8000 Added code to compare Matlab and Python results · Lewishw/robotics-toolbox-python@25ec6b5 · GitHub
[go: up one dir, main page]
Skip to content

Commit 25ec6b5

Browse files
petercorkepetercorke
committed
Added code to compare Matlab and Python results
1 parent 413022f commit 25ec6b5

File tree

6 files changed

+263
-5
lines changed

6 files changed

+263
-5
lines changed

‎robotics-toolbox-python/robot/puma560.py

Lines changed: 5 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -49,12 +49,12 @@
4949

5050
print "in puma560"
5151
L = [];
52-
L.append( Link(alpha=pi/2, A=0, D=0) )
53-
L.append( Link(alpha=0, A=0.4318, D=0) )
52+
L.append( Link(alpha=pi/2, A=0, D=0) )
53+
L.append( Link(alpha=0, A=0.4318, D=0) )
5454
L.append( Link(alpha=-pi/2, A=0.0203, D=0.15005) )
10000 55-
L.append( Link(alpha=pi/2, A=0, D=0.4318) )
56-
L.append( Link(alpha=-pi/2, A=0, D=0) )
57-
L.append( Link(alpha=0, A=0, D=0) )
55+
L.append( Link(alpha=pi/2, A=0, D=0.4318) )
56+
L.append( Link(alpha=-pi/2, A=0, D=0) )
57+
L.append( Link(alpha=0, A=0, D=0) )
5858

5959

6060
L[0].m = 0

‎robotics-toolbox-python/test/compare/compare.py

Lines changed: 51 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,51 @@
1+
"""
2+
Compare the RNE implementations of Matlab and Python.
3+
4+
We take the Matlab results as the gold standard since they were cross-checked
5+
against a Maple and other implementations a long time ago.
6+
7+
The process:
8+
9+
1. genpath.m creates random q, qd and qdd data and saves to path.dat. Random values
10+
in the q, qd and qdd statespace are used with significant velocity and acceleration
11+
so that errors in velocity and acceleration specific parts of the RNE algorithms will
12+
be shown up. There are 60 rows:
13+
rows 1-20, qd=qdd=0, gravity and friction torques only
14+
rows 21-40 qdd=0, gravity, friction and centripetal/Coriolis forces
15+
rows 41-60 all forces.
16+
2. genpath.m creates tau for the Puma560 (DH) and saves to puma560.dat
17+
3. genpath.m creates tau for the Puma560 (MDH) and saves to puma560m.dat
18+
4. compare.py loads path.dat, computes the torques for DH and MDH cases and find the
19+
difference from the Matlab versions
20+
"""
21+
22+
from robot import *;
23+
24+
print "Compare Python and Matlab RNE implementations"
25+
26+
# load the (q,qd,qdd) data
27+
path = loadtxt('path.dat');
28+
29+
# load the Matlab computed torques
30+
matlab_dh = loadtxt('puma560.dat');
31+
32+
from robot.puma560 import *
33+
34+
tau = rne(p560, path);
35+
36+
diff = matlab_dh - tau;
37+
#print diff
38+
print "RNE DH, error norm =", linalg.norm(diff, 'fro')
39+
40+
#############
41+
42+
# load the Matlab computed torques
43+
matlab_mdh = loadtxt('puma560m.dat');
44+
45+
from robot.puma560akb import *
46+
47+
tau = rne(p560m, path);
48+
49+
diff = matlab_dh - tau;
50+
print diff
51+
print "RNE MDH, error norm =", linalg.norm(diff, 'fro')

