empc_sts20k3.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,	3.655200e+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,
-1.560800e+000,	6.000000e+000,	7.000000e+000,	0.000000e+000,	0.000000e+000,
-1.000000e+000,	-5.759600e+000,	8.000000e+000,	9.000000e+000,	7.071068e-001,
7.071068e-001,	0.000000e+000,	0.000000e+000,	1.000000e+001,	1.100000e+001,
0.000000e+000,	0.000000e+000,	1.000000e+000,	5.236000e-001,	1.200000e+001,
1.300000e+001,	0.000000e+000,	0.000000e+000,	1.000000e+000,	2.608000e+000,
1.400000e+001,	1.500000e+001,	0.000000e+000,	0.000000e+000,	1.000000e+000,
5.749600e+000,	1.600000e+001,	1.700000e+001,	-4.447712e-001,	-8.895425e-001,
-1.043680e-001,	1.578656e-001,	1.800000e+001,	1.900000e+001,	0.000000e+000,
0.000000e+000,	-1.000000e+000,	-3.665200e+000,	2.000000e+001,	2.100000e+001,
0.000000e+000,	0.000000e+000,	-1.000000e+000,	-4.702400e+000,	2.200000e+001,
2.300000e+001,	7.071068e-001,	-7.071068e-001,	0.000000e+000,	1.293503e+000,
2.400000e+001,	2.500000e+001,	0.000000e+000,	0.000000e+000,	-1.000000e+000,
-5.136000e-001,	2.600000e+001,	2.700000e+001,	9.931874e-001,	0.000000e+000,
1.165284e-001,	4.899331e-001,	2.800000e+001,	2.900000e+001,	0.000000e+000,
-9.931874e-001,	1.165284e-001,	3.679074e-001,	3.000000e+001,	3.100000e+001,
-4.465992e-001,	-8.931985e-001,	5.239848e-002,	1.063876e+000,	3.200000e+001,
3.300000e+001,	-8.895425e-001,	-4.447712e-001,	1.043680e-001,	1.360073e+000,
3.400000e+001,	3.500000e+001,	0.000000e+000,	0.000000e+000,	1.000000e+000,
6.273200e+000,	3.600000e+001,	3.700000e+001,	0.000000e+000,	0.000000e+000,
1.000000e+000,	6.283200e+000,	3.800000e+001,	3.900000e+001,	7.046858e-001,
-7.046858e-001,	8.267919e-002,	-9.860455e-001,	4.000000e+001,	4.100000e+001,
7.071068e-001,	-7.071068e-001,	0.000000e+000,	-1.293503e+000,	4.200000e+001,
4.300000e+001,	0.000000e+000,	0.000000e+000,	-1.000000e+000,	-3.665200e+000,
4.400000e+001,	4.500000e+001,	-8.835477e-001,	-4.417739e-001,	-1.554970e-001,
1.296630e-001,	4.600000e+001,	4.700000e+001,	7.071068e-001,	7.071068e-001,
0.000000e+000,	0.000000e+000,	4.800000e+001,	4.900000e+001,	7.071068e-001,
7.071068e-001,	0.000000e+000,	0.000000e+000,	5.000000e+001,	5.100000e+001,
-4.447712e-001,	-8.895425e-001,	-1.043680e-001,	8.136152e-001,	5.200000e+001,
5.300000e+001,	7.046858e-001,	-7.046858e-001,	-8.267919e-002,	1.245784e+000,
5.400000e+001,	5.500000e+001,	-4.447712e-001,	-8.895425e-001,	1.043680e-001,
-4.857404e-001,	5.600000e+001,	5.700000e+001,	0.000000e+000,	0.000000e+000,
-1.000000e+000,	-2.618000e+000,	5.800000e+001,	5.900000e+001,	-8.895425e-001,
-4.447712e-001,	-1.043680e-001,	-1.032198e+000,	6.000000e+001,	6.100000e+001,
0.000000e+000,	0.000000e+000,	1.000000e+000,	1.570800e+000,	6.200000e+001,
6.300000e+001,	-9.931874e-001,	0.000000e+000,	1.165284e-001,	8.560102e-001,
6.400000e+001,	6.500000e+001,	9.931874e-001,	0.000000e+000,	1.165284e-001,
5.265408e-001,	6.600000e+001,	6.700000e+001,	0.000000e+000,	-1.000000e+000,
0.000000e+000,	-1.861370e-001,	6.800000e+001,	6.900000e+001,	0.000000e+000,
-1.000000e+000,	0.000000e+000,	1.861370e-001,	7.000000e+001,	7.100000e+001,
