& ref) : ptr(const_cast<T*>(&ref)) { }
    T *operator->() { return ptr; }
    T *operator&() { return ptr; }
    operator T&() { return *ptr; }
    template<typename U> bool operator ==(U other) { return *ptr == other; }
    template<typename U> bool operator !=(U other) { return *ptr != other; }
  private:
    T *ptr;
};

#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX < 0x02070600 && !defined(Py_OptimizeFlag)
  #define Py_OptimizeFlag 0
#endif
#define __PYX_BUILD_PY_SSIZE_T "n"
#define CYTHON_FORMAT_SSIZE_T "z"
#if PY_MAJOR_VERSION < 3
  #define __Pyx_BUILTIN_MODULE_NAME "__builtin__"
  #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)
  #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)
#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)
#endif
  #define __Pyx_DefaultClassType PyType_Type
#endif
#ifndef Py_TPFLAGS_CHECKTYPES
  #define Py_TPFLAGS_CHECKTYPES 0
#endif
#ifndef Py_TPFLAGS_HAVE_INDEX
  #define Py_TPFLAGS_HAVE_INDEX 0
#endif
#ifndef Py_TPFLAGS_HAVE_NEWBUFFER
  #define Py_TPFLAGS_HAVE_NEWBUFFER 0
#endif
#ifndef Py_TPFLAGS_HAVE_FINALIZE
  #define Py_TPFLAGS_HAVE_FINALIZE 0
#endif
#ifndef METH_STACKLESS
  #define METH_STACKLESS 0
#endif
#if PY_VERSION_HEX <= 0x030700A3 || !defined(METH_FASTCALL)
  #ifndef METH_FASTCALL
     #define METH_FASTCALL 0x80
  #endif
  typedef PyObject *(*__Pyx_PyCFunctionFast) (PyObject *self, PyObject *const *args, Py_ssize_t nargs);
  typedef PyObject *(*__Pyx_PyCFunctionFastWithKeywords) (PyObject *self, PyObject *const *args,
                                                          Py_ssize_t nargs, PyObject *kwnames);
#else
  #define __Pyx_PyCFunctionFast _PyCFunctionFast
  #define __Pyx_PyCFunctionFastWithKeywords _PyCFunctionFastWithKeywords
#endif
#if CYTHON_FAST_PYCCALL
#define __Pyx_PyFastCFunction_Check(func)\
    ((PyCFunction_Check(func) && (METH_FASTCALL == (PyCFunction_GET_FLAGS(func) & ~(METH_CLASS | METH_STATIC | METH_COEXIST | METH_KEYWORDS | METH_STACKLESS)))))
#else
#define __Pyx_PyFastCFunction_Check(func) 0
#endif
#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Malloc)
  #define PyObject_Malloc(s)   PyMem_Malloc(s)
  #define PyObject_Free(p)     PyMem_Free(p)
  #define PyObject_Realloc(p)  PyMem_Realloc(p)
#endif
#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030400A1
  #define PyMem_RawMalloc(n)           PyMem_Malloc(n)
  #define PyMem_RawRealloc(p, n)       PyMem_Realloc(p, n)
  #define PyMem_RawFree(p)             PyMem_Free(p)
#endif
#if CYTHON_COMPILING_IN_PYSTON
  #define __Pyx_PyCode_HasFreeVars(co)  PyCode_HasFreeVars(co)
  #define __Pyx_PyFrame_SetLineNumber(frame, lineno) PyFrame_SetLineNumber(frame, lineno)
#else
  #define __Pyx_PyCode_HasFreeVars(co)  (PyCode_GetNumFree(co) > 0)
  #define __Pyx_PyFrame_SetLineNumber(frame, lineno)  (frame)->f_lineno = (lineno)
#endif
#if !CYTHON_FAST_THREAD_STATE || PY_VERSION_HEX < 0x02070000
  #define __Pyx_PyThreadState_Current PyThreadState_GET()
#elif PY_VERSION_HEX >= 0x03060000
  #define __Pyx_PyThreadState_Current _PyThreadState_UncheckedGet()
#elif PY_VERSION_HEX >= 0x03000000
  #define __Pyx_PyThreadState_Current PyThreadState_GET()
#else
  #define __Pyx_PyThreadState_Current _PyThreadState_Current
#endif
#if PY_VERSION_HEX < 0x030700A2 && !defined(PyThread_tss_create) && !defined(Py_tss_NEEDS_INIT)
#include "pythread.h"
#define Py_tss_NEEDS_INIT 0
typedef int Py_tss_t;
static CYTHON_INLINE int PyThread_tss_create(Py_tss_t *key) {
  *key = PyThread_create_key();
  return 0;
}
static CYTHON_INLINE Py_tss_t * PyThread_tss_alloc(void) {
  Py_tss_t *key = (Py_tss_t *)PyObject_Malloc(sizeof(Py_tss_t));
  *key = Py_tss_NEEDS_INIT;
  return key;
}
static CYTHON_INLINE void PyThread_tss_free(Py_tss_t *key) {
  PyObject_Free(key);
}
static CYTHON_INLINE int PyThread_tss_is_created(Py_tss_t *key) {
  return *key != Py_tss_NEEDS_INIT;
}
static CYTHON_INLINE void PyThread_tss_delete(Py_tss_t *key) {
  PyThread_delete_key(*key);
  *key = Py_tss_NEEDS_INIT;
}
static CYTHON_INLINE int PyThread_tss_set(Py_tss_t *key, void *value) {
  return PyThread_set_key_value(*key, value);
}
static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) {
  return PyThread_get_key_value(*key);
}
#endif
#if CYTHON_COMPILING_IN_CPYTHON || defined(_PyDict_NewPresized)
#define __Pyx_PyDict_NewPresized(n)  ((n <= 8) ? PyDict_New() : _PyDict_NewPresized(n))
#else
#define __Pyx_PyDict_NewPresized(n)  PyDict_New()
#endif
#if PY_MAJOR_VERSION >= 3 || CYTHON_FUTURE_DIVISION
  #define __Pyx_PyNumber_Divide(x,y)         PyNumber_TrueDivide(x,y)
  #define __Pyx_PyNumber_InPlaceDivide(x,y)  PyNumber_InPlaceTrueDivide(x,y)
#else
  #define __Pyx_PyNumber_Divide(x,y)         PyNumber_Divide(x,y)
  #define __Pyx_PyNumber_InPlaceDivide(x,y)  PyNumber_InPlaceDivide(x,y)
#endif
#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 && CYTHON_USE_UNICODE_INTERNALS
#define __Pyx_PyDict_GetItemStr(dict, name)  _PyDict_GetItem_KnownHash(dict, name, ((PyASCIIObject *) name)->hash)
#else
#define __Pyx_PyDict_GetItemStr(dict, name)  PyDict_GetItem(dict, name)
#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)))
  #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)
  #define __Pyx_PyUnicode_KIND(u)         PyUnicode_KIND(u)
  #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)
  #if defined(PyUnicode_IS_READY) && defined(PyUnicode_GET_SIZE)
  #define __Pyx_PyUnicode_IS_TRUE(u)      (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : PyUnicode_GET_SIZE(u)))
  #else
  #define __Pyx_PyUnicode_IS_TRUE(u)      (0 != PyUnicode_GET_LENGTH(u))
  #endif
#else
  #define CYTHON_PEP393_ENABLED 0
  #define PyUnicode_1BYTE_KIND  1
  #define PyUnicode_2BYTE_KIND  2
  #define PyUnicode_4BYTE_KIND  4
  #define __Pyx_PyUnicode_READY(op)       (0)
  #define __Pyx_PyUnicode_GET_LENGTH(u)   PyUnicode_GET_SIZE(u)
  #define __Pyx_PyUnicode_READ_CHAR(u, i) ((Py_UCS4)(PyUnicode_AS_UNICODE(u)[i]))
  #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u)   ((sizeof(Py_UNICODE) == 2) ? 65535 : 1114111)
  #define __Pyx_PyUnicode_KIND(u)         (sizeof(Py_UNICODE))
  #define __Pyx_PyUnicode_DATA(u)         ((void*)PyUnicode_AS_UNICODE(u))
  #define __Pyx_PyUnicode_READ(k, d, i)   ((void)(k), (Py_UCS4)(((Py_UNICODE*)d)[i]))
  #define __Pyx_PyUnicode_WRITE(k, d, i, ch)  (((void)(k)), ((Py_UNICODE*)d)[i] = ch)
  #define __Pyx_PyUnicode_IS_TRUE(u)      (0 != PyUnicode_GET_SIZE(u))
#endif
#if CYTHON_COMPILING_IN_PYPY
  #define __Pyx_PyUnicode_Concat(a, b)      PyNumber_Add(a, b)
  #define __Pyx_PyUnicode_ConcatSafe(a, b)  PyNumber_Add(a, b)
#else
  #define __Pyx_PyUnicode_Concat(a, b)      PyUnicode_Concat(a, b)
  #define __Pyx_PyUnicode_ConcatSafe(a, b)  ((unlikely((a) == Py_None) || unlikely((b) == Py_None)) ?\
      PyNumber_Add(a, b) : __Pyx_PyUnicode_Concat(a, b))
#endif
#if CYTHON_COMPILING_IN_PYPY && !defined(PyUnicode_Contains)
  #define PyUnicode_Contains(u, s)  PySequence_Contains(u, s)
#endif
#if CYTHON_COMPILING_IN_PYPY && !defined(PyByteArray_Check)
  #define PyByteArray_Check(obj)  PyObject_TypeCheck(obj, &PyByteArray_Type)
#endif
#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Format)
  #define PyObject_Format(obj, fmt)  PyObject_CallMethod(obj, "__format__", "O", fmt)
#endif
#define __Pyx_PyString_FormatSafe(a, b)   ((unlikely((a) == Py_None || (PyString_Check(b) && !PyString_CheckExact(b)))) ? PyNumber_Remainder(a, b) : __Pyx_PyString_Format(a, b))
#define __Pyx_PyUnicode_FormatSafe(a, b)  ((unlikely((a) == Py_None || (PyUnicode_Check(b) && !PyUnicode_CheckExact(b)))) ? PyNumber_Remainder(a, b) : PyUnicode_Format(a, b))
#if PY_MAJOR_VERSION >= 3
  #define __Pyx_PyString_Format(a, b)  PyUnicode_Format(a, b)
#else
  #define __Pyx_PyString_Format(a, b)  PyString_Format(a, b)
#endif
#if PY_MAJOR_VERSION < 3 && !defined(PyObject_ASCII)
  #define PyObject_ASCII(o)            PyObject_Repr(o)
#endif
#if PY_MAJOR_VERSION >= 3
  #define PyBaseString_Type            PyUnicode_Type
  #define PyStringObject               PyUnicodeObject
  #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)
#else
  #define __Pyx_PyBaseString_Check(obj) (PyString_Check(obj) || PyUnicode_Check(obj))
  #define __Pyx_PyBaseString_CheckExact(obj) (PyString_CheckExact(obj) || PyUnicode_CheckExact(obj))
#endif
#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
  #define __Pyx_PySequence_SIZE(seq)  PySequence_Size(seq)
#endif
#if PY_MAJOR_VERSION >= 3
  #define PyIntObject                  PyLongObject
  #define PyInt_Type                   PyLong_Type
  #define PyInt_Check(op)              PyLong_Check(op)
  #define PyInt_CheckExact(op)         PyLong_CheckExact(op)
  #define PyInt_FromString             PyLong_FromString
  #define PyInt_FromUnicode            PyLong_FromUnicode
  #define PyInt_FromLong               PyLong_FromLong
  #define PyInt_FromSize_t             PyLong_FromSize_t
  #define PyInt_FromSsize_t            PyLong_FromSsize_t
  #define PyInt_AsLong                 PyLong_AsLong
  #define PyInt_AS_LONG                PyLong_AS_LONG
  #define PyInt_AsSsize_t              PyLong_AsSsize_t
  #define PyInt_AsUnsignedLongMask     PyLong_AsUnsignedLongMask
  #define PyInt_AsUnsignedLongLongMask PyLong_AsUnsignedLongLongMask
  #define PyNumber_Int                 PyNumber_Long
#endif
#if PY_MAJOR_VERSION >= 3
  #define PyBoolObject                 PyLongObject
#endif
#if PY_MAJOR_VERSION >= 3 && CYTHON_COMPILING_IN_PYPY
  #ifndef PyUnicode_InternFromString
    #define PyUnicode_InternFromString(s) PyUnicode_FromString(s)
  #endif
#endif
#if PY_VERSION_HEX < 0x030200A4
  typedef long Py_hash_t;
  #define __Pyx_PyInt_FromHash_t PyInt_FromLong
  #define __Pyx_PyInt_AsHash_t   PyInt_AsLong
#else
  #define __Pyx_PyInt_FromHash_t PyInt_FromSsize_t
  #define __Pyx_PyInt_AsHash_t   PyInt_AsSsize_t
#endif
#if PY_MAJOR_VERSION >= 3
  #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
#if CYTHON_USE_ASYNC_SLOTS
  #if PY_VERSION_HEX >= 0x030500B1
    #define __Pyx_PyAsyncMethodsStruct PyAsyncMethods
    #define __Pyx_PyType_AsAsync(obj) (Py_TYPE(obj)->tp_as_async)
  #else
    #define __Pyx_PyType_AsAsync(obj) ((__Pyx_PyAsyncMethodsStruct*) (Py_TYPE(obj)->tp_reserved))
  #endif
#else
  #define __Pyx_PyType_AsAsync(obj) NULL
#endif
#ifndef __Pyx_PyAsyncMethodsStruct
    typedef struct {
        unaryfunc am_await;
        unaryfunc am_aiter;
        unaryfunc am_anext;
    } __Pyx_PyAsyncMethodsStruct;
#endif

#if defined(WIN32) || defined(MS_WINDOWS)
  #define _USE_MATH_DEFINES
#endif
#include <math.h>
#ifdef NAN
#define __PYX_NAN() ((float) NAN)
#else
static CYTHON_INLINE float __PYX_NAN() {
  float value;
  memset(&value, 0xFF, sizeof(value));
  return value;
}
#endif
#if defined(__CYGWIN__) && defined(_LDBL_EQ_DBL)
#define __Pyx_truncl trunc
#else
#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_MARK_ERR_POS(f_index, lineno) goto Ln_error; }

#ifndef __PYX_EXTERN_C
  #ifdef __cplusplus
    #define __PYX_EXTERN_C extern "C"
  #else
    #define __PYX_EXTERN_C extern
  #endif
#endif

#define __PYX_HAVE__CMap2D
#define __PYX_HAVE_API__CMap2D
/* Early includes */
#include "ios"
#include "new"
#include "stdexcept"
#include "typeinfo"
#include <queue>
#include <utility>

    #if __cplusplus > 199711L
    #include <type_traits>

    namespace cython_std {
    template <typename T> typename std::remove_reference<T>::type&& move(T& t) noexcept { return std::move(t); }
    template <typename T> typename std::remove_reference<T>::type&& move(T&& t) noexcept { return std::move(t); }
    }

    #endif
    
#include <string.h>
#include <stdio.h>
#include "numpy/arrayobject.h"
#include "numpy/ufuncobject.h"

    /* NumPy API declarations from "numpy/__init__.pxd" */
    
#include <math.h>
#include "pythread.h"
#include <stdlib.h>
#include "pystate.h"
#ifdef _OPENMP
#include <omp.h>
#endif /* _OPENMP */

#if defined(PYREX_WITHOUT_ASSERTIONS) && !defined(CYTHON_WITHOUT_ASSERTIONS)
#define CYTHON_WITHOUT_ASSERTIONS
#endif

typedef struct {PyObject **p; const char *s; const Py_ssize_t n; const char* encoding;
                const char is_unicode; const char is_str; const char intern; } __Pyx_StringTabEntry;

#define __PYX_DEFAULT_STRING_ENCODING_IS_ASCII 0
#define __PYX_DEFAULT_STRING_ENCODING_IS_UTF8 0
#define __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT (PY_MAJOR_VERSION >= 3 && __PYX_DEFAULT_STRING_ENCODING_IS_UTF8)
#define __PYX_DEFAULT_STRING_ENCODING ""
#define __Pyx_PyObject_FromString __Pyx_PyBytes_FromString
#define __Pyx_PyObject_FromStringAndSize __Pyx_PyBytes_FromStringAndSize
#define __Pyx_uchar_cast(c) ((unsigned char)c)
#define __Pyx_long_cast(x) ((long)x)
#define __Pyx_fits_Py_ssize_t(v, type, is_signed)  (\
    (sizeof(type) < sizeof(Py_ssize_t))  ||\
    (sizeof(type) > sizeof(Py_ssize_t) &&\
          likely(v < (type)PY_SSIZE_T_MAX ||\
                 v == (type)PY_SSIZE_T_MAX)  &&\
          (!is_signed || likely(v > (type)PY_SSIZE_T_MIN ||\
                                v == (type)PY_SSIZE_T_MIN)))  ||\
    (sizeof(type) == sizeof(Py_ssize_t) &&\
          (is_signed || likely(v < (type)PY_SSIZE_T_MAX ||\
                               v == (type)PY_SSIZE_T_MAX)))  )
static CYTHON_INLINE int __Pyx_is_valid_index(Py_ssize_t i, Py_ssize_t limit) {
    return (size_t) i < (size_t) limit;
}
#if defined (__cplusplus) && __cplusplus >= 201103L
    #include <cstdlib>
    #define __Pyx_sst_abs(value) std::abs(value)
#elif SIZEOF_INT >= SIZEOF_SIZE_T
    #define __Pyx_sst_abs(value) abs(value)
#elif SIZEOF_LONG >= SIZEOF_SIZE_T
    #define __Pyx_sst_abs(value) labs(value)
#elif defined (_MSC_VER)
    #define __Pyx_sst_abs(value) ((Py_ssize_t)_abs64(value))
#elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L
    #define __Pyx_sst_abs(value) llabs(value)
#elif defined (__GNUC__)
    #define __Pyx_sst_abs(value) __builtin_llabs(value)
#else
    #define __Pyx_sst_abs(value) ((value<0) ? -value : value)
#endif
static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject*);
static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject*, Py_ssize_t* length);
#define __Pyx_PyByteArray_FromString(s) PyByteArray_FromStringAndSize((const char*)s, strlen((const char*)s))
#define __Pyx_PyByteArray_FromStringAndSize(s, l) PyByteArray_FromStringAndSize((const char*)s, l)
#define __Pyx_PyBytes_FromString        PyBytes_FromString
#define __Pyx_PyBytes_FromStringAndSize PyBytes_FromStringAndSize
static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char*);
#if PY_MAJOR_VERSION < 3
    #define __Pyx_PyStr_FromString        __Pyx_PyBytes_FromString
    #define __Pyx_PyStr_FromStringAndSize __Pyx_PyBytes_FromStringAndSize
#else
    #define __Pyx_PyStr_FromString        __Pyx_PyUnicode_FromString
    #define __Pyx_PyStr_FromStringAndSize __Pyx_PyUnicode_FromStringAndSize
#endif
#define __Pyx_PyBytes_AsWritableString(s)     ((char*) PyBytes_AS_STRING(s))
#define __Pyx_PyBytes_AsWritableSString(s)    ((signed char*) PyBytes_AS_STRING(s))
#define __Pyx_PyBytes_AsWritableUString(s)    ((unsigned char*) PyBytes_AS_STRING(s))
#define __Pyx_PyBytes_AsString(s)     ((const char*) PyBytes_AS_STRING(s))
#define __Pyx_PyBytes_AsSString(s)    ((const signed char*) PyBytes_AS_STRING(s))
#define __Pyx_PyBytes_AsUString(s)    ((const unsigned char*) PyBytes_AS_STRING(s))
#define __Pyx_PyObject_AsWritableString(s)    ((char*) __Pyx_PyObject_AsString(s))
#define __Pyx_PyObject_AsWritableSString(s)    ((signed char*) __Pyx_PyObject_AsString(s))
#define __Pyx_PyObject_AsWritableUString(s)    ((unsigned char*) __Pyx_PyObject_AsString(s))
#define __Pyx_PyObject_AsSString(s)    ((const signed char*) __Pyx_PyObject_AsString(s))
#define __Pyx_PyObject_AsUString(s)    ((const unsigned char*) __Pyx_PyObject_AsString(s))
#define __Pyx_PyObject_FromCString(s)  __Pyx_PyObject_FromString((const char*)s)
#define __Pyx_PyBytes_FromCString(s)   __Pyx_PyBytes_FromString((const char*)s)
#define __Pyx_PyByteArray_FromCString(s)   __Pyx_PyByteArray_FromString((const char*)s)
#define __Pyx_PyStr_FromCString(s)     __Pyx_PyStr_FromString((const char*)s)
#define __Pyx_PyUnicode_FromCString(s) __Pyx_PyUnicode_FromString((const char*)s)
static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const Py_UNICODE *u) {
    const Py_UNICODE *u_end = u;
    while (*u_end++) ;
    return (size_t)(u_end - u - 1);
}
#define __Pyx_PyUnicode_FromUnicode(u)       PyUnicode_FromUnicode(u, __Pyx_Py_UNICODE_strlen(u))
#define __Pyx_PyUnicode_FromUnicodeAndLength PyUnicode_FromUnicode
#define __Pyx_PyUnicode_AsUnicode            PyUnicode_AsUnicode
#define __Pyx_NewRef(obj) (Py_INCREF(obj), obj)
#define __Pyx_Owned_Py_None(b) __Pyx_NewRef(Py_None)
static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b);
static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject*);
static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject*);
static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x);
#define __Pyx_PySequence_Tuple(obj)\
    (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);
#if CYTHON_ASSUME_SAFE_MACROS
#define __pyx_PyFloat_AsDouble(x) (PyFloat_CheckExact(x) ? PyFloat_AS_DOUBLE(x) : PyFloat_AsDouble(x))
#else
#define __pyx_PyFloat_AsDouble(x) PyFloat_AsDouble(x)
#endif
#define __pyx_PyFloat_AsFloat(x) ((float) __pyx_PyFloat_AsDouble(x))
#if PY_MAJOR_VERSION >= 3
#define __Pyx_PyNumber_Int(x) (PyLong_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Long(x))
#else
#define __Pyx_PyNumber_Int(x) (PyInt_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Int(x))
#endif
#define __Pyx_PyNumber_Float(x) (PyFloat_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Float(x))
#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII
static int __Pyx_sys_getdefaultencoding_not_ascii;
static int __Pyx_init_sys_getdefaultencoding_params(void) {
    PyObject* sys;
    PyObject* default_encoding = NULL;
    PyObject* ascii_chars_u = NULL;
    PyObject* ascii_chars_b = NULL;
    const char* default_encoding_c;
    sys = PyImport_ImportModule("sys");
    if (!sys) goto bad;
    default_encoding = PyObject_CallMethod(sys, (char*) "getdefaultencoding", NULL);
    Py_DECREF(sys);
    if (!default_encoding) goto bad;
    default_encoding_c = PyBytes_AsString(default_encoding);
    if (!default_encoding_c) goto bad;
    if (strcmp(default_encoding_c, "ascii") == 0) {
        __Pyx_sys_getdefaultencoding_not_ascii = 0;
    } else {
        char ascii_chars[128];
        int c;
        for (c = 0; c < 128; c++) {
            ascii_chars[c] = c;
        }
        __Pyx_sys_getdefaultencoding_not_ascii = 1;
        ascii_chars_u = PyUnicode_DecodeASCII(ascii_chars, 128, NULL);
        if (!ascii_chars_u) goto bad;
        ascii_chars_b = PyUnicode_AsEncodedString(ascii_chars_u, default_encoding_c, NULL);
        if (!ascii_chars_b || !PyBytes_Check(ascii_chars_b) || memcmp(ascii_chars, PyBytes_AS_STRING(ascii_chars_b), 128) != 0) {
            PyErr_Format(
                PyExc_ValueError,
                "This module compiled with c_string_encoding=ascii, but default encoding '%.200s' is not a superset of ascii.",
                default_encoding_c);
            goto bad;
        }
        Py_DECREF(ascii_chars_u);
        Py_DECREF(ascii_chars_b);
    }
    Py_DECREF(default_encoding);
    return 0;
bad:
    Py_XDECREF(default_encoding);
    Py_XDECREF(ascii_chars_u);
    Py_XDECREF(ascii_chars_b);
    return -1;
}
#endif
#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT && PY_MAJOR_VERSION >= 3
#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_DecodeUTF8(c_str, size, NULL)
#else
#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_Decode(c_str, size, __PYX_DEFAULT_STRING_ENCODING, NULL)
#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT
static char* __PYX_DEFAULT_STRING_ENCODING;
static int __Pyx_init_sys_getdefaultencoding_params(void) {
    PyObject* sys;
    PyObject* default_encoding = NULL;
    char* default_encoding_c;
    sys = PyImport_ImportModule("sys");
    if (!sys) goto bad;
    default_encoding = PyObject_CallMethod(sys, (char*) (const char*) "getdefaultencoding", NULL);
    Py_DECREF(sys);
    if (!default_encoding) goto bad;
    default_encoding_c = PyBytes_AsString(default_encoding);
    if (!default_encoding_c) goto bad;
    __PYX_DEFAULT_STRING_ENCODING = (char*) malloc(strlen(default_encoding_c) + 1);
    if (!__PYX_DEFAULT_STRING_ENCODING) goto bad;
    strcpy(__PYX_DEFAULT_STRING_ENCODING, default_encoding_c);
    Py_DECREF(default_encoding);
    return 0;
bad:
    Py_XDECREF(default_encoding);
    return -1;
}
#endif
#endif


/* Test for GCC > 2.95 */
#if defined(__GNUC__)     && (__GNUC__ > 2 || (__GNUC__ == 2 && (__GNUC_MINOR__ > 95)))
  #define likely(x)   __builtin_expect(!!(x), 1)
  #define unlikely(x) __builtin_expect(!!(x), 0)
#else /* !__GNUC__ or GCC < 2.95 */
  #define likely(x)   (x)
  #define unlikely(x) (x)
#endif /* __GNUC__ */
static CYTHON_INLINE void __Pyx_pretend_to_initialize(void* ptr) { (void)ptr; }

static PyObject *__pyx_m = NULL;
static PyObject *__pyx_d;
static PyObject *__pyx_b;
static PyObject *__pyx_cython_runtime = NULL;
static PyObject *__pyx_empty_tuple;
static PyObject *__pyx_empty_bytes;
static PyObject *__pyx_empty_unicode;
static int __pyx_lineno;
static int __pyx_clineno = 0;
static const char * __pyx_cfilenm= __FILE__;
static const char *__pyx_filename;

/* Header.proto */
#if !defined(CYTHON_CCOMPLEX)
  #if defined(__cplusplus)
    #define CYTHON_CCOMPLEX 1
  #elif defined(_Complex_I)
    #define CYTHON_CCOMPLEX 1
  #else
    #define CYTHON_CCOMPLEX 0
  #endif
#endif
#if CYTHON_CCOMPLEX
  #ifdef __cplusplus
    #include <complex>
  #else
    #include <complex.h>
  #endif
#endif
#if CYTHON_CCOMPLEX && !defined(__cplusplus) && defined(__sun__) && defined(__GNUC__)
  #undef _Complex_I
  #define _Complex_I 1.0fj
#endif


static const char *__pyx_f[] = {
  "CMap2D.pyx",
  "stringsource",
  "__init__.pxd",
  "type.pxd",
};
/* MemviewSliceStruct.proto */
struct __pyx_memoryview_obj;
typedef struct {
  struct __pyx_memoryview_obj *memview;
  char *data;
  Py_ssize_t shape[8];
  Py_ssize_t strides[8];
  Py_ssize_t suboffsets[8];
} __Pyx_memviewslice;
#define __Pyx_MemoryView_Len(m)  (m.shape[0])

/* Atomics.proto */
#include <pythread.h>
#ifndef CYTHON_ATOMICS
    #define CYTHON_ATOMICS 1
#endif
#define __pyx_atomic_int_type int
#if CYTHON_ATOMICS && __GNUC__ >= 4 && (__GNUC_MINOR__ > 1 ||\
                    (__GNUC_MINOR__ == 1 && __GNUC_PATCHLEVEL >= 2)) &&\
                    !defined(__i386__)
    #define __pyx_atomic_incr_aligned(value, lock) __sync_fetch_and_add(value, 1)
    #define __pyx_atomic_decr_aligned(value, lock) __sync_fetch_and_sub(value, 1)
    #ifdef __PYX_DEBUG_ATOMICS
        #warning "Using GNU atomics"
    #endif
#elif CYTHON_ATOMICS && defined(_MSC_VER) && 0
    #include <Windows.h>
    #undef __pyx_atomic_int_type
    #define __pyx_atomic_int_type LONG
    #define __pyx_atomic_incr_aligned(value, lock) InterlockedIncrement(value)
    #define __pyx_atomic_decr_aligned(value, lock) InterlockedDecrement(value)
    #ifdef __PYX_DEBUG_ATOMICS
        #pragma message ("Using MSVC atomics")
    #endif
#elif CYTHON_ATOMICS && (defined(__ICC) || defined(__INTEL_COMPILER)) && 0
    #define __pyx_atomic_incr_aligned(value, lock) _InterlockedIncrement(value)
    #define __pyx_atomic_decr_aligned(value, lock) _InterlockedDecrement(value)
    #ifdef __PYX_DEBUG_ATOMICS
        #warning "Using Intel atomics"
    #endif
#else
    #undef CYTHON_ATOMICS
    #define CYTHON_ATOMICS 0
    #ifdef __PYX_DEBUG_ATOMICS
        #warning "Not using atomics"
    #endif
#endif
typedef volatile __pyx_atomic_int_type __pyx_atomic_int;
#if CYTHON_ATOMICS
    #define __pyx_add_acquisition_count(memview)\
             __pyx_atomic_incr_aligned(__pyx_get_slice_count_pointer(memview), memview->lock)
    #define __pyx_sub_acquisition_count(memview)\
            __pyx_atomic_decr_aligned(__pyx_get_slice_count_pointer(memview), memview->lock)
#else
    #define __pyx_add_acquisition_count(memview)\
            __pyx_add_acquisition_count_locked(__pyx_get_slice_count_pointer(memview), memview->lock)
    #define __pyx_sub_acquisition_count(memview)\
            __pyx_sub_acquisition_count_locked(__pyx_get_slice_count_pointer(memview), memview->lock)
#endif

/* BufferFormatStructs.proto */
#define IS_UNSIGNED(type) (((type) -1) > 0)
struct __Pyx_StructField_;
#define __PYX_BUF_FLAGS_PACKED_STRUCT (1 << 0)
typedef struct {
  const char* name;
  struct __Pyx_StructField_* fields;
  size_t size;
  size_t arraysize[8];
  int ndim;
  char typegroup;
  char is_unsigned;
  int flags;
} __Pyx_TypeInfo;
typedef struct __Pyx_StructField_ {
  __Pyx_TypeInfo* type;
  const char* name;
  size_t offset;
} __Pyx_StructField;
typedef struct {
  __Pyx_StructField* field;
  size_t parent_offset;
} __Pyx_BufFmt_StackElem;
typedef struct {
  __Pyx_StructField root;
  __Pyx_BufFmt_StackElem* head;
  size_t fmt_offset;
  size_t new_count, enc_count;
  size_t struct_alignment;
  int is_complex;
  char enc_type;
  char new_packmode;
  char enc_packmode;
  char is_valid_array;
} __Pyx_BufFmt_Context;

/* ForceInitThreads.proto */
#ifndef __PYX_FORCE_INIT_THREADS
  #define __PYX_FORCE_INIT_THREADS 0
#endif

/* NoFastGil.proto */
#define __Pyx_PyGILState_Ensure PyGILState_Ensure
#define __Pyx_PyGILState_Release PyGILState_Release
#define __Pyx_FastGIL_Remember()
#define __Pyx_FastGIL_Forget()
#define __Pyx_FastGilFuncInit()


/* "../../../../cbc3env/lib/python3.6/site-packages/numpy/__init__.pxd":689
 * # in Cython to enable them only on the right systems.
 * 
 * ctypedef npy_int8       int8_t             # <<<<<<<<<<<<<<
 * ctypedef npy_int16      int16_t
 * ctypedef npy_int32      int32_t
 */
typedef npy_int8 __pyx_t_5numpy_int8_t;

/* "../../../../cbc3env/lib/python3.6/site-packages/numpy/__init__.pxd":690
 * 
 * ctypedef npy_int8       int8_t
 * ctypedef npy_int16      int16_t             # <<<<<<<<<<<<<<
 * ctypedef npy_int32      int32_t
 * ctypedef npy_int64      int64_t
 */
typedef npy_int16 __pyx_t_5numpy_int16_t;

/* "../../../../cbc3env/lib/python3.6/site-packages/numpy/__init__.pxd":691
 * ctypedef npy_int8       int8_t
 * ctypedef npy_int16      int16_t
 * ctypedef npy_int32      int32_t             # <<<<<<<<<<<<<<
 * ctypedef npy_int64      int64_t
 * #ctypedef npy_int96      int96_t
 */
typedef npy_int32 __pyx_t_5numpy_int32_t;

/* "../../../../cbc3env/lib/python3.6/site-packages/numpy/__init__.pxd":692
 * ctypedef npy_int16      int16_t
 * ctypedef npy_int32      int32_t
 * ctypedef npy_int64      int64_t             # <<<<<<<<<<<<<<
 * #ctypedef npy_int96      int96_t
 * #ctypedef npy_int128     int128_t
 */
typedef npy_int64 __pyx_t_5numpy_int64_t;

/* "../../../../cbc3env/lib/python3.6/site-packages/numpy/__init__.pxd":696
 * #ctypedef npy_int128     int128_t
 * 
 * ctypedef npy_uint8      uint8_t             # <<<<<<<<<<<<<<
 * ctypedef npy_uint16     uint16_t
 * ctypedef npy_uint32     uint32_t
 */
typedef npy_uint8 __pyx_t_5numpy_uint8_t;

/* "../../../../cbc3env/lib/python3.6/site-packages/numpy/__init__.pxd":697
 * 
 * ctypedef npy_uint8      uint8_t
 * ctypedef npy_uint16     uint16_t             # <<<<<<<<<<<<<<
 * ctypedef npy_uint32     uint32_t
 * ctypedef npy_uint64     uint64_t
 */
typedef npy_uint16 __pyx_t_5numpy_uint16_t;

/* "../../../../cbc3env/lib/python3.6/site-packages/numpy/__init__.pxd":698
 * ctypedef npy_uint8      uint8_t
 * ctypedef npy_uint16     uint16_t
 * ctypedef npy_uint32     uint32_t             # <<<<<<<<<<<<<<
 * ctypedef npy_uint64     uint64_t
 * #ctypedef npy_uint96     uint96_t
 */
typedef npy_uint32 __pyx_t_5numpy_uint32_t;

/* "../../../../cbc3env/lib/python3.6/site-packages/numpy/__init__.pxd":699
 * ctypedef npy_uint16     uint16_t
 * ctypedef npy_uint32     uint32_t
 * ctypedef npy_uint64     uint64_t             # <<<<<<<<<<<<<<
 * #ctypedef npy_uint96     uint96_t
 * #ctypedef npy_uint128    uint128_t
 */
typedef npy_uint64 __pyx_t_5numpy_uint64_t;

/* "../../../../cbc3env/lib/python3.6/site-packages/numpy/__init__.pxd":703
 * #ctypedef npy_uint128    uint128_t
 * 
 * ctypedef npy_float32    float32_t             # <<<<<<<<<<<<<<
 * ctypedef npy_float64    float64_t
 * #ctypedef npy_float80    float80_t
 */
typedef npy_float32 __pyx_t_5numpy_float32_t;

/* "../../../../cbc3env/lib/python3.6/site-packages/numpy/__init__.pxd":704
 * 
 * ctypedef npy_float32    float32_t
 * ctypedef npy_float64    float64_t             # <<<<<<<<<<<<<<
 * #ctypedef npy_float80    float80_t
 * #ctypedef npy_float128   float128_t
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typedef npy_float64 __pyx_t_5numpy_float64_t;

/* "../../../../cbc3env/lib/python3.6/site-packages/numpy/__init__.pxd":713
 * # The int types are mapped a bit surprising --
 * # numpy.int corresponds to 'l' and numpy.long to 'q'
 * ctypedef npy_long       int_t             # <<<<<<<<<<<<<<
 * ctypedef npy_longlong   long_t
 * ctypedef npy_longlong   longlong_t
 */
typedef npy_long __pyx_t_5numpy_int_t;

/* "../../../../cbc3env/lib/python3.6/site-packages/numpy/__init__.pxd":714
 * # numpy.int corresponds to 'l' and numpy.long to 'q'
 * ctypedef npy_long       int_t
 * ctypedef npy_longlong   long_t             # <<<<<<<<<<<<<<
 * ctypedef npy_longlong   longlong_t
 * 
 */
typedef npy_longlong __pyx_t_5numpy_long_t;

/* "../../../../cbc3env/lib/python3.6/site-packages/numpy/__init__.pxd":715
 * ctypedef npy_long       int_t
 * ctypedef npy_longlong   long_t
 * ctypedef npy_longlong   longlong_t             # <<<<<<<<<<<<<<
 * 
 * ctypedef npy_ulong      uint_t
 */
typedef npy_longlong __pyx_t_5numpy_longlong_t;

/* "../../../../cbc3env/lib/python3.6/site-packages/numpy/__init__.pxd":717
 * ctypedef npy_longlong   longlong_t
 * 
 * ctypedef npy_ulong      uint_t             # <<<<<<<<<<<<<<
 * ctypedef npy_ulonglong  ulong_t
 * ctypedef npy_ulonglong  ulonglong_t
 */
typedef npy_ulong __pyx_t_5numpy_uint_t;

/* "../../../../cbc3env/lib/python3.6/site-packages/numpy/__init__.pxd":718
 * 
 * ctypedef npy_ulong      uint_t
 * ctypedef npy_ulonglong  ulong_t             # <<<<<<<<<<<<<<
 * ctypedef npy_ulonglong  ulonglong_t
 * 
 */
typedef npy_ulonglong __pyx_t_5numpy_ulong_t;

/* "../../../../cbc3env/lib/python3.6/site-packages/numpy/__init__.pxd":719
 * ctypedef npy_ulong      uint_t
 * ctypedef npy_ulonglong  ulong_t
 * ctypedef npy_ulonglong  ulonglong_t             # <<<<<<<<<<<<<<
 * 
 * ctypedef npy_intp       intp_t
 */
typedef npy_ulonglong __pyx_t_5numpy_ulonglong_t;

/* "../../../../cbc3env/lib/python3.6/site-packages/numpy/__init__.pxd":721
 * ctypedef npy_ulonglong  ulonglong_t
 * 
 * ctypedef npy_intp       intp_t             # <<<<<<<<<<<<<<
 * ctypedef npy_uintp      uintp_t
 * 
 */
typedef npy_intp __pyx_t_5numpy_intp_t;

/* "../../../../cbc3env/lib/python3.6/site-packages/numpy/__init__.pxd":722
 * 
 * ctypedef npy_intp       intp_t
 * ctypedef npy_uintp      uintp_t             # <<<<<<<<<<<<<<
 * 
 * ctypedef npy_double     float_t
 */
typedef npy_uintp __pyx_t_5numpy_uintp_t;

/* "../../../../cbc3env/lib/python3.6/site-packages/numpy/__init__.pxd":724
 * ctypedef npy_uintp      uintp_t
 * 
 * ctypedef npy_double     float_t             # <<<<<<<<<<<<<<
 * ctypedef npy_double     double_t
 * ctypedef npy_longdouble longdouble_t
 */
typedef npy_double __pyx_t_5numpy_float_t;

/* "../../../../cbc3env/lib/python3.6/site-packages/numpy/__init__.pxd":725
 * 
 * ctypedef npy_double     float_t
 * ctypedef npy_double     double_t             # <<<<<<<<<<<<<<
 * ctypedef npy_longdouble longdouble_t
 * 
 */
typedef npy_double __pyx_t_5numpy_double_t;

/* "../../../../cbc3env/lib/python3.6/site-packages/numpy/__init__.pxd":726
 * ctypedef npy_double     float_t
 * ctypedef npy_double     double_t
 * ctypedef npy_longdouble longdouble_t             # <<<<<<<<<<<<<<
 * 
 * ctypedef npy_cfloat      cfloat_t
 */
typedef npy_longdouble __pyx_t_5numpy_longdouble_t;
/* Declarations.proto */
#if CYTHON_CCOMPLEX
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  #else
    typedef float _Complex __pyx_t_float_complex;
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static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float, float);

/* Declarations.proto */
#if CYTHON_CCOMPLEX
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static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double, double);


/*--- Type declarations ---*/
struct __pyx_obj_6CMap2D_CMap2D;
struct __pyx_obj_6CMap2D_CSimAgent;
struct __pyx_obj_6CMap2D___pyx_scope_struct__gridshow;
struct __pyx_obj_6CMap2D___pyx_scope_struct_1_genexpr;
struct __pyx_array_obj;
struct __pyx_MemviewEnum_obj;
struct __pyx_memoryview_obj;
struct __pyx_memoryviewslice_obj;

/* "../../../../cbc3env/lib/python3.6/site-packages/numpy/__init__.pxd":728
 * ctypedef npy_longdouble longdouble_t
 * 
 * ctypedef npy_cfloat      cfloat_t             # <<<<<<<<<<<<<<
 * ctypedef npy_cdouble     cdouble_t
 * ctypedef npy_clongdouble clongdouble_t
 */
typedef npy_cfloat __pyx_t_5numpy_cfloat_t;

/* "../../../../cbc3env/lib/python3.6/site-packages/numpy/__init__.pxd":729
 * 
 * ctypedef npy_cfloat      cfloat_t
 * ctypedef npy_cdouble     cdouble_t             # <<<<<<<<<<<<<<
 * ctypedef npy_clongdouble clongdouble_t
 * 
 */
typedef npy_cdouble __pyx_t_5numpy_cdouble_t;

/* "../../../../cbc3env/lib/python3.6/site-packages/numpy/__init__.pxd":730
 * ctypedef npy_cfloat      cfloat_t
 * ctypedef npy_cdouble     cdouble_t
 * ctypedef npy_clongdouble clongdouble_t             # <<<<<<<<<<<<<<
 * 
 * ctypedef npy_cdouble     complex_t
 */
typedef npy_clongdouble __pyx_t_5numpy_clongdouble_t;

/* "../../../../cbc3env/lib/python3.6/site-packages/numpy/__init__.pxd":732
 * ctypedef npy_clongdouble clongdouble_t
 * 
 * ctypedef npy_cdouble     complex_t             # <<<<<<<<<<<<<<
 * 
 * cdef inline object PyArray_MultiIterNew1(a):
 */
typedef npy_cdouble __pyx_t_5numpy_complex_t;
struct __pyx_opt_args_6CMap2D_6CMap2D_cxy_to_ij;
struct __pyx_opt_args_6CMap2D_6CMap2D_as_coarse_map2d;
struct __pyx_opt_args_6CMap2D_6CMap2D_cdijkstra;
struct __pyx_opt_args_6CMap2D_cpath_from_dijkstra_field;

/* "CMap2D.pyx":360
 *     @cython.nonecheck(False)
 *     @cython.cdivision(True)
 *     cdef cxy_to_ij(self, np.float32_t[:,::1] xy, np.float32_t[:,::1] ij, bool clip_if_outside=True):             # <<<<<<<<<<<<<<
 *         if xy.shape[1] != 2:
 *             raise IndexError("xy should be of shape (n, 2)")
 */
struct __pyx_opt_args_6CMap2D_6CMap2D_cxy_to_ij {
  int __pyx_n;
  bool clip_if_outside;
};

/* "CMap2D.pyx":568
 *         return min_distances
 * 
 *     cpdef as_coarse_map2d(self, n=1):             # <<<<<<<<<<<<<<
 *         # recursion to provide a convenient way to coarsen x times
 *         if n > 1:
 */
struct __pyx_opt_args_6CMap2D_6CMap2D_as_coarse_map2d {
  int __pyx_n;
  PyObject *n;
};

/* "CMap2D.pyx":800
 *     @cython.nonecheck(False)
 *     @cython.cdivision(True)
 *     cdef cdijkstra(self, np.int64_t[:] goal_ij,             # <<<<<<<<<<<<<<
 *             np.float32_t[:, ::1] tentative,
 *             np.uint8_t[:, ::1] mask,
 */
struct __pyx_opt_args_6CMap2D_6CMap2D_cdijkstra {
  int __pyx_n;
  PyObject *connectedness;
};

/* "CMap2D.pyx":1861
 *             connectedness=connectedness)
 * 
 * cdef cpath_from_dijkstra_field(np.float32_t[:,::1] costmap, np.int64_t[::1] first, connectedness=8):             # <<<<<<<<<<<<<<
 *     # 8 connected
 *     # Neighbor offsets
 */
struct __pyx_opt_args_6CMap2D_cpath_from_dijkstra_field {
  int __pyx_n;
  PyObject *connectedness;
};

/* "CMap2D.pyx":34
 *     return plt.imshow(*(arg.T if i == 0 else arg for i, arg in enumerate(args)), **kwargs)
 * 
 * cdef class CMap2D:             # <<<<<<<<<<<<<<
 *     cdef public np.float32_t[:,::1] _occupancy  # (0 to 1) 1 means 100% certain occupied # [:, ::1] means 2d c-contiguous
 *     cdef int occupancy_shape0
 */
struct __pyx_obj_6CMap2D_CMap2D {
  PyObject_HEAD
  struct __pyx_vtabstruct_6CMap2D_CMap2D *__pyx_vtab;
  __Pyx_memviewslice _occupancy;
  int occupancy_shape0;
  int occupancy_shape1;
  float resolution_;
  float _thresh_occupied;
  float thresh_free;
  float HUGE_;
  __Pyx_memviewslice origin;
};


/* "CMap2D.pyx":1495
 *         return extent
 * 
 * cdef class CSimAgent:             # <<<<<<<<<<<<<<
 *     cdef public np.float32_t[:] pose_2d_in_map_frame
 *     cdef public np.float32_t[:] vel_in_map_frame
 */
struct __pyx_obj_6CMap2D_CSimAgent {
  PyObject_HEAD
  struct __pyx_vtabstruct_6CMap2D_CSimAgent *__pyx_vtab;
  __Pyx_memviewslice pose_2d_in_map_frame;
  __Pyx_memviewslice vel_in_map_frame;
  PyObject *type;
  __Pyx_memviewslice state;
  float leg_radius;
};


/* "CMap2D.pyx":22
 * 
 * 
 * def gridshow(*args, **kwargs):             # <<<<<<<<<<<<<<
 *     """ utility function for showing 2d grids in matplotlib,
 *     wrapper around pyplot.imshow
 */
struct __pyx_obj_6CMap2D___pyx_scope_struct__gridshow {
  PyObject_HEAD
  PyObject *__pyx_v_args;
};


/* "CMap2D.pyx":32
 *     if not 'cmap' in kwargs:
 *         kwargs['cmap'] = plt.cm.Greys
 *     return plt.imshow(*(arg.T if i == 0 else arg for i, arg in enumerate(args)), **kwargs)             # <<<<<<<<<<<<<<
 * 
 * cdef class CMap2D:
 */
struct __pyx_obj_6CMap2D___pyx_scope_struct_1_genexpr {
  PyObject_HEAD
  struct __pyx_obj_6CMap2D___pyx_scope_struct__gridshow *__pyx_outer_scope;
  PyObject *__pyx_v_arg;
  PyObject *__pyx_v_i;
  PyObject *__pyx_t_0;
  PyObject *__pyx_t_1;
  Py_ssize_t __pyx_t_2;
};


/* "View.MemoryView":105
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 *     cdef:
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struct __pyx_array_obj {
  PyObject_HEAD
  struct __pyx_vtabstruct_array *__pyx_vtab;
  char *data;
  Py_ssize_t len;
  char *format;
  int ndim;
  Py_ssize_t *_shape;
  Py_ssize_t *_strides;
  Py_ssize_t itemsize;
  PyObject *mode;
  PyObject *_format;
  void (*callback_free_data)(void *);
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  int dtype_is_object;
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/* "View.MemoryView":279
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struct __pyx_MemviewEnum_obj {
  PyObject_HEAD
  PyObject *name;
};


/* "View.MemoryView":330
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 * cdef class memoryview(object):             # <<<<<<<<<<<<<<
 * 
 *     cdef object obj
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struct __pyx_memoryview_obj {
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  struct __pyx_vtabstruct_memoryview *__pyx_vtab;
  PyObject *obj;
  PyObject *_size;
  PyObject *_array_interface;
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  int flags;
  int dtype_is_object;
  __Pyx_TypeInfo *typeinfo;
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/* "View.MemoryView":965
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 * cdef class _memoryviewslice(memoryview):             # <<<<<<<<<<<<<<
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 * 
 */
struct __pyx_memoryviewslice_obj {
  struct __pyx_memoryview_obj __pyx_base;
  __Pyx_memviewslice from_slice;
  PyObject *from_object;
  PyObject *(*to_object_func)(char *);
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/* "CMap2D.pyx":34
 *     return plt.imshow(*(arg.T if i == 0 else arg for i, arg in enumerate(args)), **kwargs)
 * 
 * cdef class CMap2D:             # <<<<<<<<<<<<<<
 *     cdef public np.float32_t[:,::1] _occupancy  # (0 to 1) 1 means 100% certain occupied # [:, ::1] means 2d c-contiguous
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struct __pyx_vtabstruct_6CMap2D_CMap2D {
  PyObject *(*cas_sdf)(struct __pyx_obj_6CMap2D_CMap2D *, __Pyx_memviewslice, __Pyx_memviewslice);
  PyObject *(*cas_tsdf)(struct __pyx_obj_6CMap2D_CMap2D *, __pyx_t_5numpy_float32_t, __Pyx_memviewslice, __Pyx_memviewslice);
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  PyObject *(*cij_to_xy)(struct __pyx_obj_6CMap2D_CMap2D *, __Pyx_memviewslice);
  PyObject *(*cis_inside_ij)(struct __pyx_obj_6CMap2D_CMap2D *, __Pyx_memviewslice, __Pyx_memviewslice);
  PyObject *(*as_coarse_map2d)(struct __pyx_obj_6CMap2D_CMap2D *, int __pyx_skip_dispatch, struct __pyx_opt_args_6CMap2D_6CMap2D_as_coarse_map2d *__pyx_optional_args);
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  PyObject *(*crender_agents_in_lidar)(struct __pyx_obj_6CMap2D_CMap2D *, PyArrayObject *, PyArrayObject *, PyObject *, PyArrayObject *);
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  PyObject *(*craymarch)(struct __pyx_obj_6CMap2D_CMap2D *, __Pyx_memviewslice, __Pyx_memviewslice, __Pyx_memviewslice);
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static struct __pyx_vtabstruct_6CMap2D_CMap2D *__pyx_vtabptr_6CMap2D_CMap2D;


/* "CMap2D.pyx":1495
 *         return extent
 * 
 * cdef class CSimAgent:             # <<<<<<<<<<<<<<
 *     cdef public np.float32_t[:] pose_2d_in_map_frame
 *     cdef public np.float32_t[:] vel_in_map_frame
 */

struct __pyx_vtabstruct_6CMap2D_CSimAgent {
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static struct __pyx_vtabstruct_6CMap2D_CSimAgent *__pyx_vtabptr_6CMap2D_CSimAgent;


/* "View.MemoryView":105
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struct __pyx_vtabstruct_array {
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static struct __pyx_vtabstruct_array *__pyx_vtabptr_array;


/* "View.MemoryView":330
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 *     cdef object obj
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struct __pyx_vtabstruct_memoryview {
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  PyObject *(*is_slice)(struct __pyx_memoryview_obj *, PyObject *);
  PyObject *(*setitem_slice_assignment)(struct __pyx_memoryview_obj *, PyObject *, PyObject *);
  PyObject *(*setitem_slice_assign_scalar)(struct __pyx_memoryview_obj *, struct __pyx_memoryview_obj *, PyObject *);
  PyObject *(*setitem_indexed)(struct __pyx_memoryview_obj *, PyObject *, PyObject *);
  PyObject *(*convert_item_to_object)(struct __pyx_memoryview_obj *, char *);
  PyObject *(*assign_item_from_object)(struct __pyx_memoryview_obj *, char *, PyObject *);
};
static struct __pyx_vtabstruct_memoryview *__pyx_vtabptr_memoryview;


/* "View.MemoryView":965
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 * 
 */

struct __pyx_vtabstruct__memoryviewslice {
  struct __pyx_vtabstruct_memoryview __pyx_base;
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static struct __pyx_vtabstruct__memoryviewslice *__pyx_vtabptr__memoryviewslice;

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  #define __Pyx_INCREF(r) Py_INCREF(r)
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  #define __Pyx_GOTREF(r)
  #define __Pyx_GIVEREF(r)
  #define __Pyx_XINCREF(r) Py_XINCREF(r)
  #define __Pyx_XDECREF(r) Py_XDECREF(r)
  #define __Pyx_XGOTREF(r)
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#define __Pyx_XDECREF_SET(r, v) do {\
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#define __Pyx_DECREF_SET(r, v) do {\
        PyObject *tmp = (PyObject *) r;\
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#define __Pyx_CLEAR(r)    do { PyObject* tmp = ((PyObject*)(r)); r = NULL; __Pyx_DECREF(tmp);} while(0)
#define __Pyx_XCLEAR(r)   do { if((r) != NULL) {PyObject* tmp = ((PyObject*)(r)); r = NULL; __Pyx_DECREF(tmp);}} while(0)

/* PyObjectGetAttrStr.proto */
#if CYTHON_USE_TYPE_SLOTS
static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name);
#else
#define __Pyx_PyObject_GetAttrStr(o,n) PyObject_GetAttr(o,n)
#endif

/* GetBuiltinName.proto */
static PyObject *__Pyx_GetBuiltinName(PyObject *name);

/* KeywordStringCheck.proto */
static int __Pyx_CheckKeywordStrings(PyObject *kwdict, const char* function_name, int kw_allowed);

/* None.proto */
static CYTHON_INLINE void __Pyx_RaiseClosureNameError(const char *varname);

/* PyIntBinop.proto */
#if !CYTHON_COMPILING_IN_PYPY
static PyObject* __Pyx_PyInt_AddObjC(PyObject *op1, PyObject *op2, long intval, int inplace, int zerodivision_check);
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#define __Pyx_PyInt_AddObjC(op1, op2, intval, inplace, zerodivision_check)\
    (inplace ? PyNumber_InPlaceAdd(op1, op2) : PyNumber_Add(op1, op2))
#endif

/* PyIntCompare.proto */
static CYTHON_INLINE PyObject* __Pyx_PyInt_EqObjC(PyObject *op1, PyObject *op2, long intval, long inplace);

/* Import.proto */
static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level);

/* ImportFrom.proto */
static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name);

/* PyDictContains.proto */
static CYTHON_INLINE int __Pyx_PyDict_ContainsTF(PyObject* item, PyObject* dict, int eq) {
    int result = PyDict_Contains(dict, item);
    return unlikely(result < 0) ? result : (result == (eq == Py_EQ));
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/* PyObjectCall.proto */
#if CYTHON_COMPILING_IN_CPYTHON
static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw);
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#define __Pyx_PyObject_Call(func, arg, kw) PyObject_Call(func, arg, kw)
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/* RaiseDoubleKeywords.proto */
static void __Pyx_RaiseDoubleKeywordsError(const char* func_name, PyObject* kw_name);

/* ParseKeywords.proto */
static int __Pyx_ParseOptionalKeywords(PyObject *kwds, PyObject **argnames[],\
    PyObject *kwds2, PyObject *values[], Py_ssize_t num_pos_args,\
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/* RaiseArgTupleInvalid.proto */
static void __Pyx_RaiseArgtupleInvalid(const char* func_name, int exact,
    Py_ssize_t num_min, Py_ssize_t num_max, Py_ssize_t num_found);

/* PyDictVersioning.proto */
#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS
#define __PYX_DICT_VERSION_INIT  ((PY_UINT64_T) -1)
#define __PYX_GET_DICT_VERSION(dict)  (((PyDictObject*)(dict))->ma_version_tag)
#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var)\
    (version_var) = __PYX_GET_DICT_VERSION(dict);\
    (cache_var) = (value);
#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) {\
    static PY_UINT64_T __pyx_dict_version = 0;\
    static PyObject *__pyx_dict_cached_value = NULL;\
    if (likely(__PYX_GET_DICT_VERSION(DICT) == __pyx_dict_version)) {\
        (VAR) = __pyx_dict_cached_value;\
    } else {\
        (VAR) = __pyx_dict_cached_value = (LOOKUP);\
        __pyx_dict_version = __PYX_GET_DICT_VERSION(DICT);\
    }\
}
static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj);
static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj);
static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version);
#else
#define __PYX_GET_DICT_VERSION(dict)  (0)
#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var)
#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP)  (VAR) = (LOOKUP);
#endif

/* GetModuleGlobalName.proto */
#if CYTHON_USE_DICT_VERSIONS
#define __Pyx_GetModuleGlobalName(var, name)  {\
    static PY_UINT64_T __pyx_dict_version = 0;\
    static PyObject *__pyx_dict_cached_value = NULL;\
    (var) = (likely(__pyx_dict_version == __PYX_GET_DICT_VERSION(__pyx_d))) ?\
        (likely(__pyx_dict_cached_value) ? __Pyx_NewRef(__pyx_dict_cached_value) : __Pyx_GetBuiltinName(name)) :\
        __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\
}
#define __Pyx_GetModuleGlobalNameUncached(var, name)  {\
    PY_UINT64_T __pyx_dict_version;\
    PyObject *__pyx_dict_cached_value;\
    (var) = __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\
}
static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value);
#else
#define __Pyx_GetModuleGlobalName(var, name)  (var) = __Pyx__GetModuleGlobalName(name)
#define __Pyx_GetModuleGlobalNameUncached(var, name)  (var) = __Pyx__GetModuleGlobalName(name)
static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name);
#endif

/* MemviewSliceInit.proto */
#define __Pyx_BUF_MAX_NDIMS %(BUF_MAX_NDIMS)d
#define __Pyx_MEMVIEW_DIRECT   1
#define __Pyx_MEMVIEW_PTR      2
#define __Pyx_MEMVIEW_FULL     4
#define __Pyx_MEMVIEW_CONTIG   8
#define __Pyx_MEMVIEW_STRIDED  16
#define __Pyx_MEMVIEW_FOLLOW   32
#define __Pyx_IS_C_CONTIG 1
#define __Pyx_IS_F_CONTIG 2
static int __Pyx_init_memviewslice(
                struct __pyx_memoryview_obj *memview,
                int ndim,
                __Pyx_memviewslice *memviewslice,
                int memview_is_new_reference);
static CYTHON_INLINE int __pyx_add_acquisition_count_locked(
    __pyx_atomic_int *acquisition_count, PyThread_type_lock lock);
static CYTHON_INLINE int __pyx_sub_acquisition_count_locked(
    __pyx_atomic_int *acquisition_count, PyThread_type_lock lock);
#define __pyx_get_slice_count_pointer(memview) (memview->acquisition_count_aligned_p)
#define __pyx_get_slice_count(memview) (*__pyx_get_slice_count_pointer(memview))
#define __PYX_INC_MEMVIEW(slice, have_gil) __Pyx_INC_MEMVIEW(slice, have_gil, __LINE__)
#define __PYX_XDEC_MEMVIEW(slice, have_gil) __Pyx_XDEC_MEMVIEW(slice, have_gil, __LINE__)
static CYTHON_INLINE void __Pyx_INC_MEMVIEW(__Pyx_memviewslice *, int, int);
static CYTHON_INLINE void __Pyx_XDEC_MEMVIEW(__Pyx_memviewslice *, int, int);

/* PyCFunctionFastCall.proto */
#if CYTHON_FAST_PYCCALL
static CYTHON_INLINE PyObject *__Pyx_PyCFunction_FastCall(PyObject *func, PyObject **args, Py_ssize_t nargs);
#else
#define __Pyx_PyCFunction_FastCall(func, args, nargs)  (assert(0), NULL)
#endif

/* PyFunctionFastCall.proto */
#if CYTHON_FAST_PYCALL
#define __Pyx_PyFunction_FastCall(func, args, nargs)\
    __Pyx_PyFunction_FastCallDict((func), (args), (nargs), NULL)
#if 1 || PY_VERSION_HEX < 0x030600B1
static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs);
#else
#define __Pyx_PyFunction_FastCallDict(func, args, nargs, kwargs) _PyFunction_FastCallDict(func, args, nargs, kwargs)
#endif
#define __Pyx_BUILD_ASSERT_EXPR(cond)\
    (sizeof(char [1 - 2*!(cond)]) - 1)
#ifndef Py_MEMBER_SIZE
#define Py_MEMBER_SIZE(type, member) sizeof(((type *)0)->member)
#endif
  static size_t __pyx_pyframe_localsplus_offset = 0;
  #include "frameobject.h"
  #define __Pxy_PyFrame_Initialize_Offsets()\
    ((void)__Pyx_BUILD_ASSERT_EXPR(sizeof(PyFrameObject) == offsetof(PyFrameObject, f_localsplus) + Py_MEMBER_SIZE(PyFrameObject, f_localsplus)),\
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/* PyObjectCall2Args.proto */
static CYTHON_UNUSED PyObject* __Pyx_PyObject_Call2Args(PyObject* function, PyObject* arg1, PyObject* arg2);

/* PyObjectCallMethO.proto */
#if CYTHON_COMPILING_IN_CPYTHON
static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg);
#endif

/* PyObjectCallOneArg.proto */
static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg);

/* PyObjectLookupSpecial.proto */
#if CYTHON_USE_PYTYPE_LOOKUP && CYTHON_USE_TYPE_SLOTS
static CYTHON_INLINE PyObject* __Pyx_PyObject_LookupSpecial(PyObject* obj, PyObject* attr_name) {
    PyObject *res;
    PyTypeObject *tp = Py_TYPE(obj);
#if PY_MAJOR_VERSION < 3
    if (unlikely(PyInstance_Check(obj)))
        return __Pyx_PyObject_GetAttrStr(obj, attr_name);
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    res = _PyType_Lookup(tp, attr_name);
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        descrgetfunc f = Py_TYPE(res)->tp_descr_get;
        if (!f) {
            Py_INCREF(res);
        } else {
            res = f(res, obj, (PyObject *)tp);
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    } else {
        PyErr_SetObject(PyExc_AttributeError, attr_name);
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    return res;
}
#else
#define __Pyx_PyObject_LookupSpecial(o,n) __Pyx_PyObject_GetAttrStr(o,n)
#endif

/* PyObjectCallNoArg.proto */
#if CYTHON_COMPILING_IN_CPYTHON
static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func);
#else
#define __Pyx_PyObject_CallNoArg(func) __Pyx_PyObject_Call(func, __pyx_empty_tuple, NULL)
#endif

/* GetTopmostException.proto */
#if CYTHON_USE_EXC_INFO_STACK
static _PyErr_StackItem * __Pyx_PyErr_GetTopmostException(PyThreadState *tstate);
#endif

/* PyThreadStateGet.proto */
#if CYTHON_FAST_THREAD_STATE
#define __Pyx_PyThreadState_declare  PyThreadState *__pyx_tstate;
#define __Pyx_PyThreadState_assign  __pyx_tstate = __Pyx_PyThreadState_Current;
#define __Pyx_PyErr_Occurred()  __pyx_tstate->curexc_type
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#define __Pyx_PyThreadState_declare
#define __Pyx_PyThreadState_assign
#define __Pyx_PyErr_Occurred()  PyErr_Occurred()
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/* SaveResetException.proto */
#if CYTHON_FAST_THREAD_STATE
#define __Pyx_ExceptionSave(type, value, tb)  __Pyx__ExceptionSave(__pyx_tstate, type, value, tb)
static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb);
#define __Pyx_ExceptionReset(type, value, tb)  __Pyx__ExceptionReset(__pyx_tstate, type, value, tb)
static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb);
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#define __Pyx_ExceptionSave(type, value, tb)   PyErr_GetExcInfo(type, value, tb)
#define __Pyx_ExceptionReset(type, value, tb)  PyErr_SetExcInfo(type, value, tb)
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/* GetException.proto */
#if CYTHON_FAST_THREAD_STATE
#define __Pyx_GetException(type, value, tb)  __Pyx__GetException(__pyx_tstate, type, value, tb)
static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb);
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static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb);
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/* PyErrFetchRestore.proto */
#if CYTHON_FAST_THREAD_STATE
#define __Pyx_PyErr_Clear() __Pyx_ErrRestore(NULL, NULL, NULL)
#define __Pyx_ErrRestoreWithState(type, value, tb)  __Pyx_ErrRestoreInState(PyThreadState_GET(), type, value, tb)
#define __Pyx_ErrFetchWithState(type, value, tb)    __Pyx_ErrFetchInState(PyThreadState_GET(), type, value, tb)
#define __Pyx_ErrRestore(type, value, tb)  __Pyx_ErrRestoreInState(__pyx_tstate, type, value, tb)
#define __Pyx_ErrFetch(type, value, tb)    __Pyx_ErrFetchInState(__pyx_tstate, type, value, tb)
static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb);
static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb);
#if CYTHON_COMPILING_IN_CPYTHON
#define __Pyx_PyErr_SetNone(exc) (Py_INCREF(exc), __Pyx_ErrRestore((exc), NULL, NULL))
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#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc)
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#define __Pyx_PyErr_Clear() PyErr_Clear()
#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc)
#define __Pyx_ErrRestoreWithState(type, value, tb)  PyErr_Restore(type, value, tb)
#define __Pyx_ErrFetchWithState(type, value, tb)  PyErr_Fetch(type, value, tb)
#define __Pyx_ErrRestoreInState(tstate, type, value, tb)  PyErr_Restore(type, value, tb)
#define __Pyx_ErrFetchInState(tstate, type, value, tb)  PyErr_Fetch(type, value, tb)
#define __Pyx_ErrRestore(type, value, tb)  PyErr_Restore(type, value, tb)
#define __Pyx_ErrFetch(type, value, tb)  PyErr_Fetch(type, value, tb)
#endif

/* None.proto */
static CYTHON_INLINE void __Pyx_RaiseUnboundLocalError(const char *varname);

/* DictGetItem.proto */
#if PY_MAJOR_VERSION >= 3 && !CYTHON_COMPILING_IN_PYPY
static PyObject *__Pyx_PyDict_GetItem(PyObject *d, PyObject* key);
#define __Pyx_PyObject_Dict_GetItem(obj, name)\
    (likely(PyDict_CheckExact(obj)) ?\
     __Pyx_PyDict_GetItem(obj, name) : PyObject_GetItem(obj, name))
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#define __Pyx_PyDict_GetItem(d, key) PyObject_GetItem(d, key)
#define __Pyx_PyObject_Dict_GetItem(obj, name)  PyObject_GetItem(obj, name)
#endif

/* PyFloatBinop.proto */
#if !CYTHON_COMPILING_IN_PYPY
static PyObject* __Pyx_PyFloat_SubtractCObj(PyObject *op1, PyObject *op2, double floatval, int inplace, int zerodivision_check);
#else
#define __Pyx_PyFloat_SubtractCObj(op1, op2, floatval, inplace, zerodivision_check)\
    (inplace ? PyNumber_InPlaceSubtract(op1, op2) : PyNumber_Subtract(op1, op2))
#endif

/* PyFloatBinop.proto */
#if !CYTHON_COMPILING_IN_PYPY
static PyObject* __Pyx_PyFloat_DivideObjC(PyObject *op1, PyObject *op2, double floatval, int inplace, int zerodivision_check);
#else
#define __Pyx_PyFloat_DivideObjC(op1, op2, floatval, inplace, zerodivision_check)\
    ((inplace ? __Pyx_PyNumber_InPlaceDivide(op1, op2) : __Pyx_PyNumber_Divide(op1, op2)))
    #endif

/* GetItemInt.proto */
#define __Pyx_GetItemInt(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\
    (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\
    __Pyx_GetItemInt_Fast(o, (Py_ssize_t)i, is_list, wraparound, boundscheck) :\
    (is_list ? (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL) :\
               __Pyx_GetItemInt_Generic(o, to_py_func(i))))
#define __Pyx_GetItemInt_List(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\
    (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\
    __Pyx_GetItemInt_List_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\
    (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL))
static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i,
                                                              int wraparound, int boundscheck);
#define __Pyx_GetItemInt_Tuple(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\
    (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\
    __Pyx_GetItemInt_Tuple_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\
    (PyErr_SetString(PyExc_IndexError, "tuple index out of range"), (PyObject*)NULL))
static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i,
                                                              int wraparound, int boundscheck);
static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j);
static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i,
                                                     int is_list, int wraparound, int boundscheck);

/* ObjectGetItem.proto */
#if CYTHON_USE_TYPE_SLOTS
static CYTHON_INLINE PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject* key);
#else
#define __Pyx_PyObject_GetItem(obj, key)  PyObject_GetItem(obj, key)
#endif

/* SliceObject.proto */
static CYTHON_INLINE PyObject* __Pyx_PyObject_GetSlice(
        PyObject* obj, Py_ssize_t cstart, Py_ssize_t cstop,
        PyObject** py_start, PyObject** py_stop, PyObject** py_slice,
        int has_cstart, int has_cstop, int wraparound);

/* PyIntCompare.proto */
static CYTHON_INLINE PyObject* __Pyx_PyInt_NeObjC(PyObject *op1, PyObject *op2, long intval, long inplace);

/* RaiseException.proto */
static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause);

/* BufferIndexError.proto */
static void __Pyx_RaiseBufferIndexError(int axis);

/* ListCompAppend.proto */
#if CYTHON_USE_PYLIST_INTERNALS && CYTHON_ASSUME_SAFE_MACROS
static CYTHON_INLINE int __Pyx_ListComp_Append(PyObject* list, PyObject* x) {
    PyListObject* L = (PyListObject*) list;
    Py_ssize_t len = Py_SIZE(list);
    if (likely(L->allocated > len)) {
        Py_INCREF(x);
        PyList_SET_ITEM(list, len, x);
        __Pyx_SET_SIZE(list, len + 1);
        return 0;
    }
    return PyList_Append(list, x);
}
#else
#define __Pyx_ListComp_Append(L,x) PyList_Append(L,x)
#endif

/* RaiseTooManyValuesToUnpack.proto */
static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected);

/* RaiseNeedMoreValuesToUnpack.proto */
static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index);

/* IterFinish.proto */
static CYTHON_INLINE int __Pyx_IterFinish(void);

/* UnpackItemEndCheck.proto */
static int __Pyx_IternextUnpackEndCheck(PyObject *retval, Py_ssize_t expected);

/* IncludeStringH.proto */
#include <string.h>

/* BytesEquals.proto */
static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals);

/* UnicodeEquals.proto */
static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals);

/* StrEquals.proto */
#if PY_MAJOR_VERSION >= 3
#define __Pyx_PyString_Equals __Pyx_PyUnicode_Equals
#else
#define __Pyx_PyString_Equals __Pyx_PyBytes_Equals
#endif

/* SliceTupleAndList.proto */
#if CYTHON_COMPILING_IN_CPYTHON
static CYTHON_INLINE PyObject* __Pyx_PyList_GetSlice(PyObject* src, Py_ssize_t start, Py_ssize_t stop);
static CYTHON_INLINE PyObject* __Pyx_PyTuple_GetSlice(PyObject* src, Py_ssize_t start, Py_ssize_t stop);
#else
#define __Pyx_PyList_GetSlice(seq, start, stop)   PySequence_GetSlice(seq, start, stop)
#define __Pyx_PyTuple_GetSlice(seq, start, stop)  PySequence_GetSlice(seq, start, stop)
#endif

/* PyFloatBinop.proto */
#if !CYTHON_COMPILING_IN_PYPY
static PyObject* __Pyx_PyFloat_AddObjC(PyObject *op1, PyObject *op2, double floatval, int inplace, int zerodivision_check);
#else
#define __Pyx_PyFloat_AddObjC(op1, op2, floatval, inplace, zerodivision_check)\
    (inplace ? PyNumber_InPlaceAdd(op1, op2) : PyNumber_Add(op1, op2))
#endif

/* PyIntBinop.proto */
#if !CYTHON_COMPILING_IN_PYPY
static PyObject* __Pyx_PyInt_SubtractObjC(PyObject *op1, PyObject *op2, long intval, int inplace, int zerodivision_check);
#else
#define __Pyx_PyInt_SubtractObjC(op1, op2, intval, inplace, zerodivision_check)\
    (inplace ? PyNumber_InPlaceSubtract(op1, op2) : PyNumber_Subtract(op1, op2))
#endif

/* None.proto */
static CYTHON_INLINE long __Pyx_div_long(long, long);

/* ListAppend.proto */
#if CYTHON_USE_PYLIST_INTERNALS && CYTHON_ASSUME_SAFE_MACROS
static CYTHON_INLINE int __Pyx_PyList_Append(PyObject* list, PyObject* x) {
    PyListObject* L = (PyListObject*) list;
    Py_ssize_t len = Py_SIZE(list);
    if (likely(L->allocated > len) & likely(len > (L->allocated >> 1))) {
        Py_INCREF(x);
        PyList_SET_ITEM(list, len, x);
        __Pyx_SET_SIZE(list, len + 1);
        return 0;
    }
    return PyList_Append(list, x);
}
#else
#define __Pyx_PyList_Append(L,x) PyList_Append(L,x)
#endif

/* PyObjectGetMethod.proto */
static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method);

/* PyObjectCallMethod1.proto */
static PyObject* __Pyx_PyObject_CallMethod1(PyObject* obj, PyObject* method_name, PyObject* arg);

/* append.proto */
static CYTHON_INLINE int __Pyx_PyObject_Append(PyObject* L, PyObject* x);

/* SliceObject.proto */
#define __Pyx_PyObject_DelSlice(obj, cstart, cstop, py_start, py_stop, py_slice, has_cstart, has_cstop, wraparound)\
    __Pyx_PyObject_SetSlice(obj, (PyObject*)NULL, cstart, cstop, py_start, py_stop, py_slice, has_cstart, has_cstop, wraparound)
static CYTHON_INLINE int __Pyx_PyObject_SetSlice(
        PyObject* obj, PyObject* value, Py_ssize_t cstart, Py_ssize_t cstop,
        PyObject** py_start, PyObject** py_stop, PyObject** py_slice,
        int has_cstart, int has_cstop, int wraparound);

/* ExtTypeTest.proto */
static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *type);

/* IsLittleEndian.proto */
static CYTHON_INLINE int __Pyx_Is_Little_Endian(void);

/* BufferFormatCheck.proto */
static const char* __Pyx_BufFmt_CheckString(__Pyx_BufFmt_Context* ctx, const char* ts);
static void __Pyx_BufFmt_Init(__Pyx_BufFmt_Context* ctx,
                              __Pyx_BufFmt_StackElem* stack,
                              __Pyx_TypeInfo* type);

/* BufferGetAndValidate.proto */
#define __Pyx_GetBufferAndValidate(buf, obj, dtype, flags, nd, cast, stack)\
    ((obj == Py_None || obj == NULL) ?\
    (__Pyx_ZeroBuffer(buf), 0) :\
    __Pyx__GetBufferAndValidate(buf, obj, dtype, flags, nd, cast, stack))
static int  __Pyx__GetBufferAndValidate(Py_buffer* buf, PyObject* obj,
    __Pyx_TypeInfo* dtype, int flags, int nd, int cast, __Pyx_BufFmt_StackElem* stack);
static void __Pyx_ZeroBuffer(Py_buffer* buf);
static CYTHON_INLINE void __Pyx_SafeReleaseBuffer(Py_buffer* info);
static Py_ssize_t __Pyx_minusones[] = { -1, -1, -1, -1, -1, -1, -1, -1 };
static Py_ssize_t __Pyx_zeros[] = { 0, 0, 0, 0, 0, 0, 0, 0 };

#define __Pyx_BufPtrCContig3d(type, buf, i0, s0, i1, s1, i2, s2) ((type)((char*)buf + i0 * s0 + i1 * s1) + i2)
#define __Pyx_BufPtrStrided1d(type, buf, i0, s0) (type)((char*)buf + i0 * s0)
/* PyFloatBinop.proto */
#if !CYTHON_COMPILING_IN_PYPY
static PyObject* __Pyx_PyFloat_DivideCObj(PyObject *op1, PyObject *op2, double floatval, int inplace, int zerodivision_check);
#else
#define __Pyx_PyFloat_DivideCObj(op1, op2, floatval, inplace, zerodivision_check)\
    ((inplace ? __Pyx_PyNumber_InPlaceDivide(op1, op2) : __Pyx_PyNumber_Divide(op1, op2)))
    #endif

/* PyObjectSetAttrStr.proto */
#if CYTHON_USE_TYPE_SLOTS
#define __Pyx_PyObject_DelAttrStr(o,n) __Pyx_PyObject_SetAttrStr(o, n, NULL)
static CYTHON_INLINE int __Pyx_PyObject_SetAttrStr(PyObject* obj, PyObject* attr_name, PyObject* value);
#else
#define __Pyx_PyObject_DelAttrStr(o,n)   PyObject_DelAttr(o,n)
#define __Pyx_PyObject_SetAttrStr(o,n,v) PyObject_SetAttr(o,n,v)
#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

/* GetAttr.proto */
static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *, PyObject *);

/* GetAttr3.proto */
static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *, PyObject *, PyObject *);

/* None.proto */
static CYTHON_INLINE Py_ssize_t __Pyx_div_Py_ssize_t(Py_ssize_t, Py_ssize_t);

/* WriteUnraisableException.proto */
static void __Pyx_WriteUnraisable(const char *name, int clineno,
                                  int lineno, const char *filename,
                                  int full_traceback, int nogil);

/* HasAttr.proto */
static CYTHON_INLINE int __Pyx_HasAttr(PyObject *, PyObject *);

/* ArgTypeTest.proto */
#define __Pyx_ArgTypeTest(obj, type, none_allowed, name, exact)\
    ((likely((Py_TYPE(obj) == type) | (none_allowed && (obj == Py_None)))) ? 1 :\
        __Pyx__ArgTypeTest(obj, type, name, exact))
static int __Pyx__ArgTypeTest(PyObject *obj, PyTypeObject *type, const char *name, int exact);

/* UnaryNegOverflows.proto */
#define UNARY_NEG_WOULD_OVERFLOW(x)\
        (((x) < 0) & ((unsigned long)(x) == 0-(unsigned long)(x)))

static CYTHON_UNUSED int __pyx_array_getbuffer(PyObject *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /*proto*/
static PyObject *__pyx_array_get_memview(struct __pyx_array_obj *); /*proto*/
/* decode_c_string_utf16.proto */
static CYTHON_INLINE PyObject *__Pyx_PyUnicode_DecodeUTF16(const char *s, Py_ssize_t size, const char *errors) {
    int byteorder = 0;
    return PyUnicode_DecodeUTF16(s, size, errors, &byteorder);
}
static CYTHON_INLINE PyObject *__Pyx_PyUnicode_DecodeUTF16LE(const char *s, Py_ssize_t size, const char *errors) {
    int byteorder = -1;
    return PyUnicode_DecodeUTF16(s, size, errors, &byteorder);
}
static CYTHON_INLINE PyObject *__Pyx_PyUnicode_DecodeUTF16BE(const char *s, Py_ssize_t size, const char *errors) {
    int byteorder = 1;
    return PyUnicode_DecodeUTF16(s, size, errors, &byteorder);
}

/* decode_c_string.proto */
static CYTHON_INLINE PyObject* __Pyx_decode_c_string(
         const char* cstring, Py_ssize_t start, Py_ssize_t stop,
         const char* encoding, const char* errors,
         PyObject* (*decode_func)(const char *s, Py_ssize_t size, const char *errors));

/* RaiseNoneIterError.proto */
static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void);

/* SwapException.proto */
#if CYTHON_FAST_THREAD_STATE
#define __Pyx_ExceptionSwap(type, value, tb)  __Pyx__ExceptionSwap(__pyx_tstate, type, value, tb)
static CYTHON_INLINE void __Pyx__ExceptionSwap(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb);
#else
static CYTHON_INLINE void __Pyx_ExceptionSwap(PyObject **type, PyObject **value, PyObject **tb);
#endif

/* FastTypeChecks.proto */
#if CYTHON_COMPILING_IN_CPYTHON
#define __Pyx_TypeCheck(obj, type) __Pyx_IsSubtype(Py_TYPE(obj), (PyTypeObject *)type)
static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b);
static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches(PyObject *err, PyObject *type);
static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches2(PyObject *err, PyObject *type1, PyObject *type2);
#else
#define __Pyx_TypeCheck(obj, type) PyObject_TypeCheck(obj, (PyTypeObject *)type)
#define __Pyx_PyErr_GivenExceptionMatches(err, type) PyErr_GivenExceptionMatches(err, type)
#define __Pyx_PyErr_GivenExceptionMatches2(err, type1, type2) (PyErr_GivenExceptionMatches(err, type1) || PyErr_GivenExceptionMatches(err, type2))
#endif
#define __Pyx_PyException_Check(obj) __Pyx_TypeCheck(obj, PyExc_Exception)

static CYTHON_UNUSED int __pyx_memoryview_getbuffer(PyObject *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /*proto*/
/* ListExtend.proto */
static CYTHON_INLINE int __Pyx_PyList_Extend(PyObject* L, PyObject* v) {
#if CYTHON_COMPILING_IN_CPYTHON
    PyObject* none = _PyList_Extend((PyListObject*)L, v);
    if (unlikely(!none))
        return -1;
    Py_DECREF(none);
    return 0;
#else
    return PyList_SetSlice(L, PY_SSIZE_T_MAX, PY_SSIZE_T_MAX, v);
#endif
}

/* PyObject_GenericGetAttrNoDict.proto */
#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000
static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name);
#else
#define __Pyx_PyObject_GenericGetAttrNoDict PyObject_GenericGetAttr
#endif

/* PyObject_GenericGetAttr.proto */
#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000
static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name);
#else
#define __Pyx_PyObject_GenericGetAttr PyObject_GenericGetAttr
#endif

/* SetVTable.proto */
static int __Pyx_SetVtable(PyObject *dict, void *vtable);

/* PyObjectGetAttrStrNoError.proto */
static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name);

/* SetupReduce.proto */
static int __Pyx_setup_reduce(PyObject* type_obj);

/* TypeImport.proto */
#ifndef __PYX_HAVE_RT_ImportType_proto
#define __PYX_HAVE_RT_ImportType_proto
enum __Pyx_ImportType_CheckSize {
   __Pyx_ImportType_CheckSize_Error = 0,
   __Pyx_ImportType_CheckSize_Warn = 1,
   __Pyx_ImportType_CheckSize_Ignore = 2
};
static PyTypeObject *__Pyx_ImportType(PyObject* module, const char *module_name, const char *class_name, size_t size, enum __Pyx_ImportType_CheckSize check_size);
#endif

/* CLineInTraceback.proto */
#ifdef CYTHON_CLINE_IN_TRACEBACK
#define __Pyx_CLineForTraceback(tstate, c_line)  (((CYTHON_CLINE_IN_TRACEBACK)) ? c_line : 0)
#else
static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line);
#endif

/* CodeObjectCache.proto */
typedef struct {
    PyCodeObject* code_object;
    int code_line;
} __Pyx_CodeObjectCacheEntry;
struct __Pyx_CodeObjectCache {
    int count;
    int max_count;
    __Pyx_CodeObjectCacheEntry* entries;
};
static struct __Pyx_CodeObjectCache __pyx_code_cache = {0,0,NULL};
static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line);
static PyCodeObject *__pyx_find_code_object(int code_line);
static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object);

/* AddTraceback.proto */
static void __Pyx_AddTraceback(const char *funcname, int c_line,
                               int py_line, const char *filename);

#if PY_MAJOR_VERSION < 3
    static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags);
    static void __Pyx_ReleaseBuffer(Py_buffer *view);
#else
    #define __Pyx_GetBuffer PyObject_GetBuffer
    #define __Pyx_ReleaseBuffer PyBuffer_Release
#endif


/* BufferStructDeclare.proto */
typedef struct {
  Py_ssize_t shape, strides, suboffsets;
} __Pyx_Buf_DimInfo;
typedef struct {
  size_t refcount;
  Py_buffer pybuffer;
} __Pyx_Buffer;
typedef struct {
  __Pyx_Buffer *rcbuffer;
  char *data;
  __Pyx_Buf_DimInfo diminfo[8];
} __Pyx_LocalBuf_ND;

/* MemviewSliceIsContig.proto */
static int __pyx_memviewslice_is_contig(const __Pyx_memviewslice mvs, char order, int ndim);

/* OverlappingSlices.proto */
static int __pyx_slices_overlap(__Pyx_memviewslice *slice1,
                                __Pyx_memviewslice *slice2,
                                int ndim, size_t itemsize);

/* Capsule.proto */
static CYTHON_INLINE PyObject *__pyx_capsule_create(void *p, const char *sig);

/* MemviewDtypeToObject.proto */
static CYTHON_INLINE PyObject *__pyx_memview_get_nn___pyx_t_5numpy_float32_t(const char *itemp);
static CYTHON_INLINE int __pyx_memview_set_nn___pyx_t_5numpy_float32_t(const char *itemp, PyObject *obj);

/* TypeInfoCompare.proto */
static int __pyx_typeinfo_cmp(__Pyx_TypeInfo *a, __Pyx_TypeInfo *b);

/* MemviewSliceValidateAndInit.proto */
static int __Pyx_ValidateAndInit_memviewslice(
                int *axes_specs,
                int c_or_f_flag,
                int buf_flags,
                int ndim,
                __Pyx_TypeInfo *dtype,
                __Pyx_BufFmt_StackElem stack[],
                __Pyx_memviewslice *memviewslice,
                PyObject *original_obj);

/* ObjectToMemviewSlice.proto */
static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_d_dc_nn___pyx_t_5numpy_float32_t(PyObject *, int writable_flag);

/* GCCDiagnostics.proto */
#if defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 6))
#define __Pyx_HAS_GCC_DIAGNOSTIC
#endif

