Skip to content
Snippets Groups Projects
Commit f17eb4b6 authored by manxilin's avatar manxilin
Browse files

fkk

parent be0abbc6
Branches
No related tags found
No related merge requests found
#!usr/bin/bash
# run the simulator
cd ..
simserver1 final.xml
simserver1 simconfig388proj.xml
Debug file for the robot initialization
---------------------------------------
Fri May 22 11:39:31 2020
Sun May 24 22:00:05 2020
---------------------------------------
Module : robotinfo
......
......@@ -2,6 +2,7 @@ drive @v 0.2 :($irdistfrontleft<0.45)|($irdistfrontmiddle<0.45)|($irdistfrontrig
stop
wait 3
switch ($fiducialid)
eval $fiducialid
stop
case 1 %%%%%
turn 180 @v 0.2
......
Source diff could not be displayed: it is too large. Options to address this: view the blob.
11.650000 1163 -0.5 90 361 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 3.731 3.445 3.200 2.987 2.802 2.679 2.683 2.686 2.690 2.695 2.699 2.704 2.709 2.714 2.719 2.725 2.731 2.737 2.743 2.750 2.756 2.763 2.771 2.778 2.786 2.794 2.802 2.811 2.820 2.829 2.838 2.848 2.858 2.868 2.878 2.889 2.900 2.869 2.815 2.764 2.714 2.666 2.621 2.577 2.534 2.493 2.454 2.416 2.380 3.771 3.791 0.001 0.001 0.001 0.001 0.001 0.001 3.160 3.120 3.082 3.045 3.009 2.974 2.940 2.907 2.875 2.844 2.814 2.784 2.756 2.728 3.538 3.565 3.594 3.623 3.653 3.683 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 3.738 3.725 3.713 3.702 3.691 3.680 3.669 3.659 3.649 3.639 3.630 3.621 3.613 3.604 3.596 3.589 3.581 3.574 3.567 3.561 3.555 3.549 3.543 3.538 3.533 3.528 3.524 3.520 3.516 3.512 3.509 3.506 3.503 3.500 3.498 3.496 3.494 3.493 3.492 3.491 3.490 3.490 3.490 3.490 3.490 3.491 3.492 3.493 3.494 3.496 3.498 3.500 3.503 3.506 3.509 3.512 3.516 3.447 3.233 3.044 2.876 2.726 2.591 2.469 2.358 2.257 2.164 2.079 2.000 1.927 1.860 1.797 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 1.348 1.315 1.284 1.255 1.227 1.201 1.175 1.151 1.128 1.106 1.085 1.064 1.045 1.026 1.008 0.991 0.974 0.958 0.943 0.928 0.913 0.900 0.886 0.873 0.861 0.849 0.837 0.826 0.815 0.804 0.794 0.784 0.774 0.765 0.756 0.747 0.739 0.730 0.722 0.715 0.707 0.700 0.692 0.685 0.679 0.672 0.666 0.659 0.653 0.647 0.642 0.636 0.630 0.625 0.620 0.615 0.610 0.605 0.600 0.596 0.591 0.587 0.583 0.579 0.575 0.571 0.567 0.563 0.559 0.556 0.552 0.549 0.546 0.542 0.539 0.536 0.533 0.530 0.527 0.524 0.522 0.519 0.517 0.514 0.512 0.509 0.507 0.505 0.502 0.500 0.498 0.496 0.494 0.492 0.490 0.488 0.487 0.485 0.483 0.482 0.480 0.478 0.477 0.475 0.474 0.473 0.471 0.470 0.469 0.468 0.466 0.465 0.464 0.463 0.462 0.461 0.460 0.460 0.459 0.458 0.457 0.456 0.456 0.455 0.454 0.454 0.453 0.453 0.452 0.452 0.452 0.451 0.451 0.451 0.450 0.450 0.450 0.450 0.450 0.450 0.450 0.450 0 1 0
......@@ -33,6 +33,7 @@ echo $flag
## clean logg files
rm -r *.logg
## kill all terminal processes
gnome-terminal -t "close client" -x killall -9 qclient
gnome-terminal -t "clear all" -x killall -9 bash
break
fi
......
Debug file for the robot initialization
---------------------------------------
Sat May 23 14:32:24 2020
Sun May 24 22:57:24 2020
---------------------------------------
Module : robotinfo
......
......@@ -7,13 +7,13 @@ pi = 3.1415926535
xOrig = 0.25
yOrig = 0.45
% distance from the expected robot position to the guidemark
dist = 0.25
dist = 0.4
% distance from the nearest node to the guidemark
nodeDist = 0.15
% robot length
length = 0.35
length = 0.25
% the first guidemark number
gmno = 11
gmno = 4
% task number
%% - 1: subtask1, follow the guidemarks
%% - 2: subtask2, recognize unknown object
......@@ -164,19 +164,20 @@ rotAng = normalizeanglerad(rotAng)
wait 0.5
eval rotAng
ignoreobstacles
turn rotAng "rad" @v 0.1 :($cmdtime>5)|($irdistfrontmiddle<=0.05)
wait 0.5
turn rotAng "rad" @v 0.1 :($cmdtime>5)|($irdistfrontmiddle<=nodeDist)| ($irdistfrontleft<=0.05) | ($irdistfrontright<=0.05)
wait 1.5
ignoreobstacles
drivew xTar yTar thTar "rad" @v 0.5 :($targetdist<0.01)|($cmdtime>10)|($irdistfrontmiddle<=0.05)
drivew xTar yTar thTar "rad" @v 0.3 :($targetdist<0.01)|($cmdtime>10)|($irdistfrontmiddle<=nodeDist)
stop
wait 1
call "update"
% correct orientation
rotAng = thTar-thCurr
rotAng = normalizeanglerad(rotAng)
wait 0.5
ignoreobstacles
turn rotAng "rad" @v 0.1 :($cmdtime>5)|($irdistfrontmiddle<=0.05)
wait 0.5
turn rotAng "rad" @v 0.1 :($cmdtime>5)|($irdistfrontmiddle<=nodeDist)| ($irdistfrontleft<=0.05) | ($irdistfrontright<=0.05)
wait 1
return
% function: plan
......@@ -199,29 +200,35 @@ thTar = $l7
if((xTar==xOrig)&(yTar==yOrig)) "loop"
eval pno
call "go"
wait 0.5
wait 2
if(pno>0) "loop"
% drive the robot to head at the target
xTar = xEnd
yTar = yEnd
thTar = thEnd
call "go"
wait 0.5
wait 1
ignoreobstacles
fwd -0.3 @v 0.1
stop
ignoreobstacles
drive @v 0.1 :($irdistfrontmiddle<=dist)
stop
wait 0.5
return
% function: look
% return guidemarkNumber
label "look"
get "guidemark" :($fiducialid>=1)|($cmdtime>30)
eval $guidemarkok
wait 3 : ($fiducialid>0)
eval $fiducialid
gmno = $guidemarkok
eval $guidemarkok
gmno = $fiducialid
eval gmno
eval $gmkx
eval $gmky
eval $gmkz
goto "look"
return
% function: backToOrig
......
%Set laser scanner states
laser "setinitpose x=0.3 y=0.3 th=0"
laser "setinitcov Cx=0.05 Cy=0.05 Cth=0.05"
laser "resetplanner"
laser "push t='1' cmd='localize'"
laser "odopose log = true"
log $odox $odoy $odoth
%Add 34 nodes to laser scanner
laser "addpoint pno=1 x=-0.5 y=-0.5"
laser "addpoint pno=2 x=2 y=-0.5"
laser "addpoint pno=3 x=4.5 y=-0.5"
laser "addpoint pno=4 x=0.5 y=0.5"
laser "addpoint pno=5 x=2 y=0.5"
laser "addpoint pno=6 x=3.5 y=0.5"
laser "addpoint pno=7 x=-0.5 y=1.5"
laser "addpoint pno=8 x=0.5 y=1.5"
laser "addpoint pno=9 x=3.5 y=1.5"
laser "addpoint pno=10 x=4.5 y=1.5"
laser "addpoint pno=11 x=-0.5 y=2.2"
laser "addpoint pno=12 x=0.5 y=2.2"
laser "addpoint pno=13 x=2 y=2.2"
laser "addpoint pno=14 x=3.5 y=2.2"
laser "addpoint pno=15 x=4.5 y=2.2"
laser "addpoint pno=16 x=-0.5 y=3.4"
laser "addpoint pno=17 x=0.5 y=3.4"
laser "addpoint pno=18 x=1.2 y=3.4"
laser "addpoint pno=19 x=2 y=3.4"
laser "addpoint pno=20 x=2.7 y=3.4"
laser "addpoint pno=21 x=3.5 y=3.4"
laser "addpoint pno=22 x=4.5 y=3.4"
laser "addpoint pno=23 x=1.2 y=4"
laser "addpoint pno=24 x=2.7 y=4"
laser "addpoint pno=25 x=-0.5 y=4.6"
laser "addpoint pno=26 x=0.5 y=4.6"
laser "addpoint pno=27 x=2 y=4.6"
laser "addpoint pno=28 x=3.5 y=4.6"
laser "addpoint pno=29 x=4.5 y=4.6"
laser "addpoint pno=30 x=-0.5 y=5.5"
laser "addpoint pno=31 x=0.3 y=5.5"
laser "addpoint pno=32 x=2.0 y=5.5"
laser "addpoint pno=33 x=3.7 y=5.5"
laser "addpoint pno=34 x=4.5 y=5.5"
laser "addpoint pno=35 x=1.7 y=4"
laser "addpoint pno=36 x=2.2 y=4"
% Set connections
% Out-loop: counter-clockwise
laser "addcon pno1=1 pno2=2"
laser "addcon pno1=2 pno2=3"
laser "addcon pno1=3 pno2=10"
laser "addcon pno1=10 pno2=15"
laser "addcon pno1=15 pno2=22"
laser "addcon pno1=22 pno2=29"
laser "addcon pno1=29 pno2=34"
laser "addcon pno1=34 pno2=33"
laser "addcon pno1=33 pno2=32"
laser "addcon pno1=32 pno2=31"
laser "addcon pno1=31 pno2=30"
laser "addcon pno1=30 pno2=25"
laser "addcon pno1=25 pno2=16"
laser "addcon pno1=16 pno2=11"
laser "addcon pno1=11 pno2=7"
laser "addcon pno1=7 pno2=1"
% Out-loop: clockwise
laser "addcon pno1=1 pno2=7"
laser "addcon pno1=7 pno2=11"
laser "addcon pno1=11 pno2=16"
laser "addcon pno1=16 pno2=25"
laser "addcon pno1=25 pno2=30"
laser "addcon pno1=30 pno2=31"
laser "addcon pno1=31 pno2=32"
laser "addcon pno1=32 pno2=33"
laser "addcon pno1=33 pno2=34"
laser "addcon pno1=34 pno2=29"
laser "addcon pno1=29 pno2=22"
laser "addcon pno1=22 pno2=15"
laser "addcon pno1=15 pno2=10"
laser "addcon pno1=10 pno2=3"
laser "addcon pno1=3 pno2=2"
laser "addcon pno1=2 pno2=1"
% Connections between out-loop and inner-loop
laser "addcon pno1=2 pno2=5"
laser "addcon pno1=5 pno2=2"
laser "addcon pno1=14 pno2=15"
laser "addcon pno1=15 pno2=14"
laser "addcon pno1=27 pno2=32"
laser "addcon pno1=32 pno2=27"
laser "addcon pno1=12 pno2=11"
laser "addcon pno1=11 pno2=12"
% Inner-loop: counter-clockwise
laser "addcon pno1=4 pno2=5"
laser "addcon pno1=5 pno2=6"
laser "addcon pno1=6 pno2=9"
laser "addcon pno1=9 pno2=14"
laser "addcon pno1=14 pno2=21"
laser "addcon pno1=21 pno2=28"
laser "addcon pno1=28 pno2=27"
laser "addcon pno1=27 pno2=26"
laser "addcon pno1=26 pno2=17"
laser "addcon pno1=17 pno2=12"
laser "addcon pno1=12 pno2=8"
laser "addcon pno1=8 pno2=4"
% Inner-loop: clockwise
laser "addcon pno1=4 pno2=8"
laser "addcon pno1=8 pno2=12"
laser "addcon pno1=12 pno2=17"
laser "addcon pno1=17 pno2=26"
laser "addcon pno1=26 pno2=27"
laser "addcon pno1=27 pno2=28"
laser "addcon pno1=28 pno2=21"
laser "addcon pno1=21 pno2=14"
laser "addcon pno1=14 pno2=9"
laser "addcon pno1=9 pno2=6"
laser "addcon pno1=6 pno2=5"
laser "addcon pno1=5 pno2=4"
% Connections between inner-loop and path in maze
laser "addcon pno1=12 pno2=13"
laser "addcon pno1=13 pno2=12"
laser "addcon pno1=13 pno2=14"
laser "addcon pno1=14 pno2=13"
laser "addcon pno1=13 pno2=19"
laser "addcon pno1=19 pno2=13"
% In maze: counter-clockwise
laser "addcon pno1=35 pno2=23"
laser "addcon pno1=23 pno2=18"
laser "addcon pno1=18 pno2=19"
laser "addcon pno1=19 pno2=20"
laser "addcon pno1=20 pno2=24"
laser "addcon pno1=24 pno2=36"
% In maze: clockwise
laser "addcon pno1=36 pno2=24"
laser "addcon pno1=24 pno2=20"
laser "addcon pno1=20 pno2=19"
laser "addcon pno1=19 pno2=18"
laser "addcon pno1=18 pno2=23"
laser "addcon pno1=23 pno2=35"
% Calculate cost of navigating
laser "calculatecost"
% Guidemark info
array "gmx" 15
array "gmy" 15
array "gmth" 15
pi=3.1416
% x-coordinates
gmx[1]=0
gmx[2]=0
gmx[3]=4
gmx[4]=4
gmx[5]=0
gmx[6]=0
gmx[7]=4
gmx[8]=4
gmx[9]=0
gmx[10]=4
gmx[11]=0.4
gmx[12]=3.6
gmx[13]=2
gmx[14]=2
% y-coordinates
gmy[1]=1.5
gmy[2]=1.5
gmy[3]=1.5
gmy[4]=1.5
gmy[5]=3.5
gmy[6]=3.5
gmy[7]=3.5
gmy[8]=3.5
gmy[9]=4.7
gmy[10]=4.7
gmy[11]=5
gmy[12]=5
gmy[13]=4.0
gmy[14]=4.0
% z-coordinates
gmth[1]=pi
gmth[2]=0
gmth[3]=pi
gmth[4]=0
gmth[5]=pi
gmth[6]=0
gmth[7]=pi
gmth[8]=0
gmth[9]=0
gmth[10]=pi
gmth[11]=-pi/2
gmth[12]=-pi/2
gmth[13]=pi
gmth[14]=0
% Define guidemark number
num = 1
% Go to node 4
% Get the current location in world frame
%invtrans $l0 $l1 $l2 $odox $odoy $odoth
%xw = $res0
%yw = $res1
%thw = $res2
% Drive to node 4
%ndx = 0.5
%ndy = 0.5
%dx = ndx - xw
%dy = ndy - yw
%ang = -thw
%turn ang "rad"
%fwd dx
%turn 90
%fwd dy
num = 2
% Navigate through guidemarks
label"GuidemarkTour"
% Want to go to guidemark 1
tgmx = gmx[num] % Off set term determined by orientation of guidemark pose. If 0, the inner side of the wall, so shift to the left.
