To receive notifications about scheduled maintenance, please subscribe to the mailing-list gitlab-operations@sympa.ethz.ch. You can subscribe to the mailing-list at https://sympa.ethz.ch

Commit d6eb1bc8 authored by elokdae's avatar elokdae
Browse files

Added data collection functionality

parent ed83a965
0.17658,0.19991,0.22019,0.23753,0.25213,0.2642,0.27397,0.28168,0.48378,0.24523,0.25432,0.45819,0.22168,0.23298,0.43914,0.40111,0.17176,0.18996,0.20644,0.22115,0.43029,0.39484,0.36387,0.14103,0.16513,0.38309,0.15958,0.37888,0.15654,0.18065,0.20201,0.41688,0.38628,0.16316,0.38267,0.35661,0.334,0.31469,0.10227,0.13557,0.16531,0.19151,0.41045,0.18702,0.20949,0.22884,0.44144,0.21224,0.22952,0.24428,0.25667,0.46308,0.22846,0.43726,0.40137,0.3699,0.3427,0.31955,0.10399,0.33096,0.31207,0.29625,0.28324,0.27278,0.2646,0.062203,0.30061,0.095292,0.13436,0.36488,0.15172,0.18318,0.21028,0.23325,0.25239,0.46422,0.43004,0.20298,0.22219,0.43485,0.20585,0.22347,0.23864,0.4477,0.41174,0.37995,0.15605,0.37514,0.15272,0.17686,0.19835,0.41341,0.18685,0.40306,0.37387,0.15217,0.17689,0.39503,0.36757,0.14738,0.36962,0.14982,0.3723,0.15262,0.37512,0.15539,0.37778,0.3541,0.13723,0.36234,0.34119,0.12664,0.35384,0.33455,0.31785,0.1074,0.33831,0.12614,0.35522,0.33738,0.32174,0.30823,0.10054,0.3338,0.3198,0.11142,0.14767,0.37563,0.16019,0.38584,0.36451,0.34544,0.13243,0.16449,0.19253,0.2167,0.2372,0.45049,0.2216,0.4351,0.20676,0.22487,0.43659,0.20681,0.41998,0.38797,0.16369,0.38229,0.1593,0.37902,0.35321,0.13469,0.16236,0.18699,0.20862,0.22732,0.24325,0.45279,0.41709,0.38536,0.35757,0.33358,0.3132,0.29617,0.086016,0.12151,0.34954,0.13481,0.16546,0.38857,0.16898,0.39113,0.17072,0.39219,0.36741,0.34555,0.13033,0.35691,0.33706,0.12364,0.35181,0.13713,0.16776,0.19459,0.21776,0.43364,0.40341,0.18015,0.39912,0.17601,0.19901,0.41525,0.38576,0.35973,0.14087,0.36432,0.3418,0.32237,0.10966,0.14254,0.36798,0.34695,0.13235,0.16317,0.38646,0.36327,0.34276,0.12868,0.16,0.18757,0.40769,0.38146,0.3581,0.33759,0.12364,0.15518,0.37926,0.35686,0.33714,0.32003,0.3054,0.096902,0.13342,0.16576,0.39019,0.17159,0.19827,0.41741,0.39016,0.36578,0.34427,0.12936,0.35621,0.14039,0.36623,0.14936,0.17795,0.39912,0.37394,0.15539,0.3787,0.35573,0.13938,0.16864,0.19437,0.41286,0.38522,0.16446,0.1896,0.21155,0.42665,0.19977,0.41541,0.18926,0.40573
-1.0472,1.3101,-1.0812,1.2784,0.98385,0.72565,-1.593,0.83455,0.60315,-1.691,0.75854,-1.5475,-1.2039,-0.90132,-0.6371,1.6856,1.3549,-1.0331,1.3285,-1.0597,-0.7925,1.5342,1.2082,0.92031,-1.4263,0.97508,0.7194,0.49725,-1.7881,-1.4244,0.99218,0.74966,-1.5558,-1.2118,1.1855,0.92421,0.69502,-1.5986,-1.2444,-0.93247,1.4341,1.1434,0.88634,0.66077,-1.6298,-1.2728,1.1359,0.88443,0.66366,0.47157,0.30616,-1.929,-1.5213,-1.1609,1.2494,-1.0964,-0.79286,1.5644,1.2638,0.99622,0.7599,-1.5415,0.89912,-1.4173,1.0091,-1.3206,-1.0009,1.3724,1.0876,-1.2587,1.1404,0.88025,-1.4426,-1.1158,-0.8293,1.5139,1.2019,-1.1689,-0.88592,-0.63952,1.6673,-0.77179,1.5428,-0.88831,1.4345,-0.98818,-0.75133,-0.54549,-0.36838,-0.21774,-0.091389,0.012823,0.096977,2.2575,-0.31263,-0.20883,1.9722,-0.57682,-0.45154,1.7511,1.318,-1.1556,-0.95866,-0.78264,-0.62631,1.606,1.2009,0.84793,-1.5509,-1.2847,1.0495,-1.3562,0.99672,-1.3923,-1.1191,-0.87532,1.435,1.0989,-1.2884,1.079,0.79526,0.55032,0.3412,-1.9294,-1.5499,-1.211,-0.91094,1.4469,-0.9442,-0.67943,-0.44939,1.8426,-0.61001,-0.40229,-0.22477,-0.075137,2.1433,-0.37615,1.8658,1.464,1.1086,0.797,0.52648,-1.8001,0.6234,0.39155,0.19447,0.029402,-0.10635,-0.21545,-2.3949,0.1617,-2.0452,-1.6104,0.86988,-1.4106,-1.0464,-0.72789,-0.45213,-0.2163,2.0769,1.7158,-0.70292,-0.46659,1.8291,-0.62183,-0.41407,-0.23777,2.0041,1.5997,1.2395,-1.173,1.1687,-1.2349,-0.97899,-0.75411,1.5362,-0.91474,1.3921,1.0514,-1.3411,-1.0736,1.2575,0.93938,-1.4321,0.94917,-1.4167,0.96934,-1.3926,0.99661,-1.3629,1.028,0.76397,-1.5592,0.86492,0.63098,-1.665,0.78329,0.57085,0.38812,-1.8616,0.62817,-1.6417,0.82828,0.63338,0.4644,0.31933,-1.8982,0.61888,0.466,-1.7601,-1.3467,1.1108,-1.1934,1.2409,1.0095,0.80357,-1.4727,-1.1063,-0.78687,-0.51131,-0.27639,2.0155,-0.44153,1.8528,-0.60041,-0.39543,1.8721,-0.60396,1.6762,1.3078,-1.1129,1.2207,-1.1906,1.1523,0.84453,-1.5181,-1.2236,-0.96275,-0.73339,-0.53344,-0.36084,1.8809,1.4792,1.1242,0.8132,0.54339,0.31195,0.11605,-2.1415,-1.749,0.69706,-1.6102,-1.266,1.1332
1.0472,-1.3101,1.0812,-1.2784,-0.98385,-0.72565,1.593,-0.83455,1.4912,1.1653,-1.2162,-0.94128,1.394,1.0773,-1.2952,1.0829,-1.2879,1.0917,-1.2779,1.1027,-1.2661,1.115,0.84106,-1.4921,0.92211,0.67854,-1.6267,0.8128,0.59213,0.40179,-1.8549,0.62864,-1.6468,0.81834,0.6193,0.44685,0.29897,-1.9207,0.59471,0.44075,-1.786,-1.3727,1.0851,-1.2185,1.2167,0.98637,0.78183,-1.4929,-1.1249,-0.80377,-0.52646,-0.28977,2.0038,-0.45145,1.8445,-0.60708,-0.40061,1.8683,-0.60646,1.6749,1.3075,-1.1123,1.2222,-1.1885,1.1551,0.84773,-1.5145,-1.2198,-0.95874,-0.72927,-0.5293,-0.35674,1.8849,1.483,1.1279,0.81666,0.54661,0.3149,0.11873,-2.1391,-1.7469,0.6989,-1.6086,-1.2647,1.1342,-1.2184,1.1766,-1.1802,1.2106,0.94388,0.71029,-1.5869,0.859,0.64306,-1.6384,0.8213,-1.4769,-1.1279,-0.82168,-0.55567,1.7673,1.4353,-0.95495,1.4033,-0.98906,-0.72661,1.5948,1.2632,0.96949,-1.383,1.0124,0.75096,0.52319,-1.7675,-1.4089,1.003,0.7561,-1.5533,-1.2129,1.1813,0.91734,0.68586,-1.6097,-1.2569,-0.9462,1.4195,1.1284,0.87104,0.64548,-1.6448,-1.2874,1.1218,0.8711,0.65117,0