/* ObjectToMemviewSlice.proto */
static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_ds_nn___pyx_t_5numpy_float32_t(PyObject *, int writable_flag);

/* ObjectToMemviewSlice.proto */
static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_ds_nn___pyx_t_5numpy_int64_t(PyObject *, int writable_flag);

/* Print.proto */
static int __Pyx_Print(PyObject*, PyObject *, int);
#if CYTHON_COMPILING_IN_PYPY || PY_MAJOR_VERSION >= 3
static PyObject* __pyx_print = 0;
static PyObject* __pyx_print_kwargs = 0;
#endif

/* MemviewDtypeToObject.proto */
static CYTHON_INLINE PyObject *__pyx_memview_get_nn___pyx_t_5numpy_int64_t(const char *itemp);
static CYTHON_INLINE int __pyx_memview_set_nn___pyx_t_5numpy_int64_t(const char *itemp, PyObject *obj);

/* None.proto */
static CYTHON_INLINE __pyx_t_5numpy_int64_t __Pyx_pow___pyx_t_5numpy_int64_t(__pyx_t_5numpy_int64_t, __pyx_t_5numpy_int64_t);

/* CppExceptionConversion.proto */
#ifndef __Pyx_CppExn2PyErr
#include <new>
#include <typeinfo>
#include <stdexcept>
#include <ios>
static void __Pyx_CppExn2PyErr() {
  try {
    if (PyErr_Occurred())
      ; // let the latest Python exn pass through and ignore the current one
    else
      throw;
  } catch (const std::bad_alloc& exn) {
    PyErr_SetString(PyExc_MemoryError, exn.what());
  } catch (const std::bad_cast& exn) {
    PyErr_SetString(PyExc_TypeError, exn.what());
  } catch (const std::bad_typeid& exn) {
    PyErr_SetString(PyExc_TypeError, exn.what());
  } catch (const std::domain_error& exn) {
    PyErr_SetString(PyExc_ValueError, exn.what());
  } catch (const std::invalid_argument& exn) {
    PyErr_SetString(PyExc_ValueError, exn.what());
  } catch (const std::ios_base::failure& exn) {
    PyErr_SetString(PyExc_IOError, exn.what());
  } catch (const std::out_of_range& exn) {
    PyErr_SetString(PyExc_IndexError, exn.what());
  } catch (const std::overflow_error& exn) {
    PyErr_SetString(PyExc_OverflowError, exn.what());
  } catch (const std::range_error& exn) {
    PyErr_SetString(PyExc_ArithmeticError, exn.what());
  } catch (const std::underflow_error& exn) {
    PyErr_SetString(PyExc_ArithmeticError, exn.what());
  } catch (const std::exception& exn) {
    PyErr_SetString(PyExc_RuntimeError, exn.what());
  }
  catch (...)
  {
    PyErr_SetString(PyExc_RuntimeError, "Unknown exception");
  }
}
#endif

/* RealImag.proto */
#if CYTHON_CCOMPLEX
  #ifdef __cplusplus
    #define __Pyx_CREAL(z) ((z).real())
    #define __Pyx_CIMAG(z) ((z).imag())
  #else
    #define __Pyx_CREAL(z) (__real__(z))
    #define __Pyx_CIMAG(z) (__imag__(z))
  #endif
#else
    #define __Pyx_CREAL(z) ((z).real)
    #define __Pyx_CIMAG(z) ((z).imag)
#endif
#if defined(__cplusplus) && CYTHON_CCOMPLEX\
        && (defined(_WIN32) || defined(__clang__) || (defined(__GNUC__) && (__GNUC__ >= 5 || __GNUC__ == 4 && __GNUC_MINOR__ >= 4 )) || __cplusplus >= 201103)
    #define __Pyx_SET_CREAL(z,x) ((z).real(x))
    #define __Pyx_SET_CIMAG(z,y) ((z).imag(y))
#else
    #define __Pyx_SET_CREAL(z,x) __Pyx_CREAL(z) = (x)
    #define __Pyx_SET_CIMAG(z,y) __Pyx_CIMAG(z) = (y)
#endif

/* Arithmetic.proto */
#if CYTHON_CCOMPLEX
    #define __Pyx_c_eq_float(a, b)   ((a)==(b))
    #define __Pyx_c_sum_float(a, b)  ((a)+(b))
    #define __Pyx_c_diff_float(a, b) ((a)-(b))
    #define __Pyx_c_prod_float(a, b) ((a)*(b))
    #define __Pyx_c_quot_float(a, b) ((a)/(b))
    #define __Pyx_c_neg_float(a)     (-(a))
  #ifdef __cplusplus
    #define __Pyx_c_is_zero_float(z) ((z)==(float)0)
    #define __Pyx_c_conj_float(z)    (::std::conj(z))
    #if 1
        #define __Pyx_c_abs_float(z)     (::std::abs(z))
        #define __Pyx_c_pow_float(a, b)  (::std::pow(a, b))
    #endif
  #else
    #define __Pyx_c_is_zero_float(z) ((z)==0)
    #define __Pyx_c_conj_float(z)    (conjf(z))
    #if 1
        #define __Pyx_c_abs_float(z)     (cabsf(z))
        #define __Pyx_c_pow_float(a, b)  (cpowf(a, b))
    #endif
 #endif
#else
    static CYTHON_INLINE int __Pyx_c_eq_float(__pyx_t_float_complex, __pyx_t_float_complex);
    static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_sum_float(__pyx_t_float_complex, __pyx_t_float_complex);
    static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_diff_float(__pyx_t_float_complex, __pyx_t_float_complex);
    static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_prod_float(__pyx_t_float_complex, __pyx_t_float_complex);
    static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex, __pyx_t_float_complex);
    static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_neg_float(__pyx_t_float_complex);
    static CYTHON_INLINE int __Pyx_c_is_zero_float(__pyx_t_float_complex);
    static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_conj_float(__pyx_t_float_complex);
    #if 1
        static CYTHON_INLINE float __Pyx_c_abs_float(__pyx_t_float_complex);
        static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_pow_float(__pyx_t_float_complex, __pyx_t_float_complex);
    #endif
#endif

/* Arithmetic.proto */
#if CYTHON_CCOMPLEX
    #define __Pyx_c_eq_double(a, b)   ((a)==(b))
    #define __Pyx_c_sum_double(a, b)  ((a)+(b))
    #define __Pyx_c_diff_double(a, b) ((a)-(b))
    #define __Pyx_c_prod_double(a, b) ((a)*(b))
    #define __Pyx_c_quot_double(a, b) ((a)/(b))
    #define __Pyx_c_neg_double(a)     (-(a))
  #ifdef __cplusplus
    #define __Pyx_c_is_zero_double(z) ((z)==(double)0)
    #define __Pyx_c_conj_double(z)    (::std::conj(z))
    #if 1
        #define __Pyx_c_abs_double(z)     (::std::abs(z))
        #define __Pyx_c_pow_double(a, b)  (::std::pow(a, b))
    #endif
  #else
    #define __Pyx_c_is_zero_double(z) ((z)==0)
    #define __Pyx_c_conj_double(z)    (conj(z))
    #if 1
        #define __Pyx_c_abs_double(z)     (cabs(z))
        #define __Pyx_c_pow_double(a, b)  (cpow(a, b))
    #endif
 #endif
#else
    static CYTHON_INLINE int __Pyx_c_eq_double(__pyx_t_double_complex, __pyx_t_double_complex);
    static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_sum_double(__pyx_t_double_complex, __pyx_t_double_complex);
    static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_diff_double(__pyx_t_double_complex, __pyx_t_double_complex);
    static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_prod_double(__pyx_t_double_complex, __pyx_t_double_complex);
    static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex, __pyx_t_double_complex);
    static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_neg_double(__pyx_t_double_complex);
    static CYTHON_INLINE int __Pyx_c_is_zero_double(__pyx_t_double_complex);
    static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_conj_double(__pyx_t_double_complex);
    #if 1
        static CYTHON_INLINE double __Pyx_c_abs_double(__pyx_t_double_complex);
        static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_pow_double(__pyx_t_double_complex, __pyx_t_double_complex);
    #endif
#endif

/* MemviewSliceCopyTemplate.proto */
static __Pyx_memviewslice
__pyx_memoryview_copy_new_contig(const __Pyx_memviewslice *from_mvs,
                                 const char *mode, int ndim,
                                 size_t sizeof_dtype, int contig_flag,
                                 int dtype_is_object);

/* CIntToPy.proto */
static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value);

/* CIntFromPy.proto */
static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *);

/* CIntFromPy.proto */
static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *);

/* CIntToPy.proto */
static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value);

/* CIntToPy.proto */
static CYTHON_INLINE PyObject* __Pyx_PyInt_From_npy_int64(npy_int64 value);

/* CIntFromPy.proto */
static CYTHON_INLINE npy_int64 __Pyx_PyInt_As_npy_int64(PyObject *);

/* PrintOne.proto */
static int __Pyx_PrintOne(PyObject* stream, PyObject *o);

/* CIntToPy.proto */
static CYTHON_INLINE PyObject* __Pyx_PyInt_From_npy_uint8(npy_uint8 value);

/* CIntFromPy.proto */
static CYTHON_INLINE npy_uint8 __Pyx_PyInt_As_npy_uint8(PyObject *);

/* CopyContentsUtility.proto */
#define __pyx_memoryview_copy_slice_d_dc_nn___pyx_t_5numpy_float32_t_c(slice)\
        __pyx_memoryview_copy_new_contig(&slice, "c", 2,\
                                         sizeof(__pyx_t_5numpy_float32_t), (PyBUF_C_CONTIGUOUS | PyBUF_FORMAT),\
                                         0)

/* CopyContentsUtility.proto */
#define __pyx_memoryview_copy_slice_dcd__nn___pyx_t_5numpy_float32_t_f(slice)\
        __pyx_memoryview_copy_new_contig(&slice, "fortran", 2,\
                                         sizeof(__pyx_t_5numpy_float32_t), (PyBUF_F_CONTIGUOUS | PyBUF_FORMAT),\
                                         0)

/* CIntFromPy.proto */
static CYTHON_INLINE size_t __Pyx_PyInt_As_size_t(PyObject *);

/* CIntFromPy.proto */
static CYTHON_INLINE char __Pyx_PyInt_As_char(PyObject *);

/* FetchCommonType.proto */
static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type);

/* CoroutineBase.proto */
typedef PyObject *(*__pyx_coroutine_body_t)(PyObject *, PyThreadState *, PyObject *);
#if CYTHON_USE_EXC_INFO_STACK
#define __Pyx_ExcInfoStruct  _PyErr_StackItem
#else
typedef struct {
    PyObject *exc_type;
    PyObject *exc_value;
    PyObject *exc_traceback;
} __Pyx_ExcInfoStruct;
#endif
typedef struct {
    PyObject_HEAD
    __pyx_coroutine_body_t body;
    PyObject *closure;
    __Pyx_ExcInfoStruct gi_exc_state;
    PyObject *gi_weakreflist;
    PyObject *classobj;
    PyObject *yieldfrom;
    PyObject *gi_name;
    PyObject *gi_qualname;
    PyObject *gi_modulename;
    PyObject *gi_code;
    int resume_label;
    char is_running;
} __pyx_CoroutineObject;
static __pyx_CoroutineObject *__Pyx__Coroutine_New(
    PyTypeObject *type, __pyx_coroutine_body_t body, PyObject *code, PyObject *closure,
    PyObject *name, PyObject *qualname, PyObject *module_name);
static __pyx_CoroutineObject *__Pyx__Coroutine_NewInit(
            __pyx_CoroutineObject *gen, __pyx_coroutine_body_t body, PyObject *code, PyObject *closure,
            PyObject *name, PyObject *qualname, PyObject *module_name);
static CYTHON_INLINE void __Pyx_Coroutine_ExceptionClear(__Pyx_ExcInfoStruct *self);
static int __Pyx_Coroutine_clear(PyObject *self);
static PyObject *__Pyx_Coroutine_Send(PyObject *self, PyObject *value);
static PyObject *__Pyx_Coroutine_Close(PyObject *self);
static PyObject *__Pyx_Coroutine_Throw(PyObject *gen, PyObject *args);
#if CYTHON_USE_EXC_INFO_STACK
#define __Pyx_Coroutine_SwapException(self)
#define __Pyx_Coroutine_ResetAndClearException(self)  __Pyx_Coroutine_ExceptionClear(&(self)->gi_exc_state)
#else
#define __Pyx_Coroutine_SwapException(self) {\
    __Pyx_ExceptionSwap(&(self)->gi_exc_state.exc_type, &(self)->gi_exc_state.exc_value, &(self)->gi_exc_state.exc_traceback);\
    __Pyx_Coroutine_ResetFrameBackpointer(&(self)->gi_exc_state);\
    }
#define __Pyx_Coroutine_ResetAndClearException(self) {\
    __Pyx_ExceptionReset((self)->gi_exc_state.exc_type, (self)->gi_exc_state.exc_value, (self)->gi_exc_state.exc_traceback);\
    (self)->gi_exc_state.exc_type = (self)->gi_exc_state.exc_value = (self)->gi_exc_state.exc_traceback = NULL;\
    }
#endif
#if CYTHON_FAST_THREAD_STATE
#define __Pyx_PyGen_FetchStopIterationValue(pvalue)\
    __Pyx_PyGen__FetchStopIterationValue(__pyx_tstate, pvalue)
#else
#define __Pyx_PyGen_FetchStopIterationValue(pvalue)\
    __Pyx_PyGen__FetchStopIterationValue(__Pyx_PyThreadState_Current, pvalue)
#endif
static int __Pyx_PyGen__FetchStopIterationValue(PyThreadState *tstate, PyObject **pvalue);
static CYTHON_INLINE void __Pyx_Coroutine_ResetFrameBackpointer(__Pyx_ExcInfoStruct *exc_state);

/* PatchModuleWithCoroutine.proto */
static PyObject* __Pyx_Coroutine_patch_module(PyObject* module, const char* py_code);

/* PatchGeneratorABC.proto */
static int __Pyx_patch_abc(void);

/* Generator.proto */
#define __Pyx_Generator_USED
static PyTypeObject *__pyx_GeneratorType = 0;
#define __Pyx_Generator_CheckExact(obj) (Py_TYPE(obj) == __pyx_GeneratorType)
#define __Pyx_Generator_New(body, code, closure, name, qualname, module_name)\
    __Pyx__Coroutine_New(__pyx_GeneratorType, body, code, closure, name, qualname, module_name)
static PyObject *__Pyx_Generator_Next(PyObject *self);
static int __pyx_Generator_init(void);

/* ObjectToMemviewSlice.proto */
static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_ds_nn___pyx_t_5numpy_uint8_t(PyObject *, int writable_flag);

/* ObjectToMemviewSlice.proto */
static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_d_dc_nn___pyx_t_5numpy_int64_t(PyObject *, int writable_flag);

/* ObjectToMemviewSlice.proto */
static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_d_dc_nn___pyx_t_5numpy_uint8_t(PyObject *, int writable_flag);

/* ObjectToMemviewSlice.proto */
static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_dc_nn___pyx_t_5numpy_uint8_t(PyObject *, int writable_flag);

/* ObjectToMemviewSlice.proto */
static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_d_d_d_dc_nn___pyx_t_5numpy_float32_t(PyObject *, int writable_flag);

/* ObjectToMemviewSlice.proto */
static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_d_d_dc_nn___pyx_t_5numpy_float32_t(PyObject *, int writable_flag);

/* ObjectToMemviewSlice.proto */
static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_dc_nn___pyx_t_5numpy_int64_t(PyObject *, int writable_flag);

/* ObjectToMemviewSlice.proto */
static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_dc_nn___pyx_t_5numpy_float32_t(PyObject *, int writable_flag);

/* ObjectToMemviewSlice.proto */
static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_ds_double(PyObject *, int writable_flag);

/* CheckBinaryVersion.proto */
static int __Pyx_check_binary_version(void);

/* InitStrings.proto */
static int __Pyx_InitStrings(__Pyx_StringTabEntry *t);

static PyObject *__pyx_f_6CMap2D_6CMap2D_cas_sdf(CYTHON_UNUSED struct __pyx_obj_6CMap2D_CMap2D *__pyx_v_self, __Pyx_memviewslice __pyx_v_occupied_points_ij, __Pyx_memviewslice __pyx_v_min_distances); /* proto*/
static PyObject *__pyx_f_6CMap2D_6CMap2D_cas_tsdf(struct __pyx_obj_6CMap2D_CMap2D *__pyx_v_self, __pyx_t_5numpy_float32_t __pyx_v_max_dist_m, __Pyx_memviewslice __pyx_v_occupied_points_ij, __Pyx_memviewslice __pyx_v_min_distances); /* proto*/
static PyObject *__pyx_f_6CMap2D_6CMap2D_cxy_to_ij(struct __pyx_obj_6CMap2D_CMap2D *__pyx_v_self, __Pyx_memviewslice __pyx_v_xy, __Pyx_memviewslice __pyx_v_ij, struct __pyx_opt_args_6CMap2D_6CMap2D_cxy_to_ij *__pyx_optional_args); /* proto*/
static PyObject *__pyx_f_6CMap2D_6CMap2D_cij_to_xy(struct __pyx_obj_6CMap2D_CMap2D *__pyx_v_self, __Pyx_memviewslice __pyx_v_ij); /* proto*/
static PyObject *__pyx_f_6CMap2D_6CMap2D_cis_inside_ij(struct __pyx_obj_6CMap2D_CMap2D *__pyx_v_self, __Pyx_memviewslice __pyx_v_ij, __Pyx_memviewslice __pyx_v_is_inside); /* proto*/
static PyObject *__pyx_f_6CMap2D_6CMap2D_as_coarse_map2d(struct __pyx_obj_6CMap2D_CMap2D *__pyx_v_self, int __pyx_skip_dispatch, struct __pyx_opt_args_6CMap2D_6CMap2D_as_coarse_map2d *__pyx_optional_args); /* proto*/
static PyObject *__pyx_f_6CMap2D_6CMap2D_cfastmarch(struct __pyx_obj_6CMap2D_CMap2D *__pyx_v_self, __Pyx_memviewslice __pyx_v_goal_ij, __Pyx_memviewslice __pyx_v_tentative, __Pyx_memviewslice __pyx_v_mask, __Pyx_memviewslice __pyx_v_speeds); /* proto*/
static PyObject *__pyx_f_6CMap2D_6CMap2D_cdijkstra(struct __pyx_obj_6CMap2D_CMap2D *__pyx_v_self, __Pyx_memviewslice __pyx_v_goal_ij, __Pyx_memviewslice __pyx_v_tentative, __Pyx_memviewslice __pyx_v_mask, __Pyx_memviewslice __pyx_v_extra_costs, __pyx_t_5numpy_float32_t __pyx_v_inv_value, struct __pyx_opt_args_6CMap2D_6CMap2D_cdijkstra *__pyx_optional_args); /* proto*/
static PyObject *__pyx_f_6CMap2D_6CMap2D_crender_agents_in_many_lidars(struct __pyx_obj_6CMap2D_CMap2D *__pyx_v_self, PyArrayObject *__pyx_v_ranges, __Pyx_memviewslice __pyx_v_ijthetas, PyObject *__pyx_v_agents, __pyx_t_5numpy_uint8_t __pyx_v_first_lidar_only); /* proto*/
static PyObject *__pyx_f_6CMap2D_6CMap2D_crender_agents_in_lidar(struct __pyx_obj_6CMap2D_CMap2D *__pyx_v_self, PyArrayObject *__pyx_v_ranges, PyArrayObject *__pyx_v_angles, PyObject *__pyx_v_agents, PyArrayObject *__pyx_v_lidar_ij); /* proto*/
static PyObject *__pyx_f_6CMap2D_6CMap2D_cvisibility_map_ij(struct __pyx_obj_6CMap2D_CMap2D *__pyx_v_self, __Pyx_memviewslice __pyx_v_observer_ij, __Pyx_memviewslice __pyx_v_visibility_map, __pyx_t_5numpy_float32_t __pyx_v_min_angle, __pyx_t_5numpy_float32_t __pyx_v_max_angle); /* proto*/
static PyObject *__pyx_f_6CMap2D_6CMap2D_craymarch(struct __pyx_obj_6CMap2D_CMap2D *__pyx_v_self, __Pyx_memviewslice __pyx_v_observer_ij, __Pyx_memviewslice __pyx_v_angles, __Pyx_memviewslice __pyx_v_ranges); /* proto*/
static PyObject *__pyx_f_6CMap2D_9CSimAgent_cget_legs_pose2d_in_map(struct __pyx_obj_6CMap2D_CSimAgent *__pyx_v_self, __Pyx_memviewslice __pyx_v_left_leg_pose2d_in_map_frame, __Pyx_memviewslice __pyx_v_right_leg_pose2d_in_map_frame); /* proto*/
static PyObject *__pyx_array_get_memview(struct __pyx_array_obj *__pyx_v_self); /* proto*/
static char *__pyx_memoryview_get_item_pointer(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index); /* proto*/
static PyObject *__pyx_memoryview_is_slice(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_obj); /* proto*/
static PyObject *__pyx_memoryview_setitem_slice_assignment(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_dst, PyObject *__pyx_v_src); /* proto*/
static PyObject *__pyx_memoryview_setitem_slice_assign_scalar(struct __pyx_memoryview_obj *__pyx_v_self, struct __pyx_memoryview_obj *__pyx_v_dst, PyObject *__pyx_v_value); /* proto*/
static PyObject *__pyx_memoryview_setitem_indexed(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index, PyObject *__pyx_v_value); /* proto*/
static PyObject *__pyx_memoryview_convert_item_to_object(struct __pyx_memoryview_obj *__pyx_v_self, char *__pyx_v_itemp); /* proto*/
static PyObject *__pyx_memoryview_assign_item_from_object(struct __pyx_memoryview_obj *__pyx_v_self, char *__pyx_v_itemp, PyObject *__pyx_v_value); /* proto*/
static PyObject *__pyx_memoryviewslice_convert_item_to_object(struct __pyx_memoryviewslice_obj *__pyx_v_self, char *__pyx_v_itemp); /* proto*/
static PyObject *__pyx_memoryviewslice_assign_item_from_object(struct __pyx_memoryviewslice_obj *__pyx_v_self, char *__pyx_v_itemp, PyObject *__pyx_v_value); /* proto*/

/* Module declarations from 'libcpp' */

/* Module declarations from 'libcpp.queue' */

/* Module declarations from 'libcpp.utility' */

/* Module declarations from 'libcpp.pair' */

/* Module declarations from 'cpython.buffer' */

/* Module declarations from 'libc.string' */

/* Module declarations from 'libc.stdio' */

/* Module declarations from '__builtin__' */

/* Module declarations from 'cpython.type' */
static PyTypeObject *__pyx_ptype_7cpython_4type_type = 0;

/* Module declarations from 'cpython' */

/* Module declarations from 'cpython.object' */

/* Module declarations from 'cpython.ref' */

/* Module declarations from 'cpython.mem' */

/* Module declarations from 'numpy' */

/* Module declarations from 'numpy' */
static PyTypeObject *__pyx_ptype_5numpy_dtype = 0;
static PyTypeObject *__pyx_ptype_5numpy_flatiter = 0;
static PyTypeObject *__pyx_ptype_5numpy_broadcast = 0;
static PyTypeObject *__pyx_ptype_5numpy_ndarray = 0;
static PyTypeObject *__pyx_ptype_5numpy_ufunc = 0;

/* Module declarations from 'cython.view' */
static struct __pyx_array_obj *__pyx_array_new(PyObject *, Py_ssize_t, char *, char *, char *); /*proto*/

/* Module declarations from 'cython' */

/* Module declarations from 'libc.math' */

/* Module declarations from 'CMap2D' */
static PyTypeObject *__pyx_ptype_6CMap2D_CMap2D = 0;
static PyTypeObject *__pyx_ptype_6CMap2D_CSimAgent = 0;
static PyTypeObject *__pyx_ptype_6CMap2D___pyx_scope_struct__gridshow = 0;
static PyTypeObject *__pyx_ptype_6CMap2D___pyx_scope_struct_1_genexpr = 0;
static PyTypeObject *__pyx_array_type = 0;
static PyTypeObject *__pyx_MemviewEnum_type = 0;
static PyTypeObject *__pyx_memoryview_type = 0;
static PyTypeObject *__pyx_memoryviewslice_type = 0;
static PyObject *generic = 0;
static PyObject *strided = 0;
static PyObject *indirect = 0;
static PyObject *contiguous = 0;
static PyObject *indirect_contiguous = 0;
static int __pyx_memoryview_thread_locks_used;
static PyThread_type_lock __pyx_memoryview_thread_locks[8];
static PyObject *__pyx_f_6CMap2D_crender_contours_in_lidar(PyArrayObject *, PyArrayObject *, __Pyx_memviewslice, PyArrayObject *); /*proto*/
static PyObject *__pyx_f_6CMap2D_cdistance_transform_1d(__Pyx_memviewslice, __Pyx_memviewslice); /*proto*/
static PyObject *__pyx_f_6CMap2D_cdistance_transform_2d(__Pyx_memviewslice, __Pyx_memviewslice); /*proto*/
static PyObject *__pyx_f_6CMap2D_capply_tf_to_pose(__Pyx_memviewslice, __Pyx_memviewslice, __Pyx_memviewslice); /*proto*/
static PyObject *__pyx_f_6CMap2D_cpath_from_dijkstra_field(__Pyx_memviewslice, __Pyx_memviewslice, struct __pyx_opt_args_6CMap2D_cpath_from_dijkstra_field *__pyx_optional_args); /*proto*/
static double __pyx_f_6CMap2D_cfast_2f_norm(__Pyx_memviewslice); /*proto*/
static PyObject *__pyx_f_6CMap2D_cfast_3f_clip(__Pyx_memviewslice, __Pyx_memviewslice, __Pyx_memviewslice, __Pyx_memviewslice); /*proto*/
static PyObject *__pyx_f_6CMap2D___pyx_unpickle_CMap2D__set_state(struct __pyx_obj_6CMap2D_CMap2D *, PyObject *); /*proto*/
static CYTHON_INLINE PyObject *__Pyx_carray_to_py_Py_ssize_t(Py_ssize_t *, Py_ssize_t); /*proto*/
static CYTHON_INLINE PyObject *__Pyx_carray_to_tuple_Py_ssize_t(Py_ssize_t *, Py_ssize_t); /*proto*/
static struct __pyx_array_obj *__pyx_array_new(PyObject *, Py_ssize_t, char *, char *, char *); /*proto*/
static void *__pyx_align_pointer(void *, size_t); /*proto*/
static PyObject *__pyx_memoryview_new(PyObject *, int, int, __Pyx_TypeInfo *); /*proto*/
static CYTHON_INLINE int __pyx_memoryview_check(PyObject *); /*proto*/
static PyObject *_unellipsify(PyObject *, int); /*proto*/
static PyObject *assert_direct_dimensions(Py_ssize_t *, int); /*proto*/
static struct __pyx_memoryview_obj *__pyx_memview_slice(struct __pyx_memoryview_obj *, PyObject *); /*proto*/
static int __pyx_memoryview_slice_memviewslice(__Pyx_memviewslice *, Py_ssize_t, Py_ssize_t, Py_ssize_t, int, int, int *, Py_ssize_t, Py_ssize_t, Py_ssize_t, int, int, int, int); /*proto*/
static char *__pyx_pybuffer_index(Py_buffer *, char *, Py_ssize_t, Py_ssize_t); /*proto*/
static int __pyx_memslice_transpose(__Pyx_memviewslice *); /*proto*/
static PyObject *__pyx_memoryview_fromslice(__Pyx_memviewslice, int, PyObject *(*)(char *), int (*)(char *, PyObject *), int); /*proto*/
static __Pyx_memviewslice *__pyx_memoryview_get_slice_from_memoryview(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/
static void __pyx_memoryview_slice_copy(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/
static PyObject *__pyx_memoryview_copy_object(struct __pyx_memoryview_obj *); /*proto*/
static PyObject *__pyx_memoryview_copy_object_from_slice(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/
static Py_ssize_t abs_py_ssize_t(Py_ssize_t); /*proto*/
static char __pyx_get_best_slice_order(__Pyx_memviewslice *, int); /*proto*/
static void _copy_strided_to_strided(char *, Py_ssize_t *, char *, Py_ssize_t *, Py_ssize_t *, Py_ssize_t *, int, size_t); /*proto*/
static void copy_strided_to_strided(__Pyx_memviewslice *, __Pyx_memviewslice *, int, size_t); /*proto*/
static Py_ssize_t __pyx_memoryview_slice_get_size(__Pyx_memviewslice *, int); /*proto*/
static Py_ssize_t __pyx_fill_contig_strides_array(Py_ssize_t *, Py_ssize_t *, Py_ssize_t, int, char); /*proto*/
static void *__pyx_memoryview_copy_data_to_temp(__Pyx_memviewslice *, __Pyx_memviewslice *, char, int); /*proto*/
static int __pyx_memoryview_err_extents(int, Py_ssize_t, Py_ssize_t); /*proto*/
static int __pyx_memoryview_err_dim(PyObject *, char *, int); /*proto*/
static int __pyx_memoryview_err(PyObject *, char *); /*proto*/
static int __pyx_memoryview_copy_contents(__Pyx_memviewslice, __Pyx_memviewslice, int, int, int); /*proto*/
static void __pyx_memoryview_broadcast_leading(__Pyx_memviewslice *, int, int); /*proto*/
static void __pyx_memoryview_refcount_copying(__Pyx_memviewslice *, int, int, int); /*proto*/
static void __pyx_memoryview_refcount_objects_in_slice_with_gil(char *, Py_ssize_t *, Py_ssize_t *, int, int); /*proto*/
static void __pyx_memoryview_refcount_objects_in_slice(char *, Py_ssize_t *, Py_ssize_t *, int, int); /*proto*/
static void __pyx_memoryview_slice_assign_scalar(__Pyx_memviewslice *, int, size_t, void *, int); /*proto*/
static void __pyx_memoryview__slice_assign_scalar(char *, Py_ssize_t *, Py_ssize_t *, int, size_t, void *); /*proto*/
static PyObject *__pyx_unpickle_Enum__set_state(struct __pyx_MemviewEnum_obj *, PyObject *); /*proto*/
static __Pyx_TypeInfo __Pyx_TypeInfo_nn___pyx_t_5numpy_float32_t = { "float32_t", NULL, sizeof(__pyx_t_5numpy_float32_t), { 0 }, 0, 'R', 0, 0 };
static __Pyx_TypeInfo __Pyx_TypeInfo_nn___pyx_t_5numpy_int64_t = { "int64_t", NULL, sizeof(__pyx_t_5numpy_int64_t), { 0 }, 0, IS_UNSIGNED(__pyx_t_5numpy_int64_t) ? 'U' : 'I', IS_UNSIGNED(__pyx_t_5numpy_int64_t), 0 };
static __Pyx_TypeInfo __Pyx_TypeInfo_nn___pyx_t_5numpy_uint8_t = { "uint8_t", NULL, sizeof(__pyx_t_5numpy_uint8_t), { 0 }, 0, IS_UNSIGNED(__pyx_t_5numpy_uint8_t) ? 'U' : 'I', IS_UNSIGNED(__pyx_t_5numpy_uint8_t), 0 };
static __Pyx_TypeInfo __Pyx_TypeInfo_double = { "double", NULL, sizeof(double), { 0 }, 0, 'R', 0, 0 };
#define __Pyx_MODULE_NAME "CMap2D"
extern int __pyx_module_is_main_CMap2D;
int __pyx_module_is_main_CMap2D = 0;

/* Implementation of 'CMap2D' */
static PyObject *__pyx_builtin_enumerate;
static PyObject *__pyx_builtin_open;
static PyObject *__pyx_builtin_ValueError;
static PyObject *__pyx_builtin_zip;
static PyObject *__pyx_builtin_NotImplementedError;
static PyObject *__pyx_builtin_range;
static PyObject *__pyx_builtin_IndexError;
static PyObject *__pyx_builtin_TypeError;
static PyObject *__pyx_builtin_ImportError;
static PyObject *__pyx_builtin_MemoryError;
static PyObject *__pyx_builtin_Ellipsis;
static PyObject *__pyx_builtin_id;
static const char __pyx_k_3[] = "3";
static const char __pyx_k_4[] = "4";
static const char __pyx_k_O[] = "O";
static const char __pyx_k_T[] = "T";
static const char __pyx_k_c[] = "c";
static const char __pyx_k_i[] = "i";
static const char __pyx_k_j[] = "j";
static const char __pyx_k_n[] = "n";
static const char __pyx_k_v[] = "v";
static const char __pyx_k_x[] = "x";
static const char __pyx_k_y[] = "y";
static const char __pyx_k_cm[] = "cm";
static const char __pyx_k_id[] = "id";
static const char __pyx_k_ij[] = "ij";
static const char __pyx_k_np[] = "np";
static const char __pyx_k_os[] = "os";
static const char __pyx_k_pi[] = "pi";
static const char __pyx_k_th[] = "th";
static const char __pyx_k_xy[] = "xy";
static const char __pyx_k__24[] = "-,";
static const char __pyx_k_arr[] = "arr";
static const char __pyx_k_cos[] = "cos";
static const char __pyx_k_cv2[] = "cv2";
static const char __pyx_k_end[] = "end";
static const char __pyx_k_fov[] = "fov";
static const char __pyx_k_idx[] = "idx";
static const char __pyx_k_inf[] = "inf";
static const char __pyx_k_max[] = "max";
static const char __pyx_k_min[] = "min";
static const char __pyx_k_new[] = "__new__";
static const char __pyx_k_obj[] = "obj";
static const char __pyx_k_plt[] = "plt";
static const char __pyx_k_sin[] = "sin";
static const char __pyx_k_vel[] = "vel";
static const char __pyx_k_zip[] = "zip";
static const char __pyx_k_HUGE[] = "HUGE_";
static const char __pyx_k_args[] = "args";
static const char __pyx_k_axis[] = "axis";
static const char __pyx_k_base[] = "base";
static const char __pyx_k_ceil[] = "ceil";
static const char __pyx_k_cmap[] = "cmap";
static const char __pyx_k_copy[] = "copy";
static const char __pyx_k_data[] = "data";
static const char __pyx_k_dict[] = "__dict__";
static const char __pyx_k_exit[] = "__exit__";
static const char __pyx_k_file[] = "file";
static const char __pyx_k_info[] = "info";
static const char __pyx_k_int8[] = "int8";
static const char __pyx_k_join[] = "join";
static const char __pyx_k_legs[] = "legs";
static const char __pyx_k_load[] = "load";
static const char __pyx_k_main[] = "__main__";
static const char __pyx_k_mask[] = "mask";
static const char __pyx_k_math[] = "math";
static const char __pyx_k_mode[] = "mode";
static const char __pyx_k_name[] = "name";
static const char __pyx_k_ndim[] = "ndim";
static const char __pyx_k_norm[] = "norm";
static const char __pyx_k_ones[] = "ones";
static const char __pyx_k_open[] = "open";
static const char __pyx_k_pack[] = "pack";
static const char __pyx_k_path[] = "path";
static const char __pyx_k_plot[] = "plot";
static const char __pyx_k_pose[] = "pose";
static const char __pyx_k_prod[] = "prod";
static const char __pyx_k_scan[] = "scan";
static const char __pyx_k_send[] = "send";
static const char __pyx_k_size[] = "size";
static const char __pyx_k_sqrt[] = "sqrt";
static const char __pyx_k_step[] = "step";
static const char __pyx_k_stop[] = "stop";
static const char __pyx_k_test[] = "__test__";
static const char __pyx_k_type[] = "type";
static const char __pyx_k_yaml[] = ".yaml";
static const char __pyx_k_ASCII[] = "ASCII";
static const char __pyx_k_Greys[] = "Greys";
static const char __pyx_k_array[] = "array";
static const char __pyx_k_class[] = "__class__";
static const char __pyx_k_close[] = "close";
static const char __pyx_k_dtype[] = "dtype";
static const char __pyx_k_enter[] = "__enter__";
static const char __pyx_k_error[] = "error";
static const char __pyx_k_field[] = "field";
static const char __pyx_k_first[] = "first";
static const char __pyx_k_flags[] = "flags";
static const char __pyx_k_image[] = "image";
static const char __pyx_k_int64[] = "int64";
static const char __pyx_k_isnan[] = "isnan";
static const char __pyx_k_lower[] = "lower";
static const char __pyx_k_max3f[] = "max3f";
static const char __pyx_k_min3f[] = "min3f";
static const char __pyx_k_numpy[] = "numpy";
static const char __pyx_k_print[] = "print";
static const char __pyx_k_range[] = "range";
static const char __pyx_k_ravel[] = "ravel";
static const char __pyx_k_shape[] = "shape";
static const char __pyx_k_split[] = "split";
static const char __pyx_k_stamp[] = "stamp";
static const char __pyx_k_start[] = "start";
static const char __pyx_k_state[] = "state";
static const char __pyx_k_throw[] = "throw";
static const char __pyx_k_trunk[] = "trunk";
static const char __pyx_k_uint8[] = "uint8";
static const char __pyx_k_vec2f[] = "vec2f";
static const char __pyx_k_vec3f[] = "vec3f";
static const char __pyx_k_where[] = "where";
static const char __pyx_k_width[] = "width";
static const char __pyx_k_zeros[] = "zeros";
static const char __pyx_k_CMap2D[] = "CMap2D";
static const char __pyx_k_Loader[] = "Loader";
static const char __pyx_k_agents[] = "agents";
static const char __pyx_k_angles[] = "angles";
static const char __pyx_k_append[] = "append";
static const char __pyx_k_arange[] = "arange";
static const char __pyx_k_arccos[] = "arccos";
static const char __pyx_k_as_sdf[] = "as_sdf";
static const char __pyx_k_astype[] = "astype";
static const char __pyx_k_dilate[] = "dilate";
static const char __pyx_k_encode[] = "encode";
static const char __pyx_k_folder[] = "folder";
static const char __pyx_k_format[] = "format";
static const char __pyx_k_header[] = "header";
static const char __pyx_k_height[] = "height";
static const char __pyx_k_hstack[] = "hstack";
static const char __pyx_k_import[] = "__import__";
static const char __pyx_k_imread[] = "imread";
static const char __pyx_k_imshow[] = "imshow";
static const char __pyx_k_inv_th[] = "inv_th";
static const char __pyx_k_inv_xy[] = "inv_xy";
static const char __pyx_k_kwargs[] = "kwargs";
static const char __pyx_k_limits[] = "limits";
static const char __pyx_k_linalg[] = "linalg";
static const char __pyx_k_matmul[] = "matmul";
static const char __pyx_k_name_2[] = "__name__";
static const char __pyx_k_origin[] = "origin";
static const char __pyx_k_pickle[] = "pickle";
static const char __pyx_k_pos_ij[] = "pos_ij";
static const char __pyx_k_pose2d[] = "pose2d";
static const char __pyx_k_pyplot[] = "pyplot";
static const char __pyx_k_radius[] = "radius";
static const char __pyx_k_random[] = "random";
static const char __pyx_k_ranges[] = "ranges";
static const char __pyx_k_reduce[] = "reduce";
static const char __pyx_k_result[] = "result";
static const char __pyx_k_rotate[] = "rotate";
static const char __pyx_k_rotmat[] = "rotmat";
static const char __pyx_k_silent[] = "silent";
static const char __pyx_k_speeds[] = "speeds";
static const char __pyx_k_struct[] = "struct";
static const char __pyx_k_type_2[] = "type_";
static const char __pyx_k_unpack[] = "unpack";
static const char __pyx_k_update[] = "update";
static const char __pyx_k_vertex[] = "vertex";
static const char __pyx_k_vstack[] = "vstack";
static const char __pyx_k_yaml_2[] = "yaml";
static const char __pyx_k_arctan2[] = "arctan2";
static const char __pyx_k_costmap[] = "costmap";
static const char __pyx_k_flatten[] = "flatten";
static const char __pyx_k_float32[] = "float32";
static const char __pyx_k_fortran[] = "fortran";
static const char __pyx_k_genexpr[] = "genexpr";
static const char __pyx_k_goal_ij[] = "goal_ij";
static const char __pyx_k_maximum[] = "maximum";
static const char __pyx_k_memview[] = "memview";
static const char __pyx_k_polygon[] = "polygon";
static const char __pyx_k_randint[] = "randint";
static const char __pyx_k_reshape[] = "reshape";
static const char __pyx_k_version[] = "__version__";
static const char __pyx_k_Ellipsis[] = "Ellipsis";
static const char __pyx_k_apply_tf[] = "apply_tf";
static const char __pyx_k_contours[] = "contours";
static const char __pyx_k_frame_id[] = "frame_id";
static const char __pyx_k_getstate[] = "__getstate__";
static const char __pyx_k_gridshow[] = "gridshow";
static const char __pyx_k_ij_to_xy[] = "ij_to_xy";
static const char __pyx_k_itemsize[] = "itemsize";
static const char __pyx_k_lidar_ij[] = "lidar_ij";
static const char __pyx_k_lidar_xy[] = "lidar_xy";
static const char __pyx_k_linspace[] = "linspace";
static const char __pyx_k_norm_dir[] = "norm_dir";
static const char __pyx_k_position[] = "position";
static const char __pyx_k_pyx_type[] = "__pyx_type";
static const char __pyx_k_reduce_2[] = "__reduce__";
static const char __pyx_k_setstate[] = "__setstate__";
static const char __pyx_k_xy_to_ij[] = "xy_to_ij";
static const char __pyx_k_xythetas[] = "xythetas";
static const char __pyx_k_CSimAgent[] = "CSimAgent";
static const char __pyx_k_RETR_TREE[] = "RETR_TREE";
static const char __pyx_k_TypeError[] = "TypeError";
static const char __pyx_k_angle_max[] = "angle_max";
static const char __pyx_k_angle_min[] = "angle_min";
static const char __pyx_k_as_sdf_ij[] = "as_sdf_ij";
static const char __pyx_k_enumerate[] = "enumerate";
static const char __pyx_k_functools[] = "functools";
static const char __pyx_k_inv_value[] = "inv_value";
static const char __pyx_k_occupancy[] = "occupancy";
static const char __pyx_k_ones_like[] = "ones_like";
static const char __pyx_k_pyx_state[] = "__pyx_state";
static const char __pyx_k_raytracer[] = "raytracer";
static const char __pyx_k_reduce_ex[] = "__reduce_ex__";
static const char __pyx_k_threshold[] = "threshold";
static const char __pyx_k_CMap2D_pyx[] = "CMap2D.pyx";
static const char __pyx_k_IndexError[] = "IndexError";
static const char __pyx_k_SafeLoader[] = "SafeLoader";
static const char __pyx_k_ValueError[] = "ValueError";
static const char __pyx_k_expanduser[] = "expanduser";
static const char __pyx_k_iterations[] = "iterations";
static const char __pyx_k_leg_radius[] = "leg_radius";
static const char __pyx_k_matplotlib[] = "matplotlib";
static const char __pyx_k_pyx_result[] = "__pyx_result";
static const char __pyx_k_pyx_vtable[] = "__pyx_vtable__";
static const char __pyx_k_resolution[] = "resolution";
static const char __pyx_k_zeros_like[] = "zeros_like";
static const char __pyx_k_ImportError[] = "ImportError";
static const char __pyx_k_MemoryError[] = "MemoryError";
static const char __pyx_k_PickleError[] = "PickleError";
static const char __pyx_k_concatenate[] = "concatenate";
static const char __pyx_k_extra_costs[] = "extra_costs";
static const char __pyx_k_free_thresh[] = "free_thresh";
static const char __pyx_k_logical_and[] = "logical_and";
static const char __pyx_k_observer_ij[] = "observer_ij";
static const char __pyx_k_thresh_free[] = "thresh_free";
static const char __pyx_k_fast_2f_norm[] = "fast_2f_norm";
static const char __pyx_k_fast_3f_clip[] = "fast_3f_clip";
static const char __pyx_k_findContours[] = "findContours";
static const char __pyx_k_is_inside_ij[] = "is_inside_ij";
static const char __pyx_k_nav_msgs_msg[] = "nav_msgs.msg";
static const char __pyx_k_pyx_checksum[] = "__pyx_checksum";
static const char __pyx_k_resolution_2[] = "resolution_";
static const char __pyx_k_stringsource[] = "stringsource";
static const char __pyx_k_OccupancyGrid[] = "OccupancyGrid";
static const char __pyx_k_THRESH_BINARY[] = "THRESH_BINARY";
static const char __pyx_k_connectedness[] = "connectedness";
static const char __pyx_k_flat_contours[] = "flat_contours";
static const char __pyx_k_pyx_getbuffer[] = "__pyx_getbuffer";
static const char __pyx_k_reduce_cython[] = "__reduce_cython__";
static const char __pyx_k_xy_to_floatij[] = "xy_to_floatij";
static const char __pyx_k_cset_occupancy[] = "cset_occupancy";
static const char __pyx_k_inverse_pose2d[] = "inverse_pose2d";
static const char __pyx_k_set_resolution[] = "set_resolution";
static const char __pyx_k_View_MemoryView[] = "View.MemoryView";
static const char __pyx_k_allocate_buffer[] = "allocate_buffer";
static const char __pyx_k_angle_increment[] = "angle_increment";
static const char __pyx_k_apply_tf_to_vel[] = "apply_tf_to_vel";
static const char __pyx_k_as_coarse_map2d[] = "as_coarse_map2d";
static const char __pyx_k_clip_if_outside[] = "clip_if_outside";
static const char __pyx_k_cset_resolution[] = "cset_resolution";
static const char __pyx_k_dtype_is_object[] = "dtype_is_object";
static const char __pyx_k_occupied_thresh[] = "occupied_thresh";
static const char __pyx_k_pyx_PickleError[] = "__pyx_PickleError";
static const char __pyx_k_setstate_cython[] = "__setstate_cython__";
static const char __pyx_k_thresh_occupied[] = "_thresh_occupied";
static const char __pyx_k_Array_must_be_2D[] = "Array must be 2D";
static const char __pyx_k_apply_tf_to_pose[] = "apply_tf_to_pose";
static const char __pyx_k_first_lidar_only[] = "first_lidar_only";
static const char __pyx_k_flatten_contours[] = "flatten_contours";
static const char __pyx_k_inscribed_radius[] = "inscribed_radius";
static const char __pyx_k_n_total_vertices[] = "n_total_vertices";
static const char __pyx_k_occupancy_shape0[] = "occupancy_shape0";
static const char __pyx_k_occupancy_shape1[] = "occupancy_shape1";
static const char __pyx_k_vel_in_map_frame[] = "vel_in_map_frame";
static const char __pyx_k_ascontiguousarray[] = "ascontiguousarray";
static const char __pyx_k_matplotlib_pyplot[] = "matplotlib.pyplot";
static const char __pyx_k_pyx_unpickle_Enum[] = "__pyx_unpickle_Enum";
static const char __pyx_k_thresh_occupied_2[] = "thresh_occupied";
static const char __pyx_k_visibility_map_ij[] = "visibility_map_ij";
static const char __pyx_k_cline_in_traceback[] = "cline_in_traceback";
static const char __pyx_k_strided_and_direct[] = "<strided and direct>";
static const char __pyx_k_CHAIN_APPROX_SIMPLE[] = "CHAIN_APPROX_SIMPLE";
static const char __pyx_k_NotImplementedError[] = "NotImplementedError";
static const char __pyx_k_cdirection_in_field[] = "cdirection_in_field";
static const char __pyx_k_pyx_unpickle_CMap2D[] = "__pyx_unpickle_CMap2D";
static const char __pyx_k_pose_2d_in_map_frame[] = "pose_2d_in_map_frame";
static const char __pyx_k_strided_and_indirect[] = "<strided and indirect>";
static const char __pyx_k_contiguous_and_direct[] = "<contiguous and direct>";
static const char __pyx_k_distance_transform_2d[] = "distance_transform_2d";
static const char __pyx_k_MemoryView_of_r_object[] = "<MemoryView of %r object>";
static const char __pyx_k_cv_version_unsupported[] = "cv version {} unsupported";
static const char __pyx_k_get_legs_pose2d_in_map[] = "get_legs_pose2d_in_map";
static const char __pyx_k_MemoryView_of_r_at_0x_x[] = "<MemoryView of %r at 0x%x>";
static const char __pyx_k_contiguous_and_indirect[] = "<contiguous and indirect>";
static const char __pyx_k_gridshow_locals_genexpr[] = "gridshow.<locals>.genexpr";
static const char __pyx_k_resolution_can_not_be_0[] = "resolution can not be 0";
static const char __pyx_k_CMap2D_ij_to_xy_line_451[] = "CMap2D.ij_to_xy (line 451)";
static const char __pyx_k_Cannot_index_with_type_s[] = "Cannot index with type '%s'";
static const char __pyx_k_distance_transform_2d_ij[] = "distance_transform_2d_ij";
static const char __pyx_k_path_from_dijkstra_field[] = "path_from_dijkstra_field";
static const char __pyx_k_render_contours_in_lidar[] = "render_contours_in_lidar";
static const char __pyx_k_Invalid_shape_in_axis_d_d[] = "Invalid shape in axis %d: %d.";
static const char __pyx_k_xy_should_be_of_shape_n_2[] = "xy should be of shape (n, 2)";
static const char __pyx_k_as_closed_obst_vertices_ij[] = "as_closed_obst_vertices_ij";
static const char __pyx_k_old_render_agents_in_lidar[] = "old_render_agents_in_lidar";
static const char __pyx_k_Loading_map_definition_from[] = "Loading map definition from {}";
static const char __pyx_k_itemsize_0_for_cython_array[] = "itemsize <= 0 for cython.array";
static const char __pyx_k_CMap2D_old_xy_to_ij_line_392[] = "CMap2D.old_xy_to_ij (line 392)";
static const char __pyx_k_unable_to_allocate_array_data[] = "unable to allocate array data.";
static const char __pyx_k_Goal_ij_not_inside_map_of_size[] = "Goal ij ({}, {}) not inside map of size ({}, {})";
static const char __pyx_k_for_each_x_y_coordinate_return[] = "\n        for each x y coordinate, return an i j cell index\n        Examples\n        --------\n        >>> a = Map2D()\n        >>> a.xy_to_ij(0.01, 0.02)\n        (1, 2)\n        >>> a.xy_to_ij([0.01, 0.02])\n        array([1, 2])\n        >>> a.xy_to_ij([[0.01, 0.02], [-0.01, 0.]])\n        array([[1, 2],\n               [0, 0]])\n        ";
static const char __pyx_k_strided_and_direct_or_indirect[] = "<strided and direct or indirect>";
static const char __pyx_k_Examples_a_Map2D_a_ij_to_xy_1_2[] = "\n        Examples\n        --------\n        >>> a = Map2D()\n        >>> a.ij_to_xy(1, 2)\n        (0.01, 0.02)\n        >>> a.ij_to_xy([1,2])\n        array([0.01, 0.02])\n        >>> a.ij_to_xy([[1,2], [-1, 0]])\n        array([[ 0.01,  0.02],\n               [-0.01,  0.  ]])\n        ";
static const char __pyx_k_invalid_value_for_connectedness[] = "invalid value {} for connectedness passed as argument";
static const char __pyx_k_numpy_core_multiarray_failed_to[] = "numpy.core.multiarray failed to import";
static const char __pyx_k_Buffer_view_does_not_expose_stri[] = "Buffer view does not expose strides";
static const char __pyx_k_Can_only_create_a_buffer_that_is[] = "Can only create a buffer that is contiguous in memory.";
static const char __pyx_k_Cannot_assign_to_read_only_memor[] = "Cannot assign to read-only memoryview";
static const char __pyx_k_Cannot_create_writable_memory_vi[] = "Cannot create writable memory view from read-only memoryview";
static const char __pyx_k_Empty_shape_tuple_for_cython_arr[] = "Empty shape tuple for cython.array";
static const char __pyx_k_Incompatible_checksums_s_vs_0x83[] = "Incompatible checksums (%s vs 0x83c8ec2 = (HUGE_, _occupancy, _thresh_occupied, occupancy_shape0, occupancy_shape1, origin, resolution_, thresh_free))";
static const char __pyx_k_Incompatible_checksums_s_vs_0xb0[] = "Incompatible checksums (%s vs 0xb068931 = (name))";
static const char __pyx_k_Indirect_dimensions_not_supporte[] = "Indirect dimensions not supported";
static const char __pyx_k_Invalid_mode_expected_c_or_fortr[] = "Invalid mode, expected 'c' or 'fortran', got %s";
static const char __pyx_k_Map_definition_found_Loading_map[] = "Map definition found. Loading map from {}";
static const char __pyx_k_Map_files_with_a_rotated_frame_o[] = "Map files with a rotated frame (origin.theta != 0) are not supported. Setting the value to 0 in the MAP_NAME.yaml file is one way to resolve this.";
static const char __pyx_k_Out_of_bounds_on_buffer_access_a[] = "Out of bounds on buffer access (axis %d)";
static const char __pyx_k_Unable_to_convert_item_to_object[] = "Unable to convert item to object";
static const char __pyx_k_Warning_this_code_should_be_unre[] = "Warning: this code should be unreachable";
static const char __pyx_k_angles_expected_to_be_ordered_fr[] = "angles expected to be ordered from min to max.";
static const char __pyx_k_args_empty_contours_must_be_supp[] = "args empty. contours must be supplied as first argument.";
static const char __pyx_k_got_differing_extents_in_dimensi[] = "got differing extents in dimension %d (got %d and %d)";
static const char __pyx_k_no_default___reduce___due_to_non[] = "no default __reduce__ due to non-trivial __cinit__";
static const char __pyx_k_numpy_core_umath_failed_to_impor[] = "numpy.core.umath failed to import";
static const char __pyx_k_unable_to_allocate_shape_and_str[] = "unable to allocate shape and strides.";
static PyObject *__pyx_kp_s_3;
static PyObject *__pyx_kp_s_4;
static PyObject *__pyx_n_s_ASCII;
static PyObject *__pyx_kp_s_Array_must_be_2D;
static PyObject *__pyx_kp_s_Buffer_view_does_not_expose_stri;
static PyObject *__pyx_n_s_CHAIN_APPROX_SIMPLE;
static PyObject *__pyx_n_s_CMap2D;
static PyObject *__pyx_kp_u_CMap2D_ij_to_xy_line_451;
static PyObject *__pyx_kp_u_CMap2D_old_xy_to_ij_line_392;
static PyObject *__pyx_kp_s_CMap2D_pyx;
static PyObject *__pyx_n_s_CSimAgent;
static PyObject *__pyx_kp_s_Can_only_create_a_buffer_that_is;
static PyObject *__pyx_kp_s_Cannot_assign_to_read_only_memor;
static PyObject *__pyx_kp_s_Cannot_create_writable_memory_vi;
static PyObject *__pyx_kp_s_Cannot_index_with_type_s;
static PyObject *__pyx_n_s_Ellipsis;
static PyObject *__pyx_kp_s_Empty_shape_tuple_for_cython_arr;
static PyObject *__pyx_kp_u_Examples_a_Map2D_a_ij_to_xy_1_2;
static PyObject *__pyx_kp_s_Goal_ij_not_inside_map_of_size;
static PyObject *__pyx_n_s_Greys;
static PyObject *__pyx_n_s_HUGE;
static PyObject *__pyx_n_s_ImportError;
static PyObject *__pyx_kp_s_Incompatible_checksums_s_vs_0x83;
static PyObject *__pyx_kp_s_Incompatible_checksums_s_vs_0xb0;
static PyObject *__pyx_n_s_IndexError;
static PyObject *__pyx_kp_s_Indirect_dimensions_not_supporte;
static PyObject *__pyx_kp_s_Invalid_mode_expected_c_or_fortr;
static PyObject *__pyx_kp_s_Invalid_shape_in_axis_d_d;
static PyObject *__pyx_n_s_Loader;
static PyObject *__pyx_kp_s_Loading_map_definition_from;
static PyObject *__pyx_kp_s_Map_definition_found_Loading_map;
static PyObject *__pyx_kp_s_Map_files_with_a_rotated_frame_o;
static PyObject *__pyx_n_s_MemoryError;
static PyObject *__pyx_kp_s_MemoryView_of_r_at_0x_x;
static PyObject *__pyx_kp_s_MemoryView_of_r_object;
static PyObject *__pyx_n_s_NotImplementedError;
static PyObject *__pyx_n_b_O;
static PyObject *__pyx_n_s_OccupancyGrid;
static PyObject *__pyx_kp_s_Out_of_bounds_on_buffer_access_a;
static PyObject *__pyx_n_s_PickleError;
static PyObject *__pyx_n_s_RETR_TREE;
static PyObject *__pyx_n_s_SafeLoader;
static PyObject *__pyx_n_s_T;
static PyObject *__pyx_n_s_THRESH_BINARY;
static PyObject *__pyx_n_s_TypeError;
static PyObject *__pyx_kp_s_Unable_to_convert_item_to_object;
static PyObject *__pyx_n_s_ValueError;
static PyObject *__pyx_n_s_View_MemoryView;
static PyObject *__pyx_kp_s_Warning_this_code_should_be_unre;
static PyObject *__pyx_kp_s__24;
static PyObject *__pyx_n_s_agents;
static PyObject *__pyx_n_s_allocate_buffer;
static PyObject *__pyx_n_s_angle_increment;
static PyObject *__pyx_n_s_angle_max;
static PyObject *__pyx_n_s_angle_min;
static PyObject *__pyx_n_s_angles;
static PyObject *__pyx_kp_s_angles_expected_to_be_ordered_fr;
static PyObject *__pyx_n_s_append;
static PyObject *__pyx_n_s_apply_tf;
static PyObject *__pyx_n_s_apply_tf_to_pose;
static PyObject *__pyx_n_s_apply_tf_to_vel;
static PyObject *__pyx_n_s_arange;
static PyObject *__pyx_n_s_arccos;
static PyObject *__pyx_n_s_arctan2;
static PyObject *__pyx_n_s_args;
static PyObject *__pyx_kp_s_args_empty_contours_must_be_supp;
static PyObject *__pyx_n_s_arr;
static PyObject *__pyx_n_s_array;
static PyObject *__pyx_n_s_as_closed_obst_vertices_ij;
static PyObject *__pyx_n_s_as_coarse_map2d;
static PyObject *__pyx_n_s_as_sdf;
static PyObject *__pyx_n_s_as_sdf_ij;
static PyObject *__pyx_n_s_ascontiguousarray;
static PyObject *__pyx_n_s_astype;
static PyObject *__pyx_n_s_axis;
static PyObject *__pyx_n_s_base;
static PyObject *__pyx_n_s_c;
static PyObject *__pyx_n_u_c;
static PyObject *__pyx_n_s_cdirection_in_field;
static PyObject *__pyx_n_s_ceil;
static PyObject *__pyx_n_s_class;
static PyObject *__pyx_n_s_cline_in_traceback;
static PyObject *__pyx_n_s_clip_if_outside;
static PyObject *__pyx_n_s_close;
static PyObject *__pyx_n_s_cm;
static PyObject *__pyx_n_s_cmap;
static PyObject *__pyx_n_s_concatenate;
static PyObject *__pyx_n_s_connectedness;
static PyObject *__pyx_kp_s_contiguous_and_direct;
static PyObject *__pyx_kp_s_contiguous_and_indirect;
static PyObject *__pyx_n_s_contours;
static PyObject *__pyx_n_s_copy;
static PyObject *__pyx_n_s_cos;
static PyObject *__pyx_n_s_costmap;
static PyObject *__pyx_n_s_cset_occupancy;
static PyObject *__pyx_n_s_cset_resolution;
static PyObject *__pyx_n_s_cv2;
static PyObject *__pyx_kp_s_cv_version_unsupported;
static PyObject *__pyx_n_s_data;
static PyObject *__pyx_n_s_dict;
static PyObject *__pyx_n_s_dilate;
static PyObject *__pyx_n_s_distance_transform_2d;
static PyObject *__pyx_n_s_distance_transform_2d_ij;
static PyObject *__pyx_n_s_dtype;
static PyObject *__pyx_n_s_dtype_is_object;
static PyObject *__pyx_n_s_encode;
static PyObject *__pyx_n_s_end;
static PyObject *__pyx_n_s_enter;
static PyObject *__pyx_n_s_enumerate;
static PyObject *__pyx_n_s_error;
static PyObject *__pyx_n_s_exit;
static PyObject *__pyx_n_s_expanduser;
static PyObject *__pyx_n_s_extra_costs;
static PyObject *__pyx_n_s_fast_2f_norm;
static PyObject *__pyx_n_s_fast_3f_clip;
static PyObject *__pyx_n_s_field;
static PyObject *__pyx_n_s_file;
static PyObject *__pyx_n_s_findContours;
static PyObject *__pyx_n_s_first;
static PyObject *__pyx_n_s_first_lidar_only;
static PyObject *__pyx_n_s_flags;
static PyObject *__pyx_n_s_flat_contours;
static PyObject *__pyx_n_s_flatten;
static PyObject *__pyx_n_s_flatten_contours;
static PyObject *__pyx_n_s_float32;
static PyObject *__pyx_n_s_folder;
static PyObject *__pyx_kp_u_for_each_x_y_coordinate_return;
static PyObject *__pyx_n_s_format;
static PyObject *__pyx_n_s_fortran;
static PyObject *__pyx_n_u_fortran;
static PyObject *__pyx_n_s_fov;
static PyObject *__pyx_n_s_frame_id;
static PyObject *__pyx_n_s_free_thresh;
static PyObject *__pyx_n_s_functools;
static PyObject *__pyx_n_s_genexpr;
static PyObject *__pyx_n_s_get_legs_pose2d_in_map;
static PyObject *__pyx_n_s_getstate;
static PyObject *__pyx_n_s_goal_ij;
static PyObject *__pyx_kp_s_got_differing_extents_in_dimensi;
static PyObject *__pyx_n_s_gridshow;
static PyObject *__pyx_n_s_gridshow_locals_genexpr;
static PyObject *__pyx_n_s_header;
static PyObject *__pyx_n_s_height;
static PyObject *__pyx_n_s_hstack;
static PyObject *__pyx_n_s_i;
static PyObject *__pyx_n_s_id;
static PyObject *__pyx_n_s_idx;
static PyObject *__pyx_n_s_ij;
static PyObject *__pyx_n_s_ij_to_xy;
static PyObject *__pyx_n_s_image;
static PyObject *__pyx_n_s_import;
static PyObject *__pyx_n_s_imread;
static PyObject *__pyx_n_s_imshow;
static PyObject *__pyx_n_s_inf;
static PyObject *__pyx_n_s_info;
static PyObject *__pyx_n_s_inscribed_radius;
static PyObject *__pyx_n_s_int64;
static PyObject *__pyx_n_s_int8;
static PyObject *__pyx_n_s_inv_th;
static PyObject *__pyx_n_s_inv_value;
static PyObject *__pyx_n_s_inv_xy;
static PyObject *__pyx_kp_s_invalid_value_for_connectedness;
static PyObject *__pyx_n_s_inverse_pose2d;
static PyObject *__pyx_n_s_is_inside_ij;
static PyObject *__pyx_n_s_isnan;
static PyObject *__pyx_n_s_itemsize;
static PyObject *__pyx_kp_s_itemsize_0_for_cython_array;
static PyObject *__pyx_n_s_iterations;
static PyObject *__pyx_n_s_j;
static PyObject *__pyx_n_s_join;
static PyObject *__pyx_n_s_kwargs;
static PyObject *__pyx_n_s_leg_radius;
static PyObject *__pyx_n_s_legs;
static PyObject *__pyx_n_s_lidar_ij;
static PyObject *__pyx_n_s_lidar_xy;
static PyObject *__pyx_n_s_limits;
static PyObject *__pyx_n_s_linalg;
static PyObject *__pyx_n_s_linspace;
static PyObject *__pyx_n_s_load;
static PyObject *__pyx_n_s_logical_and;
static PyObject *__pyx_n_s_lower;
static PyObject *__pyx_n_s_main;
static PyObject *__pyx_n_s_mask;
static PyObject *__pyx_n_s_math;
static PyObject *__pyx_n_s_matmul;
static PyObject *__pyx_n_s_matplotlib;
static PyObject *__pyx_n_s_matplotlib_pyplot;
static PyObject *__pyx_n_s_max;
static PyObject *__pyx_n_s_max3f;
static PyObject *__pyx_n_s_maximum;
static PyObject *__pyx_n_s_memview;
static PyObject *__pyx_n_s_min;
static PyObject *__pyx_n_s_min3f;
static PyObject *__pyx_n_s_mode;
static PyObject *__pyx_n_s_n;
static PyObject *__pyx_n_s_n_total_vertices;
static PyObject *__pyx_n_s_name;
static PyObject *__pyx_n_s_name_2;
static PyObject *__pyx_n_s_nav_msgs_msg;
static PyObject *__pyx_n_s_ndim;
static PyObject *__pyx_n_s_new;
static PyObject *__pyx_kp_s_no_default___reduce___due_to_non;
static PyObject *__pyx_n_s_norm;
static PyObject *__pyx_n_s_norm_dir;
static PyObject *__pyx_n_s_np;
static PyObject *__pyx_n_s_numpy;
static PyObject *__pyx_kp_s_numpy_core_multiarray_failed_to;
static PyObject *__pyx_kp_s_numpy_core_umath_failed_to_impor;
static PyObject *__pyx_n_s_obj;
static PyObject *__pyx_n_s_observer_ij;
static PyObject *__pyx_n_s_occupancy;
static PyObject *__pyx_n_s_occupancy_shape0;
static PyObject *__pyx_n_s_occupancy_shape1;
static PyObject *__pyx_n_s_occupied_thresh;
static PyObject *__pyx_n_s_old_render_agents_in_lidar;
static PyObject *__pyx_n_s_ones;
static PyObject *__pyx_n_s_ones_like;
static PyObject *__pyx_n_s_open;
static PyObject *__pyx_n_s_origin;
static PyObject *__pyx_n_s_os;
static PyObject *__pyx_n_s_pack;
static PyObject *__pyx_n_s_path;
static PyObject *__pyx_n_s_path_from_dijkstra_field;
static PyObject *__pyx_n_s_pi;
static PyObject *__pyx_n_s_pickle;
static PyObject *__pyx_n_s_plot;
static PyObject *__pyx_n_s_plt;
static PyObject *__pyx_n_s_polygon;
static PyObject *__pyx_n_s_pos_ij;
static PyObject *__pyx_n_s_pose;
static PyObject *__pyx_n_s_pose2d;
static PyObject *__pyx_n_s_pose_2d_in_map_frame;
static PyObject *__pyx_n_s_position;
static PyObject *__pyx_n_s_print;
static PyObject *__pyx_n_s_prod;
static PyObject *__pyx_n_s_pyplot;
static PyObject *__pyx_n_s_pyx_PickleError;
static PyObject *__pyx_n_s_pyx_checksum;
static PyObject *__pyx_n_s_pyx_getbuffer;
static PyObject *__pyx_n_s_pyx_result;
static PyObject *__pyx_n_s_pyx_state;
static PyObject *__pyx_n_s_pyx_type;
static PyObject *__pyx_n_s_pyx_unpickle_CMap2D;
static PyObject *__pyx_n_s_pyx_unpickle_Enum;
static PyObject *__pyx_n_s_pyx_vtable;
static PyObject *__pyx_n_s_radius;
static PyObject *__pyx_n_s_randint;
static PyObject *__pyx_n_s_random;
static PyObject *__pyx_n_s_range;
static PyObject *__pyx_n_s_ranges;
static PyObject *__pyx_n_s_ravel;
static PyObject *__pyx_n_s_raytracer;
static PyObject *__pyx_n_s_reduce;
static PyObject *__pyx_n_s_reduce_2;
static PyObject *__pyx_n_s_reduce_cython;
static PyObject *__pyx_n_s_reduce_ex;
static PyObject *__pyx_n_s_render_contours_in_lidar;
static PyObject *__pyx_n_s_reshape;
static PyObject *__pyx_n_s_resolution;
static PyObject *__pyx_n_s_resolution_2;
static PyObject *__pyx_kp_s_resolution_can_not_be_0;
static PyObject *__pyx_n_s_result;
static PyObject *__pyx_n_s_rotate;
static PyObject *__pyx_n_s_rotmat;
static PyObject *__pyx_n_s_scan;
static PyObject *__pyx_n_s_send;
static PyObject *__pyx_n_s_set_resolution;
static PyObject *__pyx_n_s_setstate;
static PyObject *__pyx_n_s_setstate_cython;
static PyObject *__pyx_n_s_shape;
static PyObject *__pyx_n_s_silent;
static PyObject *__pyx_n_s_sin;
static PyObject *__pyx_n_s_size;
static PyObject *__pyx_n_s_speeds;
static PyObject *__pyx_n_s_split;
static PyObject *__pyx_n_s_sqrt;
static PyObject *__pyx_n_s_stamp;
static PyObject *__pyx_n_s_start;
static PyObject *__pyx_n_s_state;
static PyObject *__pyx_n_s_step;
static PyObject *__pyx_n_s_stop;
static PyObject *__pyx_kp_s_strided_and_direct;
static PyObject *__pyx_kp_s_strided_and_direct_or_indirect;
static PyObject *__pyx_kp_s_strided_and_indirect;
static PyObject *__pyx_kp_s_stringsource;
static PyObject *__pyx_n_s_struct;
static PyObject *__pyx_n_s_test;
static PyObject *__pyx_n_s_th;
static PyObject *__pyx_n_s_thresh_free;
static PyObject *__pyx_n_s_thresh_occupied;
static PyObject *__pyx_n_s_thresh_occupied_2;
static PyObject *__pyx_n_s_threshold;
static PyObject *__pyx_n_s_throw;
static PyObject *__pyx_n_s_trunk;
static PyObject *__pyx_n_s_type;
static PyObject *__pyx_n_s_type_2;
static PyObject *__pyx_n_s_uint8;
static PyObject *__pyx_kp_s_unable_to_allocate_array_data;
static PyObject *__pyx_kp_s_unable_to_allocate_shape_and_str;
static PyObject *__pyx_n_s_unpack;
static PyObject *__pyx_n_s_update;
static PyObject *__pyx_n_s_v;
static PyObject *__pyx_n_s_vec2f;
static PyObject *__pyx_n_s_vec3f;
static PyObject *__pyx_n_s_vel;
static PyObject *__pyx_n_s_vel_in_map_frame;
static PyObject *__pyx_n_s_version;
static PyObject *__pyx_n_s_vertex;
static PyObject *__pyx_n_s_visibility_map_ij;
static PyObject *__pyx_n_s_vstack;
static PyObject *__pyx_n_s_where;
static PyObject *__pyx_n_s_width;
static PyObject *__pyx_n_s_x;
static PyObject *__pyx_n_s_xy;
static PyObject *__pyx_kp_s_xy_should_be_of_shape_n_2;
static PyObject *__pyx_n_s_xy_to_floatij;
static PyObject *__pyx_n_s_xy_to_ij;
static PyObject *__pyx_n_s_xythetas;
static PyObject *__pyx_n_s_y;
static PyObject *__pyx_kp_s_yaml;
static PyObject *__pyx_n_s_yaml_2;
static PyObject *__pyx_n_s_zeros;
static PyObject *__pyx_n_s_zeros_like;
static PyObject *__pyx_n_s_zip;
static PyObject *__pyx_pf_6CMap2D_8gridshow_genexpr(PyObject *__pyx_self); /* proto */
static PyObject *__pyx_pf_6CMap2D_gridshow(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_args, PyObject *__pyx_v_kwargs); /* proto */
static int __pyx_pf_6CMap2D_6CMap2D___init__(struct __pyx_obj_6CMap2D_CMap2D *__pyx_v_self, PyObject *__pyx_v_folder, PyObject *__pyx_v_name, PyObject *__pyx_v_silent); /* proto */
static PyObject *__pyx_pf_6CMap2D_6CMap2D_2empty_like(struct __pyx_obj_6CMap2D_CMap2D *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_6CMap2D_6CMap2D_4from_msg(struct __pyx_obj_6CMap2D_CMap2D *__pyx_v_self, PyObject *__pyx_v_msg); /* proto */
static PyObject *__pyx_pf_6CMap2D_6CMap2D_6from_scan(struct __pyx_obj_6CMap2D_CMap2D *__pyx_v_self, PyObject *__pyx_v_scan, PyObject *__pyx_v_resolution, PyObject *__pyx_v_limits, PyObject *__pyx_v_inscribed_radius); /* proto */
static PyObject *__pyx_pf_6CMap2D_6CMap2D_8from_closed_obst_vertices(struct __pyx_obj_6CMap2D_CMap2D *__pyx_v_self, PyObject *__pyx_v_contours, PyObject *__pyx_v_resolution); /* proto */
static PyObject *__pyx_pf_6CMap2D_6CMap2D_10serialize(struct __pyx_obj_6CMap2D_CMap2D *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_6CMap2D_6CMap2D_12unserialize(struct __pyx_obj_6CMap2D_CMap2D *__pyx_v_self, PyObject *__pyx_v_dict_); /* proto */
static PyObject *__pyx_pf_6CMap2D_6CMap2D_14cset_occupancy(struct __pyx_obj_6CMap2D_CMap2D *__pyx_v_self, __Pyx_memviewslice __pyx_v_occupancy); /* proto */
static PyObject *__pyx_pf_6CMap2D_6CMap2D_16cset_resolution(struct __pyx_obj_6CMap2D_CMap2D *__pyx_v_self, float __pyx_v_res); /* proto */
static PyObject *__pyx_pf_6CMap2D_6CMap2D_18set_resolution(struct __pyx_obj_6CMap2D_CMap2D *__pyx_v_self, PyObject *__pyx_v_res); /* proto */
static PyObject *__pyx_pf_6CMap2D_6CMap2D_20resolution(struct __pyx_obj_6CMap2D_CMap2D *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_6CMap2D_6CMap2D_22thresh_occupied(struct __pyx_obj_6CMap2D_CMap2D *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_6CMap2D_6CMap2D_24as_occupied_points_ij(struct __pyx_obj_6CMap2D_CMap2D *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_6CMap2D_6CMap2D_26as_closed_obst_vertices(struct __pyx_obj_6CMap2D_CMap2D *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_6CMap2D_6CMap2D_28as_closed_obst_vertices_ij(struct __pyx_obj_6CMap2D_CMap2D *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_6CMap2D_6CMap2D_30plot_contours(CYTHON_UNUSED struct __pyx_obj_6CMap2D_CMap2D *__pyx_v_self, PyObject *__pyx_v_args, PyObject *__pyx_v_kwargs); /* proto */
static PyObject *__pyx_pf_6CMap2D_6CMap2D_32distance_transform_2d(struct __pyx_obj_6CMap2D_CMap2D *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_6CMap2D_6CMap2D_34distance_transform_2d_ij(struct __pyx_obj_6CMap2D_CMap2D *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_6CMap2D_6CMap2D_36as_tsdf(struct __pyx_obj_6CMap2D_CMap2D *__pyx_v_self, PyObject *__pyx_v_max_dist_m); /* proto */
static PyObject *__pyx_pf_6CMap2D_6CMap2D_38xy_to_ij(struct __pyx_obj_6CMap2D_CMap2D *__pyx_v_self, PyObject *__pyx_v_xy, PyObject *__pyx_v_clip_if_outside); /* proto */
static PyObject *__pyx_pf_6CMap2D_6CMap2D_40xy_to_floatij(struct __pyx_obj_6CMap2D_CMap2D *__pyx_v_self, PyObject *__pyx_v_xy, PyObject *__pyx_v_clip_if_outside); /* proto */
static PyObject *__pyx_pf_6CMap2D_6CMap2D_42old_xy_to_ij(struct __pyx_obj_6CMap2D_CMap2D *__pyx_v_self, PyObject *__pyx_v_x, PyObject *__pyx_v_y, PyObject *__pyx_v_clip_if_outside); /* proto */
static PyObject *__pyx_pf_6CMap2D_6CMap2D_44ij_to_xy(struct __pyx_obj_6CMap2D_CMap2D *__pyx_v_self, PyObject *__pyx_v_i, PyObject *__pyx_v_j); /* proto */
static PyObject *__pyx_pf_6CMap2D_6CMap2D_46is_inside_ij(struct __pyx_obj_6CMap2D_CMap2D *__pyx_v_self, PyObject *__pyx_v_ij); /* proto */
static PyObject *__pyx_pf_6CMap2D_6CMap2D_48old_is_inside_ij(struct __pyx_obj_6CMap2D_CMap2D *__pyx_v_self, PyObject *__pyx_v_i, PyObject *__pyx_v_j); /* proto */
static PyObject *__pyx_pf_6CMap2D_6CMap2D_50origin_xy(struct __pyx_obj_6CMap2D_CMap2D *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_6CMap2D_6CMap2D_52occupancy(struct __pyx_obj_6CMap2D_CMap2D *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_6CMap2D_6CMap2D_54occupancy_T(struct __pyx_obj_6CMap2D_CMap2D *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_6CMap2D_6CMap2D_56as_sdf(struct __pyx_obj_6CMap2D_CMap2D *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v_raytracer); /* proto */
static PyObject *__pyx_pf_6CMap2D_6CMap2D_58as_sdf_ij(struct __pyx_obj_6CMap2D_CMap2D *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v_raytracer); /* proto */
static PyObject *__pyx_pf_6CMap2D_6CMap2D_60as_coarse_map2d(struct __pyx_obj_6CMap2D_CMap2D *__pyx_v_self, PyObject *__pyx_v_n); /* proto */
static PyObject *__pyx_pf_6CMap2D_6CMap2D_62direction_in_field(struct __pyx_obj_6CMap2D_CMap2D *__pyx_v_self, PyObject *__pyx_v_pos_ij, PyObject *__pyx_v_field); /* proto */
static PyObject *__pyx_pf_6CMap2D_6CMap2D_64cdirection_in_field(struct __pyx_obj_6CMap2D_CMap2D *__pyx_v_self, __Pyx_memviewslice __pyx_v_ij, __Pyx_memviewslice __pyx_v_field, __Pyx_memviewslice __pyx_v_norm_dir); /* proto */
static PyObject *__pyx_pf_6CMap2D_6CMap2D_66fastmarch(struct __pyx_obj_6CMap2D_CMap2D *__pyx_v_self, PyObject *__pyx_v_goal_ij, PyObject *__pyx_v_mask, PyObject *__pyx_v_speeds); /* proto */
static PyObject *__pyx_pf_6CMap2D_6CMap2D_68dijkstra(struct __pyx_obj_6CMap2D_CMap2D *__pyx_v_self, PyObject *__pyx_v_goal_ij, PyObject *__pyx_v_mask, PyObject *__pyx_v_extra_costs, PyObject *__pyx_v_inv_value, PyObject *__pyx_v_connectedness); /* proto */
static PyObject *__pyx_pf_6CMap2D_6CMap2D_70old_render_agents_in_lidar(struct __pyx_obj_6CMap2D_CMap2D *__pyx_v_self, PyObject *__pyx_v_ranges, PyObject *__pyx_v_angles, PyObject *__pyx_v_agents, PyObject *__pyx_v_lidar_ij); /* proto */
static PyObject *__pyx_pf_6CMap2D_6CMap2D_72render_agents_in_many_lidars(struct __pyx_obj_6CMap2D_CMap2D *__pyx_v_self, PyObject *__pyx_v_ranges, PyObject *__pyx_v_xythetas, PyObject *__pyx_v_agents, PyObject *__pyx_v_first_lidar_only); /* proto */
static PyObject *__pyx_pf_6CMap2D_6CMap2D_74render_agents_in_lidar(struct __pyx_obj_6CMap2D_CMap2D *__pyx_v_self, PyObject *__pyx_v_ranges, PyObject *__pyx_v_angles, PyObject *__pyx_v_agents, PyObject *__pyx_v_lidar_ij); /* proto */
static PyObject *__pyx_pf_6CMap2D_6CMap2D_76visibility_map(struct __pyx_obj_6CMap2D_CMap2D *__pyx_v_self, PyObject *__pyx_v_observer_ij, PyObject *__pyx_v_fov); /* proto */
static PyObject *__pyx_pf_6CMap2D_6CMap2D_78visibility_map_ij(struct __pyx_obj_6CMap2D_CMap2D *__pyx_v_self, PyObject *__pyx_v_observer_ij, PyObject *__pyx_v_fov); /* proto */
static PyObject *__pyx_pf_6CMap2D_6CMap2D_80numpy_to_occupancy_grid_msg(struct __pyx_obj_6CMap2D_CMap2D *__pyx_v_self, PyObject *__pyx_v_arr, PyObject *__pyx_v_frame_id, PyObject *__pyx_v_stamp); /* proto */
static PyObject *__pyx_pf_6CMap2D_6CMap2D_82get_extent_xy(struct __pyx_obj_6CMap2D_CMap2D *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_6CMap2D_6CMap2D_10_occupancy___get__(struct __pyx_obj_6CMap2D_CMap2D *__pyx_v_self); /* proto */
static int __pyx_pf_6CMap2D_6CMap2D_10_occupancy_2__set__(struct __pyx_obj_6CMap2D_CMap2D *__pyx_v_self, PyObject *__pyx_v_value); /* proto */
static PyObject *__pyx_pf_6CMap2D_6CMap2D_6origin___get__(struct __pyx_obj_6CMap2D_CMap2D *__pyx_v_self); /* proto */
static int __pyx_pf_6CMap2D_6CMap2D_6origin_2__set__(struct __pyx_obj_6CMap2D_CMap2D *__pyx_v_self, PyObject *__pyx_v_value); /* proto */
static PyObject *__pyx_pf_6CMap2D_6CMap2D_84__reduce_cython__(struct __pyx_obj_6CMap2D_CMap2D *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_6CMap2D_6CMap2D_86__setstate_cython__(struct __pyx_obj_6CMap2D_CMap2D *__pyx_v_self, PyObject *__pyx_v___pyx_state); /* proto */
static int __pyx_pf_6CMap2D_9CSimAgent___cinit__(struct __pyx_obj_6CMap2D_CSimAgent *__pyx_v_self, PyObject *__pyx_v_pose, PyObject *__pyx_v_state, PyObject *__pyx_v_vel, PyObject *__pyx_v_type_, PyObject *__pyx_v_radius); /* proto */
static PyObject *__pyx_pf_6CMap2D_9CSimAgent_2get_legs_pose2d_in_map(struct __pyx_obj_6CMap2D_CSimAgent *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_6CMap2D_9CSimAgent_4old_get_legs_pose2d_in_map(struct __pyx_obj_6CMap2D_CSimAgent *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_6CMap2D_9CSimAgent_20pose_2d_in_map_frame___get__(struct __pyx_obj_6CMap2D_CSimAgent *__pyx_v_self); /* proto */
static int __pyx_pf_6CMap2D_9CSimAgent_20pose_2d_in_map_frame_2__set__(struct __pyx_obj_6CMap2D_CSimAgent *__pyx_v_self, PyObject *__pyx_v_value); /* proto */
static PyObject *__pyx_pf_6CMap2D_9CSimAgent_16vel_in_map_frame___get__(struct __pyx_obj_6CMap2D_CSimAgent *__pyx_v_self); /* proto */
static int __pyx_pf_6CMap2D_9CSimAgent_16vel_in_map_frame_2__set__(struct __pyx_obj_6CMap2D_CSimAgent *__pyx_v_self, PyObject *__pyx_v_value); /* proto */
static PyObject *__pyx_pf_6CMap2D_9CSimAgent_4type___get__(struct __pyx_obj_6CMap2D_CSimAgent *__pyx_v_self); /* proto */
static int __pyx_pf_6CMap2D_9CSimAgent_4type_2__set__(struct __pyx_obj_6CMap2D_CSimAgent *__pyx_v_self, PyObject *__pyx_v_value); /* proto */
static int __pyx_pf_6CMap2D_9CSimAgent_4type_4__del__(struct __pyx_obj_6CMap2D_CSimAgent *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_6CMap2D_9CSimAgent_5state___get__(struct __pyx_obj_6CMap2D_CSimAgent *__pyx_v_self); /* proto */
static int __pyx_pf_6CMap2D_9CSimAgent_5state_2__set__(struct __pyx_obj_6CMap2D_CSimAgent *__pyx_v_self, PyObject *__pyx_v_value); /* proto */
static PyObject *__pyx_pf_6CMap2D_9CSimAgent_10leg_radius___get__(struct __pyx_obj_6CMap2D_CSimAgent *__pyx_v_self); /* proto */
static int __pyx_pf_6CMap2D_9CSimAgent_10leg_radius_2__set__(struct __pyx_obj_6CMap2D_CSimAgent *__pyx_v_self, PyObject *__pyx_v_value); /* proto */
static PyObject *__pyx_pf_6CMap2D_9CSimAgent_6__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_6CMap2D_CSimAgent *__pyx_v_self); /* proto */
static PyObject *__pyx_pf_6CMap2D_9CSimAgent_8__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_6CMap2D_CSimAgent *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */
static PyObject *__pyx_pf_6CMap2D_2flatten_contours(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_contours); /* proto */
static PyObject *__pyx_pf_6CMap2D_4render_contours_in_lidar(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_ranges, PyObject *__pyx_v_angles, PyObject *__pyx_v_flat_contours, PyObject *__pyx_v_lidar_xy); /* proto */
static PyObject *__pyx_pf_6CMap2D_6apply_tf(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_x, PyObject *__pyx_v_pose2d); /* proto */
static PyObject *__pyx_pf_6CMap2D_8apply_tf_to_pose(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_pose, PyObject *__pyx_v_pose2d); /* proto */
static PyObject *__pyx_pf_6CMap2D_10apply_tf_to_vel(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_vel, PyObject *__pyx_v_pose2d); /* proto */
static PyObject *__pyx_pf_6CMap2D_12rotate(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_x, PyObject *__pyx_v_th); /* proto */
static PyObject *__pyx_pf_6CMap2D_14inverse_pose2d(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_pose2d); /* proto */
static PyObject *__pyx_pf_6CMap2D_16path_from_dijkstra_field(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_costmap, PyObject *__pyx_v_first, PyObject *__pyx_v_connectedness); /* proto */
static PyObject *__pyx_pf_6CMap2D_18fast_2f_norm(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_vec2f); /* proto */
static PyObject *__pyx_pf_6CMap2D_20fast_3f_clip(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_vec3f, PyObject *__pyx_v_min3f, PyObject *__pyx_v_max3f); /* proto */
static PyObject *__pyx_pf_6CMap2D_22__pyx_unpickle_CMap2D(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v___pyx_type, long __pyx_v___pyx_checksum, PyObject *__pyx_v___pyx_state); /* proto */
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static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array_2__getbuffer__(struct __pyx_array_obj *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /* proto */
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static PyObject *__pyx_array___pyx_pf_15View_dot_MemoryView_5array_8__getattr__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_attr); /* proto */
static PyObject *__pyx_array___pyx_pf_15View_dot_MemoryView_5array_10__getitem__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_item); /* proto */
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static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_18is_f_contig(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */
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      __pyx_t_13 = 1;
      __pyx_v_oj = (*((__pyx_t_5numpy_int64_t *) ( /* dim=1 */ ((char *) (((__pyx_t_5numpy_int64_t *) ( /* dim=0 */ (__pyx_v_neighbor_offsets.data + __pyx_t_24 * __pyx_v_neighbor_offsets.strides[0]) )) + __pyx_t_13)) )));

