empc_sts_10k.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,	-3.645200e+000,	2.000000e+000,
3.000000e+000,	0.000000e+000,	0.000000e+000,	-1.000000e+000,	-1.550800e+000,
4.000000e+000,	5.000000e+000,	0.000000e+000,	0.000000e+000,	-1.000000e+000,
-4.712400e+000,	6.000000e+000,	7.000000e+000,	0.000000e+000,	0.000000e+000,
1.000000e+000,	5.236000e-001,	8.000000e+000,	9.000000e+000,	0.000000e+000,
0.000000e+000,	1.000000e+000,	2.598000e+000,	1.000000e+001,	1.100000e+001,
-7.071068e-001,	-7.071068e-001,	0.000000e+000,	0.000000e+000,	1.200000e+001,
1.300000e+001,	-4.446509e-001,	-8.893018e-001,	1.069009e-001,	1.393081e+000,
1.400000e+001,	1.500000e+001,	7.071068e-001,	-7.071068e-001,	0.000000e+000,
1.414263e+000,	1.600000e+001,	1.700000e+001,	0.000000e+000,	0.000000e+000,
-1.000000e+000,	-5.036000e-001,	1.800000e+001,	1.900000e+001,	9.722956e-001,
0.000000e+000,	2.337548e-001,	9.833577e-001,	2.000000e+001,	2.100000e+001,
0.000000e+000,	-9.722956e-001,	2.337548e-001,	3.671734e-001,	2.200000e+001,
2.300000e+001,	0.000000e+000,	0.000000e+000,	-1.000000e+000,	-4.692400e+000,
2.400000e+001,	2.500000e+001,	0.000000e+000,	0.000000e+000,	1.000000e+000,
3.665200e+000,	2.600000e+001,	2.700000e+001,	-1.000000e+000,	0.000000e+000,
0.000000e+000,	3.819847e-001,	2.800000e+001,	2.900000e+001,	-8.744388e-001,
-4.372194e-001,	2.102285e-001,	1.975200e+000,	3.000000e+001,	3.100000e+001,
-7.071068e-001,	-7.071068e-001,	0.000000e+000,	0.000000e+000,	3.200000e+001,
3.300000e+001,	-7.071068e-001,	-7.071068e-001,	0.000000e+000,	0.000000e+000,
3.400000e+001,	3.500000e+001,	-4.372194e-001,	-8.744388e-001,	-2.102285e-001,
8.744693e-001,	3.600000e+001,	3.700000e+001,	6.971054e-001,	-6.971054e-001,
-1.675949e-001,	1.306509e+000,	3.800000e+001,	3.900000e+001,	-4.372194e-001,
-8.744388e-001,	2.102285e-001,	-2.140310e-001,	4.000000e+001,	4.100000e+001,
0.000000e+000,	0.000000e+000,	-1.000000e+000,	-2.618000e+000,	4.200000e+001,
4.300000e+001,	0.000000e+000,	0.000000e+000,	-1.000000e+000,	-1.570800e+000,
4.400000e+001,	4.500000e+001,	0.000000e+000,	0.000000e+000,	-1.000000e+000,
-1.570800e+000,	4.600000e+001,	4.700000e+001,	0.000000e+000,	0.000000e+000,
1.000000e+000,	3.665200e+000,	4.800000e+001,	4.900000e+001,	-8.512414e-001,
-4.256207e-001,	-3.069773e-001,	-4.881415e-001,	5.000000e+001,	5.100000e+001,
7.071068e-001,	-7.071068e-001,	0.000000e+000,	-1.414263e+000,	5.200000e+001,
5.300000e+001,	6.971054e-001,	-6.971054e-001,	1.675949e-001,	-7.800054e-001,
5.400000e+001,	5.500000e+001,	0.000000e+000,	0.000000e+000,	-1.000000e+000,
-5.739600e+000,	5.600000e+001,	5.700000e+001,	0.000000e+000,	0.000000e+000,
1.000000e+000,	5.759600e+000,	5.800000e+001,	5.900000e+001,	0.000000e+000,
-1.000000e+000,	0.000000e+000,	3.819847e-001,	6.000000e+001,	6.100000e+001,
0.000000e+000,	0.000000e+000,	-1.000000e+000,	-5.739600e+000,	6.200000e+001,
6.300000e+001,	7.071068e-001,	-7.071068e-001,	0.000000e+000,	2.007957e+000,
6.400000e+001,	6.500000e+001,	-6.694697e-001,	-6.694697e-001,	3.219016e-001,
3.072129e-002,	6.600000e+001,	-3.700000e+001,	6.694697e-001,	6.694697e-001,
-3.219016e-001,	-5.928146e-001,	-2.110000e+002,	6.700000e+001,	-6.694697e-001,
