empc_sts_5k.h

2812例程以及 控制直流无刷电机程序

/*  mpt_searchTree.c
  
  Identifies a control law associated to a given state X using a binary search tree.

  Usage:
    region = mpt_searchTree(*X, *U)
    
    if "region" is smaller 1 (region < 1), there is no control law associated to
    a given state.

   Please note that all code in this file is provided under the terms of the
   GNU General Public License, which implies that if you include it directly
   into your commercial application, you will need to comply with the license.
   If you feel this is not a good solution for you or your company, feel free 
   to contact me at [e-mail], I can re-license this specific 
   piece of code to you free of charge.
*/

/* Copyright (C) 2006 by Michal Kvasnica ([e-mail]) */

/*  This program is free software; you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation; either version 2 of the License, or
    (at your option) any later version.

    This program is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with this program; if not, write to the Free Software
    Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
*/ 

#define MPT_NU 6
#define MPT_NX 3
const float MPT_ST[] = {
0.000000e+000,	0.000000e+000,	1.000000e+000,	3.625200e+000,	2.000000e+000,
3.000000e+000,	0.000000e+000,	0.000000e+000,	-1.000000e+000,	-4.712400e+000,
4.000000e+000,	5.000000e+000,	0.000000e+000,	0.000000e+000,	1.000000e+000,
1.530800e+000,	6.000000e+000,	7.000000e+000,	1.409916e-001,	8.530002e-001,
5.025058e-001,	2.667423e+000,	8.000000e+000,	9.000000e+000,	-8.924397e-001,
0.000000e+000,	4.511668e-001,	3.314779e+000,	1.000000e+001,	1.100000e+001,
8.924397e-001,	0.000000e+000,	4.511668e-001,	1.897427e+000,	1.200000e+001,
1.300000e+001,	6.253609e-001,	5.219956e-001,	-5.800382e-001,	-8.543135e-001,
1.400000e+001,	1.500000e+001,	-7.402248e-001,	-3.701124e-001,	-5.613234e-001,
-1.572920e+000,	1.600000e+001,	1.700000e+001,	-7.402248e-001,	-3.701124e-001,
-5.613234e-001,	-1.572920e+000,	1.800000e+001,	1.900000e+001,	-4.074919e-001,
-8.149838e-001,	-4.120095e-001,	-1.623915e+000,	2.000000e+001,	2.100000e+001,
0.000000e+000,	-1.000000e+000,	0.000000e+000,	8.026315e-001,	2.200000e+001,
2.300000e+001,	-4.074919e-001,	-8.149838e-001,	4.120095e-001,	3.295769e-001,
2.400000e+001,	2.500000e+001,	0.000000e+000,	0.000000e+000,	1.000000e+000,
2.578000e+000,	2.600000e+001,	2.700000e+001,	-4.074919e-001,	-8.149838e-001,
-4.120095e-001,	9.647615e-001,	2.800000e+001,	2.900000e+001,	0.000000e+000,
0.000000e+000,	-1.000000e+000,	-4.836000e-001,	3.000000e+001,	3.100000e+001,
0.000000e+000,	0.000000e+000,	-1.000000e+000,	-3.665200e+000,	3.200000e+001,