1.000000e+000,	0.000000e+000,	0.000000e+000,	1.861370e-001,	7.200000e+001,
7.300000e+001,	1.000000e+000,	0.000000e+000,	0.000000e+000,	1.861370e-001,
7.400000e+001,	7.500000e+001,	-1.000000e+000,	0.000000e+000,	0.000000e+000,
1.861370e-001,	7.600000e+001,	7.700000e+001,	1.000000e+000,	0.000000e+000,
0.000000e+000,	1.861370e-001,	7.800000e+001,	7.900000e+001,	7.046858e-001,
7.046858e-001,	-8.267919e-002,	7.186107e-002,	-4.100000e+001,	8.000000e+001,
-7.046858e-001,	7.046858e-001,	-8.267919e-002,	1.274356e+000,	8.100000e+001,
8.200000e+001,	0.000000e+000,	0.000000e+000,	-1.000000e+000,	-4.702400e+000,
8.300000e+001,	8.400000e+001,	0.000000e+000,	0.000000e+000,	-1.000000e+000,
-4.702400e+000,	8.500000e+001,	8.600000e+001,	7.046858e-001,	-7.046858e-001,
8.267919e-002,	-9.860455e-001,	8.700000e+001,	8.800000e+001,	7.071068e-001,
-7.071068e-001,	0.000000e+000,	-1.293503e+000,	8.900000e+001,	9.000000e+001,
1.934256e-001,	-9.768003e-001,	-9.191158e-002,	-7.821641e-001,	9.100000e+001,
9.200000e+001,	0.000000e+000,	-9.931874e-001,	-1.165284e-001,	-7.339845e-001,
9.300000e+001,	9.400000e+001,	-6.975694e-001,	-6.975694e-001,	1.636885e-001,
4.156704e-002,	-1.290000e+002,	9.500000e+001,	7.071068e-001,	-7.071068e-001,
0.000000e+000,	1.872104e+000,	9.600000e+001,	9.700000e+001,	-6.975694e-001,
-6.975694e-001,	1.636885e-001,	4.156704e-002,	-2.270000e+002,	9.800000e+001,
6.975694e-001,	6.975694e-001,	-1.636885e-001,	-3.012540e-001,	-2.270000e+002,
9.900000e+001,	1.000000e+000,	0.000000e+000,	0.000000e+000,	1.861370e-001,
1.000000e+002,	1.010000e+002,	1.000000e+000,	0.000000e+000,	0.000000e+000,
1.861370e-001,	1.020000e+002,	1.030000e+002,	7.046858e-001,	7.046858e-001,
8.267919e-002,	-1.744579e-001,	1.040000e+002,	1.050000e+002,	7.046858e-001,
7.046858e-001,	8.267919e-002,	-1.744579e-001,	1.060000e+002,	1.070000e+002,
0.000000e+000,	0.000000e+000,	-1.000000e+000,	-2.618000e+000,	1.080000e+002,
1.090000e+002,	-4.465992e-001,	-8.931985e-001,	-5.239848e-002,	-8.992647e-001,
-1.290000e+002,	1.100000e+002,	-4.465992e-001,	-8.931985e-001,	-5.239848e-002,
-8.992647e-001,	1.110000e+002,	1.120000e+002,	-4.447712e-001,	-8.895425e-001,
1.043680e-001,	-4.857404e-001,	1.130000e+002,	1.140000e+002,	-8.835477e-001,
-4.417739e-001,	1.554970e-001,	-6.181607e-001,	1.150000e+002,	-1.290000e+002,
0.000000e+000,	0.000000e+000,	1.000000e+000,	1.570800e+000,	1.160000e+002,
1.170000e+002,	-8.895425e-001,	-4.447712e-001,	-1.043680e-001,	-1.032198e+000,
1.180000e+002,	1.190000e+002,	-8.835477e-001,	-4.417739e-001,	1.554970e-001,
-6.181607e-001,	1.200000e+002,	1.210000e+002,	9.806978e-001,	-1.941974e-001,
2.278474e-002,	5.484883e-002,	1.220000e+002,	-1.830000e+002,	9.931874e-001,
0.000000e+000,	-1.165284e-001,	-4.496647e-001,	-1.290000e+002,	1.230000e+002,
9.931874e-001,	0.000000e+000,	-1.165284e-001,	-4.496647e-001,	-4.100000e+001,
1.240000e+002,	-9.931874e-001,	0.000000e+000,	1.165284e-001,	8.926178e-001,
-2.270000e+002,	1.250000e+002,	0.000000e+000,	-1.000000e+000,	0.000000e+000,
2.229958e-001,	-8.600000e+001,	1.260000e+002,	0.000000e+000,	9.931874e-001,
1.165284e-001,	9.554611e-001,	-2.270000e+002,	1.270000e+002,	8.895425e-001,