‎robotics-toolbox-python/test/compare/genpath.m

Lines changed: 27 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,27 @@
1+
path = [];
2+
N = 20;
3+
4+
q = (rand(N, 6)-1)*2*pi;
5+
qd = zeros(N, 6);
6+
qdd = zeros(N, 6);
7+
path = [path;q qd qdd];
8+
9+
q = (rand(N, 6)-1)*2*pi;
10+
qd = (rand(N, 6)-1)*2;
11+
qdd = zeros(N, 6);
12+
path = [path;q qd qdd];
13+
14+
q = (rand(N, 6)-1)*2*pi;
15+
qd = (rand(N, 6)-1)*2;
16+
qdd = (rand(N, 6)-1)*20;
17+
path = [path;q qd qdd];
18+
19+
save path.dat path -ascii
20+
21+
puma560
22+
tau = rne(p560, path)
23+
save puma560.dat tau -ascii
24+
25+
puma560akb
26+
tau = rne(p560m, path)
27+
save puma560m.dat tau -ascii

‎robotics-toolbox-python/test/compare/path.dat

Lines changed: 60 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,60 @@
1+
-3.0080556e-01 -1.9951773e+00 -4.2966848e-01 -2.5111077e+00 -3.8709856e+00 -5.7079085e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00
2+
-1.5171398e-01 -4.0330225e+00 -1.3628111e+00 -5.7491330e+00 -4.6482653e+00 -5.7529868e-01 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00
3+
-6.0889435e+00 -8.2141527e-02 -1.9748860e+00 -4.8783907e-01 -7.6988161e-01 -3.0790559e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00
4+
-3.1800342e+00 -5.7554838e+00 -3.3538431e+00 -5.9464203e+00 -1.2183349e+00 -2.4196323e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00
5+
-8.6254231e-01 -4.7104670e+00 -4.6475585e+00 -2.9717899e+00 -3.3858761e+00 -4.2972514e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00
6+
-4.7571493e+00 -1.1853442e+00 -2.7063679e+00 -5.5364081e+00 -5.7116562e+00 -5.7963171e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00
7+
-1.0413113e+00 -5.7527393e+00 -4.7201131e+00 -3.8946765e+00 -2.7377797e+00 -9.3861951e-01 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00
8+
-1.1712411e+00 -2.9452182e+00 -4.2769542e+00 -1.1760079e+00 -5.1058239e+00 -5.3750960e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00
9+
-2.3312307e+00 -1.2527228e+00 -5.6044610e-01 -4.7494854e+00 -2.9424811e+00 -3.9553544e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00
10+
-6.2691223e+00 -1.6410220e+00 -7.2118375e-01 -7.2619385e-01 -4.0524452e+00 -2.3725846e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00
11+
-3.8973094e+00 -5.3930906e+00 -1.2906327e+00 -1.8054934e+00 -4.3053422e+00 -1.5381851e-02 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00
12+
-6.0063672e-01 -3.5318145e+00 -4.6615073e-01 -3.9072086e+00 -1.7169340e+00 -3.0326163e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00
13+
-2.0084097e+00 -4.0816805e+00 -5.1595008e+00 -4.7191773e+00 -3.0424889e+00 -5.9619794e-02 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00
14+
-3.9029694e+00 -3.2766969e+00 -3.0313784e+00 -4.6944584e+00 -1.3154169e+00 -4.8598273e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00
