bullet3/examples/MultiBody/pendulum_gold.h

#ifndef PENDULUM_GOLD_H
#define PENDULUM_GOLD_H

#include "LinearMath/btScalar.h"

/*
sPendulumGold data was created using the Python script,
thanks to Andreas Bihlmaier for the script.

#!/usr/bin/env python

from __future__ import print_function

import numpy as np
from scipy import integrate
import pylab as pl
import math
import argparse

theta_pos = 0
dtheta_pos = 1

def pendulum_system(Y, t):
  m = 10  # [kg]
  g = 9.81  # [m/s^2]
  l = 0.5  # [m]
  tau = 20  # [Nm]
  I = m * pow(l, 2)  # inertia
  return [Y[dtheta_pos], (tau - m*g*l*math.sin(Y[theta_pos])) / I]

def main():
  parser = argparse.ArgumentParser()
  parser.add_argument('--plot', action='store_true', default=False, help='Plot results')
  args = parser.parse_args()

  t = np.arange(0, 2, 0.001) # [s]
  theta0 = 0
  dtheta0 = 0
  theta = integrate.odeint(pendulum_system, [theta0, dtheta0], t)  # [rad]
  print("timestamp;theta;")
  for i in range(theta.shape[0]):
    print("%f;%f;" % (t[i], theta[i,theta_pos]))

  if args.plot:
    pl.plot(t, theta[:,theta_pos], '+')
    pl.show()