-6.694697e-001,	3.219016e-001,	8.136028e-002,	-2.110000e+002,	6.800000e+001,
1.000000e+000,	0.000000e+000,	0.000000e+000,	3.819847e-001,	6.900000e+001,
7.000000e+001,	1.000000e+000,	0.000000e+000,	0.000000e+000,	3.819847e-001,
7.100000e+001,	7.200000e+001,	-6.971054e-001,	-6.971054e-001,	-1.675949e-001,
8.775060e-002,	7.300000e+001,	7.400000e+001,	-6.971054e-001,	-6.971054e-001,
-1.675949e-001,	-1.785330e-001,	7.500000e+001,	7.600000e+001,	0.000000e+000,
0.000000e+000,	-1.000000e+000,	-2.618000e+000,	7.700000e+001,	7.800000e+001,
-4.446509e-001,	-8.893018e-001,	-1.069009e-001,	-1.057249e+000,	-1.200000e+002,
7.900000e+001,	-4.446509e-001,	-8.893018e-001,	-1.069009e-001,	-1.057249e+000,
8.000000e+001,	8.100000e+001,	-4.372194e-001,	-8.744388e-001,	2.102285e-001,
-2.140310e-001,	8.200000e+001,	8.300000e+001,	-8.512414e-001,	-4.256207e-001,
3.069773e-001,	-4.762356e-001,	8.400000e+001,	8.500000e+001,	-8.744388e-001,
-4.372194e-001,	-2.102285e-001,	-1.314762e+000,	8.600000e+001,	8.700000e+001,
-8.512414e-001,	-4.256207e-001,	3.069773e-001,	-4.762356e-001,	8.800000e+001,
8.900000e+001,	-8.744388e-001,	-4.372194e-001,	-2.102285e-001,	-1.314762e+000,
9.000000e+001,	9.100000e+001,	7.071068e-001,	-7.071068e-001,	0.000000e+000,
-1.414263e+000,	9.200000e+001,	9.300000e+001,	6.971054e-001,	-6.971054e-001,
1.675949e-001,	-7.800054e-001,	9.400000e+001,	9.500000e+001,	0.000000e+000,
9.722956e-001,	2.337548e-001,	1.101520e+000,	9.600000e+001,	9.700000e+001,
0.000000e+000,	-9.722956e-001,	-2.337548e-001,	-1.472922e+000,	9.800000e+001,
9.900000e+001,	0.000000e+000,	0.000000e+000,	-1.000000e+000,	-4.692400e+000,
1.000000e+002,	1.010000e+002,	0.000000e+000,	0.000000e+000,	-1.000000e+000,
-4.692400e+000,	1.020000e+002,	1.030000e+002,	-6.971054e-001,	-6.971054e-001,
1.675949e-001,	1.197401e-001,	1.040000e+002,	-3.700000e+001,	-6.971054e-001,
-6.971054e-001,	1.675949e-001,	1.724694e-001,	-2.110000e+002,	1.050000e+002,
8.744388e-001,	4.372194e-001,	-2.102285e-001,	-2.342294e+000,	1.060000e+002,
1.070000e+002,	-4.372194e-001,	-8.744388e-001,	-2.102285e-001,	-4.464074e-001,
1.080000e+002,	1.090000e+002,	-4.372194e-001,	-8.744388e-001,	-2.102285e-001,
-4.464074e-001,	1.100000e+002,	1.110000e+002,	-9.722956e-001,	0.000000e+000,
2.337548e-001,	1.717704e+000,	1.120000e+002,	1.130000e+002,	0.000000e+000,
0.000000e+000,	-1.000000e+000,	-5.739600e+000,	-8.200000e+001,	-2.110000e+002,
0.000000e+000,	0.000000e+000,	-1.000000e+000,	-5.739600e+000,	1.140000e+002,
-2.110000e+002,	0.000000e+000,	-9.722956e-001,	-2.337548e-001,	-1.472922e+000,
1.150000e+002,	1.160000e+002,	-9.722956e-001,	0.000000e+000,	2.337548e-001,
1.717704e+000,	1.170000e+002,	1.180000e+002,	7.271420e-001,	6.069533e-001,
-3.207370e-001,	-4.200212e-001,	1.190000e+002,	-8.200000e+001,	6.694697e-001,
6.694697e-001,	-3.219016e-001,	-5.928146e-001,	-1.200000e+002,	-8.200000e+001,
-6.694697e-001,	-6.694697e-001,	3.219016e-001,	8.136028e-002,	-1.200000e+002,
1.200000e+002,	7.071068e-001,	-7.071068e-001,	0.000000e+000,	2.268755e-001,
1.210000e+002,	1.220000e+002,	7.071068e-001,	-7.071068e-001,	0.000000e+000,
