mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-13 21:30:09 +00:00
6bc3f94f52
Gold data is created by numerically solving a second-order non-linear differential equation. (see examples/MultiBody/pendulum_gold.h)
2059 lines
38 KiB
C
2059 lines
38 KiB
C
#ifndef PENDULUM_GOLD_H
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#define PENDULUM_GOLD_H
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#include "LinearMath/btScalar.h"
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/*
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sPendulumGold data was created using the Python script,
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thanks to Andreas Bihlmaier for the script.
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#!/usr/bin/env python
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from __future__ import print_function
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import numpy as np
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from scipy import integrate
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import pylab as pl
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import math
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import argparse
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theta_pos = 0
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dtheta_pos = 1
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def pendulum_system(Y, t):
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m = 10 # [kg]
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g = 9.81 # [m/s^2]
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l = 0.5 # [m]
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tau = 20 # [Nm]
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I = m * pow(l, 2) # inertia
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return [Y[dtheta_pos], (tau - m*g*l*math.sin(Y[theta_pos])) / I]
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def main():
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parser = argparse.ArgumentParser()
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parser.add_argument('--plot', action='store_true', default=False, help='Plot results')
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args = parser.parse_args()
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t = np.arange(0, 2, 0.001) # [s]
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theta0 = 0
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dtheta0 = 0
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theta = integrate.odeint(pendulum_system, [theta0, dtheta0], t) # [rad]
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print("timestamp;theta;")
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for i in range(theta.shape[0]):
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print("%f;%f;" % (t[i], theta[i,theta_pos]))
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if args.plot:
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pl.plot(t, theta[:,theta_pos], '+')
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pl.show()
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if __name__ == '__main__':
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main()
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*/
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//sPendulumGold stores scalar values of a simulated pendulum in tuples 'timestamp' and 'theta joint angle'
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static btScalar sPendulumGold[]=
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{
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0.000000,0.000000,
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0.001000,0.000004,
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0.002000,0.000016,
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0.003000,0.000036,
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0.004000,0.000064,
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0.005000,0.000100,
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0.006000,0.000144,
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0.007000,0.000196,
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0.008000,0.000256,
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0.009000,0.000324,
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0.010000,0.000400,
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0.011000,0.000484,
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0.012000,0.000576,
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0.013000,0.000676,
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0.014000,0.000784,
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0.015000,0.000900,
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0.016000,0.001024,
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0.017000,0.001155,
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0.018000,0.001295,
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0.019000,0.001443,
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0.020000,0.001599,
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0.021000,0.001763,
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0.022000,0.001934,
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0.023000,0.002114,
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0.024000,0.002302,
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0.025000,0.002497,
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0.026000,0.002701,
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0.027000,0.002913,
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0.028000,0.003132,
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0.029000,0.003359,
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0.030000,0.003595,
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0.031000,0.003838,
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0.032000,0.004089,
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0.033000,0.004348,
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0.034000,0.004615,
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0.035000,0.004890,
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0.036000,0.005173,
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0.037000,0.005464,
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0.038000,0.005762,
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0.039000,0.006069,
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0.040000,0.006383,
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0.041000,0.006706,
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0.042000,0.007036,
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0.043000,0.007374,
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0.044000,0.007720,
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0.045000,0.008073,
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0.046000,0.008435,
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0.047000,0.008804,
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0.048000,0.009181,
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0.049000,0.009566,
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0.050000,0.009959,
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0.051000,0.010360,
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0.052000,0.010768,
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0.053000,0.011184,
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0.054000,0.011608,
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0.055000,0.012040,
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0.056000,0.012480,
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0.057000,0.012927,
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0.058000,0.013382,
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0.059000,0.013845,
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0.060000,0.014315,
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0.061000,0.014794,
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0.062000,0.015280,
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0.063000,0.015773,
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0.064000,0.016275,
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0.065000,0.016784,
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0.066000,0.017300,
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0.067000,0.017825,
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0.068000,0.018357,
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0.069000,0.018896,
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0.070000,0.019443,
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0.071000,0.019998,
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0.072000,0.020561,
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0.073000,0.021131,
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0.074000,0.021709,
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0.075000,0.022294,
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0.076000,0.022887,
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0.077000,0.023487,
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0.078000,0.024095,
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0.079000,0.024710,
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0.080000,0.025333,
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0.081000,0.025964,
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0.082000,0.026602,
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0.083000,0.027247,
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0.084000,0.027900,
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0.085000,0.028560,
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0.086000,0.029228,
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0.087000,0.029903,
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0.088000,0.030586,
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0.089000,0.031276,
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0.090000,0.031973,
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0.091000,0.032678,
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0.092000,0.033390,
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0.093000,0.034110,
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0.094000,0.034836,
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0.095000,0.035570,
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0.096000,0.036312,
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0.097000,0.037061,
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0.098000,0.037817,
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0.099000,0.038580,
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0.100000,0.039350,
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0.101000,0.040128,
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0.102000,0.040913,
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0.103000,0.041705,
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0.104000,0.042504,
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0.105000,0.043311,
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0.106000,0.044124,
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0.107000,0.044945,
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0.108000,0.045773,
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0.109000,0.046608,
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0.110000,0.047450,
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0.111000,0.048299,
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0.112000,0.049155,
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0.113000,0.050019,
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0.114000,0.050889,
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0.115000,0.051766,
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0.116000,0.052650,
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0.117000,0.053542,
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0.118000,0.054440,
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0.119000,0.055345,
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0.120000,0.056257,
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0.121000,0.057176,
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0.122000,0.058101,
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0.123000,0.059034,
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0.124000,0.059973,
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0.125000,0.060920,
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0.126000,0.061873,
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0.127000,0.062833,
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0.128000,0.063799,
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0.129000,0.064773,
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0.130000,0.065753,
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0.131000,0.066740,
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0.132000,0.067733,
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0.133000,0.068734,
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0.134000,0.069740,
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0.135000,0.070754,
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0.136000,0.071774,
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0.137000,0.072801,
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0.138000,0.073834,
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0.139000,0.074874,
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0.140000,0.075920,
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0.141000,0.076973,
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0.142000,0.078032,
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0.143000,0.079098,
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0.144000,0.080170,
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0.145000,0.081249,
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0.146000,0.082334,
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0.147000,0.083426,
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0.148000,0.084524,
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0.149000,0.085628,
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0.150000,0.086738,
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0.151000,0.087855,
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0.152000,0.088978,
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0.153000,0.090108,
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0.154000,0.091243,
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0.155000,0.092385,
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0.156000,0.093533,
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0.157000,0.094687,
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0.158000,0.095848,
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0.159000,0.097014,
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0.160000,0.098187,
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0.161000,0.099365,
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0.162000,0.100550,
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0.163000,0.101741,
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0.164000,0.102937,
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0.165000,0.104140,
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0.166000,0.105349,
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0.167000,0.106563,
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0.168000,0.107784,
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0.169000,0.109010,
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0.170000,0.110242,
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0.171000,0.111480,
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0.172000,0.112724,
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0.173000,0.113974,
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0.174000,0.115230,
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0.175000,0.116491,
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0.176000,0.117758,
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0.177000,0.119030,
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0.178000,0.120309,
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0.179000,0.121593,
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0.180000,0.122882,
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0.181000,0.124177,
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0.182000,0.125478,
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0.183000,0.126784,
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0.184000,0.128096,
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0.185000,0.129413,
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0.186000,0.130736,
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0.187000,0.132064,
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0.188000,0.133398,
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0.189000,0.134737,
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0.190000,0.136081,
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0.191000,0.137431,
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0.192000,0.138786,
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0.193000,0.140146,
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0.194000,0.141512,
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0.195000,0.142883,
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0.196000,0.144259,
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0.197000,0.145640,
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0.198000,0.147026,
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0.199000,0.148418,
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0.200000,0.149814,
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0.201000,0.151216,
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0.202000,0.152623,
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0.203000,0.154034,
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0.204000,0.155451,
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0.205000,0.156873,
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0.206000,0.158299,
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0.207000,0.159731,
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0.208000,0.161167,
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0.209000,0.162608,
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0.210000,0.164054,
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0.211000,0.165505,
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0.212000,0.166961,
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0.213000,0.168421,
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0.214000,0.169886,
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0.215000,0.171356,
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0.216000,0.172830,
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0.217000,0.174309,
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0.218000,0.175793,
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0.219000,0.177281,
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0.220000,0.178774,
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0.221000,0.180271,
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0.222000,0.181773,
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0.223000,0.183279,
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0.224000,0.184790,
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0.225000,0.186305,
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0.226000,0.187824,
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0.227000,0.189348,
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0.228000,0.190876,
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0.229000,0.192408,
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0.230000,0.193945,
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0.231000,0.195485,
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0.232000,0.197030,
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0.233000,0.198579,
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0.234000,0.200133,
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0.235000,0.201690,
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0.236000,0.203251,
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0.237000,0.204817,
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0.238000,0.206386,
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0.239000,0.207960,
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0.240000,0.209537,
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0.241000,0.211118,
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0.242000,0.212703,
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0.243000,0.214293,
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0.244000,0.215885,
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0.245000,0.217482,
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0.246000,0.219082,
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0.247000,0.220687,
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0.248000,0.222295,
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0.249000,0.223906,
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0.250000,0.225521,
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0.251000,0.227140,
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0.252000,0.228762,
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0.253000,0.230388,
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0.254000,0.232018,
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0.255000,0.233651,
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0.256000,0.235287,
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0.257000,0.236927,
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0.258000,0.238570,
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0.259000,0.240217,
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0.260000,0.241867,
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0.261000,0.243520,
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0.262000,0.245176,
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0.263000,0.246836,
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0.264000,0.248499,
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0.265000,0.250165,
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0.266000,0.251834,
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0.267000,0.253507,
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0.268000,0.255182,
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0.269000,0.256861,
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0.270000,0.258542,
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0.271000,0.260227,
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0.272000,0.261914,
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0.273000,0.263604,
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0.274000,0.265298,
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0.275000,0.266994,
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0.276000,0.268693,
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0.277000,0.270394,
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0.278000,0.272099,
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0.279000,0.273806,
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0.280000,0.275516,
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0.281000,0.277229,
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0.282000,0.278944,
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0.283000,0.280662,
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0.284000,0.282382,
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0.285000,0.284105,
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0.286000,0.285830,
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0.287000,0.287558,
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0.288000,0.289288,
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0.289000,0.291021,
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0.290000,0.292756,
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0.291000,0.294493,
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0.292000,0.296233,
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0.293000,0.297975,
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|
0.294000,0.299719,
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0.295000,0.301466,
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|
0.296000,0.303214,
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0.297000,0.304965,
|
|
0.298000,0.306718,
|
|
0.299000,0.308473,
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|
0.300000,0.310230,
|
|
0.301000,0.311989,
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|
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,
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1.703000,0.142312,
|
|
1.704000,0.143686,
|
|
1.705000,0.145065,
|
|
1.706000,0.146449,
|
|
1.707000,0.147839,
|
|
1.708000,0.149233,
|
|
1.709000,0.150632,
|
|
1.710000,0.152037,
|
|
1.711000,0.153447,
|
|
1.712000,0.154861,
|
|
1.713000,0.156281,
|
|
1.714000,0.157705,
|
|
1.715000,0.159135,
|
|
1.716000,0.160569,
|
|
1.717000,0.162008,
|
|
1.718000,0.163452,
|
|
1.719000,0.164901,
|
|
1.720000,0.166355,
|
|
1.721000,0.167813,
|
|
1.722000,0.169276,
|
|
1.723000,0.170744,
|
|
1.724000,0.172217,
|
|
1.725000,0.173694,
|
|
1.726000,0.175176,
|
|
1.727000,0.176662,
|
|
1.728000,0.178153,
|
|
1.729000,0.179648,
|
|
1.730000,0.181148,
|
|
1.731000,0.182652,
|
|
1.732000,0.184161,
|
|
1.733000,0.185674,
|
|
1.734000,0.187192,
|
|
1.735000,0.188714,
|
|
1.736000,0.190240,
|
|
1.737000,0.191770,
|
|
1.738000,0.193305,
|
|
1.739000,0.194844,
|
|
1.740000,0.196387,
|
|
1.741000,0.197935,
|
|
1.742000,0.199486,
|
|
1.743000,0.201042,
|
|
1.744000,0.202601,
|
|
1.745000,0.204165,
|
|
1.746000,0.205733,
|
|
1.747000,0.207305,
|
|
1.748000,0.208881,
|
|
1.749000,0.210460,
|
|
1.750000,0.212044,
|
|
1.751000,0.213631,
|
|
1.752000,0.215222,
|
|
1.753000,0.216818,
|
|
1.754000,0.218416,
|
|
1.755000,0.220019,
|
|
1.756000,0.221625,
|
|
1.757000,0.223235,
|
|
1.758000,0.224849,
|
|
1.759000,0.226466,
|
|
1.760000,0.228087,
|
|
1.761000,0.229712,
|
|
1.762000,0.231340,
|
|
1.763000,0.232971,
|
|
1.764000,0.234606,
|
|
1.765000,0.236245,
|
|
1.766000,0.237886,
|
|
1.767000,0.239532,
|
|
1.768000,0.241180,
|
|
1.769000,0.242832,
|
|
1.770000,0.244487,
|
|
1.771000,0.246146,
|
|
1.772000,0.247807,
|
|
1.773000,0.249472,
|
|
1.774000,0.251140,
|
|
1.775000,0.252811,
|
|
1.776000,0.254485,
|
|
1.777000,0.256162,
|
|
1.778000,0.257843,
|
|
1.779000,0.259526,
|
|
1.780000,0.261212,
|
|
1.781000,0.262901,
|
|
1.782000,0.264593,
|
|
1.783000,0.266288,
|
|
1.784000,0.267986,
|
|
1.785000,0.269686,
|
|
1.786000,0.271390,
|
|
1.787000,0.273096,
|
|
1.788000,0.274805,
|
|
1.789000,0.276516,
|
|
1.790000,0.278230,
|
|
1.791000,0.279947,
|
|
1.792000,0.281666,
|
|
1.793000,0.283388,
|
|
1.794000,0.285112,
|
|
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,
|
|
1.803000,0.300739,
|
|
1.804000,0.302487,
|
|
1.805000,0.304237,
|
|
1.806000,0.305989,
|
|
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,
|
|
1.822000,0.334282,
|
|
1.823000,0.336065,
|
|
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,
|
|
1.839000,0.364779,
|
|
1.840000,0.366584,
|
|
1.841000,0.368389,
|
|
1.842000,0.370196,
|
|
1.843000,0.372003,
|
|
1.844000,0.373811,
|
|
1.845000,0.375620,
|
|
1.846000,0.377430,
|
|
1.847000,0.379241,
|
|
1.848000,0.381052,
|
|
1.849000,0.382864,
|
|
1.850000,0.384677,
|
|
1.851000,0.386490,
|
|
1.852000,0.388304,
|
|
1.853000,0.390119,
|
|
1.854000,0.391934,
|
|
1.855000,0.393750,
|
|
1.856000,0.395566,
|
|
1.857000,0.397382,
|
|
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
|