if __name__ == '__main__':
  main()
*/

//sPendulumGold stores scalar values of a simulated pendulum in tuples 'timestamp' and 'theta joint angle'
static btScalar sPendulumGold[] =
	{
		0.000000, 0.000000,
		0.001000, 0.000004,
		0.002000, 0.000016,
		0.003000, 0.000036,
		0.004000, 0.000064,
		0.005000, 0.000100,
		0.006000, 0.000144,
		0.007000, 0.000196,
		0.008000, 0.000256,
		0.009000, 0.000324,
		0.010000, 0.000400,
		0.011000, 0.000484,
		0.012000, 0.000576,
		0.013000, 0.000676,
		0.014000, 0.000784,
		0.015000, 0.000900,
		0.016000, 0.001024,
		0.017000, 0.001155,
		0.018000, 0.001295,
		0.019000, 0.001443,
		0.020000, 0.001599,
		0.021000, 0.001763,
		0.022000, 0.001934,
		0.023000, 0.002114,
		0.024000, 0.002302,
		0.025000, 0.002497,
		0.026000, 0.002701,
		0.027000, 0.002913,
		0.028000, 0.003132,
		0.029000, 0.003359,
		0.030000, 0.003595,
		0.031000, 0.003838,
		0.032000, 0.004089,
		0.033000, 0.004348,
		0.034000, 0.004615,
		0.035000, 0.004890,
		0.036000, 0.005173,
		0.037000, 0.005464,
		0.038000, 0.005762,
		0.039000, 0.006069,
		0.040000, 0.006383,
		0.041000, 0.006706,
		0.042000, 0.007036,
		0.043000, 0.007374,
		0.044000, 0.007720,
		0.045000, 0.008073,
		0.046000, 0.008435,
		0.047000, 0.008804,
		0.048000, 0.009181,
		0.049000, 0.009566,
		0.050000, 0.009959,
		0.051000, 0.010360,
		0.052000, 0.010768,
		0.053000, 0.011184,
		0.054000, 0.011608,
		0.055000, 0.012040,
		0.056000, 0.012480,
		0.057000, 0.012927,
		0.058000, 0.013382,
		0.059000, 0.013845,
		0.060000, 0.014315,
		0.061000, 0.014794,
		0.062000, 0.015280,
		0.063000, 0.015773,
		0.064000, 0.016275,
		0.065000, 0.016784,
		0.066000, 0.017300,
		0.067000, 0.017825,
		0.068000, 0.018357,
		0.069000, 0.018896,
		0.070000, 0.019443,
		0.071000, 0.019998,
		0.072000, 0.020561,
		0.073000, 0.021131,
		0.074000, 0.021709,
		0.075000, 0.022294,
		0.076000, 0.022887,
		0.077000, 0.023487,
		0.078000, 0.024095,
		0.079000, 0.024710,
		0.080000, 0.025333,
		0.081000, 0.025964,
		0.082000, 0.026602,
		0.083000, 0.027247,
		0.084000, 0.027900,
		0.085000, 0.028560,
		0.086000, 0.029228,
		0.087000, 0.029903,
		0.088000, 0.030586,
		0.089000, 0.031276,
		0.090000, 0.031973,
		0.091000, 0.032678,
		0.092000, 0.033390,
		0.093000, 0.034110,
		0.094000, 0.034836,
		0.095000, 0.035570,
		0.096000, 0.036312,
		0.097000, 0.037061,
		0.098000, 0.037817,
		0.099000, 0.038580,
		0.100000, 0.039350,
		0.101000, 0.040128,
		0.102000, 0.040913,
		0.103000, 0.041705,
		0.104000, 0.042504,
		0.105000, 0.043311,
		0.106000, 0.044124,
		0.107000, 0.044945,
		0.108000, 0.045773,
		0.109000, 0.046608,
		0.110000, 0.047450,
		0.111000, 0.048299,
		0.112000, 0.049155,
		0.113000, 0.050019,
		0.114000, 0.050889,
		0.115000, 0.051766,
		0.116000, 0.052650,
		0.117000, 0.053542,
		0.118000, 0.054440,
		0.119000, 0.055345,
		0.120000, 0.056257,
		0.121000, 0.057176,
		0.122000, 0.058101,
		0.123000, 0.059034,
		0.124000, 0.059973,
		0.125000, 0.060920,
		0.126000, 0.061873,
		0.127000, 0.062833,
		0.128000, 0.063799,
		0.129000, 0.064773,
		0.130000, 0.065753,
		0.131000, 0.066740,
		0.132000, 0.067733,
		0.133000, 0.068734,
		0.134000, 0.069740,
		0.135000, 0.070754,
		0.136000, 0.071774,
		0.137000, 0.072801,
		0.138000, 0.073834,
		0.139000, 0.074874,
		0.140000, 0.075920,
		0.141000, 0.076973,
		0.142000, 0.078032,
		0.143000, 0.079098,
		0.144000, 0.080170,
		0.145000, 0.081249,
		0.146000, 0.082334,
		0.147000, 0.083426,