tgmy = gmy[num]
tgmth = gmth[num]
delx = (tgmth==0)*0.4 + (tgmth==pi)*-0.4
dely = (tgmth==-pi/2)*-0.4
tgmx = tgmx + delx
tgmy = tgmy + dely
fang = (tgmth==0)*pi + (tgmth==pi)*0 + (tgmth==-pi/2)*pi/2
% Get current location in world frame
invtrans $l0 $l1 $l2 $odox $odoy $odoth
xw = $res0
yw = $res1
% Start planning
stringcat "findroute startx="xw "starty="yw "endx="tgmx "endy="tgmy
laser "$string"
wait 1
N = $l4
cost = $l5
% Drive to target guidemark
label"Drive"
% Take coordinates
stringcat "getpoint p="N
laser "$string"
x = $l5
y = $l6
th = $l7
% Drive to middle points
drivew x y th "rad":($targetdist<0.25)
N = N - 1
if(N>=0)"Drive"
wait 1
% Adjust pose
invtrans $l0 $l1 $l2 $odox $odoy $odoth
xw = $res0
yw = $res1
thw = $res2
% Turn and face guidemark
ang = fang - thw
turn ang "rad"
stop
% Read new guidemark value
wait 1
num = $fiducialid
eval num
if(num<30&num!=-1)"GuidemarkTour"
% Now Back to origin
fang = -3/4*pi
invtrans $l0 $l1 $l2 $odox $odoy $odoth
xw = $res0
yw = $res1
stringcat "findroute startx="xw "starty="yw "endx="0.5 "endy="0.5
laser "$string"
wait 1
N = $l4
cost = $l5
% Lable names must be distinctive.
label"Drive2"
% Take coordinates
stringcat "getpoint p="N
laser "$string"
x = $l5
y = $l6
th = $l7
% Drive to the point
drivew x y th "rad":($targetdist<0.25)
N = N - 1
if(N>=0)"Drive2"
wait 1
invtrans $l0 $l1 $l2 $odox $odoy $odoth
xw = $res0
yw = $res1
thw = $res2
ang = fang - thw
turn ang "rad"
fwd 0.25
Source diff could not be displayed: it is too large. Options to address this: view the blob.
7.610000 0.000 0.000 0.01500 0.000 -1 1590353132.730909
7.620000 0.000 0.000 0.03070 0.000 -1 1590353132.739658
7.630000 0.000 0.000 0.04570 0.000 -1 1590353132.749965
7.640000 0.000 0.000 0.06150 0.000 -1 1590353132.760843
7.650000 0.001 0.000 0.07640 0.000 -1 1590353132.772207
7.660000 0.001 0.000 0.09180 0.000 -1 1590353132.779907
7.670000 0.001 0.000 0.10760 0.000 -1 1590353132.790932
7.680000 0.001 0.000 0.12250 0.000 -1 1590353132.799845
7.690000 0.001 0.000 0.13830 0.000 -1 1590353132.809684
7.700000 0.002 0.000 0.15330 0.000 -1 1590353132.821426
7.710000 0.002 0.000 0.16900 0.000 -1 1590353132.830319
7.720000 0.002 0.000 0.18400 0.000 -1 1590353132.840300
7.730000 0.002 0.000 0.19980 0.000 -1 1590353132.852246
7.740000 0.003 0.000 0.21510 0.000 -1 1590353132.859650
7.750000 0.003 0.000 0.23050 0.000 -1 1590353132.873625
7.760000 0.003 0.001 0.24590 0.000 -1 1590353132.880388
7.770000 0.004 0.001 0.26120 0.000 -1 1590353132.890514
7.780000 0.004 0.001 0.27660 0.000 -1 1590353132.900134
7.790000 0.004 0.001 0.29200 0.000 -1 1590353132.914277
7.800000 0.005 0.001 0.30730 0.000 -1 1590353132.921211
7.810000 0.005 0.001 0.32270 0.000 -1 1590353132.930330
7.820000 0.006 0.001 0.33850 0.000 -1 1590353132.941001
7.830000 0.006 0.001 0.35350 0.000 -1 1590353132.950366
7.840000 0.007 0.002 0.36880 0.000 -1 1590353132.962834
7.850000 0.007 0.002 0.38460 0.000 -1 1590353132.970604
7.860000 0.008 0.002 0.39960 0.000 -1 1590353132.980975
7.870000 0.008 0.002 0.41530 0.000 -1 1590353132.990620
7.880000 0.009 0.003 0.43070 0.000 -1 1590353133.002048
7.890000 0.010 0.003 0.44570 0.000 -1 1590353133.010837
7.900000 0.010 0.003 0.46140 0.000 -1 1590353133.023830
7.910000 0.011 0.004 0.47680 0.000 -1 1590353133.029602
7.920000 0.012 0.004 0.49180 0.000 -1 1590353133.040476
7.930000 0.013 0.004 0.50750 0.000 -1 1590353133.049942
7.940000 0.013 0.005 0.52290 0.000 -1 1590353133.061939
7.950000 0.014 0.005 0.53830 0.000 -1 1590353133.071373
7.960000 0.015 0.006 0.55320 0.000 -1 1590353133.122556
7.970000 0.016 0.006 0.56900 0.000 -1 1590353133.122573
7.980000 0.017 0.007 0.58440 0.000 -1 1590353133.122584
7.990000 0.017 0.007 0.59970 0.000 -1 1590353133.122593
8.000000 0.018 0.008 0.61510 0.000 -1 1590353133.122645
8.010000 0.019 0.009 0.63050 0.000 -1 1590353133.129814
8.020000 0.020 0.009 0.64580 0.000 -1 1590353133.139758
8.030000 0.021 0.010 0.66120 0.000 -1 1590353133.150371
8.040000 0.022 0.011 0.67660 0.000 -1 1590353133.159699
8.050000 0.023 0.011 0.69190 0.000 -1 1590353133.171389
8.060000 0.024 0.012 0.70730 0.000 -1 1590353133.181392
8.070000 0.025 0.013 0.72270 0.000 -1 1590353133.191413
8.080000 0.025 0.014 0.73840 0.000 -1 1590353133.199976
8.090000 0.026 0.015 0.75380 0.000 -1 1590353133.212176
8.100000 0.027 0.016 0.76880 0.000 -1 1590353133.221158
8.110000 0.028 0.017 0.78410 0.000 -1 1590353133.231062
8.120000 0.029 0.018 0.79950 0.000 -1 1590353133.240597
8.130000 0.030 0.019 0.81490 0.000 -1 1590353133.252019
8.140000 0.031 0.020 0.83060 0.000 -1 1590353133.265811
8.150000 0.032 0.021 0.84600 0.000 -1 1590353133.269950
8.160000 0.033 0.022 0.86140 0.000 -1 1590353133.280614
8.170000 0.034 0.023 0.87670 0.000 -1 1590353133.290517
8.180000 0.035 0.025 0.89170 0.000 -1 1590353133.300675
8.190000 0.036 0.026 0.90710 0.000 -1 1590353133.311848
8.200000 0.037 0.027 0.92280 0.000 -1 1590353133.319925
8.210000 0.038 0.028 0.93820 0.000 -1 1590353133.329640
8.220000 0.039 0.030 0.95360 0.000 -1 1590353133.340965
8.230000 0.040 0.031 0.96850 0.000 -1 1590353133.352952
8.240000 0.041 0.033 0.98270 0.000 -1 1590353133.360029
8.250000 0.042 0.034 0.99650 0.000 -1 1590353133.369881
8.260000 0.043 0.035 1.00990 0.000 -1 1590353133.382530
8.270000 0.044 0.037 1.02290 0.000 -1 1590353133.389892
8.280000 0.045 0.039 1.03470 0.000 -1 1590353133.399788
8.290000 0.046 0.040 1.04620 0.000 -1 1590353133.414031
8.300000 0.047 0.042 1.05760 0.000 -1 1590353133.420201
8.310000 0.048 0.043 1.06750 0.000 -1 1590353133.429988
8.320000 0.049 0.045 1.07810 0.000 -1 1590353133.442635
8.330000 0.050 0.047 1.08720 0.000 -1 1590353133.450437
8.340000 0.051 0.049 1.09620 0.000 -1 1590353133.460329
8.350000 0.052 0.051 1.10450 0.000 -1 1590353133.469686
8.360000 0.053 0.052 1.11320 0.000 -1 1590353133.479643
8.370000 0.054 0.054 1.12100 0.000 -1 1590353133.490037
8.380000 0.054 0.056 1.12890 0.000 -1 1590353133.500232
8.390000 0.056 0.058 1.13600 0.000 -1 1590353133.512738
8.400000 0.056 0.060 1.14350 0.000 -1 1590353133.521780
8.410000 0.057 0.062 1.15020 0.000 -1 1590353133.532588
8.420000 0.058 0.065 1.15730 0.000 -1 1590353133.539881
8.430000 0.059 0.067 1.16400 0.000 -1 1590353133.550486
8.440000 0.060 0.069 1.16990 0.000 -1 1590353133.559721
8.450000 0.061 0.071 1.17620 0.000 -1 1590353133.570505
8.460000 0.062 0.073 1.18170 0.000 -1 1590353133.580808
8.470000 0.063 0.076 1.18760 0.000 -1 1590353133.594744
8.480000 0.064 0.078 1.19310 0.000 -1 1590353133.600501
8.500000 0.066 0.083 1.20340 0.000 -1 1590353133.621317
8.520000 0.068 0.087 1.21210 0.000 -1 1590353133.639946
8.540000 0.069 0.092 1.22070 0.000 -1 1590353133.660173
8.560000 0.071 0.097 1.22900 0.000 -1 1590353133.680167
8.580000 0.073 0.102 1.23730 0.000 -1 1590353133.701370
8.600000 0.075 0.108 1.24480 0.000 -1 1590353133.721362
8.620000 0.076 0.113 1.25190 0.000 -1 1590353133.744206
8.640000 0.078 0.119 1.25860 0.000 -1 1590353133.759596
8.650000 0.079 0.122 1.26210 0.000 -1 1590353133.772161
8.670000 0.081 0.127 1.26800 0.000 -1 1590353133.794532
8.690000 0.083 0.133 1.27430 0.000 -1 1590353133.814293
8.700000 0.084 0.136 1.27750 0.000 -1 1590353133.822796
8.710000 0.085 0.139 1.28060 0.000 -1 1590353133.829886
8.720000 0.085 0.142 1.28340 0.000 -1 1590353133.840001
8.740000 0.087 0.147 1.28970 0.000 -1 1590353133.861285
8.750000 0.088 0.150 1.29280 0.000 -1 1590353133.875397
8.760000 0.089 0.153 1.29600 0.000 -1 1590353133.880564
8.780000 0.090 0.159 1.30030 0.000 -1 1590353133.902515
8.790000 0.091 0.162 1.30270 0.000 -1 1590353133.909749
8.800000 0.092 0.165 1.30510 0.000 -1 1590353133.921664
8.820000 0.093 0.171 1.30980 0.000 -1 1590353133.939715
8.840000 0.095 0.176 1.31410 0.000 -1 1590353133.962619
8.850000 0.096 0.179 1.31690 0.000 -1 1590353133.970505
8.860000 0.097 0.182 1.31880 0.000 -1 1590353133.979889
8.880000 0.098 0.188 1.32360 0.000 -1 1590353133.999673
8.900000 0.100 0.194 1.32830 0.000 -1 1590353134.021141
8.920000 0.101 0.200 1.33260 0.000 -1 1590353134.039722
8.940000 0.102 0.205 1.33780 0.000 -1 1590353134.059677
8.950000 0.103 0.208 1.33970 0.000 -1 1590353134.069735
8.970000 0.104 0.214 1.34410 0.000 -1 1590353134.091085
8.990000 0.106 0.220 1.34920 0.000 -1 1590353134.114168