.46,0.29557,-1.9385,-1.5298,-1.1684,1.243,-1.1018,-0.79735,1.5608,1.261,0.9943,0.75871,-1.542,0.89918,-1.4167,1.0102,-1.3192,-0.9992,1.3744,1.0898,-1.2564,1.1428,0.88269,-1.4402,-1.1134,-0.82696,1.5161,1.204,-1.1669,-0.88408,-0.63783,1.6688,-0.77044,1.5439,-0.88729,1.4354,-0.98748,-0.75078,-0.54508,-0.36809,-0.21757,-0.091322,0.012796,0.096867,2.2573,-0.31287,-0.20912,1.9718,-0.57718,-0.45192,1.7507,1.3176,-1.156,-0.95905,-0.78302,-0.62668,1.6056,1.2006,0.84763,-1.5512,-1.2849,1.0492,-1.3564,0.99656,-1.3924,-1.1192,-0.87541,1.4349,1.0988,-1.2884,1.079,0.79527,0.55034,0.34123,-1.9294,-1.5498,-1.211,-0.91088,1.447,-0.94414,-0.67937,-0.44932,1.8427,-0.60995,-0.40223,-0.22471,-0.075085,2.1433,-0.37611,1.8659,1.464,1.1086,0.79702,0.5265,-1.8001,0.62341,0.39156,0.19447,0.029406,-0.10635,-0.21546,-2.3949,0.16169,-2.0452,-1.6104,0.86988,-1.4106,-1.0464,-0.7279,-0.45214,-0.21631,2.0769,1.7158,-0.70293,-0.4666,1.8291,-0.62184,-0.41408,-0.23777,2.0041,1.5997
0,0.00010958,0.00062997,0.0012355,0.002108,0.0027225,0.0024574,0.0010729,-0.00092765,-0.0035708,-0.0061977,-0.0082919,-0.010339,-0.012714,-0.01482,-0.016195,-0.017156,-0.017519,-0.017595,-0.017197,-0.01663,-0.015698,-0.014699,-0.013212,-0.010923,-0.0082718,-0.0049586,-0.00077285,0.0037608,0.0088741,0.014942,0.022001,0.029382,0.036982,0.044263,0.051459,0.058964,0.067059,0.075715,0.084223,0.092676,0.10113,0.10875,0.11488,0.11971,0.12296,0.12512,0.12682,0.12832,0.12897,0.12806,0.12507,0.11967,0.1119,0.10251,0.09172,0.080193,0.067823,0.054576,0.041127,0.027594,0.014751,0.0032045,-0.0072471,-0.016333,-0.024301,-0.030704,-0.035224,-0.038535,-0.041406,-0.044442,-0.048104,-0.052727,-0.058319,-0.063972,-0.068752,-0.071945,-0.073033,-0.071671,-0.067656,-0.06113,-0.053159,-0.044624,-0.035583,-0.02677,-0.018764,-0.011349,-0.0047931,0.0011441,0.006219,0.010914,0.015824,0.02118,0.026481,0.031989,0.037891,0.043655,0.049298,0.05417,0.057559,0.058943,0.058191,0.056133,0.053455,0.050055,0.046316,0.041896,0.036553,0.031011,0.026068,0.022117,0.018785,0.016431,0.01553,0.016194,0.017591,0.019051,0.020926,0.023474,0.025998,0.02795,0.029796,0.032112,0.035116,0.038072,0.040188,0.041084,0.041374,0.041769,0.04282,0.044716,0.046702,0.048183,0.049586,0.051461,0.054219,0.058153,0.063231,0.068513,0.073033,0.076273,0.078515,0.079344,0.078475,0.076609,0.074542,0.072902,0.071948,0.071208,0.07075,0.07018,0.069635,0.068564,0.066553,0.064189,0.061939,0.059512,0.057345,0.055779,0.054185,0.051861,0.048502,0.044783,0.041245,0.037431,0.032783,0.027117,0.020984,0.014396,0.0078278,0.0012188,-0.0050262,-0.011249,-0.017924,-0.025396,-0.0339,-0.043575,-0.054479,-0.066608,-0.079683,-0.092782,-0.10582,-0.11872,-0.13072,-0.14192,-0.15238,-0.16128,-0.168,-0.17299,-0.17685,-0.18008,-0.18286,-0.18445,-0.18409,-0.18146,-0.17726,-0.17209,-0.16577,-0.15866,-0.15063,-0.14228,-0.13431,-0.12706,-0.1199,-0.11236,-0.10474,-0.096656,-0.087594,-0.077208,-0.065498,-0.0534,-0.041889,-0.031732,-0.023283,-0.016133,-0.010594,-0.007099,-0.0057127,-0.005775,-0.0073905,-0.010815,-0.016192,-0.023353,-0.031447,-0.040214,-0.048756,-0.056152,-0.0617,-0.064895,-0.065622,-0.064514,-0.061457,-0.056203,-0.048625,-0.038703,-0.0265,-0.012367,0.0026864,0.018264,0.033358,0.047171,0.059752,0.070491,0.078726,0.083997,0.086016,0.08486,0.081558,0.07697,0.070934,0.063371,0.054934,0.045511,0.034837,0.02298
0,0.00010958,0.00062997,0.0012355,0.002108,0.0027225,0.0024574,0.0010729,-0.00092765,-0.0037899,-0.0076768,-0.012023,-0.016807,-0.021335,-0.024845,-0.02677,-0.026923,-0.026086,-0.024894,-0.023195,-0.021327,-0.018901,-0.015637,-0.012218,-0.009409,-0.0075711,-0.006306,-0.0059478,-0.0069517,-0.009414,-0.012489,-0.015498,-0.018785,-0.022605,-0.026258,-0.029199,-0.031893,-0.034924,-0.038513,-0.041933,-0.044398,-0.045537,-0.045974,-0.046429,-0.047463,-0.049273,-0.051114,-0.052402,-0.053571,-0.055179,-0.057647,-0.061274,-0.066034,-0.070993,-0.075192,-0.078116,-0.080051,-0.080587,-0.079441,-0.077316,-0.07501,-0.073152,-0.072002,-0.071088,-0.070478,-0.069779,-0.069125,-0.067965,-0.065886,-0.06347,-0.061186,-0.058739,-0.056567,-0.055007,-0.053431,-0.051133,-0.047808,-0.04413,-0.040636,-0.036871,-0.032275,-0.026661,-0.020581,-0.014047,-0.0075303,-0.00097144,0.0052256,0.011403,0.018036,0.02547,0.033938,0.043581,0.054458,0.066562,0.079616,0.092698,0.10572,0.11861,0.1306,0.1418,0.15226,0.16115,0.16787,0.17287,0.17673,0.17997,0.18275,0.18435,0.184,0.18138,0.17719,0.17202,0.16571,0.15861,0.15059,0.14225,0.13429,0.12704,0.11989,0.11235,0.10474,0.096661,0.087602,0.077219,0.065512,0.053416,0.041907,0.031751,0.023303,0.016153,0.010615,0.0071194,0.0057325,0.0057941,0.0074086,0.010832,0.016208,0.023367,0.031461,0.040225,0.048767,0.056161,0.061707,0.064901,0.065627,0.064518,0.06146,0.056205,0.048626,0.038703,0.026499,0.012366,-0.0026883,-0.018266,-0.03336,-0.047174,-0.059755,-0.070494,-0.07873,-0.084001,-0.086019,-0.084864,-0.081561,-0.076973,-0.070937,-0.063374,-0.054937,-0.045513,-0.034839,-0.022982,-0.010923,0.00032849,0.010209,0.018958,0.026338,0.032847,0.039101,0.045358,0.051151,0.056555,0.060973,0.06396,0.06608,0.067791,0.06858,0.068073,0.066671,0.064275,0.061278,0.057567,0.05352,0.049008,0.04439,0.039298,0.033467,0.02738,0.020772,0.013463,0.006002,-0.0018253,-0.01038,-0.019689,-0.02908,-0.038449,-0.047262,-0.055759,-0.064341,-0.073302,-0.082626,-0.091616,-0.10038,-0.109,-0.11664,-0.12267,-0.12729,-0.13024,-0.13203,-0.1333,-0.13432,-0.13446,-0.13302,-0.12948,-0.12354,-0.11522,-0.10531,-0.094018,-0.08201,-0.06919,-0.055524,-0.041692,-0.027812,-0.01466,-0.0028412,0.0078448,0.017128,0.025259,0.031792,0.036411,0.039791,0.042705,0.045759,0.049417,0.054018,0.059571,0.065172,0.069887,0.073007,0.074015,0.072567,0.068464,0.061848,0.053786,0.045162,0.036035,0.02714