      /* "CMap2D.pyx":729
 *                 oi = neighbor_offsets[n, 0]
 *                 oj = neighbor_offsets[n, 1]
 *                 neighbor_idxi = currenti + oi             # <<<<<<<<<<<<<<
 *                 neighbor_idxj = currentj + oj
 *                 # exclude forbidden/explored areas of the grid
 */
      __pyx_v_neighbor_idxi = (__pyx_v_currenti + __pyx_v_oi);

      /* "CMap2D.pyx":730
 *                 oj = neighbor_offsets[n, 1]
 *                 neighbor_idxi = currenti + oi
 *                 neighbor_idxj = currentj + oj             # <<<<<<<<<<<<<<
 *                 # exclude forbidden/explored areas of the grid
 *                 if neighbor_idxi < 0:
 */
      __pyx_v_neighbor_idxj = (__pyx_v_currentj + __pyx_v_oj);

      /* "CMap2D.pyx":732
 *                 neighbor_idxj = currentj + oj
 *                 # exclude forbidden/explored areas of the grid
 *                 if neighbor_idxi < 0:             # <<<<<<<<<<<<<<
 *                     continue
 *                 if neighbor_idxi >= len_i:
 */
      __pyx_t_15 = ((__pyx_v_neighbor_idxi < 0) != 0);
      if (__pyx_t_15) {

        /* "CMap2D.pyx":733
 *                 # exclude forbidden/explored areas of the grid
 *                 if neighbor_idxi < 0:
 *                     continue             # <<<<<<<<<<<<<<
 *                 if neighbor_idxi >= len_i:
 *                     continue
 */
        goto __pyx_L13_continue;

        /* "CMap2D.pyx":732
 *                 neighbor_idxj = currentj + oj
 *                 # exclude forbidden/explored areas of the grid
 *                 if neighbor_idxi < 0:             # <<<<<<<<<<<<<<
 *                     continue
 *                 if neighbor_idxi >= len_i:
 */
      }

      /* "CMap2D.pyx":734
 *                 if neighbor_idxi < 0:
 *                     continue
 *                 if neighbor_idxi >= len_i:             # <<<<<<<<<<<<<<
 *                     continue
 *                 if neighbor_idxj < 0:
 */
      __pyx_t_15 = ((__pyx_v_neighbor_idxi >= __pyx_v_len_i) != 0);
      if (__pyx_t_15) {

        /* "CMap2D.pyx":735
 *                     continue
 *                 if neighbor_idxi >= len_i:
 *                     continue             # <<<<<<<<<<<<<<
 *                 if neighbor_idxj < 0:
 *                     continue
 */
        goto __pyx_L13_continue;

        /* "CMap2D.pyx":734
 *                 if neighbor_idxi < 0:
 *                     continue
 *                 if neighbor_idxi >= len_i:             # <<<<<<<<<<<<<<
 *                     continue
 *                 if neighbor_idxj < 0:
 */
      }

      /* "CMap2D.pyx":736
 *                 if neighbor_idxi >= len_i:
 *                     continue
 *                 if neighbor_idxj < 0:             # <<<<<<<<<<<<<<
 *                     continue
 *                 if neighbor_idxj >= len_j:
 */
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      if (__pyx_t_15) {

        /* "CMap2D.pyx":737
 *                     continue
 *                 if neighbor_idxj < 0:
 *                     continue             # <<<<<<<<<<<<<<
 *                 if neighbor_idxj >= len_j:
 *                     continue
 */
        goto __pyx_L13_continue;

        /* "CMap2D.pyx":736
 *                 if neighbor_idxi >= len_i:
 *                     continue
 *                 if neighbor_idxj < 0:             # <<<<<<<<<<<<<<
 *                     continue
 *                 if neighbor_idxj >= len_j:
 */
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 *                 if neighbor_idxj < 0:
 *                     continue
 *                 if neighbor_idxj >= len_j:             # <<<<<<<<<<<<<<
 *                     continue
 *                 # Exclude invalid neighbors
 */
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        /* "CMap2D.pyx":739
 *                     continue
 *                 if neighbor_idxj >= len_j:
 *                     continue             # <<<<<<<<<<<<<<
 *                 # Exclude invalid neighbors
 *                 if not open_[neighbor_idxi, neighbor_idxj]:
 */
        goto __pyx_L13_continue;

        /* "CMap2D.pyx":738
 *                 if neighbor_idxj < 0:
 *                     continue
 *                 if neighbor_idxj >= len_j:             # <<<<<<<<<<<<<<
 *                     continue
 *                 # Exclude invalid neighbors
 */
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 *                     continue
 *                 # Exclude invalid neighbors
 *                 if not open_[neighbor_idxi, neighbor_idxj]:             # <<<<<<<<<<<<<<
 *                     continue
 *                 # Fastmarch update
 */
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      __pyx_t_25 = __pyx_v_neighbor_idxj;
      __pyx_t_15 = ((!((*((__pyx_t_5numpy_uint8_t *) ( /* dim=1 */ ((char *) (((__pyx_t_5numpy_uint8_t *) ( /* dim=0 */ (__pyx_v_open_.data + __pyx_t_24 * __pyx_v_open_.strides[0]) )) + __pyx_t_25)) ))) != 0)) != 0);
      if (__pyx_t_15) {

        /* "CMap2D.pyx":742
 *                 # Exclude invalid neighbors
 *                 if not open_[neighbor_idxi, neighbor_idxj]:
 *                     continue             # <<<<<<<<<<<<<<
 *                 # Fastmarch update
 *                 a = np.inf
 */
        goto __pyx_L13_continue;

        /* "CMap2D.pyx":741
 *                     continue
 *                 # Exclude invalid neighbors
 *                 if not open_[neighbor_idxi, neighbor_idxj]:             # <<<<<<<<<<<<<<
 *                     continue
 *                 # Fastmarch update
 */
      }

      /* "CMap2D.pyx":744
 *                     continue
 *                 # Fastmarch update
 *                 a = np.inf             # <<<<<<<<<<<<<<
 *                 if neighbor_idxi != 0:
 *                     a = tentative[neighbor_idxi-1, neighbor_idxj]
 */
      __Pyx_GetModuleGlobalName(__pyx_t_3, __pyx_n_s_np); if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 744, __pyx_L1_error)
      __Pyx_GOTREF(__pyx_t_3);
      __pyx_t_20 = __Pyx_PyObject_GetAttrStr(__pyx_t_3, __pyx_n_s_inf); if (unlikely(!__pyx_t_20)) __PYX_ERR(0, 744, __pyx_L1_error)
      __Pyx_GOTREF(__pyx_t_20);
      __Pyx_DECREF(__pyx_t_3); __pyx_t_3 = 0;
      __pyx_t_26 = __pyx_PyFloat_AsFloat(__pyx_t_20); if (unlikely((__pyx_t_26 == ((npy_float32)-1)) && PyErr_Occurred())) __PYX_ERR(0, 744, __pyx_L1_error)
      __Pyx_DECREF(__pyx_t_20); __pyx_t_20 = 0;
      __pyx_v_a = __pyx_t_26;

      /* "CMap2D.pyx":745
 *                 # Fastmarch update
 *                 a = np.inf
 *                 if neighbor_idxi != 0:             # <<<<<<<<<<<<<<
 *                     a = tentative[neighbor_idxi-1, neighbor_idxj]
 *                 if neighbor_idxi != len_i-1:
 */
      __pyx_t_15 = ((__pyx_v_neighbor_idxi != 0) != 0);
      if (__pyx_t_15) {

        /* "CMap2D.pyx":746
 *                 a = np.inf
 *                 if neighbor_idxi != 0:
 *                     a = tentative[neighbor_idxi-1, neighbor_idxj]             # <<<<<<<<<<<<<<
 *                 if neighbor_idxi != len_i-1:
 *                     a = min(a, tentative[neighbor_idxi+1, neighbor_idxj])
 */
        __pyx_t_25 = (__pyx_v_neighbor_idxi - 1);
        __pyx_t_24 = __pyx_v_neighbor_idxj;
        __pyx_v_a = (*((__pyx_t_5numpy_float32_t *) ( /* dim=1 */ ((char *) (((__pyx_t_5numpy_float32_t *) ( /* dim=0 */ (__pyx_v_tentative.data + __pyx_t_25 * __pyx_v_tentative.strides[0]) )) + __pyx_t_24)) )));

        /* "CMap2D.pyx":745
 *                 # Fastmarch update
 *                 a = np.inf
 *                 if neighbor_idxi != 0:             # <<<<<<<<<<<<<<
 *                     a = tentative[neighbor_idxi-1, neighbor_idxj]
 *                 if neighbor_idxi != len_i-1:
 */
      }

      /* "CMap2D.pyx":747
 *                 if neighbor_idxi != 0:
 *                     a = tentative[neighbor_idxi-1, neighbor_idxj]
 *                 if neighbor_idxi != len_i-1:             # <<<<<<<<<<<<<<
 *                     a = min(a, tentative[neighbor_idxi+1, neighbor_idxj])
 *                 b = np.inf
 */
      __pyx_t_15 = ((__pyx_v_neighbor_idxi != (__pyx_v_len_i - 1)) != 0);
      if (__pyx_t_15) {

        /* "CMap2D.pyx":748
 *                     a = tentative[neighbor_idxi-1, neighbor_idxj]
 *                 if neighbor_idxi != len_i-1:
 *                     a = min(a, tentative[neighbor_idxi+1, neighbor_idxj])             # <<<<<<<<<<<<<<
 *                 b = np.inf
 *                 if neighbor_idxj != 0:
 */
        __pyx_t_24 = (__pyx_v_neighbor_idxi + 1);
        __pyx_t_25 = __pyx_v_neighbor_idxj;
        __pyx_t_26 = (*((__pyx_t_5numpy_float32_t *) ( /* dim=1 */ ((char *) (((__pyx_t_5numpy_float32_t *) ( /* dim=0 */ (__pyx_v_tentative.data + __pyx_t_24 * __pyx_v_tentative.strides[0]) )) + __pyx_t_25)) )));
        __pyx_t_27 = __pyx_v_a;
        if (((__pyx_t_26 < __pyx_t_27) != 0)) {
          __pyx_t_28 = __pyx_t_26;
        } else {
          __pyx_t_28 = __pyx_t_27;
        }
        __pyx_v_a = __pyx_t_28;

        /* "CMap2D.pyx":747
 *                 if neighbor_idxi != 0:
 *                     a = tentative[neighbor_idxi-1, neighbor_idxj]
 *                 if neighbor_idxi != len_i-1:             # <<<<<<<<<<<<<<
 *                     a = min(a, tentative[neighbor_idxi+1, neighbor_idxj])
 *                 b = np.inf
 */
      }

      /* "CMap2D.pyx":749
 *                 if neighbor_idxi != len_i-1:
 *                     a = min(a, tentative[neighbor_idxi+1, neighbor_idxj])
 *                 b = np.inf             # <<<<<<<<<<<<<<
 *                 if neighbor_idxj != 0:
 *                     b = tentative[neighbor_idxi, neighbor_idxj-1]
 */
      __Pyx_GetModuleGlobalName(__pyx_t_20, __pyx_n_s_np); if (unlikely(!__pyx_t_20)) __PYX_ERR(0, 749, __pyx_L1_error)
      __Pyx_GOTREF(__pyx_t_20);
      __pyx_t_3 = __Pyx_PyObject_GetAttrStr(__pyx_t_20, __pyx_n_s_inf); if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 749, __pyx_L1_error)
      __Pyx_GOTREF(__pyx_t_3);
      __Pyx_DECREF(__pyx_t_20); __pyx_t_20 = 0;
      __pyx_t_28 = __pyx_PyFloat_AsFloat(__pyx_t_3); if (unlikely((__pyx_t_28 == ((npy_float32)-1)) && PyErr_Occurred())) __PYX_ERR(0, 749, __pyx_L1_error)
      __Pyx_DECREF(__pyx_t_3); __pyx_t_3 = 0;
      __pyx_v_b = __pyx_t_28;

      /* "CMap2D.pyx":750
 *                     a = min(a, tentative[neighbor_idxi+1, neighbor_idxj])
 *                 b = np.inf
 *                 if neighbor_idxj != 0:             # <<<<<<<<<<<<<<
 *                     b = tentative[neighbor_idxi, neighbor_idxj-1]
 *                 if neighbor_idxj != len_j-1:
 */
      __pyx_t_15 = ((__pyx_v_neighbor_idxj != 0) != 0);
      if (__pyx_t_15) {

        /* "CMap2D.pyx":751
 *                 b = np.inf
 *                 if neighbor_idxj != 0:
 *                     b = tentative[neighbor_idxi, neighbor_idxj-1]             # <<<<<<<<<<<<<<
 *                 if neighbor_idxj != len_j-1:
 *                     b = min(b, tentative[neighbor_idxi, neighbor_idxj+1])
 */
        __pyx_t_25 = __pyx_v_neighbor_idxi;
        __pyx_t_24 = (__pyx_v_neighbor_idxj - 1);
        __pyx_v_b = (*((__pyx_t_5numpy_float32_t *) ( /* dim=1 */ ((char *) (((__pyx_t_5numpy_float32_t *) ( /* dim=0 */ (__pyx_v_tentative.data + __pyx_t_25 * __pyx_v_tentative.strides[0]) )) + __pyx_t_24)) )));

        /* "CMap2D.pyx":750
 *                     a = min(a, tentative[neighbor_idxi+1, neighbor_idxj])
 *                 b = np.inf
 *                 if neighbor_idxj != 0:             # <<<<<<<<<<<<<<
 *                     b = tentative[neighbor_idxi, neighbor_idxj-1]
 *                 if neighbor_idxj != len_j-1:
 */
      }

      /* "CMap2D.pyx":752
 *                 if neighbor_idxj != 0:
 *                     b = tentative[neighbor_idxi, neighbor_idxj-1]
 *                 if neighbor_idxj != len_j-1:             # <<<<<<<<<<<<<<
 *                     b = min(b, tentative[neighbor_idxi, neighbor_idxj+1])
 *                 s = speeds[neighbor_idxi, neighbor_idxj]
 */
      __pyx_t_15 = ((__pyx_v_neighbor_idxj != (__pyx_v_len_j - 1)) != 0);
      if (__pyx_t_15) {

        /* "CMap2D.pyx":753
 *                     b = tentative[neighbor_idxi, neighbor_idxj-1]
 *                 if neighbor_idxj != len_j-1:
 *                     b = min(b, tentative[neighbor_idxi, neighbor_idxj+1])             # <<<<<<<<<<<<<<
 *                 s = speeds[neighbor_idxi, neighbor_idxj]
 *                 s2inv = 1./s**2
 */
        __pyx_t_24 = __pyx_v_neighbor_idxi;
        __pyx_t_25 = (__pyx_v_neighbor_idxj + 1);
        __pyx_t_28 = (*((__pyx_t_5numpy_float32_t *) ( /* dim=1 */ ((char *) (((__pyx_t_5numpy_float32_t *) ( /* dim=0 */ (__pyx_v_tentative.data + __pyx_t_24 * __pyx_v_tentative.strides[0]) )) + __pyx_t_25)) )));
        __pyx_t_26 = __pyx_v_b;
        if (((__pyx_t_28 < __pyx_t_26) != 0)) {
          __pyx_t_27 = __pyx_t_28;
        } else {
          __pyx_t_27 = __pyx_t_26;
        }
        __pyx_v_b = __pyx_t_27;

        /* "CMap2D.pyx":752
 *                 if neighbor_idxj != 0:
 *                     b = tentative[neighbor_idxi, neighbor_idxj-1]
 *                 if neighbor_idxj != len_j-1:             # <<<<<<<<<<<<<<
 *                     b = min(b, tentative[neighbor_idxi, neighbor_idxj+1])
 *                 s = speeds[neighbor_idxi, neighbor_idxj]
 */
      }

      /* "CMap2D.pyx":754
 *                 if neighbor_idxj != len_j-1:
 *                     b = min(b, tentative[neighbor_idxi, neighbor_idxj+1])
 *                 s = speeds[neighbor_idxi, neighbor_idxj]             # <<<<<<<<<<<<<<
 *                 s2inv = 1./s**2
 *                 delta = 2 * s2inv - (a-b)**2
 */
      __pyx_t_25 = __pyx_v_neighbor_idxi;
      __pyx_t_24 = __pyx_v_neighbor_idxj;
      __pyx_v_s = (*((__pyx_t_5numpy_float32_t *) ( /* dim=1 */ ((char *) (((__pyx_t_5numpy_float32_t *) ( /* dim=0 */ (__pyx_v_speeds.data + __pyx_t_25 * __pyx_v_speeds.strides[0]) )) + __pyx_t_24)) )));

      /* "CMap2D.pyx":755
 *                     b = min(b, tentative[neighbor_idxi, neighbor_idxj+1])
 *                 s = speeds[neighbor_idxi, neighbor_idxj]
 *                 s2inv = 1./s**2             # <<<<<<<<<<<<<<
 *                 delta = 2 * s2inv - (a-b)**2
 *                 if delta > 0:
 */
      __pyx_v_s2inv = (1. / powf(__pyx_v_s, 2.0));

      /* "CMap2D.pyx":756
 *                 s = speeds[neighbor_idxi, neighbor_idxj]
 *                 s2inv = 1./s**2
 *                 delta = 2 * s2inv - (a-b)**2             # <<<<<<<<<<<<<<
 *                 if delta > 0:
 *                     new_cost = ( a + b + csqrt(delta) ) / 2
 */
      __pyx_v_delta = ((2.0 * __pyx_v_s2inv) - powf((__pyx_v_a - __pyx_v_b), 2.0));

      /* "CMap2D.pyx":757
 *                 s2inv = 1./s**2
 *                 delta = 2 * s2inv - (a-b)**2
 *                 if delta > 0:             # <<<<<<<<<<<<<<
 *                     new_cost = ( a + b + csqrt(delta) ) / 2
 *                 else:
 */
      __pyx_t_15 = ((__pyx_v_delta > 0.0) != 0);
      if (__pyx_t_15) {

        /* "CMap2D.pyx":758
 *                 delta = 2 * s2inv - (a-b)**2
 *                 if delta > 0:
 *                     new_cost = ( a + b + csqrt(delta) ) / 2             # <<<<<<<<<<<<<<
 *                 else:
 *                     new_cost = 1./s + min(a,b)
 */
        __pyx_v_new_cost = (((__pyx_v_a + __pyx_v_b) + sqrt(__pyx_v_delta)) / 2.0);

        /* "CMap2D.pyx":757
 *                 s2inv = 1./s**2
 *                 delta = 2 * s2inv - (a-b)**2
 *                 if delta > 0:             # <<<<<<<<<<<<<<
 *                     new_cost = ( a + b + csqrt(delta) ) / 2
 *                 else:
 */
        goto __pyx_L24;
      }

      /* "CMap2D.pyx":760
 *                     new_cost = ( a + b + csqrt(delta) ) / 2
 *                 else:
 *                     new_cost = 1./s + min(a,b)             # <<<<<<<<<<<<<<
 *                 old_cost = tentative[neighbor_idxi, neighbor_idxj]
 *                 if new_cost < old_cost or old_cost == np.inf:
 */
      /*else*/ {
        __pyx_t_27 = __pyx_v_b;
        __pyx_t_28 = __pyx_v_a;
        if (((__pyx_t_27 < __pyx_t_28) != 0)) {
          __pyx_t_26 = __pyx_t_27;
        } else {
          __pyx_t_26 = __pyx_t_28;
        }
        __pyx_v_new_cost = ((1. / __pyx_v_s) + __pyx_t_26);
      }
      __pyx_L24:;

      /* "CMap2D.pyx":761
 *                 else:
 *                     new_cost = 1./s + min(a,b)
 *                 old_cost = tentative[neighbor_idxi, neighbor_idxj]             # <<<<<<<<<<<<<<
 *                 if new_cost < old_cost or old_cost == np.inf:
 *                     tentative[neighbor_idxi, neighbor_idxj] = new_cost
 */
      __pyx_t_24 = __pyx_v_neighbor_idxi;
      __pyx_t_25 = __pyx_v_neighbor_idxj;
      __pyx_v_old_cost = (*((__pyx_t_5numpy_float32_t *) ( /* dim=1 */ ((char *) (((__pyx_t_5numpy_float32_t *) ( /* dim=0 */ (__pyx_v_tentative.data + __pyx_t_24 * __pyx_v_tentative.strides[0]) )) + __pyx_t_25)) )));

      /* "CMap2D.pyx":762
 *                     new_cost = 1./s + min(a,b)
 *                 old_cost = tentative[neighbor_idxi, neighbor_idxj]
 *                 if new_cost < old_cost or old_cost == np.inf:             # <<<<<<<<<<<<<<
 *                     tentative[neighbor_idxi, neighbor_idxj] = new_cost
 *                     # Add neighbor to priority queue
 */
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      if (!__pyx_t_29) {
      } else {
        __pyx_t_15 = __pyx_t_29;
        goto __pyx_L26_bool_binop_done;
      }
      __pyx_t_3 = PyFloat_FromDouble(__pyx_v_old_cost); if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 762, __pyx_L1_error)
      __Pyx_GOTREF(__pyx_t_3);
      __Pyx_GetModuleGlobalName(__pyx_t_20, __pyx_n_s_np); if (unlikely(!__pyx_t_20)) __PYX_ERR(0, 762, __pyx_L1_error)
      __Pyx_GOTREF(__pyx_t_20);
      __pyx_t_1 = __Pyx_PyObject_GetAttrStr(__pyx_t_20, __pyx_n_s_inf); if (unlikely(!__pyx_t_1)) __PYX_ERR(0, 762, __pyx_L1_error)
      __Pyx_GOTREF(__pyx_t_1);
      __Pyx_DECREF(__pyx_t_20); __pyx_t_20 = 0;
      __pyx_t_20 = PyObject_RichCompare(__pyx_t_3, __pyx_t_1, Py_EQ); __Pyx_XGOTREF(__pyx_t_20); if (unlikely(!__pyx_t_20)) __PYX_ERR(0, 762, __pyx_L1_error)
      __Pyx_DECREF(__pyx_t_3); __pyx_t_3 = 0;
      __Pyx_DECREF(__pyx_t_1); __pyx_t_1 = 0;
      __pyx_t_29 = __Pyx_PyObject_IsTrue(__pyx_t_20); if (unlikely(__pyx_t_29 < 0)) __PYX_ERR(0, 762, __pyx_L1_error)
      __Pyx_DECREF(__pyx_t_20); __pyx_t_20 = 0;
      __pyx_t_15 = __pyx_t_29;
      __pyx_L26_bool_binop_done:;
      if (__pyx_t_15) {

        /* "CMap2D.pyx":763
 *                 old_cost = tentative[neighbor_idxi, neighbor_idxj]
 *                 if new_cost < old_cost or old_cost == np.inf:
 *                     tentative[neighbor_idxi, neighbor_idxj] = new_cost             # <<<<<<<<<<<<<<
 *                     # Add neighbor to priority queue
 *                     priority_queue.push(
 */
        __pyx_t_25 = __pyx_v_neighbor_idxi;
        __pyx_t_24 = __pyx_v_neighbor_idxj;
        *((__pyx_t_5numpy_float32_t *) ( /* dim=1 */ ((char *) (((__pyx_t_5numpy_float32_t *) ( /* dim=0 */ (__pyx_v_tentative.data + __pyx_t_25 * __pyx_v_tentative.strides[0]) )) + __pyx_t_24)) )) = __pyx_v_new_cost;

        /* "CMap2D.pyx":767
 *                     priority_queue.push(
 *                             cpp_pair[np.float32_t, cpp_pair[np.int64_t, np.int64_t]](
 *                                 -new_cost, cpp_pair[np.int64_t, np.int64_t](neighbor_idxi, neighbor_idxj))             # <<<<<<<<<<<<<<
 *                             )
 *             # Close the current node
 */
        try {
          __pyx_t_18 = std::pair<__pyx_t_5numpy_int64_t,__pyx_t_5numpy_int64_t> (__pyx_v_neighbor_idxi, __pyx_v_neighbor_idxj);
        } catch(...) {
          __Pyx_CppExn2PyErr();
          __PYX_ERR(0, 767, __pyx_L1_error)
        }

        /* "CMap2D.pyx":766
 *                     # Add neighbor to priority queue
 *                     priority_queue.push(
 *                             cpp_pair[np.float32_t, cpp_pair[np.int64_t, np.int64_t]](             # <<<<<<<<<<<<<<
 *                                 -new_cost, cpp_pair[np.int64_t, np.int64_t](neighbor_idxi, neighbor_idxj))
 *                             )
 */
        try {
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 */
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 */
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 *                 if neighbor_idxi >= len_i:
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 */
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 */
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 *                     continue             # <<<<<<<<<<<<<<
 *                 if neighbor_idxj < 0:
 *                     continue
 */
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 *                     continue
 *                 if neighbor_idxj < 0:
 */
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 *                     continue
 *                 if neighbor_idxj >= len_j:
 */
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 *                     continue             # <<<<<<<<<<<<<<
 *                 if neighbor_idxj >= len_j:
 *                     continue
 */
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 *                     continue
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 *                     continue
 *                 if neighbor_idxj >= len_j:
 */
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 */
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 *                 # check whether path is obstructed (for 16/32 connectedness)
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 */
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 *                     continue
 *                 # check whether path is obstructed (for 16/32 connectedness)
 */
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 *                 elif n < 8:
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 *                     blocked[n] = mask[neighbor_idxi, neighbor_idxj]
 *                 elif n < 8:
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 *                     blocked[n] = mask[neighbor_idxi, neighbor_idxj]
 *                 elif n < 8:             # <<<<<<<<<<<<<<
 *                     blocked[n] = mask[neighbor_idxi, neighbor_idxj]
 *                 # Exclude obstructed jumps (for 16/32 connectedness)
 */
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 *                     blocked[n] = mask[neighbor_idxi, neighbor_idxj]
 *                 # Exclude obstructed jumps (for 16/32 connectedness)
 *                 if n > 4: # for example, prevent ur if u is blocked             # <<<<<<<<<<<<<<
 *                     # assumes first row of offsets is up right down left (see offset init!)
 *                     if (oj > 0 and blocked[0]) or \
 */
      __pyx_t_15 = ((__pyx_v_n > 4) != 0);
      if (__pyx_t_15) {

        /* "CMap2D.pyx":904
 *                 if n > 4: # for example, prevent ur if u is blocked
 *                     # assumes first row of offsets is up right down left (see offset init!)
 *                     if (oj > 0 and blocked[0]) or \             # <<<<<<<<<<<<<<
 *                        (oi > 0 and blocked[1]) or \
 *                        (oj < 0 and blocked[2]) or \
 */
        __pyx_t_56 = ((__pyx_v_oj > 0) != 0);
        if (!__pyx_t_56) {
          goto __pyx_L24_next_or;
        } else {
        }
        __pyx_t_13 = 0;
        __pyx_t_56 = ((*((__pyx_t_5numpy_uint8_t *) ( /* dim=0 */ ((char *) (((__pyx_t_5numpy_uint8_t *) __pyx_v_blocked.data) + __pyx_t_13)) ))) != 0);
        if (!__pyx_t_56) {
        } else {
          __pyx_t_15 = __pyx_t_56;
          goto __pyx_L23_bool_binop_done;
        }
        __pyx_L24_next_or:;

        /* "CMap2D.pyx":905
 *                     # assumes first row of offsets is up right down left (see offset init!)
 *                     if (oj > 0 and blocked[0]) or \
 *                        (oi > 0 and blocked[1]) or \             # <<<<<<<<<<<<<<
 *                        (oj < 0 and blocked[2]) or \
 *                        (oi < 0 and blocked[3]):
 */
        __pyx_t_56 = ((__pyx_v_oi > 0) != 0);
        if (!__pyx_t_56) {
          goto __pyx_L26_next_or;
        } else {
        }
        __pyx_t_13 = 1;
        __pyx_t_56 = ((*((__pyx_t_5numpy_uint8_t *) ( /* dim=0 */ ((char *) (((__pyx_t_5numpy_uint8_t *) __pyx_v_blocked.data) + __pyx_t_13)) ))) != 0);
        if (!__pyx_t_56) {
        } else {
          __pyx_t_15 = __pyx_t_56;
          goto __pyx_L23_bool_binop_done;
        }
        __pyx_L26_next_or:;

        /* "CMap2D.pyx":906
 *                     if (oj > 0 and blocked[0]) or \
 *                        (oi > 0 and blocked[1]) or \
 *                        (oj < 0 and blocked[2]) or \             # <<<<<<<<<<<<<<
 *                        (oi < 0 and blocked[3]):
 *                            continue
 */
        __pyx_t_56 = ((__pyx_v_oj < 0) != 0);
        if (!__pyx_t_56) {
          goto __pyx_L28_next_or;
        } else {
        }
        __pyx_t_13 = 2;
        __pyx_t_56 = ((*((__pyx_t_5numpy_uint8_t *) ( /* dim=0 */ ((char *) (((__pyx_t_5numpy_uint8_t *) __pyx_v_blocked.data) + __pyx_t_13)) ))) != 0);
        if (!__pyx_t_56) {
        } else {
          __pyx_t_15 = __pyx_t_56;
          goto __pyx_L23_bool_binop_done;
        }
        __pyx_L28_next_or:;

        /* "CMap2D.pyx":907
 *                        (oi > 0 and blocked[1]) or \
 *                        (oj < 0 and blocked[2]) or \
 *                        (oi < 0 and blocked[3]):             # <<<<<<<<<<<<<<
 *                            continue
 *                 if n > 8: # for example, prevent uuur if ur is blocked
 */
        __pyx_t_56 = ((__pyx_v_oi < 0) != 0);
        if (__pyx_t_56) {
        } else {
          __pyx_t_15 = __pyx_t_56;
          goto __pyx_L23_bool_binop_done;
        }
        __pyx_t_13 = 3;
        __pyx_t_56 = ((*((__pyx_t_5numpy_uint8_t *) ( /* dim=0 */ ((char *) (((__pyx_t_5numpy_uint8_t *) __pyx_v_blocked.data) + __pyx_t_13)) ))) != 0);
        __pyx_t_15 = __pyx_t_56;
        __pyx_L23_bool_binop_done:;

        /* "CMap2D.pyx":904
 *                 if n > 4: # for example, prevent ur if u is blocked
 *                     # assumes first row of offsets is up right down left (see offset init!)
 *                     if (oj > 0 and blocked[0]) or \             # <<<<<<<<<<<<<<
 *                        (oi > 0 and blocked[1]) or \
 *                        (oj < 0 and blocked[2]) or \
 */
        if (__pyx_t_15) {

          /* "CMap2D.pyx":908
 *                        (oj < 0 and blocked[2]) or \
 *                        (oi < 0 and blocked[3]):
 *                            continue             # <<<<<<<<<<<<<<
 *                 if n > 8: # for example, prevent uuur if ur is blocked
 *                     # assumes second row ru rd lu ld
 */
          goto __pyx_L14_continue;

          /* "CMap2D.pyx":904
 *                 if n > 4: # for example, prevent ur if u is blocked
 *                     # assumes first row of offsets is up right down left (see offset init!)
 *                     if (oj > 0 and blocked[0]) or \             # <<<<<<<<<<<<<<
 *                        (oi > 0 and blocked[1]) or \
 *                        (oj < 0 and blocked[2]) or \
 */
        }

        /* "CMap2D.pyx":902
 *                     blocked[n] = mask[neighbor_idxi, neighbor_idxj]
 *                 # Exclude obstructed jumps (for 16/32 connectedness)
 *                 if n > 4: # for example, prevent ur if u is blocked             # <<<<<<<<<<<<<<
 *                     # assumes first row of offsets is up right down left (see offset init!)
 *                     if (oj > 0 and blocked[0]) or \
 */
      }

      /* "CMap2D.pyx":909
 *                        (oi < 0 and blocked[3]):
 *                            continue
 *                 if n > 8: # for example, prevent uuur if ur is blocked             # <<<<<<<<<<<<<<
 *                     # assumes second row ru rd lu ld
 *                     if (oi > 0 and oj > 0 and blocked[4]) or \
 */
      __pyx_t_15 = ((__pyx_v_n > 8) != 0);
      if (__pyx_t_15) {

        /* "CMap2D.pyx":911
 *                 if n > 8: # for example, prevent uuur if ur is blocked
 *                     # assumes second row ru rd lu ld
 *                     if (oi > 0 and oj > 0 and blocked[4]) or \             # <<<<<<<<<<<<<<
 *                        (oi > 0 and oj < 0 and blocked[5]) or \
 *                        (oi < 0 and oj > 0 and blocked[6]) or \
 */
        __pyx_t_56 = ((__pyx_v_oi > 0) != 0);
        if (!__pyx_t_56) {
          goto __pyx_L34_next_or;
        } else {
        }
        __pyx_t_56 = ((__pyx_v_oj > 0) != 0);
        if (!__pyx_t_56) {
          goto __pyx_L34_next_or;
        } else {
        }
        __pyx_t_13 = 4;
        __pyx_t_56 = ((*((__pyx_t_5numpy_uint8_t *) ( /* dim=0 */ ((char *) (((__pyx_t_5numpy_uint8_t *) __pyx_v_blocked.data) + __pyx_t_13)) ))) != 0);
        if (!__pyx_t_56) {
        } else {
          __pyx_t_15 = __pyx_t_56;
          goto __pyx_L33_bool_binop_done;
        }
        __pyx_L34_next_or:;

        /* "CMap2D.pyx":912
 *                     # assumes second row ru rd lu ld
 *                     if (oi > 0 and oj > 0 and blocked[4]) or \
 *                        (oi > 0 and oj < 0 and blocked[5]) or \             # <<<<<<<<<<<<<<
 *                        (oi < 0 and oj > 0 and blocked[6]) or \
 *                        (oi < 0 and oj < 0 and blocked[7]):
 */
        __pyx_t_56 = ((__pyx_v_oi > 0) != 0);
        if (!__pyx_t_56) {
          goto __pyx_L37_next_or;
        } else {
        }
        __pyx_t_56 = ((__pyx_v_oj < 0) != 0);
        if (!__pyx_t_56) {
          goto __pyx_L37_next_or;
        } else {
        }
        __pyx_t_13 = 5;
        __pyx_t_56 = ((*((__pyx_t_5numpy_uint8_t *) ( /* dim=0 */ ((char *) (((__pyx_t_5numpy_uint8_t *) __pyx_v_blocked.data) + __pyx_t_13)) ))) != 0);
        if (!__pyx_t_56) {
        } else {
          __pyx_t_15 = __pyx_t_56;
          goto __pyx_L33_bool_binop_done;
        }
        __pyx_L37_next_or:;

        /* "CMap2D.pyx":913
 *                     if (oi > 0 and oj > 0 and blocked[4]) or \
 *                        (oi > 0 and oj < 0 and blocked[5]) or \
 *                        (oi < 0 and oj > 0 and blocked[6]) or \             # <<<<<<<<<<<<<<
 *                        (oi < 0 and oj < 0 and blocked[7]):
 *                            continue
 */
        __pyx_t_56 = ((__pyx_v_oi < 0) != 0);
        if (!__pyx_t_56) {
          goto __pyx_L40_next_or;
        } else {
        }
        __pyx_t_56 = ((__pyx_v_oj > 0) != 0);
        if (!__pyx_t_56) {
          goto __pyx_L40_next_or;
        } else {
        }
        __pyx_t_13 = 6;
        __pyx_t_56 = ((*((__pyx_t_5numpy_uint8_t *) ( /* dim=0 */ ((char *) (((__pyx_t_5numpy_uint8_t *) __pyx_v_blocked.data) + __pyx_t_13)) ))) != 0);
        if (!__pyx_t_56) {
        } else {
          __pyx_t_15 = __pyx_t_56;
          goto __pyx_L33_bool_binop_done;
        }
        __pyx_L40_next_or:;

        /* "CMap2D.pyx":914
 *                        (oi > 0 and oj < 0 and blocked[5]) or \
 *                        (oi < 0 and oj > 0 and blocked[6]) or \
 *                        (oi < 0 and oj < 0 and blocked[7]):             # <<<<<<<<<<<<<<
 *                            continue
 *                 # Exclude invalid neighbors
 */
        __pyx_t_56 = ((__pyx_v_oi < 0) != 0);
        if (__pyx_t_56) {
        } else {
          __pyx_t_15 = __pyx_t_56;
          goto __pyx_L33_bool_binop_done;
        }
        __pyx_t_56 = ((__pyx_v_oj < 0) != 0);
        if (__pyx_t_56) {
        } else {
          __pyx_t_15 = __pyx_t_56;
          goto __pyx_L33_bool_binop_done;
        }
        __pyx_t_13 = 7;
        __pyx_t_56 = ((*((__pyx_t_5numpy_uint8_t *) ( /* dim=0 */ ((char *) (((__pyx_t_5numpy_uint8_t *) __pyx_v_blocked.data) + __pyx_t_13)) ))) != 0);
        __pyx_t_15 = __pyx_t_56;
        __pyx_L33_bool_binop_done:;

        /* "CMap2D.pyx":911
 *                 if n > 8: # for example, prevent uuur if ur is blocked
 *                     # assumes second row ru rd lu ld
 *                     if (oi > 0 and oj > 0 and blocked[4]) or \             # <<<<<<<<<<<<<<
 *                        (oi > 0 and oj < 0 and blocked[5]) or \
 *                        (oi < 0 and oj > 0 and blocked[6]) or \
 */
        if (__pyx_t_15) {

          /* "CMap2D.pyx":915
 *                        (oi < 0 and oj > 0 and blocked[6]) or \
 *                        (oi < 0 and oj < 0 and blocked[7]):
 *                            continue             # <<<<<<<<<<<<<<
 *                 # Exclude invalid neighbors
 *                 if not open_[neighbor_idxi, neighbor_idxj]:
 */
          goto __pyx_L14_continue;

          /* "CMap2D.pyx":911
 *                 if n > 8: # for example, prevent uuur if ur is blocked
 *                     # assumes second row ru rd lu ld
 *                     if (oi > 0 and oj > 0 and blocked[4]) or \             # <<<<<<<<<<<<<<
 *                        (oi > 0 and oj < 0 and blocked[5]) or \
 *                        (oi < 0 and oj > 0 and blocked[6]) or \
 */
        }

        /* "CMap2D.pyx":909
 *                        (oi < 0 and blocked[3]):
 *                            continue
 *                 if n > 8: # for example, prevent uuur if ur is blocked             # <<<<<<<<<<<<<<
 *                     # assumes second row ru rd lu ld
 *                     if (oi > 0 and oj > 0 and blocked[4]) or \
 */
      }

      /* "CMap2D.pyx":917
 *                            continue
 *                 # Exclude invalid neighbors
 *                 if not open_[neighbor_idxi, neighbor_idxj]:             # <<<<<<<<<<<<<<
 *                     continue
 *                 # costly regions are expensive to navigate through (costlier edges)
 */
      __pyx_t_53 = __pyx_v_neighbor_idxi;
      __pyx_t_54 = __pyx_v_neighbor_idxj;
      __pyx_t_15 = ((!((*((__pyx_t_5numpy_uint8_t *) ( /* dim=1 */ ((char *) (((__pyx_t_5numpy_uint8_t *) ( /* dim=0 */ (__pyx_v_open_.data + __pyx_t_53 * __pyx_v_open_.strides[0]) )) + __pyx_t_54)) ))) != 0)) != 0);
      if (__pyx_t_15) {

        /* "CMap2D.pyx":918
 *                 # Exclude invalid neighbors
 *                 if not open_[neighbor_idxi, neighbor_idxj]:
 *                     continue             # <<<<<<<<<<<<<<
 *                 # costly regions are expensive to navigate through (costlier edges)
 *                 # these extra costs have to be reciprocal in order for dijkstra to function
 */
        goto __pyx_L14_continue;

        /* "CMap2D.pyx":917
 *                            continue
 *                 # Exclude invalid neighbors
 *                 if not open_[neighbor_idxi, neighbor_idxj]:             # <<<<<<<<<<<<<<
 *                     continue
 *                 # costly regions are expensive to navigate through (costlier edges)
 */
      }

      /* "CMap2D.pyx":924
 *                 # Find which neighbors are open (exclude forbidden/explored areas of the grid)
 *                 edge_extra_costs = 0.5 * (
 *                     extra_costs[neighbor_idxi, neighbor_idxj]             # <<<<<<<<<<<<<<
 *                     + extra_costs[currenti, currentj]
 *                 )
 */
      __pyx_t_54 = __pyx_v_neighbor_idxi;
      __pyx_t_53 = __pyx_v_neighbor_idxj;

      /* "CMap2D.pyx":925
 *                 edge_extra_costs = 0.5 * (
 *                     extra_costs[neighbor_idxi, neighbor_idxj]
 *                     + extra_costs[currenti, currentj]             # <<<<<<<<<<<<<<
 *                 )
 *                 new_cost = (
 */
      __pyx_t_55 = __pyx_v_currenti;
      __pyx_t_57 = __pyx_v_currentj;

      /* "CMap2D.pyx":923
 *                 # cost(a to b) == cost(b to a), hence the average between the node penalty values.
 *                 # Find which neighbors are open (exclude forbidden/explored areas of the grid)
 *                 edge_extra_costs = 0.5 * (             # <<<<<<<<<<<<<<
 *                     extra_costs[neighbor_idxi, neighbor_idxj]
 *                     + extra_costs[currenti, currentj]
 */
      __pyx_v_edge_extra_costs = (0.5 * ((*((__pyx_t_5numpy_float32_t *) ( /* dim=1 */ ((char *) (((__pyx_t_5numpy_float32_t *) ( /* dim=0 */ (__pyx_v_extra_costs.data + __pyx_t_54 * __pyx_v_extra_costs.strides[0]) )) + __pyx_t_53)) ))) + (*((__pyx_t_5numpy_float32_t *) ( /* dim=1 */ ((char *) (((__pyx_t_5numpy_float32_t *) ( /* dim=0 */ (__pyx_v_extra_costs.data + __pyx_t_55 * __pyx_v_extra_costs.strides[0]) )) + __pyx_t_57)) )))));

      /* "CMap2D.pyx":928
 *                 )
 *                 new_cost = (
 *                     tentative[currenti, currentj] + kEdgeLength * edge_ratio + edge_extra_costs             # <<<<<<<<<<<<<<
 *                 )
 *                 old_cost = tentative[neighbor_idxi, neighbor_idxj]
 */
      __pyx_t_57 = __pyx_v_currenti;
      __pyx_t_55 = __pyx_v_currentj;
      __pyx_v_new_cost = (((*((__pyx_t_5numpy_float32_t *) ( /* dim=1 */ ((char *) (((__pyx_t_5numpy_float32_t *) ( /* dim=0 */ (__pyx_v_tentative.data + __pyx_t_57 * __pyx_v_tentative.strides[0]) )) + __pyx_t_55)) ))) + (__pyx_v_kEdgeLength * __pyx_v_edge_ratio)) + __pyx_v_edge_extra_costs);

      /* "CMap2D.pyx":930
 *                     tentative[currenti, currentj] + kEdgeLength * edge_ratio + edge_extra_costs
 *                 )
 *                 old_cost = tentative[neighbor_idxi, neighbor_idxj]             # <<<<<<<<<<<<<<
 *                 if new_cost < old_cost or old_cost == inv_value:
 *                     tentative[neighbor_idxi, neighbor_idxj] = new_cost
 */
      __pyx_t_55 = __pyx_v_neighbor_idxi;
      __pyx_t_57 = __pyx_v_neighbor_idxj;
      __pyx_v_old_cost = (*((__pyx_t_5numpy_float32_t *) ( /* dim=1 */ ((char *) (((__pyx_t_5numpy_float32_t *) ( /* dim=0 */ (__pyx_v_tentative.data + __pyx_t_55 * __pyx_v_tentative.strides[0]) )) + __pyx_t_57)) )));

      /* "CMap2D.pyx":931
 *                 )
 *                 old_cost = tentative[neighbor_idxi, neighbor_idxj]
 *                 if new_cost < old_cost or old_cost == inv_value:             # <<<<<<<<<<<<<<
 *                     tentative[neighbor_idxi, neighbor_idxj] = new_cost
 *                     # Add neighbor to priority queue
 */
      __pyx_t_56 = ((__pyx_v_new_cost < __pyx_v_old_cost) != 0);
      if (!__pyx_t_56) {
      } else {
        __pyx_t_15 = __pyx_t_56;
        goto __pyx_L47_bool_binop_done;
      }
      __pyx_t_56 = ((__pyx_v_old_cost == __pyx_v_inv_value) != 0);
      __pyx_t_15 = __pyx_t_56;
      __pyx_L47_bool_binop_done:;
      if (__pyx_t_15) {

        /* "CMap2D.pyx":932
 *                 old_cost = tentative[neighbor_idxi, neighbor_idxj]
 *                 if new_cost < old_cost or old_cost == inv_value:
 *                     tentative[neighbor_idxi, neighbor_idxj] = new_cost             # <<<<<<<<<<<<<<
 *                     # Add neighbor to priority queue
 *                     priority_queue.push(
 */
        __pyx_t_57 = __pyx_v_neighbor_idxi;
        __pyx_t_55 = __pyx_v_neighbor_idxj;
        *((__pyx_t_5numpy_float32_t *) ( /* dim=1 */ ((char *) (((__pyx_t_5numpy_float32_t *) ( /* dim=0 */ (__pyx_v_tentative.data + __pyx_t_57 * __pyx_v_tentative.strides[0]) )) + __pyx_t_55)) )) = __pyx_v_new_cost;

        /* "CMap2D.pyx":936
 *                     priority_queue.push(
 *                             cpp_pair[np.float32_t, cpp_pair[np.int64_t, np.int64_t]](
 *                                 -new_cost, cpp_pair[np.int64_t, np.int64_t](neighbor_idxi, neighbor_idxj))             # <<<<<<<<<<<<<<
 *                             )
 *             # Close the current node
 */
        try {
          __pyx_t_18 = std::pair<__pyx_t_5numpy_int64_t,__pyx_t_5numpy_int64_t> (__pyx_v_neighbor_idxi, __pyx_v_neighbor_idxj);
        } catch(...) {
          __Pyx_CppExn2PyErr();
          __PYX_ERR(0, 936, __pyx_L1_error)
        }

        /* "CMap2D.pyx":935
 *                     # Add neighbor to priority queue
 *                     priority_queue.push(
 *                             cpp_pair[np.float32_t, cpp_pair[np.int64_t, np.int64_t]](             # <<<<<<<<<<<<<<
 *                                 -new_cost, cpp_pair[np.int64_t, np.int64_t](neighbor_idxi, neighbor_idxj))
 *                             )
 */
        try {
          __pyx_t_19 = std::pair<__pyx_t_5numpy_float32_t,std::pair<__pyx_t_5numpy_int64_t,__pyx_t_5numpy_int64_t> > ((-__pyx_v_new_cost), __pyx_t_18);
        } catch(...) {
          __Pyx_CppExn2PyErr();
          __PYX_ERR(0, 935, __pyx_L1_error)
        }

        /* "CMap2D.pyx":934
 *                     tentative[neighbor_idxi, neighbor_idxj] = new_cost
 *                     # Add neighbor to priority queue
 *                     priority_queue.push(             # <<<<<<<<<<<<<<
 *                             cpp_pair[np.float32_t, cpp_pair[np.int64_t, np.int64_t]](
 *                                 -new_cost, cpp_pair[np.int64_t, np.int64_t](neighbor_idxi, neighbor_idxj))
 */
        __pyx_v_priority_queue.push(__pyx_t_19);

        /* "CMap2D.pyx":931
 *                 )
 *                 old_cost = tentative[neighbor_idxi, neighbor_idxj]
 *                 if new_cost < old_cost or old_cost == inv_value:             # <<<<<<<<<<<<<<
 *                     tentative[neighbor_idxi, neighbor_idxj] = new_cost
 *                     # Add neighbor to priority queue
 */
      }
      __pyx_L14_continue:;
    }

    /* "CMap2D.pyx":939
 *                             )
 *             # Close the current node
 *             open_[currenti, currentj] = 0             # <<<<<<<<<<<<<<
 *         return tentative
 * 
 */
    __pyx_t_16 = __pyx_v_currenti;
    __pyx_t_17 = __pyx_v_currentj;
    *((__pyx_t_5numpy_uint8_t *) ( /* dim=1 */ ((char *) (((__pyx_t_5numpy_uint8_t *) ( /* dim=0 */ (__pyx_v_open_.data + __pyx_t_16 * __pyx_v_open_.strides[0]) )) + __pyx_t_17)) )) = 0;
  }

  /* "CMap2D.pyx":940
 *             # Close the current node
 *             open_[currenti, currentj] = 0
 *         return tentative             # <<<<<<<<<<<<<<
 * 
 *     def old_render_agents_in_lidar(self, ranges, angles, agents, lidar_ij):
 */
  __Pyx_XDECREF(__pyx_r);
  __pyx_t_40 = __pyx_memoryview_fromslice(__pyx_v_tentative, 2, (PyObject *(*)(char *)) __pyx_memview_get_nn___pyx_t_5numpy_float32_t, (int (*)(char *, PyObject *)) __pyx_memview_set_nn___pyx_t_5numpy_float32_t, 0);; if (unlikely(!__pyx_t_40)) __PYX_ERR(0, 940, __pyx_L1_error)
  __Pyx_GOTREF(__pyx_t_40);
  __pyx_r = __pyx_t_40;
  __pyx_t_40 = 0;
  goto __pyx_L0;

  /* "CMap2D.pyx":800
 *     @cython.nonecheck(False)
 *     @cython.cdivision(True)
 *     cdef cdijkstra(self, np.int64_t[:] goal_ij,             # <<<<<<<<<<<<<<
 *             np.float32_t[:, ::1] tentative,
 *             np.uint8_t[:, ::1] mask,
 */

  /* function exit code */
  __pyx_L1_error:;
  __Pyx_XDECREF(__pyx_t_1);
  __Pyx_XDECREF(__pyx_t_2);
  __Pyx_XDECREF(__pyx_t_3);
  __Pyx_XDECREF(__pyx_t_4);
  __Pyx_XDECREF(__pyx_t_5);
  __PYX_XDEC_MEMVIEW(&__pyx_t_6, 1);
  __Pyx_XDECREF(__pyx_t_20);
  __Pyx_XDECREF(__pyx_t_21);
  __Pyx_XDECREF(__pyx_t_22);
  __Pyx_XDECREF(__pyx_t_23);
  __Pyx_XDECREF(__pyx_t_24);
  __Pyx_XDECREF(__pyx_t_25);
  __Pyx_XDECREF(__pyx_t_26);
  __Pyx_XDECREF(__pyx_t_27);
  __Pyx_XDECREF(__pyx_t_28);
  __Pyx_XDECREF(__pyx_t_29);
  __Pyx_XDECREF(__pyx_t_30);
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 *             self.cxy_to_ij(left_leg_pose2d_in_map_frame[:1,:2], llc_ij, clip_if_outside=False)
 *             self.cxy_to_ij(right_leg_pose2d_in_map_frame[:1, :2], rlc_ij, clip_if_outside=False)             # <<<<<<<<<<<<<<
 *             leg_radii_ijs[n] = cagent.leg_radius / self.resolution_
 *             llcijs[n, 0, 0] = llc_ij[0, 0]
 */
    __pyx_t_10.data = __pyx_v_right_leg_pose2d_in_map_frame.data;
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__pyx_t_17.__pyx_n = 1;
    __pyx_t_17.clip_if_outside = 0;
    __pyx_t_6 = ((struct __pyx_vtabstruct_6CMap2D_CMap2D *)__pyx_v_self->__pyx_vtab)->cxy_to_ij(__pyx_v_self, __pyx_t_10, __pyx_v_rlc_ij, &__pyx_t_17); if (unlikely(!__pyx_t_6)) __PYX_ERR(0, 1034, __pyx_L1_error)
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    /* "CMap2D.pyx":1035
 *             self.cxy_to_ij(left_leg_pose2d_in_map_frame[:1,:2], llc_ij, clip_if_outside=False)
 *             self.cxy_to_ij(right_leg_pose2d_in_map_frame[:1, :2], rlc_ij, clip_if_outside=False)
 *             leg_radii_ijs[n] = cagent.leg_radius / self.resolution_             # <<<<<<<<<<<<<<
 *             llcijs[n, 0, 0] = llc_ij[0, 0]
 *             llcijs[n, 0, 1] = llc_ij[0, 1]
 */
    __pyx_t_18 = __pyx_v_n;
    *((__pyx_t_5numpy_float32_t *) ( /* dim=0 */ (__pyx_v_leg_radii_ijs.data + __pyx_t_18 * __pyx_v_leg_radii_ijs.strides[0]) )) = (__pyx_v_cagent->leg_radius / __pyx_v_self->resolution_);

    /* "CMap2D.pyx":1036
 *             self.cxy_to_ij(right_leg_pose2d_in_map_frame[:1, :2], rlc_ij, clip_if_outside=False)
 *             leg_radii_ijs[n] = cagent.leg_radius / self.resolution_
 *             llcijs[n, 0, 0] = llc_ij[0, 0]             # <<<<<<<<<<<<<<
 *             llcijs[n, 0, 1] = llc_ij[0, 1]
 *             llcijs[n, 0, 2] = llc_ij[0, 2]
 */
    __pyx_t_18 = 0;
    __pyx_t_19 = 0;
    __pyx_t_20 = __pyx_v_n;
    __pyx_t_21 = 0;
    __pyx_t_22 = 0;
    *((__pyx_t_5numpy_float32_t *) ( /* dim=2 */ ((char *) (((__pyx_t_5numpy_float32_t *) ( /* dim=1 */ (( /* dim=0 */ (__pyx_v_llcijs.data + __pyx_t_20 * __pyx_v_llcijs.strides[0]) ) + __pyx_t_21 * __pyx_v_llcijs.strides[1]) )) + __pyx_t_22)) )) = (*((__pyx_t_5numpy_float32_t *) ( /* dim=1 */ ((char *) (((__pyx_t_5numpy_float32_t *) ( /* dim=0 */ (__pyx_v_llc_ij.data + __pyx_t_18 * __pyx_v_llc_ij.strides[0]) )) + __pyx_t_19)) )));

    /* "CMap2D.pyx":1037
 *             leg_radii_ijs[n] = cagent.leg_radius / self.resolution_
 *             llcijs[n, 0, 0] = llc_ij[0, 0]
 *             llcijs[n, 0, 1] = llc_ij[0, 1]             # <<<<<<<<<<<<<<
 *             llcijs[n, 0, 2] = llc_ij[0, 2]
 *             rlcijs[n, 0, 0] = rlc_ij[0, 0]
 */
    __pyx_t_19 = 0;
    __pyx_t_18 = 1;
    __pyx_t_22 = __pyx_v_n;
    __pyx_t_21 = 0;
    __pyx_t_20 = 1;
    *((__pyx_t_5numpy_float32_t *) ( /* dim=2 */ ((char *) (((__pyx_t_5numpy_float32_t *) ( /* dim=1 */ (( /* dim=0 */ (__pyx_v_llcijs.data + __pyx_t_22 * __pyx_v_llcijs.strides[0]) ) + __pyx_t_21 * __pyx_v_llcijs.strides[1]) )) + __pyx_t_20)) )) = (*((__pyx_t_5numpy_float32_t *) ( /* dim=1 */ ((char *) (((__pyx_t_5numpy_float32_t *) ( /* dim=0 */ (__pyx_v_llc_ij.data + __pyx_t_19 * __pyx_v_llc_ij.strides[0]) )) + __pyx_t_18)) )));

    /* "CMap2D.pyx":1038
 *             llcijs[n, 0, 0] = llc_ij[0, 0]
 *             llcijs[n, 0, 1] = llc_ij[0, 1]
 *             llcijs[n, 0, 2] = llc_ij[0, 2]             # <<<<<<<<<<<<<<
 *             rlcijs[n, 0, 0] = rlc_ij[0, 0]
 *             rlcijs[n, 0, 1] = rlc_ij[0, 1]
 */
    __pyx_t_18 = 0;
    __pyx_t_19 = 2;
    __pyx_t_20 = __pyx_v_n;
    __pyx_t_21 = 0;
    __pyx_t_22 = 2;
    *((__pyx_t_5numpy_float32_t *) ( /* dim=2 */ ((char *) (((__pyx_t_5numpy_float32_t *) ( /* dim=1 */ (( /* dim=0 */ (__pyx_v_llcijs.data + __pyx_t_20 * __pyx_v_llcijs.strides[0]) ) + __pyx_t_21 * __pyx_v_llcijs.strides[1]) )) + __pyx_t_22)) )) = (*((__pyx_t_5numpy_float32_t *) ( /* dim=1 */ ((char *) (((__pyx_t_5numpy_float32_t *) ( /* dim=0 */ (__pyx_v_llc_ij.data + __pyx_t_18 * __pyx_v_llc_ij.strides[0]) )) + __pyx_t_19)) )));

    /* "CMap2D.pyx":1039
 *             llcijs[n, 0, 1] = llc_ij[0, 1]
 *             llcijs[n, 0, 2] = llc_ij[0, 2]
 *             rlcijs[n, 0, 0] = rlc_ij[0, 0]             # <<<<<<<<<<<<<<
 *             rlcijs[n, 0, 1] = rlc_ij[0, 1]
 *             rlcijs[n, 0, 2] = rlc_ij[0, 2]
 */
    __pyx_t_19 = 0;
    __pyx_t_18 = 0;
    __pyx_t_22 = __pyx_v_n;
    __pyx_t_21 = 0;
    __pyx_t_20 = 0;
    *((__pyx_t_5numpy_float32_t *) ( /* dim=2 */ ((char *) (((__pyx_t_5numpy_float32_t *) ( /* dim=1 */ (( /* dim=0 */ (__pyx_v_rlcijs.data + __pyx_t_22 * __pyx_v_rlcijs.strides[0]) ) + __pyx_t_21 * __pyx_v_rlcijs.strides[1]) )) + __pyx_t_20)) )) = (*((__pyx_t_5numpy_float32_t *) ( /* dim=1 */ ((char *) (((__pyx_t_5numpy_float32_t *) ( /* dim=0 */ (__pyx_v_rlc_ij.data + __pyx_t_19 * __pyx_v_rlc_ij.strides[0]) )) + __pyx_t_18)) )));

    /* "CMap2D.pyx":1040
 *             llcijs[n, 0, 2] = llc_ij[0, 2]
 *             rlcijs[n, 0, 0] = rlc_ij[0, 0]
 *             rlcijs[n, 0, 1] = rlc_ij[0, 1]             # <<<<<<<<<<<<<<
 *             rlcijs[n, 0, 2] = rlc_ij[0, 2]
 *         # final calculation cdefs
 */
    __pyx_t_18 = 0;
    __pyx_t_19 = 1;
    __pyx_t_20 = __pyx_v_n;
    __pyx_t_21 = 0;
    __pyx_t_22 = 1;
    *((__pyx_t_5numpy_float32_t *) ( /* dim=2 */ ((char *) (((__pyx_t_5numpy_float32_t *) ( /* dim=1 */ (( /* dim=0 */ (__pyx_v_rlcijs.data + __pyx_t_20 * __pyx_v_rlcijs.strides[0]) ) + __pyx_t_21 * __pyx_v_rlcijs.strides[1]) )) + __pyx_t_22)) )) = (*((__pyx_t_5numpy_float32_t *) ( /* dim=1 */ ((char *) (((__pyx_t_5numpy_float32_t *) ( /* dim=0 */ (__pyx_v_rlc_ij.data + __pyx_t_18 * __pyx_v_rlc_ij.strides[0]) )) + __pyx_t_19)) )));

    /* "CMap2D.pyx":1041
 *             rlcijs[n, 0, 0] = rlc_ij[0, 0]
 *             rlcijs[n, 0, 1] = rlc_ij[0, 1]
 *             rlcijs[n, 0, 2] = rlc_ij[0, 2]             # <<<<<<<<<<<<<<
 *         # final calculation cdefs
 *         cdef np.float32_t angle_min
 */
    __pyx_t_19 = 0;
    __pyx_t_18 = 2;
    __pyx_t_22 = __pyx_v_n;
    __pyx_t_21 = 0;
    __pyx_t_20 = 2;
    *((__pyx_t_5numpy_float32_t *) ( /* dim=2 */ ((char *) (((__pyx_t_5numpy_float32_t *) ( /* dim=1 */ (( /* dim=0 */ (__pyx_v_rlcijs.data + __pyx_t_22 * __pyx_v_rlcijs.strides[0]) ) + __pyx_t_21 * __pyx_v_rlcijs.strides[1]) )) + __pyx_t_20)) )) = (*((__pyx_t_5numpy_float32_t *) ( /* dim=1 */ ((char *) (((__pyx_t_5numpy_float32_t *) ( /* dim=0 */ (__pyx_v_rlc_ij.data + __pyx_t_19 * __pyx_v_rlc_ij.strides[0]) )) + __pyx_t_18)) )));
  }

  /* "CMap2D.pyx":1062
 *         cdef int indexmax
 *         cdef int k
 *         cdef bool wholescan = False             # <<<<<<<<<<<<<<
 *         for a in range(n_agents): # apply to each agent
 *             if first_lidar_only:
 */
  __pyx_v_wholescan = 0;

  /* "CMap2D.pyx":1063
 *         cdef int k
 *         cdef bool wholescan = False
 *         for a in range(n_agents): # apply to each agent             # <<<<<<<<<<<<<<
 *             if first_lidar_only:
 *                 if a != 0:
 */
  __pyx_t_12 = __pyx_v_n_agents;
  __pyx_t_13 = __pyx_t_12;
  for (__pyx_t_14 = 0; __pyx_t_14 < __pyx_t_13; __pyx_t_14+=1) {
    __pyx_v_a = __pyx_t_14;

    /* "CMap2D.pyx":1064
 *         cdef bool wholescan = False
 *         for a in range(n_agents): # apply to each agent
 *             if first_lidar_only:             # <<<<<<<<<<<<<<
 *                 if a != 0:
 *                     break
 */
    __pyx_t_5 = (__pyx_v_first_lidar_only != 0);
    if (__pyx_t_5) {

      /* "CMap2D.pyx":1065
 *         for a in range(n_agents): # apply to each agent
 *             if first_lidar_only:
 *                 if a != 0:             # <<<<<<<<<<<<<<
 *                     break
 *             for lr in range(n_lidars_per_agent): # apply to left / right lidar
 */
      __pyx_t_5 = ((__pyx_v_a != 0) != 0);
      if (__pyx_t_5) {

        /* "CMap2D.pyx":1066
 *             if first_lidar_only:
 *                 if a != 0:
 *                     break             # <<<<<<<<<<<<<<
 *             for lr in range(n_lidars_per_agent): # apply to left / right lidar
 *                 # apply render agents to single lidar scan
 */
        goto __pyx_L7_break;

        /* "CMap2D.pyx":1065
 *         for a in range(n_agents): # apply to each agent
 *             if first_lidar_only:
 *                 if a != 0:             # <<<<<<<<<<<<<<
 *                     break
 *             for lr in range(n_lidars_per_agent): # apply to left / right lidar
 */
      }

      /* "CMap2D.pyx":1064
 *         cdef bool wholescan = False
 *         for a in range(n_agents): # apply to each agent
 *             if first_lidar_only:             # <<<<<<<<<<<<<<
 *                 if a != 0:
 *                     break
 */
    }

    /* "CMap2D.pyx":1067
 *                 if a != 0:
 *                     break
 *             for lr in range(n_lidars_per_agent): # apply to left / right lidar             # <<<<<<<<<<<<<<
 *                 # apply render agents to single lidar scan
 *                 k = 0
 */
    __pyx_t_16 = __pyx_v_n_lidars_per_agent;
    __pyx_t_23 = __pyx_t_16;
    for (__pyx_t_24 = 0; __pyx_t_24 < __pyx_t_23; __pyx_t_24+=1) {
      __pyx_v_lr = __pyx_t_24;

      /* "CMap2D.pyx":1069
 *             for lr in range(n_lidars_per_agent): # apply to left / right lidar
 *                 # apply render agents to single lidar scan
 *                 k = 0             # <<<<<<<<<<<<<<
 *                 for o_a in range(n_agents):
 *                     # fetch leg pos for other agents (except current)
 */
      __pyx_v_k = 0;

      /* "CMap2D.pyx":1070
 *                 # apply render agents to single lidar scan
 *                 k = 0
 *                 for o_a in range(n_agents):             # <<<<<<<<<<<<<<
 *                     # fetch leg pos for other agents (except current)
 *                     if o_a == a:
 */
      __pyx_t_25 = __pyx_v_n_agents;
      __pyx_t_26 = __pyx_t_25;
      for (__pyx_t_27 = 0; __pyx_t_27 < __pyx_t_26; __pyx_t_27+=1) {
        __pyx_v_o_a = __pyx_t_27;

        /* "CMap2D.pyx":1072
 *                 for o_a in range(n_agents):
 *                     # fetch leg pos for other agents (except current)
 *                     if o_a == a:             # <<<<<<<<<<<<<<
 *                         continue
 *                     leg_radius_ij = leg_radii_ijs[o_a]
 */
        __pyx_t_5 = ((__pyx_v_o_a == __pyx_v_a) != 0);
        if (__pyx_t_5) {

          /* "CMap2D.pyx":1073
 *                     # fetch leg pos for other agents (except current)
 *                     if o_a == a:
 *                         continue             # <<<<<<<<<<<<<<
 *                     leg_radius_ij = leg_radii_ijs[o_a]
 *                     llc_ij[0, 0] = llcijs[o_a, 0, 0]
 */
          goto __pyx_L12_continue;

          /* "CMap2D.pyx":1072
 *                 for o_a in range(n_agents):
 *                     # fetch leg pos for other agents (except current)
 *                     if o_a == a:             # <<<<<<<<<<<<<<
 *                         continue
 *                     leg_radius_ij = leg_radii_ijs[o_a]
 */
        }

        /* "CMap2D.pyx":1074
 *                     if o_a == a:
 *                         continue
 *                     leg_radius_ij = leg_radii_ijs[o_a]             # <<<<<<<<<<<<<<
 *                     llc_ij[0, 0] = llcijs[o_a, 0, 0]
 *                     llc_ij[0, 1] = llcijs[o_a, 0, 1]
 */
        __pyx_t_18 = __pyx_v_o_a;
        __pyx_v_leg_radius_ij = (*((__pyx_t_5numpy_float32_t *) ( /* dim=0 */ (__pyx_v_leg_radii_ijs.data + __pyx_t_18 * __pyx_v_leg_radii_ijs.strides[0]) )));

        /* "CMap2D.pyx":1075
 *                         continue
 *                     leg_radius_ij = leg_radii_ijs[o_a]
 *                     llc_ij[0, 0] = llcijs[o_a, 0, 0]             # <<<<<<<<<<<<<<
 *                     llc_ij[0, 1] = llcijs[o_a, 0, 1]
 *                     llc_ij[0, 2] = llcijs[o_a, 0, 2]
 */
        __pyx_t_18 = __pyx_v_o_a;
        __pyx_t_19 = 0;
        __pyx_t_20 = 0;
        __pyx_t_21 = 0;
        __pyx_t_22 = 0;
        *((__pyx_t_5numpy_float32_t *) ( /* dim=1 */ ((char *) (((__pyx_t_5numpy_float32_t *) ( /* dim=0 */ (__pyx_v_llc_ij.data + __pyx_t_21 * __pyx_v_llc_ij.strides[0]) )) + __pyx_t_22)) )) = (*((__pyx_t_5numpy_float32_t *) ( /* dim=2 */ ((char *) (((__pyx_t_5numpy_float32_t *) ( /* dim=1 */ (( /* dim=0 */ (__pyx_v_llcijs.data + __pyx_t_18 * __pyx_v_llcijs.strides[0]) ) + __pyx_t_19 * __pyx_v_llcijs.strides[1]) )) + __pyx_t_20)) )));

        /* "CMap2D.pyx":1076
 *                     leg_radius_ij = leg_radii_ijs[o_a]
 *                     llc_ij[0, 0] = llcijs[o_a, 0, 0]
 *                     llc_ij[0, 1] = llcijs[o_a, 0, 1]             # <<<<<<<<<<<<<<
 *                     llc_ij[0, 2] = llcijs[o_a, 0, 2]
 *                     rlc_ij[0, 0] = rlcijs[o_a, 0, 0]
 */
        __pyx_t_20 = __pyx_v_o_a;
        __pyx_t_19 = 0;
        __pyx_t_18 = 1;
        __pyx_t_22 = 0;
        __pyx_t_21 = 1;
        *((__pyx_t_5numpy_float32_t *) ( /* dim=1 */ ((char *) (((__pyx_t_5numpy_float32_t *) ( /* dim=0 */ (__pyx_v_llc_ij.data + __pyx_t_22 * __pyx_v_llc_ij.strides[0]) )) + __pyx_t_21)) )) = (*((__pyx_t_5numpy_float32_t *) ( /* dim=2 */ ((char *) (((__pyx_t_5numpy_float32_t *) ( /* dim=1 */ (( /* dim=0 */ (__pyx_v_llcijs.data + __pyx_t_20 * __pyx_v_llcijs.strides[0]) ) + __pyx_t_19 * __pyx_v_llcijs.strides[1]) )) + __pyx_t_18)) )));

        /* "CMap2D.pyx":1077
 *                     llc_ij[0, 0] = llcijs[o_a, 0, 0]
 *                     llc_ij[0, 1] = llcijs[o_a, 0, 1]
 *                     llc_ij[0, 2] = llcijs[o_a, 0, 2]             # <<<<<<<<<<<<<<
 *                     rlc_ij[0, 0] = rlcijs[o_a, 0, 0]
 *                     rlc_ij[0, 1] = rlcijs[o_a, 0, 1]
 */
        __pyx_t_18 = __pyx_v_o_a;
        __pyx_t_19 = 0;
        __pyx_t_20 = 2;
        __pyx_t_21 = 0;
        __pyx_t_22 = 2;
        *((__pyx_t_5numpy_float32_t *) ( /* dim=1 */ ((char *) (((__pyx_t_5numpy_float32_t *) ( /* dim=0 */ (__pyx_v_llc_ij.data + __pyx_t_21 * __pyx_v_llc_ij.strides[0]) )) + __pyx_t_22)) )) = (*((__pyx_t_5numpy_float32_t *) ( /* dim=2 */ ((char *) (((__pyx_t_5numpy_float32_t *) ( /* dim=1 */ (( /* dim=0 */ (__pyx_v_llcijs.data + __pyx_t_18 * __pyx_v_llcijs.strides[0]) ) + __pyx_t_19 * __pyx_v_llcijs.strides[1]) )) + __pyx_t_20)) )));

        /* "CMap2D.pyx":1078
 *                     llc_ij[0, 1] = llcijs[o_a, 0, 1]
 *                     llc_ij[0, 2] = llcijs[o_a, 0, 2]
 *                     rlc_ij[0, 0] = rlcijs[o_a, 0, 0]             # <<<<<<<<<<<<<<
 *                     rlc_ij[0, 1] = rlcijs[o_a, 0, 1]
 *                     rlc_ij[0, 2] = rlcijs[o_a, 0, 2]
 */
        __pyx_t_20 = __pyx_v_o_a;
        __pyx_t_19 = 0;
        __pyx_t_18 = 0;
        __pyx_t_22 = 0;
        __pyx_t_21 = 0;
        *((__pyx_t_5numpy_float32_t *) ( /* dim=1 */ ((char *) (((__pyx_t_5numpy_float32_t *) ( /* dim=0 */ (__pyx_v_rlc_ij.data + __pyx_t_22 * __pyx_v_rlc_ij.strides[0]) )) + __pyx_t_21)) )) = (*((__pyx_t_5numpy_float32_t *) ( /* dim=2 */ ((char *) (((__pyx_t_5numpy_float32_t *) ( /* dim=1 */ (( /* dim=0 */ (__pyx_v_rlcijs.data + __pyx_t_20 * __pyx_v_rlcijs.strides[0]) ) + __pyx_t_19 * __pyx_v_rlcijs.strides[1]) )) + __pyx_t_18)) )));

        /* "CMap2D.pyx":1079
 *                     llc_ij[0, 2] = llcijs[o_a, 0, 2]
 *                     rlc_ij[0, 0] = rlcijs[o_a, 0, 0]
 *                     rlc_ij[0, 1] = rlcijs[o_a, 0, 1]             # <<<<<<<<<<<<<<
 *                     rlc_ij[0, 2] = rlcijs[o_a, 0, 2]
 *                     # circle centers in 'lidar' frame (frame centered at lidar pos, but not rotated,
 */
        __pyx_t_18 = __pyx_v_o_a;
        __pyx_t_19 = 0;
        __pyx_t_20 = 1;
        __pyx_t_21 = 0;
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        __Pyx_DECREF(__pyx_t_6); __pyx_t_6 = 0;
        __pyx_t_18 = __pyx_v_i2;
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        /* "CMap2D.pyx":1096
 *                     centers_r_sq[i2] = centers_i[i2]**2 + centers_j[i2]**2
 *                     centers_l[i2] = np.arctan2(centers_j[i2], centers_i[i2])
 *                     k += 1             # <<<<<<<<<<<<<<
 *                 # Circle in polar coord: r^2 - 2*r*r0*cos(phi-lambda) + r0^2 = R^2
 *                 # Solve equation for r at angle phi in polar coordinates, of circle of center (r0, lambda)
 */
        __pyx_v_k = (__pyx_v_k + 1);
        __pyx_L12_continue:;
      }

      /* "CMap2D.pyx":1103
 *                 # r = r0*cos(phi-lambda) + sqrt( r0^2*cos^2(phi-lambda) - r0^2 + R^2 )
 *                 # solutions are real only if term inside sqrt is > 0
 *                 angle_min = ijthetas[a, 0, lr, 2]             # <<<<<<<<<<<<<<
 *                 angle_max = ijthetas[a, n_angles-1, lr, 2]
 *                 angle_inc = ijthetas[a, 1, lr, 2] - angle_min
 */
      __pyx_t_18 = __pyx_v_a;
      __pyx_t_19 = 0;
      __pyx_t_20 = __pyx_v_lr;
      __pyx_t_21 = 2;
      __pyx_v_angle_min = (*((__pyx_t_5numpy_float32_t *) ( /* dim=3 */ ((char *) (((__pyx_t_5numpy_float32_t *) ( /* dim=2 */ (( /* dim=1 */ (( /* dim=0 */ (__pyx_v_ijthetas.data + __pyx_t_18 * __pyx_v_ijthetas.strides[0]) ) + __pyx_t_19 * __pyx_v_ijthetas.strides[1]) ) + __pyx_t_20 * __pyx_v_ijthetas.strides[2]) )) + __pyx_t_21)) )));

      /* "CMap2D.pyx":1104
 *                 # solutions are real only if term inside sqrt is > 0
 *                 angle_min = ijthetas[a, 0, lr, 2]
 *                 angle_max = ijthetas[a, n_angles-1, lr, 2]             # <<<<<<<<<<<<<<
 *                 angle_inc = ijthetas[a, 1, lr, 2] - angle_min
 *                 if angle_min >= angle_max:
 */
      __pyx_t_21 = __pyx_v_a;
      __pyx_t_20 = (__pyx_v_n_angles - 1);
      __pyx_t_19 = __pyx_v_lr;
      __pyx_t_18 = 2;
      __pyx_v_angle_max = (*((__pyx_t_5numpy_float32_t *) ( /* dim=3 */ ((char *) (((__pyx_t_5numpy_float32_t *) ( /* dim=2 */ (( /* dim=1 */ (( /* dim=0 */ (__pyx_v_ijthetas.data + __pyx_t_21 * __pyx_v_ijthetas.strides[0]) ) + __pyx_t_20 * __pyx_v_ijthetas.strides[1]) ) + __pyx_t_19 * __pyx_v_ijthetas.strides[2]) )) + __pyx_t_18)) )));

      /* "CMap2D.pyx":1105
 *                 angle_min = ijthetas[a, 0, lr, 2]
 *                 angle_max = ijthetas[a, n_angles-1, lr, 2]
 *                 angle_inc = ijthetas[a, 1, lr, 2] - angle_min             # <<<<<<<<<<<<<<
 *                 if angle_min >= angle_max:
 *                     raise ValueError("angles expected to be ordered from min to max.")
 */
      __pyx_t_18 = __pyx_v_a;
      __pyx_t_19 = 1;
      __pyx_t_20 = __pyx_v_lr;
      __pyx_t_21 = 2;
      __pyx_v_angle_inc = ((*((__pyx_t_5numpy_float32_t *) ( /* dim=3 */ ((char *) (((__pyx_t_5numpy_float32_t *) ( /* dim=2 */ (( /* dim=1 */ (( /* dim=0 */ (__pyx_v_ijthetas.data + __pyx_t_18 * __pyx_v_ijthetas.strides[0]) ) + __pyx_t_19 * __pyx_v_ijthetas.strides[1]) ) + __pyx_t_20 * __pyx_v_ijthetas.strides[2]) )) + __pyx_t_21)) ))) - __pyx_v_angle_min);

      /* "CMap2D.pyx":1106
 *                 angle_max = ijthetas[a, n_angles-1, lr, 2]
 *                 angle_inc = ijthetas[a, 1, lr, 2] - angle_min
 *                 if angle_min >= angle_max:             # <<<<<<<<<<<<<<
 *                     raise ValueError("angles expected to be ordered from min to max.")
 *                 # angle_0_ref is a multiple of 2pi, the closest one smaller than angles[0]
 */
      __pyx_t_5 = ((__pyx_v_angle_min >= __pyx_v_angle_max) != 0);
      if (unlikely(__pyx_t_5)) {

        /* "CMap2D.pyx":1107
 *                 angle_inc = ijthetas[a, 1, lr, 2] - angle_min
 *                 if angle_min >= angle_max:
 *                     raise ValueError("angles expected to be ordered from min to max.")             # <<<<<<<<<<<<<<
 *                 # angle_0_ref is a multiple of 2pi, the closest one smaller than angles[0]
 *                 # assuming a scan covers less than full circle, all angles in the scan should lie
 */
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        __Pyx_GOTREF(__pyx_t_6);
        __Pyx_Raise(__pyx_t_6, 0, 0, 0);
        __Pyx_DECREF(__pyx_t_6); __pyx_t_6 = 0;
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        /* "CMap2D.pyx":1106
 *                 angle_max = ijthetas[a, n_angles-1, lr, 2]
 *                 angle_inc = ijthetas[a, 1, lr, 2] - angle_min
 *                 if angle_min >= angle_max:             # <<<<<<<<<<<<<<
 *                     raise ValueError("angles expected to be ordered from min to max.")
 *                 # angle_0_ref is a multiple of 2pi, the closest one smaller than angles[0]
 */
      }

      /* "CMap2D.pyx":1111
 *                 # assuming a scan covers less than full circle, all angles in the scan should lie
 *                 # between angle_0_ref and angle_0_ref + 2* 2pi (two full circles)
 *                 angle_0_ref = 2*PI * (angle_min // (2*PI))             # <<<<<<<<<<<<<<
 *                 for i in range(n_centers):
 *                     r0sq = centers_r_sq[i]
 */
      __pyx_v_angle_0_ref = ((2.0 * __pyx_v_PI) * floor(__pyx_v_angle_min / (2.0 * __pyx_v_PI)));

      /* "CMap2D.pyx":1112
 *                 # between angle_0_ref and angle_0_ref + 2* 2pi (two full circles)
 *                 angle_0_ref = 2*PI * (angle_min // (2*PI))
 *                 for i in range(n_centers):             # <<<<<<<<<<<<<<
 *                     r0sq = centers_r_sq[i]
 *                     r0 = csqrt(r0sq)
 */
      __pyx_t_25 = __pyx_v_n_centers;
      __pyx_t_26 = __pyx_t_25;
      for (__pyx_t_27 = 0; __pyx_t_27 < __pyx_t_26; __pyx_t_27+=1) {
        __pyx_v_i = __pyx_t_27;

        /* "CMap2D.pyx":1113
 *                 angle_0_ref = 2*PI * (angle_min // (2*PI))
 *                 for i in range(n_centers):
 *                     r0sq = centers_r_sq[i]             # <<<<<<<<<<<<<<
 *                     r0 = csqrt(r0sq)
 *                     lmbda = centers_l[i]
 */
        __pyx_t_21 = __pyx_v_i;
        __pyx_v_r0sq = (*((__pyx_t_5numpy_float32_t *) ( /* dim=0 */ (__pyx_v_centers_r_sq.data + __pyx_t_21 * __pyx_v_centers_r_sq.strides[0]) )));

        /* "CMap2D.pyx":1114
 *                 for i in range(n_centers):
 *                     r0sq = centers_r_sq[i]
 *                     r0 = csqrt(r0sq)             # <<<<<<<<<<<<<<
 *                     lmbda = centers_l[i]
 *                     R = radii_ij[i]
 */
        __pyx_v_r0 = sqrt(__pyx_v_r0sq);

        /* "CMap2D.pyx":1115
 *                     r0sq = centers_r_sq[i]
 *                     r0 = csqrt(r0sq)
 *                     lmbda = centers_l[i]             # <<<<<<<<<<<<<<
 *                     R = radii_ij[i]
 *                     # we can first check at what angles this holds.
 */
        __pyx_t_21 = __pyx_v_i;
        __pyx_v_lmbda = (*((__pyx_t_5numpy_float32_t *) ( /* dim=0 */ (__pyx_v_centers_l.data + __pyx_t_21 * __pyx_v_centers_l.strides[0]) )));

        /* "CMap2D.pyx":1116
 *                     r0 = csqrt(r0sq)
 *                     lmbda = centers_l[i]
 *                     R = radii_ij[i]             # <<<<<<<<<<<<<<
 *                     # we can first check at what angles this holds.
 *                     # there should be two extrema for the circle in phi, which are solutions for:
 */
        __pyx_t_21 = __pyx_v_i;
        __pyx_v_R = (*((__pyx_t_5numpy_float32_t *) ( /* dim=0 */ (__pyx_v_radii_ij.data + __pyx_t_21 * __pyx_v_radii_ij.strides[0]) )));

        /* "CMap2D.pyx":1123
 *                     # phi = lambda + 2*pi*n +- arccos( +- sqrt(r0^2 - R^2) / r0 )
 *                     # these exist only if r0 > R and r0 != 0
 *                     if centers_r_sq[i] == 0 or centers_r_sq[i] < radii_ij[i]**2:             # <<<<<<<<<<<<<<
 *                         indexmin = 0
 *                         indexmax = n_angles - 1
 */
        __pyx_t_21 = __pyx_v_i;
        __pyx_t_31 = (((*((__pyx_t_5numpy_float32_t *) ( /* dim=0 */ (__pyx_v_centers_r_sq.data + __pyx_t_21 * __pyx_v_centers_r_sq.strides[0]) ))) == 0.0) != 0);
        if (!__pyx_t_31) {
        } else {
          __pyx_t_5 = __pyx_t_31;
          goto __pyx_L19_bool_binop_done;
        }
        __pyx_t_21 = __pyx_v_i;
        __pyx_t_20 = __pyx_v_i;
        __pyx_t_31 = (((*((__pyx_t_5numpy_float32_t *) ( /* dim=0 */ (__pyx_v_centers_r_sq.data + __pyx_t_21 * __pyx_v_centers_r_sq.strides[0]) ))) < powf((*((__pyx_t_5numpy_float32_t *) ( /* dim=0 */ (__pyx_v_radii_ij.data + __pyx_t_20 * __pyx_v_radii_ij.strides[0]) ))), 2.0)) != 0);
        __pyx_t_5 = __pyx_t_31;
        __pyx_L19_bool_binop_done:;
        if (__pyx_t_5) {

          /* "CMap2D.pyx":1124
 *                     # these exist only if r0 > R and r0 != 0
 *                     if centers_r_sq[i] == 0 or centers_r_sq[i] < radii_ij[i]**2:
 *                         indexmin = 0             # <<<<<<<<<<<<<<
 *                         indexmax = n_angles - 1
 *                     else:
 */
          __pyx_v_indexmin = 0;

          /* "CMap2D.pyx":1125
 *                     if centers_r_sq[i] == 0 or centers_r_sq[i] < radii_ij[i]**2:
 *                         indexmin = 0
 *                         indexmax = n_angles - 1             # <<<<<<<<<<<<<<
 *                     else:
 *                         phimin = lmbda - cacos( csqrt(r0sq - R**2) / r0 )
 */
          __pyx_v_indexmax = (__pyx_v_n_angles - 1);

          /* "CMap2D.pyx":1123
 *                     # phi = lambda + 2*pi*n +- arccos( +- sqrt(r0^2 - R^2) / r0 )
 *                     # these exist only if r0 > R and r0 != 0
 *                     if centers_r_sq[i] == 0 or centers_r_sq[i] < radii_ij[i]**2:             # <<<<<<<<<<<<<<
 *                         indexmin = 0
 *                         indexmax = n_angles - 1
 */
          goto __pyx_L18;
        }