		0.148000, 0.084524,
		0.149000, 0.085628,
		0.150000, 0.086738,
		0.151000, 0.087855,
		0.152000, 0.088978,
		0.153000, 0.090108,
		0.154000, 0.091243,
		0.155000, 0.092385,
		0.156000, 0.093533,
		0.157000, 0.094687,
		0.158000, 0.095848,
		0.159000, 0.097014,
		0.160000, 0.098187,
		0.161000, 0.099365,
		0.162000, 0.100550,
		0.163000, 0.101741,
		0.164000, 0.102937,
		0.165000, 0.104140,
		0.166000, 0.105349,
		0.167000, 0.106563,
		0.168000, 0.107784,
		0.169000, 0.109010,
		0.170000, 0.110242,
		0.171000, 0.111480,
		0.172000, 0.112724,
		0.173000, 0.113974,
		0.174000, 0.115230,
		0.175000, 0.116491,
		0.176000, 0.117758,
		0.177000, 0.119030,
		0.178000, 0.120309,
		0.179000, 0.121593,
		0.180000, 0.122882,
		0.181000, 0.124177,
		0.182000, 0.125478,
		0.183000, 0.126784,
		0.184000, 0.128096,
		0.185000, 0.129413,
		0.186000, 0.130736,
		0.187000, 0.132064,
		0.188000, 0.133398,
		0.189000, 0.134737,
		0.190000, 0.136081,
		0.191000, 0.137431,
		0.192000, 0.138786,
		0.193000, 0.140146,
		0.194000, 0.141512,
		0.195000, 0.142883,
		0.196000, 0.144259,
		0.197000, 0.145640,
		0.198000, 0.147026,
		0.199000, 0.148418,
		0.200000, 0.149814,
		0.201000, 0.151216,
		0.202000, 0.152623,
		0.203000, 0.154034,
		0.204000, 0.155451,
		0.205000, 0.156873,
		0.206000, 0.158299,
		0.207000, 0.159731,
		0.208000, 0.161167,
		0.209000, 0.162608,
		0.210000, 0.164054,
		0.211000, 0.165505,
		0.212000, 0.166961,
		0.213000, 0.168421,
		0.214000, 0.169886,
		0.215000, 0.171356,
		0.216000, 0.172830,
		0.217000, 0.174309,
		0.218000, 0.175793,
		0.219000, 0.177281,
		0.220000, 0.178774,
		0.221000, 0.180271,
		0.222000, 0.181773,
		0.223000, 0.183279,
		0.224000, 0.184790,
		0.225000, 0.186305,
		0.226000, 0.187824,
		0.227000, 0.189348,
		0.228000, 0.190876,
		0.229000, 0.192408,
		0.230000, 0.193945,
		0.231000, 0.195485,
		0.232000, 0.197030,
		0.233000, 0.198579,
		0.234000, 0.200133,
		0.235000, 0.201690,
		0.236000, 0.203251,
		0.237000, 0.204817,
		0.238000, 0.206386,
		0.239000, 0.207960,
		0.240000, 0.209537,
		0.241000, 0.211118,
		0.242000, 0.212703,
		0.243000, 0.214293,
		0.244000, 0.215885,
		0.245000, 0.217482,
		0.246000, 0.219082,
		0.247000, 0.220687,
		0.248000, 0.222295,
		0.249000, 0.223906,
		0.250000, 0.225521,
		0.251000, 0.227140,
		0.252000, 0.228762,
		0.253000, 0.230388,
		0.254000, 0.232018,
		0.255000, 0.233651,
		0.256000, 0.235287,
		0.257000, 0.236927,
		0.258000, 0.238570,
		0.259000, 0.240217,
		0.260000, 0.241867,
		0.261000, 0.243520,
		0.262000, 0.245176,
		0.263000, 0.246836,
		0.264000, 0.248499,
		0.265000, 0.250165,
		0.266000, 0.251834,
		0.267000, 0.253507,
		0.268000, 0.255182,
		0.269000, 0.256861,
		0.270000, 0.258542,
		0.271000, 0.260227,
		0.272000, 0.261914,
		0.273000, 0.263604,
		0.274000, 0.265298,
		0.275000, 0.266994,
		0.276000, 0.268693,
		0.277000, 0.270394,
		0.278000, 0.272099,
		0.279000, 0.273806,
		0.280000, 0.275516,
		0.281000, 0.277229,
		0.282000, 0.278944,
		0.283000, 0.280662,
		0.284000, 0.282382,
		0.285000, 0.284105,
		0.286000, 0.285830,
		0.287000, 0.287558,
		0.288000, 0.289288,
		0.289000, 0.291021,
		0.290000, 0.292756,
		0.291000, 0.294493,
		0.292000, 0.296233,
		0.293000, 0.297975,
		0.294000, 0.299719,
		0.295000, 0.301466,
		0.296000, 0.303214,
		0.297000, 0.304965,
		0.298000, 0.306718,
		0.299000, 0.308473,
		0.300000, 0.310230,
		0.301000, 0.311989,
		0.302000, 0.313750,
		0.303000, 0.315513,
		0.304000, 0.317278,