0,-0.0028029,-0.010545,-0.02198,-0.036033,-0.051792,-0.068495,-0.085517,-0.10236,-0.11303,-0.11856,-0.12552,-0.12782,-0.12639,-0.12766,-0.12543,-0.11488,-0.10367,-0.097809,-0.096324,-0.098317,-0.097395,-0.088593,-0.07381,-0.060296,-0.053732,-0.0472,-0.04086,-0.034831,-0.0292,-0.029631,-0.034825,-0.038032,-0.033987,-0.029941,-0.025995,-0.016623,-0.0032153,0.01303,0.025493,0.029056,0.025518,0.01648,0.008945,0.0027842,-0.0077437,-0.021444,-0.031689,-0.038953,-0.049292,-0.061789,-0.07567,-0.084682,-0.089632,-0.091258,-0.084619,-0.071639,-0.053996,-0.033127,-0.015853,-0.001848,0.014833,0.033199,0.052426,0.071844,0.090919,0.10364,0.11102,0.11402,0.10789,0.10033,0.091825,0.077197,0.058114,0.036007,0.01208,-0.0070692,-0.016364,-0.023268,-0.033721,-0.041098,-0.045865,-0.054062,-0.064752,-0.071528,-0.069445,-0.060439,-0.051814,-0.043708,-0.036216,-0.035004,-0.038768,-0.040749,-0.041276,-0.040644,-0.033511,-0.027043,-0.02687,-0.026053,-0.019143,-0.013216,-0.0082134,-0.0040658,-0.00069646,0.0019745,0.0040278,0.0055426,0.006595,0.012862,0.017472,0.020658,0.02825,0.033512,0.036806,0.044072,0.054283,0.060948,0.06465,0.065927,0.065261,0.068688,0.07525,0.084116,0.088965,0.090528,0.095069,0.096235,0.089107,0.081235,0.072976,0.064622,0.06201,0.063987,0.063921,0.056643,0.04387,0.027093,0.007589,-0.0079629,-0.020008,-0.028986,-0.035321,-0.04502,-0.051517,-0.055326,-0.056924,-0.051133,-0.045276,-0.039516,-0.033978,-0.028755,-0.018308,-0.0096161,-0.0081335,-0.012365,-0.02099,-0.032856,-0.046972,-0.056898,-0.057666,-0.051203,-0.03921,-0.023165,-0.0043373,0.016205,0.031972,0.037971,0.041733,0.043637,0.038424,0.033345,0.0285,0.023962,0.019781,0.015986,0.018199,0.025086,0.029873,0.032885,0.040029,0.04464,0.047139,0.047912,0.041701,0.030146,0.014677,0.0021226,-0.0022117,-0.0055688,-0.0080714,-0.0098374,-0.016584,-0.021477,-0.01918,-0.011279,-0.0047709,0.00047506,0.0102,0.023205,0.032858,0.034021,0.034075,0.038858,0.04164,0.037169,0.032706,0.033968,0.039706,0.043218,0.039282,0.029581,0.021192,0.019653,0.023549,0.031626,0.037185,0.035013,0.032416,0.035154,0.042025,0.051976,0.0641,0.072022,0.070829,0.062488,0.054335,0.046537,0.033611,0.022579,0.018925,0.021174,0.028013,0.032689,0.035542,0.036888,0.037012,0.036172,0.028987,0.022594,0.022593,0.022019,0.021009,0.025286,0.028014,0.023845,0.014353,0.0065134,0.0057805,0.0050569,-0.001247,-0.011785,-0.019785,-0.025584,-0.029501,-0.031838
0,-0.041888,0.010514,-0.032734,0.018401,0.057755,0.086781,0.023063,0.056445,0.080571,0.012929,0.043271,-0.018628,-0.066785,-0.10284,-0.12832,-0.060897,-0.006702,-0.048026,0.0051132,-0.037276,-0.068976,-0.0076088,0.04072,0.077533,0.020482,0.059485,0.088261,0.10815,0.036627,-0.02035,0.019337,0.049324,-0.012907,-0.06138,-0.01396,0.023008,0.050809,-0.013136,-0.062911,-0.10021,-0.042847,0.0028899,0.038344,0.064774,-0.0004157,-0.051327,-0.005891,0.029486,0.056032,0.074895,0.087142,0.0099828,-0.050869,-0.097304,-0.047326,-0.091182,-0.1229,-0.06032,-0.0097691,0.03008,0.060476,-0.0011827,0.034782,-0.02191,0.018455,-0.034368,-0.074405,-0.01951,0.023994,-0.026354,0.019261,0.054471,-0.0032348,-0.047866,-0.081037,-0.020483,0.027591,-0.019164,-0.054601,-0.080182,-0.01349,-0.044361,0.017349,-0.018183,0.039197,-0.00033031,-0.030384,-0.052203,-0.066939,-0.075648,-0.079304,-0.078791,-0.074912,0.015388,0.0028826,-0.0054706,0.073416,0.050344,0.032282,0.10233,0.15504,0.10882,0.070473,0.039167,0.014115,0.078353,0.12639,0.16031,0.09827,0.046882,0.08886,0.034613,0.074481,0.01879,-0.025975,-0.060988,-0.0035872,0.040368,-0.011168,0.031991,0.063802,0.085815,0.099463,0.022286,-0.039708,-0.08815,-0.12459,-0.066711,-0.10448,-0.13166,-0.14963,-0.075927,-0.10033,-0.11642,-0.12541,-0.12842,-0.042684,-0.05773,0.016903,0.075462,0.11981,0.15169,0.17275,0.10074,0.12568,0.14134,0.14912,0.15029,0.14604,0.13742,0.041626,0.048093,-0.033713,-0.09813,-0.063335,-0.11976,-0.16161,-0.19073,-0.20882,-0.21747,-0.13439,-0.06576,-0.093877,-0.11254,-0.039375,-0.064248,-0.080811,-0.090322,-0.010157,0.05383,0.10341,0.056493,0.10324,0.053843,0.014684,-0.015481,0.045969,0.009379,0.065063,0.10712,0.053475,0.010533,0.060831,0.098406,0.041123,0.07909,0.022423,0.061196,0.0054931,0.045357,-0.0091585,0.031962,0.06252,0.00015384,0.034751,0.05999,-0.0066112,0.02472,0.047554,0.063079,-0.011387,0.01374,-0.051928,-0.018797,0.006538,0.025114,0.037887,-0.03804,-0.013285,0.0053552,-0.06505,-0.11892,-0.074485,-0.12222,-0.072584,-0.032206,-6.2891e-05,-0.058969,-0.10322,-0.13469,-0.15515,-0.1662,-0.085584,-0.10324,-0.029134,-0.053151,-0.068968,0.0059156,-0.018243,0.048804,0.10111,0.056597,0.10543,0.0578,0.10389,0.13768,0.076951,0.028007,-0.010504,-0.039839,-0.061177,-0.07561,-0.0003762,0.05879,0.10376,0.13629,0.15802,0.1705,0.17514,0.08948,0.01952,0.047403,-0.017005,-0.067646