4.447712e-001,	-1.043680e-001,	-9.961322e-001,	1.280000e+002,	1.290000e+002,
0.000000e+000,	-1.000000e+000,	0.000000e+000,	-2.229958e-001,	1.300000e+002,
-1.000000e+000,	0.000000e+000,	0.000000e+000,	1.000000e+000,	6.283200e+000,
1.310000e+002,	1.320000e+002,	0.000000e+000,	0.000000e+000,	1.000000e+000,
6.283200e+000,	1.330000e+002,	1.340000e+002,	1.000000e+000,	0.000000e+000,
0.000000e+000,	2.229958e-001,	-1.290000e+002,	1.350000e+002,	-1.000000e+000,
0.000000e+000,	0.000000e+000,	2.229958e-001,	-1.830000e+002,	1.360000e+002,
4.447712e-001,	8.895425e-001,	1.043680e-001,	2.410487e-002,	1.370000e+002,
-2.270000e+002,	1.000000e+000,	0.000000e+000,	0.000000e+000,	2.229958e-001,
-4.100000e+001,	1.380000e+002,	0.000000e+000,	0.000000e+000,	1.000000e+000,
6.273200e+000,	1.390000e+002,	1.400000e+002,	0.000000e+000,	0.000000e+000,
1.000000e+000,	6.273200e+000,	1.410000e+002,	1.420000e+002,	-7.046858e-001,
-7.046858e-001,	8.267919e-002,	5.930704e-002,	1.430000e+002,	-4.100000e+001,
7.046858e-001,	7.046858e-001,	-8.267919e-002,	7.186107e-002,	-1.000000e+000,
1.440000e+002,	-7.046858e-001,	-7.046858e-001,	8.267919e-002,	8.528089e-002,
-2.270000e+002,	-1.000000e+000,	-6.975694e-001,	-6.975694e-001,	-1.636885e-001,
-8.411971e-001,	1.450000e+002,	-4.100000e+001,	0.000000e+000,	-9.931874e-001,
-1.165284e-001,	-3.276390e-001,	-1.290000e+002,	1.460000e+002,	-6.975694e-001,
-6.975694e-001,	-1.636885e-001,	-8.411971e-001,	1.470000e+002,	-1.000000e+000,
-8.835477e-001,	-4.417739e-001,	-1.554970e-001,	1.296630e-001,	-2.270000e+002,
-1.000000e+000,	7.046858e-001,	-7.046858e-001,	8.267919e-002,	-4.094253e-001,
1.480000e+002,	1.490000e+002,	-7.046858e-001,	7.046858e-001,	-8.267919e-002,
1.562666e+000,	1.500000e+002,	1.510000e+002,	-7.071068e-001,	7.071068e-001,
0.000000e+000,	7.149016e-001,	1.520000e+002,	1.530000e+002,	6.975694e-001,
6.975694e-001,	1.636885e-001,	5.300870e-001,	1.540000e+002,	-1.830000e+002,
0.000000e+000,	-9.931874e-001,	-1.165284e-001,	-3.276390e-001,	-8.600000e+001,
1.550000e+002,	0.000000e+000,	-9.931874e-001,	-1.165284e-001,	-7.705922e-001,
1.560000e+002,	-2.270000e+002,	0.000000e+000,	-9.931874e-001,	-1.165284e-001,
-3.276390e-001,	-1.290000e+002,	1.570000e+002,	-8.835477e-001,	-4.417739e-001,
-1.554970e-001,	-5.108119e-002,	-1.000000e+000,	1.580000e+002,	6.975694e-001,
6.975694e-001,	-1.636885e-001,	1.139880e-001,	-4.100000e+001,	1.590000e+002,
6.975694e-001,	6.975694e-001,	-1.636885e-001,	-3.269655e-001,	-1.290000e+002,
-8.600000e+001,	-7.071068e-001,	7.071068e-001,	0.000000e+000,	-1.582803e+000,
1.600000e+002,	1.610000e+002,	6.975694e-001,	6.975694e-001,	-1.636885e-001,
1.139880e-001,	-1.000000e+000,	1.620000e+002,	7.046858e-001,	-7.046858e-001,
-8.267919e-002,	6.691641e-001,	1.630000e+002,	1.640000e+002,	1.000000e+000,
0.000000e+000,	0.000000e+000,	2.229958e-001,	-1.290000e+002,	1.650000e+002,
-1.000000e+000,	0.000000e+000,	0.000000e+000,	2.229958e-001,	-1.830000e+002,
1.660000e+002,	1.000000e+000,	0.000000e+000,	0.000000e+000,	2.229958e-001,
-4.100000e+001,	1.670000e+002,	-1.000000e+000,	0.000000e+000,	0.000000e+000,