3.300000e+001,	-7.402248e-001,	-3.701124e-001,	-5.613234e-001,	-2.225872e+000,
3.400000e+001,	3.500000e+001,	0.000000e+000,	0.000000e+000,	1.000000e+000,
4.672400e+000,	3.600000e+001,	3.700000e+001,	5.219956e-001,	6.253609e-001,
5.800382e-001,	2.182695e+000,	3.800000e+001,	3.900000e+001,	-4.362043e-001,
-8.724086e-001,	2.205201e-001,	2.071894e+000,	4.000000e+001,	4.100000e+001,
-8.149838e-001,	-4.074919e-001,	4.120095e-001,	3.121992e+000,	4.200000e+001,
4.300000e+001,	0.000000e+000,	0.000000e+000,	1.000000e+000,	5.759600e+000,
4.400000e+001,	4.500000e+001,	0.000000e+000,	0.000000e+000,	1.000000e+000,
5.719600e+000,	4.600000e+001,	4.700000e+001,	0.000000e+000,	0.000000e+000,
1.000000e+000,	2.578000e+000,	4.800000e+001,	4.900000e+001,	-4.362043e-001,
-8.724086e-001,	-2.205201e-001,	-1.379125e+000,	5.000000e+001,	5.100000e+001,
0.000000e+000,	0.000000e+000,	-1.000000e+000,	-2.618000e+000,	5.200000e+001,
5.300000e+001,	1.933179e-001,	-9.762566e-001,	9.773056e-002,	-2.571022e-001,
5.400000e+001,	5.500000e+001,	0.000000e+000,	0.000000e+000,	1.000000e+000,
5.236000e-001,	5.600000e+001,	5.700000e+001,	0.000000e+000,	0.000000e+000,
1.000000e+000,	5.236000e-001,	5.800000e+001,	5.900000e+001,	-4.074919e-001,
-8.149838e-001,	-4.120095e-001,	9.647615e-001,	6.000000e+001,	6.100000e+001,
0.000000e+000,	0.000000e+000,	1.000000e+000,	5.236000e-001,	6.200000e+001,
6.300000e+001,	6.658424e-001,	6.658424e-001,	-3.366121e-001,	-1.415656e+000,
-1.830000e+002,	6.400000e+001,	5.752168e-001,	5.752168e-001,	5.815938e-001,
2.436123e+000,	-1.830000e+002,	6.500000e+001,	0.000000e+000,	0.000000e+000,
1.000000e+000,	4.672400e+000,	6.600000e+001,	6.700000e+001,	0.000000e+000,
0.000000e+000,	1.000000e+000,	4.672400e+000,	6.800000e+001,	6.900000e+001,
-7.071068e-001,	7.071068e-001,	0.000000e+000,	1.178511e+000,	-1.450000e+002,
7.000000e+001,	0.000000e+000,	0.000000e+000,	-1.000000e+000,	-3.665200e+000,
7.100000e+001,	7.200000e+001,	7.071068e-001,	7.071068e-001,	0.000000e+000,
0.000000e+000,	7.300000e+001,	7.400000e+001,	0.000000e+000,	0.000000e+000,
1.000000e+000,	4.672400e+000,	7.500000e+001,	7.600000e+001,	0.000000e+000,
0.000000e+000,	1.000000e+000,	5.719600e+000,	7.700000e+001,	7.800000e+001,
-8.149838e-001,	-4.074919e-001,	4.120095e-001,	3.121992e+000,	7.900000e+001,
-3.300000e+001,	0.000000e+000,	0.000000e+000,	1.000000e+000,	5.759600e+000,
8.000000e+001,	8.100000e+001,	0.000000e+000,	0.000000e+000,	1.000000e+000,
5.719600e+000,	8.200000e+001,	8.300000e+001,	-4.074919e-001,	-8.149838e-001,
-4.120095e-001,	-1.623915e+000,	8.400000e+001,	8.500000e+001,	-4.362043e-001,
-8.724086e-001,	2.205201e-001,	2.071894e+000,	8.600000e+001,	8.700000e+001,