0,0.041888,-0.010514,0.032734,-0.018401,-0.057755,-0.086781,-0.023063,-0.056445,0.0032049,0.049818,0.0011694,-0.036482,0.019278,0.062372,0.010565,0.053883,0.0023675,0.046034,-0.0050829,0.039023,-0.011622,0.03298,0.066623,0.0069395,0.043824,0.070965,0.0058959,0.038408,0.062093,0.078165,0.0039676,0.029113,-0.036759,-0.0040257,0.020746,0.03862,0.050579,-0.02625,-0.0024619,0.015168,-0.05627,-0.11118,-0.067773,-0.11651,-0.067844,-0.02839,0.0028837,-0.056832,-0.10183,-0.13398,-0.15504,-0.16663,-0.086474,-0.10453,-0.030751,-0.055034,-0.071059,0.0036735,-0.020585,0.046409,0.098708,0.054217,0.1031,0.055565,0.10177,0.13568,0.075096,0.026304,-0.012045,-0.041216,-0.062388,-0.076658,-0.0012634,0.058057,0.10317,0.13584,0.1577,0.1703,0.17505,0.089484,0.019608,0.047564,-0.016781,-0.06737,-0.022,-0.070737,-0.023672,-0.07088,-0.022457,0.015298,0.04371,-0.019765,0.014595,0.040317,-0.02522,0.0076324,-0.051445,-0.09656,-0.12943,-0.15165,-0.080963,-0.02355,-0.061748,-0.0056165,-0.045179,-0.074243,-0.010452,0.040077,0.078856,0.023536,0.064033,0.094072,0.115,0.044298,-0.012059,0.028059,0.058303,-0.0038278,-0.052343,-0.0050899,0.031604,0.059038,-0.005349,-0.055627,-0.093475,-0.036693,0.0084411,0.043283,0.069102,0.0033092,-0.048187,-0.0033134,0.031531,0.057578,0.075978,0.0878,0.010259,-0.050934,-0.097669,-0.04795,-0.092024,-0.12392,-0.061485,-0.011043,0.028729,0.059077,-0.0026027,0.033365,-0.023304,0.017102,-0.035664,-0.075632,-0.020658,0.022933,-0.027323,0.018389,0.053696,-0.0039118,-0.048446,-0.081525,-0.020881,0.027278,-0.019398,-0.054761,-0.080274,-0.013521,-0.044339,0.017419,-0.018072,0.039342,-0.00015697,-0.030188,-0.051991,-0.066715,-0.075417,-0.07907,-0.078558,-0.074684,0.015608,0.0030936,-0.0052712,0.073603,0.050515,0.032438,0.10247,0.15517,0.10893,0.070566,0.039245,0.014178,0.078403,0.12643,0.16033,0.098283,0.046886,0.088856,0.0346,0.074462,0.018766,-0.026004,-0.06102,-0.0036221,0.040331,-0.011205,0.031953,0.063764,0.085778,0.099427,0.022252,-0.039741,-0.08818,-0.12462,-0.066736,-0.1045,-0.13168,-0.14965,-0.075942,-0.10034,-0.11643,-0.12542,-0.12842,-0.042688,-0.057732,0.016902,0.075463,0.11981,0.15169,0.17275,0.10075,0.12568,0.14134,0.14912,0.1503,0.14605,0.13743,0.041632,0.048099,-0.033707,-0.098125,-0.06333,-0.11975,-0.16161,-0.19073,-0.20881,-0.21746,-0.13439,-0.065758,-0.093875,-0.11254,-0.039374,-0.064248,-0.080811,-0.090322,-0.010157
0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,0.7,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,-0.3,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,-0.5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,1.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.3,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4
0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4,0.4
0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
This diff is collapsed.
2.048,0.444362,0.443206,0.438035,0.422109,0.38374,0.339359,0.299018,0.263893,0.236572,0.214126,0.199864,0.187864,0.182103,0.183482,0.184456,0.192504,0.198558,0.210051,0.217662,0.229227,0.236563,0.245653,0.253833,0.259035,0.26295,0.266775,0.268425,0.270773,0.269793,0.269506,0.268072,0.267046,0.264455,0.263898,0.262909,0.261204,0.261209,0.261257,0.260985,0.261324,0.261687,0.261921,0.262423,0.263854,0.263665,0.265103,0.265451,0.266904,0.267798,0.267601,0.267893,0.268012,0.268794,0.268447,0.269144,0.268667,0.269316,0.269392,0.270311,0.270326,0.270679,0.271142,0.270624,0.271163,0.27097,0.271728,0.272018,0.272611,0.272679,0.27238,0.273409,0.273231,0.273246,0.273779,0.274213,0.273891,0.274492,0.274744,0.274623,0.274354,0.274238,0.274698,0.275422,0.275819,0.275762,0.275713,0.276452,0.276715,0.276408,0.276187,0.27616,0.276005,0.27609,0.276438,0.276899,0.277398,0.277618,0.278025,0.277815,0.277541,0.27743,0.277849,0.278209,0.278505,0.278827,0.278976,0.279085,0.278923,0.279187,0.279494,0.279054,0.278881,0.278732
-5.29642,-1.0028,-0.962306,-0.721613,-0.225206,-0.068632,0.032201,0.215521,0.352076,0.29658,0.422362,0.471634,0.479535,0.428185,0.399947,0.409923,0.386999,0.382932,0.343545,0.320101,0.326414,0.300437,0.285524,0.162532,0.121863,0.160382,0.116543,0.0635624,0.030963,-0.0550323,-0.0419095,-0.044828,-0.0726548,-0.064868,-0.0522016,-0.0138418,-0.0180861,-0.0881486,-0.0500284,-0.0668658,-0.0427506,-0.0441379,-0.0292605,-0.0327625,-0.0191549,-0.0179861,-0.00849217,-0.0297145,0.0206892,0.0404698,0.0649094,0.0378056,0.0112312,0.0197552,0.00447768,0.0240259,0.036369,-0.0252985,-0.00838956,-0.016776,-0.00700563,0.014407,-0.0178912,-0.0177912,-0.00504148,-0.0481529,0.00499678,0.0114031,-0.0296143,-0.0237573,-0.00263417,-0.0343764,-0.00604305,0.0347899,-0.0168352,-0.0441233,-0.017664,0.0356075,0.0409636,-0.00474143,-0.0181841,-0.00094223,-0.00332615,-0.0295185,-0.00898367,0.00960019,0.00430167,0.0091629,0.0112879,0.00593242,0.00440577,-0.00841179,-0.0118632,-0.00859901,-0.0262717,-0.0238644,0.00460333,0.00994065,0.000574291,-0.00284362,0.0115387,0.0203675,0.0329281,0.044577,0.0397855,0.00507873,-0.0173105,-0.0207038,-0.0187857,-0.0154538,0.0131995,0.0152772,0.0101757,0.00456092
8.69335,0.716304,0.709651,0.622596,0.285353,-0.279498,-0.74807,-0.889002,-0.904314,-0.929775,-1.00299,-0.982741,-0.894774,-0.758759,-0.670491,-0.544537,-0.48811,-0.453279,-0.388679,-0.299656,-0.266472,-0.205853,-0.147785,-0.121062,-0.0685591,-0.0431418,0.00300384,0.0349672,0.0430726,0.0649729,0.0928025,0.0740214,0.0861137,0.0700794,0.0648101,0.0561725,0.0391633,0.0470448,0.0371367,0.0323501,0.0103515,0.00522895,-0.0100958,-0.0172651,-0.0126916,0.00804665,-0.00383349,-0.012122,-0.010616,-0.0083649,0.00113771,-0.00104903,-0.0119185,-0.0202598,-0.0432945,-0.0295044,-0.0241031,-0.0144628,-0.0213115,-0.0105561,-0.00484553,0.000896078,-0.00398616,-0.00511844,-0.0130726,0.000386544,-0.00229641,-0.00527838,-0.0139936,-0.0109603,-0.00626507,0.00414638,-0.00463017,-0.0260632,-0.0265918,-0.0021764,0.000982776,0.000253476,-0.0128041,-0.0109975,-0.00625294,-0.003315,0.000859067,0.00727832,0.00946406,0.0131451,0.0142727,0.0195453,0.0208949,0.0148998,0.0129915,0.00587915,-0.00512339,-0.017824,-0.0217146,-0.0137044,0.00331224,0.0170287,0.0161418,0.00801497,0.00533415,-0.00163238,0.0020432,0.0110218,0.0115982,0.00335796,-0.00906982,-0.0197138,-0.0206016,-0.0109494,-0.000371337,0.0043463,0.0112515,0.0136027