        /* "CMap2D.pyx":1127
 *                         indexmax = n_angles - 1
 *                     else:
 *                         phimin = lmbda - cacos( csqrt(r0sq - R**2) / r0 )             # <<<<<<<<<<<<<<
 *                         phimax = lmbda + cacos( csqrt(r0sq - R**2) / r0 )
 *                         #                    this is phi as an angle [0, 2pi]
 */
        /*else*/ {
          __pyx_v_phimin = (__pyx_v_lmbda - acos((sqrt((__pyx_v_r0sq - powf(__pyx_v_R, 2.0))) / __pyx_v_r0)));

          /* "CMap2D.pyx":1128
 *                     else:
 *                         phimin = lmbda - cacos( csqrt(r0sq - R**2) / r0 )
 *                         phimax = lmbda + cacos( csqrt(r0sq - R**2) / r0 )             # <<<<<<<<<<<<<<
 *                         #                    this is phi as an angle [0, 2pi]
 *                         phimin = angle_0_ref + phimin % (PI * 2)
 */
          __pyx_v_phimax = (__pyx_v_lmbda + acos((sqrt((__pyx_v_r0sq - powf(__pyx_v_R, 2.0))) / __pyx_v_r0)));

          /* "CMap2D.pyx":1130
 *                         phimax = lmbda + cacos( csqrt(r0sq - R**2) / r0 )
 *                         #                    this is phi as an angle [0, 2pi]
 *                         phimin = angle_0_ref + phimin % (PI * 2)             # <<<<<<<<<<<<<<
 *                         phimax = angle_0_ref + phimax % (PI * 2)
 *                         # try the second full circle if our agent is outside the scan
 */
          __pyx_v_phimin = (__pyx_v_angle_0_ref + fmodf(__pyx_v_phimin, (__pyx_v_PI * 2.0)));

          /* "CMap2D.pyx":1131
 *                         #                    this is phi as an angle [0, 2pi]
 *                         phimin = angle_0_ref + phimin % (PI * 2)
 *                         phimax = angle_0_ref + phimax % (PI * 2)             # <<<<<<<<<<<<<<
 *                         # try the second full circle if our agent is outside the scan
 *                         if phimax < angle_min:
 */
          __pyx_v_phimax = (__pyx_v_angle_0_ref + fmodf(__pyx_v_phimax, (__pyx_v_PI * 2.0)));

          /* "CMap2D.pyx":1133
 *                         phimax = angle_0_ref + phimax % (PI * 2)
 *                         # try the second full circle if our agent is outside the scan
 *                         if phimax < angle_min:             # <<<<<<<<<<<<<<
 *                             phimin = phimin + PI * 2
 *                             phimax = phimax + PI * 2
 */
          __pyx_t_5 = ((__pyx_v_phimax < __pyx_v_angle_min) != 0);
          if (__pyx_t_5) {

            /* "CMap2D.pyx":1134
 *                         # try the second full circle if our agent is outside the scan
 *                         if phimax < angle_min:
 *                             phimin = phimin + PI * 2             # <<<<<<<<<<<<<<
 *                             phimax = phimax + PI * 2
 *                         # if still outside the scan, our agent is not visible
 */
            __pyx_v_phimin = (__pyx_v_phimin + (__pyx_v_PI * 2.0));

            /* "CMap2D.pyx":1135
 *                         if phimax < angle_min:
 *                             phimin = phimin + PI * 2
 *                             phimax = phimax + PI * 2             # <<<<<<<<<<<<<<
 *                         # if still outside the scan, our agent is not visible
 *                         if phimax < angle_min or phimin > angle_max:
 */
            __pyx_v_phimax = (__pyx_v_phimax + (__pyx_v_PI * 2.0));

            /* "CMap2D.pyx":1133
 *                         phimax = angle_0_ref + phimax % (PI * 2)
 *                         # try the second full circle if our agent is outside the scan
 *                         if phimax < angle_min:             # <<<<<<<<<<<<<<
 *                             phimin = phimin + PI * 2
 *                             phimax = phimax + PI * 2
 */
          }

          /* "CMap2D.pyx":1137
 *                             phimax = phimax + PI * 2
 *                         # if still outside the scan, our agent is not visible
 *                         if phimax < angle_min or phimin > angle_max:             # <<<<<<<<<<<<<<
 *                             continue
 *                         # find the index for the first visible circle point in the scan
 */
          __pyx_t_31 = ((__pyx_v_phimax < __pyx_v_angle_min) != 0);
          if (!__pyx_t_31) {
          } else {
            __pyx_t_5 = __pyx_t_31;
            goto __pyx_L23_bool_binop_done;
          }
          __pyx_t_31 = ((__pyx_v_phimin > __pyx_v_angle_max) != 0);
          __pyx_t_5 = __pyx_t_31;
          __pyx_L23_bool_binop_done:;
          if (__pyx_t_5) {

            /* "CMap2D.pyx":1138
 *                         # if still outside the scan, our agent is not visible
 *                         if phimax < angle_min or phimin > angle_max:
 *                             continue             # <<<<<<<<<<<<<<
 *                         # find the index for the first visible circle point in the scan
 *                         indexmin = int( ( max(phimin, angle_min) - angle_min ) // angle_inc )
 */
            goto __pyx_L16_continue;

            /* "CMap2D.pyx":1137
 *                             phimax = phimax + PI * 2
 *                         # if still outside the scan, our agent is not visible
 *                         if phimax < angle_min or phimin > angle_max:             # <<<<<<<<<<<<<<
 *                             continue
 *                         # find the index for the first visible circle point in the scan
 */
          }

          /* "CMap2D.pyx":1140
 *                             continue
 *                         # find the index for the first visible circle point in the scan
 *                         indexmin = int( ( max(phimin, angle_min) - angle_min ) // angle_inc )             # <<<<<<<<<<<<<<
 *                         indexmax = int( ( min(phimax, angle_max) - angle_min ) // angle_inc )
 *                     for idx in range(indexmin, indexmax+1):
 */
          __pyx_t_3 = __pyx_v_angle_min;
          __pyx_t_32 = __pyx_v_phimin;
          if (((__pyx_t_3 > __pyx_t_32) != 0)) {
            __pyx_t_33 = __pyx_t_3;
          } else {
            __pyx_t_33 = __pyx_t_32;
          }
          __pyx_v_indexmin = ((int)floor((__pyx_t_33 - __pyx_v_angle_min) / __pyx_v_angle_inc));

          /* "CMap2D.pyx":1141
 *                         # find the index for the first visible circle point in the scan
 *                         indexmin = int( ( max(phimin, angle_min) - angle_min ) // angle_inc )
 *                         indexmax = int( ( min(phimax, angle_max) - angle_min ) // angle_inc )             # <<<<<<<<<<<<<<
 *                     for idx in range(indexmin, indexmax+1):
 *                         phi = ijthetas[a, idx, lr, 2]
 */
          __pyx_t_33 = __pyx_v_angle_max;
          __pyx_t_3 = __pyx_v_phimax;
          if (((__pyx_t_33 < __pyx_t_3) != 0)) {
            __pyx_t_32 = __pyx_t_33;
          } else {
            __pyx_t_32 = __pyx_t_3;
          }
          __pyx_v_indexmax = ((int)floor((__pyx_t_32 - __pyx_v_angle_min) / __pyx_v_angle_inc));
        }
        __pyx_L18:;

        /* "CMap2D.pyx":1142
 *                         indexmin = int( ( max(phimin, angle_min) - angle_min ) // angle_inc )
 *                         indexmax = int( ( min(phimax, angle_max) - angle_min ) // angle_inc )
 *                     for idx in range(indexmin, indexmax+1):             # <<<<<<<<<<<<<<
 *                         phi = ijthetas[a, idx, lr, 2]
 *                         first_term = r0 * ccos(phi - lmbda)
 */
        __pyx_t_34 = (__pyx_v_indexmax + 1);
        __pyx_t_35 = __pyx_t_34;
        for (__pyx_t_36 = __pyx_v_indexmin; __pyx_t_36 < __pyx_t_35; __pyx_t_36+=1) {
          __pyx_v_idx = __pyx_t_36;

          /* "CMap2D.pyx":1143
 *                         indexmax = int( ( min(phimax, angle_max) - angle_min ) // angle_inc )
 *                     for idx in range(indexmin, indexmax+1):
 *                         phi = ijthetas[a, idx, lr, 2]             # <<<<<<<<<<<<<<
 *                         first_term = r0 * ccos(phi - lmbda)
 *                         sqrt_inner = r0sq * ccos(phi - lmbda)**2 - r0sq + R**2
 */
          __pyx_t_20 = __pyx_v_a;
          __pyx_t_21 = __pyx_v_idx;
          __pyx_t_19 = __pyx_v_lr;
          __pyx_t_18 = 2;
          __pyx_v_phi = (*((__pyx_t_5numpy_float32_t *) ( /* dim=3 */ ((char *) (((__pyx_t_5numpy_float32_t *) ( /* dim=2 */ (( /* dim=1 */ (( /* dim=0 */ (__pyx_v_ijthetas.data + __pyx_t_20 * __pyx_v_ijthetas.strides[0]) ) + __pyx_t_21 * __pyx_v_ijthetas.strides[1]) ) + __pyx_t_19 * __pyx_v_ijthetas.strides[2]) )) + __pyx_t_18)) )));

          /* "CMap2D.pyx":1144
 *                     for idx in range(indexmin, indexmax+1):
 *                         phi = ijthetas[a, idx, lr, 2]
 *                         first_term = r0 * ccos(phi - lmbda)             # <<<<<<<<<<<<<<
 *                         sqrt_inner = r0sq * ccos(phi - lmbda)**2 - r0sq + R**2
 *                         if sqrt_inner < 0:
 */
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 *                     occ = self._occupancy[in_i, in_j]
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 *         cdef np.float32_t r
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/* "CMap2D.pyx":1630
 * @cython.nonecheck(False)
 * @cython.cdivision(True)
 * cdef crender_contours_in_lidar(             # <<<<<<<<<<<<<<
 *         np.ndarray[np.float32_t, ndim=1] ranges,
 *         np.ndarray[np.float32_t, ndim=1] angles,
 */

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 *     """
 *     # consts
 *     cdef int n_angles = len(ranges)             # <<<<<<<<<<<<<<
 *     cdef np.float32_t ox = lidar_xy[0]
 *     cdef np.float32_t oy = lidar_xy[1]
 */
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 *     # consts
 *     cdef int n_angles = len(ranges)
 *     cdef np.float32_t ox = lidar_xy[0]             # <<<<<<<<<<<<<<
 *     cdef np.float32_t oy = lidar_xy[1]
 *     cdef int n_total_vertices = flat_contours.shape[0]
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 *     cdef int n_angles = len(ranges)
 *     cdef np.float32_t ox = lidar_xy[0]
 *     cdef np.float32_t oy = lidar_xy[1]             # <<<<<<<<<<<<<<
 *     cdef int n_total_vertices = flat_contours.shape[0]
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 *     cdef np.float32_t ox = lidar_xy[0]
 *     cdef np.float32_t oy = lidar_xy[1]
 *     cdef int n_total_vertices = flat_contours.shape[0]             # <<<<<<<<<<<<<<
 *     cdef int n_total_edges = n_total_vertices-1
 *     if n_total_edges < 0:
 */
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 *     cdef np.float32_t oy = lidar_xy[1]
 *     cdef int n_total_vertices = flat_contours.shape[0]
 *     cdef int n_total_edges = n_total_vertices-1             # <<<<<<<<<<<<<<
 *     if n_total_edges < 0:
 *         n_total_edges = 0
 */
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 *     cdef int n_total_vertices = flat_contours.shape[0]
 *     cdef int n_total_edges = n_total_vertices-1
 *     if n_total_edges < 0:             # <<<<<<<<<<<<<<
 *         n_total_edges = 0
 *     # vars
 */
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 *     cdef int n_total_edges = n_total_vertices-1
 *     if n_total_edges < 0:
 *         n_total_edges = 0             # <<<<<<<<<<<<<<
 *     # vars
 *     cdef int i
 */
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 *     cdef int n_total_vertices = flat_contours.shape[0]
 *     cdef int n_total_edges = n_total_vertices-1
 *     if n_total_edges < 0:             # <<<<<<<<<<<<<<
 *         n_total_edges = 0
 *     # vars
 */
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  /* "CMap2D.pyx":1665
 *     cdef np.float32_t r
 *     cdef np.float32_t t
 *     for i in range(n_angles):  # for each ray             # <<<<<<<<<<<<<<
 *         angle = angles[i]
 *         min_range = ranges[i] # initialize with scan range
 */
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    /* "CMap2D.pyx":1666
 *     cdef np.float32_t t
 *     for i in range(n_angles):  # for each ray
 *         angle = angles[i]             # <<<<<<<<<<<<<<
 *         min_range = ranges[i] # initialize with scan range
 *         for v in range(n_total_edges):  # for each edge
 */
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    /* "CMap2D.pyx":1667
 *     for i in range(n_angles):  # for each ray
 *         angle = angles[i]
 *         min_range = ranges[i] # initialize with scan range             # <<<<<<<<<<<<<<
 *         for v in range(n_total_edges):  # for each edge
 *             # discard edge if it connects two different polygons
 */
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    /* "CMap2D.pyx":1668
 *         angle = angles[i]
 *         min_range = ranges[i] # initialize with scan range
 *         for v in range(n_total_edges):  # for each edge             # <<<<<<<<<<<<<<
 *             # discard edge if it connects two different polygons
 *             if flat_contours[v, 0] != flat_contours[v+1, 0]:
 */
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      /* "CMap2D.pyx":1670
 *         for v in range(n_total_edges):  # for each edge
 *             # discard edge if it connects two different polygons
 *             if flat_contours[v, 0] != flat_contours[v+1, 0]:             # <<<<<<<<<<<<<<
 *                 continue
 *             # get the edge ends
 */
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 *             # discard edge if it connects two different polygons
 *             if flat_contours[v, 0] != flat_contours[v+1, 0]:
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 *             # get the edge ends
 *             e1x = flat_contours[v, 1]
 */
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 *         for v in range(n_total_edges):  # for each edge
 *             # discard edge if it connects two different polygons
 *             if flat_contours[v, 0] != flat_contours[v+1, 0]:             # <<<<<<<<<<<<<<
 *                 continue
 *             # get the edge ends
 */
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      /* "CMap2D.pyx":1673
 *                 continue
 *             # get the edge ends
 *             e1x = flat_contours[v, 1]             # <<<<<<<<<<<<<<
 *             e1y = flat_contours[v, 2]
 *             e2x = flat_contours[v+1, 1]
 */
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      /* "CMap2D.pyx":1674
 *             # get the edge ends
 *             e1x = flat_contours[v, 1]
 *             e1y = flat_contours[v, 2]             # <<<<<<<<<<<<<<
 *             e2x = flat_contours[v+1, 1]
 *             e2y = flat_contours[v+1, 2]
 */
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 *             e1x = flat_contours[v, 1]
 *             e1y = flat_contours[v, 2]
 *             e2x = flat_contours[v+1, 1]             # <<<<<<<<<<<<<<
 *             e2y = flat_contours[v+1, 2]
 *             # solve geometrical eq. (for r)
 */
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 *             e1y = flat_contours[v, 2]
 *             e2x = flat_contours[v+1, 1]
 *             e2y = flat_contours[v+1, 2]             # <<<<<<<<<<<<<<
 *             # solve geometrical eq. (for r)
 *             # ox + r cos(th) = e1x + t (e2x - e1x)
 */
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      __pyx_t_12 = 2;
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 *             # [a, b] [r] = [e]  -> [r] =  1   [d, -b] [e]
 *             # [c, d] [t] = [f]     [t] = det  [-c, a] [f]
 *             a = ccos(angle)             # <<<<<<<<<<<<<<
 *             b = -(e2x - e1x)
 *             c = csin(angle)
 */
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 *             # [c, d] [t] = [f]     [t] = det  [-c, a] [f]
 *             a = ccos(angle)
 *             b = -(e2x - e1x)             # <<<<<<<<<<<<<<
 *             c = csin(angle)
 *             d = -(e2y - e1y)
 */
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 *             a = ccos(angle)
 *             b = -(e2x - e1x)
 *             c = csin(angle)             # <<<<<<<<<<<<<<
 *             d = -(e2y - e1y)
 *             e = e1x - ox
 */
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 *             b = -(e2x - e1x)
 *             c = csin(angle)
 *             d = -(e2y - e1y)             # <<<<<<<<<<<<<<
 *             e = e1x - ox
 *             f = e1y - oy
 */
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 *             c = csin(angle)
 *             d = -(e2y - e1y)
 *             e = e1x - ox             # <<<<<<<<<<<<<<
 *             f = e1y - oy
 *             det = a*d - b*c
 */
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      /* "CMap2D.pyx":1704
 *             d = -(e2y - e1y)
 *             e = e1x - ox
 *             f = e1y - oy             # <<<<<<<<<<<<<<
 *             det = a*d - b*c
 *             if det == 0:
 */
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      /* "CMap2D.pyx":1705
 *             e = e1x - ox
 *             f = e1y - oy
 *             det = a*d - b*c             # <<<<<<<<<<<<<<
 *             if det == 0:
 *                 continue
 */
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      /* "CMap2D.pyx":1706
 *             f = e1y - oy
 *             det = a*d - b*c
 *             if det == 0:             # <<<<<<<<<<<<<<
 *                 continue
 *             r = ( e*d - b*f ) / det
 */
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      if (__pyx_t_3) {

        /* "CMap2D.pyx":1707
 *             det = a*d - b*c
 *             if det == 0:
 *                 continue             # <<<<<<<<<<<<<<
 *             r = ( e*d - b*f ) / det
 *             t = (-e*c + a*f ) / det
 */
        goto __pyx_L6_continue;

        /* "CMap2D.pyx":1706
 *             f = e1y - oy
 *             det = a*d - b*c
 *             if det == 0:             # <<<<<<<<<<<<<<
 *                 continue
 *             r = ( e*d - b*f ) / det
 */
      }

      /* "CMap2D.pyx":1708
 *             if det == 0:
 *                 continue
 *             r = ( e*d - b*f ) / det             # <<<<<<<<<<<<<<
 *             t = (-e*c + a*f ) / det
 *             if t < 0:
 */
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      /* "CMap2D.pyx":1709
 *                 continue
 *             r = ( e*d - b*f ) / det
 *             t = (-e*c + a*f ) / det             # <<<<<<<<<<<<<<
 *             if t < 0:
 *                 continue
 */
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 *             r = ( e*d - b*f ) / det
 *             t = (-e*c + a*f ) / det
 *             if t < 0:             # <<<<<<<<<<<<<<
 *                 continue
 *             if t > 1:
 */
      __pyx_t_3 = ((__pyx_v_t < 0.0) != 0);
      if (__pyx_t_3) {

        /* "CMap2D.pyx":1711
 *             t = (-e*c + a*f ) / det
 *             if t < 0:
 *                 continue             # <<<<<<<<<<<<<<
 *             if t > 1:
 *                 continue
 */
        goto __pyx_L6_continue;

        /* "CMap2D.pyx":1710
 *             r = ( e*d - b*f ) / det
 *             t = (-e*c + a*f ) / det
 *             if t < 0:             # <<<<<<<<<<<<<<
 *                 continue
 *             if t > 1:
 */
      }

      /* "CMap2D.pyx":1712
 *             if t < 0:
 *                 continue
 *             if t > 1:             # <<<<<<<<<<<<<<
 *                 continue
 *             if r < 0:
 */
      __pyx_t_3 = ((__pyx_v_t > 1.0) != 0);
      if (__pyx_t_3) {

        /* "CMap2D.pyx":1713
 *                 continue
 *             if t > 1:
 *                 continue             # <<<<<<<<<<<<<<
 *             if r < 0:
 *                 continue
 */
        goto __pyx_L6_continue;

        /* "CMap2D.pyx":1712
 *             if t < 0:
 *                 continue
 *             if t > 1:             # <<<<<<<<<<<<<<
 *                 continue
 *             if r < 0:
 */
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      /* "CMap2D.pyx":1714
 *             if t > 1:
 *                 continue
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        __pyx_t_37 += __pyx_v_offsets.shape[1];
        if (unlikely(__pyx_t_37 < 0)) __pyx_t_47 = 1;
      } else if (unlikely(__pyx_t_37 >= __pyx_v_offsets.shape[1])) __pyx_t_47 = 1;
      if (unlikely(__pyx_t_47 != -1)) {
        __Pyx_RaiseBufferIndexError(__pyx_t_47);
        __PYX_ERR(0, 1920, __pyx_L1_error)
      }
      __pyx_v_oj = (*((__pyx_t_5numpy_int64_t *) ( /* dim=1 */ ((char *) (((__pyx_t_5numpy_int64_t *) ( /* dim=0 */ (__pyx_v_offsets.data + __pyx_t_46 * __pyx_v_offsets.strides[0]) )) + __pyx_t_37)) )));

      /* "CMap2D.pyx":1921
 *             oi = offsets[n, 0]
 *             oj = offsets[n, 1]
 *             offset_idxi = current_idxi + oi             # <<<<<<<<<<<<<<
 *             offset_idxj = current_idxj + oj
 *             if offset_idxi < 0 or offset_idxi >= maxi or offset_idxj < 0 or offset_idxj >= maxj:
 */
      __pyx_v_offset_idxi = (__pyx_v_current_idxi + __pyx_v_oi);

      /* "CMap2D.pyx":1922
 *             oj = offsets[n, 1]
 *             offset_idxi = current_idxi + oi
 *             offset_idxj = current_idxj + oj             # <<<<<<<<<<<<<<
 *             if offset_idxi < 0 or offset_idxi >= maxi or offset_idxj < 0 or offset_idxj >= maxj:
 *                 offset_edge_cost = 0
 */
      __pyx_v_offset_idxj = (__pyx_v_current_idxj + __pyx_v_oj);

      /* "CMap2D.pyx":1923
 *             offset_idxi = current_idxi + oi
 *             offset_idxj = current_idxj + oj
 *             if offset_idxi < 0 or offset_idxi >= maxi or offset_idxj < 0 or offset_idxj >= maxj:             # <<<<<<<<<<<<<<
 *                 offset_edge_cost = 0
 *             else:
 */
      __pyx_t_48 = ((__pyx_v_offset_idxi < 0) != 0);
      if (!__pyx_t_48) {
      } else {
        __pyx_t_2 = __pyx_t_48;
        goto __pyx_L9_bool_binop_done;
      }
      __pyx_t_48 = ((__pyx_v_offset_idxi >= __pyx_v_maxi) != 0);
      if (!__pyx_t_48) {
      } else {
        __pyx_t_2 = __pyx_t_48;
        goto __pyx_L9_bool_binop_done;
      }
      __pyx_t_48 = ((__pyx_v_offset_idxj < 0) != 0);
      if (!__pyx_t_48) {
      } else {
        __pyx_t_2 = __pyx_t_48;
        goto __pyx_L9_bool_binop_done;
      }
      __pyx_t_48 = ((__pyx_v_offset_idxj >= __pyx_v_maxj) != 0);
      __pyx_t_2 = __pyx_t_48;
      __pyx_L9_bool_binop_done:;
      if (__pyx_t_2) {

        /* "CMap2D.pyx":1924
 *             offset_idxj = current_idxj + oj
 *             if offset_idxi < 0 or offset_idxi >= maxi or offset_idxj < 0 or offset_idxj >= maxj:
 *                 offset_edge_cost = 0             # <<<<<<<<<<<<<<
 *             else:
 *                 offset_edge_cost = costmap[offset_idxi, offset_idxj] - current_cost
 */
        __pyx_v_offset_edge_cost = 0.0;

        /* "CMap2D.pyx":1923
 *             offset_idxi = current_idxi + oi
 *             offset_idxj = current_idxj + oj
 *             if offset_idxi < 0 or offset_idxi >= maxi or offset_idxj < 0 or offset_idxj >= maxj:             # <<<<<<<<<<<<<<
 *                 offset_edge_cost = 0
 *             else:
 */
        goto __pyx_L8;
      }

      /* "CMap2D.pyx":1926
 *                 offset_edge_cost = 0
 *             else:
 *                 offset_edge_cost = costmap[offset_idxi, offset_idxj] - current_cost             # <<<<<<<<<<<<<<
 *                 # check whether path is obstructed (for 16/32 connectedness)
 *                 if n < 4:
 */
      /*else*/ {
        __pyx_t_49 = __pyx_v_offset_idxi;
        __pyx_t_50 = __pyx_v_offset_idxj;
        __pyx_t_47 = -1;
        if (__pyx_t_49 < 0) {
          __pyx_t_49 += __pyx_v_costmap.shape[0];
          if (unlikely(__pyx_t_49 < 0)) __pyx_t_47 = 0;
        } else if (unlikely(__pyx_t_49 >= __pyx_v_costmap.shape[0])) __pyx_t_47 = 0;
        if (__pyx_t_50 < 0) {
          __pyx_t_50 += __pyx_v_costmap.shape[1];
          if (unlikely(__pyx_t_50 < 0)) __pyx_t_47 = 1;
        } else if (unlikely(__pyx_t_50 >= __pyx_v_costmap.shape[1])) __pyx_t_47 = 1;
        if (unlikely(__pyx_t_47 != -1)) {
          __Pyx_RaiseBufferIndexError(__pyx_t_47);
          __PYX_ERR(0, 1926, __pyx_L1_error)
        }
        __pyx_v_offset_edge_cost = ((*((__pyx_t_5numpy_float32_t *) ( /* dim=1 */ ((char *) (((__pyx_t_5numpy_float32_t *) ( /* dim=0 */ (__pyx_v_costmap.data + __pyx_t_49 * __pyx_v_costmap.strides[0]) )) + __pyx_t_50)) ))) - __pyx_v_current_cost);

        /* "CMap2D.pyx":1928
 *                 offset_edge_cost = costmap[offset_idxi, offset_idxj] - current_cost
 *                 # check whether path is obstructed (for 16/32 connectedness)
 *                 if n < 4:             # <<<<<<<<<<<<<<
 *                     if offset_edge_cost >= 0:
 *                         blocked[n] = 1
 */
        __pyx_t_2 = ((__pyx_v_n < 4) != 0);
        if (__pyx_t_2) {

          /* "CMap2D.pyx":1929
 *                 # check whether path is obstructed (for 16/32 connectedness)
 *                 if n < 4:
 *                     if offset_edge_cost >= 0:             # <<<<<<<<<<<<<<
 *                         blocked[n] = 1
 *                 elif n < 8:
 */
          __pyx_t_2 = ((__pyx_v_offset_edge_cost >= 0.0) != 0);
          if (__pyx_t_2) {

            /* "CMap2D.pyx":1930
 *                 if n < 4:
 *                     if offset_edge_cost >= 0:
 *                         blocked[n] = 1             # <<<<<<<<<<<<<<
 *                 elif n < 8:
 *                     if offset_edge_cost >= 0:
 */
            __pyx_t_37 = __pyx_v_n;
            __pyx_t_47 = -1;
            if (__pyx_t_37 < 0) {
              __pyx_t_37 += __pyx_v_blocked.shape[0];
              if (unlikely(__pyx_t_37 < 0)) __pyx_t_47 = 0;
            } else if (unlikely(__pyx_t_37 >= __pyx_v_blocked.shape[0])) __pyx_t_47 = 0;
            if (unlikely(__pyx_t_47 != -1)) {
              __Pyx_RaiseBufferIndexError(__pyx_t_47);
              __PYX_ERR(0, 1930, __pyx_L1_error)
            }
            *((__pyx_t_5numpy_uint8_t *) ( /* dim=0 */ ((char *) (((__pyx_t_5numpy_uint8_t *) __pyx_v_blocked.data) + __pyx_t_37)) )) = 1;

            /* "CMap2D.pyx":1929
 *                 # check whether path is obstructed (for 16/32 connectedness)
 *                 if n < 4:
 *                     if offset_edge_cost >= 0:             # <<<<<<<<<<<<<<
 *                         blocked[n] = 1
 *                 elif n < 8:
 */
          }

          /* "CMap2D.pyx":1928
 *                 offset_edge_cost = costmap[offset_idxi, offset_idxj] - current_cost
 *                 # check whether path is obstructed (for 16/32 connectedness)
 *                 if n < 4:             # <<<<<<<<<<<<<<
 *                     if offset_edge_cost >= 0:
 *                         blocked[n] = 1
 */
          goto __pyx_L13;
        }

        /* "CMap2D.pyx":1931
 *                     if offset_edge_cost >= 0:
 *                         blocked[n] = 1
 *                 elif n < 8:             # <<<<<<<<<<<<<<
 *                     if offset_edge_cost >= 0:
 *                         blocked[n] = 1
 */
        __pyx_t_2 = ((__pyx_v_n < 8) != 0);
        if (__pyx_t_2) {

          /* "CMap2D.pyx":1932
 *                         blocked[n] = 1
 *                 elif n < 8:
 *                     if offset_edge_cost >= 0:             # <<<<<<<<<<<<<<
 *                         blocked[n] = 1
 *                 # Exclude obstructed jumps (for 16/32 connectedness)
 */
          __pyx_t_2 = ((__pyx_v_offset_edge_cost >= 0.0) != 0);
          if (__pyx_t_2) {

            /* "CMap2D.pyx":1933
 *                 elif n < 8:
 *                     if offset_edge_cost >= 0:
 *                         blocked[n] = 1             # <<<<<<<<<<<<<<
 *                 # Exclude obstructed jumps (for 16/32 connectedness)
 *                 if n > 4: # for example, prevent ur if u is blocked
 */
            __pyx_t_37 = __pyx_v_n;
            __pyx_t_47 = -1;
            if (__pyx_t_37 < 0) {
              __pyx_t_37 += __pyx_v_blocked.shape[0];
              if (unlikely(__pyx_t_37 < 0)) __pyx_t_47 = 0;
            } else if (unlikely(__pyx_t_37 >= __pyx_v_blocked.shape[0])) __pyx_t_47 = 0;
            if (unlikely(__pyx_t_47 != -1)) {
              __Pyx_RaiseBufferIndexError(__pyx_t_47);
              __PYX_ERR(0, 1933, __pyx_L1_error)
            }
            *((__pyx_t_5numpy_uint8_t *) ( /* dim=0 */ ((char *) (((__pyx_t_5numpy_uint8_t *) __pyx_v_blocked.data) + __pyx_t_37)) )) = 1;

            /* "CMap2D.pyx":1932
 *                         blocked[n] = 1
 *                 elif n < 8:
 *                     if offset_edge_cost >= 0:             # <<<<<<<<<<<<<<
 *                         blocked[n] = 1
 *                 # Exclude obstructed jumps (for 16/32 connectedness)
 */
          }

          /* "CMap2D.pyx":1931
 *                     if offset_edge_cost >= 0:
 *                         blocked[n] = 1
 *                 elif n < 8:             # <<<<<<<<<<<<<<
 *                     if offset_edge_cost >= 0:
 *                         blocked[n] = 1
 */
        }
        __pyx_L13:;

        /* "CMap2D.pyx":1935
 *                         blocked[n] = 1
 *                 # Exclude obstructed jumps (for 16/32 connectedness)
 *                 if n > 4: # for example, prevent ur if u is blocked             # <<<<<<<<<<<<<<
 *                     # assumes first row of offsets is up right down left (see offset init!)
 *                     if (oj > 0 and blocked[0]) or \
 */
        __pyx_t_2 = ((__pyx_v_n > 4) != 0);
        if (__pyx_t_2) {

          /* "CMap2D.pyx":1937
 *                 if n > 4: # for example, prevent ur if u is blocked
 *                     # assumes first row of offsets is up right down left (see offset init!)
 *                     if (oj > 0 and blocked[0]) or \             # <<<<<<<<<<<<<<
 *                        (oi > 0 and blocked[1]) or \
 *                        (oj < 0 and blocked[2]) or \
 */
          __pyx_t_48 = ((__pyx_v_oj > 0) != 0);
          if (!__pyx_t_48) {
            goto __pyx_L19_next_or;
          } else {
          }
          __pyx_t_37 = 0;
          __pyx_t_47 = -1;
          if (__pyx_t_37 < 0) {
            __pyx_t_37 += __pyx_v_blocked.shape[0];
            if (unlikely(__pyx_t_37 < 0)) __pyx_t_47 = 0;
          } else if (unlikely(__pyx_t_37 >= __pyx_v_blocked.shape[0])) __pyx_t_47 = 0;
          if (unlikely(__pyx_t_47 != -1)) {
            __Pyx_RaiseBufferIndexError(__pyx_t_47);
            __PYX_ERR(0, 1937, __pyx_L1_error)
          }
          __pyx_t_48 = ((*((__pyx_t_5numpy_uint8_t *) ( /* dim=0 */ ((char *) (((__pyx_t_5numpy_uint8_t *) __pyx_v_blocked.data) + __pyx_t_37)) ))) != 0);
          if (!__pyx_t_48) {
          } else {
            __pyx_t_2 = __pyx_t_48;
            goto __pyx_L18_bool_binop_done;
          }
          __pyx_L19_next_or:;

          /* "CMap2D.pyx":1938
 *                     # assumes first row of offsets is up right down left (see offset init!)
 *                     if (oj > 0 and blocked[0]) or \
 *                        (oi > 0 and blocked[1]) or \             # <<<<<<<<<<<<<<
 *                        (oj < 0 and blocked[2]) or \
 *                        (oi < 0 and blocked[3]):
 */
          __pyx_t_48 = ((__pyx_v_oi > 0) != 0);
          if (!__pyx_t_48) {
            goto __pyx_L21_next_or;
          } else {
          }
          __pyx_t_37 = 1;
          __pyx_t_47 = -1;
          if (__pyx_t_37 < 0) {
            __pyx_t_37 += __pyx_v_blocked.shape[0];
            if (unlikely(__pyx_t_37 < 0)) __pyx_t_47 = 0;
          } else if (unlikely(__pyx_t_37 >= __pyx_v_blocked.shape[0])) __pyx_t_47 = 0;
          if (unlikely(__pyx_t_47 != -1)) {
            __Pyx_RaiseBufferIndexError(__pyx_t_47);
            __PYX_ERR(0, 1938, __pyx_L1_error)
          }
          __pyx_t_48 = ((*((__pyx_t_5numpy_uint8_t *) ( /* dim=0 */ ((char *) (((__pyx_t_5numpy_uint8_t *) __pyx_v_blocked.data) + __pyx_t_37)) ))) != 0);
          if (!__pyx_t_48) {
          } else {
            __pyx_t_2 = __pyx_t_48;
            goto __pyx_L18_bool_binop_done;
          }
          __pyx_L21_next_or:;

          /* "CMap2D.pyx":1939
 *                     if (oj > 0 and blocked[0]) or \
 *                        (oi > 0 and blocked[1]) or \
 *                        (oj < 0 and blocked[2]) or \             # <<<<<<<<<<<<<<
 *                        (oi < 0 and blocked[3]):
 *                            offset_edge_cost = 0
 */
          __pyx_t_48 = ((__pyx_v_oj < 0) != 0);
          if (!__pyx_t_48) {
            goto __pyx_L23_next_or;
          } else {
          }
          __pyx_t_37 = 2;
          __pyx_t_47 = -1;
          if (__pyx_t_37 < 0) {
            __pyx_t_37 += __pyx_v_blocked.shape[0];
            if (unlikely(__pyx_t_37 < 0)) __pyx_t_47 = 0;
          } else if (unlikely(__pyx_t_37 >= __pyx_v_blocked.shape[0])) __pyx_t_47 = 0;
          if (unlikely(__pyx_t_47 != -1)) {
            __Pyx_RaiseBufferIndexError(__pyx_t_47);
            __PYX_ERR(0, 1939, __pyx_L1_error)
          }
          __pyx_t_48 = ((*((__pyx_t_5numpy_uint8_t *) ( /* dim=0 */ ((char *) (((__pyx_t_5numpy_uint8_t *) __pyx_v_blocked.data) + __pyx_t_37)) ))) != 0);
          if (!__pyx_t_48) {
          } else {
            __pyx_t_2 = __pyx_t_48;
            goto __pyx_L18_bool_binop_done;
          }
          __pyx_L23_next_or:;

          /* "CMap2D.pyx":1940
 *                        (oi > 0 and blocked[1]) or \
 *                        (oj < 0 and blocked[2]) or \
 *                        (oi < 0 and blocked[3]):             # <<<<<<<<<<<<<<
 *                            offset_edge_cost = 0
 *                 if n > 8: # for example, prevent uuur if ur is blocked
 */
          __pyx_t_48 = ((__pyx_v_oi < 0) != 0);
          if (__pyx_t_48) {
          } else {
            __pyx_t_2 = __pyx_t_48;
            goto __pyx_L18_bool_binop_done;
          }
          __pyx_t_37 = 3;
          __pyx_t_47 = -1;
          if (__pyx_t_37 < 0) {
            __pyx_t_37 += __pyx_v_blocked.shape[0];
            if (unlikely(__pyx_t_37 < 0)) __pyx_t_47 = 0;
          } else if (unlikely(__pyx_t_37 >= __pyx_v_blocked.shape[0])) __pyx_t_47 = 0;
          if (unlikely(__pyx_t_47 != -1)) {
            __Pyx_RaiseBufferIndexError(__pyx_t_47);
            __PYX_ERR(0, 1940, __pyx_L1_error)
          }
          __pyx_t_48 = ((*((__pyx_t_5numpy_uint8_t *) ( /* dim=0 */ ((char *) (((__pyx_t_5numpy_uint8_t *) __pyx_v_blocked.data) + __pyx_t_37)) ))) != 0);
          __pyx_t_2 = __pyx_t_48;
          __pyx_L18_bool_binop_done:;

          /* "CMap2D.pyx":1937
 *                 if n > 4: # for example, prevent ur if u is blocked
 *                     # assumes first row of offsets is up right down left (see offset init!)
 *                     if (oj > 0 and blocked[0]) or \             # <<<<<<<<<<<<<<
 *                        (oi > 0 and blocked[1]) or \
 *                        (oj < 0 and blocked[2]) or \
 */
          if (__pyx_t_2) {

            /* "CMap2D.pyx":1941
 *                        (oj < 0 and blocked[2]) or \
 *                        (oi < 0 and blocked[3]):
 *                            offset_edge_cost = 0             # <<<<<<<<<<<<<<
 *                 if n > 8: # for example, prevent uuur if ur is blocked
 *                     # second row ru rd lu ld
 */
            __pyx_v_offset_edge_cost = 0.0;

            /* "CMap2D.pyx":1937
 *                 if n > 4: # for example, prevent ur if u is blocked
 *                     # assumes first row of offsets is up right down left (see offset init!)
 *                     if (oj > 0 and blocked[0]) or \             # <<<<<<<<<<<<<<
 *                        (oi > 0 and blocked[1]) or \
 *                        (oj < 0 and blocked[2]) or \
 */
          }

          /* "CMap2D.pyx":1935
 *                         blocked[n] = 1
 *                 # Exclude obstructed jumps (for 16/32 connectedness)
 *                 if n > 4: # for example, prevent ur if u is blocked             # <<<<<<<<<<<<<<
 *                     # assumes first row of offsets is up right down left (see offset init!)
 *                     if (oj > 0 and blocked[0]) or \
 */
        }

        /* "CMap2D.pyx":1942
 *                        (oi < 0 and blocked[3]):
 *                            offset_edge_cost = 0
 *                 if n > 8: # for example, prevent uuur if ur is blocked             # <<<<<<<<<<<<<<
 *                     # second row ru rd lu ld
 *                     if (oi > 0 and oj > 0 and blocked[4]) or \
 */
        __pyx_t_2 = ((__pyx_v_n > 8) != 0);
        if (__pyx_t_2) {

          /* "CMap2D.pyx":1944
 *                 if n > 8: # for example, prevent uuur if ur is blocked
 *                     # second row ru rd lu ld
 *                     if (oi > 0 and oj > 0 and blocked[4]) or \             # <<<<<<<<<<<<<<
 *                        (oi > 0 and oj < 0 and blocked[5]) or \
 *                        (oi < 0 and oj > 0 and blocked[6]) or \
 */
          __pyx_t_48 = ((__pyx_v_oi > 0) != 0);
          if (!__pyx_t_48) {
            goto __pyx_L29_next_or;
          } else {
          }
          __pyx_t_48 = ((__pyx_v_oj > 0) != 0);
          if (!__pyx_t_48) {
            goto __pyx_L29_next_or;
          } else {
          }
          __pyx_t_37 = 4;
          __pyx_t_47 = -1;
          if (__pyx_t_37 < 0) {
            __pyx_t_37 += __pyx_v_blocked.shape[0];
            if (unlikely(__pyx_t_37 < 0)) __pyx_t_47 = 0;
          } else if (unlikely(__pyx_t_37 >= __pyx_v_blocked.shape[0])) __pyx_t_47 = 0;
          if (unlikely(__pyx_t_47 != -1)) {
            __Pyx_RaiseBufferIndexError(__pyx_t_47);
            __PYX_ERR(0, 1944, __pyx_L1_error)
          }
          __pyx_t_48 = ((*((__pyx_t_5numpy_uint8_t *) ( /* dim=0 */ ((char *) (((__pyx_t_5numpy_uint8_t *) __pyx_v_blocked.data) + __pyx_t_37)) ))) != 0);
          if (!__pyx_t_48) {
          } else {
            __pyx_t_2 = __pyx_t_48;
            goto __pyx_L28_bool_binop_done;
          }
          __pyx_L29_next_or:;

          /* "CMap2D.pyx":1945
 *                     # second row ru rd lu ld
 *                     if (oi > 0 and oj > 0 and blocked[4]) or \
 *                        (oi > 0 and oj < 0 and blocked[5]) or \             # <<<<<<<<<<<<<<
 *                        (oi < 0 and oj > 0 and blocked[6]) or \
 *                        (oi < 0 and oj < 0 and blocked[7]):
 */
          __pyx_t_48 = ((__pyx_v_oi > 0) != 0);
          if (!__pyx_t_48) {
            goto __pyx_L32_next_or;
          } else {
          }
          __pyx_t_48 = ((__pyx_v_oj < 0) != 0);
          if (!__pyx_t_48) {
            goto __pyx_L32_next_or;
          } else {
          }
          __pyx_t_37 = 5;
          __pyx_t_47 = -1;
          if (__pyx_t_37 < 0) {
            __pyx_t_37 += __pyx_v_blocked.shape[0];
            if (unlikely(__pyx_t_37 < 0)) __pyx_t_47 = 0;
          } else if (unlikely(__pyx_t_37 >= __pyx_v_blocked.shape[0])) __pyx_t_47 = 0;
          if (unlikely(__pyx_t_47 != -1)) {
            __Pyx_RaiseBufferIndexError(__pyx_t_47);
            __PYX_ERR(0, 1945, __pyx_L1_error)
          }
          __pyx_t_48 = ((*((__pyx_t_5numpy_uint8_t *) ( /* dim=0 */ ((char *) (((__pyx_t_5numpy_uint8_t *) __pyx_v_blocked.data) + __pyx_t_37)) ))) != 0);
          if (!__pyx_t_48) {
          } else {
            __pyx_t_2 = __pyx_t_48;
            goto __pyx_L28_bool_binop_done;
          }
          __pyx_L32_next_or:;

          /* "CMap2D.pyx":1946
 *                     if (oi > 0 and oj > 0 and blocked[4]) or \
 *                        (oi > 0 and oj < 0 and blocked[5]) or \
 *                        (oi < 0 and oj > 0 and blocked[6]) or \             # <<<<<<<<<<<<<<
 *                        (oi < 0 and oj < 0 and blocked[7]):
 *                            offset_edge_cost = 0
 */
          __pyx_t_48 = ((__pyx_v_oi < 0) != 0);
          if (!__pyx_t_48) {
            goto __pyx_L35_next_or;
          } else {
          }
          __pyx_t_48 = ((__pyx_v_oj > 0) != 0);
          if (!__pyx_t_48) {
            goto __pyx_L35_next_or;
          } else {
          }
          __pyx_t_37 = 6;
          __pyx_t_47 = -1;
          if (__pyx_t_37 < 0) {
            __pyx_t_37 += __pyx_v_blocked.shape[0];
            if (unlikely(__pyx_t_37 < 0)) __pyx_t_47 = 0;
          } else if (unlikely(__pyx_t_37 >= __pyx_v_blocked.shape[0])) __pyx_t_47 = 0;
          if (unlikely(__pyx_t_47 != -1)) {
            __Pyx_RaiseBufferIndexError(__pyx_t_47);
            __PYX_ERR(0, 1946, __pyx_L1_error)
          }
          __pyx_t_48 = ((*((__pyx_t_5numpy_uint8_t *) ( /* dim=0 */ ((char *) (((__pyx_t_5numpy_uint8_t *) __pyx_v_blocked.data) + __pyx_t_37)) ))) != 0);
          if (!__pyx_t_48) {
          } else {
            __pyx_t_2 = __pyx_t_48;
            goto __pyx_L28_bool_binop_done;
          }
          __pyx_L35_next_or:;

          /* "CMap2D.pyx":1947
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 */
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 */
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/* "View.MemoryView":807
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static int __pyx_memoryview_slice_memviewslice(__Pyx_memviewslice *__pyx_v_dst, Py_ssize_t __pyx_v_shape, Py_ssize_t __pyx_v_stride, Py_ssize_t __pyx_v_suboffset, int __pyx_v_dim, int __pyx_v_new_ndim, int *__pyx_v_suboffset_dim, Py_ssize_t __pyx_v_start, Py_ssize_t __pyx_v_stop, Py_ssize_t __pyx_v_step, int __pyx_v_have_start, int __pyx_v_have_stop, int __pyx_v_have_step, int __pyx_v_is_slice) {
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 */
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 */
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 */
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 */
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 *         if start < 0:
 */
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 */
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 * 
 */
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 */
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 *                 else:
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 *                     start = shape - 1
 *                 else:
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 *                 if negative_step:
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 * 
 *         if have_start:             # <<<<<<<<<<<<<<
 *             if start < 0:
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 */
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 *             else:
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 * 
 *         if have_stop:
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 *         if have_stop:             # <<<<<<<<<<<<<<
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 *         if have_stop:
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        /* "View.MemoryView":859
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 *                 if stop < 0:
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        /* "View.MemoryView":860
 *             if stop < 0:
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          /* "View.MemoryView":861
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        /* "View.MemoryView":858
 * 
 *         if have_stop:
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 *                 stop += shape
 *                 if stop < 0:
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        /* "View.MemoryView":863
 *                     stop = 0
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 *             if negative_step:
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        /* "View.MemoryView":862
 *                 if stop < 0:
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      /* "View.MemoryView":857
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 *         if have_stop:             # <<<<<<<<<<<<<<
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    /* "View.MemoryView":865
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        /* "View.MemoryView":866
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        /* "View.MemoryView":865
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 *         if not have_step:
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 */
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 * 
 */
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 */
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 *             if (stop - start) - step * new_shape:
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  __pyx_v_dst_extent = (__pyx_v_dst_shape[0]);

  /* "View.MemoryView":1149
 *     cdef Py_ssize_t src_extent = src_shape[0]
 *     cdef Py_ssize_t dst_extent = dst_shape[0]
 *     cdef Py_ssize_t src_stride = src_strides[0]             # <<<<<<<<<<<<<<
 *     cdef Py_ssize_t dst_stride = dst_strides[0]
 * 
 */
  __pyx_v_src_stride = (__pyx_v_src_strides[0]);

  /* "View.MemoryView":1150
 *     cdef Py_ssize_t dst_extent = dst_shape[0]
 *     cdef Py_ssize_t src_stride = src_strides[0]
 *     cdef Py_ssize_t dst_stride = dst_strides[0]             # <<<<<<<<<<<<<<
 * 
 *     if ndim == 1:
 */
  __pyx_v_dst_stride = (__pyx_v_dst_strides[0]);

  /* "View.MemoryView":1152
 *     cdef Py_ssize_t dst_stride = dst_strides[0]
 * 
 *     if ndim == 1:             # <<<<<<<<<<<<<<
 *        if (src_stride > 0 and dst_stride > 0 and
 *            <size_t> src_stride == itemsize == <size_t> dst_stride):
 */
  __pyx_t_1 = ((__pyx_v_ndim == 1) != 0);
  if (__pyx_t_1) {

    /* "View.MemoryView":1153
 * 
 *     if ndim == 1:
 *        if (src_stride > 0 and dst_stride > 0 and             # <<<<<<<<<<<<<<
 *            <size_t> src_stride == itemsize == <size_t> dst_stride):
 *            memcpy(dst_data, src_data, itemsize * dst_extent)
 */
    __pyx_t_2 = ((__pyx_v_src_stride > 0) != 0);
    if (__pyx_t_2) {
    } else {
      __pyx_t_1 = __pyx_t_2;
      goto __pyx_L5_bool_binop_done;
    }
    __pyx_t_2 = ((__pyx_v_dst_stride > 0) != 0);
    if (__pyx_t_2) {
    } else {
      __pyx_t_1 = __pyx_t_2;
      goto __pyx_L5_bool_binop_done;
    }

    /* "View.MemoryView":1154
 *     if ndim == 1:
 *        if (src_stride > 0 and dst_stride > 0 and
 *            <size_t> src_stride == itemsize == <size_t> dst_stride):             # <<<<<<<<<<<<<<
 *            memcpy(dst_data, src_data, itemsize * dst_extent)
 *        else:
 */
    __pyx_t_2 = (((size_t)__pyx_v_src_stride) == __pyx_v_itemsize);
    if (__pyx_t_2) {
      __pyx_t_2 = (__pyx_v_itemsize == ((size_t)__pyx_v_dst_stride));
    }
    __pyx_t_3 = (__pyx_t_2 != 0);
    __pyx_t_1 = __pyx_t_3;
    __pyx_L5_bool_binop_done:;

    /* "View.MemoryView":1153
 * 
 *     if ndim == 1:
 *        if (src_stride > 0 and dst_stride > 0 and             # <<<<<<<<<<<<<<
 *            <size_t> src_stride == itemsize == <size_t> dst_stride):
 *            memcpy(dst_data, src_data, itemsize * dst_extent)
 */
    if (__pyx_t_1) {

      /* "View.MemoryView":1155
 *        if (src_stride > 0 and dst_stride > 0 and
 *            <size_t> src_stride == itemsize == <size_t> dst_stride):
 *            memcpy(dst_data, src_data, itemsize * dst_extent)             # <<<<<<<<<<<<<<
 *        else:
 *            for i in range(dst_extent):
 */
      (void)(memcpy(__pyx_v_dst_data, __pyx_v_src_data, (__pyx_v_itemsize * __pyx_v_dst_extent)));

      /* "View.MemoryView":1153
 * 
 *     if ndim == 1:
 *        if (src_stride > 0 and dst_stride > 0 and             # <<<<<<<<<<<<<<
 *            <size_t> src_stride == itemsize == <size_t> dst_stride):
 *            memcpy(dst_data, src_data, itemsize * dst_extent)
 */
      goto __pyx_L4;
    }

    /* "View.MemoryView":1157
 *            memcpy(dst_data, src_data, itemsize * dst_extent)
 *        else:
 *            for i in range(dst_extent):             # <<<<<<<<<<<<<<
 *                memcpy(dst_data, src_data, itemsize)
 *                src_data += src_stride
 */
    /*else*/ {
      __pyx_t_4 = __pyx_v_dst_extent;
      __pyx_t_5 = __pyx_t_4;
      for (__pyx_t_6 = 0; __pyx_t_6 < __pyx_t_5; __pyx_t_6+=1) {
        __pyx_v_i = __pyx_t_6;

        /* "View.MemoryView":1158
 *        else:
 *            for i in range(dst_extent):
 *                memcpy(dst_data, src_data, itemsize)             # <<<<<<<<<<<<<<
 *                src_data += src_stride
 *                dst_data += dst_stride
 */
        (void)(memcpy(__pyx_v_dst_data, __pyx_v_src_data, __pyx_v_itemsize));

        /* "View.MemoryView":1159
 *            for i in range(dst_extent):
 *                memcpy(dst_data, src_data, itemsize)
 *                src_data += src_stride             # <<<<<<<<<<<<<<
 *                dst_data += dst_stride
 *     else:
 */
        __pyx_v_src_data = (__pyx_v_src_data + __pyx_v_src_stride);

        /* "View.MemoryView":1160
 *                memcpy(dst_data, src_data, itemsize)
 *                src_data += src_stride
 *                dst_data += dst_stride             # <<<<<<<<<<<<<<
 *     else:
 *         for i in range(dst_extent):
 */
        __pyx_v_dst_data = (__pyx_v_dst_data + __pyx_v_dst_stride);
      }
    }
    __pyx_L4:;

    /* "View.MemoryView":1152
 *     cdef Py_ssize_t dst_stride = dst_strides[0]
 * 
 *     if ndim == 1:             # <<<<<<<<<<<<<<
 *        if (src_stride > 0 and dst_stride > 0 and
 *            <size_t> src_stride == itemsize == <size_t> dst_stride):
 */
    goto __pyx_L3;
  }

  /* "View.MemoryView":1162
 *                dst_data += dst_stride
 *     else:
 *         for i in range(dst_extent):             # <<<<<<<<<<<<<<
 *             _copy_strided_to_strided(src_data, src_strides + 1,
 *                                      dst_data, dst_strides + 1,
 */
  /*else*/ {
    __pyx_t_4 = __pyx_v_dst_extent;
    __pyx_t_5 = __pyx_t_4;
    for (__pyx_t_6 = 0; __pyx_t_6 < __pyx_t_5; __pyx_t_6+=1) {
      __pyx_v_i = __pyx_t_6;

      /* "View.MemoryView":1163
 *     else:
 *         for i in range(dst_extent):
 *             _copy_strided_to_strided(src_data, src_strides + 1,             # <<<<<<<<<<<<<<
 *                                      dst_data, dst_strides + 1,
 *                                      src_shape + 1, dst_shape + 1,
 */
      _copy_strided_to_strided(__pyx_v_src_data, (__pyx_v_src_strides + 1), __pyx_v_dst_data, (__pyx_v_dst_strides + 1), (__pyx_v_src_shape + 1), (__pyx_v_dst_shape + 1), (__pyx_v_ndim - 1), __pyx_v_itemsize);

      /* "View.MemoryView":1167
 *                                      src_shape + 1, dst_shape + 1,
 *                                      ndim - 1, itemsize)
 *             src_data += src_stride             # <<<<<<<<<<<<<<
 *             dst_data += dst_stride
 * 
 */
      __pyx_v_src_data = (__pyx_v_src_data + __pyx_v_src_stride);

      /* "View.MemoryView":1168
 *                                      ndim - 1, itemsize)
 *             src_data += src_stride
 *             dst_data += dst_stride             # <<<<<<<<<<<<<<
 * 
 * cdef void copy_strided_to_strided(__Pyx_memviewslice *src,
 */
      __pyx_v_dst_data = (__pyx_v_dst_data + __pyx_v_dst_stride);
    }
  }
  __pyx_L3:;

  /* "View.MemoryView":1140
 * 
 * @cython.cdivision(True)
 * cdef void _copy_strided_to_strided(char *src_data, Py_ssize_t *src_strides,             # <<<<<<<<<<<<<<
 *                                    char *dst_data, Py_ssize_t *dst_strides,
 *                                    Py_ssize_t *src_shape, Py_ssize_t *dst_shape,
 */

  /* function exit code */
}

/* "View.MemoryView":1170
 *             dst_data += dst_stride
 * 
 * cdef void copy_strided_to_strided(__Pyx_memviewslice *src,             # <<<<<<<<<<<<<<
 *                                   __Pyx_memviewslice *dst,
 *                                   int ndim, size_t itemsize) nogil:
 */

static void copy_strided_to_strided(__Pyx_memviewslice *__pyx_v_src, __Pyx_memviewslice *__pyx_v_dst, int __pyx_v_ndim, size_t __pyx_v_itemsize) {

  /* "View.MemoryView":1173
 *                                   __Pyx_memviewslice *dst,
 *                                   int ndim, size_t itemsize) nogil:
 *     _copy_strided_to_strided(src.data, src.strides, dst.data, dst.strides,             # <<<<<<<<<<<<<<
 *                              src.shape, dst.shape, ndim, itemsize)
 * 
 */
  _copy_strided_to_strided(__pyx_v_src->data, __pyx_v_src->strides, __pyx_v_dst->data, __pyx_v_dst->strides, __pyx_v_src->shape, __pyx_v_dst->shape, __pyx_v_ndim, __pyx_v_itemsize);

  /* "View.MemoryView":1170
 *             dst_data += dst_stride
 * 
 * cdef void copy_strided_to_strided(__Pyx_memviewslice *src,             # <<<<<<<<<<<<<<
 *                                   __Pyx_memviewslice *dst,
 *                                   int ndim, size_t itemsize) nogil:
 */

  /* function exit code */
}

/* "View.MemoryView":1177
 * 
 * @cname('__pyx_memoryview_slice_get_size')
 * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) nogil:             # <<<<<<<<<<<<<<
 *     "Return the size of the memory occupied by the slice in number of bytes"
 *     cdef Py_ssize_t shape, size = src.memview.view.itemsize
 */

static Py_ssize_t __pyx_memoryview_slice_get_size(__Pyx_memviewslice *__pyx_v_src, int __pyx_v_ndim) {
  Py_ssize_t __pyx_v_shape;
  Py_ssize_t __pyx_v_size;
  Py_ssize_t __pyx_r;
  Py_ssize_t __pyx_t_1;
  Py_ssize_t *__pyx_t_2;
  Py_ssize_t *__pyx_t_3;
  Py_ssize_t *__pyx_t_4;

  /* "View.MemoryView":1179
 * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) nogil:
 *     "Return the size of the memory occupied by the slice in number of bytes"
 *     cdef Py_ssize_t shape, size = src.memview.view.itemsize             # <<<<<<<<<<<<<<
 * 
 *     for shape in src.shape[:ndim]:
 */
  __pyx_t_1 = __pyx_v_src->memview->view.itemsize;
  __pyx_v_size = __pyx_t_1;

  /* "View.MemoryView":1181
 *     cdef Py_ssize_t shape, size = src.memview.view.itemsize
 * 
 *     for shape in src.shape[:ndim]:             # <<<<<<<<<<<<<<
 *         size *= shape
 * 
 */
  __pyx_t_3 = (__pyx_v_src->shape + __pyx_v_ndim);
  for (__pyx_t_4 = __pyx_v_src->shape; __pyx_t_4 < __pyx_t_3; __pyx_t_4++) {
    __pyx_t_2 = __pyx_t_4;
    __pyx_v_shape = (__pyx_t_2[0]);

    /* "View.MemoryView":1182
 * 
 *     for shape in src.shape[:ndim]:
 *         size *= shape             # <<<<<<<<<<<<<<
 * 
 *     return size
 */
    __pyx_v_size = (__pyx_v_size * __pyx_v_shape);
  }

  /* "View.MemoryView":1184
 *         size *= shape
 * 
 *     return size             # <<<<<<<<<<<<<<
 * 
 * @cname('__pyx_fill_contig_strides_array')
 */
  __pyx_r = __pyx_v_size;
  goto __pyx_L0;

  /* "View.MemoryView":1177
 * 
 * @cname('__pyx_memoryview_slice_get_size')
 * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) nogil:             # <<<<<<<<<<<<<<
 *     "Return the size of the memory occupied by the slice in number of bytes"
 *     cdef Py_ssize_t shape, size = src.memview.view.itemsize
 */

  /* function exit code */
  __pyx_L0:;
  return __pyx_r;
}

/* "View.MemoryView":1187
 * 
 * @cname('__pyx_fill_contig_strides_array')
 * cdef Py_ssize_t fill_contig_strides_array(             # <<<<<<<<<<<<<<
 *                 Py_ssize_t *shape, Py_ssize_t *strides, Py_ssize_t stride,
 *                 int ndim, char order) nogil:
 */

static Py_ssize_t __pyx_fill_contig_strides_array(Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, Py_ssize_t __pyx_v_stride, int __pyx_v_ndim, char __pyx_v_order) {
  int __pyx_v_idx;
  Py_ssize_t __pyx_r;
  int __pyx_t_1;
  int __pyx_t_2;
  int __pyx_t_3;
  int __pyx_t_4;

  /* "View.MemoryView":1196
 *     cdef int idx
 * 
 *     if order == 'F':             # <<<<<<<<<<<<<<
 *         for idx in range(ndim):
 *             strides[idx] = stride
 */
  __pyx_t_1 = ((__pyx_v_order == 'F') != 0);
  if (__pyx_t_1) {

    /* "View.MemoryView":1197
 * 
 *     if order == 'F':
 *         for idx in range(ndim):             # <<<<<<<<<<<<<<
 *             strides[idx] = stride
 *             stride *= shape[idx]
 */
    __pyx_t_2 = __pyx_v_ndim;
    __pyx_t_3 = __pyx_t_2;
    for (__pyx_t_4 = 0; __pyx_t_4 < __pyx_t_3; __pyx_t_4+=1) {
      __pyx_v_idx = __pyx_t_4;

      /* "View.MemoryView":1198
 *     if order == 'F':
 *         for idx in range(ndim):
 *             strides[idx] = stride             # <<<<<<<<<<<<<<
 *             stride *= shape[idx]
 *     else:
 */
      (__pyx_v_strides[__pyx_v_idx]) = __pyx_v_stride;

      /* "View.MemoryView":1199
 *         for idx in range(ndim):
 *             strides[idx] = stride
 *             stride *= shape[idx]             # <<<<<<<<<<<<<<
 *     else:
 *         for idx in range(ndim - 1, -1, -1):
 */
      __pyx_v_stride = (__pyx_v_stride * (__pyx_v_shape[__pyx_v_idx]));
    }

    /* "View.MemoryView":1196
 *     cdef int idx
 * 
 *     if order == 'F':             # <<<<<<<<<<<<<<
 *         for idx in range(ndim):
 *             strides[idx] = stride
 */
    goto __pyx_L3;
  }

  /* "View.MemoryView":1201
 *             stride *= shape[idx]
 *     else:
 *         for idx in range(ndim - 1, -1, -1):             # <<<<<<<<<<<<<<
 *             strides[idx] = stride
 *             stride *= shape[idx]
 */
  /*else*/ {
    for (__pyx_t_2 = (__pyx_v_ndim - 1); __pyx_t_2 > -1; __pyx_t_2-=1) {
      __pyx_v_idx = __pyx_t_2;

      /* "View.MemoryView":1202
 *     else:
 *         for idx in range(ndim - 1, -1, -1):
 *             strides[idx] = stride             # <<<<<<<<<<<<<<
 *             stride *= shape[idx]
 * 
 */
      (__pyx_v_strides[__pyx_v_idx]) = __pyx_v_stride;

      /* "View.MemoryView":1203
 *         for idx in range(ndim - 1, -1, -1):
 *             strides[idx] = stride
 *             stride *= shape[idx]             # <<<<<<<<<<<<<<
 * 
 *     return stride
 */
      __pyx_v_stride = (__pyx_v_stride * (__pyx_v_shape[__pyx_v_idx]));
    }
  }
  __pyx_L3:;

  /* "View.MemoryView":1205
 *             stride *= shape[idx]
 * 
 *     return stride             # <<<<<<<<<<<<<<
 * 
 * @cname('__pyx_memoryview_copy_data_to_temp')
 */
  __pyx_r = __pyx_v_stride;
  goto __pyx_L0;

  /* "View.MemoryView":1187
 * 
 * @cname('__pyx_fill_contig_strides_array')
 * cdef Py_ssize_t fill_contig_strides_array(             # <<<<<<<<<<<<<<
 *                 Py_ssize_t *shape, Py_ssize_t *strides, Py_ssize_t stride,
 *                 int ndim, char order) nogil:
 */

  /* function exit code */
  __pyx_L0:;
  return __pyx_r;
}

/* "View.MemoryView":1208
 * 
 * @cname('__pyx_memoryview_copy_data_to_temp')
 * cdef void *copy_data_to_temp(__Pyx_memviewslice *src,             # <<<<<<<<<<<<<<
 *                              __Pyx_memviewslice *tmpslice,
 *                              char order,
 */

static void *__pyx_memoryview_copy_data_to_temp(__Pyx_memviewslice *__pyx_v_src, __Pyx_memviewslice *__pyx_v_tmpslice, char __pyx_v_order, int __pyx_v_ndim) {
  int __pyx_v_i;
  void *__pyx_v_result;
  size_t __pyx_v_itemsize;
  size_t __pyx_v_size;
  void *__pyx_r;
  Py_ssize_t __pyx_t_1;
  int __pyx_t_2;
  int __pyx_t_3;
  struct __pyx_memoryview_obj *__pyx_t_4;
  int __pyx_t_5;
  int __pyx_t_6;
  int __pyx_lineno = 0;
  const char *__pyx_filename = NULL;
  int __pyx_clineno = 0;

  /* "View.MemoryView":1219
 *     cdef void *result
 * 
 *     cdef size_t itemsize = src.memview.view.itemsize             # <<<<<<<<<<<<<<
 *     cdef size_t size = slice_get_size(src, ndim)
 * 
 */
  __pyx_t_1 = __pyx_v_src->memview->view.itemsize;
  __pyx_v_itemsize = __pyx_t_1;

  /* "View.MemoryView":1220
 * 
 *     cdef size_t itemsize = src.memview.view.itemsize
 *     cdef size_t size = slice_get_size(src, ndim)             # <<<<<<<<<<<<<<
 * 
 *     result = malloc(size)
 */
  __pyx_v_size = __pyx_memoryview_slice_get_size(__pyx_v_src, __pyx_v_ndim);

  /* "View.MemoryView":1222
 *     cdef size_t size = slice_get_size(src, ndim)
 * 
 *     result = malloc(size)             # <<<<<<<<<<<<<<
 *     if not result:
 *         _err(MemoryError, NULL)
 */
  __pyx_v_result = malloc(__pyx_v_size);

  /* "View.MemoryView":1223
 * 
 *     result = malloc(size)
 *     if not result:             # <<<<<<<<<<<<<<
 *         _err(MemoryError, NULL)
 * 
 */
  __pyx_t_2 = ((!(__pyx_v_result != 0)) != 0);
  if (__pyx_t_2) {

    /* "View.MemoryView":1224
 *     result = malloc(size)
 *     if not result:
 *         _err(MemoryError, NULL)             # <<<<<<<<<<<<<<
 * 
 * 
 */
    __pyx_t_3 = __pyx_memoryview_err(__pyx_builtin_MemoryError, NULL); if (unlikely(__pyx_t_3 == ((int)-1))) __PYX_ERR(1, 1224, __pyx_L1_error)

    /* "View.MemoryView":1223
 * 
 *     result = malloc(size)
 *     if not result:             # <<<<<<<<<<<<<<
 *         _err(MemoryError, NULL)
 * 
 */
  }

  /* "View.MemoryView":1227
 * 
 * 
 *     tmpslice.data = <char *> result             # <<<<<<<<<<<<<<
 *     tmpslice.memview = src.memview
 *     for i in range(ndim):
 */
  __pyx_v_tmpslice->data = ((char *)__pyx_v_result);

  /* "View.MemoryView":1228
 * 
 *     tmpslice.data = <char *> result
 *     tmpslice.memview = src.memview             # <<<<<<<<<<<<<<
 *     for i in range(ndim):
 *         tmpslice.shape[i] = src.shape[i]
 */
  __pyx_t_4 = __pyx_v_src->memview;
  __pyx_v_tmpslice->memview = __pyx_t_4;

  /* "View.MemoryView":1229
 *     tmpslice.data = <char *> result
 *     tmpslice.memview = src.memview
 *     for i in range(ndim):             # <<<<<<<<<<<<<<
 *         tmpslice.shape[i] = src.shape[i]
 *         tmpslice.suboffsets[i] = -1
 */
  __pyx_t_3 = __pyx_v_ndim;
  __pyx_t_5 = __pyx_t_3;
  for (__pyx_t_6 = 0; __pyx_t_6 < __pyx_t_5; __pyx_t_6+=1) {
    __pyx_v_i = __pyx_t_6;

    /* "View.MemoryView":1230
 *     tmpslice.memview = src.memview
 *     for i in range(ndim):
 *         tmpslice.shape[i] = src.shape[i]             # <<<<<<<<<<<<<<
 *         tmpslice.suboffsets[i] = -1
 * 
 */
    (__pyx_v_tmpslice->shape[__pyx_v_i]) = (__pyx_v_src->shape[__pyx_v_i]);

    /* "View.MemoryView":1231
 *     for i in range(ndim):
 *         tmpslice.shape[i] = src.shape[i]
 *         tmpslice.suboffsets[i] = -1             # <<<<<<<<<<<<<<
 * 
 *     fill_contig_strides_array(&tmpslice.shape[0], &tmpslice.strides[0], itemsize,
 */
    (__pyx_v_tmpslice->suboffsets[__pyx_v_i]) = -1L;
  }

  /* "View.MemoryView":1233
 *         tmpslice.suboffsets[i] = -1
 * 
 *     fill_contig_strides_array(&tmpslice.shape[0], &tmpslice.strides[0], itemsize,             # <<<<<<<<<<<<<<
 *                               ndim, order)
 * 
 */
  (void)(__pyx_fill_contig_strides_array((&(__pyx_v_tmpslice->shape[0])), (&(__pyx_v_tmpslice->strides[0])), __pyx_v_itemsize, __pyx_v_ndim, __pyx_v_order));

  /* "View.MemoryView":1237
 * 
 * 
 *     for i in range(ndim):             # <<<<<<<<<<<<<<
 *         if tmpslice.shape[i] == 1:
 *             tmpslice.strides[i] = 0
 */
  __pyx_t_3 = __pyx_v_ndim;
  __pyx_t_5 = __pyx_t_3;
  for (__pyx_t_6 = 0; __pyx_t_6 < __pyx_t_5; __pyx_t_6+=1) {
    __pyx_v_i = __pyx_t_6;

    /* "View.MemoryView":1238
 * 
 *     for i in range(ndim):
 *         if tmpslice.shape[i] == 1:             # <<<<<<<<<<<<<<
 *             tmpslice.strides[i] = 0
 * 
 */
    __pyx_t_2 = (((__pyx_v_tmpslice->shape[__pyx_v_i]) == 1) != 0);
    if (__pyx_t_2) {

      /* "View.MemoryView":1239
 *     for i in range(ndim):
 *         if tmpslice.shape[i] == 1:
 *             tmpslice.strides[i] = 0             # <<<<<<<<<<<<<<
 * 
 *     if slice_is_contig(src[0], order, ndim):
 */
      (__pyx_v_tmpslice->strides[__pyx_v_i]) = 0;

      /* "View.MemoryView":1238
 * 
 *     for i in range(ndim):
 *         if tmpslice.shape[i] == 1:             # <<<<<<<<<<<<<<
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  for (__pyx_t_4 = 0; __pyx_t_4 < __pyx_t_3; __pyx_t_4+=1) {
    __pyx_v_i = __pyx_t_4;

    /* "View.MemoryView":1292
 * 
 *     for i in range(ndim):
 *         if src.shape[i] != dst.shape[i]:             # <<<<<<<<<<<<<<
 *             if src.shape[i] == 1:
 *                 broadcasting = True
 */
    __pyx_t_2 = (((__pyx_v_src.shape[__pyx_v_i]) != (__pyx_v_dst.shape[__pyx_v_i])) != 0);
    if (__pyx_t_2) {

      /* "View.MemoryView":1293
 *     for i in range(ndim):
 *         if src.shape[i] != dst.shape[i]:
 *             if src.shape[i] == 1:             # <<<<<<<<<<<<<<
 *                 broadcasting = True
 *                 src.strides[i] = 0
 */
      __pyx_t_2 = (((__pyx_v_src.shape[__pyx_v_i]) == 1) != 0);
      if (__pyx_t_2) {

        /* "View.MemoryView":1294
 *         if src.shape[i] != dst.shape[i]:
 *             if src.shape[i] == 1:
 *                 broadcasting = True             # <<<<<<<<<<<<<<
 *                 src.strides[i] = 0
 *             else:
 */
        __pyx_v_broadcasting = 1;

        /* "View.MemoryView":1295
 *             if src.shape[i] == 1:
 *                 broadcasting = True
 *                 src.strides[i] = 0             # <<<<<<<<<<<<<<
 *             else:
 *                 _err_extents(i, dst.shape[i], src.shape[i])
 */
        (__pyx_v_src.strides[__pyx_v_i]) = 0;

        /* "View.MemoryView":1293
 *     for i in range(ndim):
 *         if src.shape[i] != dst.shape[i]:
 *             if src.shape[i] == 1:             # <<<<<<<<<<<<<<
 *                 broadcasting = True
 *                 src.strides[i] = 0
 */
        goto __pyx_L7;
      }

      /* "View.MemoryView":1297
 *                 src.strides[i] = 0
 *             else:
 *                 _err_extents(i, dst.shape[i], src.shape[i])             # <<<<<<<<<<<<<<
 * 
 *         if src.suboffsets[i] >= 0:
 */
      /*else*/ {
        __pyx_t_6 = __pyx_memoryview_err_extents(__pyx_v_i, (__pyx_v_dst.shape[__pyx_v_i]), (__pyx_v_src.shape[__pyx_v_i])); if (unlikely(__pyx_t_6 == ((int)-1))) __PYX_ERR(1, 1297, __pyx_L1_error)
      }
      __pyx_L7:;

      /* "View.MemoryView":1292
 * 
 *     for i in range(ndim):
 *         if src.shape[i] != dst.shape[i]:             # <<<<<<<<<<<<<<
 *             if src.shape[i] == 1:
 *                 broadcasting = True
 */
    }

    /* "View.MemoryView":1299
 *                 _err_extents(i, dst.shape[i], src.shape[i])
 * 
 *         if src.suboffsets[i] >= 0:             # <<<<<<<<<<<<<<
 *             _err_dim(ValueError, "Dimension %d is not direct", i)
 * 
 */
    __pyx_t_2 = (((__pyx_v_src.suboffsets[__pyx_v_i]) >= 0) != 0);
    if (__pyx_t_2) {

      /* "View.MemoryView":1300
 * 
 *         if src.suboffsets[i] >= 0:
 *             _err_dim(ValueError, "Dimension %d is not direct", i)             # <<<<<<<<<<<<<<
 * 
 *     if slices_overlap(&src, &dst, ndim, itemsize):
 */
      __pyx_t_6 = __pyx_memoryview_err_dim(__pyx_builtin_ValueError, ((char *)"Dimension %d is not direct"), __pyx_v_i); if (unlikely(__pyx_t_6 == ((int)-1))) __PYX_ERR(1, 1300, __pyx_L1_error)

      /* "View.MemoryView":1299
 *                 _err_extents(i, dst.shape[i], src.shape[i])
 * 
 *         if src.suboffsets[i] >= 0:             # <<<<<<<<<<<<<<
 *             _err_dim(ValueError, "Dimension %d is not direct", i)
 * 
 */
    }
  }

  /* "View.MemoryView":1302
 *             _err_dim(ValueError, "Dimension %d is not direct", i)
 * 
 *     if slices_overlap(&src, &dst, ndim, itemsize):             # <<<<<<<<<<<<<<
 * 
 *         if not slice_is_contig(src, order, ndim):
 */
  __pyx_t_2 = (__pyx_slices_overlap((&__pyx_v_src), (&__pyx_v_dst), __pyx_v_ndim, __pyx_v_itemsize) != 0);
  if (__pyx_t_2) {

    /* "View.MemoryView":1304
 *     if slices_overlap(&src, &dst, ndim, itemsize):
 * 
 *         if not slice_is_contig(src, order, ndim):             # <<<<<<<<<<<<<<
 *             order = get_best_order(&dst, ndim)
 * 
 */
    __pyx_t_2 = ((!(__pyx_memviewslice_is_contig(__pyx_v_src, __pyx_v_order, __pyx_v_ndim) != 0)) != 0);
    if (__pyx_t_2) {

      /* "View.MemoryView":1305
 * 
 *         if not slice_is_contig(src, order, ndim):
 *             order = get_best_order(&dst, ndim)             # <<<<<<<<<<<<<<
 * 
 *         tmpdata = copy_data_to_temp(&src, &tmp, order, ndim)
 */
      __pyx_v_order = __pyx_get_best_slice_order((&__pyx_v_dst), __pyx_v_ndim);

      /* "View.MemoryView":1304
 *     if slices_overlap(&src, &dst, ndim, itemsize):
 * 
 *         if not slice_is_contig(src, order, ndim):             # <<<<<<<<<<<<<<
 *             order = get_best_order(&dst, ndim)
 * 
 */
    }

    /* "View.MemoryView":1307
 *             order = get_best_order(&dst, ndim)
 * 
 *         tmpdata = copy_data_to_temp(&src, &tmp, order, ndim)             # <<<<<<<<<<<<<<
 *         src = tmp
 * 
 */
    __pyx_t_7 = __pyx_memoryview_copy_data_to_temp((&__pyx_v_src), (&__pyx_v_tmp), __pyx_v_order, __pyx_v_ndim); if (unlikely(__pyx_t_7 == ((void *)NULL))) __PYX_ERR(1, 1307, __pyx_L1_error)
    __pyx_v_tmpdata = __pyx_t_7;

    /* "View.MemoryView":1308
 * 
 *         tmpdata = copy_data_to_temp(&src, &tmp, order, ndim)
 *         src = tmp             # <<<<<<<<<<<<<<
 * 
 *     if not broadcasting:
 */
    __pyx_v_src = __pyx_v_tmp;

    /* "View.MemoryView":1302
 *             _err_dim(ValueError, "Dimension %d is not direct", i)
 * 
 *     if slices_overlap(&src, &dst, ndim, itemsize):             # <<<<<<<<<<<<<<
 * 
 *         if not slice_is_contig(src, order, ndim):
 */
  }

  /* "View.MemoryView":1310
 *         src = tmp
 * 
 *     if not broadcasting:             # <<<<<<<<<<<<<<
 * 
 * 
 */
  __pyx_t_2 = ((!(__pyx_v_broadcasting != 0)) != 0);
  if (__pyx_t_2) {

    /* "View.MemoryView":1313
 * 
 * 
 *         if slice_is_contig(src, 'C', ndim):             # <<<<<<<<<<<<<<
 *             direct_copy = slice_is_contig(dst, 'C', ndim)
 *         elif slice_is_contig(src, 'F', ndim):
 */
    __pyx_t_2 = (__pyx_memviewslice_is_contig(__pyx_v_src, 'C', __pyx_v_ndim) != 0);
    if (__pyx_t_2) {

      /* "View.MemoryView":1314
 * 
 *         if slice_is_contig(src, 'C', ndim):
 *             direct_copy = slice_is_contig(dst, 'C', ndim)             # <<<<<<<<<<<<<<
 *         elif slice_is_contig(src, 'F', ndim):
 *             direct_copy = slice_is_contig(dst, 'F', ndim)
 */
      __pyx_v_direct_copy = __pyx_memviewslice_is_contig(__pyx_v_dst, 'C', __pyx_v_ndim);

      /* "View.MemoryView":1313
 * 
 * 
 *         if slice_is_contig(src, 'C', ndim):             # <<<<<<<<<<<<<<
 *             direct_copy = slice_is_contig(dst, 'C', ndim)
 *         elif slice_is_contig(src, 'F', ndim):
 */
      goto __pyx_L12;
    }

    /* "View.MemoryView":1315
 *         if slice_is_contig(src, 'C', ndim):
 *             direct_copy = slice_is_contig(dst, 'C', ndim)
 *         elif slice_is_contig(src, 'F', ndim):             # <<<<<<<<<<<<<<
 *             direct_copy = slice_is_contig(dst, 'F', ndim)
 * 
 */
    __pyx_t_2 = (__pyx_memviewslice_is_contig(__pyx_v_src, 'F', __pyx_v_ndim) != 0);
    if (__pyx_t_2) {

      /* "View.MemoryView":1316
 *             direct_copy = slice_is_contig(dst, 'C', ndim)
 *         elif slice_is_contig(src, 'F', ndim):
 *             direct_copy = slice_is_contig(dst, 'F', ndim)             # <<<<<<<<<<<<<<
 * 
 *         if direct_copy:
 */
      __pyx_v_direct_copy = __pyx_memviewslice_is_contig(__pyx_v_dst, 'F', __pyx_v_ndim);

      /* "View.MemoryView":1315
 *         if slice_is_contig(src, 'C', ndim):
 *             direct_copy = slice_is_contig(dst, 'C', ndim)
 *         elif slice_is_contig(src, 'F', ndim):             # <<<<<<<<<<<<<<
 *             direct_copy = slice_is_contig(dst, 'F', ndim)
 * 
 */
    }
    __pyx_L12:;

    /* "View.MemoryView":1318
 *             direct_copy = slice_is_contig(dst, 'F', ndim)
 * 
 *         if direct_copy:             # <<<<<<<<<<<<<<
 * 
 *             refcount_copying(&dst, dtype_is_object, ndim, False)
 */
    __pyx_t_2 = (__pyx_v_direct_copy != 0);
    if (__pyx_t_2) {

      /* "View.MemoryView":1320
 *         if direct_copy:
 * 
 *             refcount_copying(&dst, dtype_is_object, ndim, False)             # <<<<<<<<<<<<<<
 *             memcpy(dst.data, src.data, slice_get_size(&src, ndim))
 *             refcount_copying(&dst, dtype_is_object, ndim, True)
 */
      __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 0);

      /* "View.MemoryView":1321
 * 
 *             refcount_copying(&dst, dtype_is_object, ndim, False)
 *             memcpy(dst.data, src.data, slice_get_size(&src, ndim))             # <<<<<<<<<<<<<<
 *             refcount_copying(&dst, dtype_is_object, ndim, True)
 *             free(tmpdata)
 */
      (void)(memcpy(__pyx_v_dst.data, __pyx_v_src.data, __pyx_memoryview_slice_get_size((&__pyx_v_src), __pyx_v_ndim)));

      /* "View.MemoryView":1322
 *             refcount_copying(&dst, dtype_is_object, ndim, False)
 *             memcpy(dst.data, src.data, slice_get_size(&src, ndim))
 *             refcount_copying(&dst, dtype_is_object, ndim, True)             # <<<<<<<<<<<<<<
 *             free(tmpdata)
 *             return 0
 */
      __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 1);

      /* "View.MemoryView":1323
 *             memcpy(dst.data, src.data, slice_get_size(&src, ndim))
 *             refcount_copying(&dst, dtype_is_object, ndim, True)
 *             free(tmpdata)             # <<<<<<<<<<<<<<
 *             return 0
 * 
 */
      free(__pyx_v_tmpdata);

      /* "View.MemoryView":1324
 *             refcount_copying(&dst, dtype_is_object, ndim, True)
 *             free(tmpdata)
 *             return 0             # <<<<<<<<<<<<<<
 * 
 *     if order == 'F' == get_best_order(&dst, ndim):
 */
      __pyx_r = 0;
      goto __pyx_L0;

      /* "View.MemoryView":1318
 *             direct_copy = slice_is_contig(dst, 'F', ndim)
 * 
 *         if direct_copy:             # <<<<<<<<<<<<<<
 * 
 *             refcount_copying(&dst, dtype_is_object, ndim, False)
 */
    }

    /* "View.MemoryView":1310
 *         src = tmp
 * 
 *     if not broadcasting:             # <<<<<<<<<<<<<<
 * 
 * 
 */
  }

  /* "View.MemoryView":1326
 *             return 0
 * 
 *     if order == 'F' == get_best_order(&dst, ndim):             # <<<<<<<<<<<<<<
 * 
 * 
 */
  __pyx_t_2 = (__pyx_v_order == 'F');
  if (__pyx_t_2) {
    __pyx_t_2 = ('F' == __pyx_get_best_slice_order((&__pyx_v_dst), __pyx_v_ndim));
  }
  __pyx_t_8 = (__pyx_t_2 != 0);
  if (__pyx_t_8) {

    /* "View.MemoryView":1329
 * 
 * 
 *         transpose_memslice(&src)             # <<<<<<<<<<<<<<
 *         transpose_memslice(&dst)
 * 
 */
    __pyx_t_5 = __pyx_memslice_transpose((&__pyx_v_src)); if (unlikely(__pyx_t_5 == ((int)0))) __PYX_ERR(1, 1329, __pyx_L1_error)

    /* "View.MemoryView":1330
 * 
 *         transpose_memslice(&src)
 *         transpose_memslice(&dst)             # <<<<<<<<<<<<<<
 * 
 *     refcount_copying(&dst, dtype_is_object, ndim, False)
 */
    __pyx_t_5 = __pyx_memslice_transpose((&__pyx_v_dst)); if (unlikely(__pyx_t_5 == ((int)0))) __PYX_ERR(1, 1330, __pyx_L1_error)

    /* "View.MemoryView":1326
 *             return 0
 * 
 *     if order == 'F' == get_best_order(&dst, ndim):             # <<<<<<<<<<<<<<
 * 
 * 
 */
  }

  /* "View.MemoryView":1332
 *         transpose_memslice(&dst)
 * 
 *     refcount_copying(&dst, dtype_is_object, ndim, False)             # <<<<<<<<<<<<<<
 *     copy_strided_to_strided(&src, &dst, ndim, itemsize)
 *     refcount_copying(&dst, dtype_is_object, ndim, True)
 */
  __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 0);

  /* "View.MemoryView":1333
 * 
 *     refcount_copying(&dst, dtype_is_object, ndim, False)
 *     copy_strided_to_strided(&src, &dst, ndim, itemsize)             # <<<<<<<<<<<<<<
 *     refcount_copying(&dst, dtype_is_object, ndim, True)
 * 
 */
  copy_strided_to_strided((&__pyx_v_src), (&__pyx_v_dst), __pyx_v_ndim, __pyx_v_itemsize);

  /* "View.MemoryView":1334
 *     refcount_copying(&dst, dtype_is_object, ndim, False)
 *     copy_strided_to_strided(&src, &dst, ndim, itemsize)
 *     refcount_copying(&dst, dtype_is_object, ndim, True)             # <<<<<<<<<<<<<<
 * 
 *     free(tmpdata)
 */
  __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 1);