		0.305000, 0.319044,
		0.306000, 0.320813,
		0.307000, 0.322583,
		0.308000, 0.324355,
		0.309000, 0.326129,
		0.310000, 0.327905,
		0.311000, 0.329682,
		0.312000, 0.331461,
		0.313000, 0.333241,
		0.314000, 0.335024,
		0.315000, 0.336807,
		0.316000, 0.338592,
		0.317000, 0.340379,
		0.318000, 0.342167,
		0.319000, 0.343957,
		0.320000, 0.345748,
		0.321000, 0.347540,
		0.322000, 0.349334,
		0.323000, 0.351128,
		0.324000, 0.352925,
		0.325000, 0.354722,
		0.326000, 0.356520,
		0.327000, 0.358320,
		0.328000, 0.360121,
		0.329000, 0.361923,
		0.330000, 0.363726,
		0.331000, 0.365530,
		0.332000, 0.367335,
		0.333000, 0.369141,
		0.334000, 0.370947,
		0.335000, 0.372755,
		0.336000, 0.374564,
		0.337000, 0.376373,
		0.338000, 0.378183,
		0.339000, 0.379994,
		0.340000, 0.381806,
		0.341000, 0.383618,
		0.342000, 0.385431,
		0.343000, 0.387245,
		0.344000, 0.389059,
		0.345000, 0.390874,
		0.346000, 0.392689,
		0.347000, 0.394505,
		0.348000, 0.396321,
		0.349000, 0.398138,
		0.350000, 0.399955,
		0.351000, 0.401772,
		0.352000, 0.403590,
		0.353000, 0.405408,
		0.354000, 0.407226,
		0.355000, 0.409045,
		0.356000, 0.410864,
		0.357000, 0.412682,
		0.358000, 0.414501,
		0.359000, 0.416321,
		0.360000, 0.418140,
		0.361000, 0.419959,
		0.362000, 0.421778,
		0.363000, 0.423597,
		0.364000, 0.425417,
		0.365000, 0.427236,
		0.366000, 0.429055,
		0.367000, 0.430873,
		0.368000, 0.432692,
		0.369000, 0.434510,
		0.370000, 0.436328,
		0.371000, 0.438146,
		0.372000, 0.439963,
		0.373000, 0.441781,
		0.374000, 0.443597,
		0.375000, 0.445413,
		0.376000, 0.447229,
		0.377000, 0.449045,
		0.378000, 0.450859,
		0.379000, 0.452674,
		0.380000, 0.454487,
		0.381000, 0.456301,
		0.382000, 0.458113,
		0.383000, 0.459925,
		0.384000, 0.461736,
		0.385000, 0.463546,
		0.386000, 0.465356,
		0.387000, 0.467164,
		0.388000, 0.468972,
		0.389000, 0.470779,
		0.390000, 0.472585,
		0.391000, 0.474391,
		0.392000, 0.476195,
		0.393000, 0.477998,
		0.394000, 0.479800,
		0.395000, 0.481601,
		0.396000, 0.483402,
		0.397000, 0.485200,
		0.398000, 0.486998,
		0.399000, 0.488795,
		0.400000, 0.490590,
		0.401000, 0.492384,
		0.402000, 0.494177,
		0.403000, 0.495969,
		0.404000, 0.497759,
		0.405000, 0.499548,
		0.406000, 0.501336,
		0.407000, 0.503122,
		0.408000, 0.504906,
		0.409000, 0.506689,
		0.410000, 0.508471,
		0.411000, 0.510251,
		0.412000, 0.512029,
		0.413000, 0.513806,
		0.414000, 0.515581,
		0.415000, 0.517355,
		0.416000, 0.519127,
		0.417000, 0.520897,
		0.418000, 0.522665,
		0.419000, 0.524432,
		0.420000, 0.526196,
		0.421000, 0.527959,
		0.422000, 0.529720,
		0.423000, 0.531479,
		0.424000, 0.533236,
		0.425000, 0.534991,
		0.426000, 0.536745,
		0.427000, 0.538496,
		0.428000, 0.540245,
		0.429000, 0.541992,
		0.430000, 0.543736,
		0.431000, 0.545479,
		0.432000, 0.547220,
		0.433000, 0.548958,
		0.434000, 0.550694,
		0.435000, 0.552428,
		0.436000, 0.554159,
		0.437000, 0.555888,
		0.438000, 0.557615,
		0.439000, 0.559340,
		0.440000, 0.561062,
		0.441000, 0.562781,
		0.442000, 0.564498,
		0.443000, 0.566213,
		0.444000, 0.567925,
		0.445000, 0.569634,
		0.446000, 0.571341,
		0.447000, 0.573046,
		0.448000, 0.574747,
		0.449000, 0.576446,
		0.450000, 0.578143,
		0.451000, 0.579836,
		0.452000, 0.581527,
		0.453000, 0.583215,
		0.454000, 0.584901,
		0.455000, 0.586583,
		0.456000, 0.588263,
		0.457000, 0.589939,
		0.458000, 0.591613,
		0.459000, 0.593284,
		0.460000, 0.594952,
		0.461000, 0.596617,
		0.462000, 0.598279,
		0.463000, 0.599937,
		0.464000, 0.601593,
		0.465000, 0.603246,
		0.466000, 0.604895,
		0.467000, 0.606542,
		0.468000, 0.608185,
		0.469000, 0.609825,
		0.470000, 0.611461,
		0.471000, 0.613095,
		0.472000, 0.614725,
		0.473000, 0.616352,
		0.474000, 0.617975,
		0.475000, 0.619595,
		0.476000, 0.621212,
		0.477000, 0.622825,
		0.478000, 0.624435,
		0.479000, 0.626042,
		0.480000, 0.627645,
		0.481000, 0.629244,
		0.482000, 0.630840,
		0.483000, 0.632432,
		0.484000, 0.634021,
		0.485000, 0.635606,
		0.486000, 0.637187,
		0.487000, 0.638765,
		0.488000, 0.640339,
		0.489000, 0.641909,
		0.490000, 0.643476,
		0.491000, 0.645039,
		0.492000, 0.646598,
		0.493000, 0.648153,
		0.494000, 0.649704,
		0.495000, 0.651252,
		0.496000, 0.652795,
		0.497000, 0.654335,
		0.498000, 0.655870,
		0.499000, 0.657402,
		0.500000, 0.658930,
		0.501000, 0.660454,
		0.502000, 0.661973,
		0.503000, 0.663489,
		0.504000, 0.665001,
		0.505000, 0.666508,
		0.506000, 0.668011,
		0.507000, 0.669511,
		0.508000, 0.671006,
		0.509000, 0.672496,
		0.510000, 0.673983,
		0.511000, 0.675465,
		0.512000, 0.676943,
		0.513000, 0.678417,
		0.514000, 0.679886,
		0.515000, 0.681352,
		0.516000, 0.682812,
		0.517000, 0.684269,
		0.518000, 0.685721,
		0.519000, 0.687168,
		0.520000, 0.688611,
		0.521000, 0.690050,
		0.522000, 0.691484,
		0.523000, 0.692914,
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		1.635000, 0.062433,
		1.636000, 0.063397,
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		1.709000, 0.150632,
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		1.740000, 0.196387,
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		1.750000, 0.212044,
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		1.752000, 0.215222,
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		1.776000, 0.254485,
		1.777000, 0.256162,
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		1.784000, 0.267986,
		1.785000, 0.269686,
		1.786000, 0.271390,
		1.787000, 0.273096,
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		1.790000, 0.278230,
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		1.792000, 0.281666,
		1.793000, 0.283388,
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		1.795000, 0.286839,
		1.796000, 0.288568,
		1.797000, 0.290300,
		1.798000, 0.292034,
		1.799000, 0.293771,
		1.800000, 0.295509,
		1.801000, 0.297250,
		1.802000, 0.298994,
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		1.804000, 0.302487,
		1.805000, 0.304237,
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		1.807000, 0.307743,
		1.808000, 0.309499,
		1.809000, 0.311257,
		1.810000, 0.313017,
		1.811000, 0.314779,
		1.812000, 0.316543,
		1.813000, 0.318309,
		1.814000, 0.320077,
		1.815000, 0.321847,
		1.816000, 0.323618,
		1.817000, 0.325391,
		1.818000, 0.327166,
		1.819000, 0.328943,
		1.820000, 0.330721,
		1.821000, 0.332501,
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		1.824000, 0.337850,
		1.825000, 0.339636,
		1.826000, 0.341423,
		1.827000, 0.343212,
		1.828000, 0.345003,
		1.829000, 0.346794,
		1.830000, 0.348587,
		1.831000, 0.350382,
		1.832000, 0.352177,
		1.833000, 0.353974,
		1.834000, 0.355772,
		1.835000, 0.357572,
		1.836000, 0.359372,
		1.837000, 0.361173,
		1.838000, 0.362976,
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		1.841000, 0.368389,
		1.842000, 0.370196,
		1.843000, 0.372003,
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		1.846000, 0.377430,