2.229958e-001,	-2.270000e+002,	1.680000e+002,	-7.046858e-001,	-7.046858e-001,
-8.267919e-002,	-1.138522e-001,	1.690000e+002,	-4.100000e+001,	4.465992e-001,
8.931985e-001,	-5.239848e-002,	-8.811575e-001,	1.700000e+002,	1.710000e+002,
-7.046858e-001,	-7.046858e-001,	-8.267919e-002,	-1.138522e-001,	1.720000e+002,
-1.000000e+000,	-7.046858e-001,	-7.046858e-001,	-8.267919e-002,	3.315999e-001,
-1.830000e+002,	1.730000e+002,	6.975694e-001,	6.975694e-001,	-1.636885e-001,
1.139880e-001,	1.740000e+002,	1.750000e+002,	1.000000e+000,	0.000000e+000,
0.000000e+000,	2.229958e-001,	-1.290000e+002,	1.760000e+002,	0.000000e+000,
0.000000e+000,	-1.000000e+000,	-2.618000e+000,	1.770000e+002,	1.780000e+002,
-9.931874e-001,	0.000000e+000,	-1.165284e-001,	-8.358761e-002,	-1.830000e+002,
1.790000e+002,	-9.931874e-001,	0.000000e+000,	-1.165284e-001,	-8.358761e-002,
-2.270000e+002,	1.800000e+002,	-1.000000e+000,	0.000000e+000,	0.000000e+000,
2.229958e-001,	-1.830000e+002,	1.810000e+002,	-1.000000e+000,	0.000000e+000,
0.000000e+000,	2.229958e-001,	-2.270000e+002,	1.820000e+002,	0.000000e+000,
0.000000e+000,	1.000000e+000,	1.570800e+000,	1.830000e+002,	1.840000e+002,
0.000000e+000,	-1.000000e+000,	0.000000e+000,	2.229958e-001,	-1.290000e+002,
1.850000e+002,	-8.835477e-001,	-4.417739e-001,	1.554970e-001,	-7.989049e-001,
1.860000e+002,	1.870000e+002,	0.000000e+000,	-1.000000e+000,	0.000000e+000,
-2.229958e-001,	1.880000e+002,	-2.270000e+002,	0.000000e+000,	-1.000000e+000,
0.000000e+000,	-2.229958e-001,	1.890000e+002,	-1.000000e+000,	0.000000e+000,
-9.931874e-001,	1.165284e-001,	-3.843807e-002,	1.900000e+002,	-2.270000e+002,
0.000000e+000,	-9.931874e-001,	1.165284e-001,	-3.843807e-002,	1.910000e+002,
-1.000000e+000,	-4.465992e-001,	-8.931985e-001,	5.239848e-002,	1.429313e+000,
1.920000e+002,	1.930000e+002,	9.931874e-001,	0.000000e+000,	-1.165284e-001,
-4.862723e-001,	1.940000e+002,	-8.600000e+001,	9.931874e-001,	0.000000e+000,
-1.165284e-001,	-4.862723e-001,	1.950000e+002,	-1.000000e+000,	4.465992e-001,
8.931985e-001,	-5.239848e-002,	-8.811575e-001,	1.960000e+002,	1.970000e+002,
8.895425e-001,	4.447712e-001,	-1.043680e-001,	-1.542044e+000,	1.980000e+002,
1.990000e+002,	0.000000e+000,	-1.000000e+000,	0.000000e+000,	-2.229958e-001,
2.000000e+002,	-2.270000e+002,	0.000000e+000,	-1.000000e+000,	0.000000e+000,
2.229958e-001,	-1.290000e+002,	-4.100000e+001,	-1.630466e-001,	-9.864329e-001,
1.912989e-002,	3.843747e-001,	-1.290000e+002,	-4.100000e+001,	0.000000e+000,
-1.000000e+000,	0.000000e+000,	-1.861370e-001,	-4.100000e+001,	2.010000e+002,
1.000000e+000,	0.000000e+000,	0.000000e+000,	2.229958e-001,	-1.290000e+002,
2.020000e+002,	4.447712e-001,	8.895425e-001,	1.043680e-001,	-4.308214e-001,
-1.290000e+002,	-8.600000e+001,	-1.000000e+000,	0.000000e+000,	0.000000e+000,
2.229958e-001,	-1.830000e+002,	2.030000e+002,	4.447712e-001,	8.895425e-001,
1.043680e-001,	-4.308214e-001,	-1.290000e+002,	-8.600000e+001,	9.864329e-001,
1.630466e-001,	1.912989e-002,	1.061477e-001,	-1.290000e+002,	-8.600000e+001,
-1.000000e+000,	0.000000e+000,	0.000000e+000,	1.861370e-001,	2.040000e+002,