  /* "View.MemoryView":1336
 *     refcount_copying(&dst, dtype_is_object, ndim, True)
 * 
 *     free(tmpdata)             # <<<<<<<<<<<<<<
 *     return 0
 * 
 */
  free(__pyx_v_tmpdata);

  /* "View.MemoryView":1337
 * 
 *     free(tmpdata)
 *     return 0             # <<<<<<<<<<<<<<
 * 
 * @cname('__pyx_memoryview_broadcast_leading')
 */
  __pyx_r = 0;
  goto __pyx_L0;

  /* "View.MemoryView":1268
 * 
 * @cname('__pyx_memoryview_copy_contents')
 * cdef int memoryview_copy_contents(__Pyx_memviewslice src,             # <<<<<<<<<<<<<<
 *                                   __Pyx_memviewslice dst,
 *                                   int src_ndim, int dst_ndim,
 */

  /* function exit code */
  __pyx_L1_error:;
  {
    #ifdef WITH_THREAD
    PyGILState_STATE __pyx_gilstate_save = __Pyx_PyGILState_Ensure();
    #endif
    __Pyx_AddTraceback("View.MemoryView.memoryview_copy_contents", __pyx_clineno, __pyx_lineno, __pyx_filename);
    #ifdef WITH_THREAD
    __Pyx_PyGILState_Release(__pyx_gilstate_save);
    #endif
  }
  __pyx_r = -1;
  __pyx_L0:;
  return __pyx_r;
}

/* "View.MemoryView":1340
 * 
 * @cname('__pyx_memoryview_broadcast_leading')
 * cdef void broadcast_leading(__Pyx_memviewslice *mslice,             # <<<<<<<<<<<<<<
 *                             int ndim,
 *                             int ndim_other) nogil:
 */

static void __pyx_memoryview_broadcast_leading(__Pyx_memviewslice *__pyx_v_mslice, int __pyx_v_ndim, int __pyx_v_ndim_other) {
  int __pyx_v_i;
  int __pyx_v_offset;
  int __pyx_t_1;
  int __pyx_t_2;
  int __pyx_t_3;

  /* "View.MemoryView":1344
 *                             int ndim_other) nogil:
 *     cdef int i
 *     cdef int offset = ndim_other - ndim             # <<<<<<<<<<<<<<
 * 
 *     for i in range(ndim - 1, -1, -1):
 */
  __pyx_v_offset = (__pyx_v_ndim_other - __pyx_v_ndim);

  /* "View.MemoryView":1346
 *     cdef int offset = ndim_other - ndim
 * 
 *     for i in range(ndim - 1, -1, -1):             # <<<<<<<<<<<<<<
 *         mslice.shape[i + offset] = mslice.shape[i]
 *         mslice.strides[i + offset] = mslice.strides[i]
 */
  for (__pyx_t_1 = (__pyx_v_ndim - 1); __pyx_t_1 > -1; __pyx_t_1-=1) {
    __pyx_v_i = __pyx_t_1;

    /* "View.MemoryView":1347
 * 
 *     for i in range(ndim - 1, -1, -1):
 *         mslice.shape[i + offset] = mslice.shape[i]             # <<<<<<<<<<<<<<
 *         mslice.strides[i + offset] = mslice.strides[i]
 *         mslice.suboffsets[i + offset] = mslice.suboffsets[i]
 */
    (__pyx_v_mslice->shape[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->shape[__pyx_v_i]);

    /* "View.MemoryView":1348
 *     for i in range(ndim - 1, -1, -1):
 *         mslice.shape[i + offset] = mslice.shape[i]
 *         mslice.strides[i + offset] = mslice.strides[i]             # <<<<<<<<<<<<<<
 *         mslice.suboffsets[i + offset] = mslice.suboffsets[i]
 * 
 */
    (__pyx_v_mslice->strides[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->strides[__pyx_v_i]);

    /* "View.MemoryView":1349
 *         mslice.shape[i + offset] = mslice.shape[i]
 *         mslice.strides[i + offset] = mslice.strides[i]
 *         mslice.suboffsets[i + offset] = mslice.suboffsets[i]             # <<<<<<<<<<<<<<
 * 
 *     for i in range(offset):
 */
    (__pyx_v_mslice->suboffsets[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->suboffsets[__pyx_v_i]);
  }

  /* "View.MemoryView":1351
 *         mslice.suboffsets[i + offset] = mslice.suboffsets[i]
 * 
 *     for i in range(offset):             # <<<<<<<<<<<<<<
 *         mslice.shape[i] = 1
 *         mslice.strides[i] = mslice.strides[0]
 */
  __pyx_t_1 = __pyx_v_offset;
  __pyx_t_2 = __pyx_t_1;
  for (__pyx_t_3 = 0; __pyx_t_3 < __pyx_t_2; __pyx_t_3+=1) {
    __pyx_v_i = __pyx_t_3;

    /* "View.MemoryView":1352
 * 
 *     for i in range(offset):
 *         mslice.shape[i] = 1             # <<<<<<<<<<<<<<
 *         mslice.strides[i] = mslice.strides[0]
 *         mslice.suboffsets[i] = -1
 */
    (__pyx_v_mslice->shape[__pyx_v_i]) = 1;

    /* "View.MemoryView":1353
 *     for i in range(offset):
 *         mslice.shape[i] = 1
 *         mslice.strides[i] = mslice.strides[0]             # <<<<<<<<<<<<<<
 *         mslice.suboffsets[i] = -1
 * 
 */
    (__pyx_v_mslice->strides[__pyx_v_i]) = (__pyx_v_mslice->strides[0]);

    /* "View.MemoryView":1354
 *         mslice.shape[i] = 1
 *         mslice.strides[i] = mslice.strides[0]
 *         mslice.suboffsets[i] = -1             # <<<<<<<<<<<<<<
 * 
 * 
 */
    (__pyx_v_mslice->suboffsets[__pyx_v_i]) = -1L;
  }

  /* "View.MemoryView":1340
 * 
 * @cname('__pyx_memoryview_broadcast_leading')
 * cdef void broadcast_leading(__Pyx_memviewslice *mslice,             # <<<<<<<<<<<<<<
 *                             int ndim,
 *                             int ndim_other) nogil:
 */

  /* function exit code */
}

/* "View.MemoryView":1362
 * 
 * @cname('__pyx_memoryview_refcount_copying')
 * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object,             # <<<<<<<<<<<<<<
 *                            int ndim, bint inc) nogil:
 * 
 */

static void __pyx_memoryview_refcount_copying(__Pyx_memviewslice *__pyx_v_dst, int __pyx_v_dtype_is_object, int __pyx_v_ndim, int __pyx_v_inc) {
  int __pyx_t_1;

  /* "View.MemoryView":1366
 * 
 * 
 *     if dtype_is_object:             # <<<<<<<<<<<<<<
 *         refcount_objects_in_slice_with_gil(dst.data, dst.shape,
 *                                            dst.strides, ndim, inc)
 */
  __pyx_t_1 = (__pyx_v_dtype_is_object != 0);
  if (__pyx_t_1) {

    /* "View.MemoryView":1367
 * 
 *     if dtype_is_object:
 *         refcount_objects_in_slice_with_gil(dst.data, dst.shape,             # <<<<<<<<<<<<<<
 *                                            dst.strides, ndim, inc)
 * 
 */
    __pyx_memoryview_refcount_objects_in_slice_with_gil(__pyx_v_dst->data, __pyx_v_dst->shape, __pyx_v_dst->strides, __pyx_v_ndim, __pyx_v_inc);

    /* "View.MemoryView":1366
 * 
 * 
 *     if dtype_is_object:             # <<<<<<<<<<<<<<
 *         refcount_objects_in_slice_with_gil(dst.data, dst.shape,
 *                                            dst.strides, ndim, inc)
 */
  }

  /* "View.MemoryView":1362
 * 
 * @cname('__pyx_memoryview_refcount_copying')
 * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object,             # <<<<<<<<<<<<<<
 *                            int ndim, bint inc) nogil:
 * 
 */

  /* function exit code */
}

/* "View.MemoryView":1371
 * 
 * @cname('__pyx_memoryview_refcount_objects_in_slice_with_gil')
 * cdef void refcount_objects_in_slice_with_gil(char *data, Py_ssize_t *shape,             # <<<<<<<<<<<<<<
 *                                              Py_ssize_t *strides, int ndim,
 *                                              bint inc) with gil:
 */

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  {"render_agents_in_many_lidars", (PyCFunction)(void*)(PyCFunctionWithKeywords)__pyx_pw_6CMap2D_6CMap2D_73render_agents_in_many_lidars, METH_VARARGS|METH_KEYWORDS, 0},
  {"render_agents_in_lidar", (PyCFunction)(void*)(PyCFunctionWithKeywords)__pyx_pw_6CMap2D_6CMap2D_75render_agents_in_lidar, METH_VARARGS|METH_KEYWORDS, 0},
  {"visibility_map", (PyCFunction)(void*)(PyCFunctionWithKeywords)__pyx_pw_6CMap2D_6CMap2D_77visibility_map, METH_VARARGS|METH_KEYWORDS, 0},
  {"visibility_map_ij", (PyCFunction)(void*)(PyCFunctionWithKeywords)__pyx_pw_6CMap2D_6CMap2D_79visibility_map_ij, METH_VARARGS|METH_KEYWORDS, 0},
  {"numpy_to_occupancy_grid_msg", (PyCFunction)(void*)(PyCFunctionWithKeywords)__pyx_pw_6CMap2D_6CMap2D_81numpy_to_occupancy_grid_msg, METH_VARARGS|METH_KEYWORDS, 0},
  {"get_extent_xy", (PyCFunction)__pyx_pw_6CMap2D_6CMap2D_83get_extent_xy, METH_NOARGS, __pyx_doc_6CMap2D_6CMap2D_82get_extent_xy},
  {"__reduce_cython__", (PyCFunction)__pyx_pw_6CMap2D_6CMap2D_85__reduce_cython__, METH_NOARGS, 0},
  {"__setstate_cython__", (PyCFunction)__pyx_pw_6CMap2D_6CMap2D_87__setstate_cython__, METH_O, 0},
  {0, 0, 0, 0}
};

static struct PyGetSetDef __pyx_getsets_6CMap2D_CMap2D[] = {
  {(char *)"_occupancy", __pyx_getprop_6CMap2D_6CMap2D__occupancy, __pyx_setprop_6CMap2D_6CMap2D__occupancy, (char *)0, 0},
  {(char *)"origin", __pyx_getprop_6CMap2D_6CMap2D_origin, __pyx_setprop_6CMap2D_6CMap2D_origin, (char *)0, 0},
  {0, 0, 0, 0, 0}
};

static PyTypeObject __pyx_type_6CMap2D_CMap2D = {
  PyVarObject_HEAD_INIT(0, 0)
  "CMap2D.CMap2D", /*tp_name*/
  sizeof(struct __pyx_obj_6CMap2D_CMap2D), /*tp_basicsize*/
  0, /*tp_itemsize*/
  __pyx_tp_dealloc_6CMap2D_CMap2D, /*tp_dealloc*/
  #if PY_VERSION_HEX < 0x030800b4
  0, /*tp_print*/
  #endif
  #if PY_VERSION_HEX >= 0x030800b4
  0, /*tp_vectorcall_offset*/
  #endif
  0, /*tp_getattr*/
  0, /*tp_setattr*/
  #if PY_MAJOR_VERSION < 3
  0, /*tp_compare*/
  #endif
  #if PY_MAJOR_VERSION >= 3
  0, /*tp_as_async*/
  #endif
  0, /*tp_repr*/
  0, /*tp_as_number*/
  0, /*tp_as_sequence*/
  0, /*tp_as_mapping*/
  0, /*tp_hash*/
  0, /*tp_call*/
  0, /*tp_str*/
  0, /*tp_getattro*/
  0, /*tp_setattro*/
  0, /*tp_as_buffer*/
  Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE, /*tp_flags*/
  0, /*tp_doc*/
  0, /*tp_traverse*/
  0, /*tp_clear*/
  0, /*tp_richcompare*/
  0, /*tp_weaklistoffset*/
  0, /*tp_iter*/
  0, /*tp_iternext*/
  __pyx_methods_6CMap2D_CMap2D, /*tp_methods*/
  0, /*tp_members*/
  __pyx_getsets_6CMap2D_CMap2D, /*tp_getset*/
  0, /*tp_base*/
  0, /*tp_dict*/
  0, /*tp_descr_get*/
  0, /*tp_descr_set*/
  0, /*tp_dictoffset*/
  __pyx_pw_6CMap2D_6CMap2D_1__init__, /*tp_init*/
  0, /*tp_alloc*/
  __pyx_tp_new_6CMap2D_CMap2D, /*tp_new*/
  0, /*tp_free*/
  0, /*tp_is_gc*/
  0, /*tp_bases*/
  0, /*tp_mro*/
  0, /*tp_cache*/
  0, /*tp_subclasses*/
  0, /*tp_weaklist*/
  0, /*tp_del*/
  0, /*tp_version_tag*/
  #if PY_VERSION_HEX >= 0x030400a1
  0, /*tp_finalize*/
  #endif
  #if PY_VERSION_HEX >= 0x030800b1
  0, /*tp_vectorcall*/
  #endif
  #if PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000
  0, /*tp_print*/
  #endif
};
static struct __pyx_vtabstruct_6CMap2D_CSimAgent __pyx_vtable_6CMap2D_CSimAgent;

static PyObject *__pyx_tp_new_6CMap2D_CSimAgent(PyTypeObject *t, PyObject *a, PyObject *k) {
  struct __pyx_obj_6CMap2D_CSimAgent *p;
  PyObject *o;
  if (likely((t->tp_flags & Py_TPFLAGS_IS_ABSTRACT) == 0)) {
    o = (*t->tp_alloc)(t, 0);
  } else {
    o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0);
  }
  if (unlikely(!o)) return 0;
  p = ((struct __pyx_obj_6CMap2D_CSimAgent *)o);
  p->__pyx_vtab = __pyx_vtabptr_6CMap2D_CSimAgent;
  p->type = ((PyObject*)Py_None); Py_INCREF(Py_None);
  p->pose_2d_in_map_frame.data = NULL;
  p->pose_2d_in_map_frame.memview = NULL;
  p->vel_in_map_frame.data = NULL;
  p->vel_in_map_frame.memview = NULL;
  p->state.data = NULL;
  p->state.memview = NULL;
  if (unlikely(__pyx_pw_6CMap2D_9CSimAgent_1__cinit__(o, a, k) < 0)) goto bad;
  return o;
  bad:
  Py_DECREF(o); o = 0;
  return NULL;
}

static void __pyx_tp_dealloc_6CMap2D_CSimAgent(PyObject *o) {
  struct __pyx_obj_6CMap2D_CSimAgent *p = (struct __pyx_obj_6CMap2D_CSimAgent *)o;
  #if CYTHON_USE_TP_FINALIZE
  if (unlikely(PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE) && Py_TYPE(o)->tp_finalize) && (!PyType_IS_GC(Py_TYPE(o)) || !_PyGC_FINALIZED(o))) {
    if (PyObject_CallFinalizerFromDealloc(o)) return;
  }
  #endif
  Py_CLEAR(p->type);
  __PYX_XDEC_MEMVIEW(&p->pose_2d_in_map_frame, 1);
  __PYX_XDEC_MEMVIEW(&p->vel_in_map_frame, 1);
  __PYX_XDEC_MEMVIEW(&p->state, 1);
  (*Py_TYPE(o)->tp_free)(o);
}

static PyObject *__pyx_getprop_6CMap2D_9CSimAgent_pose_2d_in_map_frame(PyObject *o, CYTHON_UNUSED void *x) {
  return __pyx_pw_6CMap2D_9CSimAgent_20pose_2d_in_map_frame_1__get__(o);
}

static int __pyx_setprop_6CMap2D_9CSimAgent_pose_2d_in_map_frame(PyObject *o, PyObject *v, CYTHON_UNUSED void *x) {
  if (v) {
    return __pyx_pw_6CMap2D_9CSimAgent_20pose_2d_in_map_frame_3__set__(o, v);
  }
  else {
    PyErr_SetString(PyExc_NotImplementedError, "__del__");
    return -1;
  }
}

static PyObject *__pyx_getprop_6CMap2D_9CSimAgent_vel_in_map_frame(PyObject *o, CYTHON_UNUSED void *x) {
  return __pyx_pw_6CMap2D_9CSimAgent_16vel_in_map_frame_1__get__(o);
}

static int __pyx_setprop_6CMap2D_9CSimAgent_vel_in_map_frame(PyObject *o, PyObject *v, CYTHON_UNUSED void *x) {
  if (v) {
    return __pyx_pw_6CMap2D_9CSimAgent_16vel_in_map_frame_3__set__(o, v);
  }
  else {
    PyErr_SetString(PyExc_NotImplementedError, "__del__");
    return -1;
  }
}

static PyObject *__pyx_getprop_6CMap2D_9CSimAgent_type(PyObject *o, CYTHON_UNUSED void *x) {
  return __pyx_pw_6CMap2D_9CSimAgent_4type_1__get__(o);
}

static int __pyx_setprop_6CMap2D_9CSimAgent_type(PyObject *o, PyObject *v, CYTHON_UNUSED void *x) {
  if (v) {
    return __pyx_pw_6CMap2D_9CSimAgent_4type_3__set__(o, v);
  }
  else {
    return __pyx_pw_6CMap2D_9CSimAgent_4type_5__del__(o);
  }
}

static PyObject *__pyx_getprop_6CMap2D_9CSimAgent_state(PyObject *o, CYTHON_UNUSED void *x) {
  return __pyx_pw_6CMap2D_9CSimAgent_5state_1__get__(o);
}

static int __pyx_setprop_6CMap2D_9CSimAgent_state(PyObject *o, PyObject *v, CYTHON_UNUSED void *x) {
  if (v) {
    return __pyx_pw_6CMap2D_9CSimAgent_5state_3__set__(o, v);
  }
  else {
    PyErr_SetString(PyExc_NotImplementedError, "__del__");
    return -1;
  }
}

static PyObject *__pyx_getprop_6CMap2D_9CSimAgent_leg_radius(PyObject *o, CYTHON_UNUSED void *x) {
  return __pyx_pw_6CMap2D_9CSimAgent_10leg_radius_1__get__(o);
}

static int __pyx_setprop_6CMap2D_9CSimAgent_leg_radius(PyObject *o, PyObject *v, CYTHON_UNUSED void *x) {
  if (v) {
    return __pyx_pw_6CMap2D_9CSimAgent_10leg_radius_3__set__(o, v);
  }
  else {
    PyErr_SetString(PyExc_NotImplementedError, "__del__");
    return -1;
  }
}

static PyMethodDef __pyx_methods_6CMap2D_CSimAgent[] = {
  {"get_legs_pose2d_in_map", (PyCFunction)__pyx_pw_6CMap2D_9CSimAgent_3get_legs_pose2d_in_map, METH_NOARGS, 0},
  {"old_get_legs_pose2d_in_map", (PyCFunction)__pyx_pw_6CMap2D_9CSimAgent_5old_get_legs_pose2d_in_map, METH_NOARGS, 0},
  {"__reduce_cython__", (PyCFunction)__pyx_pw_6CMap2D_9CSimAgent_7__reduce_cython__, METH_NOARGS, 0},
  {"__setstate_cython__", (PyCFunction)__pyx_pw_6CMap2D_9CSimAgent_9__setstate_cython__, METH_O, 0},
  {0, 0, 0, 0}
};

static struct PyGetSetDef __pyx_getsets_6CMap2D_CSimAgent[] = {
  {(char *)"pose_2d_in_map_frame", __pyx_getprop_6CMap2D_9CSimAgent_pose_2d_in_map_frame, __pyx_setprop_6CMap2D_9CSimAgent_pose_2d_in_map_frame, (char *)0, 0},
  {(char *)"vel_in_map_frame", __pyx_getprop_6CMap2D_9CSimAgent_vel_in_map_frame, __pyx_setprop_6CMap2D_9CSimAgent_vel_in_map_frame, (char *)0, 0},
  {(char *)"type", __pyx_getprop_6CMap2D_9CSimAgent_type, __pyx_setprop_6CMap2D_9CSimAgent_type, (char *)0, 0},
  {(char *)"state", __pyx_getprop_6CMap2D_9CSimAgent_state, __pyx_setprop_6CMap2D_9CSimAgent_state, (char *)0, 0},
  {(char *)"leg_radius", __pyx_getprop_6CMap2D_9CSimAgent_leg_radius, __pyx_setprop_6CMap2D_9CSimAgent_leg_radius, (char *)0, 0},
  {0, 0, 0, 0, 0}
};

static PyTypeObject __pyx_type_6CMap2D_CSimAgent = {
  PyVarObject_HEAD_INIT(0, 0)
  "CMap2D.CSimAgent", /*tp_name*/
  sizeof(struct __pyx_obj_6CMap2D_CSimAgent), /*tp_basicsize*/
  0, /*tp_itemsize*/
  __pyx_tp_dealloc_6CMap2D_CSimAgent, /*tp_dealloc*/
  #if PY_VERSION_HEX < 0x030800b4
  0, /*tp_print*/
  #endif
  #if PY_VERSION_HEX >= 0x030800b4
  0, /*tp_vectorcall_offset*/
  #endif
  0, /*tp_getattr*/
  0, /*tp_setattr*/
  #if PY_MAJOR_VERSION < 3
  0, /*tp_compare*/
  #endif
  #if PY_MAJOR_VERSION >= 3
  0, /*tp_as_async*/
  #endif
  0, /*tp_repr*/
  0, /*tp_as_number*/
  0, /*tp_as_sequence*/
  0, /*tp_as_mapping*/
  0, /*tp_hash*/
  0, /*tp_call*/
  0, /*tp_str*/
  0, /*tp_getattro*/
  0, /*tp_setattro*/
  0, /*tp_as_buffer*/
  Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE, /*tp_flags*/
  0, /*tp_doc*/
  0, /*tp_traverse*/
  0, /*tp_clear*/
  0, /*tp_richcompare*/
  0, /*tp_weaklistoffset*/
  0, /*tp_iter*/
  0, /*tp_iternext*/
  __pyx_methods_6CMap2D_CSimAgent, /*tp_methods*/
  0, /*tp_members*/
  __pyx_getsets_6CMap2D_CSimAgent, /*tp_getset*/
  0, /*tp_base*/
  0, /*tp_dict*/
  0, /*tp_descr_get*/
  0, /*tp_descr_set*/
  0, /*tp_dictoffset*/
  0, /*tp_init*/
  0, /*tp_alloc*/
  __pyx_tp_new_6CMap2D_CSimAgent, /*tp_new*/
  0, /*tp_free*/
  0, /*tp_is_gc*/
  0, /*tp_bases*/
  0, /*tp_mro*/
  0, /*tp_cache*/
  0, /*tp_subclasses*/
  0, /*tp_weaklist*/
  0, /*tp_del*/
  0, /*tp_version_tag*/
  #if PY_VERSION_HEX >= 0x030400a1
  0, /*tp_finalize*/
  #endif
  #if PY_VERSION_HEX >= 0x030800b1
  0, /*tp_vectorcall*/
  #endif
  #if PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000
  0, /*tp_print*/
  #endif
};

static struct __pyx_obj_6CMap2D___pyx_scope_struct__gridshow *__pyx_freelist_6CMap2D___pyx_scope_struct__gridshow[8];
static int __pyx_freecount_6CMap2D___pyx_scope_struct__gridshow = 0;

static PyObject *__pyx_tp_new_6CMap2D___pyx_scope_struct__gridshow(PyTypeObject *t, CYTHON_UNUSED PyObject *a, CYTHON_UNUSED PyObject *k) {
  PyObject *o;
  if (CYTHON_COMPILING_IN_CPYTHON && likely((__pyx_freecount_6CMap2D___pyx_scope_struct__gridshow > 0) & (t->tp_basicsize == sizeof(struct __pyx_obj_6CMap2D___pyx_scope_struct__gridshow)))) {
    o = (PyObject*)__pyx_freelist_6CMap2D___pyx_scope_struct__gridshow[--__pyx_freecount_6CMap2D___pyx_scope_struct__gridshow];
    memset(o, 0, sizeof(struct __pyx_obj_6CMap2D___pyx_scope_struct__gridshow));
    (void) PyObject_INIT(o, t);
    PyObject_GC_Track(o);
  } else {
    o = (*t->tp_alloc)(t, 0);
    if (unlikely(!o)) return 0;
  }
  return o;
}

static void __pyx_tp_dealloc_6CMap2D___pyx_scope_struct__gridshow(PyObject *o) {
  struct __pyx_obj_6CMap2D___pyx_scope_struct__gridshow *p = (struct __pyx_obj_6CMap2D___pyx_scope_struct__gridshow *)o;
  PyObject_GC_UnTrack(o);
  Py_CLEAR(p->__pyx_v_args);
  if (CYTHON_COMPILING_IN_CPYTHON && ((__pyx_freecount_6CMap2D___pyx_scope_struct__gridshow < 8) & (Py_TYPE(o)->tp_basicsize == sizeof(struct __pyx_obj_6CMap2D___pyx_scope_struct__gridshow)))) {
    __pyx_freelist_6CMap2D___pyx_scope_struct__gridshow[__pyx_freecount_6CMap2D___pyx_scope_struct__gridshow++] = ((struct __pyx_obj_6CMap2D___pyx_scope_struct__gridshow *)o);
  } else {
    (*Py_TYPE(o)->tp_free)(o);
  }
}

static int __pyx_tp_traverse_6CMap2D___pyx_scope_struct__gridshow(PyObject *o, visitproc v, void *a) {
  int e;
  struct __pyx_obj_6CMap2D___pyx_scope_struct__gridshow *p = (struct __pyx_obj_6CMap2D___pyx_scope_struct__gridshow *)o;
  if (p->__pyx_v_args) {
    e = (*v)(p->__pyx_v_args, a); if (e) return e;
  }
  return 0;
}

static int __pyx_tp_clear_6CMap2D___pyx_scope_struct__gridshow(PyObject *o) {
  PyObject* tmp;
  struct __pyx_obj_6CMap2D___pyx_scope_struct__gridshow *p = (struct __pyx_obj_6CMap2D___pyx_scope_struct__gridshow *)o;
  tmp = ((PyObject*)p->__pyx_v_args);
  p->__pyx_v_args = ((PyObject*)Py_None); Py_INCREF(Py_None);
  Py_XDECREF(tmp);
  return 0;
}

static PyTypeObject __pyx_type_6CMap2D___pyx_scope_struct__gridshow = {
  PyVarObject_HEAD_INIT(0, 0)
  "CMap2D.__pyx_scope_struct__gridshow", /*tp_name*/
  sizeof(struct __pyx_obj_6CMap2D___pyx_scope_struct__gridshow), /*tp_basicsize*/
  0, /*tp_itemsize*/
  __pyx_tp_dealloc_6CMap2D___pyx_scope_struct__gridshow, /*tp_dealloc*/
  #if PY_VERSION_HEX < 0x030800b4
  0, /*tp_print*/
  #endif
  #if PY_VERSION_HEX >= 0x030800b4
  0, /*tp_vectorcall_offset*/
  #endif
  0, /*tp_getattr*/
  0, /*tp_setattr*/
  #if PY_MAJOR_VERSION < 3
  0, /*tp_compare*/
  #endif
  #if PY_MAJOR_VERSION >= 3
  0, /*tp_as_async*/
  #endif
  0, /*tp_repr*/
  0, /*tp_as_number*/
  0, /*tp_as_sequence*/
  0, /*tp_as_mapping*/
  0, /*tp_hash*/
  0, /*tp_call*/
  0, /*tp_str*/
  0, /*tp_getattro*/
  0, /*tp_setattro*/
  0, /*tp_as_buffer*/
  Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_HAVE_GC, /*tp_flags*/
  0, /*tp_doc*/
  __pyx_tp_traverse_6CMap2D___pyx_scope_struct__gridshow, /*tp_traverse*/
  __pyx_tp_clear_6CMap2D___pyx_scope_struct__gridshow, /*tp_clear*/
  0, /*tp_richcompare*/
  0, /*tp_weaklistoffset*/
  0, /*tp_iter*/
  0, /*tp_iternext*/
  0, /*tp_methods*/
  0, /*tp_members*/
  0, /*tp_getset*/
  0, /*tp_base*/
  0, /*tp_dict*/
  0, /*tp_descr_get*/
  0, /*tp_descr_set*/
  0, /*tp_dictoffset*/
  0, /*tp_init*/
  0, /*tp_alloc*/
  __pyx_tp_new_6CMap2D___pyx_scope_struct__gridshow, /*tp_new*/
  0, /*tp_free*/
  0, /*tp_is_gc*/
  0, /*tp_bases*/
  0, /*tp_mro*/
  0, /*tp_cache*/
  0, /*tp_subclasses*/
  0, /*tp_weaklist*/
  0, /*tp_del*/
  0, /*tp_version_tag*/
  #if PY_VERSION_HEX >= 0x030400a1
  0, /*tp_finalize*/
  #endif
  #if PY_VERSION_HEX >= 0x030800b1
  0, /*tp_vectorcall*/
  #endif
  #if PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000
  0, /*tp_print*/
  #endif
};

static struct __pyx_obj_6CMap2D___pyx_scope_struct_1_genexpr *__pyx_freelist_6CMap2D___pyx_scope_struct_1_genexpr[8];
static int __pyx_freecount_6CMap2D___pyx_scope_struct_1_genexpr = 0;

static PyObject *__pyx_tp_new_6CMap2D___pyx_scope_struct_1_genexpr(PyTypeObject *t, CYTHON_UNUSED PyObject *a, CYTHON_UNUSED PyObject *k) {
  PyObject *o;
  if (CYTHON_COMPILING_IN_CPYTHON && likely((__pyx_freecount_6CMap2D___pyx_scope_struct_1_genexpr > 0) & (t->tp_basicsize == sizeof(struct __pyx_obj_6CMap2D___pyx_scope_struct_1_genexpr)))) {
    o = (PyObject*)__pyx_freelist_6CMap2D___pyx_scope_struct_1_genexpr[--__pyx_freecount_6CMap2D___pyx_scope_struct_1_genexpr];
    memset(o, 0, sizeof(struct __pyx_obj_6CMap2D___pyx_scope_struct_1_genexpr));
    (void) PyObject_INIT(o, t);
    PyObject_GC_Track(o);
  } else {
    o = (*t->tp_alloc)(t, 0);
    if (unlikely(!o)) return 0;
  }
  return o;
}

static void __pyx_tp_dealloc_6CMap2D___pyx_scope_struct_1_genexpr(PyObject *o) {
  struct __pyx_obj_6CMap2D___pyx_scope_struct_1_genexpr *p = (struct __pyx_obj_6CMap2D___pyx_scope_struct_1_genexpr *)o;
  PyObject_GC_UnTrack(o);
  Py_CLEAR(p->__pyx_outer_scope);
  Py_CLEAR(p->__pyx_v_arg);
  Py_CLEAR(p->__pyx_v_i);
  Py_CLEAR(p->__pyx_t_0);
  Py_CLEAR(p->__pyx_t_1);
  if (CYTHON_COMPILING_IN_CPYTHON && ((__pyx_freecount_6CMap2D___pyx_scope_struct_1_genexpr < 8) & (Py_TYPE(o)->tp_basicsize == sizeof(struct __pyx_obj_6CMap2D___pyx_scope_struct_1_genexpr)))) {
    __pyx_freelist_6CMap2D___pyx_scope_struct_1_genexpr[__pyx_freecount_6CMap2D___pyx_scope_struct_1_genexpr++] = ((struct __pyx_obj_6CMap2D___pyx_scope_struct_1_genexpr *)o);
  } else {
    (*Py_TYPE(o)->tp_free)(o);
  }
}

static int __pyx_tp_traverse_6CMap2D___pyx_scope_struct_1_genexpr(PyObject *o, visitproc v, void *a) {
  int e;
  struct __pyx_obj_6CMap2D___pyx_scope_struct_1_genexpr *p = (struct __pyx_obj_6CMap2D___pyx_scope_struct_1_genexpr *)o;
  if (p->__pyx_outer_scope) {
    e = (*v)(((PyObject *)p->__pyx_outer_scope), a); if (e) return e;
  }
  if (p->__pyx_v_arg) {
    e = (*v)(p->__pyx_v_arg, a); if (e) return e;
  }
  if (p->__pyx_v_i) {
    e = (*v)(p->__pyx_v_i, a); if (e) return e;
  }
  if (p->__pyx_t_0) {
    e = (*v)(p->__pyx_t_0, a); if (e) return e;
  }
  if (p->__pyx_t_1) {
    e = (*v)(p->__pyx_t_1, a); if (e) return e;
  }
  return 0;
}

static PyTypeObject __pyx_type_6CMap2D___pyx_scope_struct_1_genexpr = {
  PyVarObject_HEAD_INIT(0, 0)
  "CMap2D.__pyx_scope_struct_1_genexpr", /*tp_name*/
  sizeof(struct __pyx_obj_6CMap2D___pyx_scope_struct_1_genexpr), /*tp_basicsize*/
  0, /*tp_itemsize*/
  __pyx_tp_dealloc_6CMap2D___pyx_scope_struct_1_genexpr, /*tp_dealloc*/
  #if PY_VERSION_HEX < 0x030800b4
  0, /*tp_print*/
  #endif
  #if PY_VERSION_HEX >= 0x030800b4
  0, /*tp_vectorcall_offset*/
  #endif
  0, /*tp_getattr*/
  0, /*tp_setattr*/
  #if PY_MAJOR_VERSION < 3
  0, /*tp_compare*/
  #endif
  #if PY_MAJOR_VERSION >= 3
  0, /*tp_as_async*/
  #endif
  0, /*tp_repr*/
  0, /*tp_as_number*/
  0, /*tp_as_sequence*/
  0, /*tp_as_mapping*/
  0, /*tp_hash*/
  0, /*tp_call*/
  0, /*tp_str*/
  0, /*tp_getattro*/
  0, /*tp_setattro*/
  0, /*tp_as_buffer*/
  Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_HAVE_GC, /*tp_flags*/
  0, /*tp_doc*/
  __pyx_tp_traverse_6CMap2D___pyx_scope_struct_1_genexpr, /*tp_traverse*/
  0, /*tp_clear*/
  0, /*tp_richcompare*/
  0, /*tp_weaklistoffset*/
  0, /*tp_iter*/
  0, /*tp_iternext*/
  0, /*tp_methods*/
  0, /*tp_members*/
  0, /*tp_getset*/
  0, /*tp_base*/
  0, /*tp_dict*/
  0, /*tp_descr_get*/
  0, /*tp_descr_set*/
  0, /*tp_dictoffset*/
  0, /*tp_init*/
  0, /*tp_alloc*/
  __pyx_tp_new_6CMap2D___pyx_scope_struct_1_genexpr, /*tp_new*/
  0, /*tp_free*/
  0, /*tp_is_gc*/
  0, /*tp_bases*/
  0, /*tp_mro*/
  0, /*tp_cache*/
  0, /*tp_subclasses*/
  0, /*tp_weaklist*/
  0, /*tp_del*/
  0, /*tp_version_tag*/
  #if PY_VERSION_HEX >= 0x030400a1
  0, /*tp_finalize*/
  #endif
  #if PY_VERSION_HEX >= 0x030800b1
  0, /*tp_vectorcall*/
  #endif
  #if PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000
  0, /*tp_print*/
  #endif
};
static struct __pyx_vtabstruct_array __pyx_vtable_array;

static PyObject *__pyx_tp_new_array(PyTypeObject *t, PyObject *a, PyObject *k) {
  struct __pyx_array_obj *p;
  PyObject *o;
  if (likely((t->tp_flags & Py_TPFLAGS_IS_ABSTRACT) == 0)) {
    o = (*t->tp_alloc)(t, 0);
  } else {
    o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0);
  }
  if (unlikely(!o)) return 0;
  p = ((struct __pyx_array_obj *)o);
  p->__pyx_vtab = __pyx_vtabptr_array;
  p->mode = ((PyObject*)Py_None); Py_INCREF(Py_None);
  p->_format = ((PyObject*)Py_None); Py_INCREF(Py_None);
  if (unlikely(__pyx_array___cinit__(o, a, k) < 0)) goto bad;
  return o;
  bad:
  Py_DECREF(o); o = 0;
  return NULL;
}

static void __pyx_tp_dealloc_array(PyObject *o) {
  struct __pyx_array_obj *p = (struct __pyx_array_obj *)o;
  #if CYTHON_USE_TP_FINALIZE
  if (unlikely(PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE) && Py_TYPE(o)->tp_finalize) && (!PyType_IS_GC(Py_TYPE(o)) || !_PyGC_FINALIZED(o))) {
    if (PyObject_CallFinalizerFromDealloc(o)) return;
  }
  #endif
  {
    PyObject *etype, *eval, *etb;
    PyErr_Fetch(&etype, &eval, &etb);
    __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1);
    __pyx_array___dealloc__(o);
    __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1);
    PyErr_Restore(etype, eval, etb);
  }
  Py_CLEAR(p->mode);
  Py_CLEAR(p->_format);
  (*Py_TYPE(o)->tp_free)(o);
}
static PyObject *__pyx_sq_item_array(PyObject *o, Py_ssize_t i) {
  PyObject *r;
  PyObject *x = PyInt_FromSsize_t(i); if(!x) return 0;
  r = Py_TYPE(o)->tp_as_mapping->mp_subscript(o, x);
  Py_DECREF(x);
  return r;
}

static int __pyx_mp_ass_subscript_array(PyObject *o, PyObject *i, PyObject *v) {
  if (v) {
    return __pyx_array___setitem__(o, i, v);
  }
  else {
    PyErr_Format(PyExc_NotImplementedError,
      "Subscript deletion not supported by %.200s", Py_TYPE(o)->tp_name);
    return -1;
  }
}

static PyObject *__pyx_tp_getattro_array(PyObject *o, PyObject *n) {
  PyObject *v = __Pyx_PyObject_GenericGetAttr(o, n);
  if (!v && PyErr_ExceptionMatches(PyExc_AttributeError)) {
    PyErr_Clear();
    v = __pyx_array___getattr__(o, n);
  }
  return v;
}

static PyObject *__pyx_getprop___pyx_array_memview(PyObject *o, CYTHON_UNUSED void *x) {
  return __pyx_pw_15View_dot_MemoryView_5array_7memview_1__get__(o);
}

static PyMethodDef __pyx_methods_array[] = {
  {"__getattr__", (PyCFunction)__pyx_array___getattr__, METH_O|METH_COEXIST, 0},
  {"__reduce_cython__", (PyCFunction)__pyx_pw___pyx_array_1__reduce_cython__, METH_NOARGS, 0},
  {"__setstate_cython__", (PyCFunction)__pyx_pw___pyx_array_3__setstate_cython__, METH_O, 0},
  {0, 0, 0, 0}
};

static struct PyGetSetDef __pyx_getsets_array[] = {
  {(char *)"memview", __pyx_getprop___pyx_array_memview, 0, (char *)0, 0},
  {0, 0, 0, 0, 0}
};

static PySequenceMethods __pyx_tp_as_sequence_array = {
  __pyx_array___len__, /*sq_length*/
  0, /*sq_concat*/
  0, /*sq_repeat*/
  __pyx_sq_item_array, /*sq_item*/
  0, /*sq_slice*/
  0, /*sq_ass_item*/
  0, /*sq_ass_slice*/
  0, /*sq_contains*/
  0, /*sq_inplace_concat*/
  0, /*sq_inplace_repeat*/
};

static PyMappingMethods __pyx_tp_as_mapping_array = {
  __pyx_array___len__, /*mp_length*/
  __pyx_array___getitem__, /*mp_subscript*/
  __pyx_mp_ass_subscript_array, /*mp_ass_subscript*/
};

static PyBufferProcs __pyx_tp_as_buffer_array = {
  #if PY_MAJOR_VERSION < 3
  0, /*bf_getreadbuffer*/
  #endif
  #if PY_MAJOR_VERSION < 3
  0, /*bf_getwritebuffer*/
  #endif
  #if PY_MAJOR_VERSION < 3
  0, /*bf_getsegcount*/
  #endif
  #if PY_MAJOR_VERSION < 3
  0, /*bf_getcharbuffer*/
  #endif
  __pyx_array_getbuffer, /*bf_getbuffer*/
  0, /*bf_releasebuffer*/
};

static PyTypeObject __pyx_type___pyx_array = {
  PyVarObject_HEAD_INIT(0, 0)
  "CMap2D.array", /*tp_name*/
  sizeof(struct __pyx_array_obj), /*tp_basicsize*/
  0, /*tp_itemsize*/
  __pyx_tp_dealloc_array, /*tp_dealloc*/
  #if PY_VERSION_HEX < 0x030800b4
  0, /*tp_print*/
  #endif
  #if PY_VERSION_HEX >= 0x030800b4
  0, /*tp_vectorcall_offset*/
  #endif
  0, /*tp_getattr*/
  0, /*tp_setattr*/
  #if PY_MAJOR_VERSION < 3
  0, /*tp_compare*/
  #endif
  #if PY_MAJOR_VERSION >= 3
  0, /*tp_as_async*/
  #endif
  0, /*tp_repr*/
  0, /*tp_as_number*/
  &__pyx_tp_as_sequence_array, /*tp_as_sequence*/
  &__pyx_tp_as_mapping_array, /*tp_as_mapping*/
  0, /*tp_hash*/
  0, /*tp_call*/
  0, /*tp_str*/
  __pyx_tp_getattro_array, /*tp_getattro*/
  0, /*tp_setattro*/
  &__pyx_tp_as_buffer_array, /*tp_as_buffer*/
  Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE, /*tp_flags*/
  0, /*tp_doc*/
  0, /*tp_traverse*/
  0, /*tp_clear*/
  0, /*tp_richcompare*/
  0, /*tp_weaklistoffset*/
  0, /*tp_iter*/
  0, /*tp_iternext*/
  __pyx_methods_array, /*tp_methods*/
  0, /*tp_members*/
  __pyx_getsets_array, /*tp_getset*/
  0, /*tp_base*/
  0, /*tp_dict*/
  0, /*tp_descr_get*/
  0, /*tp_descr_set*/
  0, /*tp_dictoffset*/
  0, /*tp_init*/
  0, /*tp_alloc*/
  __pyx_tp_new_array, /*tp_new*/
  0, /*tp_free*/
  0, /*tp_is_gc*/
  0, /*tp_bases*/
  0, /*tp_mro*/
  0, /*tp_cache*/
  0, /*tp_subclasses*/
  0, /*tp_weaklist*/
  0, /*tp_del*/
  0, /*tp_version_tag*/
  #if PY_VERSION_HEX >= 0x030400a1
  0, /*tp_finalize*/
  #endif
  #if PY_VERSION_HEX >= 0x030800b1
  0, /*tp_vectorcall*/
  #endif
  #if PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000
  0, /*tp_print*/
  #endif
};

static PyObject *__pyx_tp_new_Enum(PyTypeObject *t, CYTHON_UNUSED PyObject *a, CYTHON_UNUSED PyObject *k) {
  struct __pyx_MemviewEnum_obj *p;
  PyObject *o;
  if (likely((t->tp_flags & Py_TPFLAGS_IS_ABSTRACT) == 0)) {
    o = (*t->tp_alloc)(t, 0);
  } else {
    o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0);
  }
  if (unlikely(!o)) return 0;
  p = ((struct __pyx_MemviewEnum_obj *)o);
  p->name = Py_None; Py_INCREF(Py_None);
  return o;
}

static void __pyx_tp_dealloc_Enum(PyObject *o) {
  struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o;
  #if CYTHON_USE_TP_FINALIZE
  if (unlikely(PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE) && Py_TYPE(o)->tp_finalize) && !_PyGC_FINALIZED(o)) {
    if (PyObject_CallFinalizerFromDealloc(o)) return;
  }
  #endif
  PyObject_GC_UnTrack(o);
  Py_CLEAR(p->name);
  (*Py_TYPE(o)->tp_free)(o);
}

static int __pyx_tp_traverse_Enum(PyObject *o, visitproc v, void *a) {
  int e;
  struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o;
  if (p->name) {
    e = (*v)(p->name, a); if (e) return e;
  }
  return 0;
}

static int __pyx_tp_clear_Enum(PyObject *o) {
  PyObject* tmp;
  struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o;
  tmp = ((PyObject*)p->name);
  p->name = Py_None; Py_INCREF(Py_None);
  Py_XDECREF(tmp);
  return 0;
}

static PyMethodDef __pyx_methods_Enum[] = {
  {"__reduce_cython__", (PyCFunction)__pyx_pw___pyx_MemviewEnum_1__reduce_cython__, METH_NOARGS, 0},
  {"__setstate_cython__", (PyCFunction)__pyx_pw___pyx_MemviewEnum_3__setstate_cython__, METH_O, 0},
  {0, 0, 0, 0}
};

static PyTypeObject __pyx_type___pyx_MemviewEnum = {
  PyVarObject_HEAD_INIT(0, 0)
  "CMap2D.Enum", /*tp_name*/
  sizeof(struct __pyx_MemviewEnum_obj), /*tp_basicsize*/
  0, /*tp_itemsize*/
  __pyx_tp_dealloc_Enum, /*tp_dealloc*/
  #if PY_VERSION_HEX < 0x030800b4
  0, /*tp_print*/
  #endif
  #if PY_VERSION_HEX >= 0x030800b4
  0, /*tp_vectorcall_offset*/
  #endif
  0, /*tp_getattr*/
  0, /*tp_setattr*/
  #if PY_MAJOR_VERSION < 3
  0, /*tp_compare*/
  #endif
  #if PY_MAJOR_VERSION >= 3
  0, /*tp_as_async*/
  #endif
  __pyx_MemviewEnum___repr__, /*tp_repr*/
  0, /*tp_as_number*/
  0, /*tp_as_sequence*/
  0, /*tp_as_mapping*/
  0, /*tp_hash*/
  0, /*tp_call*/
  0, /*tp_str*/
  0, /*tp_getattro*/
  0, /*tp_setattro*/
  0, /*tp_as_buffer*/
  Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, /*tp_flags*/
  0, /*tp_doc*/
  __pyx_tp_traverse_Enum, /*tp_traverse*/
  __pyx_tp_clear_Enum, /*tp_clear*/
  0, /*tp_richcompare*/
  0, /*tp_weaklistoffset*/
  0, /*tp_iter*/
  0, /*tp_iternext*/
  __pyx_methods_Enum, /*tp_methods*/
  0, /*tp_members*/
  0, /*tp_getset*/
  0, /*tp_base*/
  0, /*tp_dict*/
  0, /*tp_descr_get*/
  0, /*tp_descr_set*/
  0, /*tp_dictoffset*/
  __pyx_MemviewEnum___init__, /*tp_init*/
  0, /*tp_alloc*/
  __pyx_tp_new_Enum, /*tp_new*/
  0, /*tp_free*/
  0, /*tp_is_gc*/
  0, /*tp_bases*/
  0, /*tp_mro*/
  0, /*tp_cache*/
  0, /*tp_subclasses*/
  0, /*tp_weaklist*/
  0, /*tp_del*/
  0, /*tp_version_tag*/
  #if PY_VERSION_HEX >= 0x030400a1
  0, /*tp_finalize*/
  #endif
  #if PY_VERSION_HEX >= 0x030800b1
  0, /*tp_vectorcall*/
  #endif
  #if PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000
  0, /*tp_print*/
  #endif
};
static struct __pyx_vtabstruct_memoryview __pyx_vtable_memoryview;

static PyObject *__pyx_tp_new_memoryview(PyTypeObject *t, PyObject *a, PyObject *k) {
  struct __pyx_memoryview_obj *p;
  PyObject *o;
  if (likely((t->tp_flags & Py_TPFLAGS_IS_ABSTRACT) == 0)) {
    o = (*t->tp_alloc)(t, 0);
  } else {
    o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0);
  }
  if (unlikely(!o)) return 0;
  p = ((struct __pyx_memoryview_obj *)o);
  p->__pyx_vtab = __pyx_vtabptr_memoryview;
  p->obj = Py_None; Py_INCREF(Py_None);
  p->_size = Py_None; Py_INCREF(Py_None);
  p->_array_interface = Py_None; Py_INCREF(Py_None);
  p->view.obj = NULL;
  if (unlikely(__pyx_memoryview___cinit__(o, a, k) < 0)) goto bad;
  return o;
  bad:
  Py_DECREF(o); o = 0;
  return NULL;
}

static void __pyx_tp_dealloc_memoryview(PyObject *o) {
  struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o;
  #if CYTHON_USE_TP_FINALIZE
  if (unlikely(PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE) && Py_TYPE(o)->tp_finalize) && !_PyGC_FINALIZED(o)) {
    if (PyObject_CallFinalizerFromDealloc(o)) return;
  }
  #endif
  PyObject_GC_UnTrack(o);
  {
    PyObject *etype, *eval, *etb;
    PyErr_Fetch(&etype, &eval, &etb);
    __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1);
    __pyx_memoryview___dealloc__(o);
    __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1);
    PyErr_Restore(etype, eval, etb);
  }
  Py_CLEAR(p->obj);
  Py_CLEAR(p->_size);
  Py_CLEAR(p->_array_interface);
  (*Py_TYPE(o)->tp_free)(o);
}

static int __pyx_tp_traverse_memoryview(PyObject *o, visitproc v, void *a) {
  int e;
  struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o;
  if (p->obj) {
    e = (*v)(p->obj, a); if (e) return e;
  }
  if (p->_size) {
    e = (*v)(p->_size, a); if (e) return e;
  }
  if (p->_array_interface) {
    e = (*v)(p->_array_interface, a); if (e) return e;
  }
  if (p->view.obj) {
    e = (*v)(p->view.obj, a); if (e) return e;
  }
  return 0;
}

static int __pyx_tp_clear_memoryview(PyObject *o) {
  PyObject* tmp;
  struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o;
  tmp = ((PyObject*)p->obj);
  p->obj = Py_None; Py_INCREF(Py_None);
  Py_XDECREF(tmp);
  tmp = ((PyObject*)p->_size);
  p->_size = Py_None; Py_INCREF(Py_None);
  Py_XDECREF(tmp);
  tmp = ((PyObject*)p->_array_interface);
  p->_array_interface = Py_None; Py_INCREF(Py_None);
  Py_XDECREF(tmp);
  Py_CLEAR(p->view.obj);
  return 0;
}
static PyObject *__pyx_sq_item_memoryview(PyObject *o, Py_ssize_t i) {
  PyObject *r;
  PyObject *x = PyInt_FromSsize_t(i); if(!x) return 0;
  r = Py_TYPE(o)->tp_as_mapping->mp_subscript(o, x);
  Py_DECREF(x);
  return r;
}

static int __pyx_mp_ass_subscript_memoryview(PyObject *o, PyObject *i, PyObject *v) {
  if (v) {
    return __pyx_memoryview___setitem__(o, i, v);
  }
  else {
    PyErr_Format(PyExc_NotImplementedError,
      "Subscript deletion not supported by %.200s", Py_TYPE(o)->tp_name);
    return -1;
  }
}

static PyObject *__pyx_getprop___pyx_memoryview_T(PyObject *o, CYTHON_UNUSED void *x) {
  return __pyx_pw_15View_dot_MemoryView_10memoryview_1T_1__get__(o);
}

static PyObject *__pyx_getprop___pyx_memoryview_base(PyObject *o, CYTHON_UNUSED void *x) {
  return __pyx_pw_15View_dot_MemoryView_10memoryview_4base_1__get__(o);
}

static PyObject *__pyx_getprop___pyx_memoryview_shape(PyObject *o, CYTHON_UNUSED void *x) {
  return __pyx_pw_15View_dot_MemoryView_10memoryview_5shape_1__get__(o);
}

static PyObject *__pyx_getprop___pyx_memoryview_strides(PyObject *o, CYTHON_UNUSED void *x) {
  return __pyx_pw_15View_dot_MemoryView_10memoryview_7strides_1__get__(o);
}

static PyObject *__pyx_getprop___pyx_memoryview_suboffsets(PyObject *o, CYTHON_UNUSED void *x) {
  return __pyx_pw_15View_dot_MemoryView_10memoryview_10suboffsets_1__get__(o);
}

static PyObject *__pyx_getprop___pyx_memoryview_ndim(PyObject *o, CYTHON_UNUSED void *x) {
  return __pyx_pw_15View_dot_MemoryView_10memoryview_4ndim_1__get__(o);
}

static PyObject *__pyx_getprop___pyx_memoryview_itemsize(PyObject *o, CYTHON_UNUSED void *x) {
  return __pyx_pw_15View_dot_MemoryView_10memoryview_8itemsize_1__get__(o);
}

static PyObject *__pyx_getprop___pyx_memoryview_nbytes(PyObject *o, CYTHON_UNUSED void *x) {
  return __pyx_pw_15View_dot_MemoryView_10memoryview_6nbytes_1__get__(o);
}

static PyObject *__pyx_getprop___pyx_memoryview_size(PyObject *o, CYTHON_UNUSED void *x) {
  return __pyx_pw_15View_dot_MemoryView_10memoryview_4size_1__get__(o);
}

static PyMethodDef __pyx_methods_memoryview[] = {
  {"is_c_contig", (PyCFunction)__pyx_memoryview_is_c_contig, METH_NOARGS, 0},
  {"is_f_contig", (PyCFunction)__pyx_memoryview_is_f_contig, METH_NOARGS, 0},
  {"copy", (PyCFunction)__pyx_memoryview_copy, METH_NOARGS, 0},
  {"copy_fortran", (PyCFunction)__pyx_memoryview_copy_fortran, METH_NOARGS, 0},
  {"__reduce_cython__", (PyCFunction)__pyx_pw___pyx_memoryview_1__reduce_cython__, METH_NOARGS, 0},
  {"__setstate_cython__", (PyCFunction)__pyx_pw___pyx_memoryview_3__setstate_cython__, METH_O, 0},
  {0, 0, 0, 0}
};

static struct PyGetSetDef __pyx_getsets_memoryview[] = {
  {(char *)"T", __pyx_getprop___pyx_memoryview_T, 0, (char *)0, 0},
  {(char *)"base", __pyx_getprop___pyx_memoryview_base, 0, (char *)0, 0},
  {(char *)"shape", __pyx_getprop___pyx_memoryview_shape, 0, (char *)0, 0},
  {(char *)"strides", __pyx_getprop___pyx_memoryview_strides, 0, (char *)0, 0},
  {(char *)"suboffsets", __pyx_getprop___pyx_memoryview_suboffsets, 0, (char *)0, 0},
  {(char *)"ndim", __pyx_getprop___pyx_memoryview_ndim, 0, (char *)0, 0},
  {(char *)"itemsize", __pyx_getprop___pyx_memoryview_itemsize, 0, (char *)0, 0},
  {(char *)"nbytes", __pyx_getprop___pyx_memoryview_nbytes, 0, (char *)0, 0},
  {(char *)"size", __pyx_getprop___pyx_memoryview_size, 0, (char *)0, 0},
  {0, 0, 0, 0, 0}
};

static PySequenceMethods __pyx_tp_as_sequence_memoryview = {
  __pyx_memoryview___len__, /*sq_length*/
  0, /*sq_concat*/
  0, /*sq_repeat*/
  __pyx_sq_item_memoryview, /*sq_item*/
  0, /*sq_slice*/
  0, /*sq_ass_item*/
  0, /*sq_ass_slice*/
  0, /*sq_contains*/
  0, /*sq_inplace_concat*/
  0, /*sq_inplace_repeat*/
};

static PyMappingMethods __pyx_tp_as_mapping_memoryview = {
  __pyx_memoryview___len__, /*mp_length*/
  __pyx_memoryview___getitem__, /*mp_subscript*/
  __pyx_mp_ass_subscript_memoryview, /*mp_ass_subscript*/
};

static PyBufferProcs __pyx_tp_as_buffer_memoryview = {
  #if PY_MAJOR_VERSION < 3
  0, /*bf_getreadbuffer*/
  #endif
  #if PY_MAJOR_VERSION < 3
  0, /*bf_getwritebuffer*/
  #endif
  #if PY_MAJOR_VERSION < 3
  0, /*bf_getsegcount*/
  #endif
  #if PY_MAJOR_VERSION < 3
  0, /*bf_getcharbuffer*/
  #endif
  __pyx_memoryview_getbuffer, /*bf_getbuffer*/
  0, /*bf_releasebuffer*/
};

static PyTypeObject __pyx_type___pyx_memoryview = {
  PyVarObject_HEAD_INIT(0, 0)
  "CMap2D.memoryview", /*tp_name*/
  sizeof(struct __pyx_memoryview_obj), /*tp_basicsize*/
  0, /*tp_itemsize*/
  __pyx_tp_dealloc_memoryview, /*tp_dealloc*/
  #if PY_VERSION_HEX < 0x030800b4
  0, /*tp_print*/
  #endif
  #if PY_VERSION_HEX >= 0x030800b4
  0, /*tp_vectorcall_offset*/
  #endif
  0, /*tp_getattr*/
  0, /*tp_setattr*/
  #if PY_MAJOR_VERSION < 3
  0, /*tp_compare*/
  #endif
  #if PY_MAJOR_VERSION >= 3
  0, /*tp_as_async*/
  #endif
  __pyx_memoryview___repr__, /*tp_repr*/
  0, /*tp_as_number*/
  &__pyx_tp_as_sequence_memoryview, /*tp_as_sequence*/
  &__pyx_tp_as_mapping_memoryview, /*tp_as_mapping*/
  0, /*tp_hash*/
  0, /*tp_call*/
  __pyx_memoryview___str__, /*tp_str*/
  0, /*tp_getattro*/
  0, /*tp_setattro*/
  &__pyx_tp_as_buffer_memoryview, /*tp_as_buffer*/
  Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, /*tp_flags*/
  0, /*tp_doc*/
  __pyx_tp_traverse_memoryview, /*tp_traverse*/
  __pyx_tp_clear_memoryview, /*tp_clear*/
  0, /*tp_richcompare*/
  0, /*tp_weaklistoffset*/
  0, /*tp_iter*/
  0, /*tp_iternext*/
  __pyx_methods_memoryview, /*tp_methods*/
  0, /*tp_members*/
  __pyx_getsets_memoryview, /*tp_getset*/
  0, /*tp_base*/
  0, /*tp_dict*/
  0, /*tp_descr_get*/
  0, /*tp_descr_set*/
  0, /*tp_dictoffset*/
  0, /*tp_init*/
  0, /*tp_alloc*/
  __pyx_tp_new_memoryview, /*tp_new*/
  0, /*tp_free*/
  0, /*tp_is_gc*/
  0, /*tp_bases*/
  0, /*tp_mro*/
  0, /*tp_cache*/
  0, /*tp_subclasses*/
  0, /*tp_weaklist*/
  0, /*tp_del*/
  0, /*tp_version_tag*/
  #if PY_VERSION_HEX >= 0x030400a1
  0, /*tp_finalize*/
  #endif
  #if PY_VERSION_HEX >= 0x030800b1
  0, /*tp_vectorcall*/
  #endif
  #if PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000
  0, /*tp_print*/
  #endif
};
static struct __pyx_vtabstruct__memoryviewslice __pyx_vtable__memoryviewslice;

static PyObject *__pyx_tp_new__memoryviewslice(PyTypeObject *t, PyObject *a, PyObject *k) {
  struct __pyx_memoryviewslice_obj *p;
  PyObject *o = __pyx_tp_new_memoryview(t, a, k);
  if (unlikely(!o)) return 0;
  p = ((struct __pyx_memoryviewslice_obj *)o);
  p->__pyx_base.__pyx_vtab = (struct __pyx_vtabstruct_memoryview*)__pyx_vtabptr__memoryviewslice;
  p->from_object = Py_None; Py_INCREF(Py_None);
  p->from_slice.memview = NULL;
  return o;
}

static void __pyx_tp_dealloc__memoryviewslice(PyObject *o) {
  struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o;
  #if CYTHON_USE_TP_FINALIZE
  if (unlikely(PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE) && Py_TYPE(o)->tp_finalize) && !_PyGC_FINALIZED(o)) {
    if (PyObject_CallFinalizerFromDealloc(o)) return;
  }
  #endif
  PyObject_GC_UnTrack(o);
  {
    PyObject *etype, *eval, *etb;
    PyErr_Fetch(&etype, &eval, &etb);
    __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1);
    __pyx_memoryviewslice___dealloc__(o);
    __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1);
    PyErr_Restore(etype, eval, etb);
  }
  Py_CLEAR(p->from_object);
  PyObject_GC_Track(o);
  __pyx_tp_dealloc_memoryview(o);
}

static int __pyx_tp_traverse__memoryviewslice(PyObject *o, visitproc v, void *a) {
  int e;
  struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o;
  e = __pyx_tp_traverse_memoryview(o, v, a); if (e) return e;
  if (p->from_object) {
    e = (*v)(p->from_object, a); if (e) return e;
  }
  return 0;
}

static int __pyx_tp_clear__memoryviewslice(PyObject *o) {
  PyObject* tmp;
  struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o;
  __pyx_tp_clear_memoryview(o);
  tmp = ((PyObject*)p->from_object);
  p->from_object = Py_None; Py_INCREF(Py_None);
  Py_XDECREF(tmp);
  __PYX_XDEC_MEMVIEW(&p->from_slice, 1);
  return 0;
}

static PyObject *__pyx_getprop___pyx_memoryviewslice_base(PyObject *o, CYTHON_UNUSED void *x) {
  return __pyx_pw_15View_dot_MemoryView_16_memoryviewslice_4base_1__get__(o);
}

static PyMethodDef __pyx_methods__memoryviewslice[] = {
  {"__reduce_cython__", (PyCFunction)__pyx_pw___pyx_memoryviewslice_1__reduce_cython__, METH_NOARGS, 0},
  {"__setstate_cython__", (PyCFunction)__pyx_pw___pyx_memoryviewslice_3__setstate_cython__, METH_O, 0},
  {0, 0, 0, 0}
};

static struct PyGetSetDef __pyx_getsets__memoryviewslice[] = {
  {(char *)"base", __pyx_getprop___pyx_memoryviewslice_base, 0, (char *)0, 0},
  {0, 0, 0, 0, 0}
};

static PyTypeObject __pyx_type___pyx_memoryviewslice = {
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  sizeof(struct __pyx_memoryviewslice_obj), /*tp_basicsize*/
  0, /*tp_itemsize*/
  __pyx_tp_dealloc__memoryviewslice, /*tp_dealloc*/
  #if PY_VERSION_HEX < 0x030800b4
  0, /*tp_print*/
  #endif
  #if PY_VERSION_HEX >= 0x030800b4
  0, /*tp_vectorcall_offset*/
  #endif
  0, /*tp_getattr*/
  0, /*tp_setattr*/
  #if PY_MAJOR_VERSION < 3
  0, /*tp_compare*/
  #endif
  #if PY_MAJOR_VERSION >= 3
  0, /*tp_as_async*/
  #endif
  #if CYTHON_COMPILING_IN_PYPY
  __pyx_memoryview___repr__, /*tp_repr*/
  #else
  0, /*tp_repr*/
  #endif
  0, /*tp_as_number*/
  0, /*tp_as_sequence*/
  0, /*tp_as_mapping*/
  0, /*tp_hash*/
  0, /*tp_call*/
  #if CYTHON_COMPILING_IN_PYPY
  __pyx_memoryview___str__, /*tp_str*/
  #else
  0, /*tp_str*/
  #endif
  0, /*tp_getattro*/
  0, /*tp_setattro*/
  0, /*tp_as_buffer*/
  Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, /*tp_flags*/
  "Internal class for passing memoryview slices to Python", /*tp_doc*/
  __pyx_tp_traverse__memoryviewslice, /*tp_traverse*/
  __pyx_tp_clear__memoryviewslice, /*tp_clear*/
  0, /*tp_richcompare*/
  0, /*tp_weaklistoffset*/
  0, /*tp_iter*/
  0, /*tp_iternext*/
  __pyx_methods__memoryviewslice, /*tp_methods*/
  0, /*tp_members*/
  __pyx_getsets__memoryviewslice, /*tp_getset*/
  0, /*tp_base*/
  0, /*tp_dict*/
  0, /*tp_descr_get*/
  0, /*tp_descr_set*/
  0, /*tp_dictoffset*/
  0, /*tp_init*/
  0, /*tp_alloc*/
  __pyx_tp_new__memoryviewslice, /*tp_new*/
  0, /*tp_free*/
  0, /*tp_is_gc*/
  0, /*tp_bases*/
  0, /*tp_mro*/
  0, /*tp_cache*/
  0, /*tp_subclasses*/
  0, /*tp_weaklist*/
  0, /*tp_del*/
  0, /*tp_version_tag*/
  #if PY_VERSION_HEX >= 0x030400a1
  0, /*tp_finalize*/
  #endif
  #if PY_VERSION_HEX >= 0x030800b1
  0, /*tp_vectorcall*/
  #endif
  #if PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000
  0, /*tp_print*/
  #endif
};

static PyMethodDef __pyx_methods[] = {
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};

#if PY_MAJOR_VERSION >= 3
#if CYTHON_PEP489_MULTI_PHASE_INIT
static PyObject* __pyx_pymod_create(PyObject *spec, PyModuleDef *def); /*proto*/
static int __pyx_pymod_exec_CMap2D(PyObject* module); /*proto*/
static PyModuleDef_Slot __pyx_moduledef_slots[] = {
  {Py_mod_create, (void*)__pyx_pymod_create},
  {Py_mod_exec, (void*)__pyx_pymod_exec_CMap2D},
  {0, NULL}
};
#endif

static struct PyModuleDef __pyx_moduledef = {
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  #if CYTHON_PEP489_MULTI_PHASE_INIT
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  #endif
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    NULL, /* m_reload */
  #endif
    NULL, /* m_traverse */
    NULL, /* m_clear */
    NULL /* m_free */
};
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#if defined(__clang__)
    #define CYTHON_SMALL_CODE
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  /* "CMap2D.pyx":263
 *         from matplotlib import pyplot as plt
 *         if not args:
 *             raise ValueError("args empty. contours must be supplied as first argument.")             # <<<<<<<<<<<<<<
 *         if len(args) == 1:
 *             args = args + ('-,',)
 */
  __pyx_tuple__23 = PyTuple_Pack(1, __pyx_kp_s_args_empty_contours_must_be_supp); if (unlikely(!__pyx_tuple__23)) __PYX_ERR(0, 263, __pyx_L1_error)
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  /* "CMap2D.pyx":265
 *             raise ValueError("args empty. contours must be supplied as first argument.")
 *         if len(args) == 1:
 *             args = args + ('-,',)             # <<<<<<<<<<<<<<
 *         contours = args[0]
 *         args = args[1:]
 */
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  /* "CMap2D.pyx":270
 *         for c in contours:
 *             # add the first vertice at the end to close the plotted contour
 *             cplus = np.concatenate((c, c[:1]), axis=0)             # <<<<<<<<<<<<<<
 *             plt.plot(cplus[:,0], cplus[:,1], *args, **kwargs)
 * 
 */
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  /* "CMap2D.pyx":362
 *     cdef cxy_to_ij(self, np.float32_t[:,::1] xy, np.float32_t[:,::1] ij, bool clip_if_outside=True):
 *         if xy.shape[1] != 2:
 *             raise IndexError("xy should be of shape (n, 2)")             # <<<<<<<<<<<<<<
 *         for k in range(xy.shape[0]):
 *             ij[k, 0] = (xy[k, 0] - self.origin[0]) / self.resolution_
 */
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  /* "CMap2D.pyx":533
 *         """
 *         if j is None:
 *             return self.is_inside_ij(*np.split(np.array(i), 2, axis=-1))[..., 0]             # <<<<<<<<<<<<<<
 *         return reduce(
 *             np.logical_and,
 */
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  /* "CMap2D.pyx":596
 * 
 *     def direction_in_field(self, pos_ij, field):
 *         norm_dir = np.zeros((2,), dtype=np.float32)             # <<<<<<<<<<<<<<
 *         self.cdirection_in_field(pos_ij, field, norm_dir)
 *         return norm_dir
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  /* "CMap2D.pyx":866
 *         cdef np.float32_t old_cost
 *         cdef np.float32_t edge_ratio
 *         cdef np.uint8_t[::1] blocked = np.zeros((8), dtype=np.uint8)             # <<<<<<<<<<<<<<
 *         while not priority_queue.empty():
 *             # Pop the node with the smallest tentative value from the to_visit list
 */
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  /* "CMap2D.pyx":951
 *                 raise NotImplementedError
 *             left_leg_pose2d_in_map_frame, right_leg_pose2d_in_map_frame = agent.get_legs_pose2d_in_map()
 *             llc_ij = self.xy_to_floatij(left_leg_pose2d_in_map_frame[None,:2], clip_if_outside=False)[0]             # <<<<<<<<<<<<<<
 *             rlc_ij = self.xy_to_floatij(right_leg_pose2d_in_map_frame[None,:2], clip_if_outside=False)[0]
 *             leg_radius_ij = agent.leg_radius / self.resolution_
 */
  __pyx_tuple__32 = PyTuple_Pack(2, Py_None, __pyx_slice__7); if (unlikely(!__pyx_tuple__32)) __PYX_ERR(0, 951, __pyx_L1_error)
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  /* "CMap2D.pyx":1018
 *         # loop variables
 *         cdef CSimAgent cagent
 *         cdef np.float32_t[:, ::1] left_leg_pose2d_in_map_frame = np.zeros((1,3), dtype=np.float32)             # <<<<<<<<<<<<<<
 *         cdef np.float32_t[:, ::1] right_leg_pose2d_in_map_frame = np.zeros((1,3), dtype=np.float32)
 *         cdef np.float32_t[:, ::1] llc_ij = np.zeros((1,3), dtype=np.float32)
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  /* "CMap2D.pyx":1107
 *                 angle_inc = ijthetas[a, 1, lr, 2] - angle_min
 *                 if angle_min >= angle_max:
 *                     raise ValueError("angles expected to be ordered from min to max.")             # <<<<<<<<<<<<<<
 *                 # angle_0_ref is a multiple of 2pi, the closest one smaller than angles[0]
 *                 # assuming a scan covers less than full circle, all angles in the scan should lie
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  /* "CMap2D.pyx":1471
 *         from nav_msgs.msg import OccupancyGrid
 *         if not len(arr.shape) == 2:
 *                 raise TypeError('Array must be 2D')             # <<<<<<<<<<<<<<
 *         arr = arr.T * 100.
 *         if not arr.dtype == np.int8:
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 * def __reduce_cython__(self):
 *     raise TypeError("no default __reduce__ due to non-trivial __cinit__")             # <<<<<<<<<<<<<<
 * def __setstate_cython__(self, __pyx_state):
 *     raise TypeError("no default __reduce__ due to non-trivial __cinit__")
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 *     raise TypeError("no default __reduce__ due to non-trivial __cinit__")
 * def __setstate_cython__(self, __pyx_state):
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  /* "CMap2D.pyx":1838
 *     # for xdot ydot frame transformation applies,
 *     # but thetadot is invariant due to frames being fixed.
 *     xy = rotate(np.array([vel[...,:2]]), pose2d[2])[0]             # <<<<<<<<<<<<<<
 *     th = vel[...,2]
 *     return np.array([xy[0], xy[1], th])
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 *     # but thetadot is invariant due to frames being fixed.
 *     xy = rotate(np.array([vel[...,:2]]), pose2d[2])[0]
 *     th = vel[...,2]             # <<<<<<<<<<<<<<
 *     return np.array([xy[0], xy[1], th])
 * 
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 *         __pyx_import_array()
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 *         raise ImportError("numpy.core.multiarray failed to import")             # <<<<<<<<<<<<<<
 * 
 * cdef inline int import_umath() except -1:
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 *         _import_umath()
 *     except Exception:
 *         raise ImportError("numpy.core.umath failed to import")             # <<<<<<<<<<<<<<
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 * cdef inline int import_ufunc() except -1:
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 * 
 *         if not self.ndim:
 *             raise ValueError("Empty shape tuple for cython.array")             # <<<<<<<<<<<<<<
 * 
 *         if itemsize <= 0:
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 * 
 *         if itemsize <= 0:
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 *         if not self._shape:
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 * 
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 * def __reduce_cython__(self):
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 * 
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 * 
 * 
 * def flatten_contours(contours):             # <<<<<<<<<<<<<<
 *     n_total_vertices = len(np.array(contours).flatten())/2 + len(contours)
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 * cdef generic = Enum("<strided and direct or indirect>")
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 * 
 */
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  /* "View.MemoryView":291
 * 
 * 
 * cdef contiguous = Enum("<contiguous and direct>")             # <<<<<<<<<<<<<<
 * cdef indirect_contiguous = Enum("<contiguous and indirect>")
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  /* "View.MemoryView":292
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 * cdef contiguous = Enum("<contiguous and direct>")
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 * 
 */
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 * DEF THREAD_LOCKS_PREALLOCATED = 8
 * cdef int __pyx_memoryview_thread_locks_used = 0             # <<<<<<<<<<<<<<
 * cdef PyThread_type_lock[THREAD_LOCKS_PREALLOCATED] __pyx_memoryview_thread_locks = [
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 */
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  /* "View.MemoryView":317
 * DEF THREAD_LOCKS_PREALLOCATED = 8
 * cdef int __pyx_memoryview_thread_locks_used = 0
 * cdef PyThread_type_lock[THREAD_LOCKS_PREALLOCATED] __pyx_memoryview_thread_locks = [             # <<<<<<<<<<<<<<
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 */
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 * 
 */
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 * 
 */
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  __pyx_t_2 = PyCFunction_NewEx(&__pyx_mdef_15View_dot_MemoryView_1__pyx_unpickle_Enum, NULL, __pyx_n_s_View_MemoryView); if (unlikely(!__pyx_t_2)) __PYX_ERR(1, 1, __pyx_L1_error)
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  /*--- Wrapped vars code ---*/

  goto __pyx_L0;
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#if CYTHON_REFNANNY
static __Pyx_RefNannyAPIStruct *__Pyx_RefNannyImportAPI(const char *modname) {
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/* PyObjectGetAttrStr */
#if CYTHON_USE_TYPE_SLOTS
static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name) {
    PyTypeObject* tp = Py_TYPE(obj);
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#if PY_MAJOR_VERSION < 3
    if (likely(tp->tp_getattr))
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#endif
    return PyObject_GetAttr(obj, attr_name);
}
#endif

/* GetBuiltinName */
static PyObject *__Pyx_GetBuiltinName(PyObject *name) {
    PyObject* result = __Pyx_PyObject_GetAttrStr(__pyx_b, name);
    if (unlikely(!result)) {
        PyErr_Format(PyExc_NameError,
#if PY_MAJOR_VERSION >= 3
            "name '%U' is not defined", name);
#else
            "name '%.200s' is not defined", PyString_AS_STRING(name));
#endif
    }
    return result;
}

/* KeywordStringCheck */
static int __Pyx_CheckKeywordStrings(
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    PyObject* key = 0;
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#if CYTHON_COMPILING_IN_PYPY
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        #if PY_MAJOR_VERSION < 3
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invalid_keyword_type:
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invalid_keyword:
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    #if PY_MAJOR_VERSION < 3
        "%.200s() got an unexpected keyword argument '%.200s'",
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        "%s() got an unexpected keyword argument '%U'",
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/* None */
static CYTHON_INLINE void __Pyx_RaiseClosureNameError(const char *varname) {
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/* PyIntBinop */
#if !CYTHON_COMPILING_IN_PYPY
static PyObject* __Pyx_PyInt_AddObjC(PyObject *op1, PyObject *op2, CYTHON_UNUSED long intval, int inplace, int zerodivision_check) {
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    (void)zerodivision_check;
    #if PY_MAJOR_VERSION < 3
    if (likely(PyInt_CheckExact(op1))) {
        const long b = intval;
        long x;
        long a = PyInt_AS_LONG(op1);
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                return PyInt_FromLong(x);
            return PyLong_Type.tp_as_number->nb_add(op1, op2);
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    #if CYTHON_USE_PYLONG_INTERNALS
    if (likely(PyLong_CheckExact(op1))) {
        const long b = intval;
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#ifdef HAVE_LONG_LONG
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        PY_LONG_LONG lla, llx;
#endif
        const digit* digits = ((PyLongObject*)op1)->ob_digit;
        const Py_ssize_t size = Py_SIZE(op1);
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            a = likely(size) ? digits[0] : 0;
            if (size == -1) a = -a;
        } else {
            switch (size) {
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                    if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) {
                        a = -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]));
                        break;
#ifdef HAVE_LONG_LONG
                    } else if (8 * sizeof(PY_LONG_LONG) - 1 > 2 * PyLong_SHIFT) {
                        lla = -(PY_LONG_LONG) (((((unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0]));
                        goto long_long;
#endif
                    }
                    CYTHON_FALLTHROUGH;
                case 2:
                    if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) {
                        a = (long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]));
                        break;
#ifdef HAVE_LONG_LONG
                    } else if (8 * sizeof(PY_LONG_LONG) - 1 > 2 * PyLong_SHIFT) {
                        lla = (PY_LONG_LONG) (((((unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0]));
                        goto long_long;
#endif
                    }
                    CYTHON_FALLTHROUGH;
                case -3:
                    if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) {
                        a = -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]));
                        break;
#ifdef HAVE_LONG_LONG
                    } else if (8 * sizeof(PY_LONG_LONG) - 1 > 3 * PyLong_SHIFT) {
                        lla = -(PY_LONG_LONG) (((((((unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0]));
                        goto long_long;
#endif
                    }
                    CYTHON_FALLTHROUGH;
                case 3:
                    if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) {
                        a = (long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]));
                        break;
#ifdef HAVE_LONG_LONG
                    } else if (8 * sizeof(PY_LONG_LONG) - 1 > 3 * PyLong_SHIFT) {
                        lla = (PY_LONG_LONG) (((((((unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0]));
                        goto long_long;
#endif
                    }
                    CYTHON_FALLTHROUGH;
                case -4:
                    if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) {
                        a = -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]));
                        break;
#ifdef HAVE_LONG_LONG
                    } else if (8 * sizeof(PY_LONG_LONG) - 1 > 4 * PyLong_SHIFT) {
                        lla = -(PY_LONG_LONG) (((((((((unsigned PY_LONG_LONG)digits[3]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0]));
                        goto long_long;
#endif
                    }
                    CYTHON_FALLTHROUGH;
                case 4:
                    if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) {
                        a = (long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]));
                        break;
#ifdef HAVE_LONG_LONG
                    } else if (8 * sizeof(PY_LONG_LONG) - 1 > 4 * PyLong_SHIFT) {
                        lla = (PY_LONG_LONG) (((((((((unsigned PY_LONG_LONG)digits[3]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0]));
                        goto long_long;
#endif
                    }
                    CYTHON_FALLTHROUGH;
                default: return PyLong_Type.tp_as_number->nb_add(op1, op2);
            }
        }
                x = a + b;
            return PyLong_FromLong(x);
#ifdef HAVE_LONG_LONG
        long_long:
                llx = lla + llb;
            return PyLong_FromLongLong(llx);
#endif
        
        
    }
    #endif
    if (PyFloat_CheckExact(op1)) {
        const long b = intval;
        double a = PyFloat_AS_DOUBLE(op1);
            double result;
            PyFPE_START_PROTECT("add", return NULL)
            result = ((double)a) + (double)b;
            PyFPE_END_PROTECT(result)
            return PyFloat_FromDouble(result);
    }
    return (inplace ? PyNumber_InPlaceAdd : PyNumber_Add)(op1, op2);
}
#endif

/* PyIntCompare */
static CYTHON_INLINE PyObject* __Pyx_PyInt_EqObjC(PyObject *op1, PyObject *op2, CYTHON_UNUSED long intval, CYTHON_UNUSED long inplace) {
    if (op1 == op2) {
        Py_RETURN_TRUE;
    }
    #if PY_MAJOR_VERSION < 3
    if (likely(PyInt_CheckExact(op1))) {
        const long b = intval;
        long a = PyInt_AS_LONG(op1);
        if (a == b) Py_RETURN_TRUE; else Py_RETURN_FALSE;
    }
    #endif
    #if CYTHON_USE_PYLONG_INTERNALS
    if (likely(PyLong_CheckExact(op1))) {
        int unequal;
        unsigned long uintval;
        Py_ssize_t size = Py_SIZE(op1);
        const digit* digits = ((PyLongObject*)op1)->ob_digit;
        if (intval == 0) {
            if (size == 0) Py_RETURN_TRUE; else Py_RETURN_FALSE;
        } else if (intval < 0) {
            if (size >= 0)
                Py_RETURN_FALSE;
            intval = -intval;
            size = -size;
        } else {
            if (size <= 0)
                Py_RETURN_FALSE;
        }
        uintval = (unsigned long) intval;
#if PyLong_SHIFT * 4 < SIZEOF_LONG*8
        if (uintval >> (PyLong_SHIFT * 4)) {
            unequal = (size != 5) || (digits[0] != (uintval & (unsigned long) PyLong_MASK))
                 | (digits[1] != ((uintval >> (1 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)) | (digits[2] != ((uintval >> (2 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)) | (digits[3] != ((uintval >> (3 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)) | (digits[4] != ((uintval >> (4 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK));
        } else
#endif
#if PyLong_SHIFT * 3 < SIZEOF_LONG*8
        if (uintval >> (PyLong_SHIFT * 3)) {
            unequal = (size != 4) || (digits[0] != (uintval & (unsigned long) PyLong_MASK))
                 | (digits[1] != ((uintval >> (1 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)) | (digits[2] != ((uintval >> (2 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)) | (digits[3] != ((uintval >> (3 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK));
        } else
#endif
#if PyLong_SHIFT * 2 < SIZEOF_LONG*8
        if (uintval >> (PyLong_SHIFT * 2)) {
            unequal = (size != 3) || (digits[0] != (uintval & (unsigned long) PyLong_MASK))
                 | (digits[1] != ((uintval >> (1 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)) | (digits[2] != ((uintval >> (2 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK));
        } else
#endif
#if PyLong_SHIFT * 1 < SIZEOF_LONG*8
        if (uintval >> (PyLong_SHIFT * 1)) {
            unequal = (size != 2) || (digits[0] != (uintval & (unsigned long) PyLong_MASK))
                 | (digits[1] != ((uintval >> (1 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK));
        } else
#endif
            unequal = (size != 1) || (((unsigned long) digits[0]) != (uintval & (unsigned long) PyLong_MASK));
        if (unequal == 0) Py_RETURN_TRUE; else Py_RETURN_FALSE;
    }
    #endif
    if (PyFloat_CheckExact(op1)) {
        const long b = intval;
        double a = PyFloat_AS_DOUBLE(op1);
        if ((double)a == (double)b) Py_RETURN_TRUE; else Py_RETURN_FALSE;
    }
    return (
        PyObject_RichCompare(op1, op2, Py_EQ));
}

/* Import */
static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level) {
    PyObject *empty_list = 0;
    PyObject *module = 0;
    PyObject *global_dict = 0;
    PyObject *empty_dict = 0;
    PyObject *list;
    #if PY_MAJOR_VERSION < 3
    PyObject *py_import;
    py_import = __Pyx_PyObject_GetAttrStr(__pyx_b, __pyx_n_s_import);
    if (!py_import)
        goto bad;
    #endif
    if (from_list)
        list = from_list;
    else {
        empty_list = PyList_New(0);
        if (!empty_list)
            goto bad;
        list = empty_list;
    }
    global_dict = PyModule_GetDict(__pyx_m);
    if (!global_dict)
        goto bad;
    empty_dict = PyDict_New();
    if (!empty_dict)
        goto bad;
    {
        #if PY_MAJOR_VERSION >= 3
        if (level == -1) {
            if ((1) && (strchr(__Pyx_MODULE_NAME, '.'))) {
                module = PyImport_ImportModuleLevelObject(
                    name, global_dict, empty_dict, list, 1);
                if (!module) {
                    if (!PyErr_ExceptionMatches(PyExc_ImportError))
                        goto bad;
                    PyErr_Clear();
                }
            }
            level = 0;
        }
        #endif
        if (!module) {
            #if PY_MAJOR_VERSION < 3
            PyObject *py_level = PyInt_FromLong(level);
            if (!py_level)
                goto bad;
            module = PyObject_CallFunctionObjArgs(py_import,
                name, global_dict, empty_dict, list, py_level, (PyObject *)NULL);
            Py_DECREF(py_level);
            #else
            module = PyImport_ImportModuleLevelObject(
                name, global_dict, empty_dict, list, level);
            #endif
        }
    }
bad:
    #if PY_MAJOR_VERSION < 3
    Py_XDECREF(py_import);
    #endif
    Py_XDECREF(empty_list);
    Py_XDECREF(empty_dict);
    return module;
}

/* ImportFrom */
static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name) {
    PyObject* value = __Pyx_PyObject_GetAttrStr(module, name);
    if (unlikely(!value) && PyErr_ExceptionMatches(PyExc_AttributeError)) {
        PyErr_Format(PyExc_ImportError,
        #if PY_MAJOR_VERSION < 3
            "cannot import name %.230s", PyString_AS_STRING(name));
        #else
            "cannot import name %S", name);
        #endif
    }
    return value;
}

/* 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;
    if (unlikely(!call))
        return PyObject_Call(func, arg, kw);
    if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object")))
        return NULL;
    result = (*call)(func, arg, kw);
    Py_LeaveRecursiveCall();
    if (unlikely(!result) && unlikely(!PyErr_Occurred())) {
        PyErr_SetString(
            PyExc_SystemError,
            "NULL result without error in PyObject_Call");
    }
    return result;
}
#endif

/* RaiseDoubleKeywords */
static void __Pyx_RaiseDoubleKeywordsError(
    const char* func_name,
    PyObject* kw_name)
{
    PyErr_Format(PyExc_TypeError,
        #if PY_MAJOR_VERSION >= 3
        "%s() got multiple values for keyword argument '%U'", func_name, kw_name);
        #else
        "%s() got multiple values for keyword argument '%s'", func_name,
        PyString_AsString(kw_name));
        #endif
}

