kalman filter.mw

maple写的基本kalman算法

<Text-field prompt="&gt; " style="Maple Input" layout="Normal"><Equation executable="true" style="2D Input" input-equation="" display="LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYtLUklbXN1YkdGJDYlLUkjbWlHRiQ2JVEiekYnLyUnaXRhbGljR1EldHJ1ZUYnLyUsbWF0aHZhcmlhbnRHUSdpdGFsaWNGJy1GIzYmLUYvNiVRImtGJ0YyRjUvJSdmYW1pbHlHUTBUaW1lc35OZXd+Um9tYW5GJy8lK2V4ZWN1dGFibGVHUSZmYWxzZUYnL0Y2USdub3JtYWxGJy8lL3N1YnNjcmlwdHNoaWZ0R1EiMEYnLUkjbW9HRiQ2LVEiPUYnRkMvJSZmZW5jZUdGQi8lKnNlcGFyYXRvckdGQi8lKXN0cmV0Y2h5R0ZCLyUqc3ltbWV0cmljR0ZCLyUobGFyZ2VvcEdGQi8lLm1vdmFibGVsaW1pdHNHRkIvJSdhY2NlbnRHRkIvJSdsc3BhY2VHUSwwLjI3Nzc3NzhlbUYnLyUncnNwYWNlR0Zmbi1GLzYlUSJIRidGMkY1LUZJNi1RJyZzZG90O0YnRkNGTEZORlBGUkZURlZGWC9GZW5RJjAuMGVtRicvRmhuRmBvLUYsNiUtRi82JVEieEYnRjJGNUY4RkUtRkk2LVEiK0YnRkNGTEZORlBGUkZURlZGWC9GZW5RLDAuMjIyMjIyMmVtRicvRmhuRltwLUYsNiUtRi82JVEidkYnRjJGNUY4RkUtRkk2LVEiO0YnRkNGTC9GT0Y0RlBGUkZURlZGWEZfb0ZnbkY9RkBGQw==">LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYtLUklbXN1YkdGJDYlLUkjbWlHRiQ2JVEiekYnLyUnaXRhbGljR1EldHJ1ZUYnLyUsbWF0aHZhcmlhbnRHUSdpdGFsaWNGJy1GIzYmLUYvNiVRImtGJ0YyRjUvJSdmYW1pbHlHUTBUaW1lc35OZXd+Um9tYW5GJy8lK2V4ZWN1dGFibGVHUSZmYWxzZUYnL0Y2USdub3JtYWxGJy8lL3N1YnNjcmlwdHNoaWZ0R1EiMEYnLUkjbW9HRiQ2LVEiPUYnRkMvJSZmZW5jZUdGQi8lKnNlcGFyYXRvckdGQi8lKXN0cmV0Y2h5R0ZCLyUqc3ltbWV0cmljR0ZCLyUobGFyZ2VvcEdGQi8lLm1vdmFibGVsaW1pdHNHRkIvJSdhY2NlbnRHRkIvJSdsc3BhY2VHUSwwLjI3Nzc3NzhlbUYnLyUncnNwYWNlR0Zmbi1GLzYlUSJIRidGMkY1LUZJNi1RJyZzZG90O0YnRkNGTEZORlBGUkZURlZGWC9GZW5RJjAuMGVtRicvRmhuRmBvLUYsNiUtRi82JVEieEYnRjJGNUY4RkUtRkk2LVEiK0YnRkNGTEZORlBGUkZURlZGWC9GZW5RLDAuMjIyMjIyMmVtRicvRmhuRltwLUYsNiUtRi82JVEidkYnRjJGNUY4RkUtRkk2LVEiO0YnRkNGTC9GT0Y0RlBGUkZURlZGWEZfb0ZnbkY9RkBGQw==</Equation></Text-field>
</Input>
<Output>
<Text-field selection-placeholder="false" executable="false" family="Times New Roman" opaque="false" foreground="[0,0,0]" superscript="false" placeholder="false" readonly="false" subscript="false" bold="false" italic="false" underline="false" background="[255,255,255]" size="12" linebreak="space" spaceabove="0" rightmargin="0" bullet="none" firstindent="0" bulletsuffix="" linespacing="0.0" pagebreak-before="false" leftmargin="0" alignment="centred" initial="0" spacebelow="0"><Equation executable="false" style="2D Output" display="LUkjbWlHNiMvSSttb2R1bGVuYW1lRzYiSSxUeXBlc2V0dGluZ0dJKF9zeXNsaWJHRic2JVE1b3V0cHV0fnJlZGlyZWN0ZWQuLi5GJy8lJ2l0YWxpY0dRJXRydWVGJy8lLG1hdGh2YXJpYW50R1EnaXRhbGljRic=">LUkjbWlHNiMvSSttb2R1bGVuYW1lRzYiSSxUeXBlc2V0dGluZ0dJKF9zeXNsaWJHRic2JVE1b3V0cHV0fnJlZGlyZWN0ZWQuLi5GJy8lJ2l0YWxpY0dRJXRydWVGJy8lLG1hdGh2YXJpYW50R1EnaXRhbGljRic=</Equation></Text-field>