9.000000 0.106 0.223 1.35040 0.000 -1 1590353134.121567
9.020000 0.108 0.229 1.35350 0.000 -1 1590353134.140546
9.030000 0.108 0.232 1.35510 0.000 -1 1590353134.153367
9.050000 0.110 0.238 1.35830 0.000 -1 1590353134.169675
9.060000 0.110 0.241 1.35940 0.000 -1 1590353134.180018
9.080000 0.111 0.246 1.36300 0.000 -1 1590353134.200897
9.090000 0.112 0.249 1.36420 0.000 -1 1590353134.210202
9.110000 0.113 0.255 1.36730 0.000 -1 1590353134.230079
9.120000 0.114 0.258 1.36890 0.000 -1 1590353134.239513
9.140000 0.115 0.264 1.37200 0.000 -1 1590353134.259593
9.150000 0.116 0.267 1.37320 0.000 -1 1590353134.269702
9.160000 0.116 0.270 1.37520 0.000 -1 1590353134.280851
9.180000 0.117 0.276 1.37800 0.000 -1 1590353134.299989
9.190000 0.118 0.279 1.37950 0.000 -1 1590353134.310843
9.210000 0.119 0.285 1.38270 0.000 -1 1590353134.329910
9.230000 0.120 0.290 1.38580 0.000 -1 1590353134.351018
9.240000 0.121 0.293 1.38740 0.000 -1 1590353134.359893
9.250000 0.121 0.296 1.38900 0.000 -1 1590353134.370900
9.270000 0.122 0.302 1.39210 0.000 -1 1590353134.389774
9.280000 0.123 0.305 1.39330 0.000 -1 1590353134.399570
9.290000 0.123 0.308 1.39530 0.000 -1 1590353134.409619
9.310000 0.124 0.314 1.39800 0.000 -1 1590353134.430969
9.330000 0.126 0.320 1.40160 0.000 -1 1590353134.450078
9.340000 0.126 0.323 1.40280 0.000 -1 1590353134.460271
9.360000 0.127 0.329 1.40590 0.000 -1 1590353134.480162
9.370000 0.128 0.332 1.40710 0.000 -1 1590353134.490506
9.380000 0.128 0.335 1.40910 0.000 -1 1590353134.500489
9.400000 0.129 0.341 1.41180 0.000 -1 1590353134.520812
9.420000 0.130 0.347 1.41540 0.000 -1 1590353134.540012
9.430000 0.130 0.350 1.41660 0.000 -1 1590353134.551236
9.450000 0.131 0.356 1.41970 0.000 -1 1590353134.570693
9.460000 0.132 0.359 1.42130 0.000 -1 1590353134.579912
9.470000 0.132 0.362 1.42290 0.000 -1 1590353134.591098
9.490000 0.133 0.367 1.42560 0.000 -1 1590353134.610293
9.500000 0.134 0.370 1.42760 0.000 -1 1590353134.620393
9.520000 0.134 0.376 1.43040 0.000 -1 1590353134.640908
9.540000 0.135 0.382 1.43270 0.000 -1 1590353134.660799
9.550000 0.136 0.385 1.43350 0.000 -1 1590353134.671952
9.560000 0.136 0.388 1.43430 0.000 -1 1590353134.679878
9.580000 0.137 0.394 1.43590 0.000 -1 1590353134.699654
9.600000 0.138 0.400 1.43750 0.000 -1 1590353134.720708
9.610000 0.138 0.403 1.43780 0.000 -1 1590353134.730415
9.630000 0.139 0.409 1.43980 0.000 -1 1590353134.750640
9.650000 0.140 0.415 1.44100 0.000 -1 1590353134.771038
9.660000 0.140 0.418 1.44220 0.000 -1 1590353134.780092
9.670000 0.140 0.421 1.44300 0.000 -1 1590353134.789656
9.680000 0.141 0.424 1.44340 0.000 -1 1590353134.799957
9.700000 0.141 0.430 1.44610 0.000 -1 1590353134.822924
9.710000 0.142 0.433 1.44650 0.000 -1 1590353134.831173
9.720000 0.142 0.436 1.44810 0.000 -1 1590353134.839870
9.740000 0.143 0.442 1.44970 0.000 -1 1590353134.860386
9.760000 0.144 0.448 1.45120 0.000 -1 1590353134.880570
9.780000 0.144 0.454 1.45280 0.000 -1 1590353134.900385
9.800000 0.145 0.460 1.45440 0.000 -1 1590353134.919625
9.810000 0.145 0.463 1.45480 0.000 -1 1590353134.931332
9.820000 0.146 0.466 1.45600 0.000 -1 1590353134.940488
9.840000 0.146 0.472 1.45720 0.000 -1 1590353134.960021
9.850000 0.147 0.475 1.45870 0.000 -1 1590353134.969686
9.860000 0.147 0.478 1.45990 0.000 -1 1590353134.980448
9.870000 0.147 0.481 1.46030 0.000 -1 1590353134.991380
9.890000 0.148 0.486 1.46270 0.000 -1 1590353135.011108
9.900000 0.148 0.490 1.46350 0.000 -1 1590353135.020163
9.920000 0.149 0.495 1.46500 0.000 -1 1590353135.039917
9.940000 0.150 0.501 1.46660 0.000 -1 1590353135.059671
9.960000 0.150 0.507 1.46820 0.000 -1 1590353135.080207
9.970000 0.151 0.510 1.46900 0.000 -1 1590353135.091109
9.980000 0.151 0.513 1.46980 0.000 -1 1590353135.100371
9.990000 0.151 0.516 1.47130 0.000 -1 1590353135.111445
10.000000 0.151 0.519 1.47250 0.000 -1 1590353135.120210
10.020000 0.152 0.525 1.47610 0.000 -1 1590353135.141180
10.030000 0.152 0.528 1.47730 0.000 -1 1590353135.150032
10.040000 0.153 0.531 1.47880 0.000 -1 1590353135.162446
10.050000 0.153 0.534 1.47960 0.000 -1 1590353135.169802
10.060000 0.153 0.537 1.48040 0.000 -1 1590353135.180297
10.070000 0.153 0.540 1.48120 0.000 -1 1590353135.191210
10.090000 0.154 0.546 1.48280 0.000 -1 1590353135.212569
10.100000 0.154 0.549 1.48360 0.000 -1 1590353135.219900
10.120000 0.155 0.555 1.48510 0.000 -1 1590353135.240095
10.130000 0.155 0.558 1.48590 0.000 -1 1590353135.249741
10.140000 0.155 0.561 1.48670 0.000 -1 1590353135.262572
10.150000 0.155 0.564 1.48750 0.000 -1 1590353135.270119
10.160000 0.156 0.567 1.48790 0.000 -1 1590353135.280943
10.170000 0.156 0.570 1.48910 0.000 -1 1590353135.290282
10.190000 0.157 0.576 1.49030 0.000 -1 1590353135.309815
10.210000 0.157 0.582 1.49220 0.000 -1 1590353135.329759
10.220000 0.157 0.585 1.49300 0.000 -1 1590353135.339801
10.230000 0.157 0.588 1.49340 0.000 -1 1590353135.349977
10.240000 0.158 0.591 1.49420 0.000 -1 1590353135.359900
10.250000 0.158 0.594 1.49540 0.000 -1 1590353135.369700
10.260000 0.158 0.597 1.49580 0.000 -1 1590353135.380145
10.270000 0.158 0.600 1.49660 0.000 -1 1590353135.389982
10.290000 0.159 0.606 1.49810 0.000 -1 1590353135.410392
10.310000 0.159 0.612 1.49970 0.000 -1 1590353135.429647
10.320000 0.159 0.615 1.50010 0.000 -1 1590353135.439614
10.330000 0.160 0.618 1.50130 0.000 -1 1590353135.451989
10.340000 0.160 0.621 1.50210 0.000 -1 1590353135.462477
10.350000 0.160 0.624 1.50290 0.000 -1 1590353135.470438
10.360000 0.160 0.627 1.50330 0.000 -1 1590353135.480353
10.370000 0.161 0.630 1.50440 0.000 -1 1590353135.493802
10.380000 0.161 0.633 1.50520 0.000 -1 1590353135.502633
10.390000 0.161 0.636 1.50560 0.000 -1 1590353135.509566
10.400000 0.161 0.639 1.50680 0.000 -1 1590353135.519960
10.410000 0.161 0.642 1.50760 0.000 -1 1590353135.530519
10.420000 0.161 0.645 1.50800 0.000 -1 1590353135.541936
10.440000 0.162 0.651 1.51000 0.000 -1 1590353135.560942
10.450000 0.162 0.654 1.51030 0.000 -1 1590353135.572722
10.470000 0.162 0.660 1.51190 0.000 -1 1590353135.590183
10.480000 0.163 0.663 1.51310 0.000 -1 1590353135.599952
10.490000 0.163 0.666 1.51350 0.000 -1 1590353135.611465
10.500000 0.163 0.669 1.51430 0.000 -1 1590353135.620598
10.510000 0.163 0.672 1.51510 0.000 -1 1590353135.631202
10.520000 0.163 0.675 1.51590 0.000 -1 1590353135.639937
10.530000 0.163 0.678 1.51670 0.000 -1 1590353135.653101
10.540000 0.164 0.681 1.51740 0.000 -1 1590353135.660510
10.550000 0.164 0.684 1.51780 0.000 -1 1590353135.671965
10.560000 0.164 0.687 1.51900 0.000 -1 1590353135.679578
10.570000 0.164 0.690 1.51980 0.000 -1 1590353135.692058
10.590000 0.164 0.696 1.52100 0.000 -1 1590353135.710708
10.600000 0.164 0.699 1.52220 0.000 -1 1590353135.720501
10.620000 0.165 0.705 1.52340 0.000 -1 1590353135.739877
10.640000 0.165 0.711 1.52530 0.000 -1 1590353135.759826
10.650000 0.165 0.714 1.52570 0.000 -1 1590353135.769612
10.670000 0.165 0.720 1.52730 0.000 -1 1590353135.790817
10.680000 0.166 0.723 1.52730 0.000 -1 1590353135.800916
10.700000 0.166 0.729 1.52730 0.000 -1 1590353135.821081
10.710000 0.166 0.732 1.52770 0.000 -1 1590353135.829610
10.720000 0.166 0.735 1.52730 0.000 -1 1590353135.840912
10.740000 0.166 0.741 1.52810 0.000 -1 1590353135.860369
10.750000 0.166 0.744 1.52890 0.000 -1 1590353135.871886
10.770000 0.167 0.750 1.53040 0.000 -1 1590353135.890108
10.780000 0.167 0.753 1.53120 0.000 -1 1590353135.901030
10.790000 0.167 0.756 1.53200 0.000 -1 1590353135.911493
10.800000 0.167 0.759 1.53280 0.000 -1 1590353135.920598
10.810000 0.167 0.762 1.53280 0.000 -1 1590353135.929694
10.820000 0.167 0.765 1.53280 0.000 -1 1590353135.942225
10.830000 0.167 0.768 1.53280 0.000 -1 1590353135.950715
10.840000 0.168 0.771 1.53280 0.000 -1 1590353135.960620
10.850000 0.168 0.774 1.53240 0.000 -1 1590353135.971574
10.860000 0.168 0.777 1.53280 0.000 -1 1590353135.980406
10.870000 0.168 0.780 1.53280 0.000 -1 1590353135.990618
10.880000 0.168 0.783 1.53280 0.000 -1 1590353136.001228
10.890000 0.168 0.786 1.53360 0.000 -1 1590353136.010707
10.900000 0.168 0.789 1.53440 0.000 -1 1590353136.020615
10.910000 0.168 0.792 1.53520 0.000 -1 1590353136.030882
10.920000 0.168 0.795 1.53560 0.000 -1 1590353136.040091