/* ParseKeywords */
static int __Pyx_ParseOptionalKeywords(
    PyObject *kwds,
    PyObject **argnames[],
    PyObject *kwds2,
    PyObject *values[],
    Py_ssize_t num_pos_args,
    const char* function_name)
{
    PyObject *key = 0, *value = 0;
    Py_ssize_t pos = 0;
    PyObject*** name;
    PyObject*** first_kw_arg = argnames + num_pos_args;
    while (PyDict_Next(kwds, &pos, &key, &value)) {
        name = first_kw_arg;
        while (*name && (**name != key)) name++;
        if (*name) {
            values[name-argnames] = value;
            continue;
        }
        name = first_kw_arg;
        #if PY_MAJOR_VERSION < 3
        if (likely(PyString_Check(key))) {
            while (*name) {
                if ((CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**name) == PyString_GET_SIZE(key))
                        && _PyString_Eq(**name, key)) {
                    values[name-argnames] = value;
                    break;
                }
                name++;
            }
            if (*name) continue;
            else {
                PyObject*** argname = argnames;
                while (argname != first_kw_arg) {
                    if ((**argname == key) || (
                            (CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**argname) == PyString_GET_SIZE(key))
                             && _PyString_Eq(**argname, key))) {
                        goto arg_passed_twice;
                    }
                    argname++;
                }
            }
        } else
        #endif
        if (likely(PyUnicode_Check(key))) {
            while (*name) {
                int cmp = (**name == key) ? 0 :
                #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3
                    (__Pyx_PyUnicode_GET_LENGTH(**name) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 :
                #endif
                    PyUnicode_Compare(**name, key);
                if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad;
                if (cmp == 0) {
                    values[name-argnames] = value;
                    break;
                }
                name++;
            }
            if (*name) continue;
            else {
                PyObject*** argname = argnames;
                while (argname != first_kw_arg) {
                    int cmp = (**argname == key) ? 0 :
                    #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3
                        (__Pyx_PyUnicode_GET_LENGTH(**argname) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 :
                    #endif
                        PyUnicode_Compare(**argname, key);
                    if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad;
                    if (cmp == 0) goto arg_passed_twice;
                    argname++;
                }
            }
        } else
            goto invalid_keyword_type;
        if (kwds2) {
            if (unlikely(PyDict_SetItem(kwds2, key, value))) goto bad;
        } else {
            goto invalid_keyword;
        }
    }
    return 0;
arg_passed_twice:
    __Pyx_RaiseDoubleKeywordsError(function_name, key);
    goto bad;
invalid_keyword_type:
    PyErr_Format(PyExc_TypeError,
        "%.200s() keywords must be strings", function_name);
    goto bad;
invalid_keyword:
    PyErr_Format(PyExc_TypeError,
    #if PY_MAJOR_VERSION < 3
        "%.200s() got an unexpected keyword argument '%.200s'",
        function_name, PyString_AsString(key));
    #else
        "%s() got an unexpected keyword argument '%U'",
        function_name, key);
    #endif
bad:
    return -1;
}

/* RaiseArgTupleInvalid */
static void __Pyx_RaiseArgtupleInvalid(
    const char* func_name,
    int exact,
    Py_ssize_t num_min,
    Py_ssize_t num_max,
    Py_ssize_t num_found)
{
    Py_ssize_t num_expected;
    const char *more_or_less;
    if (num_found < num_min) {
        num_expected = num_min;
        more_or_less = "at least";
    } else {
        num_expected = num_max;
        more_or_less = "at most";
    }
    if (exact) {
        more_or_less = "exactly";
    }
    PyErr_Format(PyExc_TypeError,
                 "%.200s() takes %.8s %" CYTHON_FORMAT_SSIZE_T "d positional argument%.1s (%" CYTHON_FORMAT_SSIZE_T "d given)",
                 func_name, more_or_less, num_expected,
                 (num_expected == 1) ? "" : "s", num_found);
}

/* PyDictVersioning */
#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS
static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj) {
    PyObject *dict = Py_TYPE(obj)->tp_dict;
    return likely(dict) ? __PYX_GET_DICT_VERSION(dict) : 0;
}
static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj) {
    PyObject **dictptr = NULL;
    Py_ssize_t offset = Py_TYPE(obj)->tp_dictoffset;
    if (offset) {
#if CYTHON_COMPILING_IN_CPYTHON
        dictptr = (likely(offset > 0)) ? (PyObject **) ((char *)obj + offset) : _PyObject_GetDictPtr(obj);
#else
        dictptr = _PyObject_GetDictPtr(obj);
#endif
    }
    return (dictptr && *dictptr) ? __PYX_GET_DICT_VERSION(*dictptr) : 0;
}
static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version) {
    PyObject *dict = Py_TYPE(obj)->tp_dict;
    if (unlikely(!dict) || unlikely(tp_dict_version != __PYX_GET_DICT_VERSION(dict)))
        return 0;
    return obj_dict_version == __Pyx_get_object_dict_version(obj);
}
#endif

/* GetModuleGlobalName */
#if CYTHON_USE_DICT_VERSIONS
static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value)
#else
static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name)
#endif
{
    PyObject *result;
#if !CYTHON_AVOID_BORROWED_REFS
#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1
    result = _PyDict_GetItem_KnownHash(__pyx_d, name, ((PyASCIIObject *) name)->hash);
    __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version)
    if (likely(result)) {
        return __Pyx_NewRef(result);
    } else if (unlikely(PyErr_Occurred())) {
        return NULL;
    }
#else
    result = PyDict_GetItem(__pyx_d, name);
    __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version)
    if (likely(result)) {
        return __Pyx_NewRef(result);
    }
#endif
#else
    result = PyObject_GetItem(__pyx_d, name);
    __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version)
    if (likely(result)) {
        return __Pyx_NewRef(result);
    }
    PyErr_Clear();
#endif
    return __Pyx_GetBuiltinName(name);
}

/* MemviewSliceInit */
static int
__Pyx_init_memviewslice(struct __pyx_memoryview_obj *memview,
                        int ndim,
                        __Pyx_memviewslice *memviewslice,
                        int memview_is_new_reference)
{
    __Pyx_RefNannyDeclarations
    int i, retval=-1;
    Py_buffer *buf = &memview->view;
    __Pyx_RefNannySetupContext("init_memviewslice", 0);
    if (unlikely(memviewslice->memview || memviewslice->data)) {
        PyErr_SetString(PyExc_ValueError,
            "memviewslice is already initialized!");
        goto fail;
    }
    if (buf->strides) {
        for (i = 0; i < ndim; i++) {
            memviewslice->strides[i] = buf->strides[i];
        }
    } else {
        Py_ssize_t stride = buf->itemsize;
        for (i = ndim - 1; i >= 0; i--) {
            memviewslice->strides[i] = stride;
            stride *= buf->shape[i];
        }
    }
    for (i = 0; i < ndim; i++) {
        memviewslice->shape[i]   = buf->shape[i];
        if (buf->suboffsets) {
            memviewslice->suboffsets[i] = buf->suboffsets[i];
        } else {
            memviewslice->suboffsets[i] = -1;
        }
    }
    memviewslice->memview = memview;
    memviewslice->data = (char *)buf->buf;
    if (__pyx_add_acquisition_count(memview) == 0 && !memview_is_new_reference) {
        Py_INCREF(memview);
    }
    retval = 0;
    goto no_fail;
fail:
    memviewslice->memview = 0;
    memviewslice->data = 0;
    retval = -1;
no_fail:
    __Pyx_RefNannyFinishContext();
    return retval;
}
#ifndef Py_NO_RETURN
#define Py_NO_RETURN
#endif
static void __pyx_fatalerror(const char *fmt, ...) Py_NO_RETURN {
    va_list vargs;
    char msg[200];
#ifdef HAVE_STDARG_PROTOTYPES
    va_start(vargs, fmt);
#else
    va_start(vargs);
#endif
    vsnprintf(msg, 200, fmt, vargs);
    va_end(vargs);
    Py_FatalError(msg);
}
static CYTHON_INLINE int
__pyx_add_acquisition_count_locked(__pyx_atomic_int *acquisition_count,
                                   PyThread_type_lock lock)
{
    int result;
    PyThread_acquire_lock(lock, 1);
    result = (*acquisition_count)++;
    PyThread_release_lock(lock);
    return result;
}
static CYTHON_INLINE int
__pyx_sub_acquisition_count_locked(__pyx_atomic_int *acquisition_count,
                                   PyThread_type_lock lock)
{
    int result;
    PyThread_acquire_lock(lock, 1);
    result = (*acquisition_count)--;
    PyThread_release_lock(lock);
    return result;
}
static CYTHON_INLINE void
__Pyx_INC_MEMVIEW(__Pyx_memviewslice *memslice, int have_gil, int lineno)
{
    int first_time;
    struct __pyx_memoryview_obj *memview = memslice->memview;
    if (unlikely(!memview || (PyObject *) memview == Py_None))
        return;
    if (unlikely(__pyx_get_slice_count(memview) < 0))
        __pyx_fatalerror("Acquisition count is %d (line %d)",
                         __pyx_get_slice_count(memview), lineno);
    first_time = __pyx_add_acquisition_count(memview) == 0;
    if (unlikely(first_time)) {
        if (have_gil) {
            Py_INCREF((PyObject *) memview);
        } else {
            PyGILState_STATE _gilstate = PyGILState_Ensure();
            Py_INCREF((PyObject *) memview);
            PyGILState_Release(_gilstate);
        }
    }
}
static CYTHON_INLINE void __Pyx_XDEC_MEMVIEW(__Pyx_memviewslice *memslice,
                                             int have_gil, int lineno) {
    int last_time;
    struct __pyx_memoryview_obj *memview = memslice->memview;
    if (unlikely(!memview || (PyObject *) memview == Py_None)) {
        memslice->memview = NULL;
        return;
    }
    if (unlikely(__pyx_get_slice_count(memview) <= 0))
        __pyx_fatalerror("Acquisition count is %d (line %d)",
                         __pyx_get_slice_count(memview), lineno);
    last_time = __pyx_sub_acquisition_count(memview) == 1;
    memslice->data = NULL;
    if (unlikely(last_time)) {
        if (have_gil) {
            Py_CLEAR(memslice->memview);
        } else {
            PyGILState_STATE _gilstate = PyGILState_Ensure();
            Py_CLEAR(memslice->memview);
            PyGILState_Release(_gilstate);
        }
    } else {
        memslice->memview = NULL;
    }
}

/* PyCFunctionFastCall */
#if CYTHON_FAST_PYCCALL
static CYTHON_INLINE PyObject * __Pyx_PyCFunction_FastCall(PyObject *func_obj, PyObject **args, Py_ssize_t nargs) {
    PyCFunctionObject *func = (PyCFunctionObject*)func_obj;
    PyCFunction meth = PyCFunction_GET_FUNCTION(func);
    PyObject *self = PyCFunction_GET_SELF(func);
    int flags = PyCFunction_GET_FLAGS(func);
    assert(PyCFunction_Check(func));
    assert(METH_FASTCALL == (flags & ~(METH_CLASS | METH_STATIC | METH_COEXIST | METH_KEYWORDS | METH_STACKLESS)));
    assert(nargs >= 0);
    assert(nargs == 0 || args != NULL);
    /* _PyCFunction_FastCallDict() must not be called with an exception set,
       because it may clear it (directly or indirectly) and so the
       caller loses its exception */
    assert(!PyErr_Occurred());
    if ((PY_VERSION_HEX < 0x030700A0) || unlikely(flags & METH_KEYWORDS)) {
        return (*((__Pyx_PyCFunctionFastWithKeywords)(void*)meth)) (self, args, nargs, NULL);
    } else {
        return (*((__Pyx_PyCFunctionFast)(void*)meth)) (self, args, nargs);
    }
}
#endif

/* PyFunctionFastCall */
#if CYTHON_FAST_PYCALL
static PyObject* __Pyx_PyFunction_FastCallNoKw(PyCodeObject *co, PyObject **args, Py_ssize_t na,
                                               PyObject *globals) {
    PyFrameObject *f;
    PyThreadState *tstate = __Pyx_PyThreadState_Current;
    PyObject **fastlocals;
    Py_ssize_t i;
    PyObject *result;
    assert(globals != NULL);
    /* XXX Perhaps we should create a specialized
       PyFrame_New() that doesn't take locals, but does
       take builtins without sanity checking them.
       */
    assert(tstate != NULL);
    f = PyFrame_New(tstate, co, globals, NULL);
    if (f == NULL) {
        return NULL;
    }
    fastlocals = __Pyx_PyFrame_GetLocalsplus(f);
    for (i = 0; i < na; i++) {
        Py_INCREF(*args);
        fastlocals[i] = *args++;
    }
    result = PyEval_EvalFrameEx(f,0);
    ++tstate->recursion_depth;
    Py_DECREF(f);
    --tstate->recursion_depth;
    return result;
}
#if 1 || PY_VERSION_HEX < 0x030600B1
static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs) {
    PyCodeObject *co = (PyCodeObject *)PyFunction_GET_CODE(func);
    PyObject *globals = PyFunction_GET_GLOBALS(func);
    PyObject *argdefs = PyFunction_GET_DEFAULTS(func);
    PyObject *closure;
#if PY_MAJOR_VERSION >= 3
    PyObject *kwdefs;
#endif
    PyObject *kwtuple, **k;
    PyObject **d;
    Py_ssize_t nd;
    Py_ssize_t nk;
    PyObject *result;
    assert(kwargs == NULL || PyDict_Check(kwargs));
    nk = kwargs ? PyDict_Size(kwargs) : 0;
    if (Py_EnterRecursiveCall((char*)" while calling a Python object")) {
        return NULL;
    }
    if (
#if PY_MAJOR_VERSION >= 3
            co->co_kwonlyargcount == 0 &&
#endif
            likely(kwargs == NULL || nk == 0) &&
            co->co_flags == (CO_OPTIMIZED | CO_NEWLOCALS | CO_NOFREE)) {
        if (argdefs == NULL && co->co_argcount == nargs) {
            result = __Pyx_PyFunction_FastCallNoKw(co, args, nargs, globals);
            goto done;
        }
        else if (nargs == 0 && argdefs != NULL
                 && co->co_argcount == Py_SIZE(argdefs)) {
            /* function called with no arguments, but all parameters have
               a default value: use default values as arguments .*/
            args = &PyTuple_GET_ITEM(argdefs, 0);
            result =__Pyx_PyFunction_FastCallNoKw(co, args, Py_SIZE(argdefs), globals);
            goto done;
        }
    }
    if (kwargs != NULL) {
        Py_ssize_t pos, i;
        kwtuple = PyTuple_New(2 * nk);
        if (kwtuple == NULL) {
            result = NULL;
            goto done;
        }
        k = &PyTuple_GET_ITEM(kwtuple, 0);
        pos = i = 0;
        while (PyDict_Next(kwargs, &pos, &k[i], &k[i+1])) {
            Py_INCREF(k[i]);
            Py_INCREF(k[i+1]);
            i += 2;
        }
        nk = i / 2;
    }
    else {
        kwtuple = NULL;
        k = NULL;
    }
    closure = PyFunction_GET_CLOSURE(func);
#if PY_MAJOR_VERSION >= 3
    kwdefs = PyFunction_GET_KW_DEFAULTS(func);
#endif
    if (argdefs != NULL) {
        d = &PyTuple_GET_ITEM(argdefs, 0);
        nd = Py_SIZE(argdefs);
    }
    else {
        d = NULL;
        nd = 0;
    }
#if PY_MAJOR_VERSION >= 3
    result = PyEval_EvalCodeEx((PyObject*)co, globals, (PyObject *)NULL,
                               args, (int)nargs,
                               k, (int)nk,
                               d, (int)nd, kwdefs, closure);
#else
    result = PyEval_EvalCodeEx(co, globals, (PyObject *)NULL,
                               args, (int)nargs,
                               k, (int)nk,
                               d, (int)nd, closure);
#endif
    Py_XDECREF(kwtuple);
done:
    Py_LeaveRecursiveCall();
    return result;
}
#endif
#endif

/* PyObjectCall2Args */
static CYTHON_UNUSED PyObject* __Pyx_PyObject_Call2Args(PyObject* function, PyObject* arg1, PyObject* arg2) {
    PyObject *args, *result = NULL;
    #if CYTHON_FAST_PYCALL
    if (PyFunction_Check(function)) {
        PyObject *args[2] = {arg1, arg2};
        return __Pyx_PyFunction_FastCall(function, args, 2);
    }
    #endif
    #if CYTHON_FAST_PYCCALL
    if (__Pyx_PyFastCFunction_Check(function)) {
        PyObject *args[2] = {arg1, arg2};
        return __Pyx_PyCFunction_FastCall(function, args, 2);
    }
    #endif
    args = PyTuple_New(2);
    if (unlikely(!args)) goto done;
    Py_INCREF(arg1);
    PyTuple_SET_ITEM(args, 0, arg1);
    Py_INCREF(arg2);
    PyTuple_SET_ITEM(args, 1, arg2);
    Py_INCREF(function);
    result = __Pyx_PyObject_Call(function, args, NULL);
    Py_DECREF(args);
    Py_DECREF(function);
done:
    return result;
}

/* PyObjectCallMethO */
#if CYTHON_COMPILING_IN_CPYTHON
static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg) {
    PyObject *self, *result;
    PyCFunction cfunc;
    cfunc = PyCFunction_GET_FUNCTION(func);
    self = PyCFunction_GET_SELF(func);
    if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object")))
        return NULL;
    result = cfunc(self, arg);
    Py_LeaveRecursiveCall();
    if (unlikely(!result) && unlikely(!PyErr_Occurred())) {
        PyErr_SetString(
            PyExc_SystemError,
            "NULL result without error in PyObject_Call");
    }
    return result;
}
#endif

/* PyObjectCallOneArg */
#if CYTHON_COMPILING_IN_CPYTHON
static PyObject* __Pyx__PyObject_CallOneArg(PyObject *func, PyObject *arg) {
    PyObject *result;
    PyObject *args = PyTuple_New(1);
    if (unlikely(!args)) return NULL;
    Py_INCREF(arg);
    PyTuple_SET_ITEM(args, 0, arg);
    result = __Pyx_PyObject_Call(func, args, NULL);
    Py_DECREF(args);
    return result;
}
static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) {
#if CYTHON_FAST_PYCALL
    if (PyFunction_Check(func)) {
        return __Pyx_PyFunction_FastCall(func, &arg, 1);
    }
#endif
    if (likely(PyCFunction_Check(func))) {
        if (likely(PyCFunction_GET_FLAGS(func) & METH_O)) {
            return __Pyx_PyObject_CallMethO(func, arg);
#if CYTHON_FAST_PYCCALL
        } else if (__Pyx_PyFastCFunction_Check(func)) {
            return __Pyx_PyCFunction_FastCall(func, &arg, 1);
#endif
        }
    }
    return __Pyx__PyObject_CallOneArg(func, arg);
}
#else
static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) {
    PyObject *result;
    PyObject *args = PyTuple_Pack(1, arg);
    if (unlikely(!args)) return NULL;
    result = __Pyx_PyObject_Call(func, args, NULL);
    Py_DECREF(args);
    return result;
}
#endif

/* PyObjectCallNoArg */
#if CYTHON_COMPILING_IN_CPYTHON
static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func) {
#if CYTHON_FAST_PYCALL
    if (PyFunction_Check(func)) {
        return __Pyx_PyFunction_FastCall(func, NULL, 0);
    }
#endif
#ifdef __Pyx_CyFunction_USED
    if (likely(PyCFunction_Check(func) || __Pyx_CyFunction_Check(func)))
#else
    if (likely(PyCFunction_Check(func)))
#endif
    {
        if (likely(PyCFunction_GET_FLAGS(func) & METH_NOARGS)) {
            return __Pyx_PyObject_CallMethO(func, NULL);
        }
    }
    return __Pyx_PyObject_Call(func, __pyx_empty_tuple, NULL);
}
#endif

/* GetTopmostException */
#if CYTHON_USE_EXC_INFO_STACK
static _PyErr_StackItem *
__Pyx_PyErr_GetTopmostException(PyThreadState *tstate)
{
    _PyErr_StackItem *exc_info = tstate->exc_info;
    while ((exc_info->exc_type == NULL || exc_info->exc_type == Py_None) &&
           exc_info->previous_item != NULL)
    {
        exc_info = exc_info->previous_item;
    }
    return exc_info;
}
#endif

/* SaveResetException */
#if CYTHON_FAST_THREAD_STATE
static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) {
    #if CYTHON_USE_EXC_INFO_STACK
    _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate);
    *type = exc_info->exc_type;
    *value = exc_info->exc_value;
    *tb = exc_info->exc_traceback;
    #else
    *type = tstate->exc_type;
    *value = tstate->exc_value;
    *tb = tstate->exc_traceback;
    #endif
    Py_XINCREF(*type);
    Py_XINCREF(*value);
    Py_XINCREF(*tb);
}
static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) {
    PyObject *tmp_type, *tmp_value, *tmp_tb;
    #if CYTHON_USE_EXC_INFO_STACK
    _PyErr_StackItem *exc_info = tstate->exc_info;
    tmp_type = exc_info->exc_type;
    tmp_value = exc_info->exc_value;
    tmp_tb = exc_info->exc_traceback;
    exc_info->exc_type = type;
    exc_info->exc_value = value;
    exc_info->exc_traceback = tb;
    #else
    tmp_type = tstate->exc_type;
    tmp_value = tstate->exc_value;
    tmp_tb = tstate->exc_traceback;
    tstate->exc_type = type;
    tstate->exc_value = value;
    tstate->exc_traceback = tb;
    #endif
    Py_XDECREF(tmp_type);
    Py_XDECREF(tmp_value);
    Py_XDECREF(tmp_tb);
}
#endif

/* GetException */
#if CYTHON_FAST_THREAD_STATE
static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb)
#else
static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb)
#endif
{
    PyObject *local_type, *local_value, *local_tb;
#if CYTHON_FAST_THREAD_STATE
    PyObject *tmp_type, *tmp_value, *tmp_tb;
    local_type = tstate->curexc_type;
    local_value = tstate->curexc_value;
    local_tb = tstate->curexc_traceback;
    tstate->curexc_type = 0;
    tstate->curexc_value = 0;
    tstate->curexc_traceback = 0;
#else
    PyErr_Fetch(&local_type, &local_value, &local_tb);
#endif
    PyErr_NormalizeException(&local_type, &local_value, &local_tb);
#if CYTHON_FAST_THREAD_STATE
    if (unlikely(tstate->curexc_type))
#else
    if (unlikely(PyErr_Occurred()))
#endif
        goto bad;
    #if PY_MAJOR_VERSION >= 3
    if (local_tb) {
        if (unlikely(PyException_SetTraceback(local_value, local_tb) < 0))
            goto bad;
    }
    #endif
    Py_XINCREF(local_tb);
    Py_XINCREF(local_type);
    Py_XINCREF(local_value);
    *type = local_type;
    *value = local_value;
    *tb = local_tb;
#if CYTHON_FAST_THREAD_STATE
    #if CYTHON_USE_EXC_INFO_STACK
    {
        _PyErr_StackItem *exc_info = tstate->exc_info;
        tmp_type = exc_info->exc_type;
        tmp_value = exc_info->exc_value;
        tmp_tb = exc_info->exc_traceback;
        exc_info->exc_type = local_type;
        exc_info->exc_value = local_value;
        exc_info->exc_traceback = local_tb;
    }
    #else
    tmp_type = tstate->exc_type;
    tmp_value = tstate->exc_value;
    tmp_tb = tstate->exc_traceback;
    tstate->exc_type = local_type;
    tstate->exc_value = local_value;
    tstate->exc_traceback = local_tb;
    #endif
    Py_XDECREF(tmp_type);
    Py_XDECREF(tmp_value);
    Py_XDECREF(tmp_tb);
#else
    PyErr_SetExcInfo(local_type, local_value, local_tb);
#endif
    return 0;
bad:
    *type = 0;
    *value = 0;
    *tb = 0;
    Py_XDECREF(local_type);
    Py_XDECREF(local_value);
    Py_XDECREF(local_tb);
    return -1;
}

/* PyErrFetchRestore */
#if CYTHON_FAST_THREAD_STATE
static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) {
    PyObject *tmp_type, *tmp_value, *tmp_tb;
    tmp_type = tstate->curexc_type;
    tmp_value = tstate->curexc_value;
    tmp_tb = tstate->curexc_traceback;
    tstate->curexc_type = type;
    tstate->curexc_value = value;
    tstate->curexc_traceback = tb;
    Py_XDECREF(tmp_type);
    Py_XDECREF(tmp_value);
    Py_XDECREF(tmp_tb);
}
static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) {
    *type = tstate->curexc_type;
    *value = tstate->curexc_value;
    *tb = tstate->curexc_traceback;
    tstate->curexc_type = 0;
    tstate->curexc_value = 0;
    tstate->curexc_traceback = 0;
}
#endif

/* None */
static CYTHON_INLINE void __Pyx_RaiseUnboundLocalError(const char *varname) {
    PyErr_Format(PyExc_UnboundLocalError, "local variable '%s' referenced before assignment", varname);
}

/* DictGetItem */
#if PY_MAJOR_VERSION >= 3 && !CYTHON_COMPILING_IN_PYPY
static PyObject *__Pyx_PyDict_GetItem(PyObject *d, PyObject* key) {
    PyObject *value;
    value = PyDict_GetItemWithError(d, key);
    if (unlikely(!value)) {
        if (!PyErr_Occurred()) {
            if (unlikely(PyTuple_Check(key))) {
                PyObject* args = PyTuple_Pack(1, key);
                if (likely(args)) {
                    PyErr_SetObject(PyExc_KeyError, args);
                    Py_DECREF(args);
                }
            } else {
                PyErr_SetObject(PyExc_KeyError, key);
            }
        }
        return NULL;
    }
    Py_INCREF(value);
    return value;
}
#endif

/* PyFloatBinop */
#if !CYTHON_COMPILING_IN_PYPY
static PyObject* __Pyx_PyFloat_SubtractCObj(PyObject *op1, PyObject *op2, double floatval, int inplace, int zerodivision_check) {
    const double a = floatval;
    double b, result;
    (void)inplace;
    (void)zerodivision_check;
    if (likely(PyFloat_CheckExact(op2))) {
        b = PyFloat_AS_DOUBLE(op2);
        
    } else
    #if PY_MAJOR_VERSION < 3
    if (likely(PyInt_CheckExact(op2))) {
        b = (double) PyInt_AS_LONG(op2);
        
    } else
    #endif
    if (likely(PyLong_CheckExact(op2))) {
        #if CYTHON_USE_PYLONG_INTERNALS
        const digit* digits = ((PyLongObject*)op2)->ob_digit;
        const Py_ssize_t size = Py_SIZE(op2);
        switch (size) {
            case  0: b = 0.0; break;
            case -1: b = -(double) digits[0]; break;
            case  1: b = (double) digits[0]; break;
            case -2:
            case 2:
                if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT && ((8 * sizeof(unsigned long) < 53) || (1 * PyLong_SHIFT < 53))) {
                    b = (double) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]));
                    if ((8 * sizeof(unsigned long) < 53) || (2 * PyLong_SHIFT < 53) || (b < (double) ((PY_LONG_LONG)1 << 53))) {
                        if (size == -2)
                            b = -b;
                        break;
                    }
                }
                CYTHON_FALLTHROUGH;
            case -3:
            case 3:
                if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT && ((8 * sizeof(unsigned long) < 53) || (2 * PyLong_SHIFT < 53))) {
                    b = (double) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]));
                    if ((8 * sizeof(unsigned long) < 53) || (3 * PyLong_SHIFT < 53) || (b < (double) ((PY_LONG_LONG)1 << 53))) {
                        if (size == -3)
                            b = -b;
                        break;
                    }
                }
                CYTHON_FALLTHROUGH;
            case -4:
            case 4:
                if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT && ((8 * sizeof(unsigned long) < 53) || (3 * PyLong_SHIFT < 53))) {
                    b = (double) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]));
                    if ((8 * sizeof(unsigned long) < 53) || (4 * PyLong_SHIFT < 53) || (b < (double) ((PY_LONG_LONG)1 << 53))) {
                        if (size == -4)
                            b = -b;
                        break;
                    }
                }
                CYTHON_FALLTHROUGH;
            default:
        #else
        {
        #endif
            b = PyLong_AsDouble(op2);
            if (unlikely(b == -1.0 && PyErr_Occurred())) return NULL;
            
        }
    } else {
        return (inplace ? PyNumber_InPlaceSubtract : PyNumber_Subtract)(op1, op2);
    }
        
        PyFPE_START_PROTECT("subtract", return NULL)
        result = a - b;
        PyFPE_END_PROTECT(result)
        return PyFloat_FromDouble(result);
}
#endif

/* PyFloatBinop */
  #if !CYTHON_COMPILING_IN_PYPY
static PyObject* __Pyx_PyFloat_DivideObjC(PyObject *op1, PyObject *op2, double floatval, int inplace, int zerodivision_check) {
    const double b = floatval;
    double a, result;
    (void)inplace;
    (void)zerodivision_check;
    if (likely(PyFloat_CheckExact(op1))) {
        a = PyFloat_AS_DOUBLE(op1);
        
    } else
    #if PY_MAJOR_VERSION < 3
    if (likely(PyInt_CheckExact(op1))) {
        a = (double) PyInt_AS_LONG(op1);
        
    } else
    #endif
    if (likely(PyLong_CheckExact(op1))) {
        #if CYTHON_USE_PYLONG_INTERNALS
        const digit* digits = ((PyLongObject*)op1)->ob_digit;
        const Py_ssize_t size = Py_SIZE(op1);
        switch (size) {
            case  0: a = 0.0; break;
            case -1: a = -(double) digits[0]; break;
            case  1: a = (double) digits[0]; break;
            case -2:
            case 2:
                if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT && ((8 * sizeof(unsigned long) < 53) || (1 * PyLong_SHIFT < 53))) {
                    a = (double) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]));
                    if ((8 * sizeof(unsigned long) < 53) || (2 * PyLong_SHIFT < 53) || (a < (double) ((PY_LONG_LONG)1 << 53))) {
                        if (size == -2)
                            a = -a;
                        break;
                    }
                }
                CYTHON_FALLTHROUGH;
            case -3:
            case 3:
                if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT && ((8 * sizeof(unsigned long) < 53) || (2 * PyLong_SHIFT < 53))) {
                    a = (double) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]));
                    if ((8 * sizeof(unsigned long) < 53) || (3 * PyLong_SHIFT < 53) || (a < (double) ((PY_LONG_LONG)1 << 53))) {
                        if (size == -3)
                            a = -a;
                        break;
                    }
                }
                CYTHON_FALLTHROUGH;
            case -4:
            case 4:
                if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT && ((8 * sizeof(unsigned long) < 53) || (3 * PyLong_SHIFT < 53))) {
                    a = (double) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]));
                    if ((8 * sizeof(unsigned long) < 53) || (4 * PyLong_SHIFT < 53) || (a < (double) ((PY_LONG_LONG)1 << 53))) {
                        if (size == -4)
                            a = -a;
                        break;
                    }
                }
                CYTHON_FALLTHROUGH;
            default:
        #else
        {
        #endif
            a = PyLong_AsDouble(op1);
            if (unlikely(a == -1.0 && PyErr_Occurred())) return NULL;
            
        }
    } else {
        return (inplace ? __Pyx_PyNumber_InPlaceDivide(op1, op2) : __Pyx_PyNumber_Divide(op1, op2));
    }
        
        PyFPE_START_PROTECT("divide", return NULL)
        result = a / b;
        PyFPE_END_PROTECT(result)
        return PyFloat_FromDouble(result);
}
#endif

/* GetItemInt */
    static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j) {
    PyObject *r;
    if (!j) return NULL;
    r = PyObject_GetItem(o, j);
    Py_DECREF(j);
    return r;
}
static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i,
                                                              CYTHON_NCP_UNUSED int wraparound,
                                                              CYTHON_NCP_UNUSED int boundscheck) {
#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS
    Py_ssize_t wrapped_i = i;
    if (wraparound & unlikely(i < 0)) {
        wrapped_i += PyList_GET_SIZE(o);
    }
    if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyList_GET_SIZE(o)))) {
        PyObject *r = PyList_GET_ITEM(o, wrapped_i);
        Py_INCREF(r);
        return r;
    }
    return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i));
#else
    return PySequence_GetItem(o, i);
#endif
}
static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i,
                                                              CYTHON_NCP_UNUSED int wraparound,
                                                              CYTHON_NCP_UNUSED int boundscheck) {
#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS
    Py_ssize_t wrapped_i = i;
    if (wraparound & unlikely(i < 0)) {
        wrapped_i += PyTuple_GET_SIZE(o);
    }
    if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyTuple_GET_SIZE(o)))) {
        PyObject *r = PyTuple_GET_ITEM(o, wrapped_i);
        Py_INCREF(r);
        return r;
    }
    return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i));
#else
    return PySequence_GetItem(o, i);
#endif
}
static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, int is_list,
                                                     CYTHON_NCP_UNUSED int wraparound,
                                                     CYTHON_NCP_UNUSED int boundscheck) {
#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS
    if (is_list || PyList_CheckExact(o)) {
        Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyList_GET_SIZE(o);
        if ((!boundscheck) || (likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o))))) {
            PyObject *r = PyList_GET_ITEM(o, n);
            Py_INCREF(r);
            return r;
        }
    }
    else if (PyTuple_CheckExact(o)) {
        Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyTuple_GET_SIZE(o);
        if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyTuple_GET_SIZE(o)))) {
            PyObject *r = PyTuple_GET_ITEM(o, n);
            Py_INCREF(r);
            return r;
        }
    } else {
        PySequenceMethods *m = Py_TYPE(o)->tp_as_sequence;
        if (likely(m && m->sq_item)) {
            if (wraparound && unlikely(i < 0) && likely(m->sq_length)) {
                Py_ssize_t l = m->sq_length(o);
                if (likely(l >= 0)) {
                    i += l;
                } else {
                    if (!PyErr_ExceptionMatches(PyExc_OverflowError))
                        return NULL;
                    PyErr_Clear();
                }
            }
            return m->sq_item(o, i);
        }
    }
#else
    if (is_list || PySequence_Check(o)) {
        return PySequence_GetItem(o, i);
    }
#endif
    return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i));
}

/* ObjectGetItem */
    #if CYTHON_USE_TYPE_SLOTS
static PyObject *__Pyx_PyObject_GetIndex(PyObject *obj, PyObject* index) {
    PyObject *runerr;
    Py_ssize_t key_value;
    PySequenceMethods *m = Py_TYPE(obj)->tp_as_sequence;
    if (unlikely(!(m && m->sq_item))) {
        PyErr_Format(PyExc_TypeError, "'%.200s' object is not subscriptable", Py_TYPE(obj)->tp_name);
        return NULL;
    }
    key_value = __Pyx_PyIndex_AsSsize_t(index);
    if (likely(key_value != -1 || !(runerr = PyErr_Occurred()))) {
        return __Pyx_GetItemInt_Fast(obj, key_value, 0, 1, 1);
    }
    if (PyErr_GivenExceptionMatches(runerr, PyExc_OverflowError)) {
        PyErr_Clear();
        PyErr_Format(PyExc_IndexError, "cannot fit '%.200s' into an index-sized integer", Py_TYPE(index)->tp_name);
    }
    return NULL;
}
static PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject* key) {
    PyMappingMethods *m = Py_TYPE(obj)->tp_as_mapping;
    if (likely(m && m->mp_subscript)) {
        return m->mp_subscript(obj, key);
    }
    return __Pyx_PyObject_GetIndex(obj, key);
}
#endif

/* SliceObject */
    static CYTHON_INLINE PyObject* __Pyx_PyObject_GetSlice(PyObject* obj,
        Py_ssize_t cstart, Py_ssize_t cstop,
        PyObject** _py_start, PyObject** _py_stop, PyObject** _py_slice,
        int has_cstart, int has_cstop, CYTHON_UNUSED int wraparound) {
#if CYTHON_USE_TYPE_SLOTS
    PyMappingMethods* mp;
#if PY_MAJOR_VERSION < 3
    PySequenceMethods* ms = Py_TYPE(obj)->tp_as_sequence;
    if (likely(ms && ms->sq_slice)) {
        if (!has_cstart) {
            if (_py_start && (*_py_start != Py_None)) {
                cstart = __Pyx_PyIndex_AsSsize_t(*_py_start);
                if ((cstart == (Py_ssize_t)-1) && PyErr_Occurred()) goto bad;
            } else
                cstart = 0;
        }
        if (!has_cstop) {
            if (_py_stop && (*_py_stop != Py_None)) {
                cstop = __Pyx_PyIndex_AsSsize_t(*_py_stop);
                if ((cstop == (Py_ssize_t)-1) && PyErr_Occurred()) goto bad;
            } else
                cstop = PY_SSIZE_T_MAX;
        }
        if (wraparound && unlikely((cstart < 0) | (cstop < 0)) && likely(ms->sq_length)) {
            Py_ssize_t l = ms->sq_length(obj);
            if (likely(l >= 0)) {
                if (cstop < 0) {
                    cstop += l;
                    if (cstop < 0) cstop = 0;
                }
                if (cstart < 0) {
                    cstart += l;
                    if (cstart < 0) cstart = 0;
                }
            } else {
                if (!PyErr_ExceptionMatches(PyExc_OverflowError))
                    goto bad;
                PyErr_Clear();
            }
        }
        return ms->sq_slice(obj, cstart, cstop);
    }
#endif
    mp = Py_TYPE(obj)->tp_as_mapping;
    if (likely(mp && mp->mp_subscript))
#endif
    {
        PyObject* result;
        PyObject *py_slice, *py_start, *py_stop;
        if (_py_slice) {
            py_slice = *_py_slice;
        } else {
            PyObject* owned_start = NULL;
            PyObject* owned_stop = NULL;
            if (_py_start) {
                py_start = *_py_start;
            } else {
                if (has_cstart) {
                    owned_start = py_start = PyInt_FromSsize_t(cstart);
                    if (unlikely(!py_start)) goto bad;
                } else
                    py_start = Py_None;
            }
            if (_py_stop) {
                py_stop = *_py_stop;
            } else {
                if (has_cstop) {
                    owned_stop = py_stop = PyInt_FromSsize_t(cstop);
                    if (unlikely(!py_stop)) {
                        Py_XDECREF(owned_start);
                        goto bad;
                    }
                } else
                    py_stop = Py_None;
            }
            py_slice = PySlice_New(py_start, py_stop, Py_None);
            Py_XDECREF(owned_start);
            Py_XDECREF(owned_stop);
            if (unlikely(!py_slice)) goto bad;
        }
#if CYTHON_USE_TYPE_SLOTS
        result = mp->mp_subscript(obj, py_slice);
#else
        result = PyObject_GetItem(obj, py_slice);
#endif
        if (!_py_slice) {
            Py_DECREF(py_slice);
        }
        return result;
    }
    PyErr_Format(PyExc_TypeError,
        "'%.200s' object is unsliceable", Py_TYPE(obj)->tp_name);
bad:
    return NULL;
}

/* PyIntCompare */
    static CYTHON_INLINE PyObject* __Pyx_PyInt_NeObjC(PyObject *op1, PyObject *op2, CYTHON_UNUSED long intval, CYTHON_UNUSED long inplace) {
    if (op1 == op2) {
        Py_RETURN_FALSE;
    }
    #if PY_MAJOR_VERSION < 3
    if (likely(PyInt_CheckExact(op1))) {
        const long b = intval;
        long a = PyInt_AS_LONG(op1);
        if (a != b) Py_RETURN_TRUE; else Py_RETURN_FALSE;
    }
    #endif
    #if CYTHON_USE_PYLONG_INTERNALS
    if (likely(PyLong_CheckExact(op1))) {
        int unequal;
        unsigned long uintval;
        Py_ssize_t size = Py_SIZE(op1);
        const digit* digits = ((PyLongObject*)op1)->ob_digit;
        if (intval == 0) {
            if (size != 0) Py_RETURN_TRUE; else Py_RETURN_FALSE;
        } else if (intval < 0) {
            if (size >= 0)
                Py_RETURN_TRUE;
            intval = -intval;
            size = -size;
        } else {
            if (size <= 0)
                Py_RETURN_TRUE;
        }
        uintval = (unsigned long) intval;
#if PyLong_SHIFT * 4 < SIZEOF_LONG*8
        if (uintval >> (PyLong_SHIFT * 4)) {
            unequal = (size != 5) || (digits[0] != (uintval & (unsigned long) PyLong_MASK))
                 | (digits[1] != ((uintval >> (1 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)) | (digits[2] != ((uintval >> (2 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)) | (digits[3] != ((uintval >> (3 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)) | (digits[4] != ((uintval >> (4 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK));
        } else
#endif
#if PyLong_SHIFT * 3 < SIZEOF_LONG*8
        if (uintval >> (PyLong_SHIFT * 3)) {
            unequal = (size != 4) || (digits[0] != (uintval & (unsigned long) PyLong_MASK))
                 | (digits[1] != ((uintval >> (1 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)) | (digits[2] != ((uintval >> (2 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)) | (digits[3] != ((uintval >> (3 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK));
        } else
#endif
#if PyLong_SHIFT * 2 < SIZEOF_LONG*8
        if (uintval >> (PyLong_SHIFT * 2)) {
            unequal = (size != 3) || (digits[0] != (uintval & (unsigned long) PyLong_MASK))
                 | (digits[1] != ((uintval >> (1 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)) | (digits[2] != ((uintval >> (2 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK));
        } else
#endif
#if PyLong_SHIFT * 1 < SIZEOF_LONG*8
        if (uintval >> (PyLong_SHIFT * 1)) {
            unequal = (size != 2) || (digits[0] != (uintval & (unsigned long) PyLong_MASK))
                 | (digits[1] != ((uintval >> (1 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK));
        } else
#endif
            unequal = (size != 1) || (((unsigned long) digits[0]) != (uintval & (unsigned long) PyLong_MASK));
        if (unequal != 0) Py_RETURN_TRUE; else Py_RETURN_FALSE;
    }
    #endif
    if (PyFloat_CheckExact(op1)) {
        const long b = intval;
        double a = PyFloat_AS_DOUBLE(op1);
        if ((double)a != (double)b) Py_RETURN_TRUE; else Py_RETURN_FALSE;
    }
    return (
        PyObject_RichCompare(op1, op2, Py_NE));
}

/* RaiseException */
    #if PY_MAJOR_VERSION < 3
static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb,
                        CYTHON_UNUSED PyObject *cause) {
    __Pyx_PyThreadState_declare
    Py_XINCREF(type);
    if (!value || value == Py_None)
        value = NULL;
    else
        Py_INCREF(value);
    if (!tb || tb == Py_None)
        tb = NULL;
    else {
        Py_INCREF(tb);
        if (!PyTraceBack_Check(tb)) {
            PyErr_SetString(PyExc_TypeError,
                "raise: arg 3 must be a traceback or None");
            goto raise_error;
        }
    }
    if (PyType_Check(type)) {
#if CYTHON_COMPILING_IN_PYPY
        if (!value) {
            Py_INCREF(Py_None);
            value = Py_None;
        }
#endif
        PyErr_NormalizeException(&type, &value, &tb);
    } else {
        if (value) {
            PyErr_SetString(PyExc_TypeError,
                "instance exception may not have a separate value");
            goto raise_error;
        }
        value = type;
        type = (PyObject*) Py_TYPE(type);
        Py_INCREF(type);
        if (!PyType_IsSubtype((PyTypeObject *)type, (PyTypeObject *)PyExc_BaseException)) {
            PyErr_SetString(PyExc_TypeError,
                "raise: exception class must be a subclass of BaseException");
            goto raise_error;
        }
    }
    __Pyx_PyThreadState_assign
    __Pyx_ErrRestore(type, value, tb);
    return;
raise_error:
    Py_XDECREF(value);
    Py_XDECREF(type);
    Py_XDECREF(tb);
    return;
}
#else
static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) {
    PyObject* owned_instance = NULL;
    if (tb == Py_None) {
        tb = 0;
    } else if (tb && !PyTraceBack_Check(tb)) {
        PyErr_SetString(PyExc_TypeError,
            "raise: arg 3 must be a traceback or None");
        goto bad;
    }
    if (value == Py_None)
        value = 0;
    if (PyExceptionInstance_Check(type)) {
        if (value) {
            PyErr_SetString(PyExc_TypeError,
                "instance exception may not have a separate value");
            goto bad;
        }
        value = type;
        type = (PyObject*) Py_TYPE(value);
    } else if (PyExceptionClass_Check(type)) {
        PyObject *instance_class = NULL;
        if (value && PyExceptionInstance_Check(value)) {
            instance_class = (PyObject*) Py_TYPE(value);
            if (instance_class != type) {
                int is_subclass = PyObject_IsSubclass(instance_class, type);
                if (!is_subclass) {
                    instance_class = NULL;
                } else if (unlikely(is_subclass == -1)) {
                    goto bad;
                } else {
                    type = instance_class;
                }
            }
        }
        if (!instance_class) {
            PyObject *args;
            if (!value)
                args = PyTuple_New(0);
            else if (PyTuple_Check(value)) {
                Py_INCREF(value);
                args = value;
            } else
                args = PyTuple_Pack(1, value);
            if (!args)
                goto bad;
            owned_instance = PyObject_Call(type, args, NULL);
            Py_DECREF(args);
            if (!owned_instance)
                goto bad;
            value = owned_instance;
            if (!PyExceptionInstance_Check(value)) {
                PyErr_Format(PyExc_TypeError,
                             "calling %R should have returned an instance of "
                             "BaseException, not %R",
                             type, Py_TYPE(value));
                goto bad;
            }
        }
    } else {
        PyErr_SetString(PyExc_TypeError,
            "raise: exception class must be a subclass of BaseException");
        goto bad;
    }
    if (cause) {
        PyObject *fixed_cause;
        if (cause == Py_None) {
            fixed_cause = NULL;
        } else if (PyExceptionClass_Check(cause)) {
            fixed_cause = PyObject_CallObject(cause, NULL);
            if (fixed_cause == NULL)
                goto bad;
        } else if (PyExceptionInstance_Check(cause)) {
            fixed_cause = cause;
            Py_INCREF(fixed_cause);
        } else {
            PyErr_SetString(PyExc_TypeError,
                            "exception causes must derive from "
                            "BaseException");
            goto bad;
        }
        PyException_SetCause(value, fixed_cause);
    }
    PyErr_SetObject(type, value);
    if (tb) {
#if CYTHON_COMPILING_IN_PYPY
        PyObject *tmp_type, *tmp_value, *tmp_tb;
        PyErr_Fetch(&tmp_type, &tmp_value, &tmp_tb);
        Py_INCREF(tb);
        PyErr_Restore(tmp_type, tmp_value, tb);
        Py_XDECREF(tmp_tb);
#else
        PyThreadState *tstate = __Pyx_PyThreadState_Current;
        PyObject* tmp_tb = tstate->curexc_traceback;
        if (tb != tmp_tb) {
            Py_INCREF(tb);
            tstate->curexc_traceback = tb;
            Py_XDECREF(tmp_tb);
        }
#endif
    }
bad:
    Py_XDECREF(owned_instance);
    return;
}
#endif

/* BufferIndexError */
    static void __Pyx_RaiseBufferIndexError(int axis) {
  PyErr_Format(PyExc_IndexError,
     "Out of bounds on buffer access (axis %d)", axis);
}

/* RaiseTooManyValuesToUnpack */
    static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected) {
    PyErr_Format(PyExc_ValueError,
                 "too many values to unpack (expected %" CYTHON_FORMAT_SSIZE_T "d)", expected);
}

/* RaiseNeedMoreValuesToUnpack */
    static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index) {
    PyErr_Format(PyExc_ValueError,
                 "need more than %" CYTHON_FORMAT_SSIZE_T "d value%.1s to unpack",
                 index, (index == 1) ? "" : "s");
}

/* IterFinish */
    static CYTHON_INLINE int __Pyx_IterFinish(void) {
#if CYTHON_FAST_THREAD_STATE
    PyThreadState *tstate = __Pyx_PyThreadState_Current;
    PyObject* exc_type = tstate->curexc_type;
    if (unlikely(exc_type)) {
        if (likely(__Pyx_PyErr_GivenExceptionMatches(exc_type, PyExc_StopIteration))) {
            PyObject *exc_value, *exc_tb;
            exc_value = tstate->curexc_value;
            exc_tb = tstate->curexc_traceback;
            tstate->curexc_type = 0;
            tstate->curexc_value = 0;
            tstate->curexc_traceback = 0;
            Py_DECREF(exc_type);
            Py_XDECREF(exc_value);
            Py_XDECREF(exc_tb);
            return 0;
        } else {
            return -1;
        }
    }
    return 0;
#else
    if (unlikely(PyErr_Occurred())) {
        if (likely(PyErr_ExceptionMatches(PyExc_StopIteration))) {
            PyErr_Clear();
            return 0;
        } else {
            return -1;
        }
    }
    return 0;
#endif
}

/* UnpackItemEndCheck */
    static int __Pyx_IternextUnpackEndCheck(PyObject *retval, Py_ssize_t expected) {
    if (unlikely(retval)) {
        Py_DECREF(retval);
        __Pyx_RaiseTooManyValuesError(expected);
        return -1;
    } else {
        return __Pyx_IterFinish();
    }
    return 0;
}

/* BytesEquals */
    static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals) {
#if CYTHON_COMPILING_IN_PYPY
    return PyObject_RichCompareBool(s1, s2, equals);
#else
    if (s1 == s2) {
        return (equals == Py_EQ);
    } else if (PyBytes_CheckExact(s1) & PyBytes_CheckExact(s2)) {
        const char *ps1, *ps2;
        Py_ssize_t length = PyBytes_GET_SIZE(s1);
        if (length != PyBytes_GET_SIZE(s2))
            return (equals == Py_NE);
        ps1 = PyBytes_AS_STRING(s1);
        ps2 = PyBytes_AS_STRING(s2);
        if (ps1[0] != ps2[0]) {
            return (equals == Py_NE);
        } else if (length == 1) {
            return (equals == Py_EQ);
        } else {
            int result;
#if CYTHON_USE_UNICODE_INTERNALS
            Py_hash_t hash1, hash2;
            hash1 = ((PyBytesObject*)s1)->ob_shash;
            hash2 = ((PyBytesObject*)s2)->ob_shash;
            if (hash1 != hash2 && hash1 != -1 && hash2 != -1) {
                return (equals == Py_NE);
            }
#endif
            result = memcmp(ps1, ps2, (size_t)length);
            return (equals == Py_EQ) ? (result == 0) : (result != 0);
        }
    } else if ((s1 == Py_None) & PyBytes_CheckExact(s2)) {
        return (equals == Py_NE);
    } else if ((s2 == Py_None) & PyBytes_CheckExact(s1)) {
        return (equals == Py_NE);
    } else {
        int result;
        PyObject* py_result = PyObject_RichCompare(s1, s2, equals);
        if (!py_result)
            return -1;
        result = __Pyx_PyObject_IsTrue(py_result);
        Py_DECREF(py_result);
        return result;
    }
#endif
}

/* UnicodeEquals */
    static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals) {
#if CYTHON_COMPILING_IN_PYPY
    return PyObject_RichCompareBool(s1, s2, equals);
#else
#if PY_MAJOR_VERSION < 3
    PyObject* owned_ref = NULL;
#endif
    int s1_is_unicode, s2_is_unicode;
    if (s1 == s2) {
        goto return_eq;
    }
    s1_is_unicode = PyUnicode_CheckExact(s1);
    s2_is_unicode = PyUnicode_CheckExact(s2);
#if PY_MAJOR_VERSION < 3
    if ((s1_is_unicode & (!s2_is_unicode)) && PyString_CheckExact(s2)) {
        owned_ref = PyUnicode_FromObject(s2);
        if (unlikely(!owned_ref))
            return -1;
        s2 = owned_ref;
        s2_is_unicode = 1;
    } else if ((s2_is_unicode & (!s1_is_unicode)) && PyString_CheckExact(s1)) {
        owned_ref = PyUnicode_FromObject(s1);
        if (unlikely(!owned_ref))
            return -1;
        s1 = owned_ref;
        s1_is_unicode = 1;
    } else if (((!s2_is_unicode) & (!s1_is_unicode))) {
        return __Pyx_PyBytes_Equals(s1, s2, equals);
    }
#endif
    if (s1_is_unicode & s2_is_unicode) {
        Py_ssize_t length;
        int kind;
        void *data1, *data2;
        if (unlikely(__Pyx_PyUnicode_READY(s1) < 0) || unlikely(__Pyx_PyUnicode_READY(s2) < 0))
            return -1;
        length = __Pyx_PyUnicode_GET_LENGTH(s1);
        if (length != __Pyx_PyUnicode_GET_LENGTH(s2)) {
            goto return_ne;
        }
#if CYTHON_USE_UNICODE_INTERNALS
        {
            Py_hash_t hash1, hash2;
        #if CYTHON_PEP393_ENABLED
            hash1 = ((PyASCIIObject*)s1)->hash;
            hash2 = ((PyASCIIObject*)s2)->hash;
        #else
            hash1 = ((PyUnicodeObject*)s1)->hash;
            hash2 = ((PyUnicodeObject*)s2)->hash;
        #endif
            if (hash1 != hash2 && hash1 != -1 && hash2 != -1) {
                goto return_ne;
            }
        }
#endif
        kind = __Pyx_PyUnicode_KIND(s1);
        if (kind != __Pyx_PyUnicode_KIND(s2)) {
            goto return_ne;
        }
        data1 = __Pyx_PyUnicode_DATA(s1);
        data2 = __Pyx_PyUnicode_DATA(s2);
        if (__Pyx_PyUnicode_READ(kind, data1, 0) != __Pyx_PyUnicode_READ(kind, data2, 0)) {
            goto return_ne;
        } else if (length == 1) {
            goto return_eq;
        } else {
            int result = memcmp(data1, data2, (size_t)(length * kind));
            #if PY_MAJOR_VERSION < 3
            Py_XDECREF(owned_ref);
            #endif
            return (equals == Py_EQ) ? (result == 0) : (result != 0);
        }
    } else if ((s1 == Py_None) & s2_is_unicode) {
        goto return_ne;
    } else if ((s2 == Py_None) & s1_is_unicode) {
        goto return_ne;
    } else {
        int result;
        PyObject* py_result = PyObject_RichCompare(s1, s2, equals);
        #if PY_MAJOR_VERSION < 3
        Py_XDECREF(owned_ref);
        #endif
        if (!py_result)
            return -1;
        result = __Pyx_PyObject_IsTrue(py_result);
        Py_DECREF(py_result);
        return result;
    }
return_eq:
    #if PY_MAJOR_VERSION < 3
    Py_XDECREF(owned_ref);
    #endif
    return (equals == Py_EQ);
return_ne:
    #if PY_MAJOR_VERSION < 3
    Py_XDECREF(owned_ref);
    #endif
    return (equals == Py_NE);
#endif
}

/* SliceTupleAndList */
    #if CYTHON_COMPILING_IN_CPYTHON
static CYTHON_INLINE void __Pyx_crop_slice(Py_ssize_t* _start, Py_ssize_t* _stop, Py_ssize_t* _length) {
    Py_ssize_t start = *_start, stop = *_stop, length = *_length;
    if (start < 0) {
        start += length;
        if (start < 0)
            start = 0;
    }
    if (stop < 0)
        stop += length;
    else if (stop > length)
        stop = length;
    *_length = stop - start;
    *_start = start;
    *_stop = stop;
}
static CYTHON_INLINE void __Pyx_copy_object_array(PyObject** CYTHON_RESTRICT src, PyObject** CYTHON_RESTRICT dest, Py_ssize_t length) {
    PyObject *v;
    Py_ssize_t i;
    for (i = 0; i < length; i++) {
        v = dest[i] = src[i];
        Py_INCREF(v);
    }
}
static CYTHON_INLINE PyObject* __Pyx_PyList_GetSlice(
            PyObject* src, Py_ssize_t start, Py_ssize_t stop) {
    PyObject* dest;
    Py_ssize_t length = PyList_GET_SIZE(src);
    __Pyx_crop_slice(&start, &stop, &length);
    if (unlikely(length <= 0))
        return PyList_New(0);
    dest = PyList_New(length);
    if (unlikely(!dest))
        return NULL;
    __Pyx_copy_object_array(
        ((PyListObject*)src)->ob_item + start,
        ((PyListObject*)dest)->ob_item,
        length);
    return dest;
}
static CYTHON_INLINE PyObject* __Pyx_PyTuple_GetSlice(
            PyObject* src, Py_ssize_t start, Py_ssize_t stop) {
    PyObject* dest;
    Py_ssize_t length = PyTuple_GET_SIZE(src);
    __Pyx_crop_slice(&start, &stop, &length);
    if (unlikely(length <= 0))
        return PyTuple_New(0);
    dest = PyTuple_New(length);
    if (unlikely(!dest))
        return NULL;
    __Pyx_copy_object_array(
        ((PyTupleObject*)src)->ob_item + start,
        ((PyTupleObject*)dest)->ob_item,
        length);
    return dest;
}
#endif

/* PyFloatBinop */
    #if !CYTHON_COMPILING_IN_PYPY
static PyObject* __Pyx_PyFloat_AddObjC(PyObject *op1, PyObject *op2, double floatval, int inplace, int zerodivision_check) {
    const double b = floatval;
    double a, result;
    (void)inplace;
    (void)zerodivision_check;
    if (likely(PyFloat_CheckExact(op1))) {
        a = PyFloat_AS_DOUBLE(op1);
        
    } else
    #if PY_MAJOR_VERSION < 3
    if (likely(PyInt_CheckExact(op1))) {
        a = (double) PyInt_AS_LONG(op1);
        
    } else
    #endif
    if (likely(PyLong_CheckExact(op1))) {
        #if CYTHON_USE_PYLONG_INTERNALS
        const digit* digits = ((PyLongObject*)op1)->ob_digit;
        const Py_ssize_t size = Py_SIZE(op1);
        switch (size) {
            case  0: a = 0.0; break;
            case -1: a = -(double) digits[0]; break;
            case  1: a = (double) digits[0]; break;
            case -2:
            case 2:
                if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT && ((8 * sizeof(unsigned long) < 53) || (1 * PyLong_SHIFT < 53))) {
                    a = (double) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]));
                    if ((8 * sizeof(unsigned long) < 53) || (2 * PyLong_SHIFT < 53) || (a < (double) ((PY_LONG_LONG)1 << 53))) {
                        if (size == -2)
                            a = -a;
                        break;
                    }
                }
                CYTHON_FALLTHROUGH;
            case -3:
            case 3:
                if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT && ((8 * sizeof(unsigned long) < 53) || (2 * PyLong_SHIFT < 53))) {
                    a = (double) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]));
                    if ((8 * sizeof(unsigned long) < 53) || (3 * PyLong_SHIFT < 53) || (a < (double) ((PY_LONG_LONG)1 << 53))) {
                        if (size == -3)
                            a = -a;
                        break;
                    }
                }
                CYTHON_FALLTHROUGH;
            case -4:
            case 4:
                if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT && ((8 * sizeof(unsigned long) < 53) || (3 * PyLong_SHIFT < 53))) {
                    a = (double) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]));
                    if ((8 * sizeof(unsigned long) < 53) || (4 * PyLong_SHIFT < 53) || (a < (double) ((PY_LONG_LONG)1 << 53))) {
                        if (size == -4)
                            a = -a;
                        break;
                    }
                }
                CYTHON_FALLTHROUGH;
            default:
        #else
        {
        #endif
            a = PyLong_AsDouble(op1);
            if (unlikely(a == -1.0 && PyErr_Occurred())) return NULL;
            
        }
    } else {
        return (inplace ? PyNumber_InPlaceAdd : PyNumber_Add)(op1, op2);
    }
        
        PyFPE_START_PROTECT("add", return NULL)
        result = a + b;
        PyFPE_END_PROTECT(result)
        return PyFloat_FromDouble(result);
}
#endif

/* PyIntBinop */
      #if !CYTHON_COMPILING_IN_PYPY
static PyObject* __Pyx_PyInt_SubtractObjC(PyObject *op1, PyObject *op2, CYTHON_UNUSED long intval, int inplace, int zerodivision_check) {
    (void)inplace;
    (void)zerodivision_check;
    #if PY_MAJOR_VERSION < 3
    if (likely(PyInt_CheckExact(op1))) {
        const long b = intval;
        long x;
        long a = PyInt_AS_LONG(op1);
            x = (long)((unsigned long)a - b);
            if (likely((x^a) >= 0 || (x^~b) >= 0))
                return PyInt_FromLong(x);
            return PyLong_Type.tp_as_number->nb_subtract(op1, op2);
    }
    #endif
    #if CYTHON_USE_PYLONG_INTERNALS
    if (likely(PyLong_CheckExact(op1))) {
        const long b = intval;
        long a, x;
#ifdef HAVE_LONG_LONG
        const PY_LONG_LONG llb = intval;
        PY_LONG_LONG lla, llx;
#endif
        const digit* digits = ((PyLongObject*)op1)->ob_digit;
        const Py_ssize_t size = Py_SIZE(op1);
        if (likely(__Pyx_sst_abs(size) <= 1)) {
            a = likely(size) ? digits[0] : 0;
            if (size == -1) a = -a;
        } else {
            switch (size) {
                case -2:
                    if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) {
                        a = -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]));
                        break;
#ifdef HAVE_LONG_LONG
                    } else if (8 * sizeof(PY_LONG_LONG) - 1 > 2 * PyLong_SHIFT) {
                        lla = -(PY_LONG_LONG) (((((unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0]));
                        goto long_long;
#endif
                    }
                    CYTHON_FALLTHROUGH;
                case 2:
                    if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) {
                        a = (long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]));
                        break;
#ifdef HAVE_LONG_LONG
                    } else if (8 * sizeof(PY_LONG_LONG) - 1 > 2 * PyLong_SHIFT) {
                        lla = (PY_LONG_LONG) (((((unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0]));
                        goto long_long;
#endif
                    }
                    CYTHON_FALLTHROUGH;
                case -3:
                    if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) {
                        a = -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]));
                        break;
#ifdef HAVE_LONG_LONG
                    } else if (8 * sizeof(PY_LONG_LONG) - 1 > 3 * PyLong_SHIFT) {
                        lla = -(PY_LONG_LONG) (((((((unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0]));
                        goto long_long;
#endif
                    }
                    CYTHON_FALLTHROUGH;
                case 3:
                    if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) {
                        a = (long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]));
                        break;
#ifdef HAVE_LONG_LONG
                    } else if (8 * sizeof(PY_LONG_LONG) - 1 > 3 * PyLong_SHIFT) {
                        lla = (PY_LONG_LONG) (((((((unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0]));
                        goto long_long;
#endif
                    }
                    CYTHON_FALLTHROUGH;
                case -4:
                    if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) {
                        a = -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]));
                        break;
#ifdef HAVE_LONG_LONG
                    } else if (8 * sizeof(PY_LONG_LONG) - 1 > 4 * PyLong_SHIFT) {
                        lla = -(PY_LONG_LONG) (((((((((unsigned PY_LONG_LONG)digits[3]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0]));
                        goto long_long;
#endif
                    }
                    CYTHON_FALLTHROUGH;
                case 4:
                    if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) {
                        a = (long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]));
                        break;
#ifdef HAVE_LONG_LONG
                    } else if (8 * sizeof(PY_LONG_LONG) - 1 > 4 * PyLong_SHIFT) {
                        lla = (PY_LONG_LONG) (((((((((unsigned PY_LONG_LONG)digits[3]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0]));
                        goto long_long;
#endif
                    }
                    CYTHON_FALLTHROUGH;
                default: return PyLong_Type.tp_as_number->nb_subtract(op1, op2);
            }
        }
                x = a - b;
            return PyLong_FromLong(x);
#ifdef HAVE_LONG_LONG
        long_long:
                llx = lla - llb;
            return PyLong_FromLongLong(llx);
#endif
        
        
    }
    #endif
    if (PyFloat_CheckExact(op1)) {
        const long b = intval;
        double a = PyFloat_AS_DOUBLE(op1);
            double result;
            PyFPE_START_PROTECT("subtract", return NULL)
            result = ((double)a) - (double)b;
            PyFPE_END_PROTECT(result)
            return PyFloat_FromDouble(result);
    }
    return (inplace ? PyNumber_InPlaceSubtract : PyNumber_Subtract)(op1, op2);
}
#endif

/* None */
      static CYTHON_INLINE long __Pyx_div_long(long a, long b) {
    long q = a / b;
    long r = a - q*b;
    q -= ((r != 0) & ((r ^ b) < 0));
    return q;
}

/* PyObjectGetMethod */
      static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method) {
    PyObject *attr;
#if CYTHON_UNPACK_METHODS && CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_PYTYPE_LOOKUP
    PyTypeObject *tp = Py_TYPE(obj);
    PyObject *descr;
    descrgetfunc f = NULL;
    PyObject **dictptr, *dict;
    int meth_found = 0;
    assert (*method == NULL);
    if (unlikely(tp->tp_getattro != PyObject_GenericGetAttr)) {
        attr = __Pyx_PyObject_GetAttrStr(obj, name);
        goto try_unpack;
    }
    if (unlikely(tp->tp_dict == NULL) && unlikely(PyType_Ready(tp) < 0)) {
        return 0;
    }
    descr = _PyType_Lookup(tp, name);
    if (likely(descr != NULL)) {
        Py_INCREF(descr);
#if PY_MAJOR_VERSION >= 3
        #ifdef __Pyx_CyFunction_USED
        if (likely(PyFunction_Check(descr) || (Py_TYPE(descr) == &PyMethodDescr_Type) || __Pyx_CyFunction_Check(descr)))
        #else
        if (likely(PyFunction_Check(descr) || (Py_TYPE(descr) == &PyMethodDescr_Type)))
        #endif
#else
        #ifdef __Pyx_CyFunction_USED
        if (likely(PyFunction_Check(descr) || __Pyx_CyFunction_Check(descr)))
        #else
        if (likely(PyFunction_Check(descr)))
        #endif
#endif
        {
            meth_found = 1;
        } else {
            f = Py_TYPE(descr)->tp_descr_get;
            if (f != NULL && PyDescr_IsData(descr)) {
                attr = f(descr, obj, (PyObject *)Py_TYPE(obj));
                Py_DECREF(descr);
                goto try_unpack;
            }
        }
    }
    dictptr = _PyObject_GetDictPtr(obj);
    if (dictptr != NULL && (dict = *dictptr) != NULL) {
        Py_INCREF(dict);
        attr = __Pyx_PyDict_GetItemStr(dict, name);
        if (attr != NULL) {
            Py_INCREF(attr);
            Py_DECREF(dict);
            Py_XDECREF(descr);
            goto try_unpack;
        }
        Py_DECREF(dict);
    }
    if (meth_found) {
        *method = descr;
        return 1;
    }
    if (f != NULL) {
        attr = f(descr, obj, (PyObject *)Py_TYPE(obj));
        Py_DECREF(descr);
        goto try_unpack;
    }
    if (descr != NULL) {
        *method = descr;
        return 0;
    }
    PyErr_Format(PyExc_AttributeError,
#if PY_MAJOR_VERSION >= 3
                 "'%.50s' object has no attribute '%U'",
                 tp->tp_name, name);
#else
                 "'%.50s' object has no attribute '%.400s'",
                 tp->tp_name, PyString_AS_STRING(name));
#endif
    return 0;
#else
    attr = __Pyx_PyObject_GetAttrStr(obj, name);
    goto try_unpack;
#endif
try_unpack:
#if CYTHON_UNPACK_METHODS
    if (likely(attr) && PyMethod_Check(attr) && likely(PyMethod_GET_SELF(attr) == obj)) {
        PyObject *function = PyMethod_GET_FUNCTION(attr);
        Py_INCREF(function);
        Py_DECREF(attr);
        *method = function;
        return 1;
    }
#endif
    *method = attr;
    return 0;
}

/* PyObjectCallMethod1 */
      static PyObject* __Pyx__PyObject_CallMethod1(PyObject* method, PyObject* arg) {
    PyObject *result = __Pyx_PyObject_CallOneArg(method, arg);
    Py_DECREF(method);
    return result;
}
static PyObject* __Pyx_PyObject_CallMethod1(PyObject* obj, PyObject* method_name, PyObject* arg) {
    PyObject *method = NULL, *result;
    int is_method = __Pyx_PyObject_GetMethod(obj, method_name, &method);
    if (likely(is_method)) {
        result = __Pyx_PyObject_Call2Args(method, obj, arg);
        Py_DECREF(method);
        return result;
    }
    if (unlikely(!method)) return NULL;
    return __Pyx__PyObject_CallMethod1(method, arg);
}

/* append */
      static CYTHON_INLINE int __Pyx_PyObject_Append(PyObject* L, PyObject* x) {
    if (likely(PyList_CheckExact(L))) {
        if (unlikely(__Pyx_PyList_Append(L, x) < 0)) return -1;
    } else {
        PyObject* retval = __Pyx_PyObject_CallMethod1(L, __pyx_n_s_append, x);
        if (unlikely(!retval))
            return -1;
        Py_DECREF(retval);
    }
    return 0;
}

/* SliceObject */
      static CYTHON_INLINE int __Pyx_PyObject_SetSlice(PyObject* obj, PyObject* value,
        Py_ssize_t cstart, Py_ssize_t cstop,
        PyObject** _py_start, PyObject** _py_stop, PyObject** _py_slice,
        int has_cstart, int has_cstop, CYTHON_UNUSED int wraparound) {
#if CYTHON_USE_TYPE_SLOTS
    PyMappingMethods* mp;
#if PY_MAJOR_VERSION < 3
    PySequenceMethods* ms = Py_TYPE(obj)->tp_as_sequence;
    if (likely(ms && ms->sq_ass_slice)) {
        if (!has_cstart) {
            if (_py_start && (*_py_start != Py_None)) {
                cstart = __Pyx_PyIndex_AsSsize_t(*_py_start);
                if ((cstart == (Py_ssize_t)-1) && PyErr_Occurred()) goto bad;
            } else
                cstart = 0;
        }
        if (!has_cstop) {
            if (_py_stop && (*_py_stop != Py_None)) {
                cstop = __Pyx_PyIndex_AsSsize_t(*_py_stop);
                if ((cstop == (Py_ssize_t)-1) && PyErr_Occurred()) goto bad;
            } else
                cstop = PY_SSIZE_T_MAX;
        }
        if (wraparound && unlikely((cstart < 0) | (cstop < 0)) && likely(ms->sq_length)) {
            Py_ssize_t l = ms->sq_length(obj);
            if (likely(l >= 0)) {
                if (cstop < 0) {
                    cstop += l;
                    if (cstop < 0) cstop = 0;
                }
                if (cstart < 0) {
                    cstart += l;
                    if (cstart < 0) cstart = 0;
                }
            } else {
                if (!PyErr_ExceptionMatches(PyExc_OverflowError))
                    goto bad;
                PyErr_Clear();
            }
        }
        return ms->sq_ass_slice(obj, cstart, cstop, value);
    }
#endif
    mp = Py_TYPE(obj)->tp_as_mapping;
    if (likely(mp && mp->mp_ass_subscript))
#endif
    {
        int result;
        PyObject *py_slice, *py_start, *py_stop;
        if (_py_slice) {
            py_slice = *_py_slice;
        } else {
            PyObject* owned_start = NULL;
            PyObject* owned_stop = NULL;
            if (_py_start) {
                py_start = *_py_start;
            } else {
                if (has_cstart) {
                    owned_start = py_start = PyInt_FromSsize_t(cstart);
                    if (unlikely(!py_start)) goto bad;
                } else
                    py_start = Py_None;
            }
            if (_py_stop) {
                py_stop = *_py_stop;
            } else {
                if (has_cstop) {
                    owned_stop = py_stop = PyInt_FromSsize_t(cstop);
                    if (unlikely(!py_stop)) {
                        Py_XDECREF(owned_start);
                        goto bad;
                    }
                } else
                    py_stop = Py_None;
            }
            py_slice = PySlice_New(py_start, py_stop, Py_None);
            Py_XDECREF(owned_start);
            Py_XDECREF(owned_stop);
            if (unlikely(!py_slice)) goto bad;
        }
#if CYTHON_USE_TYPE_SLOTS
        result = mp->mp_ass_subscript(obj, py_slice, value);
#else
        result = value ? PyObject_SetItem(obj, py_slice, value) : PyObject_DelItem(obj, py_slice);
#endif
        if (!_py_slice) {
            Py_DECREF(py_slice);
        }
        return result;
    }
    PyErr_Format(PyExc_TypeError,
        "'%.200s' object does not support slice %.10s",
        Py_TYPE(obj)->tp_name, value ? "assignment" : "deletion");
bad:
    return -1;
}

/* ExtTypeTest */
      static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *type) {
    if (unlikely(!type)) {
        PyErr_SetString(PyExc_SystemError, "Missing type object");
        return 0;
    }
    if (likely(__Pyx_TypeCheck(obj, type)))
        return 1;
    PyErr_Format(PyExc_TypeError, "Cannot convert %.200s to %.200s",
                 Py_TYPE(obj)->tp_name, type->tp_name);
    return 0;
}

/* IsLittleEndian */
      static CYTHON_INLINE int __Pyx_Is_Little_Endian(void)
{
  union {
    uint32_t u32;
    uint8_t u8[4];
  } S;
  S.u32 = 0x01020304;
  return S.u8[0] == 4;
}

/* BufferFormatCheck */
      static void __Pyx_BufFmt_Init(__Pyx_BufFmt_Context* ctx,
                              __Pyx_BufFmt_StackElem* stack,
                              __Pyx_TypeInfo* type) {
  stack[0].field = &ctx->root;
  stack[0].parent_offset = 0;
  ctx->root.type = type;
  ctx->root.name = "buffer dtype";
  ctx->root.offset = 0;
  ctx->head = stack;
  ctx->head->field = &ctx->root;
  ctx->fmt_offset = 0;
  ctx->head->parent_offset = 0;
  ctx->new_packmode = '@';
  ctx->enc_packmode = '@';
  ctx->new_count = 1;
  ctx->enc_count = 0;
  ctx->enc_type = 0;
  ctx->is_complex = 0;
  ctx->is_valid_array = 0;
  ctx->struct_alignment = 0;
  while (type->typegroup == 'S') {
    ++ctx->head;
    ctx->head->field = type->fields;
    ctx->head->parent_offset = 0;
    type = type->fields->type;
  }
}
static int __Pyx_BufFmt_ParseNumber(const char** ts) {
    int count;
    const char* t = *ts;
    if (*t < '0' || *t > '9') {
      return -1;
    } else {
        count = *t++ - '0';
        while (*t >= '0' && *t <= '9') {
            count *= 10;
            count += *t++ - '0';
        }
    }
    *ts = t;
    return count;
}
static int __Pyx_BufFmt_ExpectNumber(const char **ts) {
    int number = __Pyx_BufFmt_ParseNumber(ts);
    if (number == -1)
        PyErr_Format(PyExc_ValueError,\
                     "Does not understand character buffer dtype format string ('%c')", **ts);
    return number;
}
static void __Pyx_BufFmt_RaiseUnexpectedChar(char ch) {
  PyErr_Format(PyExc_ValueError,
               "Unexpected format string character: '%c'", ch);
}
static const char* __Pyx_BufFmt_DescribeTypeChar(char ch, int is_complex) {
  switch (ch) {
    case '?': return "'bool'";
    case 'c': return "'char'";
    case 'b': return "'signed char'";
    case 'B': return "'unsigned char'";
    case 'h': return "'short'";
    case 'H': return "'unsigned short'";
    case 'i': return "'int'";
    case 'I': return "'unsigned int'";
    case 'l': return "'long'";
    case 'L': return "'unsigned long'";
    case 'q': return "'long long'";
    case 'Q': return "'unsigned long long'";
    case 'f': return (is_complex ? "'complex float'" : "'float'");
    case 'd': return (is_complex ? "'complex double'" : "'double'");
    case 'g': return (is_complex ? "'complex long double'" : "'long double'");
    case 'T': return "a struct";
    case 'O': return "Python object";
    case 'P': return "a pointer";
    case 's': case 'p': return "a string";
    case 0: return "end";
    default: return "unparseable format string";
  }
}
static size_t __Pyx_BufFmt_TypeCharToStandardSize(char ch, int is_complex) {
  switch (ch) {
    case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1;
    case 'h': case 'H': return 2;
    case 'i': case 'I': case 'l': case 'L': return 4;
    case 'q': case 'Q': return 8;
    case 'f': return (is_complex ? 8 : 4);
    case 'd': return (is_complex ? 16 : 8);
    case 'g': {
      PyErr_SetString(PyExc_ValueError, "Python does not define a standard format string size for long double ('g')..");
      return 0;
    }
    case 'O': case 'P': return sizeof(void*);
    default:
      __Pyx_BufFmt_RaiseUnexpectedChar(ch);
      return 0;
    }
}
static size_t __Pyx_BufFmt_TypeCharToNativeSize(char ch, int is_complex) {
  switch (ch) {
    case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1;
    case 'h': case 'H': return sizeof(short);
    case 'i': case 'I': return sizeof(int);
    case 'l': case 'L': return sizeof(long);
    #ifdef HAVE_LONG_LONG
    case 'q': case 'Q': return sizeof(PY_LONG_LONG);
    #endif
    case 'f': return sizeof(float) * (is_complex ? 2 : 1);
    case 'd': return sizeof(double) * (is_complex ? 2 : 1);
    case 'g': return sizeof(long double) * (is_complex ? 2 : 1);
    case 'O': case 'P': return sizeof(void*);
    default: {
      __Pyx_BufFmt_RaiseUnexpectedChar(ch);
      return 0;
    }
  }
}
typedef struct { char c; short x; } __Pyx_st_short;
typedef struct { char c; int x; } __Pyx_st_int;
typedef struct { char c; long x; } __Pyx_st_long;
typedef struct { char c; float x; } __Pyx_st_float;
typedef struct { char c; double x; } __Pyx_st_double;
typedef struct { char c; long double x; } __Pyx_st_longdouble;
typedef struct { char c; void *x; } __Pyx_st_void_p;
#ifdef HAVE_LONG_LONG
typedef struct { char c; PY_LONG_LONG x; } __Pyx_st_longlong;
#endif
static size_t __Pyx_BufFmt_TypeCharToAlignment(char ch, CYTHON_UNUSED int is_complex) {
  switch (ch) {
    case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1;
    case 'h': case 'H': return sizeof(__Pyx_st_short) - sizeof(short);
    case 'i': case 'I': return sizeof(__Pyx_st_int) - sizeof(int);
    case 'l': case 'L': return sizeof(__Pyx_st_long) - sizeof(long);
#ifdef HAVE_LONG_LONG
    case 'q': case 'Q': return sizeof(__Pyx_st_longlong) - sizeof(PY_LONG_LONG);
#endif
    case 'f': return sizeof(__Pyx_st_float) - sizeof(float);
    case 'd': return sizeof(__Pyx_st_double) - sizeof(double);
    case 'g': return sizeof(__Pyx_st_longdouble) - sizeof(long double);
    case 'P': case 'O': return sizeof(__Pyx_st_void_p) - sizeof(void*);
    default:
      __Pyx_BufFmt_RaiseUnexpectedChar(ch);
      return 0;
    }
}
/* These are for computing the padding at the end of the struct to align
   on the first member of the struct. This will probably the same as above,
   but we don't have any guarantees.
 */
typedef struct { short x; char c; } __Pyx_pad_short;
typedef struct { int x; char c; } __Pyx_pad_int;
typedef struct { long x; char c; } __Pyx_pad_long;
typedef struct { float x; char c; } __Pyx_pad_float;
typedef struct { double x; char c; } __Pyx_pad_double;
typedef struct { long double x; char c; } __Pyx_pad_longdouble;
typedef struct { void *x; char c; } __Pyx_pad_void_p;
#ifdef HAVE_LONG_LONG
typedef struct { PY_LONG_LONG x; char c; } __Pyx_pad_longlong;
#endif
static size_t __Pyx_BufFmt_TypeCharToPadding(char ch, CYTHON_UNUSED int is_complex) {
  switch (ch) {
    case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1;
    case 'h': case 'H': return sizeof(__Pyx_pad_short) - sizeof(short);
    case 'i': case 'I': return sizeof(__Pyx_pad_int) - sizeof(int);
    case 'l': case 'L': return sizeof(__Pyx_pad_long) - sizeof(long);
#ifdef HAVE_LONG_LONG
    case 'q': case 'Q': return sizeof(__Pyx_pad_longlong) - sizeof(PY_LONG_LONG);
#endif
    case 'f': return sizeof(__Pyx_pad_float) - sizeof(float);
    case 'd': return sizeof(__Pyx_pad_double) - sizeof(double);
    case 'g': return sizeof(__Pyx_pad_longdouble) - sizeof(long double);
    case 'P': case 'O': return sizeof(__Pyx_pad_void_p) - sizeof(void*);
    default:
      __Pyx_BufFmt_RaiseUnexpectedChar(ch);
      return 0;
    }
}
static char __Pyx_BufFmt_TypeCharToGroup(char ch, int is_complex) {
  switch (ch) {
    case 'c':
        return 'H';
    case 'b': case 'h': case 'i':
    case 'l': case 'q': case 's': case 'p':
        return 'I';
    case '?': case 'B': case 'H': case 'I': case 'L': case 'Q':
        return 'U';
    case 'f': case 'd': case 'g':
        return (is_complex ? 'C' : 'R');
    case 'O':
        return 'O';
    case 'P':
        return 'P';
    default: {
      __Pyx_BufFmt_RaiseUnexpectedChar(ch);
      return 0;
    }
  }
}
static void __Pyx_BufFmt_RaiseExpected(__Pyx_BufFmt_Context* ctx) {
  if (ctx->head == NULL || ctx->head->field == &ctx->root) {
    const char* expected;
    const char* quote;
    if (ctx->head == NULL) {
      expected = "end";
      quote = "";
    } else {
      expected = ctx->head->field->type->name;
      quote = "'";
    }
    PyErr_Format(PyExc_ValueError,
                 "Buffer dtype mismatch, expected %s%s%s but got %s",
                 quote, expected, quote,
                 __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex));
  } else {
    __Pyx_StructField* field = ctx->head->field;
    __Pyx_StructField* parent = (ctx->head - 1)->field;
    PyErr_Format(PyExc_ValueError,
                 "Buffer dtype mismatch, expected '%s' but got %s in '%s.%s'",
                 field->type->name, __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex),
                 parent->type->name, field->name);
  }
}
static int __Pyx_BufFmt_ProcessTypeChunk(__Pyx_BufFmt_Context* ctx) {
  char group;
  size_t size, offset, arraysize = 1;
  if (ctx->enc_type == 0) return 0;
  if (ctx->head->field->type->arraysize[0]) {
    int i, ndim = 0;
    if (ctx->enc_type == 's' || ctx->enc_type == 'p') {
        ctx->is_valid_array = ctx->head->field->type->ndim == 1;
        ndim = 1;
        if (ctx->enc_count != ctx->head->field->type->arraysize[0]) {
            PyErr_Format(PyExc_ValueError,
                         "Expected a dimension of size %zu, got %zu",
                         ctx->head->field->type->arraysize[0], ctx->enc_count);
            return -1;
        }
    }
    if (!ctx->is_valid_array) {
      PyErr_Format(PyExc_ValueError, "Expected %d dimensions, got %d",
                   ctx->head->field->type->ndim, ndim);
      return -1;
    }
    for (i = 0; i < ctx->head->field->type->ndim; i++) {
      arraysize *= ctx->head->field->type->arraysize[i];
    }
    ctx->is_valid_array = 0;
    ctx->enc_count = 1;
  }
  group = __Pyx_BufFmt_TypeCharToGroup(ctx->enc_type, ctx->is_complex);
  do {
    __Pyx_StructField* field = ctx->head->field;
    __Pyx_TypeInfo* type = field->type;
    if (ctx->enc_packmode == '@' || ctx->enc_packmode == '^') {
      size = __Pyx_BufFmt_TypeCharToNativeSize(ctx->enc_type, ctx->is_complex);
    } else {
      size = __Pyx_BufFmt_TypeCharToStandardSize(ctx->enc_type, ctx->is_complex);
    }
    if (ctx->enc_packmode == '@') {
      size_t align_at = __Pyx_BufFmt_TypeCharToAlignment(ctx->enc_type, ctx->is_complex);
      size_t align_mod_offset;
      if (align_at == 0) return -1;
      align_mod_offset = ctx->fmt_offset % align_at;
      if (align_mod_offset > 0) ctx->fmt_offset += align_at - align_mod_offset;
      if (ctx->struct_alignment == 0)
          ctx->struct_alignment = __Pyx_BufFmt_TypeCharToPadding(ctx->enc_type,
                                                                 ctx->is_complex);
    }
    if (type->size != size || type->typegroup != group) {
      if (type->typegroup == 'C' && type->fields != NULL) {
        size_t parent_offset = ctx->head->parent_offset + field->offset;
        ++ctx->head;
        ctx->head->field = type->fields;
        ctx->head->parent_offset = parent_offset;
        continue;
      }
      if ((type->typegroup == 'H' || group == 'H') && type->size == size) {
      } else {
          __Pyx_BufFmt_RaiseExpected(ctx);
          return -1;
      }
    }
    offset = ctx->head->parent_offset + field->offset;
    if (ctx->fmt_offset != offset) {
      PyErr_Format(PyExc_ValueError,
                   "Buffer dtype mismatch; next field is at offset %" CYTHON_FORMAT_SSIZE_T "d but %" CYTHON_FORMAT_SSIZE_T "d expected",
                   (Py_ssize_t)ctx->fmt_offset, (Py_ssize_t)offset);
      return -1;
    }
    ctx->fmt_offset += size;
    if (arraysize)
      ctx->fmt_offset += (arraysize - 1) * size;
    --ctx->enc_count;
    while (1) {
      if (field == &ctx->root) {
        ctx->head = NULL;
        if (ctx->enc_count != 0) {
          __Pyx_BufFmt_RaiseExpected(ctx);
          return -1;
        }
        break;
      }
      ctx->head->field = ++field;
      if (field->type == NULL) {
        --ctx->head;
        field = ctx->head->field;
        continue;
      } else if (field->type->typegroup == 'S') {
        size_t parent_offset = ctx->head->parent_offset + field->offset;
        if (field->type->fields->type == NULL) continue;
        field = field->type->fields;
        ++ctx->head;
        ctx->head->field = field;
        ctx->head->parent_offset = parent_offset;
        break;
      } else {
        break;
      }
    }
  } while (ctx->enc_count);
  ctx->enc_type = 0;
  ctx->is_complex = 0;
  return 0;
}
static PyObject *
__pyx_buffmt_parse_array(__Pyx_BufFmt_Context* ctx, const char** tsp)
{
    const char *ts = *tsp;
    int i = 0, number, ndim;
    ++ts;
    if (ctx->new_count != 1) {
        PyErr_SetString(PyExc_ValueError,
                        "Cannot handle repeated arrays in format string");
        return NULL;
    }
    if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL;
    ndim = ctx->head->field->type->ndim;
    while (*ts && *ts != ')') {
        switch (*ts) {
            case ' ': case '\f': case '\r': case '\n': case '\t': case '\v':  continue;
            default:  break;
        }
        number = __Pyx_BufFmt_ExpectNumber(&ts);
        if (number == -1) return NULL;
        if (i < ndim && (size_t) number != ctx->head->field->type->arraysize[i])
            return PyErr_Format(PyExc_ValueError,
                        "Expected a dimension of size %zu, got %d",
                        ctx->head->field->type->arraysize[i], number);
        if (*ts != ',' && *ts != ')')
            return PyErr_Format(PyExc_ValueError,
                                "Expected a comma in format string, got '%c'", *ts);
        if (*ts == ',') ts++;
        i++;
    }
    if (i != ndim)
        return PyErr_Format(PyExc_ValueError, "Expected %d dimension(s), got %d",
                            ctx->head->field->type->ndim, i);
    if (!*ts) {
        PyErr_SetString(PyExc_ValueError,
                        "Unexpected end of format string, expected ')'");
        return NULL;
    }
    ctx->is_valid_array = 1;
    ctx->new_count = 1;
    *tsp = ++ts;
    return Py_None;
}
static const char* __Pyx_BufFmt_CheckString(__Pyx_BufFmt_Context* ctx, const char* ts) {
  int got_Z = 0;
  while (1) {
    switch(*ts) {
      case 0:
        if (ctx->enc_type != 0 && ctx->head == NULL) {
          __Pyx_BufFmt_RaiseExpected(ctx);
          return NULL;
        }
        if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL;
        if (ctx->head != NULL) {
          __Pyx_BufFmt_RaiseExpected(ctx);
          return NULL;
        }
        return ts;
      case ' ':
      case '\r':
      case '\n':
        ++ts;
        break;
      case '<':
        if (!__Pyx_Is_Little_Endian()) {
          PyErr_SetString(PyExc_ValueError, "Little-endian buffer not supported on big-endian compiler");
          return NULL;
        }
        ctx->new_packmode = '=';
        ++ts;
        break;
      case '>':
      case '!':
        if (__Pyx_Is_Little_Endian()) {
          PyErr_SetString(PyExc_ValueError, "Big-endian buffer not supported on little-endian compiler");
          return NULL;
        }
        ctx->new_packmode = '=';
        ++ts;
        break;
      case '=':
      case '@':
      case '^':
        ctx->new_packmode = *ts++;
        break;
      case 'T':
        {
          const char* ts_after_sub;
          size_t i, struct_count = ctx->new_count;
          size_t struct_alignment = ctx->struct_alignment;
          ctx->new_count = 1;
          ++ts;
          if (*ts != '{') {
            PyErr_SetString(PyExc_ValueError, "Buffer acquisition: Expected '{' after 'T'");
            return NULL;
          }
          if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL;
          ctx->enc_type = 0;
          ctx->enc_count = 0;
          ctx->struct_alignment = 0;
          ++ts;
          ts_after_sub = ts;
          for (i = 0; i != struct_count; ++i) {
            ts_after_sub = __Pyx_BufFmt_CheckString(ctx, ts);
            if (!ts_after_sub) return NULL;
          }
          ts = ts_after_sub;
          if (struct_alignment) ctx->struct_alignment = struct_alignment;
        }
        break;
      case '}':
        {
          size_t alignment = ctx->struct_alignment;
          ++ts;
          if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL;
          ctx->enc_type = 0;
          if (alignment && ctx->fmt_offset % alignment) {
            ctx->fmt_offset += alignment - (ctx->fmt_offset % alignment);
          }
        }
        return ts;
      case 'x':
        if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL;
        ctx->fmt_offset += ctx->new_count;
        ctx->new_count = 1;
        ctx->enc_count = 0;
        ctx->enc_type = 0;
        ctx->enc_packmode = ctx->new_packmode;
        ++ts;
        break;
      case 'Z':
        got_Z = 1;
        ++ts;
        if (*ts != 'f' && *ts != 'd' && *ts != 'g') {
          __Pyx_BufFmt_RaiseUnexpectedChar('Z');
          return NULL;
        }
        CYTHON_FALLTHROUGH;
      case '?': case 'c': case 'b': case 'B': case 'h': case 'H': case 'i': case 'I':
      case 'l': case 'L': case 'q': case 'Q':
      case 'f': case 'd': case 'g':
      case 'O': case 'p':
        if ((ctx->enc_type == *ts) && (got_Z == ctx->is_complex) &&
            (ctx->enc_packmode == ctx->new_packmode) && (!ctx->is_valid_array)) {
          ctx->enc_count += ctx->new_count;
          ctx->new_count = 1;
          got_Z = 0;
          ++ts;
          break;
        }
        CYTHON_FALLTHROUGH;
      case 's':
        if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL;
        ctx->enc_count = ctx->new_count;
        ctx->enc_packmode = ctx->new_packmode;
        ctx->enc_type = *ts;
        ctx->is_complex = got_Z;
        ++ts;
        ctx->new_count = 1;
        got_Z = 0;
        break;
      case ':':
        ++ts;
        while(*ts != ':') ++ts;
        ++ts;
        break;
      case '(':
        if (!__pyx_buffmt_parse_array(ctx, &ts)) return NULL;
        break;
      default:
        {
          int number = __Pyx_BufFmt_ExpectNumber(&ts);
          if (number == -1) return NULL;
          ctx->new_count = (size_t)number;
        }
    }
  }
}