</Output>
</Group>
<Group view="presentation" hide-input="true" hide-output="false" inline-output="false" labelreference="L11" drawlabel="true" redirect-source="L2">
<Input>
<Text-field prompt="&gt; " style="Maple Input" layout="Normal">print(<Label label="L10" view="label" executable="true"></Label>); # input placeholder</Text-field>
</Input>
<Output>
<Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYpLUklbXN1YkdGJDYlLUkjbWlHRiQ2JVEiekYnLyUnaXRhbGljR1EldHJ1ZUYnLyUsbWF0aHZhcmlhbnRHUSdpdGFsaWNGJy1GIzYnLUYvNiVRImtGJ0YyRjUvJSdmYW1pbHlHUTBUaW1lc35OZXd+Um9tYW5GJy8lK2ZvcmVncm91bmRHUShbMCwwLDBdRicvJSlyZWFkb25seUdRJmZhbHNlRicvRjZRJ25vcm1hbEYnLyUvc3Vic2NyaXB0c2hpZnRHUSIwRictSSNtb0dGJDYtUSI9RidGRi8lJmZlbmNlR0ZFLyUqc2VwYXJhdG9yR0ZFLyUpc3RyZXRjaHlHRkUvJSpzeW1tZXRyaWNHRkUvJShsYXJnZW9wR0ZFLyUubW92YWJsZWxpbWl0c0dGRS8lJ2FjY2VudEdGRS8lJ2xzcGFjZUdRLDAuMjc3Nzc3OGVtRicvJSdyc3BhY2VHRmluLUYjNiktRiM2KS1GLzYlUSJIRidGMkY1LUZMNi1RMSZJbnZpc2libGVUaW1lcztGJ0ZGRk9GUUZTRlVGV0ZZRmVuL0ZoblEmMC4wZW1GJy9GW29GZ28tRiw2JS1GLzYlUSJ4RidGMkY1RjhGSEY9RkBGQ0ZGLUZMNi1RIitGJ0ZGRk9GUUZTRlVGV0ZZRmVuL0ZoblEsMC4yMjIyMjIyZW1GJy9GW29GYnAtRiw2JS1GLzYlUSJ2RidGMkY1RjhGSEY9RkBGQ0ZGRj1GQEZDRkY=">LyZJInpHNiI2I0kia0dGJSwmKiZJIkhHRiUiIiImSSJ4R0YlRiZGK0YrJkkidkdGJUYmRis=</Equation></Text-field>
</Output>
</Group></Presentation-Block><Presentation-Block>
<Group view="presentation" hide-input="false" hide-output="true" inline-output="false" labelreference="L9" drawlabel="true">
<Input>
<Text-field style="Text" layout="Normal">Addition: Assuming A, B, Q and H, R are constant.</Text-field>
</Input>
</Group></Presentation-Block>
</Section><Presentation-Block>
<Group view="presentation" hide-input="false" hide-output="true" inline-output="false" labelreference="L6" drawlabel="true">
<Input>
<Text-field style="Text" layout="Normal"></Text-field>
</Input>
</Group></Presentation-Block>
<Section collapsed="false" MultipleChoiceAnswerIndex="-1" MultipleChoiceRandomizeChoices="false" TrueFalseAnswerIndex="-1" EssayAnswerRows="5" EssayAnswerColumns="60"><Title>