2.268755e-001,	1.230000e+002,	1.240000e+002,	1.000000e+000,	0.000000e+000,
0.000000e+000,	4.576251e-001,	-1.200000e+002,	1.250000e+002,	-1.000000e+000,
0.000000e+000,	0.000000e+000,	4.576251e-001,	-1.710000e+002,	1.260000e+002,
1.000000e+000,	0.000000e+000,	0.000000e+000,	4.576251e-001,	-3.700000e+001,
1.270000e+002,	-1.000000e+000,	0.000000e+000,	0.000000e+000,	4.576251e-001,
-2.110000e+002,	1.280000e+002,	-6.971054e-001,	6.971054e-001,	1.675949e-001,
-1.891806e+000,	1.290000e+002,	1.300000e+002,	-6.971054e-001,	-6.971054e-001,
-1.675949e-001,	-2.312623e-001,	1.310000e+002,	-3.700000e+001,	-6.971054e-001,
6.971054e-001,	1.675949e-001,	-1.359159e-001,	1.320000e+002,	1.330000e+002,
-6.971054e-001,	6.971054e-001,	1.675949e-001,	-1.359159e-001,	1.340000e+002,
1.350000e+002,	-4.446509e-001,	-8.893018e-001,	-1.069009e-001,	-6.839157e-001,
1.360000e+002,	1.370000e+002,	1.000000e+000,	0.000000e+000,	0.000000e+000,
4.576251e-001,	-1.200000e+002,	1.380000e+002,	0.000000e+000,	0.000000e+000,
-1.000000e+000,	-2.618000e+000,	1.390000e+002,	1.400000e+002,	-9.722956e-001,
0.000000e+000,	-2.337548e-001,	-1.670088e-001,	-1.710000e+002,	1.410000e+002,
-9.722956e-001,	0.000000e+000,	-2.337548e-001,	-1.670088e-001,	-2.110000e+002,
1.420000e+002,	-1.000000e+000,	0.000000e+000,	0.000000e+000,	4.576251e-001,
-1.710000e+002,	1.430000e+002,	-1.000000e+000,	0.000000e+000,	0.000000e+000,
4.576251e-001,	-2.110000e+002,	1.440000e+002,	0.000000e+000,	-9.722956e-001,
2.337548e-001,	8.121203e-001,	-8.200000e+001,	1.450000e+002,	6.971054e-001,
-6.971054e-001,	-1.675949e-001,	1.306509e+000,	1.460000e+002,	1.470000e+002,
0.000000e+000,	-1.000000e+000,	0.000000e+000,	4.576251e-001,	-8.200000e+001,
1.480000e+002,	0.000000e+000,	-1.000000e+000,	0.000000e+000,	4.576251e-001,
-1.200000e+002,	1.490000e+002,	0.000000e+000,	-9.722956e-001,	2.337548e-001,
-7.777346e-002,	1.500000e+002,	-2.110000e+002,	0.000000e+000,	-9.722956e-001,
2.337548e-001,	-7.777346e-002,	1.510000e+002,	-1.000000e+000,	0.000000e+000,
-1.000000e+000,	0.000000e+000,	-4.576251e-001,	1.520000e+002,	-2.110000e+002,
0.000000e+000,	-1.000000e+000,	0.000000e+000,	-4.576251e-001,	1.530000e+002,
-1.000000e+000,	6.694697e-001,	6.694697e-001,	3.219016e-001,	1.092623e+000,
-1.200000e+002,	1.540000e+002,	6.694697e-001,	6.694697e-001,	3.219016e-001,
1.092623e+000,	-2.110000e+002,	1.550000e+002,	6.971054e-001,	6.971054e-001,
-1.675949e-001,	-7.577660e-001,	1.560000e+002,	-8.200000e+001,	-7.587494e-001,
-6.333364e-001,	-1.522638e-001,	-2.431359e-001,	1.570000e+002,	1.580000e+002,
0.000000e+000,	-9.722956e-001,	-2.337548e-001,	-1.546467e+000,	1.590000e+002,
-2.110000e+002,	0.000000e+000,	-9.722956e-001,	-2.337548e-001,	-6.565733e-001,
-8.200000e+001,	1.600000e+002,	0.000000e+000,	-9.722956e-001,	-2.337548e-001,
-6.565733e-001,	-1.200000e+002,	1.610000e+002,	-9.722956e-001,	0.000000e+000,
2.337548e-001,	1.791249e+000,	1.620000e+002,	1.630000e+002,	-6.694697e-001,
-6.694697e-001,	-3.219016e-001,	-1.604077e+000,	-1.200000e+002,	1.640000e+002,
0.000000e+000,	-9.722956e-001,	-2.337548e-001,	-6.565733e-001,	-1.200000e+002,
1.650000e+002,	-6.694697e-001,	-6.694697e-001,	-3.219016e-001,	-1.654716e+000,
