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116.859 12.40597 33.20318 120.3667 1.664471 33.20318 120.3667 1.664471 32.53357 128.4123 1.151232 32.53357 128.4123 1.151232 21.69028 138.5307 1.475531 21.69028 138.5307 1.475531 33.0759 123.9106 1.392708 33.0759 123.9106 1.392708 23.19167 95.86207 38.28555 23.19167 95.86207 38.28555 35.36788 104.3903 14.57627 35.36788 104.3903 14.57627 35.3968 127.4647 2.728374 35.3968 127.4647 2.728374 35.36788 110.7218 16.1262 35.36788 110.7218 16.1262 38.00457 121.5062 12.14226 38.00457 121.5062 12.14226 32.53357 128.4123 1.151232 32.53357 128.4123 1.151232 31.98557 134.8313 1.553701 31.98557 134.8313 1.553701 0.01732408 143.1813 2.324995 0.01732408 143.1813 2.324995 19.90293 96.58286 40.35057 19.90293 96.58286 40.35057 37.09211 127.9433 5.081867 37.09211 127.9433 5.081867 36.56756 117.4603 15.98648 36.56756 117.4603 15.98648 36.56756 117.4603 15.98648 36.56756 117.4603 15.98648 31.30774 140.623 2.53583 31.30774 140.623 2.53583 31.98557 134.8313 1.553701 31.98557 134.8313 1.553701 23.99911 102.2564 36.39268 23.99911 102.2564 36.39268 35.36788 113.1088 20.89379 35.36788 113.1088 20.89379 37.19421 129.8584 4.8297 37.19421 129.8584 4.8297 37.97054 121.7673 15.25221 37.97054 121.7673 15.25221 34.89833 134.3023 3.06459 31.30774 140.623 2.53583 31.30774 140.623 2.53583 34.89833 134.3023 3.06459 27.73262 146.369 4.460705 27.73262 146.369 4.460705 19.67302 104.146 39.39626 19.67302 104.146 39.39626 23.99911 102.2564 36.39268 23.19167 95.86207 38.28555 22.79338 101.4603 36.18625 22.79338 101.4603 36.18625 23.19167 95.86207 38.28555 23.99911 102.2564 36.39268 35.36788 108.5978 20.81996 35.36788 108.5978 20.81996 37.04964 133.5188 5.334015 37.04964 133.5188 5.334015 36.72413 118.9636 18.88958 36.72413 118.9636 18.88958 36.72413 118.9636 18.88958 36.72413 118.9636 18.88958 34.08398 139.0029 3.989176 34.08398 139.0029 3.989176 26.06353 149.4663 5.673576 26.06353 149.4663 5.673576 27.73262 146.369 4.460705 32.29693 142.5865 5.593904 31.30774 140.623 2.53583 31.30774 140.623 2.53583 32.29693 142.5865 5.593904 27.73262 146.369 4.460705 23.99911 102.2564 36.39268 22.38427 105.339 37.55378 19.67302 104.146 39.39626 19.67302 104.146 39.39626 22.38427 105.339 37.55378 23.99911 102.2564 36.39268 34.96094 114.485 23.10857 35.36788 108.5978 20.81996 35.36788 113.1088 20.89379 35.36788 113.1088 20.89379 35.36788 108.5978 20.81996 34.96094 114.485 23.10857 36.82851 120.4669 20.92176 36.82851 120.4669 20.92176 37.97054 122.986 17.68972 37.97054 122.986 17.68972 32.29693 142.5865 5.593904 32.29693 142.5865 5.593904 0.01732408 151.0473 5.510754 0.01732408 151.0473 5.510754 27.41127 150.4362 8.26239 26.06353 149.4663 5.673576 26.06353 149.4663 5.673576 27.41127 150.4362 8.26239 29.76774 147.5849 7.338314 29.76774 147.5849 7.338314 24.53456 106.6109 35.60532 24.53456 106.6109 35.60532 19.51855 111.1897 37.7155 19.51855 111.1897 37.7155 35.36788 109.9741 23.77301 35.36788 109.9741 23.77301 36.82851 120.4669 20.92176 36.82851 120.4669 20.92176 36.82851 120.4669 20.92176 36.82851 120.4669 20.92176 37.04383 135.695 6.34264 37.04383 135.695 6.34264 23.92386 151.6673 6.766542 23.92386 151.6673 6.766542 24.70265 152.4842 9.079033 24.70265 152.4842 9.079033 31.05642 148.3021 9.438362 31.05642 148.3021 9.438362 25.23449 110.4741 34.66489 25.23449 110.4741 34.66489 19.67302 104.146 39.39626 19.51855 111.1897 37.7155 11.91964 104.9896 40.33684 11.91964 104.9896 40.33684 19.51855 111.1897 37.7155 19.67302 104.146 39.39626 23.69834 115.0917 35.59087 23.69834 115.0917 35.59087 34.96094 116.8552 25.24953 34.96094 116.8552 25.24953 37.99499 124.3788 19.03456 37.99499 124.3788 19.03456 37.03042 137.5231 7.855589 37.03042 137.5231 7.855589 20.8693 153.6167 7.859514 20.8693 153.6167 7.859514 23.92386 151.6673 6.766542 23.92386 151.6673 6.766542 25.18781 153.2656 11.03045 25.18781 153.2656 11.03045 28.23828 151.3377 10.51933 28.23828 151.3377 10.51933 33.25253 143.6027 7.693953 33.25253 143.6027 7.693953 11.91964 111.6871 38.9412 11.91964 111.6871 38.9412 16.05735 104.3158 39.88282 16.05735 104.3158 39.88282 19.51855 115.2555 36.63683 19.51855 115.2555 36.63683 35.36788 109.2859 24.65892 35.36788 109.2859 24.65892 36.79532 121.87 21.98623 36.79532 121.87 21.98623 36.79532 121.87 21.98623 36.79532 121.87 21.98623 33.25253 143.6027 7.693953 33.25253 143.6027 7.693953 12.70316 155.3146 8.588158 12.70316 155.3146 8.588158 21.16669 154.2804 9.628283 20.8693 153.6167 7.859514 20.8693 153.6167 7.859514 21.16669 154.2804 9.628283 29.21564 151.6238 13.6038 29.21564 151.6238 13.6038 31.81787 148.4829 13.18936 31.81787 148.4829 13.18936 25.86606 110.8528 34.01383 25.86606 110.8528 34.01383 5.238796 104.9896 40.42731 5.238796 104.9896 40.42731 16.8182 104.2282 39.81262 16.8182 104.2282 39.81262 22.73357 127.3419 32.40066 22.73357 127.3419 32.40066 35.16076 108.8395 27.25488 35.16076 108.8395 27.25488 34.22619 121.1368 27.24283 34.22619 121.1368 27.24283 36.79538 124.0748 23.24424 36.79538 124.0748 23.24424 36.91769 138.6547 10.125 36.91769 138.6547 10.125 12.60029 155.9414 10.5307 12.70316 155.3146 8.588158 12.70316 155.3146 8.588158 12.60029 155.9414 10.5307 0.01732408 156.0692 8.779514 0.01732408 156.0692 8.779514 26.80167 153.0591 13.74062 26.80167 153.0591 13.74062 21.43284 155.0355 11.49525 21.43284 155.0355 11.49525 34.154 143.5274 12.9713 34.154 143.5274 12.9713 27.06107 110.4741 32.85638 27.06107 110.4741 32.85638 5.173338 111.9987 39.18817 5.173338 111.9987 39.18817 16.8182 104.2282 39.81262 16.05735 104.3158 39.88282 16.05735 96.78149 41.10141 16.05735 96.78149 41.10141 16.05735 104.3158 39.88282 16.8182 104.2282 39.81262 25.56661 127.0134 31.1842 25.56661 127.0134 31.1842 18.51447 127.3813 33.39807 18.51447 127.3813 33.39807 35.21847 108.161 25.07118 35.21847 108.161 25.07118 36.79538 124.0748 23.24424 36.79538 124.0748 23.24424 38.02475 126.3809 20.12724 38.02475 126.3809 20.12724 37.16416 138.9158 13.40305 37.16416 138.9158 13.40305 0.01732408 156.5454 10.6435 0.01732408 156.5454 10.6435 0.01732408 156.0692 8.779514 0.01732408 156.0692 8.779514 24.96136 153.8958 13.11053 24.96136 153.8958 13.11053 23.0241 154.598 12.78191 23.0241 154.598 12.78191 28.46382 152.1935 15.10843 28.46382 152.1935 15.10843 34.47943 142.1725 17.0416 34.47943 142.1725 17.0416 34.154 143.5274 12.9713 34.154 143.5274 12.9713 27.99894 113.4138 31.45474 27.99894 113.4138 31.45474 0.01732408 104.9896 40.46027 0.01732408 104.9896 40.46027 16.98727 96.78149 40.9714 16.98727 96.78149 40.9714 21.63851 135.3071 30.3913 21.63851 135.3071 30.3913 17.74178 132.8673 31.70741 17.74178 132.8673 31.70741 34.08586 109.5899 29.38048 34.08586 109.5899 29.38048 35.28249 95.49471 25.41564 35.28249 95.49471 25.41564 33.17747 126.6954 28.51995 33.17747 126.6954 28.51995 36.62461 127.8225 24.27421 36.62461 127.8225 24.27421 12.57364 156.367 12.41226 12.57364 156.367 12.41226 26.58567 153.134 14.03027 26.58567 153.134 14.03027 29.33259 150.9796 17.0416 29.33259 150.9796 17.0416 28.14407 152.2727 15.32235 28.14407 152.2727 15.32235 32.05687 146.689 17.11428 32.05687 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110.595 9.573116 34.48565 110.595 9.573116 32.90485 111.3914 5.007111 32.90485 111.3914 5.007111 24.91512 120.4642 0.6414661 24.91512 120.4642 0.6414661 23.37666 80.14017 39.68754 23.37666 80.14017 39.68754 37.74827 42.25494 11.95079 37.74827 42.25494 11.95079 36.30283 46.98008 12.22365 36.30283 46.98008 12.22365 34.04459 55.09271 7.41721 34.04459 55.09271 7.41721 33.25268 53.02027 8.680729 33.25268 53.02027 8.680729 34.37538 91.06032 9.4802 34.37538 91.06032 9.4802 35.31498 117.761 5.535288 35.31498 117.761 5.535288 34.66911 118.663 