<Text-field style="Heading 1" layout="Heading 1"><Font encoding="UTF-8">The Computational Origins of the Filter: \350\256\241\347\256\227\344\276\235\346\215\256</Font></Text-field></Title><Presentation-Block>
<Group view="presentation" hide-input="false" hide-output="true" inline-output="false" labelreference="L16" drawlabel="true" redirect-target="L17">
<Input>
<Text-field prompt="&gt; " style="Maple Input" layout="Normal"><Equation executable="false" style="Text" input-equation="" display="LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYnLUkmbW92ZXJHRiQ2JS1GIzYlLUkjbWlHRiQ2JVEieEYnLyUnaXRhbGljR1EldHJ1ZUYnLyUsbWF0aHZhcmlhbnRHUSdpdGFsaWNGJy8lJ2ZhbWlseUdRMFRpbWVzfk5ld35Sb21hbkYnL0Y4USdub3JtYWxGJy1GIzYlLUkjbW9HRiQ2LVEiXkYnRj0vJSZmZW5jZUdRJmZhbHNlRicvJSpzZXBhcmF0b3JHRkcvJSlzdHJldGNoeUdGRy8lKnN5bW1ldHJpY0dGRy8lKGxhcmdlb3BHRkcvJS5tb3ZhYmxlbGltaXRzR0ZHLyUnYWNjZW50R0ZHLyUnbHNwYWNlR1EsMC4xMTExMTExZW1GJy8lJ3JzcGFjZUdGVkY6Rj0vJSdhY2NlbnRHRkctSSVtc3VwR0YkNiUtRjE2I1EhRictRiM2JS1GQjYtUSomdW1pbnVzMDtGJ0Y9RkVGSEZKRkxGTkZQRlIvRlVRLDAuMjIyMjIyMmVtRicvRlhGYW9GOkY9LyUxc3VwZXJzY3JpcHRzaGlmdEdRIjBGJy1GQjYtUSJ+RidGPUZFRkhGSkZMRk5GUEZSL0ZVUSYwLjBlbUYnL0ZYRmpvRjpGPQ==">LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYnLUkmbW92ZXJHRiQ2JS1GIzYlLUkjbWlHRiQ2JVEieEYnLyUnaXRhbGljR1EldHJ1ZUYnLyUsbWF0aHZhcmlhbnRHUSdpdGFsaWNGJy8lJ2ZhbWlseUdRMFRpbWVzfk5ld35Sb21hbkYnL0Y4USdub3JtYWxGJy1GIzYlLUkjbW9HRiQ2LVEiXkYnRj0vJSZmZW5jZUdRJmZhbHNlRicvJSpzZXBhcmF0b3JHRkcvJSlzdHJldGNoeUdGRy8lKnN5bW1ldHJpY0dGRy8lKGxhcmdlb3BHRkcvJS5tb3ZhYmxlbGltaXRzR0ZHLyUnYWNjZW50R0ZHLyUnbHNwYWNlR1EsMC4xMTExMTExZW1GJy8lJ3JzcGFjZUdGVkY6Rj0vJSdhY2NlbnRHRkctSSVtc3VwR0YkNiUtRjE2I1EhRictRiM2JS1GQjYtUSomdW1pbnVzMDtGJ0Y9RkVGSEZKRkxGTkZQRlIvRlVRLDAuMjIyMjIyMmVtRicvRlhGYW9GOkY9LyUxc3VwZXJzY3JpcHRzaGlmdEdRIjBGJy1GQjYtUSJ+RidGPUZFRkhGSkZMRk5GUEZSL0ZVUSYwLjBlbUYnL0ZYRmpvRjpGPQ==</Equation><Font style="Text">is the priori state estimate given by A and B, and </Font><Equation executable="true" style="2D Input" input-equation="" display="LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYnLUkmbW92ZXJHRiQ2JS1JI21pR0YkNiVRInhGJy8lJ2l0YWxpY0dRJXRydWVGJy8lLG1hdGh2YXJpYW50R1EnaXRhbGljRictRiM2Ji1JI21vR0YkNi1RIl5GJy9GNlEnbm9ybWFsRicvJSZmZW5jZUdRJmZhbHNlRicvJSpzZXBhcmF0b3JHRkIvJSlzdHJldGNoeUdGQi8lKnN5bW1ldHJpY0dGQi8lKGxhcmdlb3BHRkIvJS5tb3ZhYmxlbGltaXRzR0ZCLyUnYWNjZW50R0ZCLyUnbHNwYWNlR1EsMC4xMTExMTExZW1GJy8lJ3JzcGFjZUdGUS8lJ2ZhbWlseUdRMFRpbWVzfk5ld35Sb21hbkYnLyUrZXhlY3V0YWJsZUdGQkY+LyUnYWNjZW50R0ZCLUY7Ni1RIn5GJ0Y+RkBGQ0ZFRkdGSUZLRk0vRlBRJjAuMGVtRicvRlNGaW5GVEZXRj4=">LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYnLUkmbW92ZXJHRiQ2JS1JI21pR0YkNiVRInhGJy8lJ2l0YWxpY0dRJXRydWVGJy8lLG1hdGh2YXJpYW50R1EnaXRhbGljRictRiM2Ji1JI21vR0YkNi1RIl5GJy9GNlEnbm9ybWFsRicvJSZmZW5jZUdRJmZhbHNlRicvJSpzZXBhcmF0b3JHRkIvJSlzdHJldGNoeUdGQi8lKnN5bW1ldHJpY0dGQi8lKGxhcmdlb3BHRkIvJS5tb3ZhYmxlbGltaXRzR0ZCLyUnYWNjZW50R0ZCLyUnbHNwYWNlR1EsMC4xMTExMTExZW1GJy8lJ3JzcGFjZUdGUS8lJ2ZhbWlseUdRMFRpbWVzfk5ld35Sb21hbkYnLyUrZXhlY3V0YWJsZUdGQkY+LyUnYWNjZW50R0ZCLUY7Ni1RIn5GJ0Y+RkBGQ0ZFRkdGSUZLRk0vRlBRJjAuMGVtRicvRlNGaW5GVEZXRj4=</Equation><Font style="Text">is the posteriori state estimate given by measearment z.</Font></Text-field>
</Input>
</Group></Presentation-Block><Presentation-Block>
<Group view="presentation" hide-input="false" hide-output="true" inline-output="false" labelreference="L16" drawlabel="true" redirect-target="L17">
<Input>
<Text-field prompt="&gt; " style="Maple Input" layout="Normal"></Text-field>
</Input>
<Output>
<Text-field selection-placeholder="false" executable="false" family="Times New Roman" opaque="false" foreground="[0,0,0]" superscript="false" placeholder="false" readonly="false" subscript="false" bold="false" italic="false" underline="false" background="[255,255,255]" size="12" linebreak="space" spaceabove="0" rightmargin="0" bullet="none" firstindent="0" bulletsuffix="" linespacing="0.0" pagebreak-before="false" leftmargin="0" alignment="centred" initial="0" spacebelow="0"><Equation executable="false" style="2D Output" display="LUkjbWlHNiMvSSttb2R1bGVuYW1lRzYiSSxUeXBlc2V0dGluZ0dJKF9zeXNsaWJHRic2JVE1b3V0cHV0fnJlZGlyZWN0ZWQuLi5GJy8lJ2l0YWxpY0dRJXRydWVGJy8lLG1hdGh2YXJpYW50R1EnaXRhbGljRic=">LUkjbWlHNiMvSSttb2R1bGVuYW1lRzYiSSxUeXBlc2V0dGluZ0dJKF9zeXNsaWJHRic2JVE1b3V0cHV0fnJlZGlyZWN0ZWQuLi5GJy8lJ2l0YWxpY0dRJXRydWVGJy8lLG1hdGh2YXJpYW50R1EnaXRhbGljRic=</Equation></Text-field>
</Output>
</Group></Presentation-Block><Presentation-Block>
<Group view="presentation" hide-input="false" hide-output="true" inline-output="false" labelreference="L18" drawlabel="true">
<Input>
<Text-field prompt="&gt; " style="Maple Input" layout="Normal"><Font style="Text">The priori estiamate error covariance is </Font></Text-field>
</Input>
</Group>
<Group view="presentation" hide-input="false" hide-output="true" inline-output="false" labelreference="L23" drawlabel="true">
<Input>
<Text-field style="Text" layout="Normal"><Equation executable="false" style="2D Math" input-equation="" display="LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYmLUkobXN1YnN1cEdGJDYnLUkjbWlHRiQ2JVEiUEYnLyUnaXRhbGljR1EldHJ1ZUYnLyUsbWF0aHZhcmlhbnRHUSdpdGFsaWNGJy1GIzYlLUYvNiVRImtGJ0YyRjUvJSdmYW1pbHlHUTBUaW1lc35OZXd+Um9tYW5GJy9GNlEnbm9ybWFsRictRiM2JS1JI21vR0YkNi1RKiZ1bWludXMwO0YnRkAvJSZmZW5jZUdRJmZhbHNlRicvJSpzZXBhcmF0b3JHRkovJSlzdHJldGNoeUdGSi8lKnN5bW1ldHJpY0dGSi8lKGxhcmdlb3BHRkovJS5tb3ZhYmxlbGltaXRzR0ZKLyUnYWNjZW50R0ZKLyUnbHNwYWNlR1EsMC4yMjIyMjIyZW1GJy8lJ3JzcGFjZUdGWUY9RkAvJTFzdXBlcnNjcmlwdHNoaWZ0R1EiMEYnLyUvc3Vic2NyaXB0c2hpZnRHRmhuLUYvNiNRIUYnRj1GQA==">LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYmLUkobXN1YnN1cEdGJDYnLUkjbWlHRiQ2JVEiUEYnLyUnaXRhbGljR1EldHJ1ZUYnLyUsbWF0aHZhcmlhbnRHUSdpdGFsaWNGJy1GIzYlLUYvNiVRImtGJ0YyRjUvJSdmYW1pbHlHUTBUaW1lc35OZXd+Um9tYW5GJy9GNlEnbm9ybWFsRictRiM2JS1JI21vR0YkNi1RKiZ1bWludXMwO0YnRkAvJSZmZW5jZUdRJmZhbHNlRicvJSpzZXBhcmF0b3JHRkovJSlzdHJldGNoeUdGSi8lKnN5bW1ldHJpY0dGSi8lKGxhcmdlb3BHRkovJS5tb3ZhYmxlbGltaXRzR0ZKLyUnYWNjZW50R0ZKLyUnbHNwYWNlR1EsMC4yMjIyMjIyZW1GJy8lJ3JzcGFjZUdGWUY9RkAvJTFzdXBlcnNjcmlwdHNoaWZ0R1EiMEYnLyUvc3Vic2NyaXB0c2hpZnRHRmhuLUYvNiNRIUYnRj1GQA==</Equation>, the posteriori estimate error covariance is <Equation executable="false" style="2D Math" input-equation="" display="LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYmLUkobXN1YnN1cEdGJDYnLUkjbWlHRiQ2JVEiUEYnLyUnaXRhbGljR1EldHJ1ZUYnLyUsbWF0aHZhcmlhbnRHUSdpdGFsaWNGJy1GIzYlLUYvNiVRImtGJ0YyRjUvJSdmYW1pbHlHUTBUaW1lc35OZXd+Um9tYW5GJy9GNlEnbm9ybWFsRictRiM2JS1GLzYjUSFGJ0Y9RkAvJTFzdXBlcnNjcmlwdHNoaWZ0R1EiMEYnLyUvc3Vic2NyaXB0c2hpZnRHRklGREY9RkA=">LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYmLUkobXN1YnN1cEdGJDYnLUkjbWlHRiQ2JVEiUEYnLyUnaXRhbGljR1EldHJ1ZUYnLyUsbWF0aHZhcmlhbnRHUSdpdGFsaWNGJy1GIzYlLUYvNiVRImtGJ0YyRjUvJSdmYW1pbHlHUTBUaW1lc35OZXd+Um9tYW5GJy9GNlEnbm9ybWFsRictRiM2JS1GLzYjUSFGJ0Y9RkAvJTFzdXBlcnNjcmlwdHNoaWZ0R1EiMEYnLyUvc3Vic2NyaXB0c2hpZnRHRklGREY9RkA=</Equation>.</Text-field>
</Input>
</Group></Presentation-Block><Presentation-Block>