-5.752168e-001,	-5.752168e-001,	-5.815938e-001,	-2.897810e+000,	8.800000e+001,
8.900000e+001,	0.000000e+000,	-1.000000e+000,	0.000000e+000,	-8.026315e-001,
9.000000e+001,	9.100000e+001,	0.000000e+000,	0.000000e+000,	-1.000000e+000,
-2.618000e+000,	9.200000e+001,	9.300000e+001,	0.000000e+000,	0.000000e+000,
-1.000000e+000,	-1.570800e+000,	9.400000e+001,	9.500000e+001,	-7.402248e-001,
-3.701124e-001,	-5.613234e-001,	-2.225872e+000,	9.600000e+001,	9.700000e+001,
0.000000e+000,	0.000000e+000,	1.000000e+000,	2.578000e+000,	9.800000e+001,
9.900000e+001,	-4.362043e-001,	-8.724086e-001,	-2.205201e-001,	-1.379125e+000,
1.000000e+002,	1.010000e+002,	-4.074919e-001,	-8.149838e-001,	4.120095e-001,
3.295769e-001,	1.020000e+002,	1.030000e+002,	0.000000e+000,	-8.924397e-001,
4.511668e-001,	1.424976e+000,	1.040000e+002,	1.050000e+002,	0.000000e+000,
0.000000e+000,	-1.000000e+000,	-1.570800e+000,	1.060000e+002,	1.070000e+002,
7.071068e-001,	-7.071068e-001,	0.000000e+000,	1.674118e+000,	-1.070000e+002,
-1.830000e+002,	6.658424e-001,	-6.658424e-001,	-3.366121e-001,	1.400176e+000,
1.080000e+002,	1.090000e+002,	7.071068e-001,	-7.071068e-001,	0.000000e+000,
1.674118e+000,	1.100000e+002,	1.110000e+002,	6.658424e-001,	-6.658424e-001,
-3.366121e-001,	1.400176e+000,	1.120000e+002,	1.130000e+002,	-1.000000e+000,
0.000000e+000,	0.000000e+000,	8.026315e-001,	1.140000e+002,	1.150000e+002,
-1.000000e+000,	0.000000e+000,	0.000000e+000,	8.026315e-001,	1.160000e+002,
-1.000000e+000,	7.071068e-001,	-7.071068e-001,	0.000000e+000,	1.674118e+000,
1.170000e+002,	1.180000e+002,	6.658424e-001,	-6.658424e-001,	-3.366121e-001,
1.400176e+000,	1.190000e+002,	1.200000e+002,	5.973942e-001,	7.156900e-001,
-3.618122e-001,	-1.261091e+000,	-1.830000e+002,	-1.450000e+002,	0.000000e+000,
0.000000e+000,	1.000000e+000,	4.672400e+000,	1.210000e+002,	1.220000e+002,
0.000000e+000,	-8.924397e-001,	-4.511668e-001,	-2.842328e+000,	-3.300000e+001,
-1.000000e+000,	6.658424e-001,	-6.658424e-001,	3.366121e-001,	-3.427004e-001,
1.230000e+002,	1.240000e+002,	-8.149838e-001,	-4.074919e-001,	-4.120095e-001,
-1.827654e+000,	1.250000e+002,	1.260000e+002,	0.000000e+000,	0.000000e+000,
-1.000000e+000,	-3.665200e+000,	1.270000e+002,	1.280000e+002,	0.000000e+000,
-8.924397e-001,	-4.511668e-001,	-1.409728e+000,	1.290000e+002,	-1.450000e+002,
6.658424e-001,	-6.658424e-001,	3.366121e-001,	-3.427004e-001,	1.300000e+002,
1.310000e+002,	7.071068e-001,	-7.071068e-001,	0.000000e+000,	-1.674118e+000,
1.320000e+002,	1.330000e+002,	6.658424e-001,	-6.658424e-001,	3.366121e-001,
-3.427004e-001,	1.340000e+002,	-1.830000e+002,	0.000000e+000,	0.000000e+000,
1.000000e+000,	4.672400e+000,	1.350000e+002,	1.360000e+002,	-1.000000e+000,