10.930000 0.169 0.798 1.53680 0.000 -1 1590353136.051598
10.940000 0.169 0.801 1.53750 0.000 -1 1590353136.061729
10.950000 0.169 0.804 1.53750 0.000 -1 1590353136.103714
10.960000 0.169 0.807 1.53710 0.000 -1 1590353136.103731
10.970000 0.169 0.810 1.53750 0.000 -1 1590353136.103755
10.980000 0.169 0.813 1.53750 0.000 -1 1590353136.103765
10.990000 0.169 0.816 1.53710 0.000 -1 1590353136.111173
11.000000 0.169 0.819 1.53750 0.000 -1 1590353136.122378
11.010000 0.169 0.822 1.53750 0.000 -1 1590353136.129651
11.030000 0.170 0.828 1.53790 0.000 -1 1590353136.150418
11.040000 0.170 0.831 1.53910 0.000 -1 1590353136.160740
11.050000 0.170 0.834 1.53990 0.000 -1 1590353136.170953
11.060000 0.170 0.837 1.54030 0.000 -1 1590353136.179694
11.080000 0.170 0.843 1.54230 0.000 -1 1590353136.202923
11.090000 0.170 0.846 1.54190 0.000 -1 1590353136.211280
11.100000 0.170 0.849 1.54190 0.000 -1 1590353136.220375
11.120000 0.170 0.855 1.54230 0.000 -1 1590353136.239638
11.130000 0.170 0.858 1.54190 0.000 -1 1590353136.249677
11.150000 0.171 0.864 1.54230 0.000 -1 1590353136.270795
11.160000 0.171 0.867 1.54190 0.000 -1 1590353136.280911
11.170000 0.171 0.870 1.54270 0.000 -1 1590353136.290225
11.190000 0.171 0.876 1.54460 0.000 -1 1590353136.309792
11.200000 0.171 0.879 1.54500 0.000 -1 1590353136.320032
11.220000 0.171 0.885 1.54660 0.000 -1 1590353136.340040
11.230000 0.171 0.888 1.54660 0.000 -1 1590353136.350945
11.250000 0.171 0.894 1.54660 0.000 -1 1590353136.370691
11.260000 0.171 0.897 1.54660 0.000 -1 1590353136.379760
11.270000 0.172 0.900 1.54660 0.000 -1 1590353136.391330
11.290000 0.172 0.906 1.54660 0.000 -1 1590353136.410260
11.300000 0.172 0.909 1.54660 0.000 -1 1590353136.420006
11.320000 0.172 0.915 1.54660 0.000 -1 1590353136.439762
11.330000 0.172 0.918 1.54660 0.000 -1 1590353136.450632
11.340000 0.172 0.921 1.54740 0.000 -1 1590353136.459622
11.360000 0.172 0.927 1.54900 0.000 -1 1590353136.482456
11.370000 0.172 0.930 1.54980 0.000 -1 1590353136.490590
11.390000 0.172 0.936 1.55050 0.000 -1 1590353136.510383
11.400000 0.172 0.939 1.55010 0.000 -1 1590353136.522599
11.410000 0.172 0.942 1.55050 0.000 -1 1590353136.529695
11.430000 0.173 0.948 1.55050 0.000 -1 1590353136.551330
11.440000 0.173 0.951 1.55050 0.000 -1 1590353136.560862
11.460000 0.173 0.957 1.55050 0.000 -1 1590353136.581707
11.470000 0.173 0.960 1.55010 0.000 -1 1590353136.590378
11.480000 0.173 0.963 1.55050 0.000 -1 1590353136.601318
11.500000 0.173 0.969 1.55130 0.000 -1 1590353136.622230
11.510000 0.173 0.972 1.55170 0.000 -1 1590353136.631110
11.520000 0.173 0.975 1.55290 0.000 -1 1590353136.639812
11.530000 0.173 0.978 1.55370 0.000 -1 1590353136.650968
11.540000 0.173 0.981 1.55410 0.000 -1 1590353136.662409
11.550000 0.173 0.984 1.55490 0.000 -1 1590353136.671041
11.560000 0.173 0.987 1.55530 0.000 -1 1590353136.683123
11.570000 0.173 0.990 1.55490 0.000 -1 1590353136.689869
11.580000 0.173 0.993 1.55490 0.000 -1 1590353136.702476
11.590000 0.173 0.996 1.55530 0.000 -1 1590353136.710382
11.600000 0.173 0.999 1.55530 0.000 -1 1590353136.720030
11.610000 0.173 1.002 1.55490 0.000 -1 1590353136.729809
11.620000 0.174 1.005 1.55490 0.000 -1 1590353136.742110
11.630000 0.174 1.008 1.55530 0.000 -1 1590353136.749906
11.640000 0.174 1.011 1.55490 0.000 -1 1590353136.760221
11.650000 0.174 1.014 1.55490 0.000 -1 1590353136.771533
11.660000 0.174 1.017 1.55530 0.000 -1 1590353136.782295
11.670000 0.174 1.020 1.55530 0.000 -1 1590353136.791501
11.680000 0.174 1.023 1.55490 0.000 -1 1590353136.799598
11.690000 0.174 1.026 1.55570 0.000 -1 1590353136.811588
11.700000 0.174 1.029 1.55610 0.000 -1 1590353136.822588
11.710000 0.174 1.032 1.55650 0.000 -1 1590353136.829984
11.730000 0.174 1.038 1.55800 0.000 -1 1590353136.850835
11.750000 0.174 1.044 1.55800 0.000 -1 1590353136.871015
11.770000 0.174 1.050 1.55840 0.000 -1 1590353136.890669
11.780000 0.174 1.053 1.55800 0.000 -1 1590353136.900848
11.790000 0.174 1.056 1.55800 0.000 -1 1590353136.911488
11.810000 0.174 1.062 1.55840 0.000 -1 1590353136.931084
11.830000 0.174 1.068 1.55800 0.000 -1 1590353136.951438
11.850000 0.174 1.074 1.55800 0.000 -1 1590353136.971163
11.860000 0.175 1.077 1.55880 0.000 -1 1590353136.982571
11.870000 0.175 1.080 1.55960 0.000 -1 1590353136.990878
11.890000 0.175 1.086 1.56120 0.000 -1 1590353137.009820
11.910000 0.175 1.092 1.56200 0.000 -1 1590353137.029715
11.920000 0.175 1.095 1.56200 0.000 -1 1590353137.039617
11.930000 0.175 1.098 1.56200 0.000 -1 1590353137.049715
11.940000 0.175 1.101 1.56200 0.000 -1 1590353137.061092
11.950000 0.175 1.104 1.56200 0.000 -1 1590353137.071547
11.970000 0.175 1.110 1.56200 0.000 -1 1590353137.089800
11.980000 0.175 1.113 1.56200 0.000 -1 1590353137.100541
12.000000 0.175 1.119 1.56200 0.000 -1 1590353137.121070
12.020000 0.175 1.125 1.56240 0.000 -1 1590353137.139663
12.040000 0.175 1.131 1.56200 0.000 -1 1590353137.159591
12.060000 0.175 1.137 1.56200 0.000 -1 1590353137.179776
12.080000 0.175 1.143 1.56280 0.000 -1 1590353137.199543
12.100000 0.175 1.149 1.56430 0.000 -1 1590353137.221097
12.120000 0.175 1.155 1.56510 0.000 -1 1590353137.240214
12.130000 0.175 1.158 1.56510 0.000 -1 1590353137.250174
12.140000 0.175 1.161 1.56510 0.000 -1 1590353137.260609
12.160000 0.175 1.167 1.56470 0.000 -1 1590353137.280936
12.180000 0.175 1.173 1.56510 0.000 -1 1590353137.300811
12.200000 0.175 1.179 1.56510 0.000 -1 1590353137.321720
12.220000 0.175 1.185 1.56510 0.000 -1 1590353137.339686
12.240000 0.175 1.191 1.56510 0.000 -1 1590353137.362052
12.260000 0.175 1.197 1.56510 0.000 -1 1590353137.379742
12.270000 0.175 1.200 1.56590 0.000 -1 1590353137.391083
12.290000 0.175 1.206 1.56590 0.000 -1 1590353137.411265
12.300000 0.175 1.209 1.56630 0.000 -1 1590353137.420974
12.310000 0.176 1.212 1.56670 0.000 -1 1590353137.431259
12.330000 0.176 1.218 1.56670 0.000 -1 1590353137.454885
12.350000 0.176 1.224 1.56670 0.000 -1 1590353137.471536
12.370000 0.176 1.230 1.56630 0.000 -1 1590353137.493914
12.390000 0.176 1.236 1.56750 0.000 -1 1590353137.509950
12.410000 0.176 1.242 1.56790 0.000 -1 1590353137.531159
12.430000 0.176 1.248 1.56830 0.000 -1 1590353137.557562
12.450000 0.176 1.254 1.56830 0.000 -1 1590353137.574801
12.470000 0.176 1.260 1.56830 0.000 -1 1590353137.597003
12.490000 0.176 1.266 1.56830 0.000 -1 1590353137.613757
12.500000 0.176 1.269 1.56830 0.000 -1 1590353137.619686
12.510000 0.176 1.272 1.56790 0.000 -1 1590353137.629610
12.530000 0.176 1.278 1.56980 0.000 -1 1590353137.651074
12.550000 0.176 1.284 1.57100 0.000 -1 1590353137.669513
12.570000 0.176 1.290 1.57220 0.000 -1 1590353137.690538
12.590000 0.176 1.296 1.57180 0.000 -1 1590353137.709798
12.610000 0.176 1.302 1.57220 0.000 -1 1590353137.730056
12.620000 0.176 1.305 1.57180 0.000 -1 1590353137.740389
12.630000 0.176 1.308 1.57180 0.000 -1 1590353137.759024
12.650000 0.176 1.314 1.57180 0.000 -1 1590353137.769995
12.670000 0.176 1.320 1.57220 0.000 -1 1590353137.790254
12.690000 0.176 1.326 1.57180 0.000 -1 1590353137.810125
12.710000 0.176 1.332 1.57220 0.000 -1 1590353137.831020
12.730000 0.176 1.338 1.57180 0.000 -1 1590353137.851734
12.740000 0.176 1.341 1.57220 0.000 -1 1590353137.859567
12.760000 0.176 1.347 1.57180 0.000 -1 1590353137.880062
12.780000 0.176 1.353 1.57220 0.000 -1 1590353137.904613
12.800000 0.176 1.359 1.57180 0.000 -1 1590353137.920314
12.820000 0.176 1.365 1.57220 0.000 -1 1590353137.970150
12.840000 0.176 1.371 1.57180 0.000 -1 1590353137.990081
12.860000 0.176 1.377 1.57180 0.000 -1 1590353138.010720
12.880000 0.176 1.383 1.57380 0.000 -1 1590353138.033497
12.900000 0.176 1.389 1.57420 0.000 -1 1590353138.072630
12.920000 0.176 1.395 1.57460 0.000 -1 1590353138.092048
12.940000 0.176 1.401 1.57420 0.000 -1 1590353138.112561
12.960000 0.176 1.407 1.57460 0.000 -1 1590353138.131242
12.980000 0.175 1.413 1.57420 0.000 -1 1590353138.154504
13.000000 0.175 1.419 1.57420 0.000 -1 1590353138.179470
13.020000 0.175 1.425 1.57420 0.000 -1 1590353138.192160
13.040000 0.175 1.431 1.57420 0.000 -1 1590353138.209938
13.060000 0.175 1.437 1.57460 0.000 -1 1590353138.230388
13.080000 0.175 1.443 1.57420 0.000 -1 1590353138.284179