1.660000e+002,	-1.000000e+000,	-8.512414e-001,	-4.256207e-001,	-3.069773e-001,
-4.881415e-001,	-2.110000e+002,	-1.000000e+000,	-6.971054e-001,	6.971054e-001,
-1.675949e-001,	1.947088e-001,	1.670000e+002,	1.680000e+002,	6.971054e-001,
-6.971054e-001,	1.675949e-001,	-1.950598e+000,	1.690000e+002,	1.700000e+002,
-8.744388e-001,	-4.372194e-001,	2.102285e-001,	1.975200e+000,	1.710000e+002,
-1.200000e+002,	0.000000e+000,	-1.000000e+000,	0.000000e+000,	-4.576251e-001,
1.720000e+002,	-2.110000e+002,	0.000000e+000,	0.000000e+000,	1.000000e+000,
5.759600e+000,	1.730000e+002,	1.740000e+002,	0.000000e+000,	0.000000e+000,
1.000000e+000,	5.759600e+000,	-2.110000e+002,	-1.710000e+002,	1.000000e+000,
0.000000e+000,	0.000000e+000,	4.576251e-001,	-1.200000e+002,	1.750000e+002,
1.000000e+000,	0.000000e+000,	0.000000e+000,	3.819847e-001,	-3.700000e+001,
-1.000000e+000,	-9.547605e-001,	1.890613e-001,	2.295391e-001,	1.478197e+000,
-1.710000e+002,	-8.200000e+001,	0.000000e+000,	0.000000e+000,	-1.000000e+000,
-5.739600e+000,	1.760000e+002,	1.770000e+002,	0.000000e+000,	-1.000000e+000,
0.000000e+000,	-4.576251e-001,	1.780000e+002,	-2.110000e+002,	0.000000e+000,
-1.000000e+000,	0.000000e+000,	4.576251e-001,	-1.200000e+002,	1.790000e+002,
0.000000e+000,	-1.000000e+000,	0.000000e+000,	-4.576251e-001,	1.800000e+002,
-1.000000e+000,	0.000000e+000,	0.000000e+000,	1.000000e+000,	5.759600e+000,
1.810000e+002,	1.820000e+002,	0.000000e+000,	0.000000e+000,	1.000000e+000,
5.759600e+000,	1.830000e+002,	1.840000e+002,	6.694697e-001,	6.694697e-001,
-3.219016e-001,	-6.434536e-001,	-1.200000e+002,	-8.200000e+001,	-6.069533e-001,
-7.271420e-001,	3.207370e-001,	2.517146e-001,	-1.200000e+002,	-3.700000e+001,
6.069533e-001,	7.271420e-001,	-3.207370e-001,	-6.604069e-001,	-2.110000e+002,
-1.710000e+002,	6.694697e-001,	6.694697e-001,	-3.219016e-001,	-6.434536e-001,
-2.110000e+002,	-1.710000e+002,	-7.271420e-001,	-6.069533e-001,	3.207370e-001,
1.132886e-002,	-2.110000e+002,	-1.000000e+000,	-6.694697e-001,	-6.694697e-001,
3.219016e-001,	3.072129e-002,	-2.110000e+002,	-1.000000e+000,	9.858560e-001,
1.629513e-001,	3.917599e-002,	1.140948e-001,	-1.200000e+002,	-8.200000e+001,
-1.000000e+000,	0.000000e+000,	0.000000e+000,	3.819847e-001,	1.850000e+002,
-8.200000e+001,	9.798846e-001,	-1.940363e-001,	-4.664932e-002,	5.239460e-001,
-3.700000e+001,	-1.000000e+000,	-4.372194e-001,	-8.744388e-001,	-2.102285e-001,
5.073757e-001,	1.860000e+002,	1.870000e+002,	6.971054e-001,	6.971054e-001,
1.675949e-001,	-3.540342e-001,	-1.200000e+002,	-8.200000e+001,	6.971054e-001,
-6.971054e-001,	-1.675949e-001,	2.477102e+000,	1.880000e+002,	1.890000e+002,
-6.971054e-001,	6.971054e-001,	1.675949e-001,	-1.891806e+000,	1.900000e+002,
1.910000e+002,	6.971054e-001,	6.971054e-001,	1.675949e-001,	-4.067636e-001,
-2.110000e+002,	-1.710000e+002,	-4.472136e-001,	-8.944272e-001,	0.000000e+000,
7.453560e-001,	1.920000e+002,	1.930000e+002,	-6.971054e-001,	-6.971054e-001,
-1.675949e-001,	-2.312623e-001,	-2.110000e+002,	-1.000000e+000,	-7.587494e-001,
-6.333364e-001,	-1.522638e-001,	-2.431359e-001,	-2.110000e+002,	-1.000000e+000,