<Group view="presentation" hide-input="false" hide-output="true" inline-output="false" labelreference="L28" drawlabel="true" redirect-target="L29">
<Input>
<Text-field prompt="&gt; " style="Maple Input" layout="Normal" alignment="centred"><Equation executable="true" style="2D Input" input-equation="" display="LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYqLUkobXN1YnN1cEdGJDYnLUkjbWlHRiQ2JVEiUEYnLyUnaXRhbGljR1EldHJ1ZUYnLyUsbWF0aHZhcmlhbnRHUSdpdGFsaWNGJy1GIzYmLUYvNiVRImtGJ0YyRjUvJSdmYW1pbHlHUTBUaW1lc35OZXd+Um9tYW5GJy8lK2V4ZWN1dGFibGVHUSZmYWxzZUYnL0Y2USdub3JtYWxGJy1GIzYmLUkjbW9HRiQ2LVEqJnVtaW51czA7RidGQy8lJmZlbmNlR0ZCLyUqc2VwYXJhdG9yR0ZCLyUpc3RyZXRjaHlHRkIvJSpzeW1tZXRyaWNHRkIvJShsYXJnZW9wR0ZCLyUubW92YWJsZWxpbWl0c0dGQi8lJ2FjY2VudEdGQi8lJ2xzcGFjZUdRLDAuMjIyMjIyMmVtRicvJSdyc3BhY2VHRmVuRj1GQEZDLyUxc3VwZXJzY3JpcHRzaGlmdEdRIjBGJy8lL3N1YnNjcmlwdHNoaWZ0R0Zqbi1GSDYtUSI9RidGQ0ZLRk1GT0ZRRlNGVUZXL0ZaUSwwLjI3Nzc3NzhlbUYnL0ZnbkZhby1GLzYlUSJFRidGMkY1LUkobWZlbmNlZEdGJDYmLUYjNictRiw2Jy1GLzYlUSJlRidGMkY1RjhGRUZobkZbby1GLDYnRl1wRjgtRiM2J0ZHLUYvNiVRIlRGJ0YyRjVGPUZARkNGaG5GW29GPUZARkNGQy8lJW9wZW5HUSJbRicvJSZjbG9zZUdRIl1GJy1GSDYtUSI6RidGQ0ZLRk1GT0ZRRlNGVUZXRmBvRmJvRj1GQEZD">LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYnLUkobXN1YnN1cEdGJDYnLUkjbWlHRiQ2JVEiUEYnLyUnaXRhbGljR1EldHJ1ZUYnLyUsbWF0aHZhcmlhbnRHUSdpdGFsaWNGJy1GIzYjLUYvNiVRImtGJ0YyRjUtRiM2Iy1JI21vR0YkNi1RKiZ1bWludXMwO0YnL0Y2USdub3JtYWxGJy8lJmZlbmNlR1EmZmFsc2VGJy8lKnNlcGFyYXRvckdGRy8lKXN0cmV0Y2h5R0ZHLyUqc3ltbWV0cmljR0ZHLyUobGFyZ2VvcEdGRy8lLm1vdmFibGVsaW1pdHNHRkcvJSdhY2NlbnRHRkcvJSdsc3BhY2VHUSwwLjIyMjIyMjJlbUYnLyUncnNwYWNlR0ZWLyUxc3VwZXJzY3JpcHRzaGlmdEdRIjBGJy8lL3N1YnNjcmlwdHNoaWZ0R0Zlbi1GQDYtUSI9RidGQ0ZFRkhGSkZMRk5GUEZSL0ZVUSwwLjI3Nzc3NzhlbUYnL0ZYRlxvLUYvNiVRIkVGJ0YyRjUtSShtZmVuY2VkR0YkNiYtRiM2JC1GLDYnLUYvNiVRImVGJ0YyRjVGOEY9RllGZm4tRiw2J0Zob0Y4LUYjNiRGPy1GLzYlUSJURidGMkY1RllGZm5GQy8lJW9wZW5HUSJbRicvJSZjbG9zZUdRIl1GJy1GQDYtUSI6RidGQ0ZFRkhGSkZMRk5GUEZSRltvRl1v</Equation></Text-field>
</Input>
</Group>
<Group view="presentation" hide-input="true" hide-output="false" inline-output="false" labelreference="L29" drawlabel="true" redirect-source="L28">
<Input>
<Text-field prompt="&gt; " style="Maple Input" layout="Normal">print(<Label label="L28" view="label" executable="true"></Label>); # input placeholder</Text-field>
</Input>