  #include "driving.h"
  
  
  #define PATH_IDX 0
  #define LL_IDX PATH_IDX + MODEL_PATH_DISTANCE*2
  #define RL_IDX LL_IDX + MODEL_PATH_DISTANCE*2 + 1
  #define LEAD_IDX RL_IDX + MODEL_PATH_DISTANCE*2 + 1
  #define LONG_X_IDX LEAD_IDX + MDN_GROUP_SIZE*LEAD_MDN_N + SELECTION 
  #define LONG_V_IDX LONG_X_IDX + TIME_DISTANCE*2
  #define LONG_A_IDX LONG_V_IDX + TIME_DISTANCE*2
  #define META_IDX LONG_A_IDX + TIME_DISTANCE*2
  #define POSE_IDX META_IDX + OTHER_META_SIZE + DESIRE_PRED_SIZE
 
</s> remove     prob =  sigmoid(data[MODEL_PATH_DISTANCE*2]);
 </s> add     prob =  sigmoid(data[MODEL_PATH_DISTANCE*2 + 1]); </s> remove     stds_arr[i] = softplus(data[MODEL_PATH_DISTANCE + i]);
 </s> add     // Always do at least 5 points
    if (i < 5 || i < valid_len) {
      stds_arr[i] = softplus(data[MODEL_PATH_DISTANCE + i]);
    } else {
      stds_arr[i] = 1.0e3; 
    }
#define LL_IDX PATH_IDX + MODEL_PATH_DISTANCE*2 + 1
#define RL_IDX LL_IDX + MODEL_PATH_DISTANCE*2 + 2
#define LEAD_IDX RL_IDX + MODEL_PATH_DISTANCE*2 + 2
  #include "driving.h"
  
  
  #define PATH_IDX 0
#define LL_IDX PATH_IDX + MODEL_PATH_DISTANCE*2 + 1
#define RL_IDX LL_IDX + MODEL_PATH_DISTANCE*2 + 2
#define LEAD_IDX RL_IDX + MODEL_PATH_DISTANCE*2 + 2
#define LL_IDX PATH_IDX + MODEL_PATH_DISTANCE*2 + 1
#define RL_IDX LL_IDX + MODEL_PATH_DISTANCE*2 + 2
#define LEAD_IDX RL_IDX + MODEL_PATH_DISTANCE*2 + 2
#define LL_IDX PATH_IDX + MODEL_PATH_DISTANCE*2 + 1
#define RL_IDX LL_IDX + MODEL_PATH_DISTANCE*2 + 2
#define LEAD_IDX RL_IDX + MODEL_PATH_DISTANCE*2 + 2
  #define LONG_X_IDX LEAD_IDX + MDN_GROUP_SIZE*LEAD_MDN_N + SELECTION 
  #define LONG_V_IDX LONG_X_IDX + TIME_DISTANCE*2
  #define LONG_A_IDX LONG_V_IDX + TIME_DISTANCE*2
  #define META_IDX LONG_A_IDX + TIME_DISTANCE*2
  #define POSE_IDX META_IDX + OTHER_META_SIZE + DESIRE_PRED_SIZE
keep keep keep keep replace replace replace keep keep keep keep keep
 Multipath supercombo (#1036)

* exclude stuff outside of validity window

* 94dd2da7-23ae-4628-9d12-37f58b379110/10

* fbe443fd-1d65-4b4d-8e3a-3817b58bacd0/50

* sanity clip 
selfdrive/modeld/models/driving.cc