9.722956e-001,	0.000000e+000,	2.337548e-001,	1.056903e+000,	-1.200000e+002,
1.940000e+002,	-4.446509e-001,	-8.893018e-001,	-1.069009e-001,	-1.057249e+000,
-1.200000e+002,	-3.700000e+001,	-4.372194e-001,	-8.744388e-001,	2.102285e-001,
1.530627e-001,	1.950000e+002,	1.960000e+002,	9.547605e-001,	-1.890613e-001,
2.295391e-001,	7.570944e-001,	-3.700000e+001,	1.970000e+002,	1.000000e+000,
0.000000e+000,	0.000000e+000,	4.576251e-001,	-3.700000e+001,	1.980000e+002,
-9.722956e-001,	0.000000e+000,	-2.337548e-001,	-2.405537e-001,	1.990000e+002,
-8.200000e+001,	4.446509e-001,	8.893018e-001,	1.069009e-001,	1.430582e+000,
2.000000e+002,	2.010000e+002,	-1.000000e+000,	0.000000e+000,	0.000000e+000,
3.819847e-001,	2.020000e+002,	-8.200000e+001,	-9.858560e-001,	-1.629513e-001,
3.917599e-002,	2.371671e-001,	2.030000e+002,	-1.000000e+000,	-8.512414e-001,
-4.256207e-001,	-3.069773e-001,	-1.202852e+000,	2.040000e+002,	2.050000e+002,
-8.512414e-001,	-4.256207e-001,	3.069773e-001,	-1.190946e+000,	2.060000e+002,
2.070000e+002,	-7.071068e-001,	7.071068e-001,	0.000000e+000,	-1.178511e+000,
-3.700000e+001,	2.080000e+002,	0.000000e+000,	-1.000000e+000,	0.000000e+000,
3.819847e-001,	2.090000e+002,	-1.710000e+002,	0.000000e+000,	-1.000000e+000,
0.000000e+000,	3.819847e-001,	2.100000e+002,	-3.700000e+001,	0.000000e+000,
-9.722956e-001,	2.337548e-001,	-4.228595e-003,	-1.710000e+002,	2.110000e+002,
1.908640e-001,	-9.638641e-001,	1.858411e-001,	1.822994e-001,	-3.700000e+001,
2.120000e+002,	0.000000e+000,	-1.000000e+000,	0.000000e+000,	-3.819847e-001,
-1.710000e+002,	2.130000e+002,	0.000000e+000,	-1.000000e+000,	0.000000e+000,
-3.819847e-001,	-3.700000e+001,	2.140000e+002,	-7.071068e-001,	7.071068e-001,
0.000000e+000,	2.268755e-001,	2.150000e+002,	2.160000e+002,	-6.971054e-001,
6.971054e-001,	-1.675949e-001,	1.365302e+000,	2.170000e+002,	2.180000e+002,
-6.971054e-001,	6.971054e-001,	-1.675949e-001,	1.947088e-001,	2.190000e+002,
2.200000e+002,	6.971054e-001,	-6.971054e-001,	1.675949e-001,	-1.950598e+000,
2.210000e+002,	2.220000e+002,	-4.446509e-001,	-8.893018e-001,	-1.069009e-001,
-1.057249e+000,	2.230000e+002,	-2.110000e+002,	0.000000e+000,	-9.722956e-001,
-2.337548e-001,	-1.472922e+000,	-1.710000e+002,	2.240000e+002,	0.000000e+000,
-9.722956e-001,	-2.337548e-001,	-7.301182e-001,	2.250000e+002,	-1.710000e+002,
-8.512414e-001,	-4.256207e-001,	-3.069773e-001,	-8.454968e-001,	2.260000e+002,
2.270000e+002,	1.908640e-001,	-9.638641e-001,	-1.858411e-001,	-1.415143e+000,
-3.700000e+001,	-1.000000e+000,	0.000000e+000,	-9.722956e-001,	-2.337548e-001,
-1.546467e+000,	2.280000e+002,	-1.000000e+000,	0.000000e+000,	-9.722956e-001,
-2.337548e-001,	-1.546467e+000,	2.290000e+002,	2.300000e+002,	0.000000e+000,
-9.722956e-001,	-2.337548e-001,	-1.546467e+000,	-3.700000e+001,	-1.000000e+000,
-6.694697e-001,	-6.694697e-001,	-3.219016e-001,	-1.604077e+000,	-2.110000e+002,
2.310000e+002,	-6.971054e-001,	-6.971054e-001,	1.675949e-001,	1.724694e-001,
-1.200000e+002,	-3.700000e+001,	-6.301649e-001,	-7.549499e-001,	1.815016e-001,
1.539173e-001,	-1.200000e+002,	-3.700000e+001,	-7.587494e-001,	-6.333364e-001,