0.000000e+000,	0.000000e+000,	8.026315e-001,	1.370000e+002,	1.380000e+002,
0.000000e+000,	0.000000e+000,	-1.000000e+000,	-3.665200e+000,	1.390000e+002,
1.400000e+002,	0.000000e+000,	0.000000e+000,	1.000000e+000,	5.759600e+000,
1.410000e+002,	1.420000e+002,	0.000000e+000,	-1.000000e+000,	0.000000e+000,
9.615683e-001,	-7.600000e+001,	1.430000e+002,	0.000000e+000,	0.000000e+000,
1.000000e+000,	5.719600e+000,	-1.830000e+002,	1.440000e+002,	8.788223e-001,
-1.740240e-001,	4.442826e-001,	1.624864e+000,	1.450000e+002,	-1.830000e+002,
0.000000e+000,	0.000000e+000,	1.000000e+000,	5.719600e+000,	1.460000e+002,
1.470000e+002,	0.000000e+000,	0.000000e+000,	1.000000e+000,	5.759600e+000,
1.480000e+002,	1.490000e+002,	0.000000e+000,	-1.000000e+000,	0.000000e+000,
-8.026315e-001,	-3.300000e+001,	-1.000000e+000,	1.000000e+000,	0.000000e+000,
0.000000e+000,	8.026315e-001,	1.500000e+002,	-7.600000e+001,	1.000000e+000,
0.000000e+000,	0.000000e+000,	8.026315e-001,	-3.300000e+001,	-1.000000e+000,
0.000000e+000,	0.000000e+000,	1.000000e+000,	5.719600e+000,	1.510000e+002,
1.520000e+002,	0.000000e+000,	0.000000e+000,	1.000000e+000,	5.719600e+000,
1.530000e+002,	1.540000e+002,	0.000000e+000,	0.000000e+000,	1.000000e+000,
5.759600e+000,	1.550000e+002,	1.560000e+002,	0.000000e+000,	0.000000e+000,
1.000000e+000,	5.759600e+000,	1.570000e+002,	1.580000e+002,	-8.149838e-001,
-4.074919e-001,	4.120095e-001,	3.121992e+000,	-1.450000e+002,	-3.300000e+001,
0.000000e+000,	-1.000000e+000,	0.000000e+000,	-1.764200e+000,	1.590000e+002,
-1.000000e+000,	8.944272e-001,	4.472136e-001,	0.000000e+000,	7.453560e-001,
1.600000e+002,	1.610000e+002,	1.000000e+000,	0.000000e+000,	0.000000e+000,
9.615683e-001,	-1.070000e+002,	1.620000e+002,	-7.402248e-001,	-3.701124e-001,
5.613234e-001,	-1.904920e-001,	1.630000e+002,	1.640000e+002,	-8.149838e-001,
-4.074919e-001,	-4.120095e-001,	-1.827654e+000,	1.650000e+002,	1.660000e+002,
0.000000e+000,	0.000000e+000,	-1.000000e+000,	-1.570800e+000,	1.670000e+002,
1.680000e+002,	0.000000e+000,	0.000000e+000,	-1.000000e+000,	-1.570800e+000,
1.690000e+002,	1.700000e+002,	0.000000e+000,	0.000000e+000,	-1.000000e+000,
-2.618000e+000,	1.710000e+002,	1.720000e+002,	0.000000e+000,	0.000000e+000,
-1.000000e+000,	-1.570800e+000,	1.730000e+002,	1.740000e+002,	-4.362043e-001,
-8.724086e-001,	-2.205201e-001,	-6.095731e-001,	1.750000e+002,	1.760000e+002,
8.944272e-001,	4.472136e-001,	0.000000e+000,	7.453560e-001,	-1.000000e+000,
1.770000e+002,	-1.000000e+000,	0.000000e+000,	0.000000e+000,	9.615683e-001,
-1.450000e+002,	1.780000e+002,	-1.000000e+000,	0.000000e+000,	0.000000e+000,
8.026315e-001,	1.790000e+002,	-1.000000e+000,	0.000000e+000,	0.000000e+000,