/* BufferGetAndValidate */
        static CYTHON_INLINE void __Pyx_SafeReleaseBuffer(Py_buffer* info) {
  if (unlikely(info->buf == NULL)) return;
  if (info->suboffsets == __Pyx_minusones) info->suboffsets = NULL;
  __Pyx_ReleaseBuffer(info);
}
static void __Pyx_ZeroBuffer(Py_buffer* buf) {
  buf->buf = NULL;
  buf->obj = NULL;
  buf->strides = __Pyx_zeros;
  buf->shape = __Pyx_zeros;
  buf->suboffsets = __Pyx_minusones;
}
static int __Pyx__GetBufferAndValidate(
        Py_buffer* buf, PyObject* obj,  __Pyx_TypeInfo* dtype, int flags,
        int nd, int cast, __Pyx_BufFmt_StackElem* stack)
{
  buf->buf = NULL;
  if (unlikely(__Pyx_GetBuffer(obj, buf, flags) == -1)) {
    __Pyx_ZeroBuffer(buf);
    return -1;
  }
  if (unlikely(buf->ndim != nd)) {
    PyErr_Format(PyExc_ValueError,
                 "Buffer has wrong number of dimensions (expected %d, got %d)",
                 nd, buf->ndim);
    goto fail;
  }
  if (!cast) {
    __Pyx_BufFmt_Context ctx;
    __Pyx_BufFmt_Init(&ctx, stack, dtype);
    if (!__Pyx_BufFmt_CheckString(&ctx, buf->format)) goto fail;
  }
  if (unlikely((size_t)buf->itemsize != dtype->size)) {
    PyErr_Format(PyExc_ValueError,
      "Item size of buffer (%" CYTHON_FORMAT_SSIZE_T "d byte%s) does not match size of '%s' (%" CYTHON_FORMAT_SSIZE_T "d byte%s)",
      buf->itemsize, (buf->itemsize > 1) ? "s" : "",
      dtype->name, (Py_ssize_t)dtype->size, (dtype->size > 1) ? "s" : "");
    goto fail;
  }
  if (buf->suboffsets == NULL) buf->suboffsets = __Pyx_minusones;
  return 0;
fail:;
  __Pyx_SafeReleaseBuffer(buf);
  return -1;
}

/* PyFloatBinop */
        #if !CYTHON_COMPILING_IN_PYPY
#define __Pyx_PyFloat_DivideCObj_ZeroDivisionError(operand) if (unlikely(zerodivision_check && ((operand) == 0))) {\
    PyErr_SetString(PyExc_ZeroDivisionError, "float division by zero");\
    return NULL;\
}
static PyObject* __Pyx_PyFloat_DivideCObj(PyObject *op1, PyObject *op2, double floatval, int inplace, int zerodivision_check) {
    const double a = floatval;
    double b, result;
    (void)inplace;
    (void)zerodivision_check;
    if (likely(PyFloat_CheckExact(op2))) {
        b = PyFloat_AS_DOUBLE(op2);
        __Pyx_PyFloat_DivideCObj_ZeroDivisionError(b)
    } else
    #if PY_MAJOR_VERSION < 3
    if (likely(PyInt_CheckExact(op2))) {
        b = (double) PyInt_AS_LONG(op2);
        __Pyx_PyFloat_DivideCObj_ZeroDivisionError(b)
    } else
    #endif
    if (likely(PyLong_CheckExact(op2))) {
        #if CYTHON_USE_PYLONG_INTERNALS
        const digit* digits = ((PyLongObject*)op2)->ob_digit;
        const Py_ssize_t size = Py_SIZE(op2);
        switch (size) {
            case  0: __Pyx_PyFloat_DivideCObj_ZeroDivisionError(0) break;
            case -1: b = -(double) digits[0]; break;
            case  1: b = (double) digits[0]; break;
            case -2:
            case 2:
                if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT && ((8 * sizeof(unsigned long) < 53) || (1 * PyLong_SHIFT < 53))) {
                    b = (double) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]));
                    if ((8 * sizeof(unsigned long) < 53) || (2 * PyLong_SHIFT < 53) || (b < (double) ((PY_LONG_LONG)1 << 53))) {
                        if (size == -2)
                            b = -b;
                        break;
                    }
                }
                CYTHON_FALLTHROUGH;
            case -3:
            case 3:
                if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT && ((8 * sizeof(unsigned long) < 53) || (2 * PyLong_SHIFT < 53))) {
                    b = (double) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]));
                    if ((8 * sizeof(unsigned long) < 53) || (3 * PyLong_SHIFT < 53) || (b < (double) ((PY_LONG_LONG)1 << 53))) {
                        if (size == -3)
                            b = -b;
                        break;
                    }
                }
                CYTHON_FALLTHROUGH;
            case -4:
            case 4:
                if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT && ((8 * sizeof(unsigned long) < 53) || (3 * PyLong_SHIFT < 53))) {
                    b = (double) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]));
                    if ((8 * sizeof(unsigned long) < 53) || (4 * PyLong_SHIFT < 53) || (b < (double) ((PY_LONG_LONG)1 << 53))) {
                        if (size == -4)
                            b = -b;
                        break;
                    }
                }
                CYTHON_FALLTHROUGH;
            default:
        #else
        {
        #endif
            b = PyLong_AsDouble(op2);
            if (unlikely(b == -1.0 && PyErr_Occurred())) return NULL;
            __Pyx_PyFloat_DivideCObj_ZeroDivisionError(b)
        }
    } else {
        return (inplace ? __Pyx_PyNumber_InPlaceDivide(op1, op2) : __Pyx_PyNumber_Divide(op1, op2));
    }
        __Pyx_PyFloat_DivideCObj_ZeroDivisionError(b)
        PyFPE_START_PROTECT("divide", return NULL)
        result = a / b;
        PyFPE_END_PROTECT(result)
        return PyFloat_FromDouble(result);
}
#endif

/* PyObjectSetAttrStr */
          #if CYTHON_USE_TYPE_SLOTS
static CYTHON_INLINE int __Pyx_PyObject_SetAttrStr(PyObject* obj, PyObject* attr_name, PyObject* value) {
    PyTypeObject* tp = Py_TYPE(obj);
    if (likely(tp->tp_setattro))
        return tp->tp_setattro(obj, attr_name, value);
#if PY_MAJOR_VERSION < 3
    if (likely(tp->tp_setattr))
        return tp->tp_setattr(obj, PyString_AS_STRING(attr_name), value);
#endif
    return PyObject_SetAttr(obj, attr_name, value);
}
#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

/* GetAttr */
          static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *o, PyObject *n) {
#if CYTHON_USE_TYPE_SLOTS
#if PY_MAJOR_VERSION >= 3
    if (likely(PyUnicode_Check(n)))
#else
    if (likely(PyString_Check(n)))
#endif
        return __Pyx_PyObject_GetAttrStr(o, n);
#endif
    return PyObject_GetAttr(o, n);
}

/* GetAttr3 */
          static PyObject *__Pyx_GetAttr3Default(PyObject *d) {
    __Pyx_PyThreadState_declare
    __Pyx_PyThreadState_assign
    if (unlikely(!__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError)))
        return NULL;
    __Pyx_PyErr_Clear();
    Py_INCREF(d);
    return d;
}
static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *o, PyObject *n, PyObject *d) {
    PyObject *r = __Pyx_GetAttr(o, n);
    return (likely(r)) ? r : __Pyx_GetAttr3Default(d);
}

/* None */
          static CYTHON_INLINE Py_ssize_t __Pyx_div_Py_ssize_t(Py_ssize_t a, Py_ssize_t b) {
    Py_ssize_t q = a / b;
    Py_ssize_t r = a - q*b;
    q -= ((r != 0) & ((r ^ b) < 0));
    return q;
}

/* WriteUnraisableException */
          static void __Pyx_WriteUnraisable(const char *name, CYTHON_UNUSED int clineno,
                                  CYTHON_UNUSED int lineno, CYTHON_UNUSED const char *filename,
                                  int full_traceback, CYTHON_UNUSED int nogil) {
    PyObject *old_exc, *old_val, *old_tb;
    PyObject *ctx;
    __Pyx_PyThreadState_declare
#ifdef WITH_THREAD
    PyGILState_STATE state;
    if (nogil)
        state = PyGILState_Ensure();
#ifdef _MSC_VER
    else state = (PyGILState_STATE)-1;
#endif
#endif
    __Pyx_PyThreadState_assign
    __Pyx_ErrFetch(&old_exc, &old_val, &old_tb);
    if (full_traceback) {
        Py_XINCREF(old_exc);
        Py_XINCREF(old_val);
        Py_XINCREF(old_tb);
        __Pyx_ErrRestore(old_exc, old_val, old_tb);
        PyErr_PrintEx(1);
    }
    #if PY_MAJOR_VERSION < 3
    ctx = PyString_FromString(name);
    #else
    ctx = PyUnicode_FromString(name);
    #endif
    __Pyx_ErrRestore(old_exc, old_val, old_tb);
    if (!ctx) {
        PyErr_WriteUnraisable(Py_None);
    } else {
        PyErr_WriteUnraisable(ctx);
        Py_DECREF(ctx);
    }
#ifdef WITH_THREAD
    if (nogil)
        PyGILState_Release(state);
#endif
}

/* HasAttr */
          static CYTHON_INLINE int __Pyx_HasAttr(PyObject *o, PyObject *n) {
    PyObject *r;
    if (unlikely(!__Pyx_PyBaseString_Check(n))) {
        PyErr_SetString(PyExc_TypeError,
                        "hasattr(): attribute name must be string");
        return -1;
    }
    r = __Pyx_GetAttr(o, n);
    if (unlikely(!r)) {
        PyErr_Clear();
        return 0;
    } else {
        Py_DECREF(r);
        return 1;
    }
}

/* ArgTypeTest */
          static int __Pyx__ArgTypeTest(PyObject *obj, PyTypeObject *type, const char *name, int exact)
{
    if (unlikely(!type)) {
        PyErr_SetString(PyExc_SystemError, "Missing type object");
        return 0;
    }
    else if (exact) {
        #if PY_MAJOR_VERSION == 2
        if ((type == &PyBaseString_Type) && likely(__Pyx_PyBaseString_CheckExact(obj))) return 1;
        #endif
    }
    else {
        if (likely(__Pyx_TypeCheck(obj, type))) return 1;
    }
    PyErr_Format(PyExc_TypeError,
        "Argument '%.200s' has incorrect type (expected %.200s, got %.200s)",
        name, type->tp_name, Py_TYPE(obj)->tp_name);
    return 0;
}

/* decode_c_string */
          static CYTHON_INLINE PyObject* __Pyx_decode_c_string(
         const char* cstring, Py_ssize_t start, Py_ssize_t stop,
         const char* encoding, const char* errors,
         PyObject* (*decode_func)(const char *s, Py_ssize_t size, const char *errors)) {
    Py_ssize_t length;
    if (unlikely((start < 0) | (stop < 0))) {
        size_t slen = strlen(cstring);
        if (unlikely(slen > (size_t) PY_SSIZE_T_MAX)) {
            PyErr_SetString(PyExc_OverflowError,
                            "c-string too long to convert to Python");
            return NULL;
        }
        length = (Py_ssize_t) slen;
        if (start < 0) {
            start += length;
            if (start < 0)
                start = 0;
        }
        if (stop < 0)
            stop += length;
    }
    if (unlikely(stop <= start))
        return __Pyx_NewRef(__pyx_empty_unicode);
    length = stop - start;
    cstring += start;
    if (decode_func) {
        return decode_func(cstring, length, errors);
    } else {
        return PyUnicode_Decode(cstring, length, encoding, errors);
    }
}

/* RaiseNoneIterError */
          static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void) {
    PyErr_SetString(PyExc_TypeError, "'NoneType' object is not iterable");
}

/* SwapException */
          #if CYTHON_FAST_THREAD_STATE
static CYTHON_INLINE void __Pyx__ExceptionSwap(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) {
    PyObject *tmp_type, *tmp_value, *tmp_tb;
    #if CYTHON_USE_EXC_INFO_STACK
    _PyErr_StackItem *exc_info = tstate->exc_info;
    tmp_type = exc_info->exc_type;
    tmp_value = exc_info->exc_value;
    tmp_tb = exc_info->exc_traceback;
    exc_info->exc_type = *type;
    exc_info->exc_value = *value;
    exc_info->exc_traceback = *tb;
    #else
    tmp_type = tstate->exc_type;
    tmp_value = tstate->exc_value;
    tmp_tb = tstate->exc_traceback;
    tstate->exc_type = *type;
    tstate->exc_value = *value;
    tstate->exc_traceback = *tb;
    #endif
    *type = tmp_type;
    *value = tmp_value;
    *tb = tmp_tb;
}
#else
static CYTHON_INLINE void __Pyx_ExceptionSwap(PyObject **type, PyObject **value, PyObject **tb) {
    PyObject *tmp_type, *tmp_value, *tmp_tb;
    PyErr_GetExcInfo(&tmp_type, &tmp_value, &tmp_tb);
    PyErr_SetExcInfo(*type, *value, *tb);
    *type = tmp_type;
    *value = tmp_value;
    *tb = tmp_tb;
}
#endif

/* FastTypeChecks */
          #if CYTHON_COMPILING_IN_CPYTHON
static int __Pyx_InBases(PyTypeObject *a, PyTypeObject *b) {
    while (a) {
        a = a->tp_base;
        if (a == b)
            return 1;
    }
    return b == &PyBaseObject_Type;
}
static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b) {
    PyObject *mro;
    if (a == b) return 1;
    mro = a->tp_mro;
    if (likely(mro)) {
        Py_ssize_t i, n;
        n = PyTuple_GET_SIZE(mro);
        for (i = 0; i < n; i++) {
            if (PyTuple_GET_ITEM(mro, i) == (PyObject *)b)
                return 1;
        }
        return 0;
    }
    return __Pyx_InBases(a, b);
}
#if PY_MAJOR_VERSION == 2
static int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject* exc_type2) {
    PyObject *exception, *value, *tb;
    int res;
    __Pyx_PyThreadState_declare
    __Pyx_PyThreadState_assign
    __Pyx_ErrFetch(&exception, &value, &tb);
    res = exc_type1 ? PyObject_IsSubclass(err, exc_type1) : 0;
    if (unlikely(res == -1)) {
        PyErr_WriteUnraisable(err);
        res = 0;
    }
    if (!res) {
        res = PyObject_IsSubclass(err, exc_type2);
        if (unlikely(res == -1)) {
            PyErr_WriteUnraisable(err);
            res = 0;
        }
    }
    __Pyx_ErrRestore(exception, value, tb);
    return res;
}
#else
static CYTHON_INLINE int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject *exc_type2) {
    int res = exc_type1 ? __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type1) : 0;
    if (!res) {
        res = __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type2);
    }
    return res;
}
#endif
static int __Pyx_PyErr_GivenExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) {
    Py_ssize_t i, n;
    assert(PyExceptionClass_Check(exc_type));
    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++) {
        PyObject *t = PyTuple_GET_ITEM(tuple, i);
        #if PY_MAJOR_VERSION < 3
        if (likely(exc_type == t)) return 1;
        #endif
        if (likely(PyExceptionClass_Check(t))) {
            if (__Pyx_inner_PyErr_GivenExceptionMatches2(exc_type, NULL, t)) return 1;
        } else {
        }
    }
    return 0;
}
static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches(PyObject *err, PyObject* exc_type) {
    if (likely(err == exc_type)) return 1;
    if (likely(PyExceptionClass_Check(err))) {
        if (likely(PyExceptionClass_Check(exc_type))) {
            return __Pyx_inner_PyErr_GivenExceptionMatches2(err, NULL, exc_type);
        } else if (likely(PyTuple_Check(exc_type))) {
            return __Pyx_PyErr_GivenExceptionMatchesTuple(err, exc_type);
        } else {
        }
    }
    return PyErr_GivenExceptionMatches(err, exc_type);
}
static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches2(PyObject *err, PyObject *exc_type1, PyObject *exc_type2) {
    assert(PyExceptionClass_Check(exc_type1));
    assert(PyExceptionClass_Check(exc_type2));
    if (likely(err == exc_type1 || err == exc_type2)) return 1;
    if (likely(PyExceptionClass_Check(err))) {
        return __Pyx_inner_PyErr_GivenExceptionMatches2(err, exc_type1, exc_type2);
    }
    return (PyErr_GivenExceptionMatches(err, exc_type1) || PyErr_GivenExceptionMatches(err, exc_type2));
}
#endif

/* PyObject_GenericGetAttrNoDict */
          #if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000
static PyObject *__Pyx_RaiseGenericGetAttributeError(PyTypeObject *tp, PyObject *attr_name) {
    PyErr_Format(PyExc_AttributeError,
#if PY_MAJOR_VERSION >= 3
                 "'%.50s' object has no attribute '%U'",
                 tp->tp_name, attr_name);
#else
                 "'%.50s' object has no attribute '%.400s'",
                 tp->tp_name, PyString_AS_STRING(attr_name));
#endif
    return NULL;
}
static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name) {
    PyObject *descr;
    PyTypeObject *tp = Py_TYPE(obj);
    if (unlikely(!PyString_Check(attr_name))) {
        return PyObject_GenericGetAttr(obj, attr_name);
    }
    assert(!tp->tp_dictoffset);
    descr = _PyType_Lookup(tp, attr_name);
    if (unlikely(!descr)) {
        return __Pyx_RaiseGenericGetAttributeError(tp, attr_name);
    }
    Py_INCREF(descr);
    #if PY_MAJOR_VERSION < 3
    if (likely(PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_HAVE_CLASS)))
    #endif
    {
        descrgetfunc f = Py_TYPE(descr)->tp_descr_get;
        if (unlikely(f)) {
            PyObject *res = f(descr, obj, (PyObject *)tp);
            Py_DECREF(descr);
            return res;
        }
    }
    return descr;
}
#endif

/* PyObject_GenericGetAttr */
          #if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000
static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name) {
    if (unlikely(Py_TYPE(obj)->tp_dictoffset)) {
        return PyObject_GenericGetAttr(obj, attr_name);
    }
    return __Pyx_PyObject_GenericGetAttrNoDict(obj, attr_name);
}
#endif

/* SetVTable */
          static int __Pyx_SetVtable(PyObject *dict, void *vtable) {
#if PY_VERSION_HEX >= 0x02070000
    PyObject *ob = PyCapsule_New(vtable, 0, 0);
#else
    PyObject *ob = PyCObject_FromVoidPtr(vtable, 0);
#endif
    if (!ob)
        goto bad;
    if (PyDict_SetItem(dict, __pyx_n_s_pyx_vtable, ob) < 0)
        goto bad;
    Py_DECREF(ob);
    return 0;
bad:
    Py_XDECREF(ob);
    return -1;
}

/* 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;
  PyObject *name_attr;
  name_attr = __Pyx_PyObject_GetAttrStr(meth, __pyx_n_s_name_2);
  if (likely(name_attr)) {
      ret = PyObject_RichCompareBool(name_attr, name, Py_EQ);
  } else {
      ret = -1;
  }
  if (unlikely(ret < 0)) {
      PyErr_Clear();
      ret = 0;
  }
  Py_XDECREF(name_attr);
  return ret;
}
static int __Pyx_setup_reduce(PyObject* type_obj) {
    int ret = 0;
    PyObject *object_reduce = NULL;
    PyObject *object_reduce_ex = NULL;
    PyObject *reduce = NULL;
    PyObject *reduce_ex = NULL;
    PyObject *reduce_cython = NULL;
    PyObject *setstate = NULL;
    PyObject *setstate_cython = NULL;
#if CYTHON_USE_PYTYPE_LOOKUP
    if (_PyType_Lookup((PyTypeObject*)type_obj, __pyx_n_s_getstate)) goto __PYX_GOOD;
#else
    if (PyObject_HasAttr(type_obj, __pyx_n_s_getstate)) goto __PYX_GOOD;
#endif
#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
    object_reduce_ex = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD;
#endif
    reduce_ex = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce_ex); if (unlikely(!reduce_ex)) goto __PYX_BAD;
    if (reduce_ex == object_reduce_ex) {
#if CYTHON_USE_PYTYPE_LOOKUP
        object_reduce = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce_2); if (!object_reduce) goto __PYX_BAD;
#else
        object_reduce = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce_2); if (!object_reduce) goto __PYX_BAD;
#endif
        reduce = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce_2); 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_GetAttrStrNoError(type_obj, __pyx_n_s_reduce_cython);
            if (likely(reduce_cython)) {
                ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce_2, 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_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);
        }
    }
    goto __PYX_GOOD;
__PYX_BAD:
    if (!PyErr_Occurred())
        PyErr_Format(PyExc_RuntimeError, "Unable to initialize pickling for %s", ((PyTypeObject*)type_obj)->tp_name);
    ret = -1;
__PYX_GOOD:
#if !CYTHON_USE_PYTYPE_LOOKUP
    Py_XDECREF(object_reduce);
    Py_XDECREF(object_reduce_ex);
#endif
    Py_XDECREF(reduce);
    Py_XDECREF(reduce_ex);
    Py_XDECREF(reduce_cython);
    Py_XDECREF(setstate);
    Py_XDECREF(setstate_cython);
    return ret;
}

/* TypeImport */
          #ifndef __PYX_HAVE_RT_ImportType
#define __PYX_HAVE_RT_ImportType
static PyTypeObject *__Pyx_ImportType(PyObject *module, const char *module_name, const char *class_name,
    size_t size, enum __Pyx_ImportType_CheckSize check_size)
{
    PyObject *result = 0;
    char warning[200];
    Py_ssize_t basicsize;
#ifdef Py_LIMITED_API
    PyObject *py_basicsize;
#endif
    result = PyObject_GetAttrString(module, class_name);
    if (!result)
        goto bad;
    if (!PyType_Check(result)) {
        PyErr_Format(PyExc_TypeError,
            "%.200s.%.200s is not a type object",
            module_name, class_name);
        goto bad;
    }
#ifndef Py_LIMITED_API
    basicsize = ((PyTypeObject *)result)->tp_basicsize;
#else
    py_basicsize = PyObject_GetAttrString(result, "__basicsize__");
    if (!py_basicsize)
        goto bad;
    basicsize = PyLong_AsSsize_t(py_basicsize);
    Py_DECREF(py_basicsize);
    py_basicsize = 0;
    if (basicsize == (Py_ssize_t)-1 && PyErr_Occurred())
        goto bad;
#endif
    if ((size_t)basicsize < size) {
        PyErr_Format(PyExc_ValueError,
            "%.200s.%.200s size changed, may indicate binary incompatibility. "
            "Expected %zd from C header, got %zd from PyObject",
            module_name, class_name, size, basicsize);
        goto bad;
    }
    if (check_size == __Pyx_ImportType_CheckSize_Error && (size_t)basicsize != size) {
        PyErr_Format(PyExc_ValueError,
            "%.200s.%.200s size changed, may indicate binary incompatibility. "
            "Expected %zd from C header, got %zd from PyObject",
            module_name, class_name, size, basicsize);
        goto bad;
    }
    else if (check_size == __Pyx_ImportType_CheckSize_Warn && (size_t)basicsize > size) {
        PyOS_snprintf(warning, sizeof(warning),
            "%s.%s size changed, may indicate binary incompatibility. "
            "Expected %zd from C header, got %zd from PyObject",
            module_name, class_name, size, basicsize);
        if (PyErr_WarnEx(NULL, warning, 0) < 0) goto bad;
    }
    return (PyTypeObject *)result;
bad:
    Py_XDECREF(result);
    return NULL;
}
#endif

/* CLineInTraceback */
          #ifndef CYTHON_CLINE_IN_TRACEBACK
static int __Pyx_CLineForTraceback(CYTHON_NCP_UNUSED PyThreadState *tstate, int c_line) {
    PyObject *use_cline;
    PyObject *ptype, *pvalue, *ptraceback;
#if CYTHON_COMPILING_IN_CPYTHON
    PyObject **cython_runtime_dict;
#endif
    if (unlikely(!__pyx_cython_runtime)) {
        return c_line;
    }
    __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback);
#if CYTHON_COMPILING_IN_CPYTHON
    cython_runtime_dict = _PyObject_GetDictPtr(__pyx_cython_runtime);
    if (likely(cython_runtime_dict)) {
        __PYX_PY_DICT_LOOKUP_IF_MODIFIED(
            use_cline, *cython_runtime_dict,
            __Pyx_PyDict_GetItemStr(*cython_runtime_dict, __pyx_n_s_cline_in_traceback))
    } else
#endif
    {
      PyObject *use_cline_obj = __Pyx_PyObject_GetAttrStr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback);
      if (use_cline_obj) {
        use_cline = PyObject_Not(use_cline_obj) ? Py_False : Py_True;
        Py_DECREF(use_cline_obj);
      } else {
        PyErr_Clear();
        use_cline = NULL;
      }
    }
    if (!use_cline) {
        c_line = 0;
        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;
    }
    __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback);
    return c_line;
}
#endif

/* CodeObjectCache */
          static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line) {
    int start = 0, mid = 0, end = count - 1;
    if (end >= 0 && code_line > entries[end].code_line) {
        return count;
    }
    while (start < end) {
        mid = start + (end - start) / 2;
        if (code_line < entries[mid].code_line) {
            end = mid;
        } else if (code_line > entries[mid].code_line) {
             start = mid + 1;
        } else {
            return mid;
        }
    }
    if (code_line <= entries[mid].code_line) {
        return mid;
    } else {
        return mid + 1;
    }
}
static PyCodeObject *__pyx_find_code_object(int code_line) {
    PyCodeObject* code_object;
    int pos;
    if (unlikely(!code_line) || unlikely(!__pyx_code_cache.entries)) {
        return NULL;
    }
    pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line);
    if (unlikely(pos >= __pyx_code_cache.count) || unlikely(__pyx_code_cache.entries[pos].code_line != code_line)) {
        return NULL;
    }
    code_object = __pyx_code_cache.entries[pos].code_object;
    Py_INCREF(code_object);
    return code_object;
}
static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) {
    int pos, i;
    __Pyx_CodeObjectCacheEntry* entries = __pyx_code_cache.entries;
    if (unlikely(!code_line)) {
        return;
    }
    if (unlikely(!entries)) {
        entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Malloc(64*sizeof(__Pyx_CodeObjectCacheEntry));
        if (likely(entries)) {
            __pyx_code_cache.entries = entries;
            __pyx_code_cache.max_count = 64;
            __pyx_code_cache.count = 1;
            entries[0].code_line = code_line;
            entries[0].code_object = code_object;
            Py_INCREF(code_object);
        }
        return;
    }
    pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line);
    if ((pos < __pyx_code_cache.count) && unlikely(__pyx_code_cache.entries[pos].code_line == code_line)) {
        PyCodeObject* tmp = entries[pos].code_object;
        entries[pos].code_object = code_object;
        Py_DECREF(tmp);
        return;
    }
    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));
        if (unlikely(!entries)) {
            return;
        }
        __pyx_code_cache.entries = entries;
        __pyx_code_cache.max_count = new_max;
    }
    for (i=__pyx_code_cache.count; i>pos; i--) {
        entries[i] = entries[i-1];
    }
    entries[pos].code_line = code_line;
    entries[pos].code_object = code_object;
    __pyx_code_cache.count++;
    Py_INCREF(code_object);
}

/* AddTraceback */
          #include "compile.h"
#include "frameobject.h"
#include "traceback.h"
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;
    #if PY_MAJOR_VERSION < 3
    py_srcfile = PyString_FromString(filename);
    #else
    py_srcfile = PyUnicode_FromString(filename);
    #endif
    if (!py_srcfile) goto bad;
    if (c_line) {
        #if PY_MAJOR_VERSION < 3
        py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line);
        #else
        py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line);
        #endif
    }
    else {
        #if PY_MAJOR_VERSION < 3
        py_funcname = PyString_FromString(funcname);
        #else
        py_funcname = PyUnicode_FromString(funcname);
        #endif
    }
    if (!py_funcname) goto bad;
    py_code = __Pyx_PyCode_New(
        0,
        0,
        0,
        0,
        0,
        __pyx_empty_bytes, /*PyObject *code,*/
        __pyx_empty_tuple, /*PyObject *consts,*/
        __pyx_empty_tuple, /*PyObject *names,*/
        __pyx_empty_tuple, /*PyObject *varnames,*/
        __pyx_empty_tuple, /*PyObject *freevars,*/
        __pyx_empty_tuple, /*PyObject *cellvars,*/
        py_srcfile,   /*PyObject *filename,*/
        py_funcname,  /*PyObject *name,*/
        py_line,
        __pyx_empty_bytes  /*PyObject *lnotab*/
    );
    Py_DECREF(py_srcfile);
    Py_DECREF(py_funcname);
    return py_code;
bad:
    Py_XDECREF(py_srcfile);
    Py_XDECREF(py_funcname);
    return NULL;
}
static void __Pyx_AddTraceback(const char *funcname, int c_line,
                               int py_line, const char *filename) {
    PyCodeObject *py_code = 0;
    PyFrameObject *py_frame = 0;
    PyThreadState *tstate = __Pyx_PyThreadState_Current;
    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) {
        py_code = __Pyx_CreateCodeObjectForTraceback(
            funcname, c_line, py_line, filename);
        if (!py_code) goto bad;
        __pyx_insert_code_object(c_line ? -c_line : py_line, py_code);
    }
    py_frame = PyFrame_New(
        tstate,            /*PyThreadState *tstate,*/
        py_code,           /*PyCodeObject *code,*/
        __pyx_d,    /*PyObject *globals,*/
        0                  /*PyObject *locals*/
    );
    if (!py_frame) goto bad;
    __Pyx_PyFrame_SetLineNumber(py_frame, py_line);
    PyTraceBack_Here(py_frame);
bad:
    Py_XDECREF(py_code);
    Py_XDECREF(py_frame);
}

#if PY_MAJOR_VERSION < 3
static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags) {
    if (PyObject_CheckBuffer(obj)) return PyObject_GetBuffer(obj, view, flags);
        if (__Pyx_TypeCheck(obj, __pyx_array_type)) return __pyx_array_getbuffer(obj, view, flags);
        if (__Pyx_TypeCheck(obj, __pyx_memoryview_type)) return __pyx_memoryview_getbuffer(obj, view, flags);
    PyErr_Format(PyExc_TypeError, "'%.200s' does not have the buffer interface", Py_TYPE(obj)->tp_name);
    return -1;
}
static void __Pyx_ReleaseBuffer(Py_buffer *view) {
    PyObject *obj = view->obj;
    if (!obj) return;
    if (PyObject_CheckBuffer(obj)) {
        PyBuffer_Release(view);
        return;
    }
    if ((0)) {}
    view->obj = NULL;
    Py_DECREF(obj);
}
#endif


          /* MemviewSliceIsContig */
          static int
__pyx_memviewslice_is_contig(const __Pyx_memviewslice mvs, char order, int ndim)
{
    int i, index, step, start;
    Py_ssize_t itemsize = mvs.memview->view.itemsize;
    if (order == 'F') {
        step = 1;
        start = 0;
    } else {
        step = -1;
        start = ndim - 1;
    }
    for (i = 0; i < ndim; i++) {
        index = start + step * i;
        if (mvs.suboffsets[index] >= 0 || mvs.strides[index] != itemsize)
            return 0;
        itemsize *= mvs.shape[index];
    }
    return 1;
}

/* OverlappingSlices */
          static void
__pyx_get_array_memory_extents(__Pyx_memviewslice *slice,
                               void **out_start, void **out_end,
                               int ndim, size_t itemsize)
{
    char *start, *end;
    int i;
    start = end = slice->data;
    for (i = 0; i < ndim; i++) {
        Py_ssize_t stride = slice->strides[i];
        Py_ssize_t extent = slice->shape[i];
        if (extent == 0) {
            *out_start = *out_end = start;
            return;
        } else {
            if (stride > 0)
                end += stride * (extent - 1);
            else
                start += stride * (extent - 1);
        }
    }
    *out_start = start;
    *out_end = end + itemsize;
}
static int
__pyx_slices_overlap(__Pyx_memviewslice *slice1,
                     __Pyx_memviewslice *slice2,
                     int ndim, size_t itemsize)
{
    void *start1, *end1, *start2, *end2;
    __pyx_get_array_memory_extents(slice1, &start1, &end1, ndim, itemsize);
    __pyx_get_array_memory_extents(slice2, &start2, &end2, ndim, itemsize);
    return (start1 < end2) && (start2 < end1);
}

/* Capsule */
          static CYTHON_INLINE PyObject *
__pyx_capsule_create(void *p, CYTHON_UNUSED const char *sig)
{
    PyObject *cobj;
#if PY_VERSION_HEX >= 0x02070000
    cobj = PyCapsule_New(p, sig, NULL);
#else
    cobj = PyCObject_FromVoidPtr(p, NULL);
#endif
    return cobj;
}

/* MemviewDtypeToObject */
          static CYTHON_INLINE PyObject *__pyx_memview_get_nn___pyx_t_5numpy_float32_t(const char *itemp) {
    return (PyObject *) PyFloat_FromDouble(*(__pyx_t_5numpy_float32_t *) itemp);
}
static CYTHON_INLINE int __pyx_memview_set_nn___pyx_t_5numpy_float32_t(const char *itemp, PyObject *obj) {
    __pyx_t_5numpy_float32_t value = __pyx_PyFloat_AsFloat(obj);
    if ((value == ((npy_float32)-1)) && PyErr_Occurred())
        return 0;
    *(__pyx_t_5numpy_float32_t *) itemp = value;
    return 1;
}

/* TypeInfoCompare */
          static int
__pyx_typeinfo_cmp(__Pyx_TypeInfo *a, __Pyx_TypeInfo *b)
{
    int i;
    if (!a || !b)
        return 0;
    if (a == b)
        return 1;
    if (a->size != b->size || a->typegroup != b->typegroup ||
            a->is_unsigned != b->is_unsigned || a->ndim != b->ndim) {
        if (a->typegroup == 'H' || b->typegroup == 'H') {
            return a->size == b->size;
        } else {
            return 0;
        }
    }
    if (a->ndim) {
        for (i = 0; i < a->ndim; i++)
            if (a->arraysize[i] != b->arraysize[i])
                return 0;
    }
    if (a->typegroup == 'S') {
        if (a->flags != b->flags)
            return 0;
        if (a->fields || b->fields) {
            if (!(a->fields && b->fields))
                return 0;
            for (i = 0; a->fields[i].type && b->fields[i].type; i++) {
                __Pyx_StructField *field_a = a->fields + i;
                __Pyx_StructField *field_b = b->fields + i;
                if (field_a->offset != field_b->offset ||
                    !__pyx_typeinfo_cmp(field_a->type, field_b->type))
                    return 0;
            }
            return !a->fields[i].type && !b->fields[i].type;
        }
    }
    return 1;
}

/* MemviewSliceValidateAndInit */
          static int
__pyx_check_strides(Py_buffer *buf, int dim, int ndim, int spec)
{
    if (buf->shape[dim] <= 1)
        return 1;
    if (buf->strides) {
        if (spec & __Pyx_MEMVIEW_CONTIG) {
            if (spec & (__Pyx_MEMVIEW_PTR|__Pyx_MEMVIEW_FULL)) {
                if (unlikely(buf->strides[dim] != sizeof(void *))) {
                    PyErr_Format(PyExc_ValueError,
                                 "Buffer is not indirectly contiguous "
                                 "in dimension %d.", dim);
                    goto fail;
                }
            } else if (unlikely(buf->strides[dim] != buf->itemsize)) {
                PyErr_SetString(PyExc_ValueError,
                                "Buffer and memoryview are not contiguous "
                                "in the same dimension.");
                goto fail;
            }
        }
        if (spec & __Pyx_MEMVIEW_FOLLOW) {
            Py_ssize_t stride = buf->strides[dim];
            if (stride < 0)
                stride = -stride;
            if (unlikely(stride < buf->itemsize)) {
                PyErr_SetString(PyExc_ValueError,
                                "Buffer and memoryview are not contiguous "
                                "in the same dimension.");
                goto fail;
            }
        }
    } else {
        if (unlikely(spec & __Pyx_MEMVIEW_CONTIG && dim != ndim - 1)) {
            PyErr_Format(PyExc_ValueError,
                         "C-contiguous buffer is not contiguous in "
                         "dimension %d", dim);
            goto fail;
        } else if (unlikely(spec & (__Pyx_MEMVIEW_PTR))) {
            PyErr_Format(PyExc_ValueError,
                         "C-contiguous buffer is not indirect in "
                         "dimension %d", dim);
            goto fail;
        } else if (unlikely(buf->suboffsets)) {
            PyErr_SetString(PyExc_ValueError,
                            "Buffer exposes suboffsets but no strides");
            goto fail;
        }
    }
    return 1;
fail:
    return 0;
}
static int
__pyx_check_suboffsets(Py_buffer *buf, int dim, CYTHON_UNUSED int ndim, int spec)
{
    if (spec & __Pyx_MEMVIEW_DIRECT) {
        if (unlikely(buf->suboffsets && buf->suboffsets[dim] >= 0)) {
            PyErr_Format(PyExc_ValueError,
                         "Buffer not compatible with direct access "
                         "in dimension %d.", dim);
            goto fail;
        }
    }
    if (spec & __Pyx_MEMVIEW_PTR) {
        if (unlikely(!buf->suboffsets || (buf->suboffsets[dim] < 0))) {
            PyErr_Format(PyExc_ValueError,
                         "Buffer is not indirectly accessible "
                         "in dimension %d.", dim);
            goto fail;
        }
    }
    return 1;
fail:
    return 0;
}
static int
__pyx_verify_contig(Py_buffer *buf, int ndim, int c_or_f_flag)
{
    int i;
    if (c_or_f_flag & __Pyx_IS_F_CONTIG) {
        Py_ssize_t stride = 1;
        for (i = 0; i < ndim; i++) {
            if (unlikely(stride * buf->itemsize != buf->strides[i]  &&  buf->shape[i] > 1)) {
                PyErr_SetString(PyExc_ValueError,
                    "Buffer not fortran contiguous.");
                goto fail;
            }
            stride = stride * buf->shape[i];
        }
    } else if (c_or_f_flag & __Pyx_IS_C_CONTIG) {
        Py_ssize_t stride = 1;
        for (i = ndim - 1; i >- 1; i--) {
            if (unlikely(stride * buf->itemsize != buf->strides[i]  &&  buf->shape[i] > 1)) {
                PyErr_SetString(PyExc_ValueError,
                    "Buffer not C contiguous.");
                goto fail;
            }
            stride = stride * buf->shape[i];
        }
    }
    return 1;
fail:
    return 0;
}
static int __Pyx_ValidateAndInit_memviewslice(
                int *axes_specs,
                int c_or_f_flag,
                int buf_flags,
                int ndim,
                __Pyx_TypeInfo *dtype,
                __Pyx_BufFmt_StackElem stack[],
                __Pyx_memviewslice *memviewslice,
                PyObject *original_obj)
{
    struct __pyx_memoryview_obj *memview, *new_memview;
    __Pyx_RefNannyDeclarations
    Py_buffer *buf;
    int i, spec = 0, retval = -1;
    __Pyx_BufFmt_Context ctx;
    int from_memoryview = __pyx_memoryview_check(original_obj);
    __Pyx_RefNannySetupContext("ValidateAndInit_memviewslice", 0);
    if (from_memoryview && __pyx_typeinfo_cmp(dtype, ((struct __pyx_memoryview_obj *)
                                                            original_obj)->typeinfo)) {
        memview = (struct __pyx_memoryview_obj *) original_obj;
        new_memview = NULL;
    } else {
        memview = (struct __pyx_memoryview_obj *) __pyx_memoryview_new(
                                            original_obj, buf_flags, 0, dtype);
        new_memview = memview;
        if (unlikely(!memview))
            goto fail;
    }
    buf = &memview->view;
    if (unlikely(buf->ndim != ndim)) {
        PyErr_Format(PyExc_ValueError,
                "Buffer has wrong number of dimensions (expected %d, got %d)",
                ndim, buf->ndim);
        goto fail;
    }
    if (new_memview) {
        __Pyx_BufFmt_Init(&ctx, stack, dtype);
        if (unlikely(!__Pyx_BufFmt_CheckString(&ctx, buf->format))) goto fail;
    }
    if (unlikely((unsigned) buf->itemsize != dtype->size)) {
        PyErr_Format(PyExc_ValueError,
                     "Item size of buffer (%" CYTHON_FORMAT_SSIZE_T "u byte%s) "
                     "does not match size of '%s' (%" CYTHON_FORMAT_SSIZE_T "u byte%s)",
                     buf->itemsize,
                     (buf->itemsize > 1) ? "s" : "",
                     dtype->name,
                     dtype->size,
                     (dtype->size > 1) ? "s" : "");
        goto fail;
    }
    if (buf->len > 0) {
        for (i = 0; i < ndim; i++) {
            spec = axes_specs[i];
            if (unlikely(!__pyx_check_strides(buf, i, ndim, spec)))
                goto fail;
            if (unlikely(!__pyx_check_suboffsets(buf, i, ndim, spec)))
                goto fail;
        }
        if (unlikely(buf->strides && !__pyx_verify_contig(buf, ndim, c_or_f_flag)))
            goto fail;
    }
    if (unlikely(__Pyx_init_memviewslice(memview, ndim, memviewslice,
                                         new_memview != NULL) == -1)) {
        goto fail;
    }
    retval = 0;
    goto no_fail;
fail:
    Py_XDECREF(new_memview);
    retval = -1;
no_fail:
    __Pyx_RefNannyFinishContext();
    return retval;
}

/* ObjectToMemviewSlice */
          static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_d_dc_nn___pyx_t_5numpy_float32_t(PyObject *obj, int writable_flag) {
    __Pyx_memviewslice result = { 0, 0, { 0 }, { 0 }, { 0 } };
    __Pyx_BufFmt_StackElem stack[1];
    int axes_specs[] = { (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_FOLLOW), (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_CONTIG) };
    int retcode;
    if (obj == Py_None) {
        result.memview = (struct __pyx_memoryview_obj *) Py_None;
        return result;
    }
    retcode = __Pyx_ValidateAndInit_memviewslice(axes_specs, __Pyx_IS_C_CONTIG,
                                                 (PyBUF_C_CONTIGUOUS | PyBUF_FORMAT) | writable_flag, 2,
                                                 &__Pyx_TypeInfo_nn___pyx_t_5numpy_float32_t, stack,
                                                 &result, obj);
    if (unlikely(retcode == -1))
        goto __pyx_fail;
    return result;
__pyx_fail:
    result.memview = NULL;
    result.data = NULL;
    return result;
}

/* CIntFromPyVerify */
          #define __PYX_VERIFY_RETURN_INT(target_type, func_type, func_value)\
    __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 0)
#define __PYX_VERIFY_RETURN_INT_EXC(target_type, func_type, func_value)\
    __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 1)
#define __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, exc)\
    {\
        func_type value = func_value;\
        if (sizeof(target_type) < sizeof(func_type)) {\
            if (unlikely(value != (func_type) (target_type) value)) {\
                func_type zero = 0;\
                if (exc && unlikely(value == (func_type)-1 && PyErr_Occurred()))\
                    return (target_type) -1;\
                if (is_unsigned && unlikely(value < zero))\
                    goto raise_neg_overflow;\
                else\
                    goto raise_overflow;\
            }\
        }\
        return (target_type) value;\
    }

/* ObjectToMemviewSlice */
          static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_ds_nn___pyx_t_5numpy_float32_t(PyObject *obj, int writable_flag) {
    __Pyx_memviewslice result = { 0, 0, { 0 }, { 0 }, { 0 } };
    __Pyx_BufFmt_StackElem stack[1];
    int axes_specs[] = { (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_STRIDED) };
    int retcode;
    if (obj == Py_None) {
        result.memview = (struct __pyx_memoryview_obj *) Py_None;
        return result;
    }
    retcode = __Pyx_ValidateAndInit_memviewslice(axes_specs, 0,
                                                 PyBUF_RECORDS_RO | writable_flag, 1,
                                                 &__Pyx_TypeInfo_nn___pyx_t_5numpy_float32_t, stack,
                                                 &result, obj);
    if (unlikely(retcode == -1))
        goto __pyx_fail;
    return result;
__pyx_fail:
    result.memview = NULL;
    result.data = NULL;
    return result;
}

/* ObjectToMemviewSlice */
          static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_ds_nn___pyx_t_5numpy_int64_t(PyObject *obj, int writable_flag) {
    __Pyx_memviewslice result = { 0, 0, { 0 }, { 0 }, { 0 } };
    __Pyx_BufFmt_StackElem stack[1];
    int axes_specs[] = { (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_STRIDED) };
    int retcode;
    if (obj == Py_None) {
        result.memview = (struct __pyx_memoryview_obj *) Py_None;
        return result;
    }
    retcode = __Pyx_ValidateAndInit_memviewslice(axes_specs, 0,
                                                 PyBUF_RECORDS_RO | writable_flag, 1,
                                                 &__Pyx_TypeInfo_nn___pyx_t_5numpy_int64_t, stack,
                                                 &result, obj);
    if (unlikely(retcode == -1))
        goto __pyx_fail;
    return result;
__pyx_fail:
    result.memview = NULL;
    result.data = NULL;
    return result;
}

/* Print */
          #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION < 3
static PyObject *__Pyx_GetStdout(void) {
    PyObject *f = PySys_GetObject((char *)"stdout");
    if (!f) {
        PyErr_SetString(PyExc_RuntimeError, "lost sys.stdout");
    }
    return f;
}
static int __Pyx_Print(PyObject* f, PyObject *arg_tuple, int newline) {
    int i;
    if (!f) {
        if (!(f = __Pyx_GetStdout()))
            return -1;
    }
    Py_INCREF(f);
    for (i=0; i < PyTuple_GET_SIZE(arg_tuple); i++) {
        PyObject* v;
        if (PyFile_SoftSpace(f, 1)) {
            if (PyFile_WriteString(" ", f) < 0)
                goto error;
        }
        v = PyTuple_GET_ITEM(arg_tuple, i);
        if (PyFile_WriteObject(v, f, Py_PRINT_RAW) < 0)
            goto error;
        if (PyString_Check(v)) {
            char *s = PyString_AsString(v);
            Py_ssize_t len = PyString_Size(v);
            if (len > 0) {
                switch (s[len-1]) {
                    case ' ': break;
                    case '\f': case '\r': case '\n': case '\t': case '\v':
                        PyFile_SoftSpace(f, 0);
                        break;
                    default:  break;
                }
            }
        }
    }
    if (newline) {
        if (PyFile_WriteString("\n", f) < 0)
            goto error;
        PyFile_SoftSpace(f, 0);
    }
    Py_DECREF(f);
    return 0;
error:
    Py_DECREF(f);
    return -1;
}
#else
static int __Pyx_Print(PyObject* stream, PyObject *arg_tuple, int newline) {
    PyObject* kwargs = 0;
    PyObject* result = 0;
    PyObject* end_string;
    if (unlikely(!__pyx_print)) {
        __pyx_print = PyObject_GetAttr(__pyx_b, __pyx_n_s_print);
        if (!__pyx_print)
            return -1;
    }
    if (stream) {
        kwargs = PyDict_New();
        if (unlikely(!kwargs))
            return -1;
        if (unlikely(PyDict_SetItem(kwargs, __pyx_n_s_file, stream) < 0))
            goto bad;
        if (!newline) {
            end_string = PyUnicode_FromStringAndSize(" ", 1);
            if (unlikely(!end_string))
                goto bad;
            if (PyDict_SetItem(kwargs, __pyx_n_s_end, end_string) < 0) {
                Py_DECREF(end_string);
                goto bad;
            }
            Py_DECREF(end_string);
        }
    } else if (!newline) {
        if (unlikely(!__pyx_print_kwargs)) {
            __pyx_print_kwargs = PyDict_New();
            if (unlikely(!__pyx_print_kwargs))
                return -1;
            end_string = PyUnicode_FromStringAndSize(" ", 1);
            if (unlikely(!end_string))
                return -1;
            if (PyDict_SetItem(__pyx_print_kwargs, __pyx_n_s_end, end_string) < 0) {
                Py_DECREF(end_string);
                return -1;
            }
            Py_DECREF(end_string);
        }
        kwargs = __pyx_print_kwargs;
    }
    result = PyObject_Call(__pyx_print, arg_tuple, kwargs);
    if (unlikely(kwargs) && (kwargs != __pyx_print_kwargs))
        Py_DECREF(kwargs);
    if (!result)
        return -1;
    Py_DECREF(result);
    return 0;
bad:
    if (kwargs != __pyx_print_kwargs)
        Py_XDECREF(kwargs);
    return -1;
}
#endif

/* MemviewDtypeToObject */
          static CYTHON_INLINE PyObject *__pyx_memview_get_nn___pyx_t_5numpy_int64_t(const char *itemp) {
    return (PyObject *) __Pyx_PyInt_From_npy_int64(*(__pyx_t_5numpy_int64_t *) itemp);
}
static CYTHON_INLINE int __pyx_memview_set_nn___pyx_t_5numpy_int64_t(const char *itemp, PyObject *obj) {
    __pyx_t_5numpy_int64_t value = __Pyx_PyInt_As_npy_int64(obj);
    if ((value == ((npy_int64)-1)) && PyErr_Occurred())
        return 0;
    *(__pyx_t_5numpy_int64_t *) itemp = value;
    return 1;
}

/* None */
          static CYTHON_INLINE __pyx_t_5numpy_int64_t __Pyx_pow___pyx_t_5numpy_int64_t(__pyx_t_5numpy_int64_t b, __pyx_t_5numpy_int64_t e) {
    __pyx_t_5numpy_int64_t t = b;
    switch (e) {
        case 3:
            t *= b;
        CYTHON_FALLTHROUGH;
        case 2:
            t *= b;
        CYTHON_FALLTHROUGH;
        case 1:
            return t;
        case 0:
            return 1;
    }
    #if 1
    if (unlikely(e<0)) return 0;
    #endif
    t = 1;
    while (likely(e)) {
        t *= (b * (e&1)) | ((~e)&1);
        b *= b;
        e >>= 1;
    }
    return t;
}

/* Declarations */
          #if CYTHON_CCOMPLEX
  #ifdef __cplusplus
    static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) {
      return ::std::complex< float >(x, y);
    }
  #else
    static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) {
      return x + y*(__pyx_t_float_complex)_Complex_I;
    }
  #endif
#else
    static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) {
      __pyx_t_float_complex z;
      z.real = x;
      z.imag = y;
      return z;
    }
#endif

/* Arithmetic */
          #if CYTHON_CCOMPLEX
#else
    static CYTHON_INLINE int __Pyx_c_eq_float(__pyx_t_float_complex a, __pyx_t_float_complex b) {
       return (a.real == b.real) && (a.imag == b.imag);
    }
    static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_sum_float(__pyx_t_float_complex a, __pyx_t_float_complex b) {
        __pyx_t_float_complex z;
        z.real = a.real + b.real;
        z.imag = a.imag + b.imag;
        return z;
    }
    static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_diff_float(__pyx_t_float_complex a, __pyx_t_float_complex b) {
        __pyx_t_float_complex z;
        z.real = a.real - b.real;
        z.imag = a.imag - b.imag;
        return z;
    }
    static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_prod_float(__pyx_t_float_complex a, __pyx_t_float_complex b) {
        __pyx_t_float_complex z;
        z.real = a.real * b.real - a.imag * b.imag;
        z.imag = a.real * b.imag + a.imag * b.real;
        return z;
    }
    #if 1
    static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex a, __pyx_t_float_complex b) {
        if (b.imag == 0) {
            return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.real);
        } else if (fabsf(b.real) >= fabsf(b.imag)) {
            if (b.real == 0 && b.imag == 0) {
                return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.imag);
            } else {
                float r = b.imag / b.real;
                float s = (float)(1.0) / (b.real + b.imag * r);
                return __pyx_t_float_complex_from_parts(
                    (a.real + a.imag * r) * s, (a.imag - a.real * r) * s);
            }
        } else {
            float r = b.real / b.imag;
            float s = (float)(1.0) / (b.imag + b.real * r);
            return __pyx_t_float_complex_from_parts(
                (a.real * r + a.imag) * s, (a.imag * r - a.real) * s);
        }
    }
    #else
    static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex a, __pyx_t_float_complex b) {
        if (b.imag == 0) {
            return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.real);
        } else {
            float denom = b.real * b.real + b.imag * b.imag;
            return __pyx_t_float_complex_from_parts(
                (a.real * b.real + a.imag * b.imag) / denom,
                (a.imag * b.real - a.real * b.imag) / denom);
        }
    }
    #endif
    static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_neg_float(__pyx_t_float_complex a) {
        __pyx_t_float_complex z;
        z.real = -a.real;
        z.imag = -a.imag;
        return z;
    }
    static CYTHON_INLINE int __Pyx_c_is_zero_float(__pyx_t_float_complex a) {
       return (a.real == 0) && (a.imag == 0);
    }
    static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_conj_float(__pyx_t_float_complex a) {
        __pyx_t_float_complex z;
        z.real =  a.real;
        z.imag = -a.imag;
        return z;
    }
    #if 1
        static CYTHON_INLINE float __Pyx_c_abs_float(__pyx_t_float_complex z) {
          #if !defined(HAVE_HYPOT) || defined(_MSC_VER)
            return sqrtf(z.real*z.real + z.imag*z.imag);
          #else
            return hypotf(z.real, z.imag);
          #endif
        }
        static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_pow_float(__pyx_t_float_complex a, __pyx_t_float_complex b) {
            __pyx_t_float_complex z;
            float r, lnr, theta, z_r, z_theta;
            if (b.imag == 0 && b.real == (int)b.real) {
                if (b.real < 0) {
                    float denom = a.real * a.real + a.imag * a.imag;
                    a.real = a.real / denom;
                    a.imag = -a.imag / denom;
                    b.real = -b.real;
                }
                switch ((int)b.real) {
                    case 0:
                        z.real = 1;
                        z.imag = 0;
                        return z;
                    case 1:
                        return a;
                    case 2:
                        return __Pyx_c_prod_float(a, a);
                    case 3:
                        z = __Pyx_c_prod_float(a, a);
                        return __Pyx_c_prod_float(z, a);
                    case 4:
                        z = __Pyx_c_prod_float(a, a);
                        return __Pyx_c_prod_float(z, z);
                }
            }
            if (a.imag == 0) {
                if (a.real == 0) {
                    return a;
                } else if (b.imag == 0) {
                    z.real = powf(a.real, b.real);
                    z.imag = 0;
                    return z;
                } else if (a.real > 0) {
                    r = a.real;
                    theta = 0;
                } else {
                    r = -a.real;
                    theta = atan2f(0.0, -1.0);
                }
            } else {
                r = __Pyx_c_abs_float(a);
                theta = atan2f(a.imag, a.real);
            }
            lnr = logf(r);
            z_r = expf(lnr * b.real - theta * b.imag);
            z_theta = theta * b.real + lnr * b.imag;
            z.real = z_r * cosf(z_theta);
            z.imag = z_r * sinf(z_theta);
            return z;
        }
    #endif
#endif

/* Declarations */
          #if CYTHON_CCOMPLEX
  #ifdef __cplusplus
    static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) {
      return ::std::complex< double >(x, y);
    }
  #else
    static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) {
      return x + y*(__pyx_t_double_complex)_Complex_I;
    }
  #endif
#else
    static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) {
      __pyx_t_double_complex z;
      z.real = x;
      z.imag = y;
      return z;
    }
#endif

/* Arithmetic */
          #if CYTHON_CCOMPLEX
#else
    static CYTHON_INLINE int __Pyx_c_eq_double(__pyx_t_double_complex a, __pyx_t_double_complex b) {
       return (a.real == b.real) && (a.imag == b.imag);
    }
    static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_sum_double(__pyx_t_double_complex a, __pyx_t_double_complex b) {
        __pyx_t_double_complex z;
        z.real = a.real + b.real;
        z.imag = a.imag + b.imag;
        return z;
    }
    static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_diff_double(__pyx_t_double_complex a, __pyx_t_double_complex b) {
        __pyx_t_double_complex z;
        z.real = a.real - b.real;
        z.imag = a.imag - b.imag;
        return z;
    }
    static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_prod_double(__pyx_t_double_complex a, __pyx_t_double_complex b) {
        __pyx_t_double_complex z;
        z.real = a.real * b.real - a.imag * b.imag;
        z.imag = a.real * b.imag + a.imag * b.real;
        return z;
    }
    #if 1
    static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex a, __pyx_t_double_complex b) {
        if (b.imag == 0) {
            return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.real);
        } else if (fabs(b.real) >= fabs(b.imag)) {
            if (b.real == 0 && b.imag == 0) {
                return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.imag);
            } else {
                double r = b.imag / b.real;
                double s = (double)(1.0) / (b.real + b.imag * r);
                return __pyx_t_double_complex_from_parts(
                    (a.real + a.imag * r) * s, (a.imag - a.real * r) * s);
            }
        } else {
            double r = b.real / b.imag;
            double s = (double)(1.0) / (b.imag + b.real * r);
            return __pyx_t_double_complex_from_parts(
                (a.real * r + a.imag) * s, (a.imag * r - a.real) * s);
        }
    }
    #else
    static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex a, __pyx_t_double_complex b) {
        if (b.imag == 0) {
            return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.real);
        } else {
            double denom = b.real * b.real + b.imag * b.imag;
            return __pyx_t_double_complex_from_parts(
                (a.real * b.real + a.imag * b.imag) / denom,
                (a.imag * b.real - a.real * b.imag) / denom);
        }
    }
    #endif
    static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_neg_double(__pyx_t_double_complex a) {
        __pyx_t_double_complex z;
        z.real = -a.real;
        z.imag = -a.imag;
        return z;
    }
    static CYTHON_INLINE int __Pyx_c_is_zero_double(__pyx_t_double_complex a) {
       return (a.real == 0) && (a.imag == 0);
    }
    static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_conj_double(__pyx_t_double_complex a) {
        __pyx_t_double_complex z;
        z.real =  a.real;
        z.imag = -a.imag;
        return z;
    }
    #if 1
        static CYTHON_INLINE double __Pyx_c_abs_double(__pyx_t_double_complex z) {
          #if !defined(HAVE_HYPOT) || defined(_MSC_VER)
            return sqrt(z.real*z.real + z.imag*z.imag);
          #else
            return hypot(z.real, z.imag);
          #endif
        }
        static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_pow_double(__pyx_t_double_complex a, __pyx_t_double_complex b) {
            __pyx_t_double_complex z;
            double r, lnr, theta, z_r, z_theta;
            if (b.imag == 0 && b.real == (int)b.real) {
                if (b.real < 0) {
                    double denom = a.real * a.real + a.imag * a.imag;
                    a.real = a.real / denom;
                    a.imag = -a.imag / denom;
                    b.real = -b.real;
                }
                switch ((int)b.real) {
                    case 0:
                        z.real = 1;
                        z.imag = 0;
                        return z;
                    case 1:
                        return a;
                    case 2:
                        return __Pyx_c_prod_double(a, a);
                    case 3:
                        z = __Pyx_c_prod_double(a, a);
                        return __Pyx_c_prod_double(z, a);
                    case 4:
                        z = __Pyx_c_prod_double(a, a);
                        return __Pyx_c_prod_double(z, z);
                }
            }
            if (a.imag == 0) {
                if (a.real == 0) {
                    return a;
                } else if (b.imag == 0) {
                    z.real = pow(a.real, b.real);
                    z.imag = 0;
                    return z;
                } else if (a.real > 0) {
                    r = a.real;
                    theta = 0;
                } else {
                    r = -a.real;
                    theta = atan2(0.0, -1.0);
                }
            } else {
                r = __Pyx_c_abs_double(a);
                theta = atan2(a.imag, a.real);
            }
            lnr = log(r);
            z_r = exp(lnr * b.real - theta * b.imag);
            z_theta = theta * b.real + lnr * b.imag;
            z.real = z_r * cos(z_theta);
            z.imag = z_r * sin(z_theta);
            return z;
        }
    #endif
#endif

/* MemviewSliceCopyTemplate */
          static __Pyx_memviewslice
__pyx_memoryview_copy_new_contig(const __Pyx_memviewslice *from_mvs,
                                 const char *mode, int ndim,
                                 size_t sizeof_dtype, int contig_flag,
                                 int dtype_is_object)
{
    __Pyx_RefNannyDeclarations
    int i;
    __Pyx_memviewslice new_mvs = { 0, 0, { 0 }, { 0 }, { 0 } };
    struct __pyx_memoryview_obj *from_memview = from_mvs->memview;
    Py_buffer *buf = &from_memview->view;
    PyObject *shape_tuple = NULL;
    PyObject *temp_int = NULL;
    struct __pyx_array_obj *array_obj = NULL;
    struct __pyx_memoryview_obj *memview_obj = NULL;
    __Pyx_RefNannySetupContext("__pyx_memoryview_copy_new_contig", 0);
    for (i = 0; i < ndim; i++) {
        if (unlikely(from_mvs->suboffsets[i] >= 0)) {
            PyErr_Format(PyExc_ValueError, "Cannot copy memoryview slice with "
                                           "indirect dimensions (axis %d)", i);
            goto fail;
        }
    }
    shape_tuple = PyTuple_New(ndim);
    if (unlikely(!shape_tuple)) {
        goto fail;
    }
    __Pyx_GOTREF(shape_tuple);
    for(i = 0; i < ndim; i++) {
        temp_int = PyInt_FromSsize_t(from_mvs->shape[i]);
        if(unlikely(!temp_int)) {
            goto fail;
        } else {
            PyTuple_SET_ITEM(shape_tuple, i, temp_int);
            temp_int = NULL;
        }
    }
    array_obj = __pyx_array_new(shape_tuple, sizeof_dtype, buf->format, (char *) mode, NULL);
    if (unlikely(!array_obj)) {
        goto fail;
    }
    __Pyx_GOTREF(array_obj);
    memview_obj = (struct __pyx_memoryview_obj *) __pyx_memoryview_new(
                                    (PyObject *) array_obj, contig_flag,
                                    dtype_is_object,
                                    from_mvs->memview->typeinfo);
    if (unlikely(!memview_obj))
        goto fail;
    if (unlikely(__Pyx_init_memviewslice(memview_obj, ndim, &new_mvs, 1) < 0))
        goto fail;
    if (unlikely(__pyx_memoryview_copy_contents(*from_mvs, new_mvs, ndim, ndim,
                                                dtype_is_object) < 0))
        goto fail;
    goto no_fail;
fail:
    __Pyx_XDECREF(new_mvs.memview);
    new_mvs.memview = NULL;
    new_mvs.data = NULL;
no_fail:
    __Pyx_XDECREF(shape_tuple);
    __Pyx_XDECREF(temp_int);
    __Pyx_XDECREF(array_obj);
    __Pyx_RefNannyFinishContext();
    return new_mvs;
}

/* 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);
    }
}

/* CIntFromPy */
          static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *x) {
#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))) {
        if (sizeof(int) < sizeof(long)) {
            __PYX_VERIFY_RETURN_INT(int, long, PyInt_AS_LONG(x))
        } else {
            long val = PyInt_AS_LONG(x);
            if (is_unsigned && unlikely(val < 0)) {
                goto raise_neg_overflow;
            }
            return (int) val;
        }
    } else
#endif
    if (likely(PyLong_Check(x))) {
        if (is_unsigned) {
#if CYTHON_USE_PYLONG_INTERNALS
            const digit* digits = ((PyLongObject*)x)->ob_digit;
            switch (Py_SIZE(x)) {
                case  0: return (int) 0;
                case  1: __PYX_VERIFY_RETURN_INT(int, digit, digits[0])
                case 2:
                    if (8 * sizeof(int) > 1 * PyLong_SHIFT) {
                        if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) {
                            __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if (8 * sizeof(int) >= 2 * PyLong_SHIFT) {
                            return (int) (((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]));
                        }
                    }
                    break;
                case 3:
                    if (8 * sizeof(int) > 2 * PyLong_SHIFT) {
                        if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) {
                            __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if (8 * sizeof(int) >= 3 * PyLong_SHIFT) {
                            return (int) (((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]));
                        }
                    }
                    break;
                case 4:
                    if (8 * sizeof(int) > 3 * PyLong_SHIFT) {
                        if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) {
                            __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if (8 * sizeof(int) >= 4 * PyLong_SHIFT) {
                            return (int) (((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]));
                        }
                    }
                    break;
            }
#endif
#if CYTHON_COMPILING_IN_CPYTHON
            if (unlikely(Py_SIZE(x) < 0)) {
                goto raise_neg_overflow;
            }
#else
            {
                int result = PyObject_RichCompareBool(x, Py_False, Py_LT);
                if (unlikely(result < 0))
                    return (int) -1;
                if (unlikely(result == 1))
                    goto raise_neg_overflow;
            }
#endif
            if (sizeof(int) <= sizeof(unsigned long)) {
                __PYX_VERIFY_RETURN_INT_EXC(int, unsigned long, PyLong_AsUnsignedLong(x))
#ifdef HAVE_LONG_LONG
            } else if (sizeof(int) <= sizeof(unsigned PY_LONG_LONG)) {
                __PYX_VERIFY_RETURN_INT_EXC(int, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x))
#endif
            }
        } else {
#if CYTHON_USE_PYLONG_INTERNALS
            const digit* digits = ((PyLongObject*)x)->ob_digit;
            switch (Py_SIZE(x)) {
                case  0: return (int) 0;
                case -1: __PYX_VERIFY_RETURN_INT(int, sdigit, (sdigit) (-(sdigit)digits[0]))
                case  1: __PYX_VERIFY_RETURN_INT(int,  digit, +digits[0])
                case -2:
                    if (8 * sizeof(int) - 1 > 1 * PyLong_SHIFT) {
                        if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) {
                            __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) {
                            return (int) (((int)-1)*(((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0])));
                        }
                    }
                    break;
                case 2:
                    if (8 * sizeof(int) > 1 * PyLong_SHIFT) {
                        if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) {
                            __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) {
                            return (int) ((((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0])));
                        }
                    }
                    break;
                case -3:
                    if (8 * sizeof(int) - 1 > 2 * PyLong_SHIFT) {
                        if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) {
                            __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) {
                            return (int) (((int)-1)*(((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])));
                        }
                    }
                    break;
                case 3:
                    if (8 * sizeof(int) > 2 * PyLong_SHIFT) {
                        if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) {
                            __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) {
                            return (int) ((((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])));
                        }
                    }
                    break;
                case -4:
                    if (8 * sizeof(int) - 1 > 3 * PyLong_SHIFT) {
                        if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) {
                            __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if (8 * sizeof(int) - 1 > 4 * PyLong_SHIFT) {
                            return (int) (((int)-1)*(((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])));
                        }
                    }
                    break;
                case 4:
                    if (8 * sizeof(int) > 3 * PyLong_SHIFT) {
                        if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) {
                            __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if (8 * sizeof(int) - 1 > 4 * PyLong_SHIFT) {
                            return (int) ((((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])));
                        }
                    }
                    break;
            }
#endif
            if (sizeof(int) <= sizeof(long)) {
                __PYX_VERIFY_RETURN_INT_EXC(int, long, PyLong_AsLong(x))
#ifdef HAVE_LONG_LONG
            } else if (sizeof(int) <= sizeof(PY_LONG_LONG)) {
                __PYX_VERIFY_RETURN_INT_EXC(int, PY_LONG_LONG, PyLong_AsLongLong(x))
#endif
            }
        }
        {
#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray)
            PyErr_SetString(PyExc_RuntimeError,
                            "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers");
#else
            int val;
            PyObject *v = __Pyx_PyNumber_IntOrLong(x);
 #if PY_MAJOR_VERSION < 3
            if (likely(v) && !PyLong_Check(v)) {
                PyObject *tmp = v;
                v = PyNumber_Long(tmp);
                Py_DECREF(tmp);
            }
 #endif
            if (likely(v)) {
                int one = 1; int is_little = (int)*(unsigned char *)&one;
                unsigned char *bytes = (unsigned char *)&val;
                int ret = _PyLong_AsByteArray((PyLongObject *)v,
                                              bytes, sizeof(val),
                                              is_little, !is_unsigned);
                Py_DECREF(v);
                if (likely(!ret))
                    return val;
            }
#endif
            return (int) -1;
        }
    } else {
        int val;
        PyObject *tmp = __Pyx_PyNumber_IntOrLong(x);
        if (!tmp) return (int) -1;
        val = __Pyx_PyInt_As_int(tmp);
        Py_DECREF(tmp);
        return val;
    }
raise_overflow:
    PyErr_SetString(PyExc_OverflowError,
        "value too large to convert to int");
    return (int) -1;
raise_neg_overflow:
    PyErr_SetString(PyExc_OverflowError,
        "can't convert negative value to int");
    return (int) -1;
}

/* CIntFromPy */
          static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *x) {
#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))) {
        if (sizeof(long) < sizeof(long)) {
            __PYX_VERIFY_RETURN_INT(long, long, PyInt_AS_LONG(x))
        } else {
            long val = PyInt_AS_LONG(x);
            if (is_unsigned && unlikely(val < 0)) {
                goto raise_neg_overflow;
            }
            return (long) val;
        }
    } else
#endif
    if (likely(PyLong_Check(x))) {
        if (is_unsigned) {
#if CYTHON_USE_PYLONG_INTERNALS
            const digit* digits = ((PyLongObject*)x)->ob_digit;
            switch (Py_SIZE(x)) {
                case  0: return (long) 0;
                case  1: __PYX_VERIFY_RETURN_INT(long, digit, digits[0])
                case 2:
                    if (8 * sizeof(long) > 1 * PyLong_SHIFT) {
                        if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) {
                            __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if (8 * sizeof(long) >= 2 * PyLong_SHIFT) {
                            return (long) (((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]));
                        }
                    }
                    break;
                case 3:
                    if (8 * sizeof(long) > 2 * PyLong_SHIFT) {
                        if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) {
                            __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if (8 * sizeof(long) >= 3 * PyLong_SHIFT) {
                            return (long) (((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]));
                        }
                    }
                    break;
                case 4:
                    if (8 * sizeof(long) > 3 * PyLong_SHIFT) {
                        if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) {
                            __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if (8 * sizeof(long) >= 4 * PyLong_SHIFT) {
                            return (long) (((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]));
                        }
                    }
                    break;
            }
#endif
#if CYTHON_COMPILING_IN_CPYTHON
            if (unlikely(Py_SIZE(x) < 0)) {
                goto raise_neg_overflow;
            }
#else
            {
                int result = PyObject_RichCompareBool(x, Py_False, Py_LT);
                if (unlikely(result < 0))
                    return (long) -1;
                if (unlikely(result == 1))
                    goto raise_neg_overflow;
            }
#endif
            if (sizeof(long) <= sizeof(unsigned long)) {
                __PYX_VERIFY_RETURN_INT_EXC(long, unsigned long, PyLong_AsUnsignedLong(x))
#ifdef HAVE_LONG_LONG
            } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) {
                __PYX_VERIFY_RETURN_INT_EXC(long, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x))
#endif
            }
        } else {
#if CYTHON_USE_PYLONG_INTERNALS
            const digit* digits = ((PyLongObject*)x)->ob_digit;
            switch (Py_SIZE(x)) {
                case  0: return (long) 0;
                case -1: __PYX_VERIFY_RETURN_INT(long, sdigit, (sdigit) (-(sdigit)digits[0]))
                case  1: __PYX_VERIFY_RETURN_INT(long,  digit, +digits[0])
                case -2:
                    if (8 * sizeof(long) - 1 > 1 * PyLong_SHIFT) {
                        if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) {
                            __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) {
                            return (long) (((long)-1)*(((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0])));
                        }
                    }
                    break;
                case 2:
                    if (8 * sizeof(long) > 1 * PyLong_SHIFT) {
                        if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) {
                            __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) {
                            return (long) ((((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0])));
                        }
                    }
                    break;
                case -3:
                    if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) {
                        if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) {
                            __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) {
                            return (long) (((long)-1)*(((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])));
                        }
                    }
                    break;
                case 3:
                    if (8 * sizeof(long) > 2 * PyLong_SHIFT) {
                        if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) {
                            __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) {
                            return (long) ((((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])));
                        }
                    }
                    break;
                case -4:
                    if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) {
                        if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) {
                            __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) {
                            return (long) (((long)-1)*(((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])));
                        }
                    }
                    break;
                case 4:
                    if (8 * sizeof(long) > 3 * PyLong_SHIFT) {
                        if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) {
                            __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) {
                            return (long) ((((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])));
                        }
                    }
                    break;
            }
#endif
            if (sizeof(long) <= sizeof(long)) {
                __PYX_VERIFY_RETURN_INT_EXC(long, long, PyLong_AsLong(x))
#ifdef HAVE_LONG_LONG
            } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) {
                __PYX_VERIFY_RETURN_INT_EXC(long, PY_LONG_LONG, PyLong_AsLongLong(x))
#endif
            }
        }
        {
#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray)
            PyErr_SetString(PyExc_RuntimeError,
                            "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers");
#else
            long val;
            PyObject *v = __Pyx_PyNumber_IntOrLong(x);
 #if PY_MAJOR_VERSION < 3
            if (likely(v) && !PyLong_Check(v)) {
                PyObject *tmp = v;
                v = PyNumber_Long(tmp);
                Py_DECREF(tmp);
            }
 #endif
            if (likely(v)) {
                int one = 1; int is_little = (int)*(unsigned char *)&one;
                unsigned char *bytes = (unsigned char *)&val;
                int ret = _PyLong_AsByteArray((PyLongObject *)v,
                                              bytes, sizeof(val),
                                              is_little, !is_unsigned);
                Py_DECREF(v);
                if (likely(!ret))
                    return val;
            }
#endif
            return (long) -1;
        }
    } else {
        long val;
        PyObject *tmp = __Pyx_PyNumber_IntOrLong(x);
        if (!tmp) return (long) -1;
        val = __Pyx_PyInt_As_long(tmp);
        Py_DECREF(tmp);
        return val;
    }
raise_overflow:
    PyErr_SetString(PyExc_OverflowError,
        "value too large to convert to long");
    return (long) -1;
raise_neg_overflow:
    PyErr_SetString(PyExc_OverflowError,
        "can't convert negative value to long");
    return (long) -1;
}

/* CIntToPy */
          static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value) {
#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)) {
            return PyInt_FromLong((long) value);
        } else if (sizeof(long) <= sizeof(unsigned long)) {
            return PyLong_FromUnsignedLong((unsigned long) value);
#ifdef HAVE_LONG_LONG
        } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) {
            return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value);
#endif
        }
    } else {
        if (sizeof(long) <= sizeof(long)) {
            return PyInt_FromLong((long) value);
#ifdef HAVE_LONG_LONG
        } else if (sizeof(long) <= 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(long),
                                     little, !is_unsigned);
    }
}

/* CIntToPy */
          static CYTHON_INLINE PyObject* __Pyx_PyInt_From_npy_int64(npy_int64 value) {
#ifdef __Pyx_HAS_GCC_DIAGNOSTIC
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wconversion"
#endif
    const npy_int64 neg_one = (npy_int64) -1, const_zero = (npy_int64) 0;
#ifdef __Pyx_HAS_GCC_DIAGNOSTIC
#pragma GCC diagnostic pop
#endif
    const int is_unsigned = neg_one > const_zero;
    if (is_unsigned) {
        if (sizeof(npy_int64) < sizeof(long)) {
            return PyInt_FromLong((long) value);
        } else if (sizeof(npy_int64) <= sizeof(unsigned long)) {
            return PyLong_FromUnsignedLong((unsigned long) value);
#ifdef HAVE_LONG_LONG
        } else if (sizeof(npy_int64) <= sizeof(unsigned PY_LONG_LONG)) {
            return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value);
#endif
        }
    } else {
        if (sizeof(npy_int64) <= sizeof(long)) {
            return PyInt_FromLong((long) value);
#ifdef HAVE_LONG_LONG
        } else if (sizeof(npy_int64) <= 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(npy_int64),
                                     little, !is_unsigned);
    }
}