-0.0789043,-0.07875,-0.0773188,-0.0870434,-0.0981576,-0.118016,-0.128952,-0.163227,-0.219374,-0.249884,-0.273333,-0.294157,-0.311565,-0.311925,-0.332878,-0.285736,-0.286016,-0.288758,-0.299201,-0.266731,-0.280072,-0.268468,-0.256016,-0.24692,-0.243493,-0.232191,-0.223011,-0.213242,-0.213507,-0.208746,-0.210879,-0.210531,-0.214437,-0.21846,-0.228241,-0.235488,-0.23641,-0.233671,-0.235462,-0.23836,-0.234384,-0.240255,-0.240337,-0.234634,-0.242795,-0.236602,-0.24257,-0.240713,-0.238443,-0.240223,-0.237338,-0.24056,-0.246526,-0.247552,-0.229774,-0.227776,-0.230263,-0.2378,-0.232456,-0.237293,-0.236675,-0.230432,-0.232506,-0.23126,-0.229142,-0.230563,-0.228798,-0.226505,-0.230254,-0.228123,-0.222644,-0.221685,-0.2249,-0.227921,-0.218929,-0.222224,-0.227285,-0.226688,-0.224012,-0.226195,-0.226212,-0.224619,-0.222529,-0.221198,-0.217815,-0.215629,-0.209201,-0.210843,-0.21413,-0.209613,-0.212218,-0.213885,-0.213194,-0.208654,-0.205965,-0.208087,-0.209766,-0.208397,-0.208871,-0.209205,-0.203628,-0.19856,-0.203144,-0.202169,-0.196971,-0.194694,-0.193775,-0.192489,-0.188978,-0.189328,-0.193916,-0.190908,-0.191717,-0.19181
This diff is collapsed.
-0.17183,-0.171843,-0.171818,-0.17168,-0.171261,-0.169393,-0.164912,-0.157161,-0.146123,-0.132548,-0.117033,-0.100011,-0.0822564,-0.063979,-0.0460171,-0.0281556,-0.0107758,0.00569464,0.0212796,0.0362333,0.0496217,0.0621916,0.0731833,0.0830303,0.0912451,0.0984062,0.103891,0.107964,0.110902,0.11243,0.112819,0.112371,0.111071,0.108896,0.106236,0.103274,0.0999521,0.0962544,0.0924568,0.0885072,0.0848226,0.0808604,0.0771826,0.0734182,0.0699481,0.0664759,0.0632353,0.0600206,0.0570472,0.0542795,0.0514641,0.0488672,0.046416,0.0440974,0.042112,0.0401914,0.0384622,0.0368321,0.0354035,0.0339259,0.0326975,0.0314611,0.0304464,0.0293907,0.0284698,0.0276135,0.0267846,0.0260324,0.0254264,0.024787,0.0241586,0.0235646,0.0230647,0.0227021,0.022294,0.021848,0.0215417,0.0212725,0.0211042,0.0209285,0.0207713,0.0205833,0.0203649,0.0201806,0.0200622,0.0199212,0.0197584,0.0195363,0.0193332,0.0191511,0.0189373,0.018727,0.0184621,0.0182844,0.0181867,0.0181379,0.0181518,0.0181282,0.0180346,0.0179685,0.0179096,0.0178343,0.0177573,0.017674,0.0176161,0.0175263,0.0174801,0.0175329,0.0175972,0.0176614,0.0178053,0.0179369,0.0180183,0.0180849
-0.0984982,-0.0985012,-0.0983498,-0.0976659,-0.0964315,-0.0948769,-0.0915627,-0.0866931,-0.079833,-0.0711874,-0.0611238,-0.0500297,-0.0377036,-0.024884,-0.0109597,0.00270975,0.0167233,0.0307049,0.0448683,0.0582963,0.071736,0.0843857,0.0965711,0.108175,0.118589,0.128122,0.136757,0.14433,0.150401,0.155723,0.159824,0.162996,0.16508,0.166597,0.166977,0.166754,0.166061,0.164907,0.163345,0.161447,0.159077,0.156788,0.154115,0.151829,0.149208,0.14676,0.144346,0.142156,0.140057,0.13801,0.13621,0.13453,0.133078,0.131674,0.130583,0.129525,0.128441,0.127324,0.12661,0.125553,0.124798,0.124053,0.123315,0.122633,0.122064,0.121246,0.12071,0.12014,0.119408,0.11892,0.11851,0.117937,0.11732,0.116872,0.116512,0.116021,0.115653,0.115399,0.115102,0.114795,0.11447,0.114288,0.114078,0.11376,0.113457,0.113255,0.11323,0.113162,0.11293,0.112852,0.11273,0.112595,0.112504,0.112347,0.112156,0.111921,0.111803,0.111861,0.112022,0.112147,0.112328,0.112597,0.112728,0.113002,0.113297,0.113572,0.113763,0.11388,0.114059,0.114147,0.114143,0.114223,0.114201,0.114122
0.0226973,0.0227195,0.0229855,0.0243263,0.0289272,0.0412511,0.0618379,0.0890368,0.121105,0.155916,0.192169,0.227986,0.262927,0.295749,0.325134,0.351498,0.373627,0.392348,0.406831,0.418309,0.426227,0.431826,0.434954,0.436043,0.435921,0.434978,0.43331,0.431452,0.429272,0.427509,0.425976,0.424895,0.424136,0.424,0.423996,0.424203,0.424753,0.425249,0.425688,0.426142,0.426481,0.42671,0.426867,0.426903,0.42663,0.426424,0.425932,0.425413,0.424634,0.42374,0.422973,0.422218,0.421509,0.420702,0.420046,0.419305,0.418736,0.418083,0.417477,0.416733,0.416057,0.415371,0.414652,0.414112,0.41351,0.413006,0.412388,0.411769,0.411082,0.410447,0.409936,0.409255,0.408677,0.408151,0.407563,0.406938,0.406441,0.405865,0.40529,0.404795,0.404406,0.404078,0.403684,0.403173,0.402627,0.402145,0.40172,0.401178,0.400632,0.400204,0.399864,0.399562,0.399322,0.399087,0.3988,0.398443,0.398014,0.397579,0.397099,0.39671,0.396416,0.396174,0.395866,0.395511,0.395127,0.394711,0.394303,0.393912,0.393592,0.393246,0.392869,0.392621,0.392433,0.392296