-1.000000e+000,	-1.570800e+000,	1.800000e+002,	1.810000e+002,	0.000000e+000,
0.000000e+000,	-1.000000e+000,	-1.570800e+000,	1.820000e+002,	1.830000e+002,
-7.402248e-001,	-3.701124e-001,	5.613234e-001,	-1.904920e-001,	1.840000e+002,
1.850000e+002,	-8.149838e-001,	-4.074919e-001,	-4.120095e-001,	-1.827654e+000,
1.860000e+002,	1.870000e+002,	0.000000e+000,	0.000000e+000,	-1.000000e+000,
-4.836000e-001,	1.880000e+002,	1.890000e+002,	0.000000e+000,	0.000000e+000,
-1.000000e+000,	-4.836000e-001,	-7.600000e+001,	-1.830000e+002,	7.071068e-001,
7.071068e-001,	0.000000e+000,	0.000000e+000,	1.900000e+002,	-1.070000e+002,
-5.752168e-001,	-5.752168e-001,	5.815938e-001,	1.473435e-001,	-1.830000e+002,
1.910000e+002,	0.000000e+000,	0.000000e+000,	-1.000000e+000,	-4.836000e-001,
1.920000e+002,	1.930000e+002,	0.000000e+000,	0.000000e+000,	-1.000000e+000,
-4.836000e-001,	1.940000e+002,	1.950000e+002,	-1.000000e+000,	0.000000e+000,
0.000000e+000,	9.615683e-001,	-1.450000e+002,	1.960000e+002,	1.000000e+000,
0.000000e+000,	0.000000e+000,	8.026315e-001,	1.970000e+002,	-7.600000e+001,
-9.832776e-001,	-1.625251e-001,	-8.216344e-002,	7.730163e-001,	-1.830000e+002,
-1.000000e+000,	5.752168e-001,	5.752168e-001,	-5.815938e-001,	-1.070718e+000,
-1.070000e+002,	-7.600000e+001,	5.752168e-001,	5.752168e-001,	-5.815938e-001,
-1.070718e+000,	-1.830000e+002,	1.980000e+002,	6.658424e-001,	6.658424e-001,
3.366121e-001,	-7.106721e-001,	-1.070000e+002,	1.990000e+002,	4.472136e-001,
8.944272e-001,	0.000000e+000,	-7.453560e-001,	2.000000e+002,	2.010000e+002,
0.000000e+000,	-8.924397e-001,	-4.511668e-001,	-2.842328e+000,	-1.450000e+002,
-1.830000e+002,	7.071068e-001,	7.071068e-001,	0.000000e+000,	0.000000e+000,
-1.830000e+002,	2.020000e+002,	7.071068e-001,	-7.071068e-001,	0.000000e+000,
-1.674118e+000,	-1.070000e+002,	2.030000e+002,	0.000000e+000,	0.000000e+000,
-1.000000e+000,	-3.665200e+000,	2.040000e+002,	2.050000e+002,	1.804965e-001,
-9.115085e-001,	-3.695581e-001,	-2.647735e+000,	-3.300000e+001,	-1.000000e+000,
7.402248e-001,	3.701124e-001,	5.613234e-001,	2.878824e+000,	2.060000e+002,
2.070000e+002,	6.658424e-001,	-6.658424e-001,	3.366121e-001,	-3.427004e-001,
2.080000e+002,	2.090000e+002,	7.071068e-001,	-7.071068e-001,	0.000000e+000,
-1.674118e+000,	2.100000e+002,	2.110000e+002,	-1.804965e-001,	9.115085e-001,
3.695581e-001,	1.358084e+000,	-1.450000e+002,	-7.600000e+001,	6.658424e-001,
6.658424e-001,	-3.366121e-001,	-1.415656e+000,	-1.070000e+002,	-7.600000e+001,
6.658424e-001,	6.658424e-001,	-3.366121e-001,	-1.415656e+000,	-1.830000e+002,
-1.450000e+002,	5.752168e-001,	5.752168e-001,	5.815938e-001,	1.974435e+000,
-1.070000e+002,	-7.600000e+001,	5.752168e-001,	5.752168e-001,	5.815938e-001,