13.100000 0.175 1.449 1.57460 0.000 -1 1590353138.302730
13.120000 0.175 1.455 1.57420 0.000 -1 1590353138.322091
13.140000 0.175 1.461 1.57420 0.000 -1 1590353138.340567
13.160000 0.175 1.467 1.57580 0.000 -1 1590353138.362763
13.170000 0.175 1.470 1.57620 0.000 -1 1590353138.375650
13.190000 0.175 1.476 1.57650 0.000 -1 1590353138.390268
13.210000 0.175 1.482 1.57650 0.000 -1 1590353138.412578
13.230000 0.175 1.488 1.57650 0.000 -1 1590353138.431257
13.250000 0.175 1.494 1.57650 0.000 -1 1590353138.450360
13.270000 0.175 1.500 1.57650 0.000 -1 1590353138.474605
13.280000 0.175 1.503 1.57650 0.000 -1 1590353138.486001
13.290000 0.175 1.506 1.57650 0.000 -1 1590353138.491102
13.310000 0.175 1.512 1.57690 0.000 -1 1590353138.509756
13.330000 0.175 1.518 1.57650 0.000 -1 1590353138.532642
13.340000 0.175 1.521 1.57650 0.000 -1 1590353138.546560
13.350000 0.175 1.524 1.57650 0.000 -1 1590353138.549783
13.370000 0.175 1.530 1.57650 0.000 -1 1590353138.570625
13.390000 0.175 1.536 1.57650 0.000 -1 1590353138.590779
13.400000 0.175 1.539 1.57650 0.000 -1 1590353138.601302
13.410000 0.175 1.542 1.57650 0.000 -1 1590353138.610260
13.430000 0.175 1.548 1.57650 0.000 -1 1590353138.634504
13.450000 0.175 1.554 1.57690 0.000 -1 1590353138.651158
13.460000 0.175 1.557 1.57650 0.000 -1 1590353138.661065
13.470000 0.175 1.560 1.57730 0.000 -1 1590353138.669684
13.490000 0.175 1.566 1.57810 0.000 -1 1590353138.694693
13.510000 0.175 1.572 1.57890 0.000 -1 1590353138.709771
13.530000 0.175 1.578 1.57890 0.000 -1 1590353138.735778
13.550000 0.175 1.584 1.57890 0.000 -1 1590353138.759894
13.560000 0.175 1.587 1.57890 0.000 -1 1590353138.776812
13.580000 0.175 1.593 1.57890 0.000 -1 1590353138.789770
13.590000 0.174 1.596 1.57890 0.000 -1 1590353138.800378
13.600000 0.174 1.599 1.57890 0.000 -1 1590353138.810811
13.620000 0.174 1.605 1.57890 0.000 -1 1590353138.829906
13.630000 0.174 1.608 1.57890 0.000 -1 1590353138.839900
13.650000 0.174 1.614 1.57890 0.000 -1 1590353138.860183
13.660000 0.174 1.617 1.57890 0.000 -1 1590353138.879003
13.670000 0.174 1.620 1.57890 0.000 -1 1590353138.880976
13.680000 0.174 1.623 1.57890 0.000 -1 1590353138.891285
13.700000 0.174 1.629 1.57930 0.000 -1 1590353138.911421
13.710000 0.174 1.632 1.57890 0.000 -1 1590353138.921567
13.720000 0.174 1.635 1.57890 0.000 -1 1590353138.929602
13.740000 0.174 1.641 1.57890 0.000 -1 1590353138.950733
13.750000 0.174 1.644 1.57890 0.000 -1 1590353138.963220
13.760000 0.174 1.647 1.57890 0.000 -1 1590353138.974504
13.780000 0.174 1.653 1.57890 0.000 -1 1590353138.989906
13.790000 0.174 1.656 1.57890 0.000 -1 1590353139.003014
13.800000 0.174 1.659 1.57890 0.000 -1 1590353139.010600
13.820000 0.174 1.665 1.57890 0.000 -1 1590353139.029832
13.830000 0.174 1.668 1.57890 0.000 -1 1590353139.047019
13.840000 0.174 1.671 1.57890 0.000 -1 1590353139.049743
13.860000 0.174 1.677 1.57970 0.000 -1 1590353139.069568
13.870000 0.174 1.680 1.58050 0.000 -1 1590353139.080451
13.880000 0.174 1.683 1.58130 0.000 -1 1590353139.124086
13.900000 0.174 1.689 1.58210 0.000 -1 1590353139.124110
13.920000 0.174 1.695 1.58210 0.000 -1 1590353139.130502
13.930000 0.174 1.698 1.58210 0.000 -1 1590353139.142180
13.940000 0.174 1.701 1.58210 0.000 -1 1590353139.149983
13.960000 0.173 1.707 1.58210 0.000 -1 1590353139.170288
13.970000 0.173 1.710 1.56670 0.000 -1 1590353139.181151
13.980000 0.174 1.713 1.55090 0.000 -1 1590353139.191309
13.990000 0.174 1.716 1.53600 0.000 -1 1590353139.200065
14.000000 0.174 1.719 1.52060 0.000 -1 1590353139.211453
14.010000 0.174 1.722 1.50520 0.000 -1 1590353139.221025
14.020000 0.174 1.725 1.48950 0.000 -1 1590353139.229626
14.030000 0.174 1.728 1.47410 0.000 -1 1590353139.239743
14.040000 0.175 1.731 1.45910 0.000 -1 1590353139.249628
14.050000 0.175 1.734 1.44380 0.000 -1 1590353139.260215
14.060000 0.175 1.737 1.42800 0.000 -1 1590353139.270023
14.070000 0.176 1.740 1.41260 0.000 -1 1590353139.279783
14.080000 0.176 1.743 1.39730 0.000 -1 1590353139.291488
14.090000 0.177 1.746 1.38230 0.000 -1 1590353139.300229
14.100000 0.178 1.748 1.36650 0.000 -1 1590353139.309950
14.110000 0.178 1.751 1.35120 0.000 -1 1590353139.319641
14.120000 0.179 1.754 1.33580 0.000 -1 1590353139.331318
14.130000 0.180 1.757 1.32040 0.000 -1 1590353139.339831
14.140000 0.180 1.760 1.30510 0.000 -1 1590353139.349643
14.150000 0.181 1.763 1.28970 0.000 -1 1590353139.359809
14.160000 0.182 1.766 1.27430 0.000 -1 1590353139.369749
14.170000 0.183 1.769 1.25900 0.000 -1 1590353139.381352
14.180000 0.184 1.772 1.24320 0.000 -1 1590353139.391176
14.190000 0.185 1.774 1.22820 0.000 -1 1590353139.404113
14.200000 0.186 1.777 1.21290 0.000 -1 1590353139.410039
14.210000 0.187 1.780 1.19750 0.000 -1 1590353139.421550
14.220000 0.188 1.783 1.18210 0.000 -1 1590353139.431116
14.230000 0.189 1.786 1.16640 0.000 -1 1590353139.440440
14.240000 0.190 1.788 1.15140 0.000 -1 1590353139.450320
14.250000 0.192 1.791 1.13600 0.000 -1 1590353139.461856
14.260000 0.193 1.794 1.12060 0.000 -1 1590353139.476401
14.270000 0.194 1.796 1.10490 0.000 -1 1590353139.480600
14.280000 0.196 1.799 1.08950 0.000 -1 1590353139.490269
14.290000 0.197 1.802 1.07450 0.000 -1 1590353139.500118
14.300000 0.199 1.804 1.05920 0.000 -1 1590353139.510370
14.310000 0.200 1.807 1.04340 0.000 -1 1590353139.520809
14.320000 0.202 1.810 1.02800 0.000 -1 1590353139.530272
14.330000 0.203 1.812 1.01270 0.000 -1 1590353139.540291
14.340000 0.205 1.815 0.99770 0.000 -1 1590353139.549667
14.350000 0.206 1.817 0.98190 0.000 -1 1590353139.560200
14.360000 0.208 1.820 0.96660 0.000 -1 1590353139.569948
14.370000 0.210 1.822 0.95120 0.000 -1 1590353139.580344
14.380000 0.212 1.825 0.93580 0.000 -1 1590353139.591138
14.390000 0.213 1.827 0.92010 0.000 -1 1590353139.603038
14.400000 0.215 1.829 0.90510 0.000 -1 1590353139.611009
14.410000 0.217 1.832 0.88970 0.000 -1 1590353139.620908
14.420000 0.219 1.834 0.87440 0.000 -1 1590353139.630094
14.430000 0.221 1.836 0.85900 0.000 -1 1590353139.640706
14.440000 0.223 1.839 0.84320 0.000 -1 1590353139.650331
14.450000 0.225 1.841 0.82830 0.000 -1 1590353139.661139
14.460000 0.227 1.843 0.81290 0.000 -1 1590353139.669778
14.470000 0.229 1.845 0.79750 0.000 -1 1590353139.680834
14.480000 0.231 1.847 0.78180 0.000 -1 1590353139.689987
14.490000 0.233 1.849 0.76640 0.000 -1 1590353139.700432
14.500000 0.235 1.851 0.75140 0.000 -1 1590353139.710077
14.510000 0.238 1.853 0.73610 0.000 -1 1590353139.719932
14.520000 0.240 1.855 0.72030 0.000 -1 1590353139.731010
14.530000 0.242 1.857 0.70490 0.000 -1 1590353139.742237
14.540000 0.244 1.859 0.68960 0.000 -1 1590353139.750109
14.550000 0.247 1.861 0.67460 0.000 -1 1590353139.760697
14.560000 0.249 1.863 0.65880 0.000 -1 1590353139.770593
14.570000 0.252 1.865 0.64350 0.000 -1 1590353139.782230
14.580000 0.254 1.867 0.62810 0.000 -1 1590353139.790147
14.590000 0.256 1.868 0.61270 0.000 -1 1590353139.800748
14.600000 0.259 1.870 0.59740 0.000 -1 1590353139.811055
14.610000 0.261 1.872 0.58200 0.000 -1 1590353139.820797
14.620000 0.264 1.873 0.56660 0.000 -1 1590353139.830845
14.630000 0.266 1.875 0.55130 0.000 -1 1590353139.839909
14.640000 0.269 1.877 0.53550 0.000 -1 1590353139.849904
14.650000 0.272 1.878 0.52050 0.000 -1 1590353139.860103
14.660000 0.274 1.879 0.50520 0.000 -1 1590353139.870641
14.670000 0.277 1.881 0.48980 0.000 -1 1590353139.880773
14.680000 0.280 1.882 0.47440 0.000 -1 1590353139.891066
14.690000 0.282 1.884 0.45870 0.000 -1 1590353139.901106
14.700000 0.285 1.885 0.44370 0.000 -1 1590353139.910580
14.710000 0.288 1.886 0.42830 0.000 -1 1590353139.921123
14.720000 0.290 1.887 0.41300 0.000 -1 1590353139.930774
14.730000 0.293 1.889 0.39720 0.000 -1 1590353139.942457
14.740000 0.296 1.890 0.38180 0.000 -1 1590353139.952988
14.750000 0.299 1.891 0.36680 0.000 -1 1590353139.961766
14.760000 0.301 1.892 0.35150 0.000 -1 1590353139.972186
14.770000 0.304 1.893 0.33650 0.000 -1 1590353139.986374
14.780000 0.307 1.894 0.32190 0.000 -1 1590353139.990788
14.790000 0.310 1.895 0.30810 0.000 -1 1590353140.002276
14.800000 0.313 1.896 0.29510 0.000 -1 1590353140.014035
14.810000 0.316 1.897 0.28250 0.000 -1 1590353140.019804
14.820000 0.319 1.897 0.27070 0.000 -1 1590353140.032959
14.830000 0.321 1.898 0.25890 0.000 -1 1590353140.041241
14.840000 0.324 1.899 0.24820 0.000 -1 1590353140.052618
14.850000 0.327 1.900 0.23760 0.000 -1 1590353140.059646
14.860000 0.330 1.900 0.22740 0.000 -1 1590353140.070616
14.870000 0.333 1.901 0.21750 0.000 -1 1590353140.082628
14.880000 0.336 1.902 0.20810 0.000 -1 1590353140.090201
14.890000 0.339 1.902 0.19980 0.000 -1 1590353140.103124
14.900000 0.342 1.903 0.19150 0.000 -1 1590353140.112559
14.910000 0.345 1.903 0.18360 0.000 -1 1590353140.122544
14.920000 0.348 1.904 0.17610 0.000 -1 1590353140.133179
14.930000 0.351 1.905 0.16830 0.000 -1 1590353140.139789
14.940000 0.354 1.905 0.16160 0.000 -1 1590353140.157000
14.950000 0.357 1.905 0.15410 0.000 -1 1590353140.161099
14.960000 0.360 1.906 0.14820 0.000 -1 1590353140.174231
14.970000 0.363 1.906 0.14190 0.000 -1 1590353140.183782
14.980000 0.366 1.907 0.13590 0.000 -1 1590353140.190237
14.990000 0.369 1.907 0.13040 0.000 -1 1590353140.203975
15.000000 0.372 1.907 0.12490 0.000 -1 1590353140.209835
15.010000 0.375 1.908 0.11980 0.000 -1 1590353140.220579
15.030000 0.381 1.909 0.11070 0.000 -1 1590353140.249440
15.040000 0.384 1.909 0.10560 0.000 -1 1590353140.249648
15.050000 0.387 1.909 0.10210 0.000 -1 1590353140.265479
15.060000 0.390 1.909 0.09810 0.000 -1 1590353140.270828
15.080000 0.395 1.910 0.09060 0.000 -1 1590353140.290092
15.090000 0.398 1.910 0.08670 0.000 -1 1590353140.300176
15.100000 0.402 1.911 0.08350 0.000 -1 1590353140.310534
15.120000 0.407 1.911 0.07720 0.000 -1 1590353140.330239
15.130000 0.410 1.911 0.07450 0.000 -1 1590353140.344278
15.140000 0.413 1.912 0.07130 0.000 -1 1590353140.350117
15.150000 0.416 1.912 0.06860 0.000 -1 1590353140.359837
15.160000 0.419 1.912 0.06660 0.000 -1 1590353140.375098
15.170000 0.422 1.912 0.06420 0.000 -1 1590353140.381199
15.190000 0.428 1.913 0.05990 0.000 -1 1590353140.400774
15.200000 0.431 1.913 0.05710 0.000 -1 1590353140.412062
15.210000 0.434 1.913 0.05520 0.000 -1 1590353140.421652
15.230000 0.440 1.913 0.05120 0.000 -1 1590353140.439555
15.240000 0.443 1.913 0.05000 0.000 -1 1590353140.450921
15.250000 0.446 1.913 0.04810 0.000 -1 1590353140.461092
15.270000 0.452 1.914 0.04530 0.000 -1 1590353140.481193
15.280000 0.455 1.914 0.04370 0.000 -1 1590353140.490609
15.290000 0.458 1.914 0.04180 0.000 -1 1590353140.499604
15.300000 0.461 1.914 0.04060 0.000 -1 1590353140.510489
15.310000 0.464 1.914 0.03900 0.000 -1 1590353140.519832
15.320000 0.467 1.914 0.03740 0.000 -1 1590353140.532847
15.330000 0.470 1.915 0.03660 0.000 -1 1590353140.540625
15.350000 0.476 1.915 0.03510 0.000 -1 1590353140.560943
15.360000 0.479 1.915 0.03430 0.000 -1 1590353140.570742
15.370000 0.482 1.915 0.03350 0.000 -1 1590353140.580531
15.380000 0.485 1.915 0.03270 0.000 -1 1590353140.591266
15.390000 0.488 1.915 0.03190 0.000 -1 1590353140.601472
15.400000 0.491 1.915 0.03150 0.000 -1 1590353140.616120
15.410000 0.494 1.915 0.03030 0.000 -1 1590353140.619748
15.420000 0.497 1.915 0.02960 0.000 -1 1590353140.630163
15.430000 0.500 1.915 0.02920 0.000 -1 1590353140.647948
15.440000 0.503 1.916 0.02840 0.000 -1 1590353140.665109
15.450000 0.506 1.916 0.02720 0.000 -1 1590353140.669955
15.460000 0.509 1.916 0.02640 0.000 -1 1590353140.680885
15.470000 0.512 1.916 0.02600 0.000 -1 1590353140.689623
15.480000 0.515 1.916 0.02520 0.000 -1 1590353140.699579
15.490000 0.518 1.916 0.02400 0.000 -1 1590353140.711142
15.500000 0.521 1.916 0.02360 0.000 -1 1590353140.720209
15.510000 0.524 1.916 0.02290 0.000 -1 1590353140.730247
15.520000 0.527 1.916 0.02170 0.000 -1 1590353140.739815
15.530000 0.530 1.916 0.02130 0.000 -1 1590353140.752007
15.540000 0.533 1.916 0.02050 0.000 -1 1590353140.759971
15.550000 0.536 1.916 0.01970 0.000 -1 1590353140.770097
15.560000 0.539 1.916 0.01970 0.000 -1 1590353140.780816
15.570000 0.542 1.917 0.01970 0.000 -1 1590353140.790478
15.580000 0.545 1.917 0.01970 0.000 -1 1590353140.800254
15.600000 0.551 1.917 0.01970 0.000 -1 1590353140.820237
15.610000 0.554 1.917 0.01970 0.000 -1 1590353140.830018
15.620000 0.557 1.917 0.01970 0.000 -1 1590353140.839857
15.630000 0.560 1.917 0.01970 0.000 -1 1590353140.850290
15.640000 0.563 1.917 0.01970 0.000 -1 1590353140.865731
15.650000 0.566 1.917 0.01970 0.000 -1 1590353140.869659
15.670000 0.572 1.917 0.01970 0.000 -1 1590353140.893056
15.680000 0.575 1.917 0.01970 0.000 -1 1590353140.899806
15.690000 0.578 1.917 0.01970 0.000 -1 1590353140.910931
15.700000 0.581 1.917 0.01930 0.000 -1 1590353140.919821
15.710000 0.584 1.917 0.01970 0.000 -1 1590353140.930168
15.720000 0.587 1.917 0.01970 0.000 -1 1590353140.939570
15.740000 0.593 1.917 0.01970 0.000 -1 1590353140.959657
15.750000 0.596 1.917 0.01970 0.000 -1 1590353140.970076
15.760000 0.599 1.918 0.01970 0.000 -1 1590353140.979869
15.780000 0.605 1.918 0.01970 0.000 -1 1590353141.000621
15.790000 0.608 1.918 0.01970 0.000 -1 1590353141.011824
15.810000 0.614 1.918 0.01970 0.000 -1 1590353141.031001
15.820000 0.617 1.918 0.01970 0.000 -1 1590353141.043071
15.840000 0.623 1.918 0.01970 0.000 -1 1590353141.068605
15.850000 0.626 1.918 0.01970 0.000 -1 1590353141.069600
15.860000 0.629 1.918 0.01970 0.000 -1 1590353141.080365
15.880000 0.635 1.918 0.01970 0.000 -1 1590353141.122682
15.890000 0.638 1.918 0.01970 0.000 -1 1590353141.122707
15.910000 0.644 1.919 0.01970 0.000 -1 1590353141.131331
15.920000 0.647 1.919 0.01970 0.000 -1 1590353141.140531
15.930000 0.650 1.919 0.01970 0.000 -1 1590353141.151723
15.950000 0.656 1.919 0.01970 0.000 -1 1590353141.170878
15.960000 0.659 1.919 0.01970 0.000 -1 1590353141.182691
15.980000 0.665 1.919 0.01970 0.000 -1 1590353141.202447
15.990000 0.668 1.919 0.01970 0.000 -1 1590353141.210278
16.000000 0.671 1.919 0.01970 0.000 -1 1590353141.220906
16.020000 0.677 1.919 0.01970 0.000 -1 1590353141.240088
16.030000 0.680 1.919 0.01970 0.000 -1 1590353141.253856
16.050000 0.686 1.919 0.01970 0.000 -1 1590353141.272805
16.060000 0.689 1.919 0.01970 0.000 -1 1590353141.281313
16.070000 0.692 1.919 0.01970 0.000 -1 1590353141.290259
16.090000 0.698 1.920 0.01970 0.000 -1 1590353141.311515
16.100000 0.701 1.920 0.01970 0.000 -1 1590353141.320862
16.120000 0.707 1.920 0.01970 0.000 -1 1590353141.340016
16.130000 0.710 1.920 0.01970 0.000 -1 1590353141.351265
16.140000 0.713 1.920 0.01970 0.000 -1 1590353141.360702
16.160000 0.719 1.920 0.01930 0.000 -1 1590353141.382016
16.170000 0.722 1.920 0.01970 0.000 -1 1590353141.391031
16.190000 0.728 1.920 0.01970 0.000 -1 1590353141.409912
16.200000 0.731 1.920 0.01970 0.000 -1 1590353141.423377
16.210000 0.734 1.920 0.01970 0.000 -1 1590353141.429635
16.230000 0.740 1.920 0.01970 0.000 -1 1590353141.449813
16.240000 0.743 1.920 0.01970 0.000 -1 1590353141.459863
16.260000 0.749 1.921 0.01970 0.000 -1 1590353141.480097
16.270000 0.752 1.921 0.01970 0.000 -1 1590353141.489926
16.280000 0.755 1.921 0.01970 0.000 -1 1590353141.499953
16.300000 0.761 1.921 0.01970 0.000 -1 1590353141.520284
16.310000 0.764 1.921 0.01970 0.000 -1 1590353141.530277
16.330000 0.770 1.921 0.01970 0.000 -1 1590353141.551949
16.340000 0.773 1.921 0.01970 0.000 -1 1590353141.559974
16.360000 0.779 1.921 0.01970 0.000 -1 1590353141.579592
16.370000 0.782 1.921 0.01970 0.000 -1 1590353141.591745
16.380000 0.785 1.921 0.01970 0.000 -1 1590353141.601719
16.400000 0.791 1.921 0.01970 0.000 -1 1590353141.621201
16.410000 0.794 1.921 0.01970 0.000 -1 1590353141.629757
16.430000 0.800 1.922 0.01970 0.000 -1 1590353141.652082
16.440000 0.803 1.922 0.01970 0.000 -1 1590353141.659883
16.450000 0.806 1.922 0.01970 0.000 -1 1590353141.670745
16.470000 0.812 1.922 0.01970 0.000 -1 1590353141.689728
16.480000 0.815 1.922 0.01970 0.000 -1 1590353141.713178
16.500000 0.821 1.922 0.01970 0.000 -1 1590353141.731734
16.510000 0.824 1.922 0.01970 0.000 -1 1590353141.742615
16.520000 0.827 1.922 0.01970 0.000 -1 1590353141.749839
16.540000 0.833 1.922 0.01970 0.000 -1 1590353141.770055
16.550000 0.836 1.922 0.01970 0.000 -1 1590353141.785819
16.570000 0.842 1.922 0.01970 0.000 -1 1590353141.799701
16.580000 0.845 1.922 0.01970 0.000 -1 1590353141.810047
16.590000 0.848 1.923 0.01970 0.000 -1 1590353141.820349
16.610000 0.854 1.923 0.01970 0.000 -1 1590353141.839691