1.522638e-001,	2.950191e-001,	-2.110000e+002,	-1.000000e+000,	-6.971054e-001,
-6.971054e-001,	1.675949e-001,	1.197401e-001,	-2.110000e+002,	-1.000000e+000,
0.000000e+000,	-1.000000e+000,	0.000000e+000,	3.819847e-001,	-8.200000e+001,
-1.710000e+002,	0.000000e+000,	-9.722956e-001,	-2.337548e-001,	-6.565733e-001,
-8.200000e+001,	2.320000e+002,	-1.000000e+000,	0.000000e+000,	0.000000e+000,
4.576251e-001,	-1.710000e+002,	2.330000e+002,	-9.722956e-001,	0.000000e+000,
2.337548e-001,	1.791249e+000,	-1.710000e+002,	2.340000e+002,	1.000000e+000,
0.000000e+000,	0.000000e+000,	3.819847e-001,	2.350000e+002,	-8.200000e+001,
-8.744388e-001,	-4.372194e-001,	2.102285e-001,	1.975200e+000,	-8.200000e+001,
-1.200000e+002,	9.722956e-001,	0.000000e+000,	-2.337548e-001,	-9.013556e-001,
-1.200000e+002,	2.360000e+002,	8.744388e-001,	4.372194e-001,	-2.102285e-001,
-2.342294e+000,	2.370000e+002,	2.380000e+002,	8.744388e-001,	4.372194e-001,
-2.102285e-001,	-1.608106e+000,	2.390000e+002,	2.400000e+002,	0.000000e+000,
-1.000000e+000,	0.000000e+000,	-3.819847e-001,	-3.700000e+001,	2.410000e+002,
-1.000000e+000,	0.000000e+000,	0.000000e+000,	4.576251e-001,	-2.110000e+002,
2.420000e+002,	6.971054e-001,	6.971054e-001,	1.675949e-001,	4.975459e-001,
2.430000e+002,	-2.110000e+002,	1.000000e+000,	0.000000e+000,	0.000000e+000,
4.576251e-001,	-3.700000e+001,	2.440000e+002,	9.722956e-001,	0.000000e+000,
-2.337548e-001,	-9.013556e-001,	-3.700000e+001,	2.450000e+002,	-9.798846e-001,
1.940363e-001,	4.664932e-002,	1.358598e-001,	-1.710000e+002,	-8.200000e+001,
-1.000000e+000,	0.000000e+000,	0.000000e+000,	3.819847e-001,	-2.110000e+002,
-1.000000e+000,	-9.858560e-001,	-1.629513e-001,	-3.917599e-002,	4.400087e-001,
-2.110000e+002,	-1.000000e+000,	6.971054e-001,	6.971054e-001,	1.675949e-001,
-4.067636e-001,	-1.200000e+002,	-8.200000e+001,	7.587494e-001,	6.333364e-001,
1.522638e-001,	-1.833216e-001,	-1.200000e+002,	-8.200000e+001,	-6.971054e-001,
-6.971054e-001,	-1.675949e-001,	-1.785330e-001,	-1.200000e+002,	-3.700000e+001,
-6.301649e-001,	-7.549499e-001,	-1.815016e-001,	-8.047372e-003,	-1.200000e+002,
-3.700000e+001,	6.971054e-001,	6.971054e-001,	1.675949e-001,	-3.540342e-001,
-2.110000e+002,	-1.710000e+002,	6.971054e-001,	6.971054e-001,	1.675949e-001,
-3.540342e-001,	-2.110000e+002,	2.460000e+002,	9.599776e-001,	1.586738e-001,
2.307934e-001,	1.012688e+000,	-1.200000e+002,	-8.200000e+001,	9.858560e-001,
1.629513e-001,	-3.917599e-002,	3.169363e-001,	-1.200000e+002,	-8.200000e+001,
1.000000e+000,	0.000000e+000,	0.000000e+000,	3.819847e-001,	-1.200000e+002,
-8.200000e+001,	9.722956e-001,	0.000000e+000,	2.337548e-001,	1.056903e+000,
-3.700000e+001,	-1.000000e+000,	-4.372194e-001,	-8.744388e-001,	2.102285e-001,
-5.811246e-001,	2.470000e+002,	2.480000e+002,	-9.547605e-001,	1.890613e-001,
-2.295391e-001,	-1.142058e-001,	-1.710000e+002,	-8.200000e+001,	-9.599776e-001,
-1.586738e-001,	-2.307934e-001,	-4.731294e-001,	-2.110000e+002,	-1.000000e+000,
-9.722956e-001,	0.000000e+000,	-2.337548e-001,	-2.405537e-001,	-2.110000e+002,
-1.000000e+000,	-9.798846e-001,	1.940363e-001,	-4.664932e-002,	3.773960e-001,
-1.710000e+002,	-8.200000e+001,	-1.000000e+000,	0.000000e+000,	0.000000e+000,
3.819847e-001,	-2.110000e+002,	-1.000000e+000,	0.000000e+000,	-9.722956e-001,
2.337548e-001,	7.385754e-001,	2.490000e+002,	-1.710000e+002,	0.000000e+000,
-9.722956e-001,	2.337548e-001,	7.385754e-001,	-8.200000e+001,	-1.710000e+002,
-1.571827e-001,	-9.509560e-001,	2.664136e-001,	5.087424e-001,	-1.200000e+002,
-3.700000e+001,	0.000000e+000,	-9.722956e-001,	2.337548e-001,	8.121203e-001,
-1.200000e+002,	-3.700000e+001,	-8.512414e-001,	-4.256207e-001,	3.069773e-001,
-8.335909e-001,	2.500000e+002,	2.510000e+002,	-1.940363e-001,	9.798846e-001,
-4.664932e-002,	-6.216461e-001,	-1.710000e+002,	-8.200000e+001,	-1.629513e-001,
-9.858560e-001,	-3.917599e-002,	3.204649e-002,	-1.200000e+002,	-3.700000e+001,
1.571827e-001,	9.509560e-001,	-2.664136e-001,	2.574537e-002,	-2.110000e+002,
-1.710000e+002,	0.000000e+000,	-9.722956e-001,	2.337548e-001,	-4.228595e-003,
-3.700000e+001,	-1.000000e+000,	1.629513e-001,	9.858560e-001,	3.917599e-002,
5.220569e-001,	-2.110000e+002,	-1.710000e+002,	1.940363e-001,	-9.798846e-001,
4.664932e-002,	-3.815978e-002,	-3.700000e+001,	-1.000000e+000,	7.271420e-001,
6.069533e-001,	3.207370e-001,	1.018933e+000,	-1.200000e+002,	-8.200000e+001,
6.694697e-001,	6.694697e-001,	3.219016e-001,	1.041984e+000,	-1.200000e+002,
-8.200000e+001,	7.071068e-001,	-7.071068e-001,	0.000000e+000,	-2.601651e+000,
2.520000e+002,	2.530000e+002,	6.069533e-001,	7.271420e-001,	3.207370e-001,
1.259318e+000,	-2.110000e+002,	-1.710000e+002,	6.971054e-001,	6.971054e-001,
-1.675949e-001,	-7.050366e-001,	-1.200000e+002,	-8.200000e+001,	7.587494e-001,
6.333364e-001,	-1.522638e-001,	-7.214766e-001,	-1.200000e+002,	-8.200000e+001,
6.301649e-001,	7.549499e-001,	-1.815016e-001,	-5.782393e-001,	-2.110000e+002,
-1.710000e+002,	6.971054e-001,	6.971054e-001,	-1.675949e-001,	-7.577660e-001,
-2.110000e+002,	-1.710000e+002,	-6.971054e-001,	6.971054e-001,	-1.675949e-001,
1.365302e+000,	2.540000e+002,	2.550000e+002,	1.571827e-001,	9.509560e-001,
2.664136e-001,	1.345688e+000,	-2.110000e+002,	-1.710000e+002,	-1.908640e-001,
9.638641e-001,	1.858411e-001,	7.661242e-001,	-1.710000e+002,	-8.200000e+001,
0.000000e+000,	-9.722956e-001,	-2.337548e-001,	-7.301182e-001,	-1.200000e+002,
-3.700000e+001,	-1.571827e-001,	-9.509560e-001,	-2.664136e-001,	-8.111998e-001,
-1.200000e+002,	-3.700000e+001,	1.908640e-001,	-9.638641e-001,	-1.858411e-001,
-1.415143e+000,	-3.700000e+001,	-1.000000e+000,	-6.694697e-001,	-6.694697e-001,
-3.219016e-001,	-1.910443e+000,	2.560000e+002,	-3.700000e+001,	-6.069533e-001,
-7.271420e-001,	-3.207370e-001,	-1.668011e+000,	-1.200000e+002,	-3.700000e+001,
-7.271420e-001,	-6.069533e-001,	-3.207370e-001,	-1.427625e+000,	-2.110000e+002,
-1.000000e+000,	0.000000e+000,	-1.000000e+000,	0.000000e+000,	4.576251e-001,
-8.200000e+001,	2.570000e+002,	-9.798846e-001,	1.940363e-001,	4.664932e-002,
4.289599e-001,	-1.710000e+002,	-8.200000e+001,	4.446509e-001,	8.893018e-001,
-1.069009e-001,	-1.766414e+000,	2.580000e+002,	2.590000e+002,	9.858560e-001,
1.629513e-001,	3.917599e-002,	3.602395e-001,	-1.200000e+002,	-8.200000e+001,
9.722956e-001,	0.000000e+000,	-2.337548e-001,	-9.749005e-001,	2.600000e+002,