1.974435e+000,	-1.830000e+002,	-1.450000e+002,	0.000000e+000,	0.000000e+000,
-1.000000e+000,	-3.665200e+000,	2.120000e+002,	2.130000e+002,	8.924397e-001,
0.000000e+000,	-4.511668e-001,	-1.740337e+000,	2.140000e+002,	2.150000e+002,
-8.828858e-001,	-1.459314e-001,	-4.463369e-001,	-7.812643e-001,	2.160000e+002,
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-8.924397e-001,	-4.511668e-001,	-1.267886e+000,	-1.070000e+002,	-3.300000e+001,
-5.752168e-001,	-5.752168e-001,	-5.815938e-001,	-2.897810e+000,	-1.070000e+002,
3.160000e+002,	0.000000e+000,	-8.924397e-001,	-4.511668e-001,	-1.267886e+000,
-1.070000e+002,	-3.300000e+001,	-1.409916e-001,	-8.530002e-001,	-5.025058e-001,
-1.660035e+000,	-1.070000e+002,	-3.300000e+001,	6.658424e-001,	-6.658424e-001,
3.366121e-001,	-3.427004e-001,	-1.070000e+002,	-1.830000e+002,	7.071068e-001,
-7.071068e-001,	0.000000e+000,	-1.674118e+000,	-1.070000e+002,	-1.830000e+002,
7.303335e-001,	6.096173e-001,	-3.081879e-001,	-1.349025e+000,	-1.070000e+002,
-7.600000e+001,	7.303335e-001,	6.096173e-001,	-3.081879e-001,	-1.349025e+000,
-1.070000e+002,	3.170000e+002,	7.071068e-001,	-7.071068e-001,	0.000000e+000,
8.208376e-001,	3.180000e+002,	3.190000e+002,	-9.762566e-001,	1.933179e-001,
9.773056e-002,	1.075830e+000,	-1.450000e+002,	-7.600000e+001,	-9.832776e-001,
-1.625251e-001,	-8.216344e-002,	2.567792e-001,	-1.830000e+002,	-1.000000e+000,
-9.832776e-001,	-1.625251e-001,	-8.216344e-002,	2.567792e-001,	-1.830000e+002,
-1.000000e+000,	-8.924397e-001,	0.000000e+000,	4.511668e-001,	3.456620e+000,
-1.830000e+002,	3.200000e+002,	-8.924397e-001,	0.000000e+000,	4.511668e-001,
3.456620e+000,	-1.830000e+002,	-1.000000e+000,	8.828858e-001,	1.459314e-001,
-4.463369e-001,	-2.183443e+000,	-1.070000e+002,	-7.600000e+001,	9.762566e-001,
-1.933179e-001,	-9.773056e-002,	3.054299e-001,	-3.300000e+001,	-1.000000e+000,
8.924397e-001,	0.000000e+000,	-4.511668e-001,	-1.882179e+000,	-3.300000e+001,
-1.000000e+000,	8.788223e-001,	-1.740240e-001,	-4.442826e-001,	-1.777184e+000,
-3.300000e+001,	-1.000000e+000,	0.000000e+000,	-8.924397e-001,	4.511668e-001,
1.424976e+000,	-1.070000e+002,	-3.300000e+001,	-1.409916e-001,	-8.530002e-001,
5.025058e-001,	1.088788e+000,	-1.070000e+002,	-3.300000e+001,	-1.625251e-001,
-9.832776e-001,	-8.216344e-002,	2.161494e-001,	-1.070000e+002,	-3.300000e+001,
9.762566e-001,	-1.933179e-001,	9.773056e-002,	7.688073e-001,	-3.300000e+001,
-1.000000e+000,	1.000000e+000,	0.000000e+000,	0.000000e+000,	8.026315e-001,
-3.300000e+001,	-1.000000e+000,	0.000000e+000,	-8.924397e-001,	4.511668e-001,
-7.624191e-003,	-3.300000e+001,	-1.000000e+000,	1.933179e-001,	-9.762566e-001,
9.773056e-002,	-2.571022e-001,	-3.300000e+001,	-1.000000e+000,	-8.788223e-001,
1.740240e-001,	-4.442826e-001,	-3.814592e-001,	-1.450000e+002,	-7.600000e+001,
0.000000e+000,	8.924397e-001,	-4.511668e-001,	-1.566818e+000,	-1.450000e+002,
-7.600000e+001,	-1.933179e-001,	9.762566e-001,	-9.773056e-002,	-1.124158e+000,
-1.450000e+002,	-7.600000e+001,	1.409916e-001,	8.530002e-001,	-5.025058e-001,
-8.140043e-002,	-1.830000e+002,	-1.450000e+002,	1.625251e-001,	9.832776e-001,
8.216344e-002,	9.450953e-001,	-1.830000e+002,	-1.450000e+002,	-5.752168e-001,
-5.752168e-001,	5.815938e-001,	5.592044e-002,	-1.830000e+002,	-1.000000e+000,
-6.253609e-001,	-5.219956e-001,	5.800382e-001,	1.157662e-001,	-1.830000e+002,
-1.000000e+000,	-9.832776e-001,	-1.625251e-001,	-8.216344e-002,	7.730163e-001,
-1.830000e+002,	-1.000000e+000,	1.000000e+000,	0.000000e+000,	0.000000e+000,
8.026315e-001,	3.210000e+002,	-1.000000e+000,	-6.658424e-001,	-6.658424e-001,
-3.366121e-001,	-4.640071e-001,	3.220000e+002,	-1.000000e+000,	5.752168e-001,
5.752168e-001,	-5.815938e-001,	-1.162141e+000,	-1.830000e+002,	-1.450000e+002,
5.219956e-001,	6.253609e-001,	-5.800382e-001,	-1.099037e+000,	-1.830000e+002,
-1.450000e+002,	-5.752168e-001,	-5.752168e-001,	-5.815938e-001,	-2.897810e+000,
-1.830000e+002,	3.230000e+002,	-5.752168e-001,	-5.752168e-001,	-5.815938e-001,
-2.897810e+000,	-1.830000e+002,	3.240000e+002,	-6.658424e-001,	-6.658424e-001,
3.366121e-001,	2.409767e-001,	-1.070000e+002,	-3.300000e+001,	-5.973942e-001,
-7.156900e-001,	3.618122e-001,	4.158655e-001,	-1.070000e+002,	-3.300000e+001,
7.071068e-001,	-7.071068e-001,	0.000000e+000,	8.208376e-001,	3.250000e+002,
3.260000e+002,	6.658424e-001,	6.658424e-001,	-3.366121e-001,	-1.415656e+000,
-1.070000e+002,	-7.600000e+001,	5.752168e-001,	5.752168e-001,	5.815938e-001,
1.883012e+000,	-1.070000e+002,	-7.600000e+001,	6.253609e-001,	5.219956e-001,
5.800382e-001,	1.937971e+000,	-1.070000e+002,	-7.600000e+001,	-8.828858e-001,
-1.459314e-001,	4.463369e-001,	3.226126e+000,	-1.830000e+002,	-1.000000e+000,
9.762566e-001,	-1.933179e-001,	-9.773056e-002,	9.194760e-001,	-3.300000e+001,
-1.000000e+000,	-7.303335e-001,	-6.096173e-001,	-3.081879e-001,	-3.808446e-001,
-1.830000e+002,	-1.000000e+000,	-6.253609e-001,	-5.219956e-001,	-5.800382e-001,
-2.676519e+000,	-1.830000e+002,	-1.000000e+000,	-6.253609e-001,	-5.219956e-001,
-5.800382e-001,	-2.676519e+000,	-1.830000e+002,	-1.000000e+000,	-5.752168e-001,
-5.752168e-001,	-5.815938e-001,	-2.989233e+000,	-1.070000e+002,	-3.300000e+001,
-5.219956e-001,	-6.253609e-001,	-5.800382e-001,	-2.921242e+000,	-1.070000e+002,
-3.300000e+001,
};
const float MPT_G[] = {
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