15+
-2.3124968e+00 -2.5924209e+00 -2.3435947e+00 -1.4624516e+00 -4.9983205e+00 -3.7824450e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00
16+
-4.7546778e+00 -5.3670611e+00 -5.4549141e-01 -5.9698938e+00 -2.0225192e+00 -1.9065152e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00
17+
-2.6928911e+00 -5.9482534e-01 -2.1113497e+00 -1.9773902e+00 -5.9534089e+00 -5.8770354e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00
18+
-1.1480150e-01 -2.2607262e+00 -3.8378147e+00 -2.3858629e+00 -1.2492709e+00 -1.5854890e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00
19+
-9.4447573e-01 -5.2594058e+00 -1.6335805e+00 -1.5916274e+00 -2.0196128e+00 -3.6417315e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00
20+
-4.5022530e+00 -2.7274642e+00 -1.1458340e+00 -1.4290698e-01 -3.3923580e-01 -1.1855276e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00
21+
-3.8980550e+00 -6.4310574e-01 -2.8399422e+00 -2.5318395e+00 -3.9288058e+00 -3.0030421e-01 -5.4192777e-01 -2.5292709e-01 -1.6264809e+00 -1.9879781e+00 -1.5020954e+00 -1.5856838e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00
22+
-4.2784231e+00 -4.4700760e+00 -2.7214937e+00 -3.5776759e+00 -3.5378557e+00 -2.8697177e+00 -1.5947678e+00 -1.7734471e+00 -1.5056003e+00 -3.9617606e-01 -1.2271544e+00 -1.3531972e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00
23+
-8.7643733e-02 -4.5927143e+00 -2.0081375e+00 -1.6919486e+00 -4.3712216e+00 -4.7035078e+00 -1.5674476e+00 -1.2908613e+00 -1.8916223e+00 -1.0051834e+00 -1.1371332e+00 -1.7782596e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00
24+
-1.7707216e+00 -2.5497532e+00 -3.9497449e+00 -4.6421670e+00 -4.4556560e+00 -2.6479083e+00 -4.7330970e-02 -1.5161263e+00 -7.8207709e-01 -9.2431432e-01 -3.3822703e-01 -1.2495799e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00
25+
-3.6870777e+00 -3.2931492e+00 -5.7916598e+00 -5.6874911e+00 -4.7594104e+00 -5.3107619e-01 -8.1352842e-01 -8.7933338e-01 -4.4553514e-01 -2.5817495e-01 -3.5070636e-01 -1.3401920e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00
26+
-5.6634732e+00 -3.9690188e+00 -3.4158491e+00 -3.4496981e+00 -3.9782861e-01 -6.5598637e-01 -1.3911928e+00 -7.7454578e-01 -9.7787182e-01 -5.5431286e-01 -1.0940028e+00 -1.3157897e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00
27+
-1.6678142e+00 -2.1638593e+00 -5.9825738e+00 -2.2614785e+00 -8.7845062e-01 -3.2515068e+00 -6.4594234e-02 -1.3983818e+00 -1.9444998e+00 -6.6382814e-01 -1.2388797e+00 -3.6576230e-01 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00
28+
-2.2788718e+00 -3.8829830e-01 -1.6445798e+00 -5.4535609e+00 -3.7873265e+00 -3.5013680e+00 -2.0806034e-01 -4.0371657e-01 -1.9229437e-02 -1.6423444e+00 -1.4826291e-01 -9.3662937e-01 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00
29+
-5.8192231e+00 -2.3849389e+00 -6.0444146e+00 -3.4380181e+00 -3.2709062e+00 -4.3243712e+00 -1.6199490e+00 -4.0871675e-01 -9.9812015e-01 -8.9900929e-01 -5.1831275e-01 -9.5775590e-01 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00
30+
-5.5260102e+00 -4.5060486e+00 -2.8749139e-01 -2.1852944e+00 -2.7332102e+00 -5.9356386e+00 -1.9964014e+00 -4.3781547e-01 -1.3360050e+00 -8.0249843e-02 -5.2473385e-01 -4.5138058e-01 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00
31+
-1.1563443e-01 -4.9939935e+00 -1.6187224e+00 -1.0870015e+00 -3.2068160e+00 -1.5469719e+00 -5.7647247e-01 -1.2978031e+00 -1.6522337e+00 -8.0795666e-01 -1.0616800e-01 -1.7594745e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00
32+
-3.1617025e+00 -3.5240245e+00 -3.9301596e-01 -4.3474810e+00 -4.5879088e+00 -5.4541348e+00 -2.6454642e-01 -1.8914053e+00 -7.4872721e-01 -3.8285858e-01 -9.7980059e-01 -7.4909970e-01 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00
33+
-6.1423562e+00 -6.1119671e+00 -3.0576243e+00 -3.7550604e+00 -6.4464589e-02 -4.0468607e+00 -1.7633842e+00 -5.8259077e-01 -8.4973033e-01 -3.0935290e-02 -4.1624163e-01 -1.3067026e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00
34+
-5.9449517e+00 -7.7795676e-01 -4.7695358e+00 -7.2739609e-01 -5.1291169e+00 -3.7958547e+00 -1.9219540e+00 -1.4143117e-02 -4.9802923e-01 -2.2815110e-01 -1.0956530e+00 -1.3307612e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00
35+
-5.3980491e+00 -2.4498627e+00 -4.6497753e+00 -1.8813144e+00 -8.6923643e-01 -7.1929134e-01 -8.0361095e-01 -1.6750470e+00 -1.6929624e+00 -1.5723260e+00 -3.0160258e-01 -8.5076687e-01 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00
36+
-6.6932064e-01 -5.0039767e+00 -1.5144100e+00 -4.7634569e+00 -6.0781488e+00 -6.1497333e+00 -7.9137299e-01 -1.7728673e+00 -1.2864256e+00 -1.9307399e+00 -1.2191383e+00 -2.7212472e-01 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00
37+
-3.3563515e+00 -3.0164516e+00 -4.1828648e-02 -1.5090212e+00 -4.1974316e+00 -9.7966973e-01 -9.6713518e-01 -1.7424915e-01 -1.7120984e+00 -1.0977524e+00 -5.2324698e-01 -1.6028739e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00
38+
-2.7592185e+00 -5.9449972e+00 -4.0419370e+00 -4.4552450e+00 -1.5786692e+00 -4.4731841e+00 -1.9849852e+00 -1.0366860e+00 -2.9878469e-01 -1.9724109e+00 -4.7122885e-02 -6.5509807e-01 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00
39+
-3.1764245e+00 -8.6590191e-01 -1.5528400e+00 -4.5399864e+00 -2.2345114e+00 -4.7102346e+00 -6.2213327e-01 -2.9638810e-01 -1.3242605e+00 -1.0525785e+00 -9.5340188e-01 -1.9633726e-01 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00
40+
-5.8572765e+00 -3.5001447e+00 -5.5917302e+00 -6.2448088e+00 -5.2198318e+00 -3.2146056e+00 -1.0795925e-01 -3.8017239e-01 -1.4496070e+00 -9.7605819e-02 -1.1401694e+00 -1.6016856e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00
41+
-4.4090107e+00 -1.4137533e+00 -3.0105853e+00 -2.8464269e+00 -1.0606732e+00 -3.8902497e+00 -4.6388420e-01 -8.0583415e-01 -5.6506080e-01 -1.7951844e+00 -7.6122640e-01 -1.8081100e+00 -1.5724449e+01 -4.0649716e+00 -1.6041799e+01 -7.8692551e+00 -8.1717319e-01 -1.1912323e+01
42+
-3.1634564e+00 -5.2445897e+00 -4.9066817e+00 -3.7512507e+00 -4.8796415e-01 -2.2960048e+00 -1.5338195e+00 -1.4044096e+00 -1.7331365e+00 -8.1766194e-02 -7.6934120e-01 -1.8796692e+00 -7.0868268e+00 -1.7723656e+01 -7.8861387e+00 -5.7071427e+00 -4.9950941e+00 -1.3975888e+01
43+
-6.9175211e-01 -5.5154494e-01 -9.9030601e-01 -5.6106322e+00 -4.2284311e+00 -4.0009526e+00 -8.2527652e-01 -1.7499712e+00 -1.1084220e+00 -1.6941960e+00 -1.7547522e+00 -3.6098225e-01 -1.2387154e+01 -1.6823514e+01 -3.5259271e+00 -1.1969273e+01 -3.8005771e-01 -9.8836817e-01
44+
-3.1327045e+00 -4.2775562e+00 -2.1178550e+00 -1.7331151e+00 -1.2310691e+00 -3.7220368e+00 -1.0820523e+00 -1.2232887e+00 -9.8242554e-01 -1.6949238e+00 -1.7524129e+00 -4.5704339e-01 -1.7925743e+01 -1.2883438e+01 -3.7877007e+00 -2.8261796e+00 -1.5329684e+01 -1.0787036e+01
45+
-4.5427729e+00 -4.2111185e+00 -1.1546278e+00 -2.4273054e+00 -2.9012587e+00 -3.9665766e+00 -2.7803696e-01 -3.6462451e-01 -9.3901942e-01 -1.6888948e+00 -1.4310820e+00 -1.6086085e+00 -1.2449770e+01 -3.0448287e+00 -3.9552597e+00 -1.5903004e+00 -1.8075465e+01 -1.4247050e+01
46+
-2.9282271e+00 -4.9999347e+00 -1.2951052e+00 -1.3636511e+00 -3.3722177e+00 -3.3401491e+00 -6.7832781e-01 -3.7648592e-02 -2.8056591e-01 -1.8208612e+00 -5.2853439e-01 -2.0976369e-01 -1.4742784e+01 -8.3443761e+00 -5.8377325e+00 -4.9832222e+00 -1.2308356e+01 -1.8307467e+01
47+
-2.6750689e+00 -1.4626329e+00 -3.3357104e+00 -2.7230032e+00 -1.1262594e+00 -3.1201428e+00 -1.2922417e+00 -2.7602033e-01 -6.4455018e-01 -1.0911509e+00 -1.1773838e+00 -6.3139971e-01 -1.5174288e+01 -8.2764467e+00 -2.8124429e+00 -1.4288166e+01 -9.9945490e+00 -8.3563733e+00
48+
-3.6894588e+00 -5.8435310e+00 -4.3383825e+00 -1.1855167e+00 -3.0218033e-01 -5.6212026e-01 -1.3056274e+00 -1.8323582e+00 -3.8832348e-01 -6.6220861e-01 -3.4203621e-01 -6.8630704e-01 -7.5415190e+00 -1.4832402e+00 -4.3783096e+00 -4.0636842e+00 -8.5948826e+00 -1.6938626e+01
49+
-6.1904225e+00 -3.1394596e-01 -1.9629975e+00 -2.6591957e+00 -5.8039486e+00 -4.9861409e+00 -1.4925638e+00 -1.3245760e+00 -9.3751426e-01 -3.3739664e-01 -1.2977177e-01 -1.9237597e-02 -9.5414448e+00 -8.4984346e+00 -1.5924063e+01 -1.7144683e+01 -4.6736807e-01 -1.8538114e+01
50+
-1.8675838e+00 -5.2891239e+00 -8.2609917e-02 -3.5167495e-01 -1.8304737e+00 -4.1556757e+00 -9.4943709e-02 -1.5277417e+00 -8.8208323e-02 -4.1952973e-01 -1.2018667e+00 -1.9326164e+00 -1.1735245e+01 -1.9800452e+01 -1.3313500e-01 -9.9089962e+00 -1.0142896e+01 -8.3887045e+00
51+
-3.0991991e+00 -4.4833928e+00 -1.4455481e+00 -8.0768997e-01 -4.8070989e+00 -2.6758476e+00 -1.4035980e+00 -1.3643892e+00 -1.8666461e+00 -5.7457816e-01 -1.8955772e+00 -1.1514935e+00 -1.5644159e+01 -3.8124543e+00 -1.8127509e+01 -7.7862410e+00 -1.1982343e+01 -1.4259705e+01
52+
-3.8876198e+00 -1.9658257e+00 -1.0707751e+00 -3.0938266e+00 -3.7768506e+00 -3.2236986e+00 -1.6831878e+00 -3.1103189e-02 -9.1696395e-01 -1.0548050e+00 -8.5762780e-01 -1.0200327e+00 -2.8289277e+00 -7.8238328e+00 -6.9876291e+00 -5.9240653e+00 -1.0019476e-01 -1.2761598e+01
53+
-5.8752084e+00 -5.3963148e+00 -1.8467239e+00 -1.3268632e+00 -4.5985098e+00 -4.6356148e+00 -1.2774059e+00 -9.0349822e-01 -1.4366793e+00 -5.8282370e-01 -5.0466005e-01 -8.3299106e-01 -2.7798349e+00 -1.0401726e+01 -1.5696469e+01 -1.2333201e+01 -1.4780040e+01 -5.5035061e+00
54+
-4.0301610e+00 -3.0656500e+00 -2.5425763e+00 -3.3110461e+00 -1.0523499e+00 -2.6414922e+00 -5.1674181e-01 -5.0149748e-01 -1.0381993e+00 -8.3881038e-02 -1.3595129e+00 -1.8334605e+00 -1.4321220e+01 -1.4631197e+01 -1.5122538e+01 -5.4263313e+00 -6.6935058e+00 -2.8337664e+00
55+
-4.8113413e+00 -1.7509546e+00 -1.5527377e+00 -1.0756707e+00 -2.9067207e-02 -7.6448961e-01 -5.8819998e-01 -3.1629653e-01 -6.3027244e-01 -9.8844888e-01 -1.0141314e+00 -6.7969074e-01 -7.6921430e+00 -1.4838072e+01 -1.3206244e+01 -2.2543064e+00 -7.1486768e-01 -1.3041686e+01
56+
-5.0045316e+00 -4.4707920e-01 -3.1621877e+00 -4.2569737e+00 -2.2006795e+00 -5.9002238e+00 -5.9821565e-01 -1.6662206e+00 -1.5834832e+00 -1.3898938e+00 -1.5566945e+00 -1.8953896e+00 -4.4102100e+00 -1.0379809e+01 -1.6042753e+01 -1.8883034e+01 -6.5769793e+00 -7.6508789e-01
57+
-1.1700574e+00 -1.6832412e+00 -8.4739653e-01 -1.4987574e-01 -1.8601192e+00 -3.5130768e+00 -1.9875484e+00 -1.9380478e-01 -7.8367802e-01 -4.2037763e-01 -1.2145251e-01 -8.8633893e-01 -9.0305377e-01 -1.5453170e+01 -9.8633325e+00 -1.7235673e+01 -1.4016503e+01 -9.2861897e-01
58+
-3.8111628e+00 -1.5717512e+00 -5.8557547e+00 -4.5351338e+00 -4.2535155e-01 -5.7537767e+00 -1.2513088e+00 -1.7897517e+00 -1.3476477e+00 -1.5272261e+00 -1.0353894e+00 -5.7594950e-01 -1.6079351e+00 -1.9027954e+01 -9.8484035e-01 -2.7387004e+00 -9.3774695e+00 -1.5879252e+01
59+
-5.9465626e+00 -3.7239208e+00 -1.9763169e-01 -5.8255759e+00 -1.9625369e+00 -2.7442590e+00 -1.9700876e-01 -5.0981381e-01 -2.3830560e-01 -1.5313943e+00 -9.2000783e-01 -1.0241787e+00 -1.2303686e+01 -1.6615164e+01 -1.2107856e+01 -1.1565070e+01 -1.9970736e+01 -4.6351028e+00
60+
-3.9266667e+00 -4.7784146e+00 -5.6626811e+00 -1.5631082e+00 -2.7121123e+00 -2.8945970e+00 -1.3633103e+00 -5.4125612e-01 -1.7332108e+00 -1.0706012e+00 -1.5578858e+00 -7.6479871e-01 -1.6747140e+01 -1.4831074e+01 -8.3107032e+00 -1.1773717e+01 -2.3242238e+00 -7.6893624e+00

0 commit comments

Comments
 (0)
0