-8.600000e+001,	-1.000000e+000,	0.000000e+000,	0.000000e+000,	2.229958e-001,
-2.270000e+002,	2.050000e+002,	1.000000e+000,	0.000000e+000,	0.000000e+000,
1.861370e-001,	2.060000e+002,	-1.000000e+000,	-4.447712e-001,	-8.895425e-001,
-1.043680e-001,	-1.150901e-001,	-4.100000e+001,	-1.000000e+000,	1.000000e+000,
0.000000e+000,	0.000000e+000,	2.229958e-001,	-4.100000e+001,	2.070000e+002,
-4.447712e-001,	-8.895425e-001,	-1.043680e-001,	-1.150901e-001,	-4.100000e+001,
-1.000000e+000,	-1.000000e+000,	0.000000e+000,	0.000000e+000,	2.229958e-001,
-2.270000e+002,	2.080000e+002,	-7.046858e-001,	-7.046858e-001,	8.267919e-002,
8.528089e-002,	-1.290000e+002,	2.090000e+002,	-7.046858e-001,	7.046858e-001,
-8.267919e-002,	1.562666e+000,	2.100000e+002,	2.110000e+002,	-6.975694e-001,
-6.975694e-001,	-1.636885e-001,	-8.154855e-001,	-1.290000e+002,	2.120000e+002,
0.000000e+000,	-9.931874e-001,	-1.165284e-001,	-7.705922e-001,	-4.100000e+001,
-1.000000e+000,	-6.975694e-001,	-6.975694e-001,	-1.636885e-001,	-8.154855e-001,
-2.270000e+002,	2.130000e+002,	7.046858e-001,	7.046858e-001,	-8.267919e-002,
-3.735910e-001,	-1.290000e+002,	-8.600000e+001,	7.046858e-001,	7.046858e-001,
8.267919e-002,	2.450203e-001,	2.140000e+002,	2.150000e+002,	7.046858e-001,
7.046858e-001,	-8.267919e-002,	-3.735910e-001,	-2.270000e+002,	-1.830000e+002,
7.046858e-001,	7.046858e-001,	8.267919e-002,	2.450203e-001,	2.160000e+002,
2.170000e+002,	7.574279e-001,	6.322333e-001,	1.630458e-001,	4.647185e-001,
-1.290000e+002,	2.180000e+002,	6.975694e-001,	6.975694e-001,	1.636885e-001,
5.300870e-001,	-1.290000e+002,	-8.600000e+001,	6.975694e-001,	6.975694e-001,
1.636885e-001,	5.557986e-001,	-2.270000e+002,	2.190000e+002,	0.000000e+000,
-9.931874e-001,	-1.165284e-001,	-3.642466e-001,	2.200000e+002,	-1.830000e+002,
0.000000e+000,	-9.931874e-001,	-1.165284e-001,	-7.339845e-001,	-1.830000e+002,
2.210000e+002,	-8.835477e-001,	-4.417739e-001,	-1.554970e-001,	-5.108119e-002,
2.220000e+002,	2.230000e+002,	0.000000e+000,	9.931874e-001,	1.165284e-001,
9.554611e-001,	-1.000000e+000,	2.240000e+002,	-6.975694e-001,	-6.975694e-001,
1.636885e-001,	1.585549e-002,	2.250000e+002,	-4.100000e+001,	6.975694e-001,
6.975694e-001,	-1.636885e-001,	-3.012540e-001,	-1.290000e+002,	-8.600000e+001,
7.574279e-001,	6.322333e-001,	-1.630458e-001,	-1.599521e-001,	-1.290000e+002,
-8.600000e+001,	7.071068e-001,	-7.071068e-001,	0.000000e+000,	7.149016e-001,
2.260000e+002,	2.270000e+002,	6.322333e-001,	7.574279e-001,	-1.630458e-001,
-3.889692e-001,	-2.270000e+002,	-1.830000e+002,	7.071068e-001,	-7.071068e-001,
0.000000e+000,	7.149016e-001,	2.280000e+002,	2.290000e+002,	9.864329e-001,
1.630466e-001,	1.912989e-002,	-1.404639e-002,	-1.290000e+002,	-8.600000e+001,
-1.000000e+000,	0.000000e+000,	0.000000e+000,	1.861370e-001,	2.300000e+002,
-8.600000e+001,	9.806978e-001,	-1.941974e-001,	-2.278474e-002,	3.385131e-001,
-4.100000e+001,	-1.000000e+000,	-1.000000e+000,	0.000000e+000,	0.000000e+000,
1.861370e-001,	2.310000e+002,	-1.000000e+000,	-7.046858e-001,	-7.046858e-001,
-8.267919e-002,	-8.787831e-002,	-1.290000e+002,	2.320000e+002,	7.046858e-001,