0.124969,0.125323,0.119692,0.0836494,0.00472194,-0.0185146,-0.021128,-0.0389121,-0.0454135,-0.0205526,-0.0285856,-0.0262062,-0.0142727,0.00289168,0.0211767,0.0252348,0.0379067,0.0447177,0.0588856,0.0648596,0.0700957,0.0749273,0.0807863,0.103322,0.106787,0.0987722,0.10445,0.109763,0.107062,0.11918,0.110025,0.105317,0.10306,0.098579,0.0880904,0.0770536,0.0741506,0.0822991,0.0721505,0.0717364,0.0629001,0.0629787,0.0562002,0.0589194,0.0527141,0.0528622,0.0503409,0.0547361,0.0458929,0.0419641,0.0390237,0.0437015,0.0492587,0.0475342,0.0519342,0.0484225,0.0455597,0.0551989,0.055052,0.0533974,0.0536209,0.0497876,0.0548554,0.0550267,0.0534262,0.0584009,0.0513568,0.0497277,0.0549959,0.0557061,0.0525815,0.0564286,0.050958,0.0450536,0.0543819,0.0577806,0.0539899,0.0457278,0.0443081,0.0518191,0.053795,0.0519284,0.0520529,0.0554964,0.0519705,0.0495345,0.0518329,0.0506842,0.048922,0.0510032,0.0508688,0.052882,0.0538,0.0526432,0.0552461,0.0543578,0.0503397,0.0508622,0.0533449,0.0536966,0.0518004,0.0511456,0.0480002,0.0472725,0.0483975,0.0542658,0.0574831,0.0574907,0.0577337,0.0565113,0.0508819,0.0512357,0.0513196,0.0518002
-0.0386874,-0.0387779,-0.0380042,-0.0242061,0.0304648,0.114056,0.170456,0.164778,0.135451,0.11216,0.100626,0.0759863,0.045205,0.00854302,-0.0146119,-0.0425479,-0.0574519,-0.0647893,-0.0774186,-0.0934162,-0.0943985,-0.103751,-0.106233,-0.106241,-0.105894,-0.104766,-0.101611,-0.0972945,-0.0906701,-0.0837895,-0.0794395,-0.0691733,-0.0636155,-0.052975,-0.0467191,-0.0413429,-0.0338385,-0.0301403,-0.025638,-0.0215783,-0.0177095,-0.0129105,-0.0104399,-0.00684018,-0.00808596,-0.00985637,-0.00813608,-0.00544781,-0.00610373,-0.00675444,-0.00670578,-0.00686522,-0.00518666,-0.0037015,-0.00128369,-0.00315885,-0.00472475,-0.00642287,-0.00627188,-0.00685419,-0.00931331,-0.00950832,-0.00992984,-0.00891242,-0.00818209,-0.0104008,-0.0098878,-0.00953954,-0.00884888,-0.00889532,-0.00941448,-0.0110308,-0.0100439,-0.00744029,-0.00669128,-0.0102842,-0.0118985,-0.0119826,-0.0103901,-0.0105763,-0.0114265,-0.011647,-0.0119564,-0.0131222,-0.0138857,-0.0142801,-0.0142105,-0.0145438,-0.0147814,-0.013848,-0.0131962,-0.0119385,-0.00953927,-0.00785997,-0.00770302,-0.00941722,-0.0128754,-0.0149699,-0.0143044,-0.0131013,-0.0126118,-0.0112328,-0.0118209,-0.0133184,-0.0135094,-0.011782,-0.00994127,-0.00887188,-0.00881277,-0.010441,-0.0129494,-0.0137063,-0.0144872,-0.0147741
0.0265671,0.0265151,0.0260333,0.0293075,0.0330497,0.039736,0.0434181,0.0549585,0.0738633,0.0841361,0.0920314,0.0990427,0.104904,0.105025,0.11208,0.0962074,0.0963018,0.097225,0.100741,0.0898084,0.0943004,0.0903932,0.0862008,0.0831379,0.0819841,0.0781789,0.0750879,0.0717985,0.0718878,0.070285,0.071003,0.0708858,0.0722009,0.0735555,0.0768487,0.079289,0.0795995,0.0786769,0.0792803,0.0802558,0.078917,0.0808939,0.0809217,0.0790015,0.0817492,0.0796641,0.0816733,0.0810483,0.0802838,0.080883,0.0799118,0.0809967,0.0830054,0.0833508,0.077365,0.0766922,0.0775297,0.0800673,0.0782679,0.0798968,0.0796886,0.0775865,0.0782849,0.0778653,0.0771522,0.0776308,0.0770364,0.0762643,0.0775265,0.0768091,0.0749643,0.0746413,0.0757241,0.0767412,0.0737136,0.074823,0.076527,0.0763258,0.075425,0.0761601,0.0761656,0.0756293,0.0749256,0.0744775,0.0733384,0.0726023,0.0704379,0.0709908,0.0720975,0.0705766,0.0714538,0.0720153,0.0717825,0.0702538,0.0693484,0.0700628,0.0706284,0.0701675,0.0703271,0.0704393,0.0685617,0.0668553,0.0683986,0.0680703,0.0663202,0.0655537,0.0652442,0.0648111,0.0636288,0.0637469,0.0652917,0.0642788,0.0645512,0.0645825
File mode changed from 100644 to 100755
File mode changed from 100644 to 100755
......@@ -846,7 +846,7 @@
</sizepolicy>
</property>
<property name="text">
<string>Spare</string>
<string>Collect Data</string>
</property>
</widget>
</item>
......
......@@ -220,6 +220,9 @@ vector<float> yaml_gainMatrixRollRate = { 0.00,-6.20, 0.00, 0.00
vector<float> yaml_gainMatrixPitchRate = { 6.20, 0.00, 0.00, 3.00, 0.00, 0.00, 0.00, 5.20, 0.00};
vector<float> yaml_gainMatrixYawRate = { 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 2.30};
// Data collection max time, in minutes
float yaml_data_collection_max_time;
// HOME path used for file read/write
const string HOME = getenv("HOME");
......@@ -301,6 +304,9 @@ float m_setpoint[4] = {0.0,0.0,0.4,0.0};
// differs from the setpoint when landing
float m_setpoint_for_controller[4] = {0.0,0.0,0.4,0.0};
// Data collection matrix max size
int m_data_collection_max_size;
// Absolute data folder location
string m_dataFolder = HOME + yaml_dataFolder;
......@@ -332,11 +338,23 @@ bool m_yawRateExcEnable = false;
int m_yawRateExcIndex = 0;
// Data collection matrices
// Variables used for excitation
MatrixXf m_u_data;
MatrixXf m_y_data;
int m_dataIndex = 0;
bool m_write_data = false;
// Variables used for general data collection
bool m_collect_data = false;
MatrixXf m_u_data_lqr = MatrixXf::Zero(0,0);
MatrixXf m_y_data_lqr = MatrixXf::Zero(0,0);
MatrixXf m_r_data_lqr = MatrixXf::Zero(0,0);
int m_dataIndex_lqr = 0;
MatrixXf m_u_data_Deepc = MatrixXf::Zero(0,0);
MatrixXf m_y_data_Deepc = MatrixXf::Zero(0,0);
MatrixXf m_r_data_Deepc = MatrixXf::Zero(0,0);
int m_dataIndex_Deepc = 0;
// Variables shared between main and Deepc thread
float s_cf_weight_in_newtons = m_cf_weight_in_newtons;
MatrixXf s_setpoint = MatrixXf::Zero(4, 1);
......@@ -576,6 +594,7 @@ void customCommandReceivedCallback(const CustomButtonWithHeader& commandReceived
void processCustomButton1(float float_data, int int_data, bool* bool_data);
void processCustomButton2(float float_data, int int_data, bool* bool_data);
void processCustomButton3(float float_data, int int_data, bool* bool_data);
void processCustomButton4(float float_data, int int_data, bool* bool_data);
// FOR LOADING THE YAML PARAMETERS
void isReadyDeepcControllerYamlCallback(const IntWithHeader& msg);
......