16.620000 0.857 1.923 0.01930 0.000 -1 1590353141.849733
16.630000 0.860 1.923 0.01970 0.000 -1 1590353141.859607
16.640000 0.863 1.923 0.01970 0.000 -1 1590353141.886664
16.650000 0.866 1.923 0.01970 0.000 -1 1590353141.890124
16.660000 0.869 1.923 0.01970 0.000 -1 1590353141.903115
16.680000 0.875 1.923 0.01970 0.000 -1 1590353141.919864
16.690000 0.878 1.923 0.01970 0.000 -1 1590353141.930484
16.700000 0.881 1.923 0.01970 0.000 -1 1590353141.939879
16.710000 0.884 1.923 0.01970 0.000 -1 1590353141.949986
16.720000 0.887 1.923 0.01970 0.000 -1 1590353141.960123
16.730000 0.890 1.923 0.01970 0.000 -1 1590353141.971984
16.750000 0.896 1.923 0.01970 0.000 -1 1590353141.990353
16.760000 0.899 1.923 0.01970 0.000 -1 1590353142.001412
16.770000 0.902 1.924 0.01970 0.000 -1 1590353142.010516
16.780000 0.905 1.924 0.01970 0.000 -1 1590353142.027617
16.790000 0.908 1.924 0.01970 0.000 -1 1590353142.035421
16.800000 0.911 1.924 0.01970 0.000 -1 1590353142.041296
16.820000 0.917 1.924 0.01970 0.000 -1 1590353142.062162
16.830000 0.920 1.924 0.01970 0.000 -1 1590353142.094305
16.840000 0.923 1.924 0.01970 0.000 -1 1590353142.099758
16.850000 0.926 1.924 0.01970 0.000 -1 1590353142.115723
16.860000 0.929 1.924 0.01970 0.000 -1 1590353142.121812
16.870000 0.932 1.924 0.01970 0.000 -1 1590353142.145213
16.890000 0.938 1.924 0.01970 0.000 -1 1590353142.170283
16.900000 0.941 1.924 0.01970 0.000 -1 1590353142.213761
16.910000 0.944 1.924 0.01970 0.000 -1 1590353142.220002
16.920000 0.947 1.925 0.01970 0.000 -1 1590353142.231113
16.930000 0.950 1.925 0.01970 0.000 -1 1590353142.245746
16.940000 0.953 1.925 0.01970 0.000 -1 1590353142.249899
16.950000 0.956 1.925 0.01970 0.000 -1 1590353142.260616
16.960000 0.959 1.925 0.01970 0.000 -1 1590353142.271368
16.970000 0.962 1.925 0.01970 0.000 -1 1590353142.285435
16.990000 0.968 1.925 0.01970 0.000 -1 1590353142.306846
17.000000 0.971 1.925 0.01970 0.000 -1 1590353142.319691
17.010000 0.974 1.925 0.01970 0.000 -1 1590353142.323137
17.020000 0.977 1.925 0.01970 0.000 -1 1590353142.334981
17.030000 0.980 1.925 0.01970 0.000 -1 1590353142.340464
17.040000 0.983 1.925 0.01970 0.000 -1 1590353142.350971
17.050000 0.986 1.925 0.01970 0.000 -1 1590353142.370523
17.060000 0.989 1.925 0.01970 0.000 -1 1590353142.386680
17.070000 0.992 1.925 0.01970 0.000 -1 1590353142.390093
17.080000 0.995 1.925 0.01930 0.000 -1 1590353142.405743
17.090000 0.998 1.925 0.01970 0.000 -1 1590353142.410309
17.100000 1.001 1.925 0.01970 0.000 -1 1590353142.420560
17.110000 1.004 1.926 0.01970 0.000 -1 1590353142.429880
17.120000 1.007 1.926 0.01970 0.000 -1 1590353142.443922
17.130000 1.010 1.926 0.01970 0.000 -1 1590353142.452985
17.140000 1.013 1.926 0.01970 0.000 -1 1590353142.460856
17.160000 1.019 1.926 0.01970 0.000 -1 1590353142.481163
17.180000 1.025 1.926 0.01970 0.000 -1 1590353142.531927
17.190000 1.028 1.926 0.01970 0.000 -1 1590353142.539506
17.210000 1.034 1.926 0.01970 0.000 -1 1590353142.559573
17.230000 1.040 1.926 0.01970 0.000 -1 1590353142.580170
17.250000 1.046 1.926 0.01970 0.000 -1 1590353142.628103
17.260000 1.049 1.927 0.01970 0.000 -1 1590353142.630658
17.270000 1.052 1.927 0.01970 0.000 -1 1590353142.639856
17.280000 1.055 1.927 0.01970 0.000 -1 1590353142.651410
17.300000 1.061 1.927 0.01970 0.000 -1 1590353142.669903
17.310000 1.064 1.927 0.01970 0.000 -1 1590353142.680143
17.330000 1.070 1.927 0.01970 0.000 -1 1590353142.700158
17.350000 1.076 1.927 0.01970 0.000 -1 1590353142.722080
17.370000 1.082 1.927 0.01970 0.000 -1 1590353142.741087
17.380000 1.085 1.927 0.01970 0.000 -1 1590353142.750447
17.400000 1.091 1.927 0.01970 0.000 -1 1590353142.773070
17.410000 1.094 1.927 0.01970 0.000 -1 1590353142.779839
17.430000 1.100 1.927 0.01970 0.000 -1 1590353142.800117
17.440000 1.103 1.927 0.01970 0.000 -1 1590353142.810862
17.450000 1.106 1.928 0.01890 0.000 -1 1590353142.819826
17.470000 1.112 1.928 0.01770 0.000 -1 1590353142.842661
17.490000 1.118 1.928 0.01650 0.000 -1 1590353142.862553
17.510000 1.124 1.928 0.01650 0.000 -1 1590353142.880267
17.530000 1.130 1.928 0.01650 0.000 -1 1590353142.899651
17.540000 1.133 1.928 0.01690 0.000 -1 1590353142.910065
17.550000 1.136 1.928 0.01650 0.000 -1 1590353142.920400
17.570000 1.142 1.928 0.01650 0.000 -1 1590353142.940397
17.580000 1.145 1.928 0.01650 0.000 -1 1590353142.950694
17.590000 1.148 1.928 0.01650 0.000 -1 1590353142.959686
17.610000 1.154 1.928 0.01690 0.000 -1 1590353142.981944
17.620000 1.157 1.928 0.01650 0.000 -1 1590353142.989868
17.630000 1.160 1.929 0.01650 0.000 -1 1590353142.999877
17.650000 1.166 1.929 0.01650 0.000 -1 1590353143.022391
17.660000 1.169 1.929 0.01650 0.000 -1 1590353143.029840
17.680000 1.175 1.929 0.01690 0.000 -1 1590353143.054297
17.690000 1.178 1.929 0.01650 0.000 -1 1590353143.060007
17.700000 1.181 1.929 0.01650 0.000 -1 1590353143.070006
17.720000 1.187 1.929 0.01650 0.000 -1 1590353143.091179
17.730000 1.190 1.929 0.01650 0.000 -1 1590353143.102615
17.750000 1.196 1.929 0.01690 0.000 -1 1590353143.119785
17.760000 1.199 1.929 0.01650 0.000 -1 1590353143.130972
17.770000 1.202 1.929 0.01650 0.000 -1 1590353143.140838
17.790000 1.208 1.929 0.01690 0.000 -1 1590353143.160112
17.800000 1.211 1.929 0.01650 0.000 -1 1590353143.170100
17.820000 1.217 1.929 0.01650 0.000 -1 1590353143.189665
17.830000 1.220 1.929 0.01650 0.000 -1 1590353143.199948
17.840000 1.223 1.929 0.01650 0.000 -1 1590353143.210102
17.860000 1.229 1.930 0.01690 0.000 -1 1590353143.230823
17.870000 1.232 1.930 0.01650 0.000 -1 1590353143.239620
17.890000 1.238 1.930 0.01650 0.000 -1 1590353143.261082
17.900000 1.241 1.930 0.01650 0.000 -1 1590353143.270921
17.910000 1.244 1.930 0.01650 0.000 -1 1590353143.280176
17.930000 1.250 1.930 0.01690 0.000 -1 1590353143.299910
17.940000 1.253 1.930 0.01650 0.000 -1 1590353143.311710
17.960000 1.259 1.930 0.01650 0.000 -1 1590353143.331224
17.970000 1.262 1.930 0.01650 0.000 -1 1590353143.339833
17.980000 1.265 1.930 0.01650 0.000 -1 1590353143.350934
18.000000 1.271 1.930 0.01690 0.000 -1 1590353143.369812
18.010000 1.274 1.930 0.01650 0.000 -1 1590353143.379923
18.030000 1.280 1.931 0.01650 0.000 -1 1590353143.399877
18.040000 1.283 1.931 0.01650 0.000 -1 1590353143.410940
18.050000 1.286 1.931 0.01650 0.000 -1 1590353143.421862
18.070000 1.292 1.931 0.01690 0.000 -1 1590353143.442083
18.080000 1.295 1.931 0.01650 0.000 -1 1590353143.450582
18.100000 1.301 1.931 0.01650 0.000 -1 1590353143.470653
18.110000 1.304 1.931 0.01650 0.000 -1 1590353143.479772
18.130000 1.310 1.931 0.01650 0.000 -1 1590353143.500069
18.150000 1.316 1.931 0.01650 0.000 -1 1590353143.520440
18.170000 1.322 1.931 0.01650 0.000 -1 1590353143.540257
18.180000 1.325 1.931 0.01650 0.000 -1 1590353143.549753
18.190000 1.328 1.931 0.01650 0.000 -1 1590353143.560960
18.210000 1.334 1.931 0.01690 0.000 -1 1590353143.579966
18.220000 1.337 1.931 0.01650 0.000 -1 1590353143.590547
18.240000 1.343 1.931 0.01650 0.000 -1 1590353143.609802
18.250000 1.346 1.932 0.01690 0.000 -1 1590353143.619826
18.260000 1.349 1.932 0.01650 0.000 -1 1590353143.631901
18.280000 1.355 1.932 0.01650 0.000 -1 1590353143.651115
18.290000 1.358 1.932 0.01650 0.000 -1 1590353143.662941
18.310000 1.364 1.932 0.01650 0.000 -1 1590353143.680296
18.330000 1.370 1.932 0.01650 0.000 -1 1590353143.699554
18.350000 1.376 1.932 0.01650 0.000 -1 1590353143.720244
18.360000 1.379 1.932 0.01650 0.000 -1 1590353143.731233
18.380000 1.385 1.932 0.01650 0.000 -1 1590353143.749595
18.390000 1.388 1.932 0.01690 0.000 -1 1590353143.762101
18.400000 1.391 1.932 0.01650 0.000 -1 1590353143.769495
18.420000 1.397 1.932 0.01650 0.000 -1 1590353143.789836
18.430000 1.400 1.933 0.01650 0.000 -1 1590353143.800324
18.450000 1.406 1.933 0.01650 0.000 -1 1590353143.820024
18.460000 1.409 1.933 0.01690 0.000 -1 1590353143.830009
18.470000 1.412 1.933 0.01650 0.000 -1 1590353143.839949
18.490000 1.418 1.933 0.01650 0.000 -1 1590353143.859779
18.500000 1.421 1.933 0.01650 0.000 -1 1590353143.870628
18.520000 1.427 1.933 0.01650 0.000 -1 1590353143.890057
18.530000 1.430 1.933 0.01690 0.000 -1 1590353143.900386
18.540000 1.433 1.933 0.01650 0.000 -1 1590353143.910423