		1.847000, 0.379241,
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		1.850000, 0.384677,
		1.851000, 0.386490,
		1.852000, 0.388304,
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		1.856000, 0.395566,
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		1.858000, 0.399199,
		1.859000, 0.401016,
		1.860000, 0.402834,
		1.861000, 0.404652,
		1.862000, 0.406470,
		1.863000, 0.408289,
		1.864000, 0.410107,
		1.865000, 0.411926,
		1.866000, 0.413745,
		1.867000, 0.415564,
		1.868000, 0.417383,
		1.869000, 0.419202,
		1.870000, 0.421022,
		1.871000, 0.422841,
		1.872000, 0.424660,
		1.873000, 0.426479,
		1.874000, 0.428298,
		1.875000, 0.430117,
		1.876000, 0.431936,
		1.877000, 0.433754,
		1.878000, 0.435572,
		1.879000, 0.437390,
		1.880000, 0.439208,
		1.881000, 0.441025,
		1.882000, 0.442842,
		1.883000, 0.444658,
		1.884000, 0.446474,
		1.885000, 0.448290,
		1.886000, 0.450105,
		1.887000, 0.451919,
		1.888000, 0.453733,
		1.889000, 0.455547,
		1.890000, 0.457359,
		1.891000, 0.459171,
		1.892000, 0.460983,
		1.893000, 0.462793,
		1.894000, 0.464603,
		1.895000, 0.466412,
		1.896000, 0.468221,
		1.897000, 0.470028,
		1.898000, 0.471834,
		1.899000, 0.473640,
		1.900000, 0.475445,
		1.901000, 0.477248,
		1.902000, 0.479051,
		1.903000, 0.480853,
		1.904000, 0.482653,
		1.905000, 0.484453,
		1.906000, 0.486251,
		1.907000, 0.488048,
		1.908000, 0.489844,
		1.909000, 0.491639,
		1.910000, 0.493432,
		1.911000, 0.495224,
		1.912000, 0.497015,
		1.913000, 0.498804,
		1.914000, 0.500592,
		1.915000, 0.502379,
		1.916000, 0.504164,
		1.917000, 0.505948,
		1.918000, 0.507730,
		1.919000, 0.509511,
		1.920000, 0.511290,
		1.921000, 0.513067,
		1.922000, 0.514843,
		1.923000, 0.516618,
		1.924000, 0.518390,
		1.925000, 0.520161,
		1.926000, 0.521930,
		1.927000, 0.523697,
		1.928000, 0.525463,
		1.929000, 0.527226,
		1.930000, 0.528988,
		1.931000, 0.530748,
		1.932000, 0.532506,
		1.933000, 0.534262,
		1.934000, 0.536016,
		1.935000, 0.537768,
		1.936000, 0.539518,
		1.937000, 0.541265,
		1.938000, 0.543011,
		1.939000, 0.544755,
		1.940000, 0.546496,
		1.941000, 0.548235,
		1.942000, 0.549972,
		1.943000, 0.551707,
		1.944000, 0.553439,
		1.945000, 0.555169,
		1.946000, 0.556897,
		1.947000, 0.558623,
		1.948000, 0.560346,
		1.949000, 0.562066,
		1.950000, 0.563784,
		1.951000, 0.565500,
		1.952000, 0.567213,
		1.953000, 0.568924,
		1.954000, 0.570632,
		1.955000, 0.572337,
		1.956000, 0.574040,
		1.957000, 0.575740,
		1.958000, 0.577438,
		1.959000, 0.579132,
		1.960000, 0.580824,
		1.961000, 0.582514,
		1.962000, 0.584200,
		1.963000, 0.585884,
		1.964000, 0.587565,
		1.965000, 0.589242,
		1.966000, 0.590917,
		1.967000, 0.592589,
		1.968000, 0.594259,
		1.969000, 0.595925,
		1.970000, 0.597588,
		1.971000, 0.599248,
		1.972000, 0.600905,
		1.973000, 0.602559,
		1.974000, 0.604210,
		1.975000, 0.605857,
		1.976000, 0.607502,
		1.977000, 0.609143,
		1.978000, 0.610781,
		1.979000, 0.612416,
		1.980000, 0.614047,
		1.981000, 0.615676,
		1.982000, 0.617301,
		1.983000, 0.618922,
		1.984000, 0.620540,
		1.985000, 0.622155,
		1.986000, 0.623766,
		1.987000, 0.625374,
		1.988000, 0.626979,
		1.989000, 0.628579,
		1.990000, 0.630177,
		1.991000, 0.631770,
		1.992000, 0.633361,
		1.993000, 0.634947,
		1.994000, 0.636530,
		1.995000, 0.638109,
		1.996000, 0.639685,
		1.997000, 0.641257,
		1.998000, 0.642825,
		1.999000, 0.644389};

#endif  //PENDULUM_GOLD_H