-8.200000e+001,	0.000000e+000,	-1.000000e+000,	0.000000e+000,	-3.819847e-001,
-1.710000e+002,	-2.110000e+002,	1.629513e-001,	9.858560e-001,	-3.917599e-002,
-9.102590e-002,	-2.110000e+002,	-1.710000e+002,	-1.629513e-001,	-9.858560e-001,
3.917599e-002,	6.451293e-001,	-1.200000e+002,	-3.700000e+001,	0.000000e+000,
-1.000000e+000,	0.000000e+000,	3.819847e-001,	-1.200000e+002,	-3.700000e+001,
1.940363e-001,	-9.798846e-001,	-4.664932e-002,	-7.681961e-001,	-3.700000e+001,
-1.000000e+000,	-9.858560e-001,	-1.629513e-001,	-3.917599e-002,	1.938639e-001,
2.610000e+002,	-1.000000e+000,	-9.722956e-001,	0.000000e+000,	2.337548e-001,
1.791249e+000,	-2.110000e+002,	2.620000e+002,	-4.372194e-001,	-8.744388e-001,
-2.102285e-001,	-8.135011e-001,	2.630000e+002,	2.640000e+002,	-4.446509e-001,
-8.893018e-001,	1.069009e-001,	1.019748e+000,	2.650000e+002,	2.660000e+002,
6.301649e-001,	7.549499e-001,	1.815016e-001,	-4.162745e-001,	-2.110000e+002,
-1.710000e+002,	1.000000e+000,	0.000000e+000,	0.000000e+000,	3.819847e-001,
-3.700000e+001,	-1.000000e+000,	9.798846e-001,	-1.940363e-001,	4.664932e-002,
2.824099e-001,	-3.700000e+001,	-1.000000e+000,	-1.908640e-001,	9.638641e-001,
-1.858411e-001,	-8.313179e-001,	-1.710000e+002,	-8.200000e+001,	0.000000e+000,
-9.722956e-001,	2.337548e-001,	7.385754e-001,	-1.200000e+002,	-3.700000e+001,
-1.571827e-001,	-9.509560e-001,	2.664136e-001,	5.087424e-001,	-1.200000e+002,
-3.700000e+001,	6.069533e-001,	7.271420e-001,	3.207370e-001,	1.259318e+000,
-2.110000e+002,	-1.710000e+002,	6.694697e-001,	6.694697e-001,	3.219016e-001,
1.041984e+000,	-2.110000e+002,	-1.710000e+002,	6.301649e-001,	7.549499e-001,
-1.815016e-001,	-5.782393e-001,	-2.110000e+002,	-1.710000e+002,	6.971054e-001,
6.971054e-001,	-1.675949e-001,	-7.050366e-001,	-2.110000e+002,	-1.710000e+002,
-6.694697e-001,	-6.694697e-001,	-3.219016e-001,	-1.654716e+000,	2.670000e+002,
-3.700000e+001,	-1.940363e-001,	9.798846e-001,	4.664932e-002,	1.083903e-001,
-1.710000e+002,	-8.200000e+001,	-9.722956e-001,	0.000000e+000,	2.337548e-001,
1.717704e+000,	-1.710000e+002,	-8.200000e+001,	-9.547605e-001,	1.890613e-001,
2.295391e-001,	1.478197e+000,	-1.710000e+002,	-8.200000e+001,	9.599776e-001,
1.586738e-001,	-2.307934e-001,	-1.198173e+000,	-1.200000e+002,	-8.200000e+001,
-1.000000e+000,	0.000000e+000,	0.000000e+000,	3.819847e-001,	-2.110000e+002,
-1.000000e+000,	-9.599776e-001,	-1.586738e-001,	2.307934e-001,	1.737731e+000,
-2.110000e+002,	-1.000000e+000,	1.000000e+000,	0.000000e+000,	0.000000e+000,
3.819847e-001,	-3.700000e+001,	-1.000000e+000,	9.798846e-001,	-1.940363e-001,
-4.664932e-002,	2.308459e-001,	-3.700000e+001,	-1.000000e+000,	9.722956e-001,
0.000000e+000,	-2.337548e-001,	-9.749005e-001,	-3.700000e+001,	-1.000000e+000,
9.547605e-001,	-1.890613e-001,	-2.295391e-001,	-8.353089e-001,	-3.700000e+001,
-1.000000e+000,	-6.069533e-001,	-7.271420e-001,	-3.207370e-001,	-1.668011e+000,
-1.200000e+002,	-3.700000e+001,
};
const float MPT_G[] = {
0,
0,
1,
0,
1,
0,
0,
0,
1,
0,
1,
0,
0,
0,
1,
0,
1,
0,
0,
0,
1,
0,
1,
0,
0,
0,
1,
0,
1,
0,
0,
0,
1,
0,
1,
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