-7.046858e-001,	-8.267919e-002,	1.822404e+000,	2.330000e+002,	2.340000e+002,
7.046858e-001,	7.046858e-001,	8.267919e-002,	-2.004318e-001,	-1.290000e+002,
-8.600000e+001,	-7.046858e-001,	-7.046858e-001,	-8.267919e-002,	-8.787831e-002,
-2.270000e+002,	2.350000e+002,	7.046858e-001,	-7.046858e-001,	-8.267919e-002,
6.691641e-001,	2.360000e+002,	2.370000e+002,	-4.465992e-001,	-8.931985e-001,
-5.239848e-002,	-8.992647e-001,	-1.290000e+002,	-4.100000e+001,	9.931874e-001,
0.000000e+000,	1.165284e-001,	5.265408e-001,	-1.290000e+002,	2.380000e+002,
1.000000e+000,	0.000000e+000,	0.000000e+000,	1.861370e-001,	2.390000e+002,
-8.600000e+001,	9.931874e-001,	0.000000e+000,	1.165284e-001,	5.265408e-001,
-4.100000e+001,	2.400000e+002,	-4.447712e-001,	-8.895425e-001,	1.043680e-001,
-6.677109e-001,	2.410000e+002,	2.420000e+002,	-9.931874e-001,	0.000000e+000,
-1.165284e-001,	-1.201953e-001,	2.430000e+002,	-8.600000e+001,	-9.800690e-001,
-1.619947e-001,	-1.149893e-001,	-3.050390e-001,	2.440000e+002,	-1.000000e+000,
-1.000000e+000,	0.000000e+000,	0.000000e+000,	1.861370e-001,	2.450000e+002,
-8.600000e+001,	-1.000000e+000,	0.000000e+000,	0.000000e+000,	1.861370e-001,
2.460000e+002,	-1.000000e+000,	0.000000e+000,	-1.000000e+000,	0.000000e+000,
2.229958e-001,	-8.600000e+001,	2.470000e+002,	7.046858e-001,	7.046858e-001,
8.267919e-002,	2.450203e-001,	2.480000e+002,	2.490000e+002,	-8.895425e-001,
-4.447712e-001,	-1.043680e-001,	-1.214169e+000,	2.500000e+002,	2.510000e+002,
-8.835477e-001,	-4.417739e-001,	1.554970e-001,	-6.181607e-001,	-8.600000e+001,
-1.290000e+002,	8.835477e-001,	4.417739e-001,	-1.554970e-001,	9.796491e-001,
2.520000e+002,	2.530000e+002,	0.000000e+000,	-1.000000e+000,	0.000000e+000,
-1.861370e-001,	-1.830000e+002,	2.540000e+002,	1.941974e-001,	-9.806978e-001,
2.278474e-002,	6.444924e-002,	-4.100000e+001,	2.550000e+002,	0.000000e+000,
-9.931874e-001,	1.165284e-001,	-1.830404e-003,	-1.830000e+002,	2.560000e+002,
0.000000e+000,	-9.931874e-001,	1.165284e-001,	-1.830404e-003,	-4.100000e+001,
2.570000e+002,	-9.931874e-001,	0.000000e+000,	1.165284e-001,	8.926178e-001,
-1.830000e+002,	-8.600000e+001,	-9.745193e-001,	1.929739e-001,	1.143381e-001,
6.537564e-001,	-1.830000e+002,	-8.600000e+001,	9.800690e-001,	1.619947e-001,
-1.149893e-001,	-6.662808e-001,	-1.290000e+002,	-8.600000e+001,	9.745193e-001,
-1.929739e-001,	-1.143381e-001,	-3.340006e-001,	-4.100000e+001,	-1.000000e+000,
-9.800690e-001,	-1.619947e-001,	1.149893e-001,	9.347044e-001,	-2.270000e+002,
-1.000000e+000,	-9.931874e-001,	0.000000e+000,	1.165284e-001,	8.560102e-001,
-2.270000e+002,	-1.000000e+000,	0.000000e+000,	-1.000000e+000,	0.000000e+000,
1.861370e-001,	-8.600000e+001,	-1.830000e+002,	-1.941974e-001,	9.806978e-001,
2.278474e-002,	1.360281e-001,	-1.830000e+002,	-8.600000e+001,	1.630466e-001,
9.864329e-001,	-1.912989e-002,	-1.142081e-001,	-2.270000e+002,	-1.830000e+002,
1.941974e-001,	-9.806978e-001,	-2.278474e-002,	-4.578112e-001,	-4.100000e+001,
-1.000000e+000,	9.864329e-001,	1.630466e-001,	1.912989e-002,	1.061477e-001,
-1.290000e+002,	-8.600000e+001,	-1.000000e+000,	0.000000e+000,	0.000000e+000,
1.861370e-001,	2.580000e+002,	-8.600000e+001,	-9.806978e-001,	1.941974e-001,
