#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,
0.524000,0.694339,
0.525000,0.695759,
0.526000,0.697175,
0.527000,0.698587,
0.528000,0.699994,
0.529000,0.701396,
0.530000,0.702793,
0.531000,0.704186,
0.532000,0.705574,
0.533000,0.706957,
0.534000,0.708336,
0.535000,0.709710,
0.536000,0.711079,
0.537000,0.712443,
0.538000,0.713803,
0.539000,0.715157,
0.540000,0.716507,
0.541000,0.717852,
0.542000,0.719192,
0.543000,0.720527,
0.544000,0.721857,
0.545000,0.723182,
0.546000,0.724502,
0.547000,0.725817,
0.548000,0.727127,
0.549000,0.728432,
0.550000,0.729732,
0.551000,0.731027,
0.552000,0.732317,
0.553000,0.733602,
0.554000,0.734881,
0.555000,0.736155,
0.556000,0.737425,
0.557000,0.738689,
0.558000,0.739948,
0.559000,0.741201,
0.560000,0.742449,
0.561000,0.743693,
0.562000,0.744930,
0.563000,0.746163,
0.564000,0.747390,
0.565000,0.748612,
0.566000,0.749828,
0.567000,0.751039,
0.568000,0.752245,
0.569000,0.753446,
0.570000,0.754640,
0.571000,0.755830,
0.572000,0.757014,
0.573000,0.758192,
0.574000,0.759365,
0.575000,0.760533,
0.576000,0.761695,
0.577000,0.762851,
0.578000,0.764002,
0.579000,0.765148,
0.580000,0.766287,
0.581000,0.767422,
0.582000,0.768550,
0.583000,0.769673,
0.584000,0.770790,
0.585000,0.771902,
0.586000,0.773008,
0.587000,0.774108,
0.588000,0.775202,
0.589000,0.776291,
0.590000,0.777374,
0.591000,0.778451,
0.592000,0.779522,
0.593000,0.780588,
0.594000,0.781648,
0.595000,0.782702,
0.596000,0.783750,
0.597000,0.784792,
0.598000,0.785829,
0.599000,0.786860,
0.600000,0.787884,
0.601000,0.788903,
0.602000,0.789916,
0.603000,0.790923,
0.604000,0.791924,
0.605000,0.792919,
0.606000,0.793908,
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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