18.560000 1.439 1.933 0.01650 0.000 -1 1590353143.965343
18.570000 1.442 1.933 0.01650 0.000 -1 1590353143.965358
18.590000 1.448 1.933 0.01650 0.000 -1 1590353143.965543
18.600000 1.451 1.933 0.01690 0.000 -1 1590353143.970129
18.610000 1.454 1.933 0.01650 0.000 -1 1590353143.980005
18.630000 1.460 1.933 0.01650 0.000 -1 1590353143.999924
18.640000 1.463 1.933 0.01650 0.000 -1 1590353144.011313
18.660000 1.469 1.934 0.01650 0.000 -1 1590353144.031568
18.670000 1.472 1.934 0.01690 0.000 -1 1590353144.042558
18.680000 1.475 1.934 0.01650 0.000 -1 1590353144.050438
18.700000 1.481 1.934 0.01650 0.000 -1 1590353144.069720
18.710000 1.484 1.934 0.01690 0.000 -1 1590353144.079939
18.720000 1.487 1.934 0.01650 0.000 -1 1590353144.090938
18.730000 1.490 1.934 0.01650 0.000 -1 1590353144.100129
18.740000 1.493 1.934 0.01650 0.000 -1 1590353144.109984
18.750000 1.496 1.934 0.01650 0.000 -1 1590353144.120408
18.770000 1.502 1.934 0.01650 0.000 -1 1590353144.140721
18.780000 1.505 1.934 0.01690 0.000 -1 1590353144.149972
18.790000 1.508 1.934 0.01650 0.000 -1 1590353144.159906
18.800000 1.511 1.934 0.01650 0.000 -1 1590353144.170590
18.810000 1.514 1.934 0.01650 0.000 -1 1590353144.180690
18.830000 1.520 1.935 0.01650 0.000 -1 1590353144.202096
18.850000 1.526 1.935 0.01650 0.000 -1 1590353144.220252
18.870000 1.531 1.935 0.01650 0.000 -1 1590353144.242446
18.890000 1.537 1.935 0.01650 0.000 -1 1590353144.262710
18.910000 1.542 1.935 0.01650 0.000 -1 1590353144.280724
18.930000 1.547 1.935 0.01690 0.000 -1 1590353144.299731
18.950000 1.552 1.935 0.01620 0.000 -1 1590353144.322441
18.970000 1.557 1.935 0.01540 0.000 -1 1590353144.342619
18.990000 1.562 1.935 0.01500 0.000 -1 1590353144.359987
19.010000 1.566 1.935 0.01420 0.000 -1 1590353144.379817
19.030000 1.571 1.935 0.01340 0.000 -1 1590353144.399831
19.050000 1.575 1.935 0.01260 0.000 -1 1590353144.420058
19.070000 1.579 1.935 0.01260 0.000 -1 1590353144.440752
19.090000 1.583 1.935 0.01260 0.000 -1 1590353144.461910
19.110000 1.586 1.935 0.01260 0.000 -1 1590353144.481695
19.130000 1.590 1.935 0.01260 0.000 -1 1590353144.500876
19.150000 1.594 1.936 0.01300 0.000 -1 1590353144.521429
19.170000 1.597 1.936 0.01300 0.000 -1 1590353144.539913
19.190000 1.600 1.936 0.01260 0.000 -1 1590353144.559647
19.210000 1.603 1.936 0.01260 0.000 -1 1590353144.579888
19.230000 1.607 1.936 0.01260 0.000 -1 1590353144.601057
19.260000 1.611 1.936 0.01300 0.000 -1 1590353144.634186
19.290000 1.614 1.936 0.01300 0.000 -1 1590353144.660563
19.320000 1.618 1.936 0.01300 0.000 -1 1590353144.689641
19.350000 1.621 1.936 0.01260 0.000 -1 1590353144.719901
19.400000 1.624 1.936 0.01260 0.000 -1 1590353144.769805
29.410000 1.627 1.936 0.01300 0.000 -1 1590353154.839732
39.420000 1.627 1.936 0.01300 0.000 -1 1590353164.880919
49.430000 1.627 1.936 0.01300 0.000 -1 1590353174.990172
<?xml version="1.0" ?>
<!--
Configuration file for
Simulator Server
-->
<simserver>
<!-- *** Core Components Configuration *** -->
<!-- Sheduler configuration -->
<scheduler>
<period value="10000"/><!--in usec-->
</scheduler>
<!-- Simulator configuration -->
<simstage>
<world wallmap="388wall" linemap="388line" scale="200" gmno="2"
gmpose="1.9 1.0 0"/>
</simstage>
<!-- Robot server no. 0 -->
<robot>
<mrcserver port="8000"/>
<clients number="5"/>
<params name="smr0" robotpose="0 1.0 0" wheelbase="0.26" encresolution="0.00010245"/>
<irsensor ka="16.0" kb="76.0"/>
<laserscanner port="19001" laserpose="0.26 0.0 0.0"/>
</robot>
<!-- Robot server no. 1
<robot>
<mrcserver port="8001"/>
<clients number="5"/>
<params name="smr1" robotpose=" 1.0 1.0 0.0" wheelbase="0.26" encresolution="0.00010245"/>
<irsensor ka="16.0" kb="76.0"/>
<laserscanner port="19001" laserpose="0.26 0 0"/>
</robot>
-->
<!-- Robot server no. 2
<robot>
<mrcserver port="8002"/>
<clients number="4"/>
<params name="smr2" wheelbase="0.26" encresolution="0.00010245"/>
<irsensor ka="16.0" kb="76.0"/>
<laserscanner port="19002"/>
</robot>
-->
<!-- Robot server no. 3
<robot>
<mrcserver port="8003"/>
<clients number="5"/>
<params name="smr3" wheelbase="0.26" encresolution="0.00010245"/>
<irsensor ka="16.0" kb="76.0"/>
<laserscanner port="19003"/>
</robot>
-->
</simserver>
<?xml version="1.0" ?>
<!--
Configuration file for
Simulator Server
-->
<simserver>
<!-- *** Core Components Configuration *** -->
<!-- Sheduler configuration -->
<scheduler>
<period value="10000"/><!--in usec-->
</scheduler>
<!-- Simulator configuration -->
<simstage>
<world wallmap="388project" linemap="" scale="150" yoff="775"/>
1
<guidemark gmno="1" gmpose=" 0 1.5 3.14 "/>
2
<guidemark gmno="7" gmpose=" 0 1.5 0"/>
3
<guidemark gmno="6" gmpose=" 4.0 1.5 3.14 "/>
4
<guidemark gmno="4" gmpose=" 4.0 1.5 0"/>
5
<guidemark gmno="5" gmpose=" 0.0 3.5 3.14"/>
6
<guidemark gmno="12" gmpose=" 0.0 3.5 0"/>
7
<guidemark gmno="11" gmpose=" 4.0 3.5 3.14"/>
8
<guidemark gmno="5" gmpose=" 4.0 3.5 0.0"/>
9
<guidemark gmno="5" gmpose=" 0.0 4.5 0.0"/>
10
<guidemark gmno="5" gmpose=" 4.0 4.5 3.14"/>
11
<guidemark gmno="3" gmpose=" 0.5 5.0 -1.57"/>
12
<guidemark gmno="13" gmpose=" 3.5 5.0 -1.57"/>
13
<guidemark gmno="98" gmpose=" 2.0 4.0 3.14"/>
14
<guidemark gmno="98" gmpose=" 2.0 4.0 0"/>
</simstage>
<!-- Robot server no. 0 -->
<!-- Robot size: 0.35*0.3 -->
<robot>
<mrcserver port="8000"/>
<clients number="5"/>
<params name="smr0" robotpose="0.25 0.45 0" wheelbase="0.26" encresolution="0.00010245"/>
<corner x="0" y="-0.15"/>
<corner x="0.35" y="-0.15"/>
<corner x="0.35" y="0.15"/>
<corner x="0" y="0.15"/>
<irsensor ka="16.0" kb="76.0"/>
<laserscanner port="19001" laserpose="0.26 0.0 0.0"/>
</robot>
<!-- Robot server no. 1
<robot>
<mrcserver port="8001"/>
<clients number="5"/>
<params name="smr1" robotpose=" 1.0 1.0 0.0" wheelbase="0.26" encresolution="0.00010245"/>
<corner x="-0.1" y="-0.15"/>
<corner x="0.25" y="-0.15"/>
<corner x="0.25" y="0.15"/>
<corner x="-0.1" y="0.15"/>
<irsensor ka="16.0" kb="76.0"/>
<laserscanner port="19001" laserpose="0.26 0 0"/>
</robot>
-->
<!-- Robot server no. 2
<robot>
<mrcserver port="8002"/>
<clients number="4"/>
<params name="smr2" wheelbase="0.26" encresolution="0.00010245"/>
<irsensor ka="16.0" kb="76.0"/>
<laserscanner port="19002"/>
</robot>
-->
<!-- Robot server no. 3
<robot>
<mrcserver port="8003"/>
<clients number="5"/>
<params name="smr3" wheelbase="0.26" encresolution="0.00010245"/>
<irsensor ka="16.0" kb="76.0"/>
<laserscanner port="19003"/>
</robot>
-->
</simserver>
# camera server scriptfile
server imagepath="."
server datapath="."
server replayPath="foo"
# server port=24920
#
module load=var
module load=gmk
var gmk.diagonal=0
module load=odopose
module load=mappose
module load=utmpose
module load="aukinect.so.0"
module load="aucamrectify.so.0"
module load="austereo.so.0"
module load="auvarmrc.so.0"
module load="ausmr.so.0"
module load=if alias="mrc"
mrc hup
module load=if alias="laser"
module load=augps.so.0
module load=mapbase.so.0
module load=aurule.so.0
module load=aurhdif.so.0
rhd hup
module load=aupoly.so.0
# other /dev/video cameras - v4lgst in 16.04, aucamera in 18.04
module load=aucamera.so.0
module load=auv4lgst.so.0
# camera parameters
camset device=10 fps=7 width=320 gain=auto shutter=auto focallength=715
camset device=10 posX=0.04 posy=0.0 posZ=0.3 rotPhi=0.1
camset device=18 posX=0.04 posy=0.0 posZ=0.3 rotPhi=0.1 focallength=532
camset device=19 posX=0.04 posy=0.0 posZ=0.3 rotPhi=0.1 focallength=532
# ballfinder
module load="auball.so.0"
var ball.poolImg=18
var ball.redHue=120
var ball.blueHue=5
var ball.hough="300 20 50"
var ball.ballSize=0.15
# some test images
poolset img=70 loadpng="/vhome/jca/replay/31388/balls_backlight.png"
poolset img=71 loadpng="/vhome/jca/replay/31388/balls_crosslight.png"
poolset img=72 loadpng="/vhome/jca/replay/31388/balls_night.png"
# end of script
......@@ -40,5 +40,5 @@ module load='auplan.so.0'
## initialize graph planner
resetplanner
## set Kalman parameters
setInitPose x=0.25 y=0.45 th=0
setInitCov Cx=0.01 Cy=0.01 Cth=0.01
\ No newline at end of file
setinitpose x=0.25 y=0.45 th=0
setinitcov Cx=0.01 Cy=0.01 Cth=0.01
\ No newline at end of file
0% Loading or .
You are about to add 0 people to the discussion. Proceed with caution.
Please register or to comment