2.278474e-002,	1.264277e-001,	-1.830000e+002,	-8.600000e+001,	-9.864329e-001,
-1.630466e-001,	-1.912989e-002,	1.640189e-001,	-2.270000e+002,	-1.000000e+000,
9.806978e-001,	-1.941974e-001,	-2.278474e-002,	1.953555e-001,	-4.100000e+001,
-1.000000e+000,	9.806978e-001,	-1.941974e-001,	-2.278474e-002,	1.953555e-001,
-4.100000e+001,	-1.000000e+000,	4.447712e-001,	8.895425e-001,	1.043680e-001,
2.410487e-002,	2.590000e+002,	2.600000e+002,	-6.382246e-001,	-7.646055e-001,
8.970944e-002,	2.231784e-002,	-1.290000e+002,	-4.100000e+001,	-7.046858e-001,
-7.046858e-001,	8.267919e-002,	5.930704e-002,	-2.270000e+002,	-1.000000e+000,
-7.655403e-001,	-6.390048e-001,	7.497299e-002,	1.994024e-001,	-2.270000e+002,
-1.000000e+000,	-6.322333e-001,	-7.574279e-001,	-1.630458e-001,	-9.011818e-001,
-1.290000e+002,	-4.100000e+001,	-7.574279e-001,	-6.322333e-001,	-1.630458e-001,
-6.721647e-001,	-2.270000e+002,	-1.000000e+000,	7.046858e-001,	7.046858e-001,
-8.267919e-002,	-3.476171e-001,	-1.290000e+002,	2.610000e+002,	7.655403e-001,
6.390048e-001,	-7.497299e-002,	-4.090704e-001,	-1.290000e+002,	-8.600000e+001,
-7.046858e-001,	7.046858e-001,	-8.267919e-002,	1.274356e+000,	2.620000e+002,
2.630000e+002,	6.382246e-001,	7.646055e-001,	-8.970944e-002,	-2.317298e-001,
-2.270000e+002,	-1.830000e+002,	6.975694e-001,	6.975694e-001,	1.636885e-001,
5.557986e-001,	-1.290000e+002,	-8.600000e+001,	6.322333e-001,	7.574279e-001,
1.630458e-001,	6.937356e-001,	-2.270000e+002,	-1.830000e+002,	-1.934256e-001,
9.768003e-001,	9.191158e-002,	4.616598e-001,	-1.830000e+002,	-8.600000e+001,
1.616128e-001,	9.777582e-001,	1.336798e-001,	6.060869e-001,	-2.270000e+002,
-1.830000e+002,	0.000000e+000,	-9.931874e-001,	-1.165284e-001,	-3.642466e-001,
-1.290000e+002,	-4.100000e+001,	-1.616128e-001,	-9.777582e-001,	-1.336798e-001,
-3.382961e-001,	-1.290000e+002,	-4.100000e+001,	8.835477e-001,	4.417739e-001,
1.554970e-001,	2.318254e-001,	2.640000e+002,	2.650000e+002,	-6.322333e-001,
-7.574279e-001,	1.630458e-001,	1.815230e-001,	-1.290000e+002,	-4.100000e+001,
-7.574279e-001,	-6.322333e-001,	1.630458e-001,	-4.749410e-002,	-2.270000e+002,
-1.000000e+000,	-6.975694e-001,	-6.975694e-001,	1.636885e-001,	1.585549e-002,
-2.270000e+002,	-1.000000e+000,	6.322333e-001,	7.574279e-001,	-1.630458e-001,
-3.889692e-001,	-2.270000e+002,	-1.830000e+002,	6.975694e-001,	6.975694e-001,
-1.636885e-001,	-3.269655e-001,	-2.270000e+002,	-1.830000e+002,	-9.806978e-001,
1.941974e-001,	2.278474e-002,	-1.673001e-002,	-1.830000e+002,	-8.600000e+001,
-9.864329e-001,	-1.630466e-001,	-1.912989e-002,	2.842130e-001,	-2.270000e+002,
-1.000000e+000,	-6.382246e-001,	-7.646055e-001,	-8.970944e-002,	5.009465e-002,
-1.290000e+002,	-4.100000e+001,	7.046858e-001,	7.046858e-001,	8.267919e-002,
-2.004318e-001,	-1.290000e+002,	-8.600000e+001,	7.655403e-001,	6.390048e-001,
7.497299e-002,	-3.612720e-002,	-1.290000e+002,	-8.600000e+001,	-7.655403e-001,
-6.390048e-001,	-7.497299e-002,	-1.735408e-001,	-2.270000e+002,	-1.000000e+000,
6.382246e-001,	7.646055e-001,	8.970944e-002,	-2.595067e-001,	-2.270000e+002,
-1.830000e+002,	7.046858e-001,	7.046858e-001,	8.267919e-002,	-2.004318e-001,
-2.270000e+002,	-1.830000e+002,	9.800690e-001,	1.619947e-001,	1.149893e-001,
5.734627e-001,	-1.290000e+002,	-8.600000e+001,	9.864329e-001,	1.630466e-001,
-1.912989e-002,	2.241160e-001,	-1.290000e+002,	-8.600000e+001,	9.745193e-001,
-1.929739e-001,	1.143381e-001,	2.945602e-001,	-4.100000e+001,	-1.000000e+000,
1.000000e+000,	0.000000e+000,	0.000000e+000,	1.861370e-001,	-4.100000e+001,
-1.000000e+000,	9.806978e-001,	-1.941974e-001,	2.278474e-002,	5.484883e-002,
-4.100000e+001,	2.660000e+002,	-9.745193e-001,	1.929739e-001,	-1.143381e-001,
2.519563e-002,	-1.830000e+002,	-8.600000e+001,	-9.931874e-001,	0.000000e+000,
-1.165284e-001,	-1.201953e-001,	-2.270000e+002,	-1.000000e+000,	-9.806978e-001,
1.941974e-001,	-2.278474e-002,	2.669343e-001,	-1.830000e+002,	-8.600000e+001,
-9.864329e-001,	-1.630466e-001,	1.912989e-002,	4.605066e-002,	-2.270000e+002,
-1.000000e+000,	0.000000e+000,	-1.000000e+000,	0.000000e+000,	1.861370e-001,
2.670000e+002,	-1.830000e+002,	0.000000e+000,	-9.931874e-001,	1.165284e-001,
4.045151e-001,	-8.600000e+001,	2.680000e+002,	0.000000e+000,	-9.931874e-001,
1.165284e-001,	4.045151e-001,	-8.600000e+001,	-1.830000e+002,	0.000000e+000,
-1.000000e+000,	0.000000e+000,	1.861370e-001,	-1.290000e+002,	-4.100000e+001,
-1.630466e-001,	-9.864329e-001,	-1.912989e-002,	-5.411108e-002,	-1.290000e+002,
-4.100000e+001,	0.000000e+000,	-9.931874e-001,	1.165284e-001,	4.045151e-001,
-1.290000e+002,	-4.100000e+001,	-1.616128e-001,	-9.777582e-001,	1.336798e-001,
1.861283e-001,	-1.290000e+002,	-4.100000e+001,	1.630466e-001,	9.864329e-001,
1.912989e-002,	3.242777e-001,	-2.270000e+002,	-1.830000e+002,	0.000000e+000,
-1.000000e+000,	0.000000e+000,	-1.861370e-001,	-4.100000e+001,	-1.000000e+000,
1.616128e-001,	9.777582e-001,	-1.336798e-001,	8.166243e-002,	-2.270000e+002,
-1.830000e+002,	1.934256e-001,	-9.768003e-001,	9.191158e-002,	1.729172e-001,
-4.100000e+001,	-1.000000e+000,	-9.806978e-001,	1.941974e-001,	2.278474e-002,
1.264277e-001,	-1.830000e+002,	-8.600000e+001,	-9.864329e-001,	-1.630466e-001,
-1.912989e-002,	1.640189e-001,	-2.270000e+002,	-1.000000e+000,	-1.000000e+000,
0.000000e+000,	0.000000e+000,	1.861370e-001,	-2.270000e+002,	-1.000000e+000,
7.655403e-001,	6.390048e-001,	-7.497299e-002,	-4.090704e-001,	-1.290000e+002,
-8.600000e+001,	6.382246e-001,	7.646055e-001,	-8.970944e-002,	-2.317298e-001,
-2.270000e+002,	-1.830000e+002,	7.046858e-001,	7.046858e-001,	-8.267919e-002,
-3.476171e-001,	-2.270000e+002,	-1.830000e+002,	0.000000e+000,	-9.931874e-001,
-1.165284e-001,	-7.705922e-001,	-4.100000e+001,	-1.000000e+000,	1.934256e-001,
-9.768003e-001,	-9.191158e-002,	-7.821641e-001,	-4.100000e+001,	-1.000000e+000,
1.000000e+000,	0.000000e+000,	0.000000e+000,	2.229958e-001,	-4.100000e+001,
-1.000000e+000,	-1.941974e-001,	9.806978e-001,	-2.278474e-002,	-3.862324e-001,
-1.830000e+002,	-8.600000e+001,	-1.934256e-001,	9.768003e-001,	-9.191158e-002,
-4.934215e-001,	-1.830000e+002,	-8.600000e+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,
0,
0,
0,
1,
0,
1,
0,
0,
0,
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