4.003282 34.66911 118.663 4.003282 31.64484 112.5306 3.123249 31.64484 112.5306 3.123249 31.64484 112.5306 3.123249 31.64484 112.5306 3.123249 24.91512 124.38 0.2806721 24.91512 124.38 0.2806721 20.53452 79.8613 41.28543 20.53452 79.8613 41.28543 34.15486 78.4219 8.425852 34.15486 78.4219 8.425852 34.76135 99.58083 10.9285 34.76135 99.58083 10.9285 35.99346 116.859 9.212561 35.99346 116.859 9.212561 33.20318 120.3667 1.664471 33.20318 120.3667 1.664471 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12.40597 33.20318 120.3667 1.664471 33.20318 120.3667 1.664471 32.53357 128.4123 1.151232 32.53357 128.4123 1.151232 21.69028 138.5307 1.475531 21.69028 138.5307 1.475531 33.0759 123.9106 1.392708 33.0759 123.9106 1.392708 23.19167 95.86207 38.28555 23.19167 95.86207 38.28555 35.36788 104.3903 14.57627 35.36788 104.3903 14.57627 35.3968 127.4647 2.728374 35.3968 127.4647 2.728374 35.36788 110.7218 16.1262 35.36788 110.7218 16.1262 38.00457 121.5062 12.14226 38.00457 121.5062 12.14226 32.53357 128.4123 1.151232 32.53357 128.4123 1.151232 31.98557 134.8313 1.553701 31.98557 134.8313 1.553701 0.01732408 143.1813 2.324995 0.01732408 143.1813 2.324995 19.90293 96.58286 40.35057 19.90293 96.58286 40.35057 37.09211 127.9433 5.081867 37.09211 127.9433 5.081867 36.56756 117.4603 15.98648 36.56756 117.4603 15.98648 36.56756 117.4603 15.98648 36.56756 117.4603 15.98648 31.30774 140.623 2.53583 31.30774 140.623 2.53583 31.98557 134.8313 1.553701 31.98557 134.8313 1.553701 23.99911 102.2564 36.39268 23.99911 102.2564 36.39268 35.36788 113.1088 20.89379 35.36788 113.1088 20.89379 37.19421 129.8584 4.8297 37.19421 129.8584 4.8297 37.97054 121.7673 15.25221 37.97054 121.7673 15.25221 31.30774 140.623 2.53583 34.89833 134.3023 3.06459 34.89833 134.3023 3.06459 31.30774 140.623 2.53583 27.73262 146.369 4.460705 27.73262 146.369 4.460705 19.67302 104.146 39.39626 19.67302 104.146 39.39626 22.79338 101.4603 36.18625 23.19167 95.86207 38.28555 23.99911 102.2564 36.39268 23.99911 102.2564 36.39268 23.19167 95.86207 38.28555 22.79338 101.4603 36.18625 35.36788 108.5978 20.81996 35.36788 108.5978 20.81996 37.04964 133.5188 5.334015 37.04964 133.5188 5.334015 36.72413 118.9636 18.88958 36.72413 118.9636 18.88958 36.72413 118.9636 18.88958 36.72413 118.9636 18.88958 34.08398 139.0029 3.989176 34.08398 139.0029 3.989176 26.06353 149.4663 5.673576 26.06353 149.4663 5.673576 31.30774 140.623 2.53583 32.29693 142.5865 5.593904 27.73262 146.369 4.460705 27.73262 146.369 4.460705 32.29693 142.5865 5.593904 31.30774 140.623 2.53583 19.67302 104.146 39.39626 22.38427 105.339 37.55378 23.99911 102.2564 36.39268 23.99911 102.2564 36.39268 22.38427 105.339 37.55378 19.67302 104.146 39.39626 35.36788 113.1088 20.89379 35.36788 108.5978 20.81996 34.96094 114.485 23.10857 34.96094 114.485 23.10857 35.36788 108.5978 20.81996 35.36788 113.1088 20.89379 36.82851 120.4669 20.92176 36.82851 120.4669 20.92176 37.97054 122.986 17.68972 37.97054 122.986 17.68972 32.29693 142.5865 5.593904 32.29693 142.5865 5.593904 0.01732408 151.0473 5.510754 0.01732408 151.0473 5.510754 26.06353 149.4663 5.673576 27.41127 150.4362 8.26239 27.41127 150.4362 8.26239 26.06353 149.4663 5.673576 29.76774 147.5849 7.338314 29.76774 147.5849 7.338314 24.53456 106.6109 35.60532 24.53456 106.6109 35.60532 19.51855 111.1897 37.7155 19.51855 111.1897 37.7155 35.36788 109.9741 23.77301 35.36788 109.9741 23.77301 36.82851 120.4669 20.92176 36.82851 120.4669 20.92176 36.82851 120.4669 20.92176 36.82851 120.4669 20.92176 37.04383 135.695 6.34264 37.04383 135.695 6.34264 23.92386 151.6673 6.766542 23.92386 151.6673 6.766542 24.70265 152.4842 9.079033 24.70265 152.4842 9.079033 31.05642 148.3021 9.438362 31.05642 148.3021 9.438362 25.23449 110.4741 34.66489 25.23449 110.4741 34.66489 11.91964 104.9896 40.33684 19.51855 111.1897 37.7155 19.67302 104.146 39.39626 19.67302 104.146 39.39626 19.51855 111.1897 37.7155 11.91964 104.9896 40.33684 23.69834 115.0917 35.59087 23.69834 115.0917 35.59087 34.96094 116.8552 25.24953 34.96094 116.8552 25.24953 37.99499 124.3788 19.03456 37.99499 124.3788 19.03456 37.03042 137.5231 7.855589 37.03042 137.5231 7.855589 20.8693 153.6167 7.859514 20.8693 153.6167 7.859514 23.92386 151.6673 6.766542 23.92386 151.6673 6.766542 25.18781 153.2656 11.03045 25.18781 153.2656 11.03045 28.23828 151.3377 10.51933 28.23828 151.3377 10.51933 33.25253 143.6027 7.693953 33.25253 143.6027 7.693953 11.91964 111.6871 38.9412 11.91964 111.6871 38.9412 16.05735 104.3158 39.88282 16.05735 104.3158 39.88282 19.51855 115.2555 36.63683 19.51855 115.2555 36.63683 35.36788 109.2859 24.65892 35.36788 109.2859 24.65892 36.79532 121.87 21.98623 36.79532 121.87 21.98623 36.79532 121.87 21.98623 36.79532 121.87 21.98623 33.25253 143.6027 7.693953 33.25253 143.6027 7.693953 12.70316 155.3146 8.588158 12.70316 155.3146 8.588158 20.8693 153.6167 7.859514 21.16669 154.2804 9.628283 21.16669 154.2804 9.628283 20.8693 153.6167 7.859514 29.21564 151.6238 13.6038 29.21564 151.6238 13.6038 31.81787 148.4829 13.18936 31.81787 148.4829 13.18936 25.86606 110.8528 34.01383 25.86606 110.8528 34.01383 5.238796 104.9896 40.42731 5.238796 104.9896 40.42731 16.8182 104.2282 39.81262 16.8182 104.2282 39.81262 22.73357 127.3419 32.40066 22.73357 127.3419 32.40066 35.16076 108.8395 27.25488 35.16076 108.8395 27.25488 34.22619 121.1368 27.24283 34.22619 121.1368 27.24283 36.79538 124.0748 23.24424 36.79538 124.0748 23.24424 36.91769 138.6547 10.125 36.91769 138.6547 10.125 12.70316 155.3146 8.588158 12.60029 155.9414 10.5307 12.60029 155.9414 10.5307 12.70316 155.3146 8.588158 0.01732408 156.0692 8.779514 0.01732408 156.0692 8.779514 26.80167 153.0591 13.74062 26.80167 153.0591 13.74062 21.43284 155.0355 11.49525 21.43284 155.0355 11.49525 34.154 143.5274 12.9713 34.154 143.5274 12.9713 27.06107 110.4741 32.85638 27.06107 110.4741 32.85638 5.173338 111.9987 39.18817 5.173338 111.9987 39.18817 16.05735 96.78149 41.10141 16.05735 104.3158 39.88282 16.8182 104.2282 39.81262 16.8182 104.2282 39.81262 16.05735 104.3158 39.88282 16.05735 96.78149 41.10141 25.56661 127.0134 31.1842 25.56661 127.0134 31.1842 18.51447 127.3813 33.39807 18.51447 127.3813 33.39807 35.21847 108.161 25.07118 35.21847 108.161 25.07118 36.79538 124.0748 23.24424 36.79538 124.0748 23.24424 38.02475 126.3809 20.12724 38.02475 126.3809 20.12724 37.16416 138.9158 13.40305 37.16416 138.9158 13.40305 0.01732408 156.5454 10.6435 0.01732408 156.5454 10.6435 0.01732408 156.0692 8.779514 0.01732408 156.0692 8.779514 24.96136 153.8958 13.11053 24.96136 153.8958 13.11053 23.0241 154.598 12.78191 23.0241 154.598 12.78191 28.46382 152.1935 15.10843 28.46382 152.1935 15.10843 34.47943 142.1725 17.0416 34.47943 142.1725 17.0416 34.154 143.5274 12.9713 34.154 143.5274 12.9713 27.99894 113.4138 31.45474 27.99894 113.4138 31.45474 0.01732408 104.9896 40.46027 0.01732408 104.9896 40.46027 16.98727 96.78149 40.9714 16.98727 96.78149 40.9714 21.63851 135.3071 30.3913 21.63851 135.3071 30.3913 17.74178 132.8673 31.70741 17.74178 132.8673 31.70741 34.08586 109.5899 29.38048 34.08586 109.5899 29.38048 35.28249 95.49471 25.41564 35.28249 95.49471 25.41564 33.17747 126.6954 28.51995 33.17747 126.6954 28.51995 36.62461 127.8225 24.27421 36.62461 127.8225 24.27421 12.57364 156.367 12.41226 12.57364 156.367 12.41226 26.58567 153.134 14.03027 26.58567 153.134 14.03027 29.33259 150.9796 17.0416 29.33259 150.9796 17.0416 28.14407 152.2727 15.32235 28.14407 152.2727 15.32235 32.05687 146.689 17.11428 32.05687 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0 1 2 0 2 6 0 6 8 10 0 8 12 10 8 14 10 12 16 14 12 18 14 16 20 14 18 22 14 20 24 14 22

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3 4 5 7 3 5 9 7 5 9 5 11 9 11 13 13 11 15 13 15 17 17 15 19 19 15 21 21 15 23 23 15 25

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0 1 2 3 2 1

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4 5 6 5 4 7

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0 1 2 0 6 1 6 8 1

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3 4 5 4 7 5 4 9 7

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0 1 2 6 0 2 6 2 8

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3 4 5 3 5 7 9 3 7

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0 1 2 6 0 2 6 2 8

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3 4 5 3 5 7 9 3 7

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0 1 2 0 6 1 6 8 1

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3 4 5 4 7 5 4 9 7

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0 1 2 6 0 2 6 2 8

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3 4 5 3 5 7 9 3 7

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0 1 2 0 6 1 6 8 1

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3 4 5 4 7 5 4 9 7

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1 0

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3 120 4 121 5 122 5 122 4 121 7 123 11 124 12 125 13 126 15 127 3 120 5 122 19 128 20 129 21 130 4 121 23 131 7 123 27 132 28 133 29 134 33 135 34 136 35 137 37 138 3 120 15 127 41 139 42 140 43 141 47 142 48 143 49 144 7 123 23 131 51 145 55 146 56 147 57 148 61 149 62 150 63 151 65 152 37 138 15 127 69 153 70 154 71 155 76 156 77 157 78 158 79 159 78 158 77 157 51 145 23 131 81 160 86 161 87 162 88 163 89 164 88 163 87 162 94 165 95 166 96 167 97 168 96 167 95 166 37 138 65 152 99 169 103 170 104 171 105 172 51 145 81 160 107 173 112 174 113 175 114 176 79 159 114 176 113 175 119 177 120 178 121 179 122 180 121 179 120 178 107 173 81 160 124 181 129 182 130 183 131 184 132 185 131 184 130 183 99 169 135 186 136 187 99 169 65 152 135 186 141 188 142 189 143 190 144 191 143 190 142 189 107 173 124 181 146 192 150 193 151 194 152 195 156 196 157 197 158 198 146 192 124 181 160 199 164 200 165 201 166 202 136 187 169 203 170 204 136 187 135 186 169 203 175 205 176 206 177 207 178 208 177 207 176 206 182 209 183 210 184 211 146 192 160 199 186 212 186 212 160 199 188 213 192 214 193 215 194 216 198 217 199 218 200 219 170 204 203 220 204 221 170 204 169 203 203 220 208 222 209 223 210 224 214 225 215 226 216 227 188 213 218 228 186 212 188 213 220 229 218 228 224 230 225 231 226 232 229 233 204 221 230 234 204 221 203 220 230 234 234 235 235 236 236 237 220 229 238 238 218 228 220 229 229 233 238 238 229 233 230 234 238 238

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0 0 1 1 2 2 6 3 1 1 0 0 8 4 9 5 10 6 0 0 2 2 14 7 16 8 17 9 18 10 6 3 22 11 1 1 24 12 25 13 26 14 30 15 31 16 32 17 14 7 2 2 36 18 38 19 39 20 40 21 44 22 45 23 46 24 50 25 22 11 6 3 52 26 53 27 54 28 58 29 59 30 60 31 14 7 36 18 64 32 66 33 67 34 68 35 72 36 73 37 74 38 73 37 72 36 75 39 80 40 22 11 50 25 82 41 83 42 84 43 83 42 82 41 85 44 90 45 91 46 92 47 91 46 90 45 93 48 98 49 64 32 36 18 100 50 101 51 102 52 106 53 80 40 50 25 108 54 109 55 110 56 109 55 108 54 111 57 115 58 116 59 117 60 116 59 115 58 118 61 123 62 80 40 106 53 125 63 126 64 127 65 126 64 125 63 128 66 133 67 134 68 98 49 134 68 64 32 98 49 137 69 138 70 139 71 138 70 137 69 140 72 145 73 123 62 106 53 147 74 148 75 149 76 153 77 154 78 155 79 159 80 123 62 145 73 161 81 162 82 163 83 167 84 168 85 133 67 168 85 134 68 133 67 171 86 172 87 173 88 172 87 171 86 174 89 179 90 180 91 181 92 185 93 159 80 145 73 187 94 159 80 185 93 189 95 190 96 191 97 195 98 196 99 197 100 201 101 202 102 167 84 202 102 168 85 167 84 205 103 206 104 207 105 211 106 212 107 213 108 185 93 217 109 187 94 217 109 219 110 187 94 221 111 222 112 223 113 227 114 201 101 228 115 227 114 202 102 201 101 231 116 232 117 233 118 217 109 237 119 219 110 237 119 228 115 219 110 237 119 227 114 228 115

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41.94824 74.52014 81.63874 41.94824 80.05344 72.50788 22.98828 80.05344 72.50788 22.98828 80.05344 76.5362 14.55566 80.05344 76.5362 14.55566 53.63463 83.8946 8.701172 53.63463 83.8946 8.701172 80.05344 72.50788 32.33398 80.05344 72.50788 32.33398 53.63463 76.58991 40.82031 53.63463 76.58991 40.82031 55.47907 85.45221 11.7627 55.47907 85.45221 11.7627 55.47907 85.3448 43.50586 55.47907 85.3448 43.50586 80.05344 79.86628 11.22559 80.05344 79.86628 11.22559 53.63463 83.8946 8.701172 53.63463 83.8946 8.701172 55.47907 85.45221 11.7627 55.47907 85.45221 11.7627 80.05344 74.0655 36.79199 80.05344 74.0655 36.79199 53.63463 76.58991 40.82031 53.63463 76.58991 40.82031 55.47907 85.3448 43.50586 55.47907 85.3448 43.50586 74.52014 97.10749 9.882813 74.52014 97.10749 9.882813 55.47907 92.97174 45.27832 55.47907 92.97174 45.27832 80.05344 83.8946 8.701172 80.05344 83.8946 8.701172 53.63463 93.02545 6.606445 53.63463 93.02545 6.606445 80.05344 76.58992 40.82031 80.05344 76.58992 40.82031 53.63463 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0 1 2

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8.133693 11.669 25.27379 0.01732408 1.130554 20.04236 0.01732408 1.130554 20.04236 32.35572 16.84064 20.77986 32.35572 16.84064 20.77986 26.64886 12.02686 23.06313 26.64886 12.02686 23.06313 5.539676 0.6332703 3.617857 5.539676 0.6332703 3.617857 25.23597 21.00212 26.06452 25.23597 21.00212 26.06452 21.89928 23.74844 27.29901 21.89928 23.74844 27.29901 0.01732408 1.130554 20.04236 0.01732408 1.130554 20.04236 8.959627 20.65628 27.43689 8.959627 20.65628 27.43689 0.01732408 0.6521606 18.69192 0.01732408 0.6521606 18.69192 32.96162 19.94078 23.95049 32.96162 19.94078 23.95049 27.65937 18.67332 25.50895 27.65937 18.67332 25.50895 12.97676 1.895248 6.887825 12.97676 1.895248 6.887825 0.01732408 5.501358 2.770609 0.01732408 0.4635925 3.636335 5.539676 0.6332703 3.617857 5.539676 0.6332703 3.617857 0.01732408 0.4635925 3.636335 0.01732408 5.501358 2.770609 16.39303 22.32189 27.32133 16.39303 22.32189 27.32133 0.01732408 4.535492 22.31923 0.01732408 4.535492 22.31923 0.01732408 10.67041 25.33368 0.01732408 10.67041 25.33368 0.01732408 19.37237 27.43689 0.01732408 19.37237 27.43689 36.18368 24.86101 20.67433 36.18368 24.86101 20.67433 32.96162 19.94078 23.95049 32.96162 19.94078 23.95049 12.7925 2.286575 3.661123 12.7925 2.286575 3.661123 5.719203 6.565353 2.37409 5.719203 6.565353 2.37409 26.50386 26.02585 26.93994 26.50386 26.02585 26.93994 28.35105 23.55514 26.80602 28.35105 23.55514 26.80602 17.5444 30.91651 28.10395 17.5444 30.91651 28.10395 9.915075 29.78701 28.44799 9.915075 29.78701 28.44799 0.01732408 28.81888 28.5168 0.01732408 28.81888 28.5168 33.22912 23.54774 26.1266 33.22912 23.54774 26.1266 36.06957 23.07213 19.10759 32.35572 16.84064 20.77986 36.18368 24.86101 20.67433 36.18368 24.86101 20.67433 32.35572 16.84064 20.77986 36.06957 23.07213 19.10759 33.22912 23.54774 26.1266 33.22912 23.54774 26.1266 19.33556 4.197952 7.313316 19.33556 4.197952 7.313316 12.7925 2.286575 3.661123 12.7925 2.286575 3.661123 0.01732408 36.07248 0.7509975 0.01732408 36.07248 0.7509975 28.71988 33.949 27.88412 28.71988 33.949 27.88412 33.463 26.70809 27.23837 33.463 26.70809 27.23837 23.14963 32.20734 28.03514 23.14963 32.20734 28.03514 36.47223 28.09229 23.01437 36.47223 28.09229 23.01437 35.90172 21.46472 16.54067 35.90172 21.46472 16.54067 19.33556 4.821762 4.150702 19.33556 4.821762 4.150702 10.69817 8.439838 2.163301 10.69817 8.439838 2.163301 29.25142 28.60222 27.91779 29.25142 28.60222 27.91779 18.32291 34.78902 28.44799 18.32291 34.78902 28.44799 9.915075 32.20734 28.65441 9.915075 32.20734 28.65441 3.842751 31.40057 28.72322 3.842751 31.40057 28.72322 33.463 26.70809 27.23837 33.463 26.70809 27.23837 31.98887 14.72597 16.60037 31.98887 14.72597 16.60037 23.90967 6.609131 7.957701 23.90967 6.609131 7.957701 19.14955 5.927979 3.384541 12.7925 2.286575 3.661123 19.33556 4.821762 4.150702 19.33556 4.821762 4.150702 12.7925 2.286575 3.661123 19.14955 5.927979 3.384541 19.14955 5.927979 3.384541 19.14955 5.927979 3.384541 16.31942 12.19937 1.876196 16.31942 12.19937 1.876196 25.32944 38.98426 28.31037 25.32944 38.98426 28.31037 30.01248 34.53549 28.10097 30.01248 34.53549 28.10097 33.58997 31.06711 27.97955 33.58997 31.06711 27.97955 0.01732408 31.40649 28.75409 0.01732408 31.40649 28.75409 36.5257 31.48096 23.79438 36.5257 31.48096 23.79438 31.17734 12.84934 12.22434 31.17734 12.84934 12.22434 23.65445 7.136639 4.637751 23.65445 7.136639 4.637751 23.65445 7.136639 4.637751 23.65445 7.136639 4.637751 20.4952 15.29782 1.419928 20.4952 15.29782 1.419928 30.30437 41.33823 28.34607 30.30437 41.33823 28.34607 33.58997 31.06711 27.97955 33.58997 31.06711 27.97955 35.64773 20.07924 12.12015 35.64773 20.07924 12.12015 28.19983 9.622585 8.668081 28.19983 9.622585 8.668081 23.84827 9.56123 3.31333 23.84827 9.56123 3.31333 23.84827 9.56123 3.31333 23.84827 9.56123 3.31333 23.06491 18.54899 1.157501 23.06491 18.54899 1.157501 28.59916 43.34084 28.90276 28.59916 43.34084 28.90276 33.65803 35.70836 28.05437 33.65803 35.70836 28.05437 33.65803 35.70836 28.05437 33.65803 35.70836 28.05437 30.8465 12.63353 8.681711 30.8465 12.63353 8.681711 27.92018 9.922184 5.025551 27.92018 9.922184 5.025551 27.92018 9.922184 5.025551 27.92018 9.922184 5.025551 27.67302 12.39614 3.191212 27.67302 12.39614 3.191212 25.08728 24.76068 0.424324 25.08728 24.76068 0.424324 30.8837 49.3857 28.89051 30.8837 49.3857 28.89051 33.77119 41.33823 28.04075 33.77119 41.33823 28.04075 36.5174 35.45234 23.96772 36.5174 35.45234 23.96772 35.0245 20.29507 8.369123 35.0245 20.29507 8.369123 29.90914 11.3203 10.01809 29.90914 11.3203 10.01809 27.67302 12.39614 3.191212 27.67302 12.39614 3.191212 29.36076 16.0767 2.482485 29.36076 16.0767 2.482485 25.96924 29.47813 0.02009392 25.96924 29.47813 0.02009392 29.80487 50.36132 29.38431 29.80487 50.36132 29.38431 33.90783 48.15047 28.02781 34.06889 40.50339 27.6933 33.77119 41.33823 28.04075 34.06889 40.50339 27.6933 33.77119 41.33823 28.04075 33.90783 48.15047 28.02781 36.69473 38.76213 23.1127 36.69473 38.76213 23.1127 30.4685 13.21772 5.179018 30.4685 13.21772 5.179018 30.4685 13.21772 5.179018 30.4685 13.21772 5.179018 29.36076 16.0767 2.482485 29.84888 15.59991 2.928764 29.84888 15.59991 2.928764 29.36076 16.0767 2.482485 32.53112 23.88538 1.182478 32.53112 23.88538 1.182478 26.55722 34.55847 0 26.55722 34.55847 0 33.90783 48.15047 28.02781 33.90783 48.15047 28.02781 28.17515 49.5972 31.18011 28.17515 49.5972 31.18011 34.73234 44.67173 26.83291 34.73234 44.67173 26.83291 34.42076 21.00725 4.787863 34.42076 21.00725 4.787863 32.53112 23.88538 1.182478 32.53112 23.88538 1.182478 33.40571 29.71944 0.6624908 33.40571 29.71944 0.6624908 26.55722 37.8244 0.1067448 26.55722 37.8244 0.1067448 29.80487 50.36132 29.38431 28.17515 49.5972 31.18011 27.67876 56.92178 33.84628 27.67876 56.92178 33.84628 28.17515 49.5972 31.18011 29.80487 50.36132 29.38431 26.97605 49.33617 32.0392 26.97605 49.33617 32.0392 36.75313 40.66819 22.35336 36.75313 40.66819 22.35336 34.72155 47.55716 26.63409 34.72155 47.55716 26.63409 34.42076 21.00725 4.787863 34.42076 21.00725 4.787863 33.72515 22.99531 2.527016 33.72515 22.99531 2.527016 33.62436 34.2072 0.5758324 33.62436 34.2072 0.5758324 25.08728 43.63051 0.4872818 25.08728 43.63051 0.4872818 26.97605 49.33617 32.0392 25.35295 55.33149 35.17563 26.97605 49.33617 32.0392 25.35295 55.33149 35.17563 35.1521 47.78658 24.97257 35.1521 47.78658 24.97257 36.67932 42.15191 21.33868 36.67932 42.15191 21.33868 33.62436 37.88715 0.8358364 33.62436 37.88715 0.8358364 24.2053 49.7995 1.172668 24.2053 49.7995 1.172668 26.60589 61.3769 35.988 26.60589 61.3769 35.988 32.53112 43.81099 1.355825 32.53112 43.81099 1.355825 23.91131 55.72655 1.337244 23.91131 55.72655 1.337244 24.026 60.34705 37.61276 24.026 60.34705 37.61276 35.5002 48.53375 21.40797 35.5002 48.53375 21.40797 31.16435 49.73483 2.222485 31.16435 49.73483 2.222485 0.01732408 75.64742 2.012491 0.01732408 75.64742 2.012491 24.95775 67.59132 38.26721 24.95775 67.59132 38.26721 36.71499 42.77419 20.67433 36.71499 42.77419 20.67433 31.30176 55.4836 2.588737 31.30176 55.4836 2.588737 25.08728 108.3154 2.526443 25.08728 108.3154 2.526443 22.4186 66.66177 40.04262 22.4186 66.66177 40.04262 35.49524 48.83092 20.53708 35.49524 48.83092 20.53708 0.01732408 117.6361 2.365835 0.01732408 117.6361 2.365835 23.9703 73.91222 39.42123 23.9703 73.91222 39.42123 31.43799 108.4264 3.529703 31.43799 108.4264 3.529703 25.10455 112.8335 2.138649 25.10455 112.8335 2.138649 21.14902 73.7263 41.10789 21.14902 73.7263 41.10789 24.91512 120.4642 0.6414661 24.91512 120.4642 0.6414661 23.37666 80.14017 39.68754 23.37666 80.14017 39.68754 31.64484 112.5306 3.123249 31.64484 112.5306 3.123249 24.91512 124.38 0.2806721 24.91512 124.38 0.2806721 20.53452 79.8613 41.28543 20.53452 79.8613 41.28543 33.20318 120.3667 1.664471 33.20318 120.3667 1.664471 24.72568 129.1994 0.1137714 24.72568 129.1994 0.1137714 22.95561 86.97244 39.54751 22.95561 86.97244 39.54751 33.0759 123.9106 1.392708 33.0759 123.9106 1.392708 24.3468 135.1232 0.7879448 24.3468 135.1232 0.7879448 20.0082 87.57309 41.3831 20.0082 87.57309 41.3831 32.53357 128.4123 1.151232 32.53357 128.4123 1.151232 21.69028 138.5307 1.475531 21.69028 138.5307 1.475531 23.19167 95.86207 38.28555 23.19167 95.86207 38.28555 31.98557 134.8313 1.553701 31.98557 134.8313 1.553701 0.01732408 143.1813 2.324995 0.01732408 143.1813 2.324995 19.90293 96.58286 40.35057 19.90293 96.58286 40.35057 31.30774 140.623 2.53583 31.30774 140.623 2.53583 23.99911 102.2564 36.39268 23.99911 102.2564 36.39268 27.73262 146.369 4.460705 27.73262 146.369 4.460705 19.67302 104.146 39.39626 19.67302 104.146 39.39626 22.79338 101.4603 36.18625 23.19167 95.86207 38.28555 23.99911 102.2564 36.39268 23.99911 102.2564 36.39268 23.19167 95.86207 38.28555 22.79338 101.4603 36.18625 26.06353 149.4663 5.673576 26.06353 149.4663 5.673576 31.30774 140.623 2.53583 32.29693 142.5865 5.593904 27.73262 146.369 4.460705 27.73262 146.369 4.460705 32.29693 142.5865 5.593904 31.30774 140.623 2.53583 19.67302 104.146 39.39626 22.38427 105.339 37.55378 23.99911 102.2564 36.39268 23.99911 102.2564 36.39268 22.38427 105.339 37.55378 19.67302 104.146 39.39626 0.01732408 151.0473 5.510754 0.01732408 151.0473 5.510754 26.06353 149.4663 5.673576 27.41127 150.4362 8.26239 27.41127 150.4362 8.26239 26.06353 149.4663 5.673576 29.76774 147.5849 7.338314 29.76774 147.5849 7.338314 24.53456 106.6109 35.60532 24.53456 106.6109 35.60532 19.51855 111.1897 37.7155 19.51855 111.1897 37.7155 23.92386 151.6673 6.766542 23.92386 151.6673 6.766542 24.70265 152.4842 9.079033 24.70265 152.4842 9.079033 31.05642 148.3021 9.438362 31.05642 148.3021 9.438362 25.23449 110.4741 34.66489 25.23449 110.4741 34.66489 11.91964 104.9896 40.33684 19.51855 111.1897 37.7155 19.67302 104.146 39.39626 19.67302 104.146 39.39626 19.51855 111.1897 37.7155 11.91964 104.9896 40.33684 23.69834 115.0917 35.59087 23.69834 115.0917 35.59087 20.8693 153.6167 7.859514 20.8693 153.6167 7.859514 23.92386 151.6673 6.766542 23.92386 151.6673 6.766542 25.18781 153.2656 11.03045 25.18781 153.2656 11.03045 28.23828 151.3377 10.51933 28.23828 151.3377 10.51933 33.25253 143.6027 7.693953 33.25253 143.6027 7.693953 11.91964 111.6871 38.9412 11.91964 111.6871 38.9412 16.05735 104.3158 39.88282 16.05735 104.3158 39.88282 19.51855 115.2555 36.63683 19.51855 115.2555 36.63683 12.70316 155.3146 8.588158 12.70316 155.3146 8.588158 20.8693 153.6167 7.859514 21.16669 154.2804 9.628283 21.16669 154.2804 9.628283 20.8693 153.6167 7.859514 29.21564 151.6238 13.6038 29.21564 151.6238 13.6038 31.81787 148.4829 13.18936 31.81787 148.4829 13.18936 25.86606 110.8528 34.01383 25.86606 110.8528 34.01383 5.238796 104.9896 40.42731 5.238796 104.9896 40.42731 16.8182 104.2282 39.81262 16.8182 104.2282 39.81262 22.73357 127.3419 32.40066 22.73357 127.3419 32.40066 12.70316 155.3146 8.588158 12.60029 155.9414 10.5307 12.60029 155.9414 10.5307 12.70316 155.3146 8.588158 0.01732408 156.0692 8.779514 0.01732408 156.0692 8.779514 26.80167 153.0591 13.74062 26.80167 153.0591 13.74062 21.43284 155.0355 11.49525 21.43284 155.0355 11.49525 34.154 143.5274 12.9713 34.154 143.5274 12.9713 27.06107 110.4741 32.85638 27.06107 110.4741 32.85638 5.173338 111.9987 39.18817 5.173338 111.9987 39.18817 16.05735 96.78149 41.10141 16.05735 104.3158 39.88282 16.8182 104.2282 39.81262 16.8182 104.2282 39.81262 16.05735 104.3158 39.88282 16.05735 96.78149 41.10141 25.56661 127.0134 31.1842 25.56661 127.0134 31.1842 18.51447 127.3813 33.39807 18.51447 127.3813 33.39807 0.01732408 156.5454 10.6435 0.01732408 156.5454 10.6435 0.01732408 156.0692 8.779514 0.01732408 156.0692 8.779514 24.96136 153.8958 13.11053 24.96136 153.8958 13.11053 23.0241 154.598 12.78191 23.0241 154.598 12.78191 28.46382 152.1935 15.10843 28.46382 152.1935 15.10843 34.47943 142.1725 17.0416 34.47943 142.1725 17.0416 27.99894 113.4138 31.45474 27.99894 113.4138 31.45474 0.01732408 104.9896 40.46027 0.01732408 104.9896 40.46027 16.98727 96.78149 40.9714 16.98727 96.78149 40.9714 21.63851 135.3071 30.3913 21.63851 135.3071 30.3913 17.74178 132.8673 31.70741 17.74178 132.8673 31.70741 12.57364 156.367 12.41226 12.57364 156.367 12.41226 26.58567 153.134 14.03027 26.58567 153.134 14.03027 29.33259 150.9796 17.0416 29.33259 150.9796 17.0416 28.14407 152.2727 15.32235 28.14407 152.2727 15.32235 32.05687 146.689 17.11428 32.05687 146.689 17.11428 28.83634 109.4894 31.19256 28.83634 109.4894 31.19256 0.01732408 111.9987 39.22229 0.01732408 111.9987 39.22229 0.01732408 97.00176 41.80266 0.01732408 104.9896 40.46027 5.238796 104.9896 40.42731 5.238796 104.9896 40.42731 0.01732408 104.9896 40.46027 0.01732408 97.00176 41.80266 15.80374 87.58262 42.19233 15.80374 87.58262 42.19233 26.73454 127.515 30.42475 26.73454 127.515 30.42475 17.15057 135.1874 31.14555 17.15057 135.1874 31.14555 0.01732408 156.9984 12.33554 0.01732408 156.9984 12.33554 24.83005 153.9859 13.48764 24.83005 153.9859 13.48764 23.04027 154.5383 13.1465 23.04027 154.5383 13.1465 29.33259 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3 4 5 7 4 3 3 5 9 13 14 15 7 17 4 9 5 19 22 15 23 13 25 14 13 15 27 7 29 17 9 19 31 22 23 33 27 15 22 35 25 13 25 37 14 29 39 17 9 31 41 9 41 43 22 33 45 47 27 22 25 49 37 29 51 39 41 31 53 43 41 55 57 22 45 33 59 45 61 47 22 49 63 37 51 65 39 41 53 67 41 69 55 43 55 71 57 73 22 75 57 45 59 77 45 79 61 22 49 81 63 51 84 65 84 51 85 53 87 67 41 67 69 73 79 22 89 73 57 91 57 75 75 45 93 95 45 77 81 97 63 84 99 65 97 101 63 67 87 103 67 103 69 73 105 79 91 89 57 89 107 73 91 75 109 45 95 93 109 75 93 99 111 65 87 113 103 69 103 115 73 117 105 121 122 123 107 117 73 126 127 122 129 91 109 99 131 111 87 133 113 115 103 113 117 135 105 121 137 122 121 123 139 141 117 107 143 126 122 126 145 127 139 123 147 131 149 111 133 151 113 113 153 115 117 155 135 137 143 122 157 121 139 141 159 117 126 161 145 139 147 163 131 165 149 133 167 151 159 155 117 169 121 157 157 139 171 173 159 141 161 175 145 139 163 171 165 177 149 167 179 151 181 155 159 183 169 157 157 171 185 173 181 159 187 175 161 165 189 177 167 191 179 181 193 155 183 157 195 157 185 197 199 181 173 187 201 175 177 189 203 191 205 179 197 195 157 197 185 207 209 181 199 211 201 187 189 213 203 191 215 205 217 195 197 197 207 217 211 219 201 203 213 221 223 205 215 217 225 195 227 217 207 229 219 211 213 231 221 223 233 205 227 225 217 229 235 219 221 231 237 239 233 223 227 241 225 229 243 235 221 237 239 239 237 233 245 241 227 247 243 229 245 249 241 251 243 247 245 253 249 255 251 247 245 257 253 259 251 255 257 261 253 259 255 263 257 265 261 267 259 263 265 269 261 267 263 271 265 273 269 273 267 271 273 271 269

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0 1 2

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3 4 5

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0 1 2 6 1 0 0 2 8 10 6 0 12 0 8 14 10 0 16 0 12 18 10 14 16 14 0 20 18 14 22 18 20 24 18 22

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3 4 5 5 4 7 9 3 5 5 7 11 9 5 13 5 11 15 13 5 17 15 11 19 5 15 17 15 19 21 21 19 23 23 19 25

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3 4 5 3 5 7 9 3 7

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0 1 2 0 6 1 6 8 1

+ + + +

3 4 5 4 7 5 4 9 7

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1 0

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0 1 2 1 0 3 8 2 9 2 8 0 12 0 13 0 12 3 16 3 17 3 16 1 20 8 9 8 20 21 13 8 24 8 13 0 26 13 27 13 26 12 30 3 12 3 30 17 32 17 33 17 32 16 36 20 37 20 36 21 24 21 40 21 24 8 27 24 42 24 27 13 44 27 45 27 44 26 48 12 26 12 48 30 50 17 30 17 50 33 52 33 53 33 52 32 56 36 37 36 56 57 60 21 36 21 60 40 62 24 40 24 62 42 45 42 64 42 45 27 66 45 67 45 66 44 70 26 44 26 70 48 72 30 48 30 72 50 74 33 50 33 74 53 52 76 77 76 52 53 80 57 56 57 80 81 84 36 57 36 84 60 86 40 60 40 86 62 88 42 62 42 88 64 67 64 90 64 67 45 66 67 92 94 44 66 44 94 70 96 48 70 48 96 72 98 50 72 50 98 74 76 74 100 74 76 53 77 102 103 102 77 76 81 106 107 106 81 80 110 57 81 57 110 84 112 60 84 60 112 86 114 62 86 62 114 88 90 88 116 88 90 64 67 90 92 94 66 92 118 70 94 70 118 96 120 72 96 72 120 98 100 98 122 98 100 74 102 100 124 100 102 76 103 126 127 126 103 102 107 130 131 130 107 106 134 81 107 81 134 110 136 84 110 84 136 112 138 86 112 86 138 114 140 88 114 88 140 116 90 116 92 118 94 92 142 96 118 96 142 120 122 120 144 120 122 98 124 122 146 122 124 100 126 124 148 124 126 102 127 150 151 150 127 126 131 154 155 154 131 130 158 107 131 107 158 134 160 110 134 110 160 136 162 112 136 112 162 138 164 114 138 114 164 140 92 116 140 142 118 92 144 142 166 142 144 120 146 144 168 144 146 122 148 146 170 146 148 124 150 148 172 148 150 126 150 174 151 174 150 175 178 154 179 154 178 155 182 131 155 131 182 158 184 134 158 134 184 160 186 136 160 136 186 162 188 138 162 138 188 164 92 140 164 142 92 166 168 166 190 166 168 144 170 168 192 168 170 146 172 170 194 170 172 148 175 172 196 172 175 150 175 198 174 198 175 199 202 179 203 179 202 178 178 182 155 182 178 206 208 158 182 158 208 184 210 160 184 160 210 186 212 162 186 162 212 188 92 164 188 166 92 190 192 190 214 190 192 168 194 192 216 192 194 170 196 194 218 194 196 172 199 196 220 196 199 175 198 222 223 222 198 199 226 203 227 203 226 202 202 206 178 206 202 230 206 208 182 208 206 232 234 184 208 184 234 210 236 186 210 186 236 212 92 188 212 190 92 214 216 214 238 214 216 192 218 216 240 216 218 194 196 242 220 242 196 218 199 244 222 244 199 220 222 246 223 246 222 247 247 227 246 227 247 226 226 230 202 230 226 250 230 232 206 232 230 252 232 234 208 234 232 254 256 210 234 210 256 236 92 212 236 214 92 238 240 238 258 238 240 216 218 260 242 260 218 240 220 262 244 262 220 242 222 264 247 264 222 244 247 250 226 250 247 264 250 252 230 252 250 266 252 254 232 254 252 268 254 256 234 256 254 270 92 236 256 238 92 258 240 272 260 272 240 258 242 274 262 274 242 260 244 276 264 276 244 262 264 266 250 266 264 276 266 268 252 268 266 278 268 270 254 270 268 280 92 256 270 258 92 272 260 282 274 282 260 272 262 284 276 284 262 274 276 278 266 278 276 284 278 280 268 280 278 286 92 270 280 92 282 272 274 288 284 288 274 282 284 286 278 286 284 288 92 280 286 92 288 282 92 286 288

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4 5 6 7 6 5 5 10 7 11 7 10 4 14 5 15 5 14 6 18 4 19 4 18 22 23 10 11 10 23 5 15 10 25 10 15 14 28 15 29 15 28 19 31 4 14 4 31 18 34 19 35 19 34 22 38 23 39 23 38 10 25 22 41 22 25 15 29 25 43 25 29 28 46 29 47 29 46 31 49 14 28 14 49 35 51 19 31 19 51 34 54 35 55 35 54 58 59 38 39 38 59 41 61 22 38 22 61 43 63 25 41 25 63 29 47 43 65 43 47 46 68 47 69 47 68 49 71 28 46 28 71 51 73 31 49 31 73 55 75 35 51 35 75 55 54 78 79 78 54 82 83 58 59 58 83 61 85 38 58 38 85 63 87 41 61 41 87 65 89 43 63 43 89 47 69 65 91 65 69 93 69 68 71 95 46 68 46 95 73 97 49 71 49 97 75 99 51 73 51 99 55 78 75 101 75 78 78 79 104 105 104 79 83 82 108 109 108 82 85 111 58 82 58 111 87 113 61 85 61 113 89 115 63 87 63 115 65 91 89 117 89 91 93 91 69 93 68 95 97 119 71 95 71 119 99 121 73 97 73 121 75 101 99 123 99 101 78 104 101 125 101 104 104 105 128 129 128 105 108 109 132 133 132 109 111 135 82 109 82 135 113 137 85 111 85 137 115 139 87 113 87 139 117 141 89 115 89 141 93 117 91 93 95 119 121 143 97 119 97 143 99 123 121 145 121 123 101 125 123 147 123 125 104 128 125 149 125 128 128 129 152 153 152 129 132 133 156 157 156 133 135 159 109 133 109 159 137 161 111 135 111 161 139 163 113 137 113 163 141 165 115 139 115 165 141 117 93 93 119 143 121 145 143 167 143 145 123 147 145 169 145 147 125 149 147 171 147 149 128 152 149 173 149 152 176 152 177 153 177 152 157 180 156 181 156 180 159 183 133 157 133 183 161 185 135 159 135 185 163 187 137 161 137 187 165 189 139 163 139 189 165 141 93 167 93 143 145 169 167 191 167 169 147 171 169 193 169 171 149 173 171 195 171 173 152 176 173 197 173 176 200 176 201 177 201 176 180 204 181 205 181 204 207 180 183 157 183 180 185 209 159 183 159 209 187 211 161 185 161 211 189 213 163 187 163 213 189 165 93 191 93 167 169 193 191 215 191 193 171 195 193 217 193 195 173 197 195 219 195 197 176 200 197 221 197 200 200 201 224 225 224 201 204 228 205 229 205 228 231 204 207 180 207 204 233 207 209 183 209 207 211 235 185 209 185 235 213 237 187 211 187 237 213 189 93 215 93 191 193 217 215 239 215 217 195 219 217 241 217 219 219 197 243 221 243 197 221 200 245 224 245 200 248 224 249 225 249 224 228 248 229 249 229 248 251 228 231 204 231 228 253 231 233 207 233 231 255 233 235 209 235 233 237 257 211 235 211 257 237 213 93 239 93 215 217 241 239 259 239 241 241 219 261 243 261 219 243 221 263 245 263 221 245 224 265 248 265 224 265 248 251 228 251 248 267 251 253 231 253 251 269 253 255 233 255 253 271 255 257 235 257 255 257 237 93 259 93 239 259 241 273 261 273 241 261 243 275 263 275 243 263 245 277 265 277 245 277 265 267 251 267 265 279 267 269 253 269 267 281 269 271 255 271 269 271 257 93 273 93 259 273 261 283 275 283 261 275 263 285 277 285 263 285 277 279 267 279 277 287 279 281 269 281 279 281 271 93 273 283 93 283 275 289 285 289 275 289 285 287 279 287 285 287 281 93 283 289 93 289 287 93

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 0.6 0.6 0.6 1 + + + + + + + + + + + 0.2980392 0.2980392 0.2980392 1 + + + + + + + + + + + 0 0 0 0.9019608 + + + 0.09803922 0.09803922 0.09803922 0.09803922 + + + 1 + + + + + + + + + + + 1 0.6823529 0 1 + + + + + + + + + + + 0.1960784 1 1 1 + + + + + + + + + + + 0.6980392 0.6980392 0.6980392 1 + + + + + + + + + + + 0.4470588 0.4470588 0.4470588 1 + + + + + + + + + + ID301 + + + + + ID302 + + + + + + + + + + + + + + + + + 1 0 0 1 + + + + + + + + + + + 0 0 0 1 + + + + + + + + + + + 0 0 0 1 + + + + + + + + + + + 0.6666667 0.6666667 0.6666667 1 + + + + + + + + + + + 0.6588235 0.8117647 0.8352941 1 + + + + + + + + + + + 1 0.3960784 0.3960784 1 + + + + + + + + + + + 0.6 0.6 0.6 1 + + + 1 + + + + + + + + + + + 0 0 0 1 + + + 1 + + + + + + + + + + + 0.7843137 0.09019608 0.09019608 1 + + + + + + + + + + + 0.7843137 0.09019608 0.09019608 1 + + + 1 + + + + + + + + + + + 1 1 1 1 + + + + + + + + + + + 0.1372549 0.1372549 0.1372549 1 + + + + + + + + + + + 1 0.4980392 0 0.8509804 + + + 0.1490196 0.1490196 0.1490196 0.1490196 + + + 1 + + + + + + + + + taxi_holo/texture.png + + + + + + diff --git a/src/drivers/gazeboserver/models/taxi_holo/meshes/taxi_holo/texture.png b/src/drivers/gazeboserver/models/taxi_holo/meshes/taxi_holo/texture.png new file mode 100755 index 000000000..4289dcf5f Binary files /dev/null and b/src/drivers/gazeboserver/models/taxi_holo/meshes/taxi_holo/texture.png differ diff --git a/src/drivers/gazeboserver/models/taxi_holo/model.config b/src/drivers/gazeboserver/models/taxi_holo/model.config new file mode 100644 index 000000000..ca6877b36 --- /dev/null +++ b/src/drivers/gazeboserver/models/taxi_holo/model.config @@ -0,0 +1,17 @@ + + + + Holonimic taxi + 1.0 + model.sdf + + + Satyaki Chakraborty + satyaki.cs15@gmail.com + + + + A car model. + + + diff --git a/src/drivers/gazeboserver/models/taxi_holo/model.sdf b/src/drivers/gazeboserver/models/taxi_holo/model.sdf new file mode 100644 index 000000000..114ea0899 --- /dev/null +++ b/src/drivers/gazeboserver/models/taxi_holo/model.sdf @@ -0,0 +1,37 @@ + + + + 0 0 0 0 0 0 + false + + false + + 750.0 + + 1 + 0.0 + 0.0 + 1 + 0.0 + 1 + + + + + + model://taxi_holo/meshes/taxi_holo.dae + + + + + + + model://taxi_holo/meshes/taxi_holo.dae + + + + + + + + diff --git a/src/drivers/gazeboserver/plugins/holo_car/CMakeLists.txt b/src/drivers/gazeboserver/plugins/holo_car/CMakeLists.txt new file mode 100644 index 000000000..a0f5c4dfd --- /dev/null +++ b/src/drivers/gazeboserver/plugins/holo_car/CMakeLists.txt @@ -0,0 +1,41 @@ + +include_directories( + ${GAZEBO_INCLUDE_DIRS} + ${INTERFACES_CPP_DIR} + ${LIBS_DIR} + ${CMAKE_CURRENT_SOURCE_DIR} + ${easyiceconfig_INCLUDE_DIRS} +) + +link_directories( + ${GAZEBO_LIBRARY_DIRS} + ${easyiceconfig_LIBRARY_DIRS} +) +#boost_system +add_library(holoCarMotors SHARED holoCarMotors.cc) +target_link_libraries(holoCarMotors + ${GAZEBO_libraries} + ${ZeroCIce_LIBRARIES} + + ${easyiceconfig_LIBRARIES} + colorspacesmm + JderobotInterfaces +) + +add_library(holoCarPose3D SHARED holoCarPose3d.cc) +target_link_libraries(holoCarPose3D + ${GAZEBO_libraries} + ${ZeroCIce_LIBRARIES} + + ${easyiceconfig_LIBRARIES} + colorspacesmm + JderobotInterfaces +) + + +INSTALL (TARGETS holoCarMotors DESTINATION share/jderobot/gazebo/plugins/holo_car/ COMPONENT core) +INSTALL (TARGETS holoCarPose3D DESTINATION share/jderobot/gazebo/plugins/holo_car/ COMPONENT core) +FILE(GLOB_RECURSE CFG_FILES ${CMAKE_CURRENT_SOURCE_DIR}/*.cfg) +INSTALL (FILES ${CFG_FILES} DESTINATION share/jderobot/conf/ COMPONENT core) + + diff --git a/src/drivers/gazeboserver/plugins/holo_car/holoCarMotors.cc b/src/drivers/gazeboserver/plugins/holo_car/holoCarMotors.cc new file mode 100644 index 000000000..6b0c6c171 --- /dev/null +++ b/src/drivers/gazeboserver/plugins/holo_car/holoCarMotors.cc @@ -0,0 +1,179 @@ +#include + +/* +enum { + FRONTRIGHT, + FRONTLEFT +}; +*/ + +namespace gazebo +{ + void *motorsICE(void* v); + + + Motors::Motors(){ + pthread_mutex_init(&mutex, NULL); + pthread_mutex_init(&mutexMotor, NULL); + count = 0; + std::cout << "constructor motors" << std::endl; + //this->motorspeed[FRONTLEFT] = this->motorspeed[FRONTRIGHT] = 0; + this->motorsteer = 0; + this->motorspeed = 0; + } + void Motors::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) + { + this->model = _model; + this->node = transport::NodePtr(new transport::Node()); + this->node->Init(this->model->GetWorld()->GetName()); + + this->updateConnection = event::Events::ConnectWorldUpdateBegin( + boost::bind(&Motors::OnUpdate, this)); + } + + void Motors::Init() { + + } + + + // Called by the world update start event + void Motors::PID() + { + + } + + void Motors::OnUpdate() + { + + if (count == 0) { + + robotMotors.v = 0; + robotMotors.w = 0; + robotMotors.wheelMin= -0.52359; + robotMotors.wheelMax= 0.52359; + robotMotors.targetRightSteerPos=robotMotors.targetLeftSteerPos=0; + + count++; + //std::string name = this->model->GetName(); + //std::cout << "Model name " << name << std::endl; + + //nameMotors = std::string("--Ice.Config=" + name +"motors.cfg"); + nameMotors = std::string("--Ice.Config=holoCarMotors.cfg"); + pthread_t thr_gui; + pthread_create(&thr_gui, NULL, &motorsICE, (void*) this); + + } + + float z = model->GetRelativeLinearVel().z; + math::Vector3 vel(robotMotors.v,0,z); + + math::Quaternion rot = model->GetWorldPose().rot; + vel = rot.GetAsMatrix3()*vel; + + this->model->SetLinearVel(vel); + this->model->SetAngularVel(math::Vector3(0,0,robotMotors.w)); + } + + class MotorsI : virtual public jderobot::Motors { + public: + + MotorsI(gazebo::Motors* base) { + this->base = base; + } + + virtual ~MotorsI() { + }; + + virtual float getV(const Ice::Current&) { + + float v_return; + pthread_mutex_lock(&base->mutexMotor); + //v_return = base->vel; + v_return = base->robotMotors.v; + pthread_mutex_unlock(&base->mutexMotor); + return v_return; + }; + + virtual float getW(const Ice::Current&) { + float w_return; + pthread_mutex_lock(&base->mutexMotor); + //w_return = base->w; + w_return = base->robotMotors.w; + pthread_mutex_unlock(&base->mutexMotor); + return w_return; + }; + + virtual float getL(const Ice::Current&) { + return 0.; + }; + + virtual Ice::Int setV(Ice::Float v, const Ice::Current&) { + pthread_mutex_lock(&base->mutexMotor); + //base->vel = v; + base->robotMotors.v = v; + pthread_mutex_unlock(&base->mutexMotor); + return 0; + }; + + virtual Ice::Int setW(Ice::Float _w, const Ice::Current&) { + pthread_mutex_lock(&base->mutexMotor); + //base->w = _w; + base->robotMotors.w = _w; + pthread_mutex_unlock(&base->mutexMotor); + return 0; + }; + + virtual Ice::Int setL(Ice::Float l, const Ice::Current&) { + return 0; + }; + + public: + gazebo::Motors* base; + }; // end class MotorsI + + + void *motorsICE(void* v) { + + gazebo::Motors* base = (gazebo::Motors*)v; + + Ice::CommunicatorPtr ic; + int argc = 1; + char* name = (char*) base->nameMotors.c_str(); + std::cout << name << "\n"; + Ice::PropertiesPtr prop; + char* argv[] = {name}; + + try { + + ic = EasyIce::initialize(argc, argv); + + prop = ic->getProperties(); + std::string Endpoints = prop->getProperty("Motors.Endpoints"); + std::cout << "Motors Endpoints > " << Endpoints << std::endl; + + Ice::ObjectAdapterPtr adapter = + ic->createObjectAdapterWithEndpoints("Motors", Endpoints); + Ice::ObjectPtr object = new MotorsI(base); + + adapter->add(object, ic->stringToIdentity("Motors")); + + adapter->activate(); + ic->waitForShutdown(); + } catch (const Ice::Exception& e) { + std::cerr << e << std::endl; + } catch (const char* msg) { + std::cerr << msg << std::endl; + } + if (ic) { + try { + ic->destroy(); + } catch (const Ice::Exception& e) { + std::cerr << e << std::endl; + } + } + + } + // Register this plugin with the simulator + GZ_REGISTER_MODEL_PLUGIN(Motors) + +} diff --git a/src/drivers/gazeboserver/plugins/holo_car/holoCarMotors.cfg b/src/drivers/gazeboserver/plugins/holo_car/holoCarMotors.cfg new file mode 100644 index 000000000..e3c157158 --- /dev/null +++ b/src/drivers/gazeboserver/plugins/holo_car/holoCarMotors.cfg @@ -0,0 +1,3 @@ +#without registry +Motors.Endpoints=default -h 0.0.0.0 -p 9999:ws -h 0.0.0.0 -p 11002 + diff --git a/src/drivers/gazeboserver/plugins/holo_car/holoCarMotors.h b/src/drivers/gazeboserver/plugins/holo_car/holoCarMotors.h new file mode 100644 index 000000000..507828282 --- /dev/null +++ b/src/drivers/gazeboserver/plugins/holo_car/holoCarMotors.h @@ -0,0 +1,66 @@ +#include +#include +#include +#include +#include +#include +#include + +// JDErobot general ice component includes +#include + +// ICE utils includes +#include +#include +#include + +namespace gazebo { + class Motors : public ModelPlugin + { + public: + + Motors(); + void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf); + virtual void Init(); + + std::string nameMotors; + float vel, w; + pthread_mutex_t mutex; + pthread_mutex_t mutexMotor; + + struct motor_t { + float v; + float w; + float l; + double wheelMax; + double wheelMin; + double targetRightSteerPos,targetLeftSteerPos; + }; + motor_t robotMotors; + + private: + void PID(); + void OnUpdate(); + //void OnVelMsg(ConstPosePtr &_msg); + transport::NodePtr node; + transport::SubscriberPtr velSub; + physics::JointPtr steerLeftJoint, steerRightJoint, frontLeftJoint, frontRightJoint; + // Pointer to the model + physics::ModelPtr model; + //physics::LinkPtr link, leftFrontmotorsLink, rightFrontmotorsLink, leftRearmotorsLink, rightRearmotorsLink; + // Pointer to the update event connection + event::ConnectionPtr updateConnection; + //double motorspeed[2]; + double motorspeed; + double motorsteer; + //double torque; + //double frontmotorseparation; + //double frontmotorsRadius; + //double sum; + int count; + common::Time prevUpdateTime; + + + + }; +} diff --git a/src/drivers/gazeboserver/plugins/holo_car/holoCarPose3D.cfg b/src/drivers/gazeboserver/plugins/holo_car/holoCarPose3D.cfg new file mode 100644 index 000000000..cbd28d6c8 --- /dev/null +++ b/src/drivers/gazeboserver/plugins/holo_car/holoCarPose3D.cfg @@ -0,0 +1,2 @@ +#without registry +Pose3D.Endpoints=default -h 0.0.0.0 -p 9989:ws -h 0.0.0.0 -p 11003 \ No newline at end of file diff --git a/src/drivers/gazeboserver/plugins/holo_car/holoCarPose3d.cc b/src/drivers/gazeboserver/plugins/holo_car/holoCarPose3d.cc new file mode 100644 index 000000000..b99015a52 --- /dev/null +++ b/src/drivers/gazeboserver/plugins/holo_car/holoCarPose3d.cc @@ -0,0 +1,154 @@ +#include "holoCarPose3d.h" + +namespace gazebo { + + void *Pose3DICE(void* v); + + GZ_REGISTER_MODEL_PLUGIN(Pose3D) + + Pose3D::Pose3D() { + pthread_mutex_init(&mutex, NULL); + pthread_mutex_init(&mutexPose3D, NULL); + count = 0; + //exit(1); + std::cout << "-----------------constructor Pose3D" << std::endl; + } + + void Pose3D::Load(physics::ModelPtr _parent, sdf::ElementPtr) { + + model = _parent; + this->updateConnection = event::Events::ConnectWorldUpdateBegin( + boost::bind(&Pose3D::OnUpdate, this)); + } + + physics::ModelPtr Pose3D::getModel() + { + return model; + } + + void Pose3D::OnUpdate() { + + if (count == 0) { + count++; + std::string name = this->model->GetName(); + std::cout << "GetName() Pose3D: " << name << std::endl; + namePose3D = std::string("--Ice.Config=holoCarPose3D.cfg"); + pthread_t thr_gui; + pthread_create(&thr_gui, NULL, &Pose3DICE, (void*) this); + } + + position = model->GetWorldPose(); + this->initial_q = position.rot; + + + pthread_mutex_lock(&mutex); + robotPose3D.x = position.pos.x; + robotPose3D.y = position.pos.y; + robotPose3D.q0 = position.rot.w; + robotPose3D.q1 = position.rot.x; + robotPose3D.q2 = position.rot.y; + robotPose3D.q3 = position.rot.z; + pthread_mutex_unlock(&mutex); + + } + + class Pose3DI : virtual public jderobot::Pose3D { + public: + + Pose3DI(gazebo::Pose3D* pose) : Pose3DData(new jderobot::Pose3DData()) { + this->pose = pose; + } + + virtual ~Pose3DI() { + }; + + virtual int setPose3DData(const jderobot::Pose3DDataPtr& Pose3DData, + const Ice::Current&) { + math::Pose position = this->pose->getModel()->GetWorldPose(); + + + + position.pos.x = Pose3DData->x / Pose3DData->h; + position.pos.y = Pose3DData->y / Pose3DData->h; + position.pos.z = Pose3DData->z / Pose3DData->h; + + position.rot.w = Pose3DData->q0; + position.rot.x = Pose3DData->q1; + position.rot.y = Pose3DData->q2; + position.rot.z = Pose3DData->q3; + + this->pose->getModel()->SetWorldPose(position); + + return 0; + //this->getModel(); + } + + + virtual jderobot::Pose3DDataPtr getPose3DData(const Ice::Current&) { + pthread_mutex_lock(&pose->mutex); + + //std::cout << "theta: " << pose->robotPose3D.theta << std::endl; + + Pose3DData->x = pose->robotPose3D.x; + Pose3DData->y = pose->robotPose3D.y; + Pose3DData->z = 0.0; + Pose3DData->h = 1.0; + + Pose3DData->q0 = pose->robotPose3D.q0; + Pose3DData->q1 = pose->robotPose3D.q1; + Pose3DData->q2 = pose->robotPose3D.q2; + Pose3DData->q3 = pose->robotPose3D.q3; + + + pthread_mutex_unlock(&pose->mutex); + + return Pose3DData; + }; + + public: + gazebo::Pose3D* pose; + private: + jderobot::Pose3DDataPtr Pose3DData; + }; + + void *Pose3DICE(void* v) { + gazebo::Pose3D* base = (gazebo::Pose3D*)v; + char* name = (char*) base->namePose3D.c_str(); + Ice::CommunicatorPtr ic; + int argc = 1; + Ice::PropertiesPtr prop; + char* argv[] = {name}; + + try { + + ic = EasyIce::initialize(argc, argv); + + + prop = ic->getProperties(); + std::string Endpoints = prop->getProperty("Pose3D.Endpoints"); + std::cout << "Pose3D Endpoints " << Endpoints << std::endl; + + Ice::ObjectAdapterPtr adapter = + ic->createObjectAdapterWithEndpoints("Pose3D", Endpoints); + Ice::ObjectPtr object = new Pose3DI(base); + + adapter->add(object, ic->stringToIdentity("Pose3D")); + + adapter->activate(); + ic->waitForShutdown(); + } catch (const Ice::Exception& e) { + std::cerr << e << std::endl; + } catch (const char* msg) { + std::cerr << msg << std::endl; + } + if (ic) { + try { + ic->destroy(); + } catch (const Ice::Exception& e) { + std::cerr << e << std::endl; + } + } + + } + +} diff --git a/src/drivers/gazeboserver/plugins/holo_car/holoCarPose3d.h b/src/drivers/gazeboserver/plugins/holo_car/holoCarPose3d.h new file mode 100644 index 000000000..d359eed43 --- /dev/null +++ b/src/drivers/gazeboserver/plugins/holo_car/holoCarPose3d.h @@ -0,0 +1,60 @@ +#include +#include "gazebo.hh" +#include "physics/physics.hh" +#include "common/common.hh" +#include "transport/transport.hh" + + +// ICE utils includes +#include +#include +#include + + +//#include +#include + +#ifndef POSE3DPIONEER_H +#define POSE3DPIONEER_H + +namespace gazebo { + + + class Pose3D : public ModelPlugin { + public: + + Pose3D(); + + virtual void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/); + physics::ModelPtr getModel(); + + pthread_mutex_t mutex; + pthread_mutex_t mutexPose3D; + int count; + struct pose3d_t { + float x; + float y; + float z; + float h; + float q0; + float q1; + float q2; + float q3; + }; + math::Quaternion initial_q; + pose3d_t robotPose3D; + std::string namePose3D; + + private: + + void OnUpdate(); + physics::ModelPtr model; + math::Pose position; + event::ConnectionPtr updateConnection; + + + }; + +} + +#endif /* POSE3D_H */