/* CIntFromPy */
          static CYTHON_INLINE npy_int64 __Pyx_PyInt_As_npy_int64(PyObject *x) {
#ifdef __Pyx_HAS_GCC_DIAGNOSTIC
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wconversion"
#endif
    const npy_int64 neg_one = (npy_int64) -1, const_zero = (npy_int64) 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))) {
        if (sizeof(npy_int64) < sizeof(long)) {
            __PYX_VERIFY_RETURN_INT(npy_int64, long, PyInt_AS_LONG(x))
        } else {
            long val = PyInt_AS_LONG(x);
            if (is_unsigned && unlikely(val < 0)) {
                goto raise_neg_overflow;
            }
            return (npy_int64) val;
        }
    } else
#endif
    if (likely(PyLong_Check(x))) {
        if (is_unsigned) {
#if CYTHON_USE_PYLONG_INTERNALS
            const digit* digits = ((PyLongObject*)x)->ob_digit;
            switch (Py_SIZE(x)) {
                case  0: return (npy_int64) 0;
                case  1: __PYX_VERIFY_RETURN_INT(npy_int64, digit, digits[0])
                case 2:
                    if (8 * sizeof(npy_int64) > 1 * PyLong_SHIFT) {
                        if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) {
                            __PYX_VERIFY_RETURN_INT(npy_int64, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if (8 * sizeof(npy_int64) >= 2 * PyLong_SHIFT) {
                            return (npy_int64) (((((npy_int64)digits[1]) << PyLong_SHIFT) | (npy_int64)digits[0]));
                        }
                    }
                    break;
                case 3:
                    if (8 * sizeof(npy_int64) > 2 * PyLong_SHIFT) {
                        if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) {
                            __PYX_VERIFY_RETURN_INT(npy_int64, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if (8 * sizeof(npy_int64) >= 3 * PyLong_SHIFT) {
                            return (npy_int64) (((((((npy_int64)digits[2]) << PyLong_SHIFT) | (npy_int64)digits[1]) << PyLong_SHIFT) | (npy_int64)digits[0]));
                        }
                    }
                    break;
                case 4:
                    if (8 * sizeof(npy_int64) > 3 * PyLong_SHIFT) {
                        if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) {
                            __PYX_VERIFY_RETURN_INT(npy_int64, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if (8 * sizeof(npy_int64) >= 4 * PyLong_SHIFT) {
                            return (npy_int64) (((((((((npy_int64)digits[3]) << PyLong_SHIFT) | (npy_int64)digits[2]) << PyLong_SHIFT) | (npy_int64)digits[1]) << PyLong_SHIFT) | (npy_int64)digits[0]));
                        }
                    }
                    break;
            }
#endif
#if CYTHON_COMPILING_IN_CPYTHON
            if (unlikely(Py_SIZE(x) < 0)) {
                goto raise_neg_overflow;
            }
#else
            {
                int result = PyObject_RichCompareBool(x, Py_False, Py_LT);
                if (unlikely(result < 0))
                    return (npy_int64) -1;
                if (unlikely(result == 1))
                    goto raise_neg_overflow;
            }
#endif
            if (sizeof(npy_int64) <= sizeof(unsigned long)) {
                __PYX_VERIFY_RETURN_INT_EXC(npy_int64, unsigned long, PyLong_AsUnsignedLong(x))
#ifdef HAVE_LONG_LONG
            } else if (sizeof(npy_int64) <= sizeof(unsigned PY_LONG_LONG)) {
                __PYX_VERIFY_RETURN_INT_EXC(npy_int64, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x))
#endif
            }
        } else {
#if CYTHON_USE_PYLONG_INTERNALS
            const digit* digits = ((PyLongObject*)x)->ob_digit;
            switch (Py_SIZE(x)) {
                case  0: return (npy_int64) 0;
                case -1: __PYX_VERIFY_RETURN_INT(npy_int64, sdigit, (sdigit) (-(sdigit)digits[0]))
                case  1: __PYX_VERIFY_RETURN_INT(npy_int64,  digit, +digits[0])
                case -2:
                    if (8 * sizeof(npy_int64) - 1 > 1 * PyLong_SHIFT) {
                        if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) {
                            __PYX_VERIFY_RETURN_INT(npy_int64, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if (8 * sizeof(npy_int64) - 1 > 2 * PyLong_SHIFT) {
                            return (npy_int64) (((npy_int64)-1)*(((((npy_int64)digits[1]) << PyLong_SHIFT) | (npy_int64)digits[0])));
                        }
                    }
                    break;
                case 2:
                    if (8 * sizeof(npy_int64) > 1 * PyLong_SHIFT) {
                        if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) {
                            __PYX_VERIFY_RETURN_INT(npy_int64, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if (8 * sizeof(npy_int64) - 1 > 2 * PyLong_SHIFT) {
                            return (npy_int64) ((((((npy_int64)digits[1]) << PyLong_SHIFT) | (npy_int64)digits[0])));
                        }
                    }
                    break;
                case -3:
                    if (8 * sizeof(npy_int64) - 1 > 2 * PyLong_SHIFT) {
                        if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) {
                            __PYX_VERIFY_RETURN_INT(npy_int64, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if (8 * sizeof(npy_int64) - 1 > 3 * PyLong_SHIFT) {
                            return (npy_int64) (((npy_int64)-1)*(((((((npy_int64)digits[2]) << PyLong_SHIFT) | (npy_int64)digits[1]) << PyLong_SHIFT) | (npy_int64)digits[0])));
                        }
                    }
                    break;
                case 3:
                    if (8 * sizeof(npy_int64) > 2 * PyLong_SHIFT) {
                        if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) {
                            __PYX_VERIFY_RETURN_INT(npy_int64, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if (8 * sizeof(npy_int64) - 1 > 3 * PyLong_SHIFT) {
                            return (npy_int64) ((((((((npy_int64)digits[2]) << PyLong_SHIFT) | (npy_int64)digits[1]) << PyLong_SHIFT) | (npy_int64)digits[0])));
                        }
                    }
                    break;
                case -4:
                    if (8 * sizeof(npy_int64) - 1 > 3 * PyLong_SHIFT) {
                        if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) {
                            __PYX_VERIFY_RETURN_INT(npy_int64, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if (8 * sizeof(npy_int64) - 1 > 4 * PyLong_SHIFT) {
                            return (npy_int64) (((npy_int64)-1)*(((((((((npy_int64)digits[3]) << PyLong_SHIFT) | (npy_int64)digits[2]) << PyLong_SHIFT) | (npy_int64)digits[1]) << PyLong_SHIFT) | (npy_int64)digits[0])));
                        }
                    }
                    break;
                case 4:
                    if (8 * sizeof(npy_int64) > 3 * PyLong_SHIFT) {
                        if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) {
                            __PYX_VERIFY_RETURN_INT(npy_int64, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if (8 * sizeof(npy_int64) - 1 > 4 * PyLong_SHIFT) {
                            return (npy_int64) ((((((((((npy_int64)digits[3]) << PyLong_SHIFT) | (npy_int64)digits[2]) << PyLong_SHIFT) | (npy_int64)digits[1]) << PyLong_SHIFT) | (npy_int64)digits[0])));
                        }
                    }
                    break;
            }
#endif
            if (sizeof(npy_int64) <= sizeof(long)) {
                __PYX_VERIFY_RETURN_INT_EXC(npy_int64, long, PyLong_AsLong(x))
#ifdef HAVE_LONG_LONG
            } else if (sizeof(npy_int64) <= sizeof(PY_LONG_LONG)) {
                __PYX_VERIFY_RETURN_INT_EXC(npy_int64, PY_LONG_LONG, PyLong_AsLongLong(x))
#endif
            }
        }
        {
#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray)
            PyErr_SetString(PyExc_RuntimeError,
                            "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers");
#else
            npy_int64 val;
            PyObject *v = __Pyx_PyNumber_IntOrLong(x);
 #if PY_MAJOR_VERSION < 3
            if (likely(v) && !PyLong_Check(v)) {
                PyObject *tmp = v;
                v = PyNumber_Long(tmp);
                Py_DECREF(tmp);
            }
 #endif
            if (likely(v)) {
                int one = 1; int is_little = (int)*(unsigned char *)&one;
                unsigned char *bytes = (unsigned char *)&val;
                int ret = _PyLong_AsByteArray((PyLongObject *)v,
                                              bytes, sizeof(val),
                                              is_little, !is_unsigned);
                Py_DECREF(v);
                if (likely(!ret))
                    return val;
            }
#endif
            return (npy_int64) -1;
        }
    } else {
        npy_int64 val;
        PyObject *tmp = __Pyx_PyNumber_IntOrLong(x);
        if (!tmp) return (npy_int64) -1;
        val = __Pyx_PyInt_As_npy_int64(tmp);
        Py_DECREF(tmp);
        return val;
    }
raise_overflow:
    PyErr_SetString(PyExc_OverflowError,
        "value too large to convert to npy_int64");
    return (npy_int64) -1;
raise_neg_overflow:
    PyErr_SetString(PyExc_OverflowError,
        "can't convert negative value to npy_int64");
    return (npy_int64) -1;
}

/* PrintOne */
          #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION < 3
static int __Pyx_PrintOne(PyObject* f, PyObject *o) {
    if (!f) {
        if (!(f = __Pyx_GetStdout()))
            return -1;
    }
    Py_INCREF(f);
    if (PyFile_SoftSpace(f, 0)) {
        if (PyFile_WriteString(" ", f) < 0)
            goto error;
    }
    if (PyFile_WriteObject(o, f, Py_PRINT_RAW) < 0)
        goto error;
    if (PyFile_WriteString("\n", f) < 0)
        goto error;
    Py_DECREF(f);
    return 0;
error:
    Py_DECREF(f);
    return -1;
    /* the line below is just to avoid C compiler
     * warnings about unused functions */
    return __Pyx_Print(f, NULL, 0);
}
#else
static int __Pyx_PrintOne(PyObject* stream, PyObject *o) {
    int res;
    PyObject* arg_tuple = PyTuple_Pack(1, o);
    if (unlikely(!arg_tuple))
        return -1;
    res = __Pyx_Print(stream, arg_tuple, 1);
    Py_DECREF(arg_tuple);
    return res;
}
#endif

/* CIntToPy */
          static CYTHON_INLINE PyObject* __Pyx_PyInt_From_npy_uint8(npy_uint8 value) {
#ifdef __Pyx_HAS_GCC_DIAGNOSTIC
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wconversion"
#endif
    const npy_uint8 neg_one = (npy_uint8) -1, const_zero = (npy_uint8) 0;
#ifdef __Pyx_HAS_GCC_DIAGNOSTIC
#pragma GCC diagnostic pop
#endif
    const int is_unsigned = neg_one > const_zero;
    if (is_unsigned) {
        if (sizeof(npy_uint8) < sizeof(long)) {
            return PyInt_FromLong((long) value);
        } else if (sizeof(npy_uint8) <= sizeof(unsigned long)) {
            return PyLong_FromUnsignedLong((unsigned long) value);
#ifdef HAVE_LONG_LONG
        } else if (sizeof(npy_uint8) <= sizeof(unsigned PY_LONG_LONG)) {
            return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value);
#endif
        }
    } else {
        if (sizeof(npy_uint8) <= sizeof(long)) {
            return PyInt_FromLong((long) value);
#ifdef HAVE_LONG_LONG
        } else if (sizeof(npy_uint8) <= 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(npy_uint8),
                                     little, !is_unsigned);
    }
}

/* CIntFromPy */
          static CYTHON_INLINE npy_uint8 __Pyx_PyInt_As_npy_uint8(PyObject *x) {
#ifdef __Pyx_HAS_GCC_DIAGNOSTIC
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wconversion"
#endif
    const npy_uint8 neg_one = (npy_uint8) -1, const_zero = (npy_uint8) 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))) {
        if (sizeof(npy_uint8) < sizeof(long)) {
            __PYX_VERIFY_RETURN_INT(npy_uint8, long, PyInt_AS_LONG(x))
        } else {
            long val = PyInt_AS_LONG(x);
            if (is_unsigned && unlikely(val < 0)) {
                goto raise_neg_overflow;
            }
            return (npy_uint8) val;
        }
    } else
#endif
    if (likely(PyLong_Check(x))) {
        if (is_unsigned) {
#if CYTHON_USE_PYLONG_INTERNALS
            const digit* digits = ((PyLongObject*)x)->ob_digit;
            switch (Py_SIZE(x)) {
                case  0: return (npy_uint8) 0;
                case  1: __PYX_VERIFY_RETURN_INT(npy_uint8, digit, digits[0])
                case 2:
                    if (8 * sizeof(npy_uint8) > 1 * PyLong_SHIFT) {
                        if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) {
                            __PYX_VERIFY_RETURN_INT(npy_uint8, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if (8 * sizeof(npy_uint8) >= 2 * PyLong_SHIFT) {
                            return (npy_uint8) (((((npy_uint8)digits[1]) << PyLong_SHIFT) | (npy_uint8)digits[0]));
                        }
                    }
                    break;
                case 3:
                    if (8 * sizeof(npy_uint8) > 2 * PyLong_SHIFT) {
                        if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) {
                            __PYX_VERIFY_RETURN_INT(npy_uint8, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if (8 * sizeof(npy_uint8) >= 3 * PyLong_SHIFT) {
                            return (npy_uint8) (((((((npy_uint8)digits[2]) << PyLong_SHIFT) | (npy_uint8)digits[1]) << PyLong_SHIFT) | (npy_uint8)digits[0]));
                        }
                    }
                    break;
                case 4:
                    if (8 * sizeof(npy_uint8) > 3 * PyLong_SHIFT) {
                        if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) {
                            __PYX_VERIFY_RETURN_INT(npy_uint8, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if (8 * sizeof(npy_uint8) >= 4 * PyLong_SHIFT) {
                            return (npy_uint8) (((((((((npy_uint8)digits[3]) << PyLong_SHIFT) | (npy_uint8)digits[2]) << PyLong_SHIFT) | (npy_uint8)digits[1]) << PyLong_SHIFT) | (npy_uint8)digits[0]));
                        }
                    }
                    break;
            }
#endif
#if CYTHON_COMPILING_IN_CPYTHON
            if (unlikely(Py_SIZE(x) < 0)) {
                goto raise_neg_overflow;
            }
#else
            {
                int result = PyObject_RichCompareBool(x, Py_False, Py_LT);
                if (unlikely(result < 0))
                    return (npy_uint8) -1;
                if (unlikely(result == 1))
                    goto raise_neg_overflow;
            }
#endif
            if (sizeof(npy_uint8) <= sizeof(unsigned long)) {
                __PYX_VERIFY_RETURN_INT_EXC(npy_uint8, unsigned long, PyLong_AsUnsignedLong(x))
#ifdef HAVE_LONG_LONG
            } else if (sizeof(npy_uint8) <= sizeof(unsigned PY_LONG_LONG)) {
                __PYX_VERIFY_RETURN_INT_EXC(npy_uint8, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x))
#endif
            }
        } else {
#if CYTHON_USE_PYLONG_INTERNALS
            const digit* digits = ((PyLongObject*)x)->ob_digit;
            switch (Py_SIZE(x)) {
                case  0: return (npy_uint8) 0;
                case -1: __PYX_VERIFY_RETURN_INT(npy_uint8, sdigit, (sdigit) (-(sdigit)digits[0]))
                case  1: __PYX_VERIFY_RETURN_INT(npy_uint8,  digit, +digits[0])
                case -2:
                    if (8 * sizeof(npy_uint8) - 1 > 1 * PyLong_SHIFT) {
                        if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) {
                            __PYX_VERIFY_RETURN_INT(npy_uint8, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if (8 * sizeof(npy_uint8) - 1 > 2 * PyLong_SHIFT) {
                            return (npy_uint8) (((npy_uint8)-1)*(((((npy_uint8)digits[1]) << PyLong_SHIFT) | (npy_uint8)digits[0])));
                        }
                    }
                    break;
                case 2:
                    if (8 * sizeof(npy_uint8) > 1 * PyLong_SHIFT) {
                        if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) {
                            __PYX_VERIFY_RETURN_INT(npy_uint8, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if (8 * sizeof(npy_uint8) - 1 > 2 * PyLong_SHIFT) {
                            return (npy_uint8) ((((((npy_uint8)digits[1]) << PyLong_SHIFT) | (npy_uint8)digits[0])));
                        }
                    }
                    break;
                case -3:
                    if (8 * sizeof(npy_uint8) - 1 > 2 * PyLong_SHIFT) {
                        if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) {
                            __PYX_VERIFY_RETURN_INT(npy_uint8, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if (8 * sizeof(npy_uint8) - 1 > 3 * PyLong_SHIFT) {
                            return (npy_uint8) (((npy_uint8)-1)*(((((((npy_uint8)digits[2]) << PyLong_SHIFT) | (npy_uint8)digits[1]) << PyLong_SHIFT) | (npy_uint8)digits[0])));
                        }
                    }
                    break;
                case 3:
                    if (8 * sizeof(npy_uint8) > 2 * PyLong_SHIFT) {
                        if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) {
                            __PYX_VERIFY_RETURN_INT(npy_uint8, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if (8 * sizeof(npy_uint8) - 1 > 3 * PyLong_SHIFT) {
                            return (npy_uint8) ((((((((npy_uint8)digits[2]) << PyLong_SHIFT) | (npy_uint8)digits[1]) << PyLong_SHIFT) | (npy_uint8)digits[0])));
                        }
                    }
                    break;
                case -4:
                    if (8 * sizeof(npy_uint8) - 1 > 3 * PyLong_SHIFT) {
                        if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) {
                            __PYX_VERIFY_RETURN_INT(npy_uint8, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if (8 * sizeof(npy_uint8) - 1 > 4 * PyLong_SHIFT) {
                            return (npy_uint8) (((npy_uint8)-1)*(((((((((npy_uint8)digits[3]) << PyLong_SHIFT) | (npy_uint8)digits[2]) << PyLong_SHIFT) | (npy_uint8)digits[1]) << PyLong_SHIFT) | (npy_uint8)digits[0])));
                        }
                    }
                    break;
                case 4:
                    if (8 * sizeof(npy_uint8) > 3 * PyLong_SHIFT) {
                        if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) {
                            __PYX_VERIFY_RETURN_INT(npy_uint8, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if (8 * sizeof(npy_uint8) - 1 > 4 * PyLong_SHIFT) {
                            return (npy_uint8) ((((((((((npy_uint8)digits[3]) << PyLong_SHIFT) | (npy_uint8)digits[2]) << PyLong_SHIFT) | (npy_uint8)digits[1]) << PyLong_SHIFT) | (npy_uint8)digits[0])));
                        }
                    }
                    break;
            }
#endif
            if (sizeof(npy_uint8) <= sizeof(long)) {
                __PYX_VERIFY_RETURN_INT_EXC(npy_uint8, long, PyLong_AsLong(x))
#ifdef HAVE_LONG_LONG
            } else if (sizeof(npy_uint8) <= sizeof(PY_LONG_LONG)) {
                __PYX_VERIFY_RETURN_INT_EXC(npy_uint8, PY_LONG_LONG, PyLong_AsLongLong(x))
#endif
            }
        }
        {
#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray)
            PyErr_SetString(PyExc_RuntimeError,
                            "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers");
#else
            npy_uint8 val;
            PyObject *v = __Pyx_PyNumber_IntOrLong(x);
 #if PY_MAJOR_VERSION < 3
            if (likely(v) && !PyLong_Check(v)) {
                PyObject *tmp = v;
                v = PyNumber_Long(tmp);
                Py_DECREF(tmp);
            }
 #endif
            if (likely(v)) {
                int one = 1; int is_little = (int)*(unsigned char *)&one;
                unsigned char *bytes = (unsigned char *)&val;
                int ret = _PyLong_AsByteArray((PyLongObject *)v,
                                              bytes, sizeof(val),
                                              is_little, !is_unsigned);
                Py_DECREF(v);
                if (likely(!ret))
                    return val;
            }
#endif
            return (npy_uint8) -1;
        }
    } else {
        npy_uint8 val;
        PyObject *tmp = __Pyx_PyNumber_IntOrLong(x);
        if (!tmp) return (npy_uint8) -1;
        val = __Pyx_PyInt_As_npy_uint8(tmp);
        Py_DECREF(tmp);
        return val;
    }
raise_overflow:
    PyErr_SetString(PyExc_OverflowError,
        "value too large to convert to npy_uint8");
    return (npy_uint8) -1;
raise_neg_overflow:
    PyErr_SetString(PyExc_OverflowError,
        "can't convert negative value to npy_uint8");
    return (npy_uint8) -1;
}

/* CIntFromPy */
          static CYTHON_INLINE size_t __Pyx_PyInt_As_size_t(PyObject *x) {
#ifdef __Pyx_HAS_GCC_DIAGNOSTIC
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wconversion"
#endif
    const size_t neg_one = (size_t) -1, const_zero = (size_t) 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))) {
        if (sizeof(size_t) < sizeof(long)) {
            __PYX_VERIFY_RETURN_INT(size_t, long, PyInt_AS_LONG(x))
        } else {
            long val = PyInt_AS_LONG(x);
            if (is_unsigned && unlikely(val < 0)) {
                goto raise_neg_overflow;
            }
            return (size_t) val;
        }
    } else
#endif
    if (likely(PyLong_Check(x))) {
        if (is_unsigned) {
#if CYTHON_USE_PYLONG_INTERNALS
            const digit* digits = ((PyLongObject*)x)->ob_digit;
            switch (Py_SIZE(x)) {
                case  0: return (size_t) 0;
                case  1: __PYX_VERIFY_RETURN_INT(size_t, digit, digits[0])
                case 2:
                    if (8 * sizeof(size_t) > 1 * PyLong_SHIFT) {
                        if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) {
                            __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if (8 * sizeof(size_t) >= 2 * PyLong_SHIFT) {
                            return (size_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]));
                        }
                    }
                    break;
                case 3:
                    if (8 * sizeof(size_t) > 2 * PyLong_SHIFT) {
                        if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) {
                            __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if (8 * sizeof(size_t) >= 3 * PyLong_SHIFT) {
                            return (size_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]));
                        }
                    }
                    break;
                case 4:
                    if (8 * sizeof(size_t) > 3 * PyLong_SHIFT) {
                        if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) {
                            __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if (8 * sizeof(size_t) >= 4 * PyLong_SHIFT) {
                            return (size_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]));
                        }
                    }
                    break;
            }
#endif
#if CYTHON_COMPILING_IN_CPYTHON
            if (unlikely(Py_SIZE(x) < 0)) {
                goto raise_neg_overflow;
            }
#else
            {
                int result = PyObject_RichCompareBool(x, Py_False, Py_LT);
                if (unlikely(result < 0))
                    return (size_t) -1;
                if (unlikely(result == 1))
                    goto raise_neg_overflow;
            }
#endif
            if (sizeof(size_t) <= sizeof(unsigned long)) {
                __PYX_VERIFY_RETURN_INT_EXC(size_t, unsigned long, PyLong_AsUnsignedLong(x))
#ifdef HAVE_LONG_LONG
            } else if (sizeof(size_t) <= sizeof(unsigned PY_LONG_LONG)) {
                __PYX_VERIFY_RETURN_INT_EXC(size_t, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x))
#endif
            }
        } else {
#if CYTHON_USE_PYLONG_INTERNALS
            const digit* digits = ((PyLongObject*)x)->ob_digit;
            switch (Py_SIZE(x)) {
                case  0: return (size_t) 0;
                case -1: __PYX_VERIFY_RETURN_INT(size_t, sdigit, (sdigit) (-(sdigit)digits[0]))
                case  1: __PYX_VERIFY_RETURN_INT(size_t,  digit, +digits[0])
                case -2:
                    if (8 * sizeof(size_t) - 1 > 1 * PyLong_SHIFT) {
                        if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) {
                            __PYX_VERIFY_RETURN_INT(size_t, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if (8 * sizeof(size_t) - 1 > 2 * PyLong_SHIFT) {
                            return (size_t) (((size_t)-1)*(((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])));
                        }
                    }
                    break;
                case 2:
                    if (8 * sizeof(size_t) > 1 * PyLong_SHIFT) {
                        if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) {
                            __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if (8 * sizeof(size_t) - 1 > 2 * PyLong_SHIFT) {
                            return (size_t) ((((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])));
                        }
                    }
                    break;
                case -3:
                    if (8 * sizeof(size_t) - 1 > 2 * PyLong_SHIFT) {
                        if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) {
                            __PYX_VERIFY_RETURN_INT(size_t, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if (8 * sizeof(size_t) - 1 > 3 * PyLong_SHIFT) {
                            return (size_t) (((size_t)-1)*(((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])));
                        }
                    }
                    break;
                case 3:
                    if (8 * sizeof(size_t) > 2 * PyLong_SHIFT) {
                        if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) {
                            __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if (8 * sizeof(size_t) - 1 > 3 * PyLong_SHIFT) {
                            return (size_t) ((((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])));
                        }
                    }
                    break;
                case -4:
                    if (8 * sizeof(size_t) - 1 > 3 * PyLong_SHIFT) {
                        if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) {
                            __PYX_VERIFY_RETURN_INT(size_t, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if (8 * sizeof(size_t) - 1 > 4 * PyLong_SHIFT) {
                            return (size_t) (((size_t)-1)*(((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])));
                        }
                    }
                    break;
                case 4:
                    if (8 * sizeof(size_t) > 3 * PyLong_SHIFT) {
                        if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) {
                            __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if (8 * sizeof(size_t) - 1 > 4 * PyLong_SHIFT) {
                            return (size_t) ((((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])));
                        }
                    }
                    break;
            }
#endif
            if (sizeof(size_t) <= sizeof(long)) {
                __PYX_VERIFY_RETURN_INT_EXC(size_t, long, PyLong_AsLong(x))
#ifdef HAVE_LONG_LONG
            } else if (sizeof(size_t) <= sizeof(PY_LONG_LONG)) {
                __PYX_VERIFY_RETURN_INT_EXC(size_t, PY_LONG_LONG, PyLong_AsLongLong(x))
#endif
            }
        }
        {
#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray)
            PyErr_SetString(PyExc_RuntimeError,
                            "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers");
#else
            size_t val;
            PyObject *v = __Pyx_PyNumber_IntOrLong(x);
 #if PY_MAJOR_VERSION < 3
            if (likely(v) && !PyLong_Check(v)) {
                PyObject *tmp = v;
                v = PyNumber_Long(tmp);
                Py_DECREF(tmp);
            }
 #endif
            if (likely(v)) {
                int one = 1; int is_little = (int)*(unsigned char *)&one;
                unsigned char *bytes = (unsigned char *)&val;
                int ret = _PyLong_AsByteArray((PyLongObject *)v,
                                              bytes, sizeof(val),
                                              is_little, !is_unsigned);
                Py_DECREF(v);
                if (likely(!ret))
                    return val;
            }
#endif
            return (size_t) -1;
        }
    } else {
        size_t val;
        PyObject *tmp = __Pyx_PyNumber_IntOrLong(x);
        if (!tmp) return (size_t) -1;
        val = __Pyx_PyInt_As_size_t(tmp);
        Py_DECREF(tmp);
        return val;
    }
raise_overflow:
    PyErr_SetString(PyExc_OverflowError,
        "value too large to convert to size_t");
    return (size_t) -1;
raise_neg_overflow:
    PyErr_SetString(PyExc_OverflowError,
        "can't convert negative value to size_t");
    return (size_t) -1;
}

/* CIntFromPy */
          static CYTHON_INLINE char __Pyx_PyInt_As_char(PyObject *x) {
#ifdef __Pyx_HAS_GCC_DIAGNOSTIC
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wconversion"
#endif
    const char neg_one = (char) -1, const_zero = (char) 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))) {
        if (sizeof(char) < sizeof(long)) {
            __PYX_VERIFY_RETURN_INT(char, long, PyInt_AS_LONG(x))
        } else {
            long val = PyInt_AS_LONG(x);
            if (is_unsigned && unlikely(val < 0)) {
                goto raise_neg_overflow;
            }
            return (char) val;
        }
    } else
#endif
    if (likely(PyLong_Check(x))) {
        if (is_unsigned) {
#if CYTHON_USE_PYLONG_INTERNALS
            const digit* digits = ((PyLongObject*)x)->ob_digit;
            switch (Py_SIZE(x)) {
                case  0: return (char) 0;
                case  1: __PYX_VERIFY_RETURN_INT(char, digit, digits[0])
                case 2:
                    if (8 * sizeof(char) > 1 * PyLong_SHIFT) {
                        if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) {
                            __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if (8 * sizeof(char) >= 2 * PyLong_SHIFT) {
                            return (char) (((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0]));
                        }
                    }
                    break;
                case 3:
                    if (8 * sizeof(char) > 2 * PyLong_SHIFT) {
                        if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) {
                            __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if (8 * sizeof(char) >= 3 * PyLong_SHIFT) {
                            return (char) (((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]));
                        }
                    }
                    break;
                case 4:
                    if (8 * sizeof(char) > 3 * PyLong_SHIFT) {
                        if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) {
                            __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if (8 * sizeof(char) >= 4 * PyLong_SHIFT) {
                            return (char) (((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]));
                        }
                    }
                    break;
            }
#endif
#if CYTHON_COMPILING_IN_CPYTHON
            if (unlikely(Py_SIZE(x) < 0)) {
                goto raise_neg_overflow;
            }
#else
            {
                int result = PyObject_RichCompareBool(x, Py_False, Py_LT);
                if (unlikely(result < 0))
                    return (char) -1;
                if (unlikely(result == 1))
                    goto raise_neg_overflow;
            }
#endif
            if (sizeof(char) <= sizeof(unsigned long)) {
                __PYX_VERIFY_RETURN_INT_EXC(char, unsigned long, PyLong_AsUnsignedLong(x))
#ifdef HAVE_LONG_LONG
            } else if (sizeof(char) <= sizeof(unsigned PY_LONG_LONG)) {
                __PYX_VERIFY_RETURN_INT_EXC(char, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x))
#endif
            }
        } else {
#if CYTHON_USE_PYLONG_INTERNALS
            const digit* digits = ((PyLongObject*)x)->ob_digit;
            switch (Py_SIZE(x)) {
                case  0: return (char) 0;
                case -1: __PYX_VERIFY_RETURN_INT(char, sdigit, (sdigit) (-(sdigit)digits[0]))
                case  1: __PYX_VERIFY_RETURN_INT(char,  digit, +digits[0])
                case -2:
                    if (8 * sizeof(char) - 1 > 1 * PyLong_SHIFT) {
                        if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) {
                            __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if (8 * sizeof(char) - 1 > 2 * PyLong_SHIFT) {
                            return (char) (((char)-1)*(((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0])));
                        }
                    }
                    break;
                case 2:
                    if (8 * sizeof(char) > 1 * PyLong_SHIFT) {
                        if (8 * sizeof(unsigned long) > 2 * PyLong_SHIFT) {
                            __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if (8 * sizeof(char) - 1 > 2 * PyLong_SHIFT) {
                            return (char) ((((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0])));
                        }
                    }
                    break;
                case -3:
                    if (8 * sizeof(char) - 1 > 2 * PyLong_SHIFT) {
                        if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) {
                            __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if (8 * sizeof(char) - 1 > 3 * PyLong_SHIFT) {
                            return (char) (((char)-1)*(((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0])));
                        }
                    }
                    break;
                case 3:
                    if (8 * sizeof(char) > 2 * PyLong_SHIFT) {
                        if (8 * sizeof(unsigned long) > 3 * PyLong_SHIFT) {
                            __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if (8 * sizeof(char) - 1 > 3 * PyLong_SHIFT) {
                            return (char) ((((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0])));
                        }
                    }
                    break;
                case -4:
                    if (8 * sizeof(char) - 1 > 3 * PyLong_SHIFT) {
                        if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) {
                            __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if (8 * sizeof(char) - 1 > 4 * PyLong_SHIFT) {
                            return (char) (((char)-1)*(((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0])));
                        }
                    }
                    break;
                case 4:
                    if (8 * sizeof(char) > 3 * PyLong_SHIFT) {
                        if (8 * sizeof(unsigned long) > 4 * PyLong_SHIFT) {
                            __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])))
                        } else if (8 * sizeof(char) - 1 > 4 * PyLong_SHIFT) {
                            return (char) ((((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0])));
                        }
                    }
                    break;
            }
#endif
            if (sizeof(char) <= sizeof(long)) {
                __PYX_VERIFY_RETURN_INT_EXC(char, long, PyLong_AsLong(x))
#ifdef HAVE_LONG_LONG
            } else if (sizeof(char) <= sizeof(PY_LONG_LONG)) {
                __PYX_VERIFY_RETURN_INT_EXC(char, PY_LONG_LONG, PyLong_AsLongLong(x))
#endif
            }
        }
        {
#if CYTHON_COMPILING_IN_PYPY && !defined(_PyLong_AsByteArray)
            PyErr_SetString(PyExc_RuntimeError,
                            "_PyLong_AsByteArray() not available in PyPy, cannot convert large numbers");
#else
            char val;
            PyObject *v = __Pyx_PyNumber_IntOrLong(x);
 #if PY_MAJOR_VERSION < 3
            if (likely(v) && !PyLong_Check(v)) {
                PyObject *tmp = v;
                v = PyNumber_Long(tmp);
                Py_DECREF(tmp);
            }
 #endif
            if (likely(v)) {
                int one = 1; int is_little = (int)*(unsigned char *)&one;
                unsigned char *bytes = (unsigned char *)&val;
                int ret = _PyLong_AsByteArray((PyLongObject *)v,
                                              bytes, sizeof(val),
                                              is_little, !is_unsigned);
                Py_DECREF(v);
                if (likely(!ret))
                    return val;
            }
#endif
            return (char) -1;
        }
    } else {
        char val;
        PyObject *tmp = __Pyx_PyNumber_IntOrLong(x);
        if (!tmp) return (char) -1;
        val = __Pyx_PyInt_As_char(tmp);
        Py_DECREF(tmp);
        return val;
    }
raise_overflow:
    PyErr_SetString(PyExc_OverflowError,
        "value too large to convert to char");
    return (char) -1;
raise_neg_overflow:
    PyErr_SetString(PyExc_OverflowError,
        "can't convert negative value to char");
    return (char) -1;
}

/* FetchCommonType */
          static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type) {
    PyObject* fake_module;
    PyTypeObject* cached_type = NULL;
    fake_module = PyImport_AddModule((char*) "_cython_" CYTHON_ABI);
    if (!fake_module) return NULL;
    Py_INCREF(fake_module);
    cached_type = (PyTypeObject*) PyObject_GetAttrString(fake_module, type->tp_name);
    if (cached_type) {
        if (!PyType_Check((PyObject*)cached_type)) {
            PyErr_Format(PyExc_TypeError,
                "Shared Cython type %.200s is not a type object",
                type->tp_name);
            goto bad;
        }
        if (cached_type->tp_basicsize != type->tp_basicsize) {
            PyErr_Format(PyExc_TypeError,
                "Shared Cython type %.200s has the wrong size, try recompiling",
                type->tp_name);
            goto bad;
        }
    } else {
        if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad;
        PyErr_Clear();
        if (PyType_Ready(type) < 0) goto bad;
        if (PyObject_SetAttrString(fake_module, type->tp_name, (PyObject*) type) < 0)
            goto bad;
        Py_INCREF(type);
        cached_type = type;
    }
done:
    Py_DECREF(fake_module);
    return cached_type;
bad:
    Py_XDECREF(cached_type);
    cached_type = NULL;
    goto done;
}

/* CoroutineBase */
          #include <structmember.h>
#include <frameobject.h>
#define __Pyx_Coroutine_Undelegate(gen) Py_CLEAR((gen)->yieldfrom)
static int __Pyx_PyGen__FetchStopIterationValue(CYTHON_UNUSED PyThreadState *__pyx_tstate, PyObject **pvalue) {
    PyObject *et, *ev, *tb;
    PyObject *value = NULL;
    __Pyx_ErrFetch(&et, &ev, &tb);
    if (!et) {
        Py_XDECREF(tb);
        Py_XDECREF(ev);
        Py_INCREF(Py_None);
        *pvalue = Py_None;
        return 0;
    }
    if (likely(et == PyExc_StopIteration)) {
        if (!ev) {
            Py_INCREF(Py_None);
            value = Py_None;
        }
#if PY_VERSION_HEX >= 0x030300A0
        else if (Py_TYPE(ev) == (PyTypeObject*)PyExc_StopIteration) {
            value = ((PyStopIterationObject *)ev)->value;
            Py_INCREF(value);
            Py_DECREF(ev);
        }
#endif
        else if (unlikely(PyTuple_Check(ev))) {
            if (PyTuple_GET_SIZE(ev) >= 1) {
#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS
                value = PyTuple_GET_ITEM(ev, 0);
                Py_INCREF(value);
#else
                value = PySequence_ITEM(ev, 0);
#endif
            } else {
                Py_INCREF(Py_None);
                value = Py_None;
            }
            Py_DECREF(ev);
        }
        else if (!__Pyx_TypeCheck(ev, (PyTypeObject*)PyExc_StopIteration)) {
            value = ev;
        }
        if (likely(value)) {
            Py_XDECREF(tb);
            Py_DECREF(et);
            *pvalue = value;
            return 0;
        }
    } else if (!__Pyx_PyErr_GivenExceptionMatches(et, PyExc_StopIteration)) {
        __Pyx_ErrRestore(et, ev, tb);
        return -1;
    }
    PyErr_NormalizeException(&et, &ev, &tb);
    if (unlikely(!PyObject_TypeCheck(ev, (PyTypeObject*)PyExc_StopIteration))) {
        __Pyx_ErrRestore(et, ev, tb);
        return -1;
    }
    Py_XDECREF(tb);
    Py_DECREF(et);
#if PY_VERSION_HEX >= 0x030300A0
    value = ((PyStopIterationObject *)ev)->value;
    Py_INCREF(value);
    Py_DECREF(ev);
#else
    {
        PyObject* args = __Pyx_PyObject_GetAttrStr(ev, __pyx_n_s_args);
        Py_DECREF(ev);
        if (likely(args)) {
            value = PySequence_GetItem(args, 0);
            Py_DECREF(args);
        }
        if (unlikely(!value)) {
            __Pyx_ErrRestore(NULL, NULL, NULL);
            Py_INCREF(Py_None);
            value = Py_None;
        }
    }
#endif
    *pvalue = value;
    return 0;
}
static CYTHON_INLINE
void __Pyx_Coroutine_ExceptionClear(__Pyx_ExcInfoStruct *exc_state) {
    PyObject *t, *v, *tb;
    t = exc_state->exc_type;
    v = exc_state->exc_value;
    tb = exc_state->exc_traceback;
    exc_state->exc_type = NULL;
    exc_state->exc_value = NULL;
    exc_state->exc_traceback = NULL;
    Py_XDECREF(t);
    Py_XDECREF(v);
    Py_XDECREF(tb);
}
#define __Pyx_Coroutine_AlreadyRunningError(gen)  (__Pyx__Coroutine_AlreadyRunningError(gen), (PyObject*)NULL)
static void __Pyx__Coroutine_AlreadyRunningError(CYTHON_UNUSED __pyx_CoroutineObject *gen) {
    const char *msg;
    if ((0)) {
    #ifdef __Pyx_Coroutine_USED
    } else if (__Pyx_Coroutine_Check((PyObject*)gen)) {
        msg = "coroutine already executing";
    #endif
    #ifdef __Pyx_AsyncGen_USED
    } else if (__Pyx_AsyncGen_CheckExact((PyObject*)gen)) {
        msg = "async generator already executing";
    #endif
    } else {
        msg = "generator already executing";
    }
    PyErr_SetString(PyExc_ValueError, msg);
}
#define __Pyx_Coroutine_NotStartedError(gen)  (__Pyx__Coroutine_NotStartedError(gen), (PyObject*)NULL)
static void __Pyx__Coroutine_NotStartedError(CYTHON_UNUSED PyObject *gen) {
    const char *msg;
    if ((0)) {
    #ifdef __Pyx_Coroutine_USED
    } else if (__Pyx_Coroutine_Check(gen)) {
        msg = "can't send non-None value to a just-started coroutine";
    #endif
    #ifdef __Pyx_AsyncGen_USED
    } else if (__Pyx_AsyncGen_CheckExact(gen)) {
        msg = "can't send non-None value to a just-started async generator";
    #endif
    } else {
        msg = "can't send non-None value to a just-started generator";
    }
    PyErr_SetString(PyExc_TypeError, msg);
}
#define __Pyx_Coroutine_AlreadyTerminatedError(gen, value, closing)  (__Pyx__Coroutine_AlreadyTerminatedError(gen, value, closing), (PyObject*)NULL)
static void __Pyx__Coroutine_AlreadyTerminatedError(CYTHON_UNUSED PyObject *gen, PyObject *value, CYTHON_UNUSED int closing) {
    #ifdef __Pyx_Coroutine_USED
    if (!closing && __Pyx_Coroutine_Check(gen)) {
        PyErr_SetString(PyExc_RuntimeError, "cannot reuse already awaited coroutine");
    } else
    #endif
    if (value) {
        #ifdef __Pyx_AsyncGen_USED
        if (__Pyx_AsyncGen_CheckExact(gen))
            PyErr_SetNone(__Pyx_PyExc_StopAsyncIteration);
        else
        #endif
        PyErr_SetNone(PyExc_StopIteration);
    }
}
static
PyObject *__Pyx_Coroutine_SendEx(__pyx_CoroutineObject *self, PyObject *value, int closing) {
    __Pyx_PyThreadState_declare
    PyThreadState *tstate;
    __Pyx_ExcInfoStruct *exc_state;
    PyObject *retval;
    assert(!self->is_running);
    if (unlikely(self->resume_label == 0)) {
        if (unlikely(value && value != Py_None)) {
            return __Pyx_Coroutine_NotStartedError((PyObject*)self);
        }
    }
    if (unlikely(self->resume_label == -1)) {
        return __Pyx_Coroutine_AlreadyTerminatedError((PyObject*)self, value, closing);
    }
#if CYTHON_FAST_THREAD_STATE
    __Pyx_PyThreadState_assign
    tstate = __pyx_tstate;
#else
    tstate = __Pyx_PyThreadState_Current;
#endif
    exc_state = &self->gi_exc_state;
    if (exc_state->exc_type) {
        #if CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_PYSTON
        #else
        if (exc_state->exc_traceback) {
            PyTracebackObject *tb = (PyTracebackObject *) exc_state->exc_traceback;
            PyFrameObject *f = tb->tb_frame;
            Py_XINCREF(tstate->frame);
            assert(f->f_back == NULL);
            f->f_back = tstate->frame;
        }
        #endif
    }
#if CYTHON_USE_EXC_INFO_STACK
    exc_state->previous_item = tstate->exc_info;
    tstate->exc_info = exc_state;
#else
    if (exc_state->exc_type) {
        __Pyx_ExceptionSwap(&exc_state->exc_type, &exc_state->exc_value, &exc_state->exc_traceback);
    } else {
        __Pyx_Coroutine_ExceptionClear(exc_state);
        __Pyx_ExceptionSave(&exc_state->exc_type, &exc_state->exc_value, &exc_state->exc_traceback);
    }
#endif
    self->is_running = 1;
    retval = self->body((PyObject *) self, tstate, value);
    self->is_running = 0;
#if CYTHON_USE_EXC_INFO_STACK
    exc_state = &self->gi_exc_state;
    tstate->exc_info = exc_state->previous_item;
    exc_state->previous_item = NULL;
    __Pyx_Coroutine_ResetFrameBackpointer(exc_state);
#endif
    return retval;
}
static CYTHON_INLINE void __Pyx_Coroutine_ResetFrameBackpointer(__Pyx_ExcInfoStruct *exc_state) {
    PyObject *exc_tb = exc_state->exc_traceback;
    if (likely(exc_tb)) {
#if CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_PYSTON
#else
        PyTracebackObject *tb = (PyTracebackObject *) exc_tb;
        PyFrameObject *f = tb->tb_frame;
        Py_CLEAR(f->f_back);
#endif
    }
}
static CYTHON_INLINE
PyObject *__Pyx_Coroutine_MethodReturn(CYTHON_UNUSED PyObject* gen, PyObject *retval) {
    if (unlikely(!retval)) {
        __Pyx_PyThreadState_declare
        __Pyx_PyThreadState_assign
        if (!__Pyx_PyErr_Occurred()) {
            PyObject *exc = PyExc_StopIteration;
            #ifdef __Pyx_AsyncGen_USED
            if (__Pyx_AsyncGen_CheckExact(gen))
                exc = __Pyx_PyExc_StopAsyncIteration;
            #endif
            __Pyx_PyErr_SetNone(exc);
        }
    }
    return retval;
}
#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x03030000 && (defined(__linux__) || PY_VERSION_HEX >= 0x030600B3)
static CYTHON_INLINE
PyObject *__Pyx_PyGen_Send(PyGenObject *gen, PyObject *arg) {
#if PY_VERSION_HEX <= 0x030A00A1
    return _PyGen_Send(gen, arg);
#else
    PyObject *result;
    if (PyIter_Send((PyObject*)gen, arg ? arg : Py_None, &result) == PYGEN_RETURN) {
        if (PyAsyncGen_CheckExact(gen)) {
            assert(result == Py_None);
            PyErr_SetNone(PyExc_StopAsyncIteration);
        }
        else if (result == Py_None) {
            PyErr_SetNone(PyExc_StopIteration);
        }
        else {
            _PyGen_SetStopIterationValue(result);
        }
        Py_CLEAR(result);
    }
    return result;
#endif
}
#endif
static CYTHON_INLINE
PyObject *__Pyx_Coroutine_FinishDelegation(__pyx_CoroutineObject *gen) {
    PyObject *ret;
    PyObject *val = NULL;
    __Pyx_Coroutine_Undelegate(gen);
    __Pyx_PyGen__FetchStopIterationValue(__Pyx_PyThreadState_Current, &val);
    ret = __Pyx_Coroutine_SendEx(gen, val, 0);
    Py_XDECREF(val);
    return ret;
}
static PyObject *__Pyx_Coroutine_Send(PyObject *self, PyObject *value) {
    PyObject *retval;
    __pyx_CoroutineObject *gen = (__pyx_CoroutineObject*) self;
    PyObject *yf = gen->yieldfrom;
    if (unlikely(gen->is_running))
        return __Pyx_Coroutine_AlreadyRunningError(gen);
    if (yf) {
        PyObject *ret;
        gen->is_running = 1;
        #ifdef __Pyx_Generator_USED
        if (__Pyx_Generator_CheckExact(yf)) {
            ret = __Pyx_Coroutine_Send(yf, value);
        } else
        #endif
        #ifdef __Pyx_Coroutine_USED
        if (__Pyx_Coroutine_Check(yf)) {
            ret = __Pyx_Coroutine_Send(yf, value);
        } else
        #endif
        #ifdef __Pyx_AsyncGen_USED
        if (__pyx_PyAsyncGenASend_CheckExact(yf)) {
            ret = __Pyx_async_gen_asend_send(yf, value);
        } else
        #endif
        #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x03030000 && (defined(__linux__) || PY_VERSION_HEX >= 0x030600B3)
        if (PyGen_CheckExact(yf)) {
            ret = __Pyx_PyGen_Send((PyGenObject*)yf, value == Py_None ? NULL : value);
        } else
        #endif
        #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x03050000 && defined(PyCoro_CheckExact) && (defined(__linux__) || PY_VERSION_HEX >= 0x030600B3)
        if (PyCoro_CheckExact(yf)) {
            ret = __Pyx_PyGen_Send((PyGenObject*)yf, value == Py_None ? NULL : value);
        } else
        #endif
        {
            if (value == Py_None)
                ret = Py_TYPE(yf)->tp_iternext(yf);
            else
                ret = __Pyx_PyObject_CallMethod1(yf, __pyx_n_s_send, value);
        }
        gen->is_running = 0;
        if (likely(ret)) {
            return ret;
        }
        retval = __Pyx_Coroutine_FinishDelegation(gen);
    } else {
        retval = __Pyx_Coroutine_SendEx(gen, value, 0);
    }
    return __Pyx_Coroutine_MethodReturn(self, retval);
}
static int __Pyx_Coroutine_CloseIter(__pyx_CoroutineObject *gen, PyObject *yf) {
    PyObject *retval = NULL;
    int err = 0;
    #ifdef __Pyx_Generator_USED
    if (__Pyx_Generator_CheckExact(yf)) {
        retval = __Pyx_Coroutine_Close(yf);
        if (!retval)
            return -1;
    } else
    #endif
    #ifdef __Pyx_Coroutine_USED
    if (__Pyx_Coroutine_Check(yf)) {
        retval = __Pyx_Coroutine_Close(yf);
        if (!retval)
            return -1;
    } else
    if (__Pyx_CoroutineAwait_CheckExact(yf)) {
        retval = __Pyx_CoroutineAwait_Close((__pyx_CoroutineAwaitObject*)yf, NULL);
        if (!retval)
            return -1;
    } else
    #endif
    #ifdef __Pyx_AsyncGen_USED
    if (__pyx_PyAsyncGenASend_CheckExact(yf)) {
        retval = __Pyx_async_gen_asend_close(yf, NULL);
    } else
    if (__pyx_PyAsyncGenAThrow_CheckExact(yf)) {
        retval = __Pyx_async_gen_athrow_close(yf, NULL);
    } else
    #endif
    {
        PyObject *meth;
        gen->is_running = 1;
        meth = __Pyx_PyObject_GetAttrStr(yf, __pyx_n_s_close);
        if (unlikely(!meth)) {
            if (!PyErr_ExceptionMatches(PyExc_AttributeError)) {
                PyErr_WriteUnraisable(yf);
            }
            PyErr_Clear();
        } else {
            retval = PyObject_CallFunction(meth, NULL);
            Py_DECREF(meth);
            if (!retval)
                err = -1;
        }
        gen->is_running = 0;
    }
    Py_XDECREF(retval);
    return err;
}
static PyObject *__Pyx_Generator_Next(PyObject *self) {
    __pyx_CoroutineObject *gen = (__pyx_CoroutineObject*) self;
    PyObject *yf = gen->yieldfrom;
    if (unlikely(gen->is_running))
        return __Pyx_Coroutine_AlreadyRunningError(gen);
    if (yf) {
        PyObject *ret;
        gen->is_running = 1;
        #ifdef __Pyx_Generator_USED
        if (__Pyx_Generator_CheckExact(yf)) {
            ret = __Pyx_Generator_Next(yf);
        } else
        #endif
        #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x03030000 && (defined(__linux__) || PY_VERSION_HEX >= 0x030600B3)
        if (PyGen_CheckExact(yf)) {
            ret = __Pyx_PyGen_Send((PyGenObject*)yf, NULL);
        } else
        #endif
        #ifdef __Pyx_Coroutine_USED
        if (__Pyx_Coroutine_Check(yf)) {
            ret = __Pyx_Coroutine_Send(yf, Py_None);
        } else
        #endif
            ret = Py_TYPE(yf)->tp_iternext(yf);
        gen->is_running = 0;
        if (likely(ret)) {
            return ret;
        }
        return __Pyx_Coroutine_FinishDelegation(gen);
    }
    return __Pyx_Coroutine_SendEx(gen, Py_None, 0);
}
static PyObject *__Pyx_Coroutine_Close_Method(PyObject *self, CYTHON_UNUSED PyObject *arg) {
    return __Pyx_Coroutine_Close(self);
}
static PyObject *__Pyx_Coroutine_Close(PyObject *self) {
    __pyx_CoroutineObject *gen = (__pyx_CoroutineObject *) self;
    PyObject *retval, *raised_exception;
    PyObject *yf = gen->yieldfrom;
    int err = 0;
    if (unlikely(gen->is_running))
        return __Pyx_Coroutine_AlreadyRunningError(gen);
    if (yf) {
        Py_INCREF(yf);
        err = __Pyx_Coroutine_CloseIter(gen, yf);
        __Pyx_Coroutine_Undelegate(gen);
        Py_DECREF(yf);
    }
    if (err == 0)
        PyErr_SetNone(PyExc_GeneratorExit);
    retval = __Pyx_Coroutine_SendEx(gen, NULL, 1);
    if (unlikely(retval)) {
        const char *msg;
        Py_DECREF(retval);
        if ((0)) {
        #ifdef __Pyx_Coroutine_USED
        } else if (__Pyx_Coroutine_Check(self)) {
            msg = "coroutine ignored GeneratorExit";
        #endif
        #ifdef __Pyx_AsyncGen_USED
        } else if (__Pyx_AsyncGen_CheckExact(self)) {
#if PY_VERSION_HEX < 0x03060000
            msg = "async generator ignored GeneratorExit - might require Python 3.6+ finalisation (PEP 525)";
#else
            msg = "async generator ignored GeneratorExit";
#endif
        #endif
        } else {
            msg = "generator ignored GeneratorExit";
        }
        PyErr_SetString(PyExc_RuntimeError, msg);
        return NULL;
    }
    raised_exception = PyErr_Occurred();
    if (likely(!raised_exception || __Pyx_PyErr_GivenExceptionMatches2(raised_exception, PyExc_GeneratorExit, PyExc_StopIteration))) {
        if (raised_exception) PyErr_Clear();
        Py_INCREF(Py_None);
        return Py_None;
    }
    return NULL;
}
static PyObject *__Pyx__Coroutine_Throw(PyObject *self, PyObject *typ, PyObject *val, PyObject *tb,
                                        PyObject *args, int close_on_genexit) {
    __pyx_CoroutineObject *gen = (__pyx_CoroutineObject *) self;
    PyObject *yf = gen->yieldfrom;
    if (unlikely(gen->is_running))
        return __Pyx_Coroutine_AlreadyRunningError(gen);
    if (yf) {
        PyObject *ret;
        Py_INCREF(yf);
        if (__Pyx_PyErr_GivenExceptionMatches(typ, PyExc_GeneratorExit) && close_on_genexit) {
            int err = __Pyx_Coroutine_CloseIter(gen, yf);
            Py_DECREF(yf);
            __Pyx_Coroutine_Undelegate(gen);
            if (err < 0)
                return __Pyx_Coroutine_MethodReturn(self, __Pyx_Coroutine_SendEx(gen, NULL, 0));
            goto throw_here;
        }
        gen->is_running = 1;
        if (0
        #ifdef __Pyx_Generator_USED
            || __Pyx_Generator_CheckExact(yf)
        #endif
        #ifdef __Pyx_Coroutine_USED
            || __Pyx_Coroutine_Check(yf)
        #endif
            ) {
            ret = __Pyx__Coroutine_Throw(yf, typ, val, tb, args, close_on_genexit);
        #ifdef __Pyx_Coroutine_USED
        } else if (__Pyx_CoroutineAwait_CheckExact(yf)) {
            ret = __Pyx__Coroutine_Throw(((__pyx_CoroutineAwaitObject*)yf)->coroutine, typ, val, tb, args, close_on_genexit);
        #endif
        } else {
            PyObject *meth = __Pyx_PyObject_GetAttrStr(yf, __pyx_n_s_throw);
            if (unlikely(!meth)) {
                Py_DECREF(yf);
                if (!PyErr_ExceptionMatches(PyExc_AttributeError)) {
                    gen->is_running = 0;
                    return NULL;
                }
                PyErr_Clear();
                __Pyx_Coroutine_Undelegate(gen);
                gen->is_running = 0;
                goto throw_here;
            }
            if (likely(args)) {
                ret = PyObject_CallObject(meth, args);
            } else {
                ret = PyObject_CallFunctionObjArgs(meth, typ, val, tb, NULL);
            }
            Py_DECREF(meth);
        }
        gen->is_running = 0;
        Py_DECREF(yf);
        if (!ret) {
            ret = __Pyx_Coroutine_FinishDelegation(gen);
        }
        return __Pyx_Coroutine_MethodReturn(self, ret);
    }
throw_here:
    __Pyx_Raise(typ, val, tb, NULL);
    return __Pyx_Coroutine_MethodReturn(self, __Pyx_Coroutine_SendEx(gen, NULL, 0));
}
static PyObject *__Pyx_Coroutine_Throw(PyObject *self, PyObject *args) {
    PyObject *typ;
    PyObject *val = NULL;
    PyObject *tb = NULL;
    if (!PyArg_UnpackTuple(args, (char *)"throw", 1, 3, &typ, &val, &tb))
        return NULL;
    return __Pyx__Coroutine_Throw(self, typ, val, tb, args, 1);
}
static CYTHON_INLINE int __Pyx_Coroutine_traverse_excstate(__Pyx_ExcInfoStruct *exc_state, visitproc visit, void *arg) {
    Py_VISIT(exc_state->exc_type);
    Py_VISIT(exc_state->exc_value);
    Py_VISIT(exc_state->exc_traceback);
    return 0;
}
static int __Pyx_Coroutine_traverse(__pyx_CoroutineObject *gen, visitproc visit, void *arg) {
    Py_VISIT(gen->closure);
    Py_VISIT(gen->classobj);
    Py_VISIT(gen->yieldfrom);
    return __Pyx_Coroutine_traverse_excstate(&gen->gi_exc_state, visit, arg);
}
static int __Pyx_Coroutine_clear(PyObject *self) {
    __pyx_CoroutineObject *gen = (__pyx_CoroutineObject *) self;
    Py_CLEAR(gen->closure);
    Py_CLEAR(gen->classobj);
    Py_CLEAR(gen->yieldfrom);
    __Pyx_Coroutine_ExceptionClear(&gen->gi_exc_state);
#ifdef __Pyx_AsyncGen_USED
    if (__Pyx_AsyncGen_CheckExact(self)) {
        Py_CLEAR(((__pyx_PyAsyncGenObject*)gen)->ag_finalizer);
    }
#endif
    Py_CLEAR(gen->gi_code);
    Py_CLEAR(gen->gi_name);
    Py_CLEAR(gen->gi_qualname);
    Py_CLEAR(gen->gi_modulename);
    return 0;
}
static void __Pyx_Coroutine_dealloc(PyObject *self) {
    __pyx_CoroutineObject *gen = (__pyx_CoroutineObject *) self;
    PyObject_GC_UnTrack(gen);
    if (gen->gi_weakreflist != NULL)
        PyObject_ClearWeakRefs(self);
    if (gen->resume_label >= 0) {
        PyObject_GC_Track(self);
#if PY_VERSION_HEX >= 0x030400a1 && CYTHON_USE_TP_FINALIZE
        if (PyObject_CallFinalizerFromDealloc(self))
#else
        Py_TYPE(gen)->tp_del(self);
        if (self->ob_refcnt > 0)
#endif
        {
            return;
        }
        PyObject_GC_UnTrack(self);
    }
#ifdef __Pyx_AsyncGen_USED
    if (__Pyx_AsyncGen_CheckExact(self)) {
        /* We have to handle this case for asynchronous generators
           right here, because this code has to be between UNTRACK
           and GC_Del. */
        Py_CLEAR(((__pyx_PyAsyncGenObject*)self)->ag_finalizer);
    }
#endif
    __Pyx_Coroutine_clear(self);
    PyObject_GC_Del(gen);
}
static void __Pyx_Coroutine_del(PyObject *self) {
    PyObject *error_type, *error_value, *error_traceback;
    __pyx_CoroutineObject *gen = (__pyx_CoroutineObject *) self;
    __Pyx_PyThreadState_declare
    if (gen->resume_label < 0) {
        return;
    }
#if !CYTHON_USE_TP_FINALIZE
    assert(self->ob_refcnt == 0);
    __Pyx_SET_REFCNT(self, 1);
#endif
    __Pyx_PyThreadState_assign
    __Pyx_ErrFetch(&error_type, &error_value, &error_traceback);
#ifdef __Pyx_AsyncGen_USED
    if (__Pyx_AsyncGen_CheckExact(self)) {
        __pyx_PyAsyncGenObject *agen = (__pyx_PyAsyncGenObject*)self;
        PyObject *finalizer = agen->ag_finalizer;
        if (finalizer && !agen->ag_closed) {
            PyObject *res = __Pyx_PyObject_CallOneArg(finalizer, self);
            if (unlikely(!res)) {
                PyErr_WriteUnraisable(self);
            } else {
                Py_DECREF(res);
            }
            __Pyx_ErrRestore(error_type, error_value, error_traceback);
            return;
        }
    }
#endif
    if (unlikely(gen->resume_label == 0 && !error_value)) {
#ifdef __Pyx_Coroutine_USED
#ifdef __Pyx_Generator_USED
    if (!__Pyx_Generator_CheckExact(self))
#endif
        {
        PyObject_GC_UnTrack(self);
#if PY_MAJOR_VERSION >= 3  || defined(PyErr_WarnFormat)
        if (unlikely(PyErr_WarnFormat(PyExc_RuntimeWarning, 1, "coroutine '%.50S' was never awaited", gen->gi_qualname) < 0))
            PyErr_WriteUnraisable(self);
#else
        {PyObject *msg;
        char *cmsg;
        #if CYTHON_COMPILING_IN_PYPY
        msg = NULL;
        cmsg = (char*) "coroutine was never awaited";
        #else
        char *cname;
        PyObject *qualname;
        qualname = gen->gi_qualname;
        cname = PyString_AS_STRING(qualname);
        msg = PyString_FromFormat("coroutine '%.50s' was never awaited", cname);
        if (unlikely(!msg)) {
            PyErr_Clear();
            cmsg = (char*) "coroutine was never awaited";
        } else {
            cmsg = PyString_AS_STRING(msg);
        }
        #endif
        if (unlikely(PyErr_WarnEx(PyExc_RuntimeWarning, cmsg, 1) < 0))
            PyErr_WriteUnraisable(self);
        Py_XDECREF(msg);}
#endif
        PyObject_GC_Track(self);
        }
#endif
    } else {
        PyObject *res = __Pyx_Coroutine_Close(self);
        if (unlikely(!res)) {
            if (PyErr_Occurred())
                PyErr_WriteUnraisable(self);
        } else {
            Py_DECREF(res);
        }
    }
    __Pyx_ErrRestore(error_type, error_value, error_traceback);
#if !CYTHON_USE_TP_FINALIZE
    assert(self->ob_refcnt > 0);
    if (--self->ob_refcnt == 0) {
        return;
    }
    {
        Py_ssize_t refcnt = self->ob_refcnt;
        _Py_NewReference(self);
        __Pyx_SET_REFCNT(self, refcnt);
    }
#if CYTHON_COMPILING_IN_CPYTHON
    assert(PyType_IS_GC(self->ob_type) &&
           _Py_AS_GC(self)->gc.gc_refs != _PyGC_REFS_UNTRACKED);
    _Py_DEC_REFTOTAL;
#endif
#ifdef COUNT_ALLOCS
    --Py_TYPE(self)->tp_frees;
    --Py_TYPE(self)->tp_allocs;
#endif
#endif
}
static PyObject *
__Pyx_Coroutine_get_name(__pyx_CoroutineObject *self, CYTHON_UNUSED void *context)
{
    PyObject *name = self->gi_name;
    if (unlikely(!name)) name = Py_None;
    Py_INCREF(name);
    return name;
}
static int
__Pyx_Coroutine_set_name(__pyx_CoroutineObject *self, PyObject *value, CYTHON_UNUSED void *context)
{
    PyObject *tmp;
#if PY_MAJOR_VERSION >= 3
    if (unlikely(value == NULL || !PyUnicode_Check(value)))
#else
    if (unlikely(value == NULL || !PyString_Check(value)))
#endif
    {
        PyErr_SetString(PyExc_TypeError,
                        "__name__ must be set to a string object");
        return -1;
    }
    tmp = self->gi_name;
    Py_INCREF(value);
    self->gi_name = value;
    Py_XDECREF(tmp);
    return 0;
}
static PyObject *
__Pyx_Coroutine_get_qualname(__pyx_CoroutineObject *self, CYTHON_UNUSED void *context)
{
    PyObject *name = self->gi_qualname;
    if (unlikely(!name)) name = Py_None;
    Py_INCREF(name);
    return name;
}
static int
__Pyx_Coroutine_set_qualname(__pyx_CoroutineObject *self, PyObject *value, CYTHON_UNUSED void *context)
{
    PyObject *tmp;
#if PY_MAJOR_VERSION >= 3
    if (unlikely(value == NULL || !PyUnicode_Check(value)))
#else
    if (unlikely(value == NULL || !PyString_Check(value)))
#endif
    {
        PyErr_SetString(PyExc_TypeError,
                        "__qualname__ must be set to a string object");
        return -1;
    }
    tmp = self->gi_qualname;
    Py_INCREF(value);
    self->gi_qualname = value;
    Py_XDECREF(tmp);
    return 0;
}
static __pyx_CoroutineObject *__Pyx__Coroutine_New(
            PyTypeObject* type, __pyx_coroutine_body_t body, PyObject *code, PyObject *closure,
            PyObject *name, PyObject *qualname, PyObject *module_name) {
    __pyx_CoroutineObject *gen = PyObject_GC_New(__pyx_CoroutineObject, type);
    if (unlikely(!gen))
        return NULL;
    return __Pyx__Coroutine_NewInit(gen, body, code, closure, name, qualname, module_name);
}
static __pyx_CoroutineObject *__Pyx__Coroutine_NewInit(
            __pyx_CoroutineObject *gen, __pyx_coroutine_body_t body, PyObject *code, PyObject *closure,
            PyObject *name, PyObject *qualname, PyObject *module_name) {
    gen->body = body;
    gen->closure = closure;
    Py_XINCREF(closure);
    gen->is_running = 0;
    gen->resume_label = 0;
    gen->classobj = NULL;
    gen->yieldfrom = NULL;
    gen->gi_exc_state.exc_type = NULL;
    gen->gi_exc_state.exc_value = NULL;
    gen->gi_exc_state.exc_traceback = NULL;
#if CYTHON_USE_EXC_INFO_STACK
    gen->gi_exc_state.previous_item = NULL;
#endif
    gen->gi_weakreflist = NULL;
    Py_XINCREF(qualname);
    gen->gi_qualname = qualname;
    Py_XINCREF(name);
    gen->gi_name = name;
    Py_XINCREF(module_name);
    gen->gi_modulename = module_name;
    Py_XINCREF(code);
    gen->gi_code = code;
    PyObject_GC_Track(gen);
    return gen;
}

/* PatchModuleWithCoroutine */
          static PyObject* __Pyx_Coroutine_patch_module(PyObject* module, const char* py_code) {
#if defined(__Pyx_Generator_USED) || defined(__Pyx_Coroutine_USED)
    int result;
    PyObject *globals, *result_obj;
    globals = PyDict_New();  if (unlikely(!globals)) goto ignore;
    result = PyDict_SetItemString(globals, "_cython_coroutine_type",
    #ifdef __Pyx_Coroutine_USED
        (PyObject*)__pyx_CoroutineType);
    #else
        Py_None);
    #endif
    if (unlikely(result < 0)) goto ignore;
    result = PyDict_SetItemString(globals, "_cython_generator_type",
    #ifdef __Pyx_Generator_USED
        (PyObject*)__pyx_GeneratorType);
    #else
        Py_None);
    #endif
    if (unlikely(result < 0)) goto ignore;
    if (unlikely(PyDict_SetItemString(globals, "_module", module) < 0)) goto ignore;
    if (unlikely(PyDict_SetItemString(globals, "__builtins__", __pyx_b) < 0)) goto ignore;
    result_obj = PyRun_String(py_code, Py_file_input, globals, globals);
    if (unlikely(!result_obj)) goto ignore;
    Py_DECREF(result_obj);
    Py_DECREF(globals);
    return module;
ignore:
    Py_XDECREF(globals);
    PyErr_WriteUnraisable(module);
    if (unlikely(PyErr_WarnEx(PyExc_RuntimeWarning, "Cython module failed to patch module with custom type", 1) < 0)) {
        Py_DECREF(module);
        module = NULL;
    }
#else
    py_code++;
#endif
    return module;
}

/* PatchGeneratorABC */
          #ifndef CYTHON_REGISTER_ABCS
#define CYTHON_REGISTER_ABCS 1
#endif
#if defined(__Pyx_Generator_USED) || defined(__Pyx_Coroutine_USED)
static PyObject* __Pyx_patch_abc_module(PyObject *module);
static PyObject* __Pyx_patch_abc_module(PyObject *module) {
    module = __Pyx_Coroutine_patch_module(
        module, ""
"if _cython_generator_type is not None:\n"
"    try: Generator = _module.Generator\n"
"    except AttributeError: pass\n"
"    else: Generator.register(_cython_generator_type)\n"
"if _cython_coroutine_type is not None:\n"
"    try: Coroutine = _module.Coroutine\n"
"    except AttributeError: pass\n"
"    else: Coroutine.register(_cython_coroutine_type)\n"
    );
    return module;
}
#endif
static int __Pyx_patch_abc(void) {
#if defined(__Pyx_Generator_USED) || defined(__Pyx_Coroutine_USED)
    static int abc_patched = 0;
    if (CYTHON_REGISTER_ABCS && !abc_patched) {
        PyObject *module;
        module = PyImport_ImportModule((PY_MAJOR_VERSION >= 3) ? "collections.abc" : "collections");
        if (!module) {
            PyErr_WriteUnraisable(NULL);
            if (unlikely(PyErr_WarnEx(PyExc_RuntimeWarning,
                    ((PY_MAJOR_VERSION >= 3) ?
                        "Cython module failed to register with collections.abc module" :
                        "Cython module failed to register with collections module"), 1) < 0)) {
                return -1;
            }
        } else {
            module = __Pyx_patch_abc_module(module);
            abc_patched = 1;
            if (unlikely(!module))
                return -1;
            Py_DECREF(module);
        }
        module = PyImport_ImportModule("backports_abc");
        if (module) {
            module = __Pyx_patch_abc_module(module);
            Py_XDECREF(module);
        }
        if (!module) {
            PyErr_Clear();
        }
    }
#else
    if ((0)) __Pyx_Coroutine_patch_module(NULL, NULL);
#endif
    return 0;
}

/* Generator */
          static PyMethodDef __pyx_Generator_methods[] = {
    {"send", (PyCFunction) __Pyx_Coroutine_Send, METH_O,
     (char*) PyDoc_STR("send(arg) -> send 'arg' into generator,\nreturn next yielded value or raise StopIteration.")},
    {"throw", (PyCFunction) __Pyx_Coroutine_Throw, METH_VARARGS,
     (char*) PyDoc_STR("throw(typ[,val[,tb]]) -> raise exception in generator,\nreturn next yielded value or raise StopIteration.")},
    {"close", (PyCFunction) __Pyx_Coroutine_Close_Method, METH_NOARGS,
     (char*) PyDoc_STR("close() -> raise GeneratorExit inside generator.")},
    {0, 0, 0, 0}
};
static PyMemberDef __pyx_Generator_memberlist[] = {
    {(char *) "gi_running", T_BOOL, offsetof(__pyx_CoroutineObject, is_running), READONLY, NULL},
    {(char*) "gi_yieldfrom", T_OBJECT, offsetof(__pyx_CoroutineObject, yieldfrom), READONLY,
     (char*) PyDoc_STR("object being iterated by 'yield from', or None")},
    {(char*) "gi_code", T_OBJECT, offsetof(__pyx_CoroutineObject, gi_code), READONLY, NULL},
    {0, 0, 0, 0, 0}
};
static PyGetSetDef __pyx_Generator_getsets[] = {
    {(char *) "__name__", (getter)__Pyx_Coroutine_get_name, (setter)__Pyx_Coroutine_set_name,
     (char*) PyDoc_STR("name of the generator"), 0},
    {(char *) "__qualname__", (getter)__Pyx_Coroutine_get_qualname, (setter)__Pyx_Coroutine_set_qualname,
     (char*) PyDoc_STR("qualified name of the generator"), 0},
    {0, 0, 0, 0, 0}
};
static PyTypeObject __pyx_GeneratorType_type = {
    PyVarObject_HEAD_INIT(0, 0)
    "generator",
    sizeof(__pyx_CoroutineObject),
    0,
    (destructor) __Pyx_Coroutine_dealloc,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC | Py_TPFLAGS_HAVE_FINALIZE,
    0,
    (traverseproc) __Pyx_Coroutine_traverse,
    0,
    0,
    offsetof(__pyx_CoroutineObject, gi_weakreflist),
    0,
    (iternextfunc) __Pyx_Generator_Next,
    __pyx_Generator_methods,
    __pyx_Generator_memberlist,
    __pyx_Generator_getsets,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
#if CYTHON_USE_TP_FINALIZE
    0,
#else
    __Pyx_Coroutine_del,
#endif
    0,
#if CYTHON_USE_TP_FINALIZE
    __Pyx_Coroutine_del,
#elif PY_VERSION_HEX >= 0x030400a1
    0,
#endif
#if PY_VERSION_HEX >= 0x030800b1
    0,
#endif
#if PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000
    0,
#endif
};
static int __pyx_Generator_init(void) {
    __pyx_GeneratorType_type.tp_getattro = __Pyx_PyObject_GenericGetAttrNoDict;
    __pyx_GeneratorType_type.tp_iter = PyObject_SelfIter;
    __pyx_GeneratorType = __Pyx_FetchCommonType(&__pyx_GeneratorType_type);
    if (unlikely(!__pyx_GeneratorType)) {
        return -1;
    }
    return 0;
}

/* ObjectToMemviewSlice */
          static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_ds_nn___pyx_t_5numpy_uint8_t(PyObject *obj, int writable_flag) {
    __Pyx_memviewslice result = { 0, 0, { 0 }, { 0 }, { 0 } };
    __Pyx_BufFmt_StackElem stack[1];
    int axes_specs[] = { (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_STRIDED) };
    int retcode;
    if (obj == Py_None) {
        result.memview = (struct __pyx_memoryview_obj *) Py_None;
        return result;
    }
    retcode = __Pyx_ValidateAndInit_memviewslice(axes_specs, 0,
                                                 PyBUF_RECORDS_RO | writable_flag, 1,
                                                 &__Pyx_TypeInfo_nn___pyx_t_5numpy_uint8_t, stack,
                                                 &result, obj);
    if (unlikely(retcode == -1))
        goto __pyx_fail;
    return result;
__pyx_fail:
    result.memview = NULL;
    result.data = NULL;
    return result;
}

/* ObjectToMemviewSlice */
          static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_d_dc_nn___pyx_t_5numpy_int64_t(PyObject *obj, int writable_flag) {
    __Pyx_memviewslice result = { 0, 0, { 0 }, { 0 }, { 0 } };
    __Pyx_BufFmt_StackElem stack[1];
    int axes_specs[] = { (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_FOLLOW), (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_CONTIG) };
    int retcode;
    if (obj == Py_None) {
        result.memview = (struct __pyx_memoryview_obj *) Py_None;
        return result;
    }
    retcode = __Pyx_ValidateAndInit_memviewslice(axes_specs, __Pyx_IS_C_CONTIG,
                                                 (PyBUF_C_CONTIGUOUS | PyBUF_FORMAT) | writable_flag, 2,
                                                 &__Pyx_TypeInfo_nn___pyx_t_5numpy_int64_t, stack,
                                                 &result, obj);
    if (unlikely(retcode == -1))
        goto __pyx_fail;
    return result;
__pyx_fail:
    result.memview = NULL;
    result.data = NULL;
    return result;
}

/* ObjectToMemviewSlice */
          static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_d_dc_nn___pyx_t_5numpy_uint8_t(PyObject *obj, int writable_flag) {
    __Pyx_memviewslice result = { 0, 0, { 0 }, { 0 }, { 0 } };
    __Pyx_BufFmt_StackElem stack[1];
    int axes_specs[] = { (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_FOLLOW), (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_CONTIG) };
    int retcode;
    if (obj == Py_None) {
        result.memview = (struct __pyx_memoryview_obj *) Py_None;
        return result;
    }
    retcode = __Pyx_ValidateAndInit_memviewslice(axes_specs, __Pyx_IS_C_CONTIG,
                                                 (PyBUF_C_CONTIGUOUS | PyBUF_FORMAT) | writable_flag, 2,
                                                 &__Pyx_TypeInfo_nn___pyx_t_5numpy_uint8_t, stack,
                                                 &result, obj);
    if (unlikely(retcode == -1))
        goto __pyx_fail;
    return result;
__pyx_fail:
    result.memview = NULL;
    result.data = NULL;
    return result;
}

/* ObjectToMemviewSlice */
          static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_dc_nn___pyx_t_5numpy_uint8_t(PyObject *obj, int writable_flag) {
    __Pyx_memviewslice result = { 0, 0, { 0 }, { 0 }, { 0 } };
    __Pyx_BufFmt_StackElem stack[1];
    int axes_specs[] = { (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_CONTIG) };
    int retcode;
    if (obj == Py_None) {
        result.memview = (struct __pyx_memoryview_obj *) Py_None;
        return result;
    }
    retcode = __Pyx_ValidateAndInit_memviewslice(axes_specs, __Pyx_IS_C_CONTIG,
                                                 (PyBUF_C_CONTIGUOUS | PyBUF_FORMAT) | writable_flag, 1,
                                                 &__Pyx_TypeInfo_nn___pyx_t_5numpy_uint8_t, stack,
                                                 &result, obj);
    if (unlikely(retcode == -1))
        goto __pyx_fail;
    return result;
__pyx_fail:
    result.memview = NULL;
    result.data = NULL;
    return result;
}

/* ObjectToMemviewSlice */
          static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_d_d_d_dc_nn___pyx_t_5numpy_float32_t(PyObject *obj, int writable_flag) {
    __Pyx_memviewslice result = { 0, 0, { 0 }, { 0 }, { 0 } };
    __Pyx_BufFmt_StackElem stack[1];
    int axes_specs[] = { (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_FOLLOW), (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_FOLLOW), (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_FOLLOW), (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_CONTIG) };
    int retcode;
    if (obj == Py_None) {
        result.memview = (struct __pyx_memoryview_obj *) Py_None;
        return result;
    }
    retcode = __Pyx_ValidateAndInit_memviewslice(axes_specs, __Pyx_IS_C_CONTIG,
                                                 (PyBUF_C_CONTIGUOUS | PyBUF_FORMAT) | writable_flag, 4,
                                                 &__Pyx_TypeInfo_nn___pyx_t_5numpy_float32_t, stack,
                                                 &result, obj);
    if (unlikely(retcode == -1))
        goto __pyx_fail;
    return result;
__pyx_fail:
    result.memview = NULL;
    result.data = NULL;
    return result;
}

/* ObjectToMemviewSlice */
          static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_d_d_dc_nn___pyx_t_5numpy_float32_t(PyObject *obj, int writable_flag) {
    __Pyx_memviewslice result = { 0, 0, { 0 }, { 0 }, { 0 } };
    __Pyx_BufFmt_StackElem stack[1];
    int axes_specs[] = { (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_FOLLOW), (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_FOLLOW), (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_CONTIG) };
    int retcode;
    if (obj == Py_None) {
        result.memview = (struct __pyx_memoryview_obj *) Py_None;
        return result;
    }
    retcode = __Pyx_ValidateAndInit_memviewslice(axes_specs, __Pyx_IS_C_CONTIG,
                                                 (PyBUF_C_CONTIGUOUS | PyBUF_FORMAT) | writable_flag, 3,
                                                 &__Pyx_TypeInfo_nn___pyx_t_5numpy_float32_t, stack,
                                                 &result, obj);
    if (unlikely(retcode == -1))
        goto __pyx_fail;
    return result;
__pyx_fail:
    result.memview = NULL;
    result.data = NULL;
    return result;
}

/* ObjectToMemviewSlice */
          static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_dc_nn___pyx_t_5numpy_int64_t(PyObject *obj, int writable_flag) {
    __Pyx_memviewslice result = { 0, 0, { 0 }, { 0 }, { 0 } };
    __Pyx_BufFmt_StackElem stack[1];
    int axes_specs[] = { (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_CONTIG) };
    int retcode;
    if (obj == Py_None) {
        result.memview = (struct __pyx_memoryview_obj *) Py_None;
        return result;
    }
    retcode = __Pyx_ValidateAndInit_memviewslice(axes_specs, __Pyx_IS_C_CONTIG,
                                                 (PyBUF_C_CONTIGUOUS | PyBUF_FORMAT) | writable_flag, 1,
                                                 &__Pyx_TypeInfo_nn___pyx_t_5numpy_int64_t, stack,
                                                 &result, obj);
    if (unlikely(retcode == -1))
        goto __pyx_fail;
    return result;
__pyx_fail:
    result.memview = NULL;
    result.data = NULL;
    return result;
}

/* ObjectToMemviewSlice */
          static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_dc_nn___pyx_t_5numpy_float32_t(PyObject *obj, int writable_flag) {
    __Pyx_memviewslice result = { 0, 0, { 0 }, { 0 }, { 0 } };
    __Pyx_BufFmt_StackElem stack[1];
    int axes_specs[] = { (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_CONTIG) };
    int retcode;
    if (obj == Py_None) {
        result.memview = (struct __pyx_memoryview_obj *) Py_None;
        return result;
    }
    retcode = __Pyx_ValidateAndInit_memviewslice(axes_specs, __Pyx_IS_C_CONTIG,
                                                 (PyBUF_C_CONTIGUOUS | PyBUF_FORMAT) | writable_flag, 1,
                                                 &__Pyx_TypeInfo_nn___pyx_t_5numpy_float32_t, stack,
                                                 &result, obj);
    if (unlikely(retcode == -1))
        goto __pyx_fail;
    return result;
__pyx_fail:
    result.memview = NULL;
    result.data = NULL;
    return result;
}

/* ObjectToMemviewSlice */
          static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_ds_double(PyObject *obj, int writable_flag) {
    __Pyx_memviewslice result = { 0, 0, { 0 }, { 0 }, { 0 } };
    __Pyx_BufFmt_StackElem stack[1];
    int axes_specs[] = { (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_STRIDED) };
    int retcode;
    if (obj == Py_None) {
        result.memview = (struct __pyx_memoryview_obj *) Py_None;
        return result;
    }
    retcode = __Pyx_ValidateAndInit_memviewslice(axes_specs, 0,
                                                 PyBUF_RECORDS_RO | writable_flag, 1,
                                                 &__Pyx_TypeInfo_double, stack,
                                                 &result, obj);
    if (unlikely(retcode == -1))
        goto __pyx_fail;
    return result;
__pyx_fail:
    result.memview = NULL;
    result.data = NULL;
    return result;
}

/* 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 message[200];
        PyOS_snprintf(message, sizeof(message),
                      "compiletime version %s of module '%.100s' "
                      "does not match runtime version %s",
                      ctversion, __Pyx_MODULE_NAME, rtversion);
        return PyErr_WarnEx(NULL, message, 1);
    }
    return 0;
}

/* InitStrings */
          static int __Pyx_InitStrings(__Pyx_StringTabEntry *t) {
    while (t->p) {
        #if PY_MAJOR_VERSION < 3
        if (t->is_unicode) {
            *t->p = PyUnicode_DecodeUTF8(t->s, t->n - 1, NULL);
        } else if (t->intern) {
            *t->p = PyString_InternFromString(t->s);
        } else {
            *t->p = PyString_FromStringAndSize(t->s, t->n - 1);
        }
        #else
        if (t->is_unicode | t->is_str) {
            if (t->intern) {
                *t->p = PyUnicode_InternFromString(t->s);
            } else if (t->encoding) {
                *t->p = PyUnicode_Decode(t->s, t->n - 1, t->encoding, NULL);
            } else {
                *t->p = PyUnicode_FromStringAndSize(t->s, t->n - 1);
            }
        } else {
            *t->p = PyBytes_FromStringAndSize(t->s, t->n - 1);
        }
        #endif
        if (!*t->p)
            return -1;
        if (PyObject_Hash(*t->p) == -1)
            return -1;
        ++t;
    }
    return 0;
}

static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char* c_str) {
    return __Pyx_PyUnicode_FromStringAndSize(c_str, (Py_ssize_t)strlen(c_str));
}
static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject* o) {
    Py_ssize_t ignore;
    return __Pyx_PyObject_AsStringAndSize(o, &ignore);
}
#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT
#if !CYTHON_PEP393_ENABLED
static const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) {
    char* defenc_c;
    PyObject* defenc = _PyUnicode_AsDefaultEncodedString(o, NULL);
    if (!defenc) return NULL;
    defenc_c = PyBytes_AS_STRING(defenc);
#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII
    {
        char* end = defenc_c + PyBytes_GET_SIZE(defenc);
        char* c;
        for (c = defenc_c; c < end; c++) {
            if ((unsigned char) (*c) >= 128) {
                PyUnicode_AsASCIIString(o);
                return NULL;
            }
        }
    }
#endif
    *length = PyBytes_GET_SIZE(defenc);
    return defenc_c;
}
#else
static CYTHON_INLINE const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) {
    if (unlikely(__Pyx_PyUnicode_READY(o) == -1)) return NULL;
#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII
    if (likely(PyUnicode_IS_ASCII(o))) {
        *length = PyUnicode_GET_LENGTH(o);
        return PyUnicode_AsUTF8(o);
    } else {
        PyUnicode_AsASCIIString(o);
        return NULL;
    }
#else
    return PyUnicode_AsUTF8AndSize(o, length);
#endif
}
#endif
#endif
static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject* o, Py_ssize_t *length) {
#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT
    if (
#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII
            __Pyx_sys_getdefaultencoding_not_ascii &&
#endif
            PyUnicode_Check(o)) {
        return __Pyx_PyUnicode_AsStringAndSize(o, length);
    } else
#endif
#if (!CYTHON_COMPILING_IN_PYPY) || (defined(PyByteArray_AS_STRING) && defined(PyByteArray_GET_SIZE))
    if (PyByteArray_Check(o)) {
        *length = PyByteArray_GET_SIZE(o);
        return PyByteArray_AS_STRING(o);
    } else
#endif
    {
        char* result;
        int r = PyBytes_AsStringAndSize(o, &result, length);
        if (unlikely(r < 0)) {
            return NULL;
        } else {
            return result;
        }
    }
}
static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject* x) {
   int is_true = x == Py_True;
   if (is_true | (x == Py_False) | (x == Py_None)) return is_true;
   else return PyObject_IsTrue(x);
}
static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject* x) {
    int retval;
    if (unlikely(!x)) return -1;
    retval = __Pyx_PyObject_IsTrue(x);
    Py_DECREF(x);
    return retval;
}
static PyObject* __Pyx_PyNumber_IntOrLongWrongResultType(PyObject* result, const char* type_name) {
#if PY_MAJOR_VERSION >= 3
    if (PyLong_Check(result)) {
        if (PyErr_WarnFormat(PyExc_DeprecationWarning, 1,
                "__int__ returned non-int (type %.200s).  "
                "The ability to return an instance of a strict subclass of int "
                "is deprecated, and may be removed in a future version of Python.",
                Py_TYPE(result)->tp_name)) {
            Py_DECREF(result);
            return NULL;
        }
        return result;
    }
#endif
    PyErr_Format(PyExc_TypeError,
                 "__%.4s__ returned non-%.4s (type %.200s)",
                 type_name, type_name, Py_TYPE(result)->tp_name);
    Py_DECREF(result);
    return NULL;
}
static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x) {
#if CYTHON_USE_TYPE_SLOTS
  PyNumberMethods *m;
#endif
  const char *name = NULL;
  PyObject *res = NULL;
#if PY_MAJOR_VERSION < 3
  if (likely(PyInt_Check(x) || PyLong_Check(x)))
#else
  if (likely(PyLong_Check(x)))
#endif
    return __Pyx_NewRef(x);
#if CYTHON_USE_TYPE_SLOTS
  m = Py_TYPE(x)->tp_as_number;
  #if PY_MAJOR_VERSION < 3
  if (m && m->nb_int) {
    name = "int";
    res = m->nb_int(x);
  }
  else if (m && m->nb_long) {
    name = "long";
    res = m->nb_long(x);
  }
  #else
  if (likely(m && m->nb_int)) {
    name = "int";
    res = m->nb_int(x);
  }
  #endif
#else
  if (!PyBytes_CheckExact(x) && !PyUnicode_CheckExact(x)) {
    res = PyNumber_Int(x);
  }
#endif
  if (likely(res)) {
#if PY_MAJOR_VERSION < 3
    if (unlikely(!PyInt_Check(res) && !PyLong_Check(res))) {
#else
    if (unlikely(!PyLong_CheckExact(res))) {
#endif
        return __Pyx_PyNumber_IntOrLongWrongResultType(res, name);
    }
  }
  else if (!PyErr_Occurred()) {
    PyErr_SetString(PyExc_TypeError,
                    "an integer is required");
  }
  return res;
}
static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) {
  Py_ssize_t ival;
  PyObject *x;
#if PY_MAJOR_VERSION < 3
  if (likely(PyInt_CheckExact(b))) {
    if (sizeof(Py_ssize_t) >= sizeof(long))
        return PyInt_AS_LONG(b);
    else
        return PyInt_AsSsize_t(b);
  }
#endif
  if (likely(PyLong_CheckExact(b))) {
    #if CYTHON_USE_PYLONG_INTERNALS
    const digit* digits = ((PyLongObject*)b)->ob_digit;
    const Py_ssize_t size = Py_SIZE(b);
    if (likely(__Pyx_sst_abs(size) <= 1)) {
        ival = likely(size) ? digits[0] : 0;
        if (size == -1) ival = -ival;
        return ival;
    } else {
      switch (size) {
         case 2:
           if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) {
             return (Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]));
           }
           break;
         case -2:
           if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) {
             return -(Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]));
           }
           break;
         case 3:
           if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) {
             return (Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]));
           }
           break;
         case -3:
           if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) {
             return -(Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]));
           }
           break;
         case 4:
           if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) {
             return (Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]));
           }
           break;
         case -4:
           if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) {
             return -(Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]));
           }
           break;
      }
    }
    #endif
    return PyLong_AsSsize_t(b);
  }
  x = PyNumber_Index(b);
  if (!x) return -1;
  ival = PyInt_AsSsize_t(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);
}
static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t ival) {
    return PyInt_FromSize_t(ival);
}


#endif /* Py_PYTHON_H */