......@@ -56,6 +56,9 @@ gainMatrixYawRate : [ 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.0
#gainMatrixPitchRate : [ 2.97, 0.00, 0.00, 1.92, 0.00, 0.00, 0.00, 6.09, 0.00]
#gainMatrixYawRate : [ -0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 3.06]
# Data collection max time, in minutes
data_collection_max_time : 10
# Data folder location, relative to HOME path
dataFolder : /work/D-FaLL-System/Deepc_data/
......@@ -87,7 +90,7 @@ exc_start_time : 0.0
# EVERYTHING DEEPC
# Flag that indicates whether to use roll and pitch angle measurements in Deepc
Deepc_measure_roll_pitch : true
Deepc_measure_roll_pitch : false
# Flag that activates yaw control through Deepc
Deepc_yaw_control : false
......@@ -105,18 +108,18 @@ Q : [40.0, 40.0, 40.0, 0.0, 0.0, 0.0, 0.0, 0.0, 10.0]
R : [160.0, 4.0, 4.0, 1.0]
# Terminal output cost matrix diagonal entries (x, y, z, x_dot, y_dot, z_dot, roll, pitch, yaw)
P : [657.21, 657.21, 657.21, 96.92, 96.92, 0.47, 629.60, 629.60, 84.21]
P : [657.21, 657.21, 355.26, 96.92, 96.92, 18.77, 629.60, 629.60, 84.21]
# Regularization parameters
lambda2_g : 400.0
lambda2_s : 600000.0
lambda2_g : 600.0
lambda2_s : 10000000.0
# Output constraints (x, y, z, x_dot, y_dot, z_dot, roll, pitch, yaw)
output_min : [-4.0, -4.0, -4.0, -100, -100, -100, -0.5236, -0.5236, -0.5236]
output_min : [-4.0, -4.0, 0.1, -100, -100, -100, -0.5236, -0.5236, -0.5236]
output_max : [4.0, 4.0, 4.0, 100, 100, 100, 0.5236, 0.5236, 0.5236]
# Input constraints (thurst, rollRate, pitchRate, yawRate)
input_min : [0.0, -1.5708, -1.5708, -1.5708]
input_min : [0.1597, -1.5708, -1.5708, -1.5708]
input_max : [0.4791, 1.5708, 1.5708, 1.5708]
# Optimization parameters
......
......@@ -1862,6 +1862,7 @@ void computeResponse_for_LQR(Controller::Request &request, Controller::Response
m_rollRateExcEnable = false;
m_pitchRateExcEnable = false;
m_yawRateExcEnable = false;
m_dataIndex_lqr = 0;
// Set the change flag back to false
m_current_state_changed = false;
......@@ -1915,6 +1916,61 @@ void computeResponse_for_LQR(Controller::Request &request, Controller::Response
response.controlOutput.motorCmd3 = computeMotorPolyBackward(thrust_request_per_motor);
response.controlOutput.motorCmd4 = computeMotorPolyBackward(thrust_request_per_motor);
// Capture data
if (m_collect_data)
{
if (m_dataIndex_lqr < m_u_data_lqr.rows())
{
// Input data
m_u_data_lqr(m_dataIndex_lqr,0) = output.thrust;
m_u_data_lqr(m_dataIndex_lqr,1) = output.rollRate;
m_u_data_lqr(m_dataIndex_lqr,2) = output.pitchRate;
m_u_data_lqr(m_dataIndex_lqr,3) = output.yawRate;
// Output data
m_y_data_lqr(m_dataIndex_lqr,0) = request.ownCrazyflie.x;
m_y_data_lqr(m_dataIndex_lqr,1) = request.ownCrazyflie.y;
m_y_data_lqr(m_dataIndex_lqr,2) = request.ownCrazyflie.z;
m_y_data_lqr(m_dataIndex_lqr,3) = request.ownCrazyflie.roll;
m_y_data_lqr(m_dataIndex_lqr,4) = request.ownCrazyflie.pitch;
m_y_data_lqr(m_dataIndex_lqr,5) = request.ownCrazyflie.yaw;
// Reference data
m_r_data_lqr(m_dataIndex_lqr,0) = m_setpoint_for_controller[0];
m_r_data_lqr(m_dataIndex_lqr,1) = m_setpoint_for_controller[1];
m_r_data_lqr(m_dataIndex_lqr,2) = m_setpoint_for_controller[2];
m_r_data_lqr(m_dataIndex_lqr,3) = m_setpoint_for_controller[3];
m_dataIndex_lqr++;
}
else
{
// Inform the user
ROS_INFO("[DEEPC CONTROLLER] LQR data collection timeout expired.");
ROS_INFO_STREAM("[DEEPC CONTROLLER] Writing input data to: " << m_outputFolder << "m_u_data_lqr.csv");
if (write_csv(m_outputFolder + "m_u_data_lqr.csv", m_u_data_lqr.transpose()))
ROS_INFO("[DEEPC CONTROLLER] Write file successful");
else
ROS_INFO("[DEEPC CONTROLLER] Write file failed");
ROS_INFO_STREAM("[DEEPC CONTROLLER] Writing output data to: " << m_outputFolder << "m_y_data_lqr.csv");
if (write_csv(m_outputFolder + "m_y_data_lqr.csv", m_y_data_lqr.transpose()))
ROS_INFO("[DEEPC CONTROLLER] Write file successful");
else
ROS_INFO("[DEEPC CONTROLLER] Write file failed");
ROS_INFO_STREAM("[DEEPC CONTROLLER] Writing reference data to: " << m_outputFolder << "m_r_data_lqr.csv");
if (write_csv(m_outputFolder + "m_r_data_lqr.csv", m_r_data_lqr.transpose()))
ROS_INFO("[DEEPC CONTROLLER] Write file successful");
else
ROS_INFO("[DEEPC CONTROLLER] Write file failed");
m_collect_data = false;
}
}
// DEBUG INFO
if (yaml_shouldDisplayDebugInfo)
{
......@@ -2151,7 +2207,7 @@ void computeResponse_for_Deepc(Controller::Request &request, Controller::Respons
Deepc_first_pass = true;
m_Deepc_solving_first_opt = false;
m_Deepc_cycles_since_solve = 0;
m_dataIndex_Deepc = 0;
// Set the change flag back to false
m_current_state_changed = false;
......@@ -2245,6 +2301,61 @@ void computeResponse_for_Deepc(Controller::Request &request, Controller::Respons
response.controlOutput.motorCmd3 = computeMotorPolyBackward(thrust_request_per_motor);
response.controlOutput.motorCmd4 = computeMotorPolyBackward(thrust_request_per_motor);
// Capture data
if (m_collect_data && !use_LQR)
{
if (m_dataIndex_Deepc < m_u_data_Deepc.rows())
{
// Input data
m_u_data_Deepc(m_dataIndex_Deepc,0) = output.thrust;
m_u_data_Deepc(m_dataIndex_Deepc,1) = output.rollRate;
m_u_data_Deepc(m_dataIndex_Deepc,2) = output.pitchRate;
m_u_data_Deepc(m_dataIndex_Deepc,3) = output.yawRate;
// Output data
m_y_data_Deepc(m_dataIndex_Deepc,0) = request.ownCrazyflie.x;
m_y_data_Deepc(m_dataIndex_Deepc,1) = request.ownCrazyflie.y;
m_y_data_Deepc(m_dataIndex_Deepc,2) = request.ownCrazyflie.z;
m_y_data_Deepc(m_dataIndex_Deepc,3) = request.ownCrazyflie.roll;
m_y_data_Deepc(m_dataIndex_Deepc,4) = request.ownCrazyflie.pitch;
m_y_data_Deepc(m_dataIndex_Deepc,5) = request.ownCrazyflie.yaw;
// Reference data
m_r_data_Deepc(m_dataIndex_Deepc,0) = m_setpoint[0];
m_r_data_Deepc(m_dataIndex_Deepc,1) = m_setpoint[1];
m_r_data_Deepc(m_dataIndex_Deepc,2) = m_setpoint[2];
m_r_data_Deepc(m_dataIndex_Deepc,3) = m_setpoint[3];
m_dataIndex_Deepc++;
}
else
{
// Inform the user
ROS_INFO("[DEEPC CONTROLLER] Deepc data collection timeout expired.");
ROS_INFO_STREAM("[DEEPC CONTROLLER] Writing input data to: " << m_outputFolder << "m_u_data_Deepc.csv");
if (write_csv(m_outputFolder + "m_u_data_Deepc.csv", m_u_data_Deepc.transpose()))
ROS_INFO("[DEEPC CONTROLLER] Write file successful");
else
ROS_INFO("[DEEPC CONTROLLER] Write file failed");
ROS_INFO_STREAM("[DEEPC CONTROLLER] Writing output data to: " << m_outputFolder << "m_y_data_Deepc.csv");
if (write_csv(m_outputFolder + "m_y_data_Deepc.csv", m_y_data_Deepc.transpose()))
ROS_INFO("[DEEPC CONTROLLER] Write file successful");
else
ROS_INFO("[DEEPC CONTROLLER] Write file failed");
ROS_INFO_STREAM("[DEEPC CONTROLLER] Writing reference data to: " << m_outputFolder << "m_r_data_Deepc.csv");
if (write_csv(m_outputFolder + "m_r_data_Deepc.csv", m_r_data_Deepc.transpose()))
ROS_INFO("[DEEPC CONTROLLER] Write file successful");
else
ROS_INFO("[DEEPC CONTROLLER] Write file failed");
m_collect_data = false;
}
}
// DEBUG INFO
if (yaml_shouldDisplayDebugInfo)
{
......@@ -2786,11 +2897,12 @@ void customCommandReceivedCallback(const CustomButtonWithHeader& commandReceived
break;
// > FOR CUSTOM BUTTON 4 - SPARE
// > FOR CUSTOM BUTTON 4 - COLLECT DATA
case 4:
// Let the user know that this part of the code was triggered
ROS_INFO_STREAM("[DEEPC CONTROLLER] Button 4 received in controller, with message.float_data = " << float_data );
// Code here to respond to custom button 4
processCustomButton4(float_data, int_data, bool_data);
break;
......@@ -2944,6 +3056,74 @@ void processCustomButton3(float float_data, int int_data, bool* bool_data)
}
}
// CUSTOM BUTTON 4 - COLLECT DATA
void processCustomButton4(float float_data, int int_data, bool* bool_data)
{
if (!m_collect_data)
{
// Inform the user
ROS_INFO("[DEEPC CONTROLLER] Received request to start data collection");
m_dataIndex_lqr = 0;
m_dataIndex_Deepc = 0;
m_collect_data = true;
}
else
{
// Inform the user
ROS_INFO("[DEEPC CONTROLLER] Received request to stop data collection");
if (m_dataIndex_lqr > 0)
{
// Inform the user
ROS_INFO("[DEEPC CONTROLLER] LQR data found");
ROS_INFO_STREAM("[DEEPC CONTROLLER] Writing input data to: " << m_outputFolder << "m_u_data_lqr.csv");
if (write_csv(m_outputFolder + "m_u_data_lqr.csv", m_u_data_lqr.topRows(m_dataIndex_lqr).transpose()))
ROS_INFO("[DEEPC CONTROLLER] Write file successful");
else
ROS_INFO("[DEEPC CONTROLLER] Write file failed");
ROS_INFO_STREAM("[DEEPC CONTROLLER] Writing output data to: " << m_outputFolder << "m_y_data_lqr.csv");
if (write_csv(m_outputFolder + "m_y_data_lqr.csv", m_y_data_lqr.topRows(m_dataIndex_lqr).transpose()))
ROS_INFO("[DEEPC CONTROLLER] Write file successful");
else
ROS_INFO("[DEEPC CONTROLLER] Write file failed");
ROS_INFO_STREAM("[DEEPC CONTROLLER] Writing reference data to: " << m_outputFolder << "m_r_data_lqr.csv");
if (write_csv(m_outputFolder + "m_r_data_lqr.csv", m_r_data_lqr.topRows(m_dataIndex_lqr).transpose()))
ROS_INFO("[DEEPC CONTROLLER] Write file successful");
else
ROS_INFO("[DEEPC CONTROLLER] Write file failed");
}
if (m_dataIndex_Deepc > 0)
{
// Inform the user
ROS_INFO("[DEEPC CONTROLLER] Deepc data found");
ROS_INFO_STREAM("[DEEPC CONTROLLER] Writing input data to: " << m_outputFolder << "m_u_data_Deepc.csv");
if (write_csv(m_outputFolder + "m_u_data_Deepc.csv", m_u_data_Deepc.topRows(m_dataIndex_Deepc).transpose()))
ROS_INFO("[DEEPC CONTROLLER] Write file successful");
else
ROS_INFO("[DEEPC CONTROLLER] Write file failed");
ROS_INFO_STREAM("[DEEPC CONTROLLER] Writing output data to: " << m_outputFolder << "m_y_data_Deepc.csv");
if (write_csv(m_outputFolder + "m_y_data_Deepc.csv", m_y_data_Deepc.topRows(m_dataIndex_Deepc).transpose()))
ROS_INFO("[DEEPC CONTROLLER] Write file successful");
else
ROS_INFO("[DEEPC CONTROLLER] Write file failed");
ROS_INFO_STREAM("[DEEPC CONTROLLER] Writing reference data to: " << m_outputFolder << "m_r_data_Deepc.csv");
if (write_csv(m_outputFolder + "m_r_data_Deepc.csv", m_r_data_Deepc.topRows(m_dataIndex_Deepc).transpose()))
ROS_INFO("[DEEPC CONTROLLER] Write file successful");
else
ROS_INFO("[DEEPC CONTROLLER] Write file failed");
}
m_collect_data = false;
}
}
// ----------------------------------------------------------------------------------
// L OOO A DDDD
// L O O A A D D
......@@ -3090,6 +3270,9 @@ void fetchDeepcControllerYamlParameters(ros::NodeHandle& nodeHandle)
// Excitation start time, in s. Used to collect steady-state data before excitation
yaml_exc_start_time = getParameterFloat(nodeHandle_for_paramaters, "exc_start_time");
// Data collection max time, in minutes
yaml_data_collection_max_time = getParameterFloat(nodeHandle_for_paramaters, "data_collection_max_time");
// Data folder locations
yaml_dataFolder = getParameterString(nodeHandle_for_paramaters, "dataFolder");
yaml_outputFolder = getParameterString(nodeHandle_for_paramaters, "outputFolder");
......@@ -3158,6 +3341,20 @@ void fetchDeepcControllerYamlParameters(ros::NodeHandle& nodeHandle)
// > Compute the yaw rate excitation in units of [rad/s]
m_yawRateExcAmp_in_rad = yaml_yawRateExcAmp_in_deg * PI/180.0;
// > Initialize data collection matrices
int num_rows = ceil(yaml_data_collection_max_time * 60.0 * yaml_control_frequency);
if (num_rows != m_u_data_lqr.rows())
{
m_u_data_lqr = MatrixXf::Zero(num_rows, 4);
m_u_data_Deepc = MatrixXf::Zero(num_rows, 4);
m_y_data_lqr = MatrixXf::Zero(num_rows, 6);
m_y_data_Deepc = MatrixXf::Zero(num_rows, 6);
m_r_data_lqr = MatrixXf::Zero(num_rows, 4);
m_r_data_Deepc = MatrixXf::Zero(num_rows, 4);
}
// > Get absolute data folder location
m_dataFolder = HOME + yaml_dataFolder;
......
Markdown is supported
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment