From efa3c23e2a9833d243c7810a3718a707143e00b3 Mon Sep 17 00:00:00 2001 From: AAAAAAAAA Date: Thu, 5 Oct 2017 14:08:26 +0200 Subject: [PATCH] Added resources for the Stop practice --- .../gazeboserver/models/car/meshes/model.dae | 11942 ++++++++++++++++ .../gazeboserver/models/car/model.config | 17 + src/drivers/gazeboserver/models/car/model.sdf | 36 + .../materials/scripts/gas_station.material | 44 + .../materials/textures/GasStation_Diffuse.png | Bin 0 -> 781427 bytes .../materials/textures/GasStation_Normal.png | Bin 0 -> 239736 bytes .../materials/textures/GasStation_Spec.png | Bin 0 -> 412305 bytes .../models/gas_station/meshes/gas_station.dae | 160 + .../models/gas_station/model-1_3.sdf | 33 + .../models/gas_station/model-1_4.sdf | 33 + .../models/gas_station/model.config | 24 + .../gazeboserver/models/gas_station/model.sdf | 33 + .../gazeboserver/models/opel/meshes/model.dae | 8163 +++++++++++ .../gazeboserver/models/opel/model.config | 17 + .../gazeboserver/models/opel/model.sdf | 230 + .../models/stopW/meshes/Asphalt_New.jpg | Bin 0 -> 8312 bytes .../meshes/Concrete_Pavers_Block_Multi.jpg | Bin 0 -> 16867 bytes .../gazeboserver/models/stopW/meshes/stop.dae | 2634 ++++ .../gazeboserver/models/stopW/model.config | 16 + .../gazeboserver/models/stopW/model.sdf | 23 + .../materials/scripts/stopsign.material | 29 + .../materials/textures/StopSign_Diffuse.png | Bin 0 -> 290259 bytes .../materials/textures/StopSign_Spec.png | Bin 0 -> 354166 bytes .../models/stop_sign/meshes/stop_sign.dae | 149 + .../models/stop_sign/model-1_3.sdf | 28 + .../models/stop_sign/model-1_4.sdf | 28 + .../models/stop_sign/model.config | 24 + .../gazeboserver/models/stop_sign/model.sdf | 28 + .../models/stop_sign/my_mesh.world~ | 37 + .../plugins/dummycar/CMakeLists.txt | 25 + .../plugins/dummycar/carplugin.cc | 46 + .../gazeboserver/plugins/opel/CMakeLists.txt | 49 + .../plugins/opel/cam_opel_center.cfg | 8 + .../plugins/opel/cam_opel_left.cfg | 8 + .../plugins/opel/cam_opel_right.cfg | 8 + .../gazeboserver/plugins/opel/camera_dump.cc | 306 + .../gazeboserver/plugins/opel/opelMotors.cc | 179 + .../gazeboserver/plugins/opel/opelMotors.cfg | 3 + .../gazeboserver/plugins/opel/opelMotors.h | 66 + .../gazeboserver/plugins/opel/opelPose3D.cfg | 2 + .../gazeboserver/plugins/opel/pose3d.cc | 154 + .../gazeboserver/plugins/opel/pose3d.h | 60 + src/drivers/gazeboserver/worlds/stop.world | 141 + 43 files changed, 24783 insertions(+) create mode 100644 src/drivers/gazeboserver/models/car/meshes/model.dae create mode 100644 src/drivers/gazeboserver/models/car/model.config create mode 100644 src/drivers/gazeboserver/models/car/model.sdf create mode 100644 src/drivers/gazeboserver/models/gas_station/materials/scripts/gas_station.material create mode 100644 src/drivers/gazeboserver/models/gas_station/materials/textures/GasStation_Diffuse.png create mode 100644 src/drivers/gazeboserver/models/gas_station/materials/textures/GasStation_Normal.png create mode 100644 src/drivers/gazeboserver/models/gas_station/materials/textures/GasStation_Spec.png create mode 100755 src/drivers/gazeboserver/models/gas_station/meshes/gas_station.dae create mode 100644 src/drivers/gazeboserver/models/gas_station/model-1_3.sdf create mode 100644 src/drivers/gazeboserver/models/gas_station/model-1_4.sdf create mode 100644 src/drivers/gazeboserver/models/gas_station/model.config create mode 100644 src/drivers/gazeboserver/models/gas_station/model.sdf create mode 100644 src/drivers/gazeboserver/models/opel/meshes/model.dae create mode 100644 src/drivers/gazeboserver/models/opel/model.config create mode 100644 src/drivers/gazeboserver/models/opel/model.sdf create mode 100644 src/drivers/gazeboserver/models/stopW/meshes/Asphalt_New.jpg create mode 100644 src/drivers/gazeboserver/models/stopW/meshes/Concrete_Pavers_Block_Multi.jpg create mode 100644 src/drivers/gazeboserver/models/stopW/meshes/stop.dae create mode 100644 src/drivers/gazeboserver/models/stopW/model.config create mode 100644 src/drivers/gazeboserver/models/stopW/model.sdf create mode 100644 src/drivers/gazeboserver/models/stop_sign/materials/scripts/stopsign.material create mode 100644 src/drivers/gazeboserver/models/stop_sign/materials/textures/StopSign_Diffuse.png create mode 100644 src/drivers/gazeboserver/models/stop_sign/materials/textures/StopSign_Spec.png create mode 100755 src/drivers/gazeboserver/models/stop_sign/meshes/stop_sign.dae create mode 100644 src/drivers/gazeboserver/models/stop_sign/model-1_3.sdf create mode 100644 src/drivers/gazeboserver/models/stop_sign/model-1_4.sdf create mode 100644 src/drivers/gazeboserver/models/stop_sign/model.config create mode 100644 src/drivers/gazeboserver/models/stop_sign/model.sdf create mode 100644 src/drivers/gazeboserver/models/stop_sign/my_mesh.world~ create mode 100644 src/drivers/gazeboserver/plugins/dummycar/CMakeLists.txt create mode 100644 src/drivers/gazeboserver/plugins/dummycar/carplugin.cc create mode 100644 src/drivers/gazeboserver/plugins/opel/CMakeLists.txt create mode 100644 src/drivers/gazeboserver/plugins/opel/cam_opel_center.cfg create mode 100644 src/drivers/gazeboserver/plugins/opel/cam_opel_left.cfg create mode 100644 src/drivers/gazeboserver/plugins/opel/cam_opel_right.cfg create mode 100644 src/drivers/gazeboserver/plugins/opel/camera_dump.cc create mode 100644 src/drivers/gazeboserver/plugins/opel/opelMotors.cc create mode 100644 src/drivers/gazeboserver/plugins/opel/opelMotors.cfg create mode 100644 src/drivers/gazeboserver/plugins/opel/opelMotors.h create mode 100644 src/drivers/gazeboserver/plugins/opel/opelPose3D.cfg create mode 100644 src/drivers/gazeboserver/plugins/opel/pose3d.cc create mode 100644 src/drivers/gazeboserver/plugins/opel/pose3d.h create mode 100644 src/drivers/gazeboserver/worlds/stop.world diff --git a/src/drivers/gazeboserver/models/car/meshes/model.dae b/src/drivers/gazeboserver/models/car/meshes/model.dae new file mode 100644 index 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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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b/src/drivers/gazeboserver/models/car/model.config new file mode 100644 index 000000000..8e9e2902f --- /dev/null +++ b/src/drivers/gazeboserver/models/car/model.config @@ -0,0 +1,17 @@ + + + + Car + 1.0 + model.sdf + + + Satyaki Chakraborty + satyaki.cs15@gmail.com + + + + A car model. + + + diff --git a/src/drivers/gazeboserver/models/car/model.sdf b/src/drivers/gazeboserver/models/car/model.sdf new file mode 100644 index 000000000..b082aec78 --- /dev/null +++ b/src/drivers/gazeboserver/models/car/model.sdf @@ -0,0 +1,36 @@ + + + + 0 0 0.5 0 0 0 + false + + false + + 1.0 + + 0.083 + 0.0 + 0.0 + 0.083 + 0.0 + 0.083 + + + + + + model://opel/meshes/model.dae + + + + + + + model://opel/meshes/model.dae + + + + + + + diff --git a/src/drivers/gazeboserver/models/gas_station/materials/scripts/gas_station.material b/src/drivers/gazeboserver/models/gas_station/materials/scripts/gas_station.material new file mode 100644 index 000000000..959b13546 --- /dev/null +++ b/src/drivers/gazeboserver/models/gas_station/materials/scripts/gas_station.material @@ -0,0 +1,44 @@ +material GasStation/Diffuse +{ + receive_shadows off + technique + { + pass + { + texture_unit + { + texture GasStation_Diffuse.png + } + } + } +} + +material GasStation/Specular +{ + receive_shadows off + technique + { + pass + { + texture_unit + { + texture GasStation_Spec.png + } + } + } +} + +material GasStation/Normal +{ + receive_shadows off + technique + { + pass + { + texture_unit + { + texture GasStation_Normal.png + } + } + } +} diff --git a/src/drivers/gazeboserver/models/gas_station/materials/textures/GasStation_Diffuse.png b/src/drivers/gazeboserver/models/gas_station/materials/textures/GasStation_Diffuse.png new file mode 100644 index 0000000000000000000000000000000000000000..c7e1748cc267658764dcb77680d095ca3c0253e0 GIT binary patch literal 781427 zcmXV1by!nv8wcs`Mi7ve?rxCLLu!PCbT^ak8X!1&(jg79fs!I6HF_XOry|`YAMg8q 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1061 2584 2147 2147 1355 2585 2606 2606 1061 2586 2147 2147 1115 2587 2148 2148 1055 2588 2020 2020 1355 2589 2606 2606 1115 2590 2148 2148 1059 2591 2097 2097 1061 2592 2098 2098 1063 2593 2099 2099 1063 2594 2099 2099 1062 2595 2100 2100 1059 2596 2097 2097 1383 2597 2608 2608 1356 2598 2611 2611 1063 2599 2149 2149 1063 2600 2149 2149 1061 2601 2027 2027 1383 2602 2608 2608 1351 2603 2599 2599 1354 2604 2605 2605 1352 2605 2601 2601 1352 2605 2601 2601 1066 2606 2018 2018 1351 2603 2599 2599 1064 2607 2033 2033 1054 2608 2034 2034 1351 2609 2600 2600 1351 2610 2600 2600 1066 2611 2035 2035 1064 2612 2033 2033 1056 2613 2021 2021 1065 2614 2138 2138 1352 2615 2602 2602 1065 2616 2029 2029 1064 2617 2030 2030 1066 2618 2031 2031 1066 2619 2031 2031 1352 2620 2032 2032 1065 2621 2029 2029 1058 2622 2061 2061 1091 2623 2069 2069 1087 2624 2103 2103 1087 2625 2103 2103 1073 2626 2050 2050 1058 2627 2061 2061 1112 2628 2153 2153 1087 2629 2154 2154 1088 2630 2155 2155 1088 2631 2155 2155 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1124 2911 2223 2223 1158 2912 2281 2281 1158 2912 2281 2281 1166 2913 2282 2282 1131 2910 2224 2224 1146 2914 2259 2259 1160 2915 2276 2276 1157 2916 2283 2283 1157 2916 2283 2283 1123 2917 2225 2225 1146 2914 2259 2259 1133 2918 2233 2233 1126 2919 2231 2231 1161 2920 2289 2289 1161 2920 2289 2289 1168 2921 2291 2291 1133 2918 2233 2233 1129 2922 2227 2227 1128 2923 2226 2226 1163 2924 2284 2284 1163 2924 2284 2284 1164 2925 2285 2285 1129 2922 2227 2227 1130 2926 2228 2228 1129 2922 2227 2227 1164 2925 2285 2285 1164 2925 2285 2285 1165 2927 2286 2286 1130 2926 2228 2228 1127 2928 2229 2229 1130 2926 2228 2228 1165 2927 2286 2286 1165 2927 2286 2286 1162 2929 2287 2287 1127 2928 2229 2229 1128 2923 2226 2226 1131 2910 2224 2224 1166 2913 2282 2282 1166 2913 2282 2282 1163 2924 2284 2284 1128 2923 2226 2226 1126 2919 2231 2231 1132 2930 2240 2240 1167 2931 2296 2296 1167 2931 2296 2296 1161 2920 2289 2289 1126 2919 2231 2231 1170 2932 2290 2290 1135 2933 2232 2232 1127 2928 2229 2229 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1168 2921 2291 2291 1171 2938 2299 2299 1171 2938 2299 2299 1136 2937 2243 2243 1133 2918 2233 2233 1148 2950 2262 2262 1152 2951 2263 2263 1153 2897 2264 2264 1153 2897 2264 2264 1147 2896 2261 2261 1148 2950 2262 2262 1118 2899 2265 2265 1154 2900 2266 2266 1152 2951 2263 2263 1152 2951 2263 2263 1148 2950 2262 2262 1118 2899 2265 2265 1150 2952 2267 2267 1149 2902 2314 2314 1153 2897 2264 2264 1153 2897 2264 2264 1152 2951 2263 2263 1150 2952 2267 2267 1151 2903 2269 2269 1150 2952 2267 2267 1152 2951 2263 2263 1152 2951 2263 2263 1154 2900 2266 2266 1151 2903 2269 2269 1118 2904 2277 2277 1148 2953 2278 2278 1156 2954 2271 2271 1156 2954 2271 2271 1121 2905 2279 2279 1118 2904 2277 2277 1148 2953 2272 2272 1147 2909 2268 2268 1155 2908 2270 2270 1155 2908 2270 2270 1156 2954 2271 2271 1148 2953 2272 2272 1125 2940 2222 2222 1159 2941 2280 2280 1158 2912 2281 2281 1158 2912 2281 2281 1124 2911 2223 2223 1125 2940 2222 2222 1170 2932 2311 2311 1169 2935 2310 2310 1172 2939 2312 2312 1170 2932 2260 2260 1160 2915 2276 2276 1146 2914 2259 2259 1146 2914 2259 2259 1135 2933 2236 2236 1170 2932 2260 2260 1156 2954 2271 2271 1155 2908 2270 2270 1157 2916 2308 2308 1159 2941 2307 2307 1156 2954 2271 2271 1157 2916 2308 2308 1121 2905 2279 2279 1156 2954 2271 2271 1159 2941 2307 2307 1140 2942 2212 2212 1173 2955 2273 2273 1174 2956 2274 2274 1174 2956 2274 2274 1141 2943 2215 2215 1140 2942 2212 2212 1174 2956 2274 2274 1176 2957 2275 2275 1144 2946 2220 2220 1144 2946 2220 2220 1141 2943 2215 2215 1174 2956 2274 2274 1175 2958 2288 2288 1142 2949 2238 2238 1144 2946 2220 2220 1144 2946 2220 2220 1176 2957 2275 2275 1175 2958 2288 2288 1168 2921 2292 2292 1161 2920 2294 2294 1160 2915 2309 2309 1160 2915 2309 2309 1171 2938 2313 2313 1168 2921 2292 2292 1167 2931 2295 2295 1162 2929 2298 2298 1165 2927 2300 2300 1171 2938 2313 2313 1160 2915 2309 2309 1170 2932 2311 2311 1170 2932 2311 2311 1172 2939 2312 2312 1171 2938 2313 2313 1170 2932 2311 2311 1162 2929 2298 2298 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1180 2968 2321 2321 1213 2967 2322 2322 1213 2967 2322 2322 1209 2972 2375 2375 1179 2971 2325 2325 1211 2973 2327 2327 1214 2970 2324 2324 1180 2968 2321 2321 1180 2968 2321 2321 1179 2971 2325 2325 1211 2973 2327 2327 1178 2974 2336 2336 1181 2975 2339 2339 1182 2976 2329 2329 1182 2976 2329 2329 1177 2977 2337 2337 1178 2974 2336 2336 1177 2977 2330 2330 1182 2976 2329 2329 1215 2978 2328 2328 1215 2978 2328 2328 1207 2979 2326 2326 1177 2977 2330 2330 1191 2980 2342 2342 1184 2981 2341 2341 1218 2982 2399 2399 1218 2982 2399 2399 1226 2983 2400 2400 1191 2980 2342 2342 1206 2984 2377 2377 1220 2985 2394 2394 1217 2986 2401 2401 1217 2986 2401 2401 1183 2987 2343 2343 1206 2984 2377 2377 1193 2988 2351 2351 1186 2989 2349 2349 1221 2990 2407 2407 1221 2990 2407 2407 1228 2991 2409 2409 1193 2988 2351 2351 1189 2992 2345 2345 1188 2993 2344 2344 1223 2994 2402 2402 1223 2994 2402 2402 1224 2995 2403 2403 1189 2992 2345 2345 1190 2996 2346 2346 1189 2992 2345 2345 1224 2995 2403 2403 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1417 3363 2711 2711 1421 3364 2714 2714 1420 3365 2713 2713 1419 3366 2716 2716 1419 3367 2716 2716 1422 3368 2715 2715 1421 3369 2714 2714 1409 3370 2700 2700 1423 3371 2717 2717 1424 3372 2718 2718 1424 3373 2718 2718 1412 3374 2703 2703 1409 3375 2700 2700 1425 3376 2720 2720 1424 3377 2719 2719 1427 3378 2722 2722 1427 3379 2722 2722 1426 3380 2721 2721 1425 3381 2720 2720 1414 3382 2705 2705 1427 3383 2723 2723 1420 3384 2724 2724 1420 3385 2724 2724 1407 3386 2698 2698 1414 3387 2705 2705 1369 3388 2634 2634 1370 3389 2635 2635 1429 3390 2726 2726 1429 3391 2726 2726 1428 3392 2725 2725 1369 3393 2634 2634 1430 3394 2728 2728 1429 3395 2727 2727 1432 3396 2730 2730 1432 3397 2730 2730 1431 3398 2729 2729 1430 3399 2728 2728 1433 3400 2732 2732 1432 3401 2731 2731 1380 3402 2734 2734 1380 3403 2734 2734 1434 3404 2733 2733 1433 3405 2732 2732 1379 3406 2691 2691 1380 3407 2734 2734 1419 3408 2712 2712 1419 3409 2712 2712 1420 3410 2724 2724 1379 3411 2691 2691 1394 3412 2682 2682 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1440 3562 2806 2806 1443 3559 2809 2809 1445 3563 2811 2811 1444 3564 2810 2810 1442 3560 2808 2808 1442 3560 2808 2808 1443 3559 2809 2809 1445 3563 2811 2811 1439 3565 2813 2813 1436 3566 2812 2812 1441 3561 2807 2807 1441 3561 2807 2807 1442 3560 2808 2808 1439 3565 2813 2813 1438 3567 2814 2814 1439 3565 2813 2813 1442 3560 2808 2808 1442 3560 2808 2808 1444 3564 2810 2810 1438 3567 2814 2814 1445 3568 2815 2815 1443 3569 2818 2818 1447 3570 2817 2817 1447 3570 2817 2817 1446 3571 2816 2816 1445 3568 2815 2815 1443 3569 2819 2819 1440 3572 2821 2821 1448 3573 2820 2820 1448 3573 2820 2820 1447 3570 2817 2817 1443 3569 2819 2819 1452 3574 2825 2825 1451 3575 2824 2824 1450 3576 2823 2823 1450 3576 2823 2823 1449 3577 2822 2822 1452 3574 2825 2825 1453 3578 2826 2826 1456 3579 2829 2829 1455 3580 2828 2828 1455 3580 2828 2828 1454 3581 2827 2827 1453 3578 2826 2826 1460 3582 2833 2833 1459 3583 2832 2832 1458 3584 2831 2831 1458 3584 2831 2831 1457 3585 2830 2830 1460 3582 2833 2833 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1475 3600 2851 2851 1476 3603 2873 2873 1471 3597 2850 2850 1468 3592 2876 2876 1469 3595 2874 2874 1469 3595 2874 2874 1473 3599 2852 2852 1471 3597 2850 2850 1457 3585 2872 2872 1469 3595 2874 2874 1466 3590 2875 2875 1466 3590 2875 2875 1464 3586 2877 2877 1457 3585 2872 2872 1452 3574 2878 2878 1449 3577 2879 2879 1479 3604 2861 2861 1479 3604 2861 2861 1456 3579 2860 2860 1453 3578 2871 2871 1452 3574 2878 2878 1479 3604 2861 2861 1453 3578 2871 2871 1453 3578 2871 2871 1461 3589 2880 2880 1452 3574 2878 2878 1464 3586 2877 2877 1461 3589 2880 2880 1453 3578 2871 2871 1453 3578 2871 2871 1457 3585 2872 2872 1464 3586 2877 2877 1460 3582 2833 2833 1476 3603 2853 2853 1477 3602 2854 2854 1477 3602 2854 2854 1459 3583 2832 2832 1460 3582 2833 2833 1489 3614 2882 2882 1440 3562 2881 2881 1441 3561 2884 2884 1441 3561 2884 2884 1490 3615 2883 2883 1489 3614 2882 2882 1445 3563 2885 2885 1489 3614 2882 2882 1490 3615 2883 2883 1490 3615 2883 2883 1444 3564 2886 2886 1445 3563 2885 2885 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1503 3639 2937 2937 1500 3642 2939 2939 1508 3643 2938 2938 1508 3643 2938 2938 1507 3640 2935 2935 1503 3639 2937 2937 1512 3644 2943 2943 1511 3645 2942 2942 1510 3646 2941 2941 1510 3646 2941 2941 1509 3647 2940 2940 1512 3644 2943 2943 1513 3648 2944 2944 1516 3649 2947 2947 1515 3650 2946 2946 1515 3650 2946 2946 1514 3651 2945 2945 1513 3648 2944 2944 1520 3652 2951 2951 1519 3653 2950 2950 1518 3654 2949 2949 1518 3654 2949 2949 1517 3655 2948 2948 1520 3652 2951 2951 1524 3656 2955 2955 1523 3657 2954 2954 1522 3658 2953 2953 1522 3658 2953 2953 1521 3659 2952 2952 1524 3656 2955 2955 1526 3660 2957 2957 1525 3661 2956 2956 1523 3657 2954 2954 1523 3657 2954 2954 1524 3656 2955 2955 1526 3660 2957 2957 1528 3662 2959 2959 1527 3663 2958 2958 1525 3661 2956 2956 1525 3661 2956 2956 1526 3660 2957 2957 1528 3662 2959 2959 1521 3659 2952 2952 1522 3658 2953 2953 1511 3645 2942 2942 1511 3645 2942 2942 1512 3644 2943 2943 1521 3659 2952 2952 1517 3655 2948 2948 1518 3654 2949 2949 1530 3664 2961 2961 1530 3664 2961 2961 1529 3665 2960 2960 1517 3655 2948 2948 1532 3666 2963 2963 1527 3663 2958 2958 1528 3662 2959 2959 1528 3662 2959 2959 1531 3667 2962 2962 1532 3666 2963 2963 1530 3664 2967 2967 1534 3668 2966 2966 1533 3669 2965 2965 1533 3669 2965 2965 1529 3665 2964 2964 1530 3664 2967 2967 1531 3667 2968 2968 1533 3669 2970 2970 1535 3670 2969 2969 1535 3670 2974 2974 1538 3671 2973 2973 1537 3672 2972 2972 1537 3672 2972 2972 1536 3673 2971 2971 1535 3670 2974 2974 1533 3669 2965 2965 1534 3668 2966 2966 1538 3671 2973 2973 1538 3671 2973 2973 1535 3670 2974 2974 1533 3669 2965 2965 1539 3674 2975 2975 1540 3675 2977 2977 1506 3641 2976 2976 1507 3640 2935 2935 1508 3643 2938 2938 1516 3649 2978 2978 1539 3674 2979 2979 1507 3640 2935 2935 1516 3649 2978 2978 1506 3641 2934 2934 1507 3640 2935 2935 1539 3674 2979 2979 1541 3676 2980 2980 1544 3677 2983 2983 1543 3678 2982 2982 1543 3678 2982 2982 1542 3679 2981 2981 1541 3676 2980 2980 1543 3678 2982 2982 1546 3680 2985 2985 1545 3681 2984 2984 1545 3681 2984 2984 1542 3679 2981 2981 1543 3678 2982 2982 1548 3682 2987 2987 1547 3683 2986 2986 1545 3681 2984 2984 1545 3681 2984 2984 1546 3680 2985 2985 1548 3682 2987 2987 1520 3652 2988 2988 1517 3655 2990 2990 1513 3648 2989 2989 1513 3648 2989 2989 1536 3673 2991 2991 1520 3652 2988 2988 1529 3665 2992 2992 1528 3662 2994 2994 1526 3660 2993 2993 1536 3673 2991 2991 1513 3648 2989 2989 1531 3667 2968 2968 1531 3667 2968 2968 1535 3670 2969 2969 1536 3673 2991 2991 1531 3667 2968 2968 1528 3662 2994 2994 1529 3665 2992 2992 1529 3665 2992 2992 1533 3669 2970 2970 1531 3667 2968 2968 1517 3655 2990 2990 1529 3665 2992 2992 1526 3660 2993 2993 1526 3660 2993 2993 1524 3656 2995 2995 1517 3655 2990 2990 1512 3644 2996 2996 1509 3647 2997 2997 1539 3674 2979 2979 1539 3674 2979 2979 1516 3649 2978 2978 1513 3648 2989 2989 1512 3644 2996 2996 1539 3674 2979 2979 1513 3648 2989 2989 1513 3648 2989 2989 1521 3659 2998 2998 1512 3644 2996 2996 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1538 3671 3017 3017 1532 3666 3015 3015 1532 3666 3015 3015 1514 3651 3028 3028 1537 3672 3029 3029 1532 3666 3015 3015 1534 3668 3016 3016 1530 3664 3030 3030 1530 3664 3030 3030 1527 3663 3031 3031 1532 3666 3015 3015 1518 3654 3027 3027 1523 3657 3033 3033 1525 3661 3032 3032 1525 3661 3032 3032 1530 3664 3030 3030 1518 3654 3027 3027 1514 3651 3028 3028 1515 3650 3020 3020 1540 3675 3021 3021 1511 3645 3034 3034 1514 3651 3028 3028 1540 3675 3021 3021 1511 3645 3034 3034 1540 3675 3021 3021 1510 3646 3035 3035 1514 3651 3028 3028 1511 3645 3034 3034 1522 3658 3036 3036 1523 3657 3033 3033 1514 3651 3028 3028 1522 3658 3036 3036 1514 3651 3028 3028 1523 3657 3033 3033 1518 3654 3027 3027 1516 3649 2947 2947 1508 3643 3037 3037 1515 3650 2946 2946 1556 3693 3038 3038 1559 3694 3041 3041 1558 3695 3040 3040 1558 3696 3040 3040 1557 3697 3039 3039 1556 3698 3038 3038 1563 3699 3045 3045 1562 3700 3044 3044 1561 3701 3043 3043 1561 3701 3043 3043 1560 3702 3042 3042 1563 3699 3045 3045 1565 3703 3047 3047 1564 3704 3046 3046 1562 3700 3044 3044 1562 3700 3044 3044 1563 3699 3045 3045 1565 3703 3047 3047 1559 3705 3049 3049 1556 3706 3048 3048 1561 3701 3043 3043 1561 3701 3043 3043 1562 3700 3044 3044 1559 3705 3049 3049 1558 3707 3050 3050 1559 3705 3049 3049 1562 3700 3044 3044 1562 3700 3044 3044 1564 3704 3046 3046 1558 3707 3050 3050 1565 3708 3051 3051 1563 3709 3054 3054 1567 3710 3053 3053 1567 3710 3053 3053 1566 3711 3052 3052 1565 3708 3051 3051 1563 3709 3055 3055 1560 3712 3057 3057 1568 3713 3056 3056 1568 3713 3056 3056 1567 3710 3053 3053 1563 3709 3055 3055 1572 3714 3061 3061 1571 3715 3060 3060 1570 3716 3059 3059 1570 3716 3059 3059 1569 3717 3058 3058 1572 3714 3061 3061 1573 3718 3062 3062 1576 3719 3065 3065 1575 3720 3064 3064 1575 3720 3064 3064 1574 3721 3063 3063 1573 3718 3062 3062 1580 3722 3069 3069 1579 3723 3068 3068 1578 3724 3067 3067 1578 3724 3067 3067 1577 3725 3066 3066 1580 3722 3069 3069 1584 3726 3073 3073 1583 3727 3072 3072 1582 3728 3071 3071 1582 3728 3071 3071 1581 3729 3070 3070 1584 3726 3073 3073 1586 3730 3075 3075 1585 3731 3074 3074 1583 3727 3072 3072 1583 3727 3072 3072 1584 3726 3073 3073 1586 3730 3075 3075 1588 3732 3077 3077 1587 3733 3076 3076 1585 3731 3074 3074 1585 3731 3074 3074 1586 3730 3075 3075 1588 3732 3077 3077 1581 3729 3070 3070 1582 3728 3071 3071 1571 3715 3060 3060 1571 3715 3060 3060 1572 3714 3061 3061 1581 3729 3070 3070 1577 3725 3066 3066 1578 3724 3067 3067 1590 3734 3079 3079 1590 3734 3079 3079 1589 3735 3078 3078 1577 3725 3066 3066 1592 3736 3081 3081 1587 3733 3076 3076 1588 3732 3077 3077 1588 3732 3077 3077 1591 3737 3080 3080 1592 3736 3081 3081 1590 3734 3085 3085 1594 3738 3084 3084 1593 3739 3083 3083 1593 3739 3083 3083 1589 3735 3082 3082 1590 3734 3085 3085 1591 3737 3086 3086 1593 3739 3088 3088 1595 3740 3087 3087 1595 3740 3092 3092 1598 3741 3091 3091 1597 3742 3090 3090 1597 3742 3090 3090 1596 3743 3089 3089 1595 3740 3092 3092 1593 3739 3083 3083 1594 3738 3084 3084 1598 3741 3091 3091 1598 3741 3091 3091 1595 3740 3092 3092 1593 3739 3083 3083 1599 3744 3093 3093 1600 3745 3095 3095 1566 3711 3094 3094 1567 3710 3053 3053 1568 3713 3056 3056 1576 3719 3096 3096 1599 3744 3097 3097 1567 3710 3053 3053 1576 3719 3096 3096 1566 3711 3052 3052 1567 3710 3053 3053 1599 3744 3097 3097 1601 3746 3098 3098 1604 3747 3101 3101 1603 3748 3100 3100 1603 3748 3100 3100 1602 3749 3099 3099 1601 3746 3098 3098 1603 3748 3100 3100 1606 3750 3103 3103 1605 3751 3102 3102 1605 3751 3102 3102 1602 3749 3099 3099 1603 3748 3100 3100 1608 3752 3105 3105 1607 3753 3104 3104 1605 3751 3102 3102 1605 3751 3102 3102 1606 3750 3103 3103 1608 3752 3105 3105 1580 3722 3106 3106 1577 3725 3108 3108 1573 3718 3107 3107 1573 3718 3107 3107 1596 3743 3109 3109 1580 3722 3106 3106 1589 3735 3110 3110 1588 3732 3112 3112 1586 3730 3111 3111 1596 3743 3109 3109 1573 3718 3107 3107 1591 3737 3086 3086 1591 3737 3086 3086 1595 3740 3087 3087 1596 3743 3109 3109 1591 3737 3086 3086 1588 3732 3112 3112 1589 3735 3110 3110 1589 3735 3110 3110 1593 3739 3088 3088 1591 3737 3086 3086 1577 3725 3108 3108 1589 3735 3110 3110 1586 3730 3111 3111 1586 3730 3111 3111 1584 3726 3113 3113 1577 3725 3108 3108 1572 3714 3114 3114 1569 3717 3115 3115 1599 3744 3097 3097 1599 3744 3097 3097 1576 3719 3096 3096 1573 3718 3107 3107 1572 3714 3114 3114 1599 3744 3097 3097 1573 3718 3107 3107 1573 3718 3107 3107 1581 3729 3116 3116 1572 3714 3114 3114 1584 3726 3113 3113 1581 3729 3116 3116 1573 3718 3107 3107 1573 3718 3107 3107 1577 3725 3108 3108 1584 3726 3113 3113 1580 3722 3069 3069 1596 3743 3089 3089 1597 3742 3090 3090 1597 3742 3090 3090 1579 3723 3068 3068 1580 3722 3069 3069 1609 3754 3118 3118 1560 3702 3117 3117 1561 3701 3120 3120 1561 3701 3120 3120 1610 3755 3119 3119 1609 3754 3118 3118 1565 3703 3121 3121 1609 3754 3118 3118 1610 3755 3119 3119 1610 3755 3119 3119 1564 3704 3122 3122 1565 3703 3121 3121 1557 3756 3123 3123 1610 3755 3119 3119 1561 3701 3120 3120 1561 3701 3120 3120 1556 3706 3124 3124 1557 3756 3123 3123 1558 3707 3125 3125 1564 3704 3122 3122 1610 3755 3119 3119 1610 3755 3119 3119 1557 3756 3123 3123 1558 3707 3125 3125 1565 3708 3126 3126 1566 3711 3129 3129 1611 3757 3128 3128 1611 3757 3128 3128 1609 3758 3127 3127 1565 3708 3126 3126 1609 3758 3130 3130 1611 3757 3128 3128 1568 3713 3132 3132 1568 3713 3132 3132 1560 3712 3131 3131 1609 3758 3130 3130 1599 3744 3093 3093 1569 3717 3058 3058 1570 3716 3059 3059 1570 3716 3059 3059 1600 3745 3095 3095 1599 3744 3093 3093 1592 3736 3133 3133 1598 3741 3135 3135 1594 3738 3134 3134 1592 3736 3137 3137 1591 3737 3136 3136 1573 3718 3062 3062 1573 3718 3062 3062 1574 3721 3063 3063 1592 3736 3137 3137 1611 3757 3128 3128 1575 3720 3138 3138 1568 3713 3132 3132 1600 3745 3139 3139 1575 3720 3138 3138 1611 3757 3128 3128 1566 3711 3129 3129 1600 3745 3139 3139 1611 3757 3128 3128 1601 3746 3098 3098 1602 3749 3099 3099 1613 3759 3141 3141 1613 3759 3141 3141 1612 3760 3140 3140 1601 3746 3098 3098 1613 3759 3141 3141 1602 3749 3099 3099 1605 3751 3102 3102 1605 3751 3102 3102 1614 3761 3142 3142 1613 3759 3141 3141 1615 3762 3143 3143 1614 3761 3142 3142 1605 3751 3102 3102 1605 3751 3102 3102 1607 3753 3104 3104 1615 3762 3143 3143 1574 3721 3144 3144 1579 3723 3146 3146 1597 3742 3145 3145 1590 3734 3147 3147 1585 3731 3149 3149 1587 3733 3148 3148 1597 3742 3145 3145 1598 3741 3135 3135 1592 3736 3133 3133 1592 3736 3133 3133 1574 3721 3144 3144 1597 3742 3145 3145 1592 3736 3133 3133 1594 3738 3134 3134 1590 3734 3147 3147 1590 3734 3147 3147 1587 3733 3148 3148 1592 3736 3133 3133 1578 3724 3150 3150 1583 3727 3151 3151 1585 3731 3149 3149 1585 3731 3149 3149 1590 3734 3147 3147 1578 3724 3150 3150 1574 3721 3144 3144 1575 3720 3138 3138 1600 3745 3139 3139 1571 3715 3152 3152 1574 3721 3144 3144 1600 3745 3139 3139 1571 3715 3152 3152 1600 3745 3139 3139 1570 3716 3153 3153 1583 3727 3151 3151 1578 3724 3150 3150 1571 3715 3152 3152 1571 3715 3152 3152 1582 3728 3154 3154 1583 3727 3151 3151 1576 3719 3065 3065 1568 3713 3155 3155 1575 3720 3064 3064 1579 3723 3146 3146 1574 3721 3144 3144 1571 3715 3152 3152 1571 3715 3152 3152 1578 3724 3150 3150 1579 3723 3146 3146 1618 3763 3158 3158 1617 3764 3157 3157 1616 3765 3156 3156 1616 3765 3156 3156 1619 3766 3159 3159 1618 3763 3158 3158 1620 3767 3160 3160 1618 3763 3158 3158 1619 3766 3159 3159 1619 3766 3159 3159 1621 3768 3161 3161 1620 3767 3160 3160 1617 3764 3157 3157 1620 3767 3163 3163 1621 3768 3162 3162 1621 3768 3162 3162 1616 3765 3156 3156 1617 3764 3157 3157 1623 3769 3165 3165 1622 3770 3164 3164 1617 3764 3157 3157 1617 3764 3157 3157 1618 3763 3158 3158 1623 3769 3165 3165 1624 3771 3166 3166 1623 3769 3165 3165 1618 3763 3158 3158 1618 3763 3158 3158 1620 3767 3160 3160 1624 3771 3166 3166 1622 3770 3164 3164 1624 3771 3167 3167 1620 3767 3163 3163 1620 3767 3163 3163 1617 3764 3157 3157 1622 3770 3164 3164 1626 3772 3169 3169 1625 3773 3168 3168 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1643 3791 3192 3192 1645 3792 3195 3195 1642 3789 3191 3191 1642 3789 3191 3191 1640 3788 3188 3188 1643 3791 3192 3192 1643 3791 3192 3192 1644 3790 3193 3193 1647 3793 3197 3197 1647 3793 3197 3197 1646 3794 3196 3196 1643 3791 3192 3192 1644 3790 3193 3193 1645 3792 3194 3194 1648 3795 3198 3198 1648 3795 3198 3198 1647 3793 3197 3197 1644 3790 3193 3193 1645 3792 3195 3195 1643 3791 3192 3192 1646 3794 3196 3196 1646 3794 3196 3196 1648 3795 3199 3199 1645 3792 3195 3195 1650 3796 3201 3201 1649 3797 3200 3200 1646 3794 3196 3196 1646 3794 3196 3196 1647 3793 3197 3197 1650 3796 3201 3201 1651 3798 3202 3202 1650 3796 3201 3201 1647 3793 3197 3197 1647 3793 3197 3197 1648 3795 3198 3198 1651 3798 3202 3202 1649 3797 3200 3200 1651 3798 3203 3203 1648 3795 3199 3199 1648 3795 3199 3199 1646 3794 3196 3196 1649 3797 3200 3200 1654 3799 3182 3182 1653 3800 3181 3181 1652 3801 3180 3180 1652 3801 3180 3180 1655 3802 3183 3183 1654 3799 3182 3182 1656 3803 3184 3184 1654 3799 3182 3182 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1359 3156 3210 3210 1394 3821 3214 3214 1423 3822 3213 3213 1359 3156 3210 3210 1423 3822 3213 3213 1409 3823 3212 3212 1359 3156 3210 3210 1409 3823 3212 3212 1410 3824 3211 3211 1357 3825 2628 2628 1359 3826 3224 3224 1410 3827 3223 3223 1357 3828 2628 2628 1410 3829 3223 3223 1411 3830 3222 3222 1357 3831 2628 2628 1411 3832 3222 3222 1413 3833 3221 3221 1357 3834 2628 2628 1413 3835 3221 3221 1408 3836 3220 3220 1357 3837 2628 2628 1408 3838 3220 3220 1405 3839 3219 3219 1357 3840 2628 2628 1405 3841 3219 3219 1403 3842 3218 3218 1357 3843 2628 2628 1403 3844 3218 3218 1401 3845 3217 3217 1357 3846 2628 2628 1401 3847 3217 3217 1365 3848 2627 2627 1360 3849 3216 3216 1362 3850 3227 3227 1382 3851 3226 3226 1360 3852 3216 3216 1382 3853 3226 3226 1435 3854 3225 3225 1360 3855 3216 3216 1435 3856 3225 3225 1393 3857 3215 3215 1387 3858 3229 3229 1363 3859 3228 3228 1356 3860 3231 3231 1356 3861 3231 3231 1386 3862 3230 3230 1387 3863 3229 3229 1381 3864 2651 2651 1361 3865 2652 2652 1363 3866 3233 3233 1363 3867 3233 3233 1387 3868 3232 3232 1381 3869 2651 2651 1373 3870 2672 2672 1374 3209 3234 3234 1366 2549 2629 2629 1366 2549 2629 2629 1367 3217 2630 2630 1373 3870 2672 2672 1369 3871 3236 3236 1355 3872 3235 3235 1364 3873 2645 2645 1364 3874 2645 2645 1368 3875 2646 2646 1369 3876 3236 3236 1670 3877 3237 3237 1674 3878 3271 3271 1675 3879 3248 3248 1675 3879 3248 3248 1671 3880 3241 3241 1670 3877 3237 3237 1671 3880 3238 3238 1675 3879 3242 3242 1676 3881 3240 3240 1676 3881 3240 3240 1672 3882 3239 3239 1671 3880 3238 3238 1672 3882 3239 3239 1676 3881 3240 3240 1677 3883 3244 3244 1677 3883 3244 3244 1673 3884 3243 3243 1672 3882 3239 3239 1673 3884 3243 3243 1677 3883 3244 3244 1678 3885 3246 3246 1678 3885 3246 3246 1679 3886 3245 3245 1673 3884 3243 3243 1671 3880 3241 3241 1680 3887 3273 3273 1712 3888 3272 3272 1712 3888 3272 3272 1670 3877 3237 3237 1671 3880 3241 3241 1672 3882 3239 3239 1681 3889 3250 3250 1680 3887 3249 3249 1680 3887 3249 3249 1671 3880 3238 3238 1672 3882 3239 3239 1673 3884 3243 3243 1682 3890 3255 3255 1681 3889 3250 3250 1681 3889 3250 3250 1672 3882 3239 3239 1673 3884 3243 3243 1679 3886 3245 3245 1683 3891 3256 3256 1682 3890 3255 3255 1682 3890 3255 3255 1673 3884 3243 3243 1679 3886 3245 3245 1684 3892 3253 3253 1686 3893 3281 3281 1687 3894 3265 3265 1687 3894 3265 3265 1685 3895 3254 3254 1684 3892 3253 3253 1686 3893 3257 3257 1688 3896 3260 3260 1689 3897 3259 3259 1689 3897 3259 3259 1687 3894 3258 3258 1686 3893 3257 3257 1688 3896 3260 3260 1690 3898 3266 3266 1691 3899 3264 3264 1691 3899 3264 3264 1689 3897 3259 3259 1688 3896 3260 3260 1690 3898 3266 3266 1692 3900 3268 3268 1693 3901 3267 3267 1693 3901 3267 3267 1691 3899 3264 3264 1690 3898 3266 3266 1686 3893 3281 3281 1684 3892 3253 3253 1694 3902 3283 3283 1694 3902 3283 3283 1695 3903 3282 3282 1686 3893 3281 3281 1688 3896 3260 3260 1686 3893 3257 3257 1695 3903 3275 3275 1695 3903 3275 3275 1696 3904 3274 3274 1688 3896 3260 3260 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1970 4380 3754 3763 1963 4374 3757 3766 1968 4377 3753 3762 1968 4377 3753 3762 1973 4382 3752 3761 1970 4380 3754 3763 1975 4383 3796 3805 1971 4379 3797 3806 1970 4380 3792 3801 1970 4380 3792 3801 1974 4384 3791 3800 1975 4383 3796 3805 1976 4385 3780 3789 1972 4381 3784 3793 1971 4379 3779 3788 1971 4379 3779 3788 1975 4383 3778 3787 1976 4385 3780 3789 1977 4386 3794 3803 1973 4382 3795 3804 1972 4381 3793 3802 1972 4381 3793 3802 1976 4385 3783 3792 1977 4386 3794 3803 1974 4384 3758 3767 1970 4380 3761 3770 1973 4382 3757 3766 1973 4382 3757 3766 1977 4386 3754 3763 1974 4384 3758 3767 1959 4367 3786 3795 1975 4383 3785 3794 1974 4384 3797 3806 1974 4384 3797 3806 1958 4368 3796 3805 1959 4367 3786 3795 1960 4369 3766 3775 1976 4385 3759 3768 1975 4383 3784 3793 1975 4383 3784 3793 1959 4367 3780 3789 1960 4369 3766 3775 1961 4370 3769 3778 1977 4386 3760 3769 1976 4385 3795 3804 1976 4385 3795 3804 1960 4369 3794 3803 1961 4370 3769 3778 1958 4368 3745 3754 1974 4384 3742 3751 1977 4386 3761 3770 1977 4386 3761 3770 1961 4370 3758 3767 1958 4368 3745 3754 2002 4387 3868 3877 1980 4388 3799 3808 2004 4389 3870 3879 2004 4390 3870 3879 2005 4391 3871 3880 1981 4392 3800 3809 2002 4393 3868 3877 2004 4394 3870 3879 1981 4395 3800 3809 1981 4396 3800 3809 2003 4397 3869 3878 1979 4398 3801 3810 2002 4399 3868 3877 1981 4400 3800 3809 1979 4401 3801 3810 1978 4402 3798 3807 2002 4403 3868 3877 1979 4404 3801 3810 1998 4405 3839 3848 2023 4406 3889 3898 2000 4407 3854 3863 2000 4407 3854 3863 2025 4408 3891 3900 1998 4405 3839 3848 1978 4409 3806 3815 1979 4410 3807 3816 2007 4411 3862 3871 2007 4411 3862 3871 1982 4412 3863 3872 1978 4409 3806 3815 2003 4413 3810 3819 1981 4414 3811 3820 2009 4415 3856 3865 2009 4415 3856 3865 1983 4416 3857 3866 2003 4413 3810 3819 2005 4417 3814 3823 2004 4418 3815 3824 2008 4419 3860 3869 2008 4419 3860 3869 1985 4420 3861 3870 2005 4417 3814 3823 1980 4421 3818 3827 2002 4422 3819 3828 2006 4423 3858 3867 2006 4423 3858 3867 1984 4424 3859 3868 1980 4421 3818 3827 1990 4425 3850 3859 2015 4426 3851 3860 1994 4427 3852 3861 1994 4427 3852 3861 2019 4428 3853 3862 1990 4425 3850 3859 1991 4429 3802 3811 2016 4430 3803 3812 1997 4431 3804 3813 1997 4431 3804 3813 2018 4432 3805 3814 1991 4429 3802 3811 1992 4433 3846 3855 2017 4434 3847 3856 1996 4435 3848 3857 1996 4435 3848 3857 2021 4436 3849 3858 1992 4433 3846 3855 1993 4437 3842 3851 2014 4438 3843 3852 1995 4439 3844 3853 1995 4439 3844 3853 2020 4440 3845 3854 1993 4437 3842 3851 1982 4441 3808 3817 2007 4442 3873 3882 2015 4426 3881 3890 2015 4426 3881 3890 1990 4425 3813 3822 1982 4441 3808 3817 1983 4443 3809 3818 2009 4444 3875 3884 2016 4430 3882 3891 2016 4430 3882 3891 1991 4429 3812 3821 1983 4443 3809 3818 1985 4445 3816 3825 2008 4446 3874 3883 2017 4434 3883 3892 2017 4434 3883 3892 1992 4433 3817 3826 1985 4445 3816 3825 1984 4447 3820 3829 2006 4448 3872 3881 2014 4438 3880 3889 2014 4438 3880 3889 1993 4437 3821 3830 1984 4447 3820 3829 1987 4449 3834 3843 1986 4450 3835 3844 2019 4428 3885 3894 2019 4428 3885 3894 1994 4427 3837 3846 1987 4449 3834 3843 2010 4451 3876 3885 1989 4452 3864 3873 2020 4440 3886 3895 2020 4440 3886 3895 1995 4439 3836 3845 2010 4451 3876 3885 2013 4453 3879 3888 2012 4454 3878 3887 2021 4436 3887 3896 2021 4436 3887 3896 1996 4435 3865 3874 2013 4453 3879 3888 1988 4455 3866 3875 2011 4456 3877 3886 2018 4432 3884 3893 2018 4432 3884 3893 1997 4431 3867 3876 1988 4455 3866 3875 1987 4457 3823 3832 2027 4458 3918 3927 2028 4459 3920 3929 2028 4459 3920 3929 1986 4460 3822 3831 1987 4457 3823 3832 2011 4461 3826 3835 1988 4462 3827 3836 2024 4463 3828 3837 2024 4463 3828 3837 1999 4464 3829 3838 2029 4465 3921 3930 2011 4461 3826 3835 2024 4463 3828 3837 2029 4465 3921 3930 2012 4466 3824 3833 2013 4467 3825 3834 2025 4408 3840 3849 2025 4408 3840 3849 2000 4407 3841 3850 2012 4466 3824 3833 1989 4468 3830 3839 2010 4469 3831 3840 2026 4470 3916 3925 1989 4468 3830 3839 2026 4470 3916 3925 2022 4471 3832 3841 1989 4468 3830 3839 2022 4471 3832 3841 2001 4472 3833 3842 1979 4410 3892 3901 2003 4413 3810 3819 1983 4416 3857 3866 1983 4416 3857 3866 2007 4411 3893 3902 1979 4410 3892 3901 1982 4412 3894 3903 2006 4423 3858 3867 2002 4422 3819 3828 2002 4422 3819 3828 1978 4409 3895 3904 1982 4412 3894 3903 1981 4414 3896 3905 2005 4417 3814 3823 1985 4420 3861 3870 1985 4420 3861 3870 2009 4415 3897 3906 1981 4414 3896 3905 2004 4418 3898 3907 1980 4421 3818 3827 1984 4424 3859 3868 1984 4424 3859 3868 2008 4419 3899 3908 2004 4418 3898 3907 2014 4438 3900 3909 1990 4425 3850 3859 2019 4428 3853 3862 2019 4428 3853 3862 1995 4439 3901 3910 2014 4438 3900 3909 2015 4426 3902 3911 1991 4429 3802 3811 2018 4432 3805 3814 2018 4432 3805 3814 1994 4427 3903 3912 2015 4426 3902 3911 2016 4430 3904 3913 1992 4433 3846 3855 2021 4436 3849 3858 2021 4436 3849 3858 1997 4431 3905 3914 2016 4430 3904 3913 2017 4434 3906 3915 1993 4437 3842 3851 2020 4440 3845 3854 2020 4440 3845 3854 1996 4435 3907 3916 2017 4434 3906 3915 2006 4448 3872 3881 1982 4441 3808 3817 1990 4425 3813 3822 1990 4425 3813 3822 2014 4438 3880 3889 2006 4448 3872 3881 2007 4442 3873 3882 1983 4443 3809 3818 1991 4429 3812 3821 1991 4429 3812 3821 2015 4426 3881 3890 2007 4442 3873 3882 2009 4444 3875 3884 1985 4445 3816 3825 1992 4433 3817 3826 1992 4433 3817 3826 2016 4430 3882 3891 2009 4444 3875 3884 2008 4446 3874 3883 1984 4447 3820 3829 1993 4437 3821 3830 1993 4437 3821 3830 2017 4434 3883 3892 2008 4446 3874 3883 2011 4456 3877 3886 1987 4449 3834 3843 1994 4427 3837 3846 1994 4427 3837 3846 2018 4432 3884 3893 2011 4456 3877 3886 1986 4450 3835 3844 2010 4451 3876 3885 1995 4439 3836 3845 1995 4439 3836 3845 2019 4428 3885 3894 1986 4450 3835 3844 1989 4452 3864 3873 2013 4453 3879 3888 1996 4435 3865 3874 1996 4435 3865 3874 2020 4440 3886 3895 1989 4452 3864 3873 2012 4454 3878 3887 1988 4455 3866 3875 1997 4431 3867 3876 1997 4431 3867 3876 2021 4436 3887 3896 2012 4454 3878 3887 1986 4460 3822 3831 2028 4459 3920 3929 2026 4470 3917 3926 2026 4470 3917 3926 2010 4469 3908 3917 1986 4460 3822 3831 2011 4461 3826 3835 2029 4465 3921 3930 2027 4458 3919 3928 2027 4458 3919 3928 1987 4457 3910 3919 2011 4461 3826 3835 1988 4462 3912 3921 2012 4466 3824 3833 2000 4407 3841 3850 2000 4407 3841 3850 2024 4463 3913 3922 1988 4462 3912 3921 2013 4467 3914 3923 1989 4468 3830 3839 2001 4472 3833 3842 2001 4472 3833 3842 2025 4408 3915 3924 2013 4467 3914 3923 2023 4406 3889 3898 1998 4405 3839 3848 2028 4459 3920 3929 2028 4459 3920 3929 2027 4458 3918 3927 2023 4406 3889 3898 1998 4405 3839 3848 2022 4471 3909 3918 2026 4470 3917 3926 2026 4470 3917 3926 2028 4459 3920 3929 1998 4405 3839 3848 1999 4464 3829 3838 2023 4406 3911 3920 2027 4458 3919 3928 2027 4458 3919 3928 2029 4465 3921 3930 1999 4464 3829 3838 1999 4464 3838 3847 2024 4463 3890 3899 2000 4407 3854 3863 2000 4407 3854 3863 2023 4406 3889 3898 1999 4464 3838 3847 1998 4405 3839 3848 2025 4408 3891 3900 2001 4472 3855 3864 2001 4472 3855 3864 2022 4471 3888 3897 1998 4405 3839 3848 2035 4473 3960 3969 2031 4474 3961 3970 2030 4475 3958 3967 2030 4475 3958 3967 2034 4476 3959 3968 2035 4473 3960 3969 2036 4477 3931 3940 2032 4478 3935 3944 2031 4474 3923 3932 2031 4474 3923 3932 2035 4473 3927 3936 2036 4477 3931 3940 2037 4479 3932 3941 2033 4480 3936 3945 2032 4478 3924 3933 2032 4478 3924 3933 2036 4477 3928 3937 2037 4479 3932 3941 2034 4476 3926 3935 2030 4475 3929 3938 2033 4480 3922 3931 2033 4480 3922 3931 2037 4479 3925 3934 2034 4476 3926 3935 2039 4481 3971 3980 2035 4473 3960 3969 2034 4476 3959 3968 2034 4476 3959 3968 2038 4482 3970 3979 2039 4481 3971 3980 2040 4483 3944 3953 2036 4477 3931 3940 2035 4473 3927 3936 2035 4473 3927 3936 2039 4481 3939 3948 2040 4483 3944 3953 2041 4484 3946 3955 2037 4479 3932 3941 2036 4477 3928 3937 2036 4477 3928 3937 2040 4483 3940 3949 2041 4484 3946 3955 2038 4482 3933 3942 2034 4476 3926 3935 2037 4479 3925 3934 2037 4479 3925 3934 2041 4484 3930 3939 2038 4482 3933 3942 2043 4485 3973 3982 2039 4481 3971 3980 2038 4482 3970 3979 2038 4482 3970 3979 2042 4486 3972 3981 2043 4485 3973 3982 2044 4487 3951 3960 2040 4483 3944 3953 2039 4481 3939 3948 2039 4481 3939 3948 2043 4485 3945 3954 2044 4487 3951 3960 2045 4488 3952 3961 2041 4484 3946 3955 2040 4483 3940 3949 2040 4483 3940 3949 2044 4487 3947 3956 2045 4488 3952 3961 2042 4486 3937 3946 2038 4482 3933 3942 2041 4484 3930 3939 2041 4484 3930 3939 2045 4488 3934 3943 2042 4486 3937 3946 2047 4489 3982 3991 2043 4485 3973 3982 2042 4486 3972 3981 2042 4486 3972 3981 2046 4490 3981 3990 2047 4489 3982 3991 2048 4491 3962 3971 2044 4487 3951 3960 2043 4485 3945 3954 2043 4485 3945 3954 2047 4489 3955 3964 2048 4491 3962 3971 2049 4492 3965 3974 2045 4488 3952 3961 2044 4487 3947 3956 2044 4487 3947 3956 2048 4491 3956 3965 2049 4492 3965 3974 2046 4490 3941 3950 2042 4486 3937 3946 2045 4488 3934 3943 2045 4488 3934 3943 2049 4492 3938 3947 2046 4490 3941 3950 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2855 5595 5147 5156 2857 5596 5146 5155 2852 5597 5148 5157</p> + </triangles> + </mesh> + </geometry> + </library_geometries> + <library_lights> + <light id="EnvironmentAmbientLight" name="EnvironmentAmbientLight"> + <technique_common> + <ambient> + <color>0 0 0</color> + </ambient> + </technique_common> + </light> + </library_lights> + <library_visual_scenes> + <visual_scene id="MaxScene"> + <node name="EnvironmentAmbientLight"> + <instance_light url="#EnvironmentAmbientLight"/> + </node> + <node id="node-Box014" name="Box014"> + <translate>0 39.94623 0</translate> + <scale>1.17415 1.17415 1.17415</scale> + <instance_geometry url="#geom-Box014"> + <bind_material> + <technique_common> + <instance_material symbol="_1_-_Default_1" target="#_1_-_Default-material"/> + </technique_common> + </bind_material> + </instance_geometry> + </node> + </visual_scene> + </library_visual_scenes> + <scene> + <instance_visual_scene url="#MaxScene"/> + </scene> +</COLLADA> \ No newline at end of file diff --git a/src/drivers/gazeboserver/models/gas_station/model-1_3.sdf b/src/drivers/gazeboserver/models/gas_station/model-1_3.sdf new file mode 100644 index 000000000..048cb138f --- /dev/null +++ b/src/drivers/gazeboserver/models/gas_station/model-1_3.sdf @@ -0,0 +1,33 @@ +<?xml version="1.0"?> +<sdf version="1.3"> + <model name="Gas Station"> + <static>true</static> + <link name="link"> + <pose>0 0 0 0 0 0</pose> + <collision name="collision"> + <geometry> + <mesh> + <uri>model://gas_station/meshes/gas_station.dae</uri> + </mesh> + </geometry> + </collision> + <visual name="visual"> + <geometry> + <mesh> + <uri>model://gas_station/meshes/gas_station.dae</uri> + </mesh> + </geometry> + <material> + <script> + <uri>model://gas_station/materials/scripts</uri> + <uri>model://gas_station/materials/textures</uri> + <name>GasStation/Diffuse</name> + </script> + <shader type="normal_map_object_space"> + <normal_map>GasStation_Normal.png</normal_map> + </shader> + </material> + </visual> + </link> + </model> +</sdf> diff --git a/src/drivers/gazeboserver/models/gas_station/model-1_4.sdf b/src/drivers/gazeboserver/models/gas_station/model-1_4.sdf new file mode 100644 index 000000000..30ecef804 --- /dev/null +++ b/src/drivers/gazeboserver/models/gas_station/model-1_4.sdf @@ -0,0 +1,33 @@ +<?xml version="1.0"?> +<sdf version="1.4"> + <model name="Gas Station"> + <static>true</static> + <link name="link"> + <pose>0 0 0 0 0 0</pose> + <collision name="collision"> + <geometry> + <mesh> + <uri>model://gas_station/meshes/gas_station.dae</uri> + </mesh> + </geometry> + </collision> + <visual name="visual"> + <geometry> + <mesh> + <uri>model://gas_station/meshes/gas_station.dae</uri> + </mesh> + </geometry> + <material> + <script> + <uri>model://gas_station/materials/scripts</uri> + <uri>model://gas_station/materials/textures</uri> + <name>GasStation/Diffuse</name> + </script> + <shader type="normal_map_object_space"> + <normal_map>GasStation_Normal.png</normal_map> + </shader> + </material> + </visual> + </link> + </model> +</sdf> diff --git a/src/drivers/gazeboserver/models/gas_station/model.config b/src/drivers/gazeboserver/models/gas_station/model.config new file mode 100644 index 000000000..2afbabd55 --- /dev/null +++ b/src/drivers/gazeboserver/models/gas_station/model.config @@ -0,0 +1,24 @@ +<?xml version="1.0"?> + +<model> + <name>Gas Station</name> + <version>1.0</version> + <sdf version="1.3">model-1_3.sdf</sdf> + <sdf version="1.4">model-1_4.sdf</sdf> + <sdf version="1.5">model.sdf</sdf> + + <author> + <name>Cole Biesemeyer</name> + <email>cole.bsmr@gmail.com</email> + </author> + + <author> + <name>Nate Koenig</name> + <email>natekoenig@gmail.com</email> + </author> + + <description> + A model of a gas station. + </description> + +</model> diff --git a/src/drivers/gazeboserver/models/gas_station/model.sdf b/src/drivers/gazeboserver/models/gas_station/model.sdf new file mode 100644 index 000000000..d2a05fee7 --- /dev/null +++ b/src/drivers/gazeboserver/models/gas_station/model.sdf @@ -0,0 +1,33 @@ +<?xml version="1.0" ?> +<sdf version="1.5"> + <model name="Gas Station"> + <static>true</static> + <link name="link"> + <pose>0 0 0 0 0 0</pose> + <collision name="collision"> + <geometry> + <mesh> + <uri>model://gas_station/meshes/gas_station.dae</uri> + </mesh> + </geometry> + </collision> + <visual name="visual"> + <geometry> + <mesh> + <uri>model://gas_station/meshes/gas_station.dae</uri> + </mesh> + </geometry> + <material> + <script> + <uri>model://gas_station/materials/scripts</uri> + <uri>model://gas_station/materials/textures</uri> + <name>GasStation/Diffuse</name> + </script> + <shader type="normal_map_object_space"> + <normal_map>GasStation_Normal.png</normal_map> + </shader> + </material> + </visual> + </link> + </model> +</sdf> diff --git a/src/drivers/gazeboserver/models/opel/meshes/model.dae b/src/drivers/gazeboserver/models/opel/meshes/model.dae new file mode 100644 index 000000000..8d8f93efb --- 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259.9059 537.1311 1012.217 259.5901 537.1311 1012.217 259.5901 535.7145 1012.987 259.9059 537.1311 1012.217 259.5901 537.1311 1012.217 259.5901 545.3372 952.0021 200.602 545.3372 952.0021 200.602 545.3372 952.0021 200.602 537.1311 1012.217 259.5901 535.7145 1012.987 259.9059 537.107 1011.663 259.6993 537.107 1011.663 259.6993 535.7145 1012.987 259.9059 537.1311 1012.217 259.5901 537.107 1011.663 259.6993 540.6341 1008.309 259.1759 537.1311 1012.217 259.5901 537.107 1011.663 259.6993 542.6648 1009.21 258.3564 542.6648 1009.21 258.3564 540.6341 1008.309 259.1759 537.1311 1012.217 259.5901 537.107 1011.663 259.6993 540.6341 1008.309 259.1759 538.501 1011.179 251.191 537.0706 1012.894 251.2957 538.497 1012.042 251.2738 538.497 1012.042 251.2738 537.0706 1012.894 251.2957 538.501 1011.179 251.191 538.501 1011.179 251.191 543.2358 1009.21 251.201 538.501 1011.179 251.191 538.497 1012.042 251.2738 540.9715 1008.216 251.0101 540.9715 1008.216 251.0101 543.2358 1009.21 251.201 538.501 1011.179 251.191 538.497 1012.042 251.2738 540.9715 1008.216 251.0101 544.1051 995.2607 200.0005 544.1051 995.2607 200.0005 544.1051 995.2607 200.0005 477.8365 1015.724 390.3369 477.8365 1015.724 390.3369 477.8365 1015.724 390.3369 477.3824 1224.519 313.3609 477.3824 1224.519 313.3609 477.3824 1224.519 313.3609 477.3824 1224.519 313.3609 477.3824 1224.519 313.3609 494.8847 1226.128 305.4442 494.8847 1226.128 305.4442 494.8847 1226.128 305.4442 525.2914 1174.79 282.1179 525.2914 1174.79 282.1179 554.4843 1120.923 213.0981 534.928 1122.777 228.1376 534.928 1122.777 228.1376 554.4843 1120.923 213.0981 554.4843 1120.923 213.0981 553.8219 1052.327 204.676 553.8219 1052.327 204.676 553.8219 1052.327 204.676 544.1051 1015.654 199.3989 544.1051 1015.654 199.3989 544.1051 1015.654 199.3989 511.9176 1229.095 295.8189 511.9176 1229.095 295.8189 511.9176 1229.095 295.8189 523.9181 880.9239 292.7266 523.9181 880.9239 292.7266 523.9181 880.9239 292.7266 538.3981 880.3058 275.4974 538.3981 880.3058 275.4974 545.9679 878.4625 200.602 545.9679 878.4625 200.602 545.9679 878.4625 200.602 543.2349 1008.216 251.1948 543.2349 1008.216 251.1948 543.2349 1008.216 251.1948 542.492 1008.309 258.405 542.492 1008.309 258.405 542.492 1008.309 258.405 544.1051 1015.654 199.3989 544.1051 1015.654 199.3989 473.289 1084.977 376.712 473.289 1084.977 376.712 473.289 1084.977 376.712 474.9718 1053.369 386.7547 474.9718 1053.369 386.7547 474.9718 1053.369 386.7547 472.5879 1023.634 395.342 472.5879 1023.634 395.342 472.5879 1023.634 395.342 470.7713 1142.187 356.3257 470.7713 1142.187 356.3257 470.7713 1142.187 356.3257 536.0636 1163.563 217.9107 536.0636 1163.563 217.9107 536.0636 1163.563 217.9107 552.9072 1151.204 205.2776 552.9072 1151.204 205.2776 552.9072 1151.204 205.2776 554.9575 1087.552 213.0981 553.8219 1052.327 204.676 554.0514 1055.247 197.1459 554.0514 1055.247 197.1459 553.8219 1052.327 204.676 554.9575 1087.552 213.0981 554.0514 1055.247 197.1459 544.1051 1015.654 199.3989 544.1051 1015.654 199.3989 554.4843 1120.923 213.0981 555.0476 1088.865 205.6162 555.0476 1088.865 205.6162 554.4843 1120.923 213.0981 555.0476 1088.865 205.6162 523.3989 1233.621 282.5992 523.3989 1233.621 282.5992 523.3989 1233.621 282.5992 540.5376 775.1821 270.2845 540.5376 775.1821 270.2845 540.5376 775.1821 270.2845 544.1963 769.91 224.9216 544.1963 769.91 224.9216 544.1963 769.91 224.9216 546.2462 769.6629 199.6552 546.2462 769.6629 199.6552 546.2462 769.6629 199.6552 547.834 951.7448 198.386 544.1051 995.2607 200.0005 545.3372 952.0021 200.602 545.3372 952.0021 200.602 544.1051 995.2607 200.0005 547.834 951.7448 198.386 547.834 951.7448 198.386 548.6094 878.3229 198.001 545.9679 878.4625 200.602 545.9679 878.4625 200.602 548.6094 878.3229 198.001 548.6094 878.3229 198.001 544.1325 980.3526 258.3629 544.1325 980.3526 258.3629 544.1325 980.3526 258.3629 542.3072 980.2428 250.8143 542.3072 980.2428 250.8143 542.3072 980.2428 250.8143 546.8006 994.8234 197.7238 544.1051 1015.654 199.3989 544.1051 1015.654 199.3989 546.8006 994.8234 197.7238 546.8006 994.8234 197.7238 471.276 957.6267 402.2433 471.276 957.6267 402.2433 471.276 957.6267 402.2433 474.8743 1268.497 311.1327 474.8743 1268.497 311.1327 474.8743 1268.497 311.1327 492.866 1263.702 305.4442 492.866 1263.702 305.4442 492.866 1263.702 305.4442 536.0636 1163.563 217.9107 536.0636 1163.563 217.9107 523.3989 1233.621 282.5992 523.3989 1233.621 282.5992 552.9072 1151.204 205.2776 554.9398 1120.11 204.8461 554.9398 1120.11 204.8461 552.9072 1151.204 205.2776 554.9398 1120.11 204.8461 553.2712 1034.68 185.2106 553.2712 1034.68 185.2106 553.2712 1034.68 185.2106 552.5602 1028.226 190.238 552.5602 1028.226 190.238 552.5602 1028.226 190.238 512.5482 1259.746 295.8189 512.5482 1259.746 295.8189 512.5482 1259.746 295.8189 527.7944 780.628 288.1714 527.7944 780.628 288.1714 527.7944 780.628 288.1714 540.5376 775.1821 270.2845 540.5376 775.1821 270.2845 548.8676 769.5269 197.5544 546.2462 769.6629 199.6552 546.2462 769.6629 199.6552 548.8676 769.5269 197.5544 548.8676 769.5269 197.5544 544.7107 980.2965 250.9775 544.7107 980.2965 250.9775 544.7107 980.2965 250.9775 542.065 980.3648 259.2018 542.065 980.3648 259.2018 542.065 980.3648 259.2018 546.2837 1009.5 197.5544 546.2837 1009.5 197.5544 546.2837 1009.5 197.5544 465.563 1090.989 379.7922 465.563 1090.989 379.7922 465.563 1090.989 379.7922 469.3646 1057.285 389.2772 469.3646 1057.285 389.2772 469.3646 1057.285 389.2772 462.1917 959.5251 410.5596 462.1917 959.5251 410.5596 462.1917 959.5251 410.5596 477.3824 1224.519 313.3609 474.8743 1268.497 311.1327 429.6555 1233.152 316.3054 429.6555 1233.152 316.3054 474.8743 1268.497 311.1327 477.3824 1224.519 313.3609 429.6555 1233.152 316.3054 549.9107 1175.305 191.6818 549.9107 1175.305 191.6818 549.9107 1175.305 191.6818 533.7446 1235.043 215.5831 533.7446 1235.043 215.5831 533.7446 1235.043 215.5831 553.6478 1144.235 199.071 553.6478 1144.235 199.071 553.6478 1144.235 199.071 552.5602 1028.226 190.238 552.5602 1028.226 190.238 544.9588 1002.842 183.9515 544.9588 1002.842 183.9515 544.9588 1002.842 183.9515 523.2725 1261.23 282.8248 523.2725 1261.23 282.8248 523.2725 1261.23 282.8248 527.7944 780.628 288.1714 540.0328 758.0331 269.6829 540.5376 775.1821 270.2845 540.5376 775.1821 270.2845 540.0328 758.0331 269.6829 527.7944 780.628 288.1714 540.0328 758.0331 269.6829 544.1963 769.91 224.9216 542.3146 764.4576 248.2523 544.1963 753.101 224.9216 540.5376 775.1821 270.2845 540.5376 775.1821 270.2845 544.1963 769.91 224.9216 542.3146 764.4576 248.2523 544.1963 753.101 224.9216 544.1963 753.101 224.9216 542.3146 764.4576 248.2523 545.6549 751.865 199.0536 546.2462 769.6629 199.6552 546.2462 769.6629 199.6552 545.6549 751.865 199.0536 545.6549 751.865 199.0536 548.8677 751.2545 196.8152 548.8676 769.5269 197.5544 546.2462 769.6629 199.6552 546.2462 769.6629 199.6552 548.8676 769.5269 197.5544 548.8677 751.2545 196.8152 548.8677 751.2545 196.8152 546.8006 994.8234 197.7238 547.834 951.7448 198.386 547.8341 957.4271 185.7623 547.8341 957.4271 185.7623 547.834 951.7448 198.386 546.8006 994.8234 197.7238 547.8341 957.4271 185.7623 548.6094 878.3229 198.001 548.6094 878.1992 184.1991 548.6094 878.1992 184.1991 548.6094 878.3229 198.001 548.6094 878.1992 184.1991 548.8676 769.5269 197.5544 549.1259 770.1152 182.2279 549.1259 770.1152 182.2279 548.8676 769.5269 197.5544 549.1259 770.1152 182.2279 540.6341 1008.309 259.1759 540.6341 1008.309 259.1759 544.1313 979.3574 258.3564 544.1313 979.3574 258.3564 544.1313 979.3574 258.3564 544.7057 979.3574 250.9487 544.7057 979.3574 250.9487 544.7057 979.3574 250.9487 537.8932 979.4767 259.8917 537.8932 979.4767 259.8917 537.8932 979.4767 259.8917 546.2837 1009.5 197.5544 546.542 1001.825 186.2433 546.542 1001.825 186.2433 546.2837 1009.5 197.5544 546.542 1001.825 186.2433 544.1051 1015.654 199.3989 546.2837 1009.5 197.5544 544.9588 1002.842 183.9515 544.9588 1002.842 183.9515 546.2837 1009.5 197.5544 544.1051 1015.654 199.3989 466.9357 1031.27 398.7542 466.9357 1031.27 398.7542 466.9357 1031.27 398.7542 468.1467 892.3343 407.0902 468.1467 892.3343 407.0902 468.1467 892.3343 407.0902 472.3762 1331.739 308.6686 472.3762 1331.739 308.6686 472.3762 1331.739 308.6686 429.6555 1271.351 314.2118 429.6555 1271.351 314.2118 429.6555 1271.351 314.2118 491.7305 1325.084 305.1747 491.7305 1325.084 305.1747 491.7305 1325.084 305.1747 536.9783 1199.406 193.0053 536.9783 1199.406 193.0053 536.9783 1199.406 193.0053 549.9107 1175.305 191.6818 549.9107 1175.305 191.6818 536.9783 1199.406 193.0053 536.9783 1199.406 193.0053 523.2725 1261.23 282.8248 523.2725 1261.23 282.8248 551.3061 1019.255 170.5801 551.3061 1019.255 170.5801 551.3061 1019.255 170.5801 549.6584 1012.776 175.8001 549.6584 1012.776 175.8001 549.6584 1012.776 175.8001 512.5484 1310.134 295.2029 512.5484 1310.134 295.2029 512.5484 1310.134 295.2029 542.0785 763.802 250.473 540.0328 758.0331 269.6829 541.7373 756.014 251.358 542.0992 764.2332 250.4044 542.1377 764.2504 250.0117 542.1377 764.2504 250.0117 542.0992 764.2332 250.4044 542.0785 763.802 250.473 540.0328 758.0331 269.6829 541.7373 756.014 251.358 541.7373 756.014 251.358 542.0785 763.802 250.473 542.0992 764.2332 250.4044 542.1377 764.2504 250.0117 528.4253 767.3201 287.8975 528.4253 767.3201 287.8975 528.4253 767.3201 287.8975 542.0785 763.802 250.473 542.1377 764.2504 250.0117 542.0992 764.2332 250.4044 542.0992 764.2332 250.4044 542.1377 764.2504 250.0117 542.0785 763.802 250.473 545.6549 751.865 199.0536 545.6549 751.865 199.0536 548.8676 769.5269 197.5544 548.8677 751.2545 196.8152 549.1261 753.6621 181.9814 549.1261 753.6621 181.9814 548.8677 751.2545 196.8152 548.8676 769.5269 197.5544 549.1261 753.6621 181.9814 549.1259 770.1152 182.2279 549.1259 770.1152 182.2279 538.9059 979.163 251.3302 538.9059 979.163 251.3302 538.9059 979.163 251.3302 546.542 1001.825 186.2433 546.542 1001.825 186.2433 463.1022 1060.607 390.7748 463.1022 1060.607 390.7748 463.1022 1060.607 390.7748 453.8919 958.6254 411.8664 453.8919 958.6254 411.8664 453.8919 958.6254 411.8664 459.2646 896.5268 414.444 459.2646 896.5268 414.444 459.2646 896.5268 414.444 472.3762 1331.739 308.6686 472.3762 1331.739 308.6686 365.8141 1239.374 318.4576 365.8141 1239.374 318.4576 365.8141 1239.374 318.4576 551.7099 1163.615 190.9857 551.7099 1163.615 190.9857 551.7099 1163.615 190.9857 535.259 1237.515 194.6481 535.259 1237.515 194.6481 535.259 1237.515 194.6481 531.4738 1264.69 216.7712 531.4738 1264.69 216.7712 531.4738 1264.69 216.7712 549.6584 1012.776 175.8001 549.6584 1012.776 175.8001 539.6282 986.4661 160.2191 539.6282 986.4661 160.2191 539.6282 986.4661 160.2191 521.7585 1294.848 282.8248 521.7585 1294.848 282.8248 521.7585 1294.848 282.8248 544.1963 673.3817 224.9216 544.1963 673.3817 224.9216 544.1963 673.3817 224.9216 541.7118 753.3653 251.6326 541.754 764.5598 250.4914 541.5043 753.4839 251.6812 541.7373 756.014 251.358 542.0785 763.802 250.473 542.0785 763.802 250.473 541.7373 756.014 251.358 541.754 764.5598 250.4914 541.7118 753.3653 251.6326 541.5043 753.4839 251.6812 541.5043 753.4839 251.6812 541.7118 753.3653 251.6326 541.754 764.5598 250.4914 548.1131 749.707 250.1316 541.7373 756.014 251.358 541.7118 753.3653 251.6326 542.0785 763.802 250.473 542.0785 763.802 250.473 548.1131 749.707 250.1316 541.7373 756.014 251.358 541.7118 753.3653 251.6326 548.1131 749.707 250.1316 542.0992 764.2332 250.4044 542.0992 764.2332 250.4044 542.0992 764.2332 250.4044 546.2231 760.3312 249.3653 546.2231 760.3312 249.3653 542.0992 764.2332 250.4044 546.2231 760.3312 249.3653 542.1377 764.2504 250.0117 542.1377 764.2504 250.0117 542.1377 764.2504 250.0117 546.9985 760.3312 243.9357 542.1377 764.2504 250.0117 546.9985 760.3312 243.9357 546.9985 760.3312 243.9357 542.3146 764.4576 248.2523 542.3511 764.5207 247.7996 542.3511 764.5207 247.7996 542.3146 764.4576 248.2523 542.3511 764.5207 247.7996 543.1831 764.4662 244.0486 542.3146 764.4576 248.2523 542.3511 764.5207 247.7996 542.3511 764.5207 247.7996 543.1831 764.4662 244.0486 542.3146 764.4576 248.2523 543.1831 764.4662 244.0486 539.5282 675.4402 266.3065 539.5282 675.4402 266.3065 539.5282 675.4402 266.3065 546.1238 672.7637 197.2489 546.1238 672.7637 197.2489 546.1238 672.7637 197.2489 548.8677 672.517 194.9671 548.8677 672.517 194.9671 548.8677 672.517 194.9671 549.1262 673.528 180.567 549.1262 673.528 180.567 549.1262 673.528 180.567 546.542 1001.825 186.2433 547.8341 957.4271 185.7623 545.9679 956.7722 183.457 545.9679 956.7722 183.457 547.8341 957.4271 185.7623 546.542 1001.825 186.2433 545.9679 956.7722 183.457 548.6094 878.1992 184.1991 546.7564 877.2073 181.2011 546.7564 877.2073 181.2011 548.6094 878.1992 184.1991 546.7564 877.2073 181.2011 549.1259 770.1152 182.2279 545.4972 768.838 179.9214 545.4972 768.838 179.9214 549.1259 770.1152 182.2279 545.4972 768.838 179.9214 549.1261 753.6621 181.9814 545.4972 752.7705 179.6877 549.1259 770.1152 182.2279 549.1259 770.1152 182.2279 545.4972 752.7705 179.6877 549.1261 753.6621 181.9814 545.4972 752.7705 179.6877 542.3843 969.3808 257.1643 542.3843 969.3808 257.1643 542.3843 969.3808 257.1643 543.1947 969.3808 252.0083 543.1947 969.3808 252.0083 543.1947 969.3808 252.0083 544.9588 1002.842 183.9515 544.9588 1002.842 183.9515 460.1499 1032.783 400.0033 460.1499 1032.783 400.0033 460.1499 1032.783 400.0033 452.0319 896.5097 415.3412 452.0319 896.5097 415.3412 452.0319 896.5097 415.3412 467.8191 817.228 407.0364 467.8191 817.228 407.0364 467.8191 817.228 407.0364 430.4125 1335.003 311.565 430.4125 1335.003 311.565 430.4125 1335.003 311.565 365.5617 1275.059 316.3882 365.5617 1275.059 316.3882 365.5617 1275.059 316.3882 521.7585 1294.848 282.8248 521.7585 1294.848 282.8248 546.9727 1005.413 151.3295 546.9727 1005.413 151.3295 546.9727 1005.413 151.3295 544.58 998.563 154.7447 544.58 998.563 154.7447 544.58 998.563 154.7447 544.9588 1002.842 183.9515 545.9679 956.7722 183.457 539.6282 986.4661 160.2191 539.6282 986.4661 160.2191 545.9679 956.7722 183.457 544.9588 1002.842 183.9515 539.5282 675.4402 266.3065 539.5282 675.4402 266.3065 541.5043 753.4839 251.6812 541.9838 753.4517 248.7083 541.7118 753.3653 251.6326 541.7118 753.3653 251.6326 541.9838 753.4517 248.7083 541.5043 753.4839 251.6812 541.9838 753.4517 248.7083 541.7118 753.3653 251.6326 541.5043 753.4839 251.6812 541.7103 753.2713 251.648 541.7103 753.2713 251.648 541.5043 753.4839 251.6812 541.7118 753.3653 251.6326 541.7103 753.2713 251.648 548.1131 749.707 250.1316 541.9838 753.4517 248.7083 542.8929 753.3907 243.071 541.7118 753.3653 251.6326 541.7118 753.3653 251.6326 548.1131 749.707 250.1316 541.9838 753.4517 248.7083 542.8929 753.3907 243.071 542.8929 753.3907 243.071 546.0377 748.8067 250.9512 541.7118 753.3653 251.6326 541.7103 753.2713 251.648 548.1131 749.707 250.1316 548.1131 749.707 250.1316 546.0377 748.8067 250.9512 541.7118 753.3653 251.6326 541.7103 753.2713 251.648 546.0377 748.8067 250.9512 548.6966 749.707 242.9763 548.6966 749.707 242.9763 548.6966 749.707 242.9763 542.8929 753.3907 243.071 542.8929 753.3907 243.071 528.4252 674.9922 283.3463 528.4252 674.9922 283.3463 528.4252 674.9922 283.3463 546.1238 672.7637 197.2489 546.1238 672.7637 197.2489 548.8677 672.517 194.9671 548.8677 672.517 194.9671 549.1262 673.528 180.567 544.2355 673.6041 178.1583 544.2355 673.6041 178.1583 549.1262 673.528 180.567 544.2355 673.6041 178.1583 545.4972 768.838 179.9214 545.4972 768.838 179.9214 538.3197 966.1099 257.6344 537.8002 974.6181 259.132 538.3197 966.1099 257.6344 537.8002 974.6181 259.132 537.8002 974.6181 259.132 538.3197 966.1099 257.6344 538.9718 965.8331 251.667 538.9569 966.3842 251.5893 538.9718 965.8331 251.667 538.9569 966.3842 251.5893 538.9718 965.8331 251.667 538.9569 966.3842 251.5893 538.7268 972.1005 251.4869 538.7268 972.1005 251.4869 538.7268 972.1005 251.4869 451.5412 817.2 416.0653 451.5412 817.2 416.0653 451.5412 817.2 416.0653 458.7857 817.2433 415.1974 458.7857 817.2433 415.1974 458.7857 817.2433 415.1974 471.9722 1347.654 307.5136 471.9722 1347.654 307.5136 471.9722 1347.654 307.5136 327.0802 1240.221 319.396 327.0802 1240.221 319.396 327.0802 1240.221 319.396 534.2495 1268.151 196.6784 534.2495 1268.151 196.6784 534.2495 1268.151 196.6784 528.2097 1293.292 232.4183 529.9598 1292.87 218.7434 529.9598 1292.87 218.7434 528.2097 1293.292 232.4183 528.2097 1293.292 232.4183 529.9598 1292.87 218.7434 544.58 998.563 154.7447 544.58 998.563 154.7447 534.928 976.9337 135.4942 534.928 976.9337 135.4942 534.928 976.9337 135.4942 535.7165 943.6401 134.5786 535.7165 943.6401 134.5786 535.7165 943.6401 134.5786 542.9348 529.5619 220.2132 542.9348 529.5619 220.2132 542.9348 529.5619 220.2132 544.196 528.7894 192.8413 544.196 528.7894 192.8413 544.196 528.7894 192.8413 548.6966 749.707 242.9763 548.6966 749.707 242.9763 547.9366 748.8067 250.1803 547.9366 748.8067 250.1803 547.9366 748.8067 250.1803 548.6957 748.7133 242.97 548.6966 749.707 242.9763 548.6966 749.707 242.9763 548.6957 748.7133 242.97 548.6957 748.7133 242.97 539.0235 530.0408 258.3385 539.0235 530.0408 258.3385 539.0235 530.0408 258.3385 546.8006 529.3439 190.6242 546.8006 529.3439 190.6242 546.8006 529.3439 190.6242 546.8006 529.9965 178.6549 546.8006 529.9965 178.6549 546.8006 529.9965 178.6549 542.3429 530.2329 175.8607 542.3429 530.2329 175.8607 542.3429 530.2329 175.8607 546.7564 877.2073 181.2011 536.5051 879.5248 133.8266 536.5051 879.5248 133.8266 546.7564 877.2073 181.2011 536.5051 879.5248 133.8266 545.4972 768.838 179.9214 536.6654 773.1638 133.7501 536.6654 773.1638 133.7501 545.4972 768.838 179.9214 536.6654 773.1638 133.7501 545.4972 768.838 179.9214 545.4972 752.7705 179.6877 536.6654 755.2424 133.1485 536.6654 755.2424 133.1485 545.4972 752.7705 179.6877 545.4972 768.838 179.9214 536.6654 755.2424 133.1485 544.2355 673.6041 178.1583 536.0346 673.6041 131.9453 536.0346 673.6041 131.9453 544.2355 673.6041 178.1583 536.0346 673.6041 131.9453 538.3197 966.1099 257.6344 537.8002 974.6181 259.132 537.6266 965.5521 257.7146 537.6266 965.5521 257.7146 537.8002 974.6181 259.132 538.3197 966.1099 257.6344 537.6266 965.5521 257.7146 538.9187 965.8525 252.1537 538.9187 965.8525 252.1537 538.9187 965.8525 252.1537 538.9718 965.8331 251.667 538.559 965.4863 251.6336 538.9569 966.3842 251.5893 538.9569 966.3842 251.5893 538.559 965.4863 251.6336 538.9718 965.8331 251.667 538.559 965.4863 251.6336 538.7268 972.1005 251.4869 538.7268 972.1005 251.4869 468.4888 796.8952 406.9347 468.4888 796.8952 406.9347 468.4888 796.8952 406.9347 429.4031 1355.942 310.3377 429.4031 1355.942 310.3377 429.4031 1355.942 310.3377 365.5617 1338.71 313.4284 365.5617 1338.71 313.4284 365.5617 1338.71 313.4284 328.3419 1275.059 317.5914 328.3419 1275.059 317.5914 328.3419 1275.059 317.5914 532.7353 1281.993 197.6409 532.7353 1281.993 197.6409 532.7353 1281.993 197.6409 532.2309 1290.892 202.9348 532.2309 1290.892 202.9348 532.2309 1290.892 202.9348 541.5356 997.898 135.159 541.5356 997.898 135.159 541.5356 997.898 135.159 539.7226 990.5293 135.4942 539.7226 990.5293 135.4942 539.7226 990.5293 135.4942 539.6282 986.4661 160.2191 534.928 970.6768 135.3305 534.928 976.9337 135.4942 534.928 976.9337 135.4942 534.928 970.6768 135.3305 539.6282 986.4661 160.2191 534.928 970.6768 135.3305 534.928 970.6768 135.3305 534.928 970.6768 135.3305 539.0235 530.0408 258.3385 539.0235 530.0408 258.3385 544.196 528.7894 192.8413 544.196 528.7894 192.8413 546.3826 748.7133 242.7854 542.8929 753.3907 243.071 542.8929 753.3907 243.071 546.3826 748.7133 242.7854 546.3826 748.7133 242.7854 548.1143 720.8496 250.1382 548.1143 720.8496 250.1382 548.1143 720.8496 250.1382 528.4252 527.7853 275.9347 528.4252 527.7853 275.9347 528.4252 527.7853 275.9347 546.8006 529.3439 190.6242 546.8006 529.3439 190.6242 546.8006 529.9965 178.6549 546.8006 529.9965 178.6549 542.3429 530.2329 175.8607 534.1419 530.8509 130.1406 534.1419 530.8509 130.1406 542.3429 530.2329 175.8607 534.1419 530.8509 130.1406 536.6654 773.1638 133.7501 536.6654 773.1638 133.7501 538.9187 965.8525 252.1537 538.9187 965.8525 252.1537 451.5148 798.586 415.8225 451.5148 798.586 415.8225 451.5148 798.586 415.8225 458.9361 798.4772 415.0969 458.9361 798.4772 415.0969 458.9361 798.4772 415.0969 429.4031 1355.942 310.3377 471.9722 1347.654 307.5136 471.1649 1346.72 294.8083 471.1649 1346.72 294.8083 471.9722 1347.654 307.5136 429.4031 1355.942 310.3377 471.1649 1346.72 294.8083 295.2803 1241.228 319.9977 295.2803 1241.228 319.9977 295.2803 1241.228 319.9977 539.7226 990.5293 135.4942 539.7226 990.5293 135.4942 528.3044 972.4533 101.3846 528.3044 972.4533 101.3846 528.3044 972.4533 101.3846 528.6195 950.5924 101.4916 528.6195 950.5924 101.4916 528.6195 950.5924 101.4916 528.6195 932.8255 100.7396 528.6195 932.8255 100.7396 528.6195 932.8255 100.7396 529.4081 876.4349 101.4916 529.4081 876.4349 101.4916 529.4081 876.4349 101.4916 541.592 454.342 216.9984 541.592 454.342 216.9984 541.592 454.342 216.9984 544.2164 454.4825 187.6211 544.2164 454.4825 187.6211 544.2164 454.4825 187.6211 546.0138 720.8618 250.9771 546.0138 720.8618 250.9771 546.0138 720.8618 250.9771 548.7018 720.7935 242.7528 548.7018 720.7935 242.7528 548.7018 720.7935 242.7528 546.2598 720.7398 242.5896 546.2598 720.7398 242.5896 546.2598 720.7398 242.5896 538.5641 458.5204 253.5577 538.5641 458.5204 253.5577 538.5641 458.5204 253.5577 544.475 453.8569 176.2697 544.475 453.8569 176.2697 544.475 453.8569 176.2697 541.8443 453.3531 173.7809 541.8443 453.3531 173.7809 541.8443 453.3531 173.7809 534.0218 458.7914 129.4083 534.0218 458.7914 129.4083 534.0218 458.7914 129.4083 530.9877 777.4896 101.2647 530.9877 777.4896 101.2647 530.9877 777.4896 101.2647 529.7261 758.3323 101.2647 529.7261 758.3323 101.2647 529.7261 758.3323 101.2647 529.0951 673.6041 101.2647 529.0951 673.6041 101.2647 529.0951 673.6041 101.2647 527.8334 530.8509 100.0616 527.8334 530.8509 100.0616 527.8334 530.8509 100.0616 470.7537 747.3508 404.2718 470.7537 747.3508 404.2718 470.7537 747.3508 404.2718 365.5617 1361.273 312.1771 365.5617 1361.273 312.1771 365.5617 1361.273 312.1771 430.4129 1354.69 295.926 430.4129 1354.69 295.926 430.4129 1354.69 295.926 332.127 1339.947 313.9819 332.127 1339.947 313.9819 332.127 1339.947 313.9819 295.2803 1274.441 318.1929 295.2803 1274.441 318.1929 295.2803 1274.441 318.1929 528.8091 990.7456 101.3845 528.8091 990.7456 101.3845 528.8091 990.7456 101.3845 528.8091 990.7456 101.3845 528.8091 990.7456 101.3845 528.3044 972.4533 101.3846 528.3044 972.4533 101.3846 528.6195 950.5924 101.4916 528.6195 950.5924 101.4916 538.5641 458.5204 253.5577 538.5641 458.5204 253.5577 542.2228 454.5891 189.807 542.2228 454.5891 189.807 542.2228 454.5891 189.807 542.2228 454.5891 189.807 542.2228 454.5891 189.807 544.2164 454.4825 187.6211 544.2164 454.4825 187.6211 546.0377 748.8067 250.9512 546.0377 748.8067 250.9512 548.1131 719.8544 250.1316 548.1131 719.8544 250.1316 548.1131 719.8544 250.1316 548.6966 719.8544 242.724 548.6966 719.8544 242.724 548.6966 719.8544 242.724 528.4705 461.2297 271.942 528.4705 461.2297 271.942 528.4705 461.2297 271.942 544.475 453.8569 176.2697 544.475 453.8569 176.2697 541.8443 453.3531 173.7809 541.8443 453.3531 173.7809 527.4611 465.2184 99.08861 527.4611 465.2184 99.08861 527.4611 465.2184 99.08861 530.9877 777.4896 101.2647 530.9877 777.4896 101.2647 453.7757 746.5215 413.2505 453.7757 746.5215 413.2505 453.7757 746.5215 413.2505 460.6722 747.3761 412.354 460.6722 747.3761 412.354 460.6722 747.3761 412.354 365.5617 1361.273 312.1771 365.5617 1361.273 312.1771 470.3574 1346.499 283.6429 470.3574 1346.499 283.6429 470.3574 1346.499 283.6429 262.2188 1275.059 317.5914 262.2188 1275.059 317.5914 262.2188 1275.059 317.5914 538.5641 458.5204 253.5577 539.9789 392.2302 217.0032 541.592 454.342 216.9984 541.592 454.342 216.9984 539.9789 392.2302 217.0032 538.5641 458.5204 253.5577 539.9789 392.2302 217.0032 542.2228 454.5891 189.807 540.2041 422.8992 187.6413 540.2041 422.8992 187.6413 542.2228 454.5891 189.807 540.2041 422.8992 187.6413 542.2228 454.5891 189.807 542.1493 430.0717 185.6961 544.2164 454.4825 187.6211 544.2164 454.4825 187.6211 542.1493 430.0717 185.6961 542.2228 454.5891 189.807 542.1493 430.0717 185.6961 544.2164 454.4825 187.6211 542.6661 433.9309 175.7966 544.475 453.8569 176.2697 544.475 453.8569 176.2697 542.6661 433.9309 175.7966 544.2164 454.4825 187.6211 542.6661 433.9309 175.7966 541.7751 719.9738 251.667 541.7751 719.9738 251.667 541.7751 719.9738 251.667 528.4705 461.2297 271.942 538.1942 393.2088 251.3713 538.5641 458.5204 253.5577 538.5641 458.5204 253.5577 538.1942 393.2088 251.3713 528.4705 461.2297 271.942 538.1942 393.2088 251.3713 544.475 453.8569 176.2697 539.8256 432.4901 173.6846 541.8443 453.3531 173.7809 541.8443 453.3531 173.7809 539.8256 432.4901 173.6846 544.475 453.8569 176.2697 539.8256 432.4901 173.6846 534.0218 458.7914 129.4083 541.8443 453.3531 173.7809 534.5266 451.8699 129.4083 534.5266 451.8699 129.4083 541.8443 453.3531 173.7809 534.0218 458.7914 129.4083 534.5266 451.8699 129.4083 527.4611 465.2184 99.08861 527.9658 457.8027 99.08861 527.9658 457.8027 99.08861 527.4611 465.2184 99.08861 527.9658 457.8027 99.08861 466.1791 691.7747 405.2287 466.1791 691.7747 405.2287 466.1791 691.7747 405.2287 366.9449 1360.085 297.774 366.9449 1360.085 297.774 366.9449 1360.085 297.774 334.0195 1363.515 312.7787 334.0195 1363.515 312.7787 334.0195 1363.515 312.7787 429.7972 1353.504 285.0494 429.7972 1353.504 285.0494 429.7972 1353.504 285.0494 295.2803 1340.564 314.5834 295.2803 1340.564 314.5834 295.2803 1340.564 314.5834 258.4337 1339.947 313.9819 258.4337 1339.947 313.9819 258.4337 1339.947 313.9819 263.4805 1240.221 319.396 263.4805 1240.221 319.396 263.4805 1240.221 319.396 538.1942 393.2088 251.3713 538.1942 393.2088 251.3713 540.2041 422.8992 187.6413 540.2041 422.8992 187.6413 542.1493 430.0717 185.6961 542.1493 430.0717 185.6961 542.6661 433.9309 175.7966 542.6661 433.9309 175.7966 546.3381 709.8777 248.9396 546.3381 709.8777 248.9396 546.3381 709.8777 248.9396 547.1615 709.8777 243.7836 547.1615 709.8777 243.7836 547.1615 709.8777 243.7836 542.8041 719.66 243.1054 542.8041 719.66 243.1054 542.8041 719.66 243.1054 527.9605 392.9614 267.8715 527.9605 392.9614 267.8715 527.9605 392.9614 267.8715 539.8256 432.4901 173.6846 539.8256 432.4901 173.6846 458.815 692.2658 406.7736 458.815 692.2658 406.7736 458.815 692.2658 406.7736 475.6751 692.0278 397.6516 475.6751 692.0278 397.6516 475.6751 692.0278 397.6516 344.6065 1362.107 304.954 344.6065 1362.107 304.954 344.6065 1362.107 304.954 334.0195 1363.515 312.7787 341.2473 1363.266 310.8678 341.2473 1363.266 310.8678 334.0195 1363.515 312.7787 341.2473 1363.266 310.8678 429.7972 1353.504 285.0494 470.3574 1346.499 283.6429 465.4117 1355.311 233.1101 465.4117 1355.311 233.1101 470.3574 1346.499 283.6429 429.7972 1353.504 285.0494 465.4117 1355.311 233.1101 224.999 1338.71 313.4284 224.999 1338.71 313.4284 224.999 1338.71 313.4284 224.999 1275.059 316.3882 224.999 1275.059 316.3882 224.999 1275.059 316.3882 539.0326 345.8817 233.2459 539.0326 345.8817 233.2459 539.0326 345.8817 233.2459 540.2041 422.8992 187.6413 539.9789 392.2302 217.0032 549.162 402.9262 184.2724 549.162 402.9262 184.2724 539.9789 392.2302 217.0032 540.2041 422.8992 187.6413 549.162 402.9262 184.2724 542.6661 433.9309 175.7966 542.1493 430.0717 185.6961 540.2041 422.8992 187.6413 540.2041 422.8992 187.6413 542.1493 430.0717 185.6961 542.6661 433.9309 175.7966 539.8256 432.4901 173.6846 539.8256 432.4901 173.6846 541.7685 706.2583 249.4597 541.6946 715.8342 251.0197 541.7685 706.2583 249.4597 541.6946 715.8342 251.0197 541.6946 715.8342 251.0197 541.7685 706.2583 249.4597 542.4516 705.9834 243.4089 542.4516 705.9834 243.4089 542.4516 705.9834 243.4089 523.1612 465.8017 286.1875 523.1612 465.8017 286.1875 523.1612 465.8017 286.1875 537.1654 334.6348 246.9258 537.1654 334.6348 246.9258 537.1654 334.6348 246.9258 534.5266 451.8699 129.4083 539.8256 432.4901 173.6846 541.0874 431.6002 129.4083 541.0874 431.6002 129.4083 539.8256 432.4901 173.6846 534.5266 451.8699 129.4083 541.0874 431.6002 129.4083 527.9658 457.8027 99.08861 534.5266 428.1396 99.08861 534.5266 428.1396 99.08861 527.9658 457.8027 99.08861 534.5266 428.1396 99.08861 466.3471 634.518 393.7831 466.3471 634.518 393.7831 466.3471 634.518 393.7831 473.2331 634.3344 392.859 473.2331 634.3344 392.859 473.2331 634.3344 392.859 367.823 1358.392 285.9157 367.823 1358.392 285.9157 367.823 1358.392 285.9157 341.5057 1362.253 301.7507 341.5057 1362.253 301.7507 341.5057 1362.253 301.7507 344.0896 1362.306 308.4037 344.0896 1362.306 308.4037 344.0896 1362.306 308.4037 295.2803 1365.139 313.3803 295.2803 1365.139 313.3803 295.2803 1365.139 313.3803 295.2803 1365.139 313.3803 295.2803 1365.139 313.3803 427.8415 1361.712 233.0247 427.8415 1361.712 233.0247 427.8415 1361.712 233.0247 256.5412 1363.515 312.7787 256.5412 1363.515 312.7787 256.5412 1363.515 312.7787 224.999 1361.273 312.1771 224.999 1361.273 312.1771 224.999 1361.273 312.1771 224.7466 1239.374 318.4576 224.7466 1239.374 318.4576 224.7466 1239.374 318.4576 539.0326 345.8817 233.2459 550.8927 377.2998 202.7096 550.8927 377.2998 202.7096 539.0326 345.8817 233.2459 550.8927 377.2998 202.7096 537.1654 334.6348 246.9258 537.1654 334.6348 246.9258 547.648 414.2969 171.7595 547.648 414.2969 171.7595 547.648 414.2969 171.7595 541.6946 715.8342 251.0197 541.5044 706.0491 249.4898 541.5044 706.0491 249.4898 541.6946 715.8342 251.0197 541.5044 706.0491 249.4898 517.9934 417.3917 284.0314 517.9934 417.3917 284.0314 517.9934 417.3917 284.0314 526.6832 324.3763 260.1124 526.6832 324.3763 260.1124 526.6832 324.3763 260.1124 482.7679 633.3283 384.9247 482.7679 633.3283 384.9247 482.7679 633.3283 384.9247 367.823 1358.392 285.9157 367.823 1358.392 285.9157 333.8079 1362.315 297.7548 333.8079 1362.315 297.7548 333.8079 1362.315 297.7548 295.2803 1364.531 310.8678 295.2803 1364.531 310.8678 295.2803 1364.531 310.8678 161.1576 1355.942 310.3377 161.1576 1355.942 310.3377 161.1576 1355.942 310.3377 160.1482 1335.003 311.565 160.1482 1335.003 311.565 160.1482 1335.003 311.565 160.9052 1271.351 314.2118 160.9052 1271.351 314.2118 160.9052 1271.351 314.2118 553.0452 342.7423 215.9444 553.0452 342.7423 215.9444 553.0452 342.7423 215.9444 538.4649 294.5895 233.2459 538.4649 294.5895 233.2459 538.4649 294.5895 233.2459 549.162 402.9262 184.2724 550.8927 377.2998 202.7096 550.3923 396.4303 180.3173 550.3923 396.4303 180.3173 550.8927 377.2998 202.7096 549.162 402.9262 184.2724 550.3923 396.4303 180.3173 547.648 414.2969 171.7595 549.1811 406.8713 167.9969 549.1811 406.8713 167.9969 547.648 414.2969 171.7595 549.1811 406.8713 167.9969 518.3768 476.4013 302.0499 517.9934 417.3917 284.0314 523.1612 465.8017 286.1875 523.1612 465.8017 286.1875 517.9934 417.3917 284.0314 518.3768 476.4013 302.0499 518.3768 476.4013 302.0499 508.4401 406.2441 283.7336 508.4401 406.2441 283.7336 508.4401 406.2441 283.7336 536.6731 280.994 239.8633 536.6731 280.994 239.8633 536.6731 280.994 239.8633 541.0874 431.6002 129.4083 541.9137 423.0083 129.1877 541.9137 423.0083 129.1877 541.0874 431.6002 129.4083 541.9137 423.0083 129.1877 534.5266 428.1396 99.08861 534.5266 428.1396 99.08861 473.9956 586.2089 377.2879 473.9956 586.2089 377.2879 473.9956 586.2089 377.2879 481.7473 586.3276 375.9404 481.7473 586.3276 375.9404 481.7473 586.3276 375.9404 366.0188 1366.31 233.0441 366.0188 1366.31 233.0441 366.0188 1366.31 233.0441 333.3032 1361.018 286.5894 333.3032 1361.018 286.5894 333.3032 1361.018 286.5894 334.0123 1362.946 301.7507 334.0123 1362.946 301.7507 334.0123 1362.946 301.7507 249.3134 1363.266 310.8678 249.3134 1363.266 310.8678 249.3134 1363.266 310.8678 256.5412 1363.515 312.7787 256.5412 1363.515 312.7787 224.999 1361.273 312.1771 224.999 1361.273 312.1771 160.1477 1354.69 295.926 161.1576 1355.942 310.3377 161.1576 1355.942 310.3377 160.1477 1354.69 295.926 160.1477 1354.69 295.926 160.9052 1233.152 316.3054 160.9052 1233.152 316.3054 160.9052 1233.152 316.3054 553.0452 342.7423 215.9444 552.0073 373.0162 197.2578 552.0073 373.0162 197.2578 553.0452 342.7423 215.9444 552.0073 373.0162 197.2578 538.4649 294.5895 233.2459 538.4649 294.5895 233.2459 536.6731 280.994 239.8633 536.6731 280.994 239.8633 507.6171 463.2112 311.5982 507.6171 463.2112 311.5982 507.6171 463.2112 311.5982 508.4401 406.2441 283.7336 508.4401 406.2441 283.7336 508.1023 316.2189 271.6087 508.1023 316.2189 271.6087 508.1023 316.2189 271.6087 525.7105 258.8704 249.9698 525.7105 258.8704 249.9698 525.7105 258.8704 249.9698 491.7601 590.9155 369.4721 491.7601 590.9155 369.4721 491.7601 590.9155 369.4721 333.3032 1361.018 286.5894 333.3032 1361.018 286.5894 295.2803 1363.25 298.0435 295.2803 1363.25 298.0435 295.2803 1363.25 298.0435 295.2803 1363.265 301.5043 295.2803 1363.265 301.5043 295.2803 1363.265 301.5043 246.471 1362.306 308.4037 246.471 1362.306 308.4037 246.471 1362.306 308.4037 223.6158 1360.085 297.774 223.6158 1360.085 297.774 223.6158 1360.085 297.774 119.3958 1346.72 294.8083 119.3958 1346.72 294.8083 119.3958 1346.72 294.8083 118.5885 1347.654 307.5136 118.5885 1347.654 307.5136 118.5885 1347.654 307.5136 118.1845 1331.739 308.6686 118.1845 1331.739 308.6686 118.1845 1331.739 308.6686 115.6864 1268.497 311.1327 115.6864 1268.497 311.1327 115.6864 1268.497 311.1327 552.4111 341.0593 208.9621 552.4111 341.0593 208.9621 552.4111 341.0593 208.9621 554.0658 298.1737 216.931 554.0658 298.1737 216.931 554.0658 298.1737 216.931 538.2879 243.9152 215.1985 538.2879 243.9152 215.1985 538.2879 243.9152 215.1985 505.1544 532.0114 338.9139 505.1544 532.0114 338.9139 505.1544 532.0114 338.9139 500.8748 463.2309 313.6003 500.8748 463.2309 313.6003 500.8748 463.2309 313.6003 508.4401 406.2441 283.7336 478.768 311.988 271.6094 508.1023 316.2189 271.6087 508.1023 316.2189 271.6087 478.768 311.988 271.6094 508.4401 406.2441 283.7336 478.768 311.988 271.6094 536.3958 220.4318 227.2301 536.3958 220.4318 227.2301 536.3958 220.4318 227.2301 487.9954 524.4712 347.1811 487.9954 524.4712 347.1811 487.9954 524.4712 347.1811 495.6463 524.4117 345.8874 495.6463 524.4117 345.8874 495.6463 524.4117 345.8874 335.1074 1368.138 233.0728 335.1074 1368.138 233.0728 335.1074 1368.138 233.0728 295.2803 1362.205 287.167 295.2803 1362.205 287.167 295.2803 1362.205 287.167 245.9542 1362.107 304.954 245.9542 1362.107 304.954 245.9542 1362.107 304.954 160.7635 1353.504 285.0494 160.7635 1353.504 285.0494 160.7635 1353.504 285.0494 120.2033 1346.499 283.6429 120.2033 1346.499 283.6429 120.2033 1346.499 283.6429 118.5885 1347.654 307.5136 118.5885 1347.654 307.5136 113.1783 1224.519 313.3609 113.1783 1224.519 313.3609 113.1783 1224.519 313.3609 554.0658 298.1737 216.931 554.0658 298.1737 216.931 538.2879 243.9152 215.1985 538.2879 243.9152 215.1985 536.3958 220.4318 227.2301 536.3958 220.4318 227.2301 494.6315 399.6228 283.8824 494.6315 399.6228 283.8824 494.6315 399.6228 283.8824 465.8483 224.6604 259.4122 465.8483 224.6604 259.4122 465.8483 224.6604 259.4122 507.9761 245.2751 259.5951 507.9761 245.2751 259.5951 507.9761 245.2751 259.5951 525.1098 203.2524 237.7938 525.1098 203.2524 237.7938 525.1098 203.2524 237.7938 257.2575 1361.018 286.5894 257.2575 1361.018 286.5894 257.2575 1361.018 286.5894 256.7528 1362.315 297.7548 256.7528 1362.315 297.7548 256.7528 1362.315 297.7548 222.7376 1358.392 285.9157 222.7376 1358.392 285.9157 222.7376 1358.392 285.9157 249.055 1362.253 301.7507 249.055 1362.253 301.7507 249.055 1362.253 301.7507 118.1845 1331.739 308.6686 97.69466 1263.702 305.4442 115.6864 1268.497 311.1327 115.6864 1268.497 311.1327 97.69466 1263.702 305.4442 118.1845 1331.739 308.6686 97.69466 1263.702 305.4442 95.67595 1226.128 305.4442 113.1783 1224.519 313.3609 113.1783 1224.519 313.3609 95.67595 1226.128 305.4442 95.67595 1226.128 305.4442 554.4298 299.2938 209.5782 554.4298 299.2938 209.5782 554.4298 299.2938 209.5782 553.2897 255.8547 203.5759 553.2897 255.8547 203.5759 553.2897 255.8547 203.5759 535.3107 189.533 209.7842 535.3107 189.533 209.7842 535.3107 189.533 209.7842 494.6315 399.6228 283.8824 508.4401 406.2441 283.7336 462.4096 383.772 282.4784 462.4096 383.772 282.4784 508.4401 406.2441 283.7336 494.6315 399.6228 283.8824 462.4096 383.772 282.4784 494.6315 399.6228 283.8824 477.5871 312.0958 273.019 478.768 311.988 271.6094 478.768 311.988 271.6094 477.5871 312.0958 273.019 494.6315 399.6228 283.8824 477.5871 312.0958 273.019 507.9761 245.2751 259.5951 507.9761 245.2751 259.5951 463.5369 222.9881 261.0884 465.8483 224.6604 259.4122 465.8483 224.6604 259.4122 463.5369 222.9881 261.0884 463.5369 222.9881 261.0884 525.0657 183.4771 231.3208 525.0657 183.4771 231.3208 525.0657 183.4771 231.3208 295.2803 1369.621 233.2412 295.2803 1369.621 233.2412 295.2803 1369.621 233.2412 255.4533 1368.138 233.0728 255.4533 1368.138 233.0728 255.4533 1368.138 233.0728 256.5484 1362.946 301.7507 256.5484 1362.946 301.7507 256.5484 1362.946 301.7507 222.7376 1358.392 285.9157 162.7191 1361.712 233.0247 160.7635 1353.504 285.0494 160.7635 1353.504 285.0494 162.7191 1361.712 233.0247 222.7376 1358.392 285.9157 162.7191 1361.712 233.0247 125.149 1355.311 233.1101 120.2033 1346.499 283.6429 120.2033 1346.499 283.6429 125.149 1355.311 233.1101 125.149 1355.311 233.1101 98.83014 1325.084 305.1747 98.83014 1325.084 305.1747 98.83014 1325.084 305.1747 92.14321 1182.128 305.4442 92.14321 1182.128 305.4442 92.14321 1182.128 305.4442 553.2897 255.8547 203.5759 553.2897 255.8547 203.5759 538.288 206.9601 182.4725 538.288 206.9601 182.4725 538.288 206.9601 182.4725 532.8377 169.3867 182.9537 532.8377 169.3867 182.9537 532.8377 169.3867 182.9537 524.334 164.9377 213.4418 535.3107 189.533 209.7842 535.3107 189.533 209.7842 524.334 164.9377 213.4418 524.334 164.9377 213.4418 494.6315 399.6228 283.8824 462.4096 383.772 282.4784 478.0648 395.1699 284.846 478.0648 395.1699 284.846 462.4096 383.772 282.4784 494.6315 399.6228 283.8824 478.0648 395.1699 284.846 494.6315 399.6228 283.8824 492.8421 398.5907 284.1856 477.5871 312.0958 273.019 477.5871 312.0958 273.019 492.8421 398.5907 284.1856 494.6315 399.6228 283.8824 492.8421 398.5907 284.1856 481.2218 156.3414 243.4505 481.2218 156.3414 243.4505 481.2218 156.3414 243.4505 451.991 145.5056 245.2216 451.991 145.5056 245.2216 451.991 145.5056 245.2216 510.0101 175.443 244.0984 510.0101 175.443 244.0984 510.0101 175.443 244.0984 224.5419 1366.31 233.0441 224.5419 1366.31 233.0441 224.5419 1366.31 233.0441 78.01248 1259.746 295.8189 78.01248 1259.746 295.8189 78.01248 1259.746 295.8189 78.64312 1229.095 295.8189 78.64312 1229.095 295.8189 78.64312 1229.095 295.8189 78.13862 1179.162 295.8189 78.13862 1179.162 295.8189 78.13862 1179.162 295.8189 99.72861 1182.776 309.6671 99.72861 1182.776 309.6671 99.72861 1182.776 309.6671 554.026 263.619 199.5678 554.026 263.619 199.5678 554.026 263.619 199.5678 551.9964 228.3669 182.4725 551.9964 228.3669 182.4725 551.9964 228.3669 182.4725 538.288 206.9601 182.4725 538.288 206.9601 182.4725 522.8702 145.7802 183.3147 532.8377 169.3867 182.9537 532.8377 169.3867 182.9537 522.8702 145.7802 183.3147 522.8702 145.7802 183.3147 478.0648 395.1699 284.846 462.4096 383.772 282.4784 472.5911 393.6987 285.1644 472.5911 393.6987 285.1644 462.4096 383.772 282.4784 478.0648 395.1699 284.846 472.5911 393.6987 285.1644 434.6024 296.5621 275.4703 434.6024 296.5621 275.4703 434.6024 296.5621 275.4703 429.6843 202.0702 261.3921 463.5369 222.9881 261.0884 463.5369 222.9881 261.0884 429.6843 202.0702 261.3921 429.6843 202.0702 261.3921 456.1576 146.5013 243.7894 456.1576 146.5013 243.7894 456.1576 146.5013 243.7894 510.0101 175.443 244.0984 510.0101 175.443 244.0984 456.1576 146.5013 243.7894 456.1576 146.5013 243.7894 418.9045 135.2794 244.5286 451.991 145.5056 245.2216 451.991 145.5056 245.2216 418.9045 135.2794 244.5286 418.9045 135.2794 244.5286 513.3572 140.2186 215.6797 513.3572 140.2186 215.6797 513.3572 140.2186 215.6797 514.4928 156.9039 233.7271 514.4928 156.9039 233.7271 514.4928 156.9039 233.7271 78.01233 1310.134 295.2029 78.01233 1310.134 295.2029 78.01233 1310.134 295.2029 77.12915 1132.195 297.744 77.12915 1132.195 297.744 77.12915 1132.195 297.744 113.1783 1224.519 313.3609 99.72861 1182.776 309.6671 108.0203 1122.708 349.973 108.0203 1122.708 349.973 99.72861 1182.776 309.6671 113.1783 1224.519 313.3609 108.0203 1122.708 349.973 86.95378 1133.059 305.3959 86.95378 1133.059 305.3959 86.95378 1133.059 305.3959 551.9964 228.3669 182.4725 551.9964 228.3669 182.4725 551.9964 228.3669 182.4725 538.288 206.9601 182.4725 537.4805 194.4768 159.2514 537.4805 194.4768 159.2514 538.288 206.9601 182.4725 551.9964 228.3669 182.4725 537.4805 194.4768 159.2514 538.288 206.9601 182.4725 532.8377 169.3867 182.9537 537.4805 194.4768 159.2514 537.4805 194.4768 159.2514 532.8377 169.3867 182.9537 538.288 206.9601 182.4725 532.8377 169.3867 182.9537 522.8702 145.7802 183.3147 525.3622 142.2495 174.5762 525.3622 142.2495 174.5762 522.8702 145.7802 183.3147 532.8377 169.3867 182.9537 525.3622 142.2495 174.5762 511.717 124.769 183.3147 511.717 124.769 183.3147 511.717 124.769 183.3147 472.5911 393.6987 285.1644 462.4096 383.772 282.4784 437.6809 384.3152 287.1951 437.6809 384.3152 287.1951 462.4096 383.772 282.4784 472.5911 393.6987 285.1644 437.6809 384.3152 287.1951 437.6809 384.3152 287.1951 437.6809 384.3152 287.1951 454.785 138.9873 239.4464 454.785 138.9873 239.4464 454.785 138.9873 239.4464 445.1274 128.3078 234.961 445.1274 128.3078 234.961 445.1274 128.3078 234.961 413.5741 113.2474 229.4429 413.5741 113.2474 229.4429 413.5741 113.2474 229.4429 67.28815 1261.23 282.8248 67.28815 1261.23 282.8248 67.28815 1261.23 282.8248 67.1618 1233.621 282.5992 67.1618 1233.621 282.5992 67.1618 1233.621 282.5992 65.26931 1174.79 282.1179 65.26931 1174.79 282.1179 65.26931 1174.79 282.1179 62.97122 1130.295 281.8172 62.97122 1130.295 281.8172 62.97122 1130.295 281.8172 100.6925 1104.416 344.1979 100.6925 1104.416 344.1979 100.6925 1104.416 344.1979 119.7894 1142.187 356.3257 119.7894 1142.187 356.3257 119.7894 1142.187 356.3257 86.95378 1133.059 305.3959 86.95378 1133.059 305.3959 553.2185 238.3065 182.7043 553.2185 238.3065 182.7043 553.2185 238.3065 182.7043 549.29 211.4591 159.4199 549.29 211.4591 159.4199 549.29 211.4591 159.4199 532.7902 169.5737 132.2262 532.7902 169.5737 132.2262 532.7902 169.5737 132.2262 511.717 124.769 183.3147 511.717 124.769 183.3147 511.717 124.769 183.3147 525.3622 142.2495 174.5762 525.1195 142.2839 132.2262 525.1195 142.2839 132.2262 525.3622 142.2495 174.5762 525.1195 142.2839 132.2262 393.8053 370.6398 280.9745 393.8053 370.6398 280.9745 393.8053 370.6398 280.9745 403.7163 289.1464 276.5291 403.7163 289.1464 276.5291 403.7163 289.1464 276.5291 402.4319 190.4515 261.3921 402.4319 190.4515 261.3921 402.4319 190.4515 261.3921 397.5366 129.8897 244.2591 397.5366 129.8897 244.2591 397.5366 129.8897 244.2591 454.785 138.9873 239.4464 454.785 138.9873 239.4464 445.1274 128.3078 234.961 445.1274 128.3078 234.961 397.3437 108.9761 231.4064 397.3437 108.9761 231.4064 397.3437 108.9761 231.4064 68.80216 1294.848 282.8248 68.80216 1294.848 282.8248 68.80216 1294.848 282.8248 60.63585 1095.688 280.8547 60.63585 1095.688 280.8547 60.63585 1095.688 280.8547 84.02067 1099.318 302.2376 84.02067 1099.318 302.2376 84.02067 1099.318 302.2376 111.1225 1076.75 372.4 111.1225 1076.75 372.4 111.1225 1076.75 372.4 117.2717 1084.977 376.712 117.2717 1084.977 376.712 117.2717 1084.977 376.712 95.82746 1087.211 338.904 95.82746 1087.211 338.904 95.82746 1087.211 338.904 553.2185 238.3065 182.7043 551.9964 228.3669 182.4725 549.29 211.4591 159.4199 549.29 211.4591 159.4199 551.9964 228.3669 182.4725 553.2185 238.3065 182.7043 536.673 186.4432 128.5708 536.673 186.4432 128.5708 536.673 186.4432 128.5708 536.673 186.4432 128.5708 536.673 186.4432 128.5708 512.8462 115.8804 170.5336 512.8462 115.8804 170.5336 512.8462 115.8804 170.5336 512.6033 115.7848 132.2262 512.6033 115.7848 132.2262 512.6033 115.7848 132.2262 405.3817 379.8349 288.3501 405.3817 379.8349 288.3501 405.3817 379.8349 288.3501 405.3817 379.8349 288.3501 405.3817 379.8349 288.3501 436.668 114.8767 224.1143 436.668 114.8767 224.1143 436.668 114.8767 224.1143 395.3249 101.8037 222.6574 395.3249 101.8037 222.6574 395.3249 101.8037 222.6574 68.80216 1294.848 282.8248 59.08691 1264.69 216.7712 67.28815 1261.23 282.8248 67.28815 1261.23 282.8248 59.08691 1264.69 216.7712 68.80216 1294.848 282.8248 59.08691 1264.69 216.7712 56.81608 1235.043 215.5831 67.1618 1233.621 282.5992 67.1618 1233.621 282.5992 56.81608 1235.043 215.5831 56.81608 1235.043 215.5831 54.4971 1163.563 217.9107 65.26931 1174.79 282.1179 65.26931 1174.79 282.1179 54.4971 1163.563 217.9107 54.4971 1163.563 217.9107 55.63271 1122.777 228.1376 62.97122 1130.295 281.8172 62.97122 1130.295 281.8172 55.63271 1122.777 228.1376 55.63271 1122.777 228.1376 52.00525 1085.08 227.536 60.63585 1095.688 280.8547 60.63585 1095.688 280.8547 52.00525 1085.08 227.536 52.00525 1085.08 227.536 84.02067 1099.318 302.2376 84.02067 1099.318 302.2376 104.3654 1067.575 366.8558 104.3654 1067.575 366.8558 104.3654 1067.575 366.8558 124.9977 1090.989 379.7922 124.9977 1090.989 379.7922 124.9977 1090.989 379.7922 549.9886 218.9268 158.0636 549.9886 218.9268 158.0636 549.9886 218.9268 158.0636 546.3628 199.8719 127.4038 546.3628 199.8719 127.4038 546.3628 199.8719 127.4038 522.6969 142.2839 103.1578 522.6969 142.2839 103.1578 522.6969 142.2839 103.1578 530.7718 169.5735 100.4627 530.7718 169.5735 100.4627 530.7718 169.5735 100.4627 512.8462 115.8804 170.5336 512.8462 115.8804 170.5336 483.4729 93.59777 168.0335 483.4729 93.59777 168.0335 483.4729 93.59777 168.0335 508.566 115.7848 103.5428 508.566 115.7848 103.5428 508.566 115.7848 103.5428 295.2803 360.5979 280.2225 295.2803 360.5979 280.2225 295.2803 360.5979 280.2225 369.045 282.9666 277.7804 369.045 282.9666 277.7804 369.045 282.9666 277.7804 367.1046 180.9105 261.3921 367.1046 180.9105 261.3921 367.1046 180.9105 261.3921 363.6224 123.2153 244.0666 363.6224 123.2153 244.0666 363.6224 123.2153 244.0666 362.622 102.5846 231.2717 362.622 102.5846 231.2717 362.622 102.5846 231.2717 408.4061 104.4484 220.7632 408.4061 104.4484 220.7632 408.4061 104.4484 220.7632 62.351 1293.292 232.4183 60.60085 1292.87 218.7434 62.351 1293.292 232.4183 60.60085 1292.87 218.7434 62.351 1293.292 232.4183 60.60085 1292.87 218.7434 54.68612 1058.902 257.45 54.68612 1058.902 257.45 54.68612 1058.902 257.45 59.5423 1066.936 280.4303 59.5423 1066.936 280.4303 59.5423 1066.936 280.4303 89.63491 1069.71 334.0914 89.63491 1069.71 334.0914 89.63491 1069.71 334.0914 111.432 1049.29 383.2173 111.432 1049.29 383.2173 111.432 1049.29 383.2173 115.5889 1053.369 386.7547 115.5889 1053.369 386.7547 115.5889 1053.369 386.7547 121.1961 1057.285 389.2772 121.1961 1057.285 389.2772 121.1961 1057.285 389.2772 99.92295 1059.664 361.9277 99.92295 1059.664 361.9277 99.92295 1059.664 361.9277 546.3628 199.8719 127.4038 546.3628 199.8719 127.4038 533.8467 183.0443 96.33815 533.8467 183.0443 96.33815 533.8467 183.0443 96.33815 533.8467 183.0443 96.33815 533.8467 183.0443 96.33815 500.34 106.2439 132.3663 500.34 106.2439 132.3663 500.34 106.2439 132.3663 483.0881 108.1688 183.2415 483.0881 108.1688 183.2415 483.0881 108.1688 183.2415 483.4729 93.59777 168.0335 483.4729 93.59777 168.0335 498.0688 105.4771 109.2656 498.0688 105.4771 109.2656 498.0688 105.4771 109.2656 369.8525 375.9725 289.5052 369.8525 375.9725 289.5052 369.8525 375.9725 289.5052 369.8525 375.9725 289.5052 369.8525 375.9725 289.5052 413.4933 103.886 215.5825 413.4933 103.886 215.5825 413.4933 103.886 215.5825 361.007 95.36388 223.0301 361.007 95.36388 223.0301 361.007 95.36388 223.0301 58.32976 1290.892 202.9348 58.32976 1290.892 202.9348 58.32976 1290.892 202.9348 55.30171 1237.515 194.6481 55.30171 1237.515 194.6481 55.30171 1237.515 194.6481 53.58234 1199.406 193.0053 53.58234 1199.406 193.0053 53.58234 1199.406 193.0053 55.63271 1122.777 228.1376 54.4971 1163.563 217.9107 37.65346 1151.204 205.2776 37.65346 1151.204 205.2776 54.4971 1163.563 217.9107 55.63271 1122.777 228.1376 37.65346 1151.204 205.2776 36.07635 1120.923 213.0981 52.00525 1085.08 227.536 52.00525 1085.08 227.536 36.07635 1120.923 213.0981 36.07635 1120.923 213.0981 59.5423 1066.936 280.4303 59.5423 1066.936 280.4303 49.00882 1046.765 217.9108 49.00882 1046.765 217.9108 49.00882 1046.765 217.9108 79.76221 1069.933 299.0793 79.76221 1069.933 299.0793 79.76221 1069.933 299.0793 79.76221 1069.933 299.0793 79.76221 1069.933 299.0793 107.0393 1043.595 378.4494 107.0393 1043.595 378.4494 107.0393 1043.595 378.4494 127.4585 1060.607 390.7748 127.4585 1060.607 390.7748 127.4585 1060.607 390.7748 546.7586 207.093 126.7237 546.7586 207.093 126.7237 546.7586 207.093 126.7237 541.9216 197.3504 96.12152 541.9216 197.3504 96.12152 541.9216 197.3504 96.12152 520.6782 141.8879 95.84259 520.6782 141.8879 95.84259 520.6782 141.8879 95.84259 505.3362 117.3665 95.45755 505.3362 117.3665 95.45755 505.3362 117.3665 95.45755 530.3679 169.178 96.22758 530.3679 169.178 96.22758 530.3679 169.178 96.22758 452.8075 78.21048 167.5523 452.8075 78.21048 167.5523 452.8075 78.21048 167.5523 482.9791 93.63442 132.2893 482.9791 93.63442 132.2893 482.9791 93.63442 132.2893 496.0504 105.3037 103.5428 496.0504 105.3037 103.5428 496.0504 105.3037 103.5428 295.2803 372.4191 290.6301 295.2803 372.4191 290.6301 295.2803 372.4191 290.6301 295.2803 279.2589 279.4167 295.2803 279.2589 279.4167 295.2803 279.2589 279.4167 295.2803 172.7027 262.2584 295.2803 172.7027 262.2584 295.2803 172.7027 262.2584 295.2803 117.1593 244.2591 295.2803 117.1593 244.2591 295.2803 117.1593 244.2591 295.2803 95.86053 231.1754 295.2803 95.86053 231.1754 295.2803 95.86053 231.1754 428.4317 102.2047 205.5722 428.4317 102.2047 205.5722 428.4317 102.2047 205.5722 295.2803 88.54544 222.833 295.2803 88.54544 222.833 295.2803 88.54544 222.833 57.82539 1281.993 197.6409 57.82539 1281.993 197.6409 57.82539 1281.993 197.6409 56.31123 1268.151 196.6784 56.31123 1268.151 196.6784 56.31123 1268.151 196.6784 53.58234 1199.406 193.0053 40.65002 1175.305 191.6818 40.65002 1175.305 191.6818 53.58234 1199.406 193.0053 40.65002 1175.305 191.6818 35.60318 1087.552 213.0981 35.60318 1087.552 213.0981 35.60318 1087.552 213.0981 59.5423 1066.936 280.4303 54.68612 1058.902 257.45 56.6083 1015.025 279.1069 56.6083 1015.025 279.1069 54.68612 1058.902 257.45 59.5423 1066.936 280.4303 56.6083 1015.025 279.1069 49.00882 1046.765 217.9108 49.00882 1046.765 217.9108 48.37764 1034.955 224.9646 48.37764 1034.955 224.9646 48.37764 1034.955 224.9646 79.76221 1069.933 299.0793 59.5423 1066.936 280.4303 56.6083 1015.025 279.1069 56.6083 1015.025 279.1069 59.5423 1066.936 280.4303 79.76221 1069.933 299.0793 112.7241 1015.724 390.3369 112.7241 1015.724 390.3369 112.7241 1015.724 390.3369 117.9728 1023.634 395.342 117.9728 1023.634 395.342 117.9728 1023.634 395.342 123.625 1031.27 398.7542 123.625 1031.27 398.7542 123.625 1031.27 398.7542 541.9216 197.3504 96.12152 541.9216 197.3504 96.12152 494.0314 107.0834 94.49504 494.0314 107.0834 94.49504 494.0314 107.0834 94.49504 498.4951 125.0824 130.9763 498.0688 105.4771 109.2656 500.34 106.2439 132.3663 500.34 106.2439 132.3663 498.0688 105.4771 109.2656 498.4951 125.0824 130.9763 498.4951 125.0824 130.9763 453.2113 97.1323 183.2415 453.2113 97.1323 183.2415 453.2113 97.1323 183.2415 452.8075 78.21048 167.5523 452.6986 78.2746 132.3037 452.6986 78.2746 132.3037 452.8075 78.21048 167.5523 452.6986 78.2746 132.3037 500.34 106.2439 132.3663 482.9791 93.63442 132.2893 482.7823 113.5812 130.8864 482.7823 113.5812 130.8864 482.9791 93.63442 132.2893 500.34 106.2439 132.3663 482.7823 113.5812 130.8864 481.9193 96.57854 105.8968 481.9193 96.57854 105.8968 481.9193 96.57854 105.8968 295.2803 372.4191 290.6301 295.2803 372.4191 290.6301 220.7082 375.9725 289.5052 220.7082 375.9725 289.5052 220.7082 375.9725 289.5052 415.5176 99.03633 205.0897 415.6524 98.99477 204.9472 413.9493 99.73686 207.1765 413.1441 99.56656 207.2003 412.8665 99.51098 207.2147 412.8665 99.51098 207.2147 413.1441 99.56656 207.2003 413.9493 99.73686 207.1765 415.5176 99.03633 205.0897 415.6524 98.99477 204.9472 412.8665 99.51098 207.2147 413.1441 99.56656 207.2003 413.9493 99.73686 207.1765 415.5176 99.03633 205.0897 415.6524 98.99477 204.9472 37.65346 1151.204 205.2776 35.62087 1120.11 204.8461 36.07635 1120.923 213.0981 36.07635 1120.923 213.0981 35.62087 1120.11 204.8461 37.65346 1151.204 205.2776 35.62087 1120.11 204.8461 40.65002 1175.305 191.6818 36.91285 1144.235 199.071 36.91285 1144.235 199.071 40.65002 1175.305 191.6818 36.91285 1144.235 199.071 35.51309 1088.865 205.6162 35.60318 1087.552 213.0981 35.60318 1087.552 213.0981 35.51309 1088.865 205.6162 35.51309 1088.865 205.6162 53.379 1018.404 258.579 53.33641 1014.57 259.1826 53.42987 1021.823 258.1196 52.46598 1021.843 252.2153 47.71727 1013.789 224.9646 52.07637 1014.395 251.5095 52.12945 1015.4 251.6079 52.9454 1021.773 255.1656 53.42987 1021.823 258.1196 52.9454 1021.773 255.1656 52.46598 1021.843 252.2153 52.12945 1015.4 251.6079 52.07637 1014.395 251.5095 47.71727 1013.789 224.9646 53.379 1018.404 258.579 53.33641 1014.57 259.1826 52.07637 1014.395 251.5095 47.71727 1013.789 224.9646 52.12945 1015.4 251.6079 52.46598 1021.843 252.2153 52.9454 1021.773 255.1656 53.42987 1021.823 258.1196 53.379 1018.404 258.579 53.33641 1014.57 259.1826 36.73881 1052.327 204.676 36.73881 1052.327 204.676 36.73881 1052.327 204.676 46.45564 1015.654 199.3989 46.45564 1015.654 199.3989 46.45564 1015.654 199.3989 48.37764 1034.955 224.9646 48.37764 1034.955 224.9646 72.98062 1003.284 296.5527 72.98062 1003.284 296.5527 72.98062 1003.284 296.5527 130.4108 1032.783 400.0033 130.4108 1032.783 400.0033 130.4108 1032.783 400.0033 542.3173 203.6918 95.29129 542.3173 203.6918 95.29129 542.3173 203.6918 95.29129 496.1166 120.8695 110.7117 496.1166 120.8695 110.7117 496.1166 120.8695 110.7117 498.4951 125.0824 130.9763 498.4951 125.0824 130.9763 413.6447 65.29827 167.5523 413.6447 65.29827 167.5523 413.6447 65.29827 167.5523 412.9554 65.31908 132.3037 412.9554 65.31908 132.3037 412.9554 65.31908 132.3037 452.6986 78.2746 132.3037 452.6592 99.32467 130.7246 452.6592 99.32467 130.7246 452.6986 78.2746 132.3037 452.6592 99.32467 130.7246 479.9006 97.76485 94.34637 479.9006 97.76485 94.34637 479.9006 97.76485 94.34637 498.0688 105.4771 109.2656 496.1166 120.8695 110.7117 481.9193 96.57854 105.8968 481.9193 96.57854 105.8968 496.1166 120.8695 110.7117 498.0688 105.4771 109.2656 220.7082 375.9725 289.5052 220.7082 375.9725 289.5052 185.179 379.8349 288.3501 185.179 379.8349 288.3501 185.179 379.8349 288.3501 221.5157 282.9666 277.7804 221.5157 282.9666 277.7804 221.5157 282.9666 277.7804 223.4561 180.9105 261.3921 223.4561 180.9105 261.3921 223.4561 180.9105 261.3921 226.9383 123.2153 244.0666 226.9383 123.2153 244.0666 226.9383 123.2153 244.0666 227.9387 102.5846 231.2717 227.9387 102.5846 231.2717 227.9387 102.5846 231.2717 412.8665 99.51098 207.2147 412.6858 98.24962 204.8021 415.5176 99.03633 205.0897 413.1441 99.56656 207.2003 413.9493 99.73686 207.1765 413.9493 99.73686 207.1765 415.5176 99.03633 205.0897 413.1441 99.56656 207.2003 412.8665 99.51098 207.2147 412.6858 98.24962 204.8021 412.6858 98.24962 204.8021 418.0858 89.54831 183.2415 418.0858 89.54831 183.2415 418.0858 89.54831 183.2415 38.85082 1163.615 190.9857 38.85082 1163.615 190.9857 38.85082 1163.615 190.9857 36.50931 1055.247 197.1459 36.50931 1055.247 197.1459 36.50931 1055.247 197.1459 48.34807 956.9352 224.9646 53.42955 1012.217 259.5901 52.06372 1012.042 251.2738 52.31119 1012.118 252.7836 52.06372 1012.042 251.2738 48.34807 956.9352 224.9646 53.42955 1012.217 259.5901 52.31119 1012.118 252.7836 53.42955 1012.217 259.5901 52.31119 1012.118 252.7836 52.06372 1012.042 251.2738 48.34807 956.9352 224.9646 53.42987 1021.823 258.1196 52.9454 1021.773 255.1656 53.379 1018.404 258.579 53.33641 1014.57 259.1826 52.12945 1015.4 251.6079 52.07637 1014.395 251.5095 52.46598 1021.843 252.2153 52.9454 1021.773 255.1656 53.379 1018.404 258.579 52.46598 1021.843 252.2153 52.12945 1015.4 251.6079 53.33641 1014.57 259.1826 52.07637 1014.395 251.5095 53.42987 1021.823 258.1196 52.07637 1014.395 251.5095 53.49007 1012.894 251.2957 52.06372 1012.042 251.2738 52.12945 1015.4 251.6079 52.12945 1015.4 251.6079 52.07637 1014.395 251.5095 53.49007 1012.894 251.2957 52.06372 1012.042 251.2738 53.49007 1012.894 251.2957 49.72186 1019.834 252.1604 52.06372 1012.042 251.2738 47.32493 1009.21 251.201 52.07637 1014.395 251.5095 52.12945 1015.4 251.6079 52.12945 1015.4 251.6079 49.72186 1019.834 252.1604 52.07637 1014.395 251.5095 52.06372 1012.042 251.2738 47.32493 1009.21 251.201 49.72186 1019.834 252.1604 47.32493 1009.21 251.201 52.46598 1021.843 252.2153 52.46598 1021.843 252.2153 52.46598 1021.843 252.2153 55.37077 1023.969 252.2733 55.37077 1023.969 252.2733 52.46598 1021.843 252.2153 55.37077 1023.969 252.2733 52.9454 1021.773 255.1656 52.9454 1021.773 255.1656 52.9454 1021.773 255.1656 56.75391 1024.063 258.7161 56.75391 1024.063 258.7161 52.9454 1021.773 255.1656 56.75391 1024.063 258.7161 50.47839 1019.834 257.59 53.42987 1021.823 258.1196 53.42987 1021.823 258.1196 50.47839 1019.834 257.59 50.47839 1019.834 257.59 53.42987 1021.823 258.1196 53.42987 1021.823 258.1196 53.379 1018.404 258.579 47.89585 1009.21 258.3564 53.379 1018.404 258.579 47.89585 1009.21 258.3564 47.89585 1009.21 258.3564 53.379 1018.404 258.579 53.379 1018.404 258.579 53.42955 1012.217 259.5901 53.33641 1014.57 259.1826 54.84614 1012.987 259.9059 54.84614 1012.987 259.9059 53.42955 1012.217 259.5901 53.33641 1014.57 259.1826 54.84614 1012.987 259.9059 53.42955 1012.217 259.5901 53.33641 1014.57 259.1826 53.33641 1014.57 259.1826 53.42955 1012.217 259.5901 36.73881 1052.327 204.676 36.73881 1052.327 204.676 46.45564 1015.654 199.3989 46.45564 1015.654 199.3989 46.45564 1015.654 199.3989 46.45564 995.2607 200.0005 46.45564 995.2607 200.0005 46.45564 1015.654 199.3989 46.45564 995.2607 200.0005 54.05531 957.5533 277.9037 54.05531 957.5533 277.9037 54.05531 957.5533 277.9037 119.2847 957.6267 402.2433 119.2847 957.6267 402.2433 119.2847 957.6267 402.2433 128.3689 959.5251 410.5596 128.3689 959.5251 410.5596 128.3689 959.5251 410.5596 136.6687 958.6254 411.8664 136.6687 958.6254 411.8664 136.6687 958.6254 411.8664 418.0858 89.54831 183.2415 418.0858 89.54831 183.2415 413.6447 65.29827 167.5523 413.6447 65.29827 167.5523 429.8387 82.14599 131.4146 412.9554 65.31908 132.3037 412.8517 70.8321 131.8682 429.8387 82.14599 131.4146 412.9554 65.31908 132.3037 412.8517 70.8321 131.8682 412.8517 70.8321 131.8682 429.8387 82.14599 131.4146 412.584 85.06813 130.7435 412.584 85.06813 130.7435 412.584 85.06813 130.7435 451.134 83.62558 93.86512 451.134 83.62558 93.86512 451.134 83.62558 93.86512 481.8983 111.3119 107.6031 481.8983 111.3119 107.6031 481.8983 111.3119 107.6031 196.7554 370.6398 280.9745 196.7554 370.6398 280.9745 196.7554 370.6398 280.9745 185.179 379.8349 288.3501 185.179 379.8349 288.3501 229.5537 95.36388 223.0301 229.5537 95.36388 223.0301 229.5537 95.36388 223.0301 403.3998 90.04306 192.0967 403.3998 90.04306 192.0967 403.3998 90.04306 192.0967 52.31119 1012.118 252.7836 52.06372 1012.042 251.2738 53.42955 1012.217 259.5901 53.42955 1012.217 259.5901 52.31119 1012.118 252.7836 52.06372 1012.042 251.2738 53.42955 1012.217 259.5901 47.89585 1009.21 258.3564 52.31119 1012.118 252.7836 52.31119 1012.118 252.7836 47.89585 1009.21 258.3564 53.42955 1012.217 259.5901 54.84614 1012.987 259.9059 52.31119 1012.118 252.7836 53.49007 1012.894 251.2957 53.42955 1012.217 259.5901 53.42955 1012.217 259.5901 54.84614 1012.987 259.9059 52.31119 1012.118 252.7836 53.49007 1012.894 251.2957 52.06372 1012.042 251.2738 47.32493 1009.21 251.201 52.06372 1012.042 251.2738 47.32493 1009.21 251.201 52.06372 1012.042 251.2738 52.06372 1012.042 251.2738 45.22352 952.0021 200.602 45.22352 952.0021 200.602 45.22352 952.0021 200.602 54.05531 957.5533 277.9037 54.05531 957.5533 277.9037 53.49007 1012.894 251.2957 52.05968 1011.179 251.191 52.06372 1012.042 251.2738 52.06372 1012.042 251.2738 52.05968 1011.179 251.191 53.49007 1012.894 251.2957 52.05968 1011.179 251.191 52.06372 1012.042 251.2738 49.58923 1008.216 251.0101 47.32493 1009.21 251.201 52.05968 1011.179 251.191 52.05968 1011.179 251.191 52.06372 1012.042 251.2738 49.58923 1008.216 251.0101 47.32493 1009.21 251.201 49.58923 1008.216 251.0101 54.84614 1012.987 259.9059 53.42955 1012.217 259.5901 53.45365 1011.663 259.6993 53.45365 1011.663 259.6993 53.42955 1012.217 259.5901 54.84614 1012.987 259.9059 53.45365 1011.663 259.6993 49.92662 1008.309 259.1759 53.42955 1012.217 259.5901 47.89585 1009.21 258.3564 53.45365 1011.663 259.6993 53.45365 1011.663 259.6993 49.92662 1008.309 259.1759 53.42955 1012.217 259.5901 47.89585 1009.21 258.3564 49.92662 1008.309 259.1759 37.28951 1034.68 185.2106 37.28951 1034.68 185.2106 37.28951 1034.68 185.2106 38.00047 1028.226 190.238 38.00047 1028.226 190.238 38.00047 1028.226 190.238 46.45564 1015.654 199.3989 43.76005 994.8234 197.7238 46.45564 995.2607 200.0005 46.45564 995.2607 200.0005 43.76005 994.8234 197.7238 46.45564 1015.654 199.3989 43.76005 994.8234 197.7238 70.99933 956.9352 294.8683 70.99933 956.9352 294.8683 70.99933 956.9352 294.8683 403.6017 63.14855 167.456 403.6017 63.14855 167.456 403.6017 63.14855 167.456 403.4928 63.3178 132.3037 403.4928 63.3178 132.3037 403.4928 63.3178 132.3037 410.6643 69.37526 131.9265 410.6643 69.37526 131.9265 410.6643 69.37526 131.9265 412.8517 70.8321 131.8682 412.8517 70.8321 131.8682 453.6575 82.24127 102.7204 453.6575 82.24127 102.7204 453.6575 82.24127 102.7204 453.6575 82.24127 102.7204 453.6575 82.24127 102.7204 152.8798 384.3152 287.1951 152.8798 384.3152 287.1951 152.8798 384.3152 287.1951 186.8444 289.1464 276.5291 186.8444 289.1464 276.5291 186.8444 289.1464 276.5291 188.1288 190.4515 261.3921 188.1288 190.4515 261.3921 188.1288 190.4515 261.3921 193.0241 129.8897 244.2591 193.0241 129.8897 244.2591 193.0241 129.8897 244.2591 195.2357 101.8037 222.6574 195.2357 101.8037 222.6574 195.2357 101.8037 222.6574 406.8316 79.09201 176.6963 406.8316 79.09201 176.6963 406.8316 79.09201 176.6963 47.32583 1008.216 251.1948 47.32583 1008.216 251.1948 47.32583 1008.216 251.1948 44.59275 878.4625 200.602 44.59275 878.4625 200.602 44.59275 878.4625 200.602 46.4851 878.452 224.9646 46.4851 878.452 224.9646 46.4851 878.452 224.9646 48.06871 1008.309 258.405 48.06871 1008.309 258.405 48.06871 1008.309 258.405 38.00047 1028.226 190.238 38.00047 1028.226 190.238 45.60193 1002.842 183.9515 45.60193 1002.842 183.9515 45.60193 1002.842 183.9515 44.27696 1009.5 197.5544 44.27696 1009.5 197.5544 44.27696 1009.5 197.5544 42.72664 951.7448 198.386 42.72664 951.7448 198.386 42.72664 951.7448 198.386 45.22352 952.0021 200.602 45.22352 952.0021 200.602 52.16261 880.3058 275.4974 52.16261 880.3058 275.4974 52.16261 880.3058 275.4974 122.414 892.3343 407.0902 122.414 892.3343 407.0902 122.414 892.3343 407.0902 138.5288 896.5097 415.3412 138.5288 896.5097 415.3412 138.5288 896.5097 415.3412 406.8316 79.09201 176.6963 406.8316 79.09201 176.6963 406.8316 79.09201 176.6963 403.6017 63.14855 167.456 403.6017 63.14855 167.456 406.0232 68.70769 131.9004 403.4928 63.3178 132.3037 403.3953 71.48722 131.6232 407.4392 67.21511 132.0493 407.4392 67.21511 132.0493 403.4928 63.3178 132.3037 406.0232 68.70769 131.9004 403.3953 71.48722 131.6232 403.3953 71.48722 131.6232 406.0232 68.70769 131.9004 407.4392 67.21511 132.0493 410.6643 69.37526 131.9265 403.2643 82.47619 130.7079 410.6643 69.37526 131.9265 403.2643 82.47619 130.7079 403.2643 82.47619 130.7079 406.7226 70.1789 93.38389 406.7226 70.1789 93.38389 406.7226 70.1789 93.38389 453.785 98.19049 104.3327 453.785 98.19049 104.3327 453.785 98.19049 104.3327 128.1511 383.772 282.4784 128.1511 383.772 282.4784 128.1511 383.772 282.4784 152.8798 384.3152 287.1951 152.8798 384.3152 287.1951 193.217 108.9761 231.4064 193.217 108.9761 231.4064 193.217 108.9761 231.4064 392.095 84.30783 185.9365 392.095 84.30783 185.9365 392.095 84.30783 185.9365 41.95133 878.3229 198.001 44.59275 878.4625 200.602 44.59275 878.4625 200.602 41.95133 878.3229 198.001 41.95133 878.3229 198.001 52.16261 880.3058 275.4974 52.16261 880.3058 275.4974 48.25353 980.2428 250.8143 48.25353 980.2428 250.8143 48.25353 980.2428 250.8143 46.42824 980.3526 258.3629 46.42824 980.3526 258.3629 46.42824 980.3526 258.3629 39.25462 1019.255 170.5801 39.25462 1019.255 170.5801 39.25462 1019.255 170.5801 40.90229 1012.776 175.8001 40.90229 1012.776 175.8001 40.90229 1012.776 175.8001 46.45564 1015.654 199.3989 45.60193 1002.842 183.9515 44.27696 1009.5 197.5544 44.27696 1009.5 197.5544 45.60193 1002.842 183.9515 46.45564 1015.654 199.3989 44.27696 1009.5 197.5544 44.01866 1001.825 186.2433 43.76005 994.8234 197.7238 43.76005 994.8234 197.7238 44.01866 1001.825 186.2433 44.27696 1009.5 197.5544 44.01866 1001.825 186.2433 42.72659 957.4271 185.7623 42.72664 951.7448 198.386 42.72664 951.7448 198.386 42.72659 957.4271 185.7623 42.72659 957.4271 185.7623 66.64261 880.9239 292.7266 66.64261 880.9239 292.7266 66.64261 880.9239 292.7266 131.2961 896.5268 414.444 131.2961 896.5268 414.444 131.2961 896.5268 414.444 356.7678 55.97972 167.456 356.7678 55.97972 167.456 356.7678 55.97972 167.456 356.8103 55.92632 132.3037 356.8103 55.92632 132.3037 356.8103 55.92632 132.3037 356.3849 72.4326 130.7075 356.3849 72.4326 130.7075 356.3849 72.4326 130.7075 406.0232 68.70769 131.9004 407.4392 67.21511 132.0493 407.4392 67.21511 132.0493 406.0232 68.70769 131.9004 408.2367 67.90413 100.5066 408.2367 67.90413 100.5066 408.2367 67.90413 100.5066 408.2367 67.90413 100.5066 408.2367 67.90413 100.5066 117.9696 393.6987 285.1644 117.9696 393.6987 285.1644 117.9696 393.6987 285.1644 155.9583 296.5621 275.4703 155.9583 296.5621 275.4703 155.9583 296.5621 275.4703 160.8764 202.0702 261.3921 160.8764 202.0702 261.3921 160.8764 202.0702 261.3921 171.6562 135.2794 244.5286 171.6562 135.2794 244.5286 171.6562 135.2794 244.5286 176.9866 113.2474 229.4429 176.9866 113.2474 229.4429 176.9866 113.2474 229.4429 357.1715 69.45182 176.3113 357.1715 69.45182 176.3113 357.1715 69.45182 176.3113 45.84995 980.2965 250.9775 45.84995 980.2965 250.9775 45.84995 980.2965 250.9775 41.69309 769.5269 197.5544 41.69309 769.5269 197.5544 41.69309 769.5269 197.5544 44.31451 769.6629 199.6552 44.31451 769.6629 199.6552 44.31451 769.6629 199.6552 46.36443 769.91 224.9216 46.36443 769.91 224.9216 46.36443 769.91 224.9216 48.49566 980.3648 259.2018 48.49566 980.3648 259.2018 48.49566 980.3648 259.2018 40.90229 1012.776 175.8001 40.90229 1012.776 175.8001 50.93248 986.4661 160.2191 50.93248 986.4661 160.2191 50.93248 986.4661 160.2191 44.01866 1001.825 186.2433 44.01866 1001.825 186.2433 41.95133 878.1992 184.1991 41.95133 878.1992 184.1991 41.95133 878.1992 184.1991 41.95133 878.3229 198.001 41.95133 878.3229 198.001 50.0231 775.1821 270.2845 50.0231 775.1821 270.2845 50.0231 775.1821 270.2845 122.7416 817.228 407.0364 122.7416 817.228 407.0364 122.7416 817.228 407.0364 139.0195 817.2 416.0653 139.0195 817.2 416.0653 139.0195 817.2 416.0653 357.1715 69.45182 176.3113 357.1715 69.45182 176.3113 357.1715 69.45182 176.3113 356.7678 55.97972 167.456 356.7678 55.97972 167.456 356.8103 55.92632 132.3037 356.8103 55.92632 132.3037 357.2645 63.25725 92.90261 357.2645 63.25725 92.90261 357.2645 63.25725 92.90261 408.5574 77.44249 101.6575 408.7212 82.31409 102.2454 408.7212 82.31409 102.2454 408.5574 77.44249 101.6575 408.7212 82.31409 102.2454 408.5574 77.44249 101.6575 128.1511 383.772 282.4784 112.4959 395.1699 284.846 117.9696 393.6987 285.1644 117.9696 393.6987 285.1644 112.4959 395.1699 284.846 128.1511 383.772 282.4784 112.4959 395.1699 284.846 97.71858 398.5907 284.1856 97.71858 398.5907 284.1856 97.71858 398.5907 284.1856 182.1545 104.4484 220.7632 182.1545 104.4484 220.7632 182.1545 104.4484 220.7632 360.6033 73.728 184.7815 360.6033 73.728 184.7815 360.6033 73.728 184.7815 41.43477 770.1152 182.2279 41.69309 769.5269 197.5544 41.69309 769.5269 197.5544 41.43477 770.1152 182.2279 41.43477 770.1152 182.2279 44.31451 769.6629 199.6552 44.31451 769.6629 199.6552 50.0231 775.1821 270.2845 50.0231 775.1821 270.2845 52.66751 979.4767 259.8917 52.66751 979.4767 259.8917 52.66751 979.4767 259.8917 45.85496 979.3574 250.9487 45.85496 979.3574 250.9487 45.85496 979.3574 250.9487 46.42937 979.3574 258.3564 46.42937 979.3574 258.3564 46.42937 979.3574 258.3564 43.58798 1005.413 151.3295 43.58798 1005.413 151.3295 43.58798 1005.413 151.3295 45.98064 998.563 154.7447 45.98064 998.563 154.7447 45.98064 998.563 154.7447 45.60193 1002.842 183.9515 50.93248 986.4661 160.2191 44.59281 956.7722 183.457 44.59281 956.7722 183.457 50.93248 986.4661 160.2191 45.60193 1002.842 183.9515 44.59281 956.7722 183.457 45.60193 1002.842 183.9515 44.59281 956.7722 183.457 44.01866 1001.825 186.2433 44.01866 1001.825 186.2433 44.59281 956.7722 183.457 45.60193 1002.842 183.9515 42.72659 957.4271 185.7623 42.72659 957.4271 185.7623 43.80428 877.2073 181.2011 41.95133 878.1992 184.1991 41.95133 878.1992 184.1991 43.80428 877.2073 181.2011 43.80428 877.2073 181.2011 62.76633 780.628 288.1714 62.76633 780.628 288.1714 62.76633 780.628 288.1714 131.775 817.2433 415.1974 131.775 817.2433 415.1974 131.775 817.2433 415.1974 295.2803 52.76632 167.071 295.2803 52.76632 167.071 295.2803 52.76632 167.071 295.2803 52.67422 132.3037 295.2803 52.67422 132.3037 295.2803 52.67422 132.3037 295.2803 69.19263 130.681 295.2803 69.19263 130.681 295.2803 69.19263 130.681 359.2832 61.47708 100.1216 359.2832 61.47708 100.1216 359.2832 61.47708 100.1216 391.6008 67.21511 100.5566 387.1907 73.23947 101.3204 398.3087 71.25251 100.9911 398.3087 71.25251 100.9911 391.6008 67.21511 100.5566 387.1907 73.23947 101.3204 387.1907 73.23947 101.3204 391.6008 67.21511 100.5566 398.3087 71.25251 100.9911 359.2832 61.47708 100.1216 391.6008 67.21511 100.5566 398.3087 71.25251 100.9911 398.3087 71.25251 100.9911 391.6008 67.21511 100.5566 359.2832 61.47708 100.1216 128.1511 383.772 282.4784 95.9292 399.6228 283.8824 112.4959 395.1699 284.846 112.4959 395.1699 284.846 95.9292 399.6228 283.8824 128.1511 383.772 282.4784 95.9292 399.6228 283.8824 112.9736 312.0958 273.019 112.9736 312.0958 273.019 112.9736 312.0958 273.019 127.0238 222.9881 261.0884 127.0238 222.9881 261.0884 127.0238 222.9881 261.0884 138.5697 145.5056 245.2216 138.5697 145.5056 245.2216 138.5697 145.5056 245.2216 153.8927 114.8767 224.1143 153.8927 114.8767 224.1143 153.8927 114.8767 224.1143 295.2803 66.36156 176.3113 295.2803 66.36156 176.3113 295.2803 66.36156 176.3113 41.43477 770.1152 182.2279 41.43461 753.6621 181.9814 41.69309 769.5269 197.5544 41.69309 769.5269 197.5544 41.43461 753.6621 181.9814 41.43477 770.1152 182.2279 41.43461 753.6621 181.9814 44.31451 769.6629 199.6552 41.69309 769.5269 197.5544 41.69303 751.2545 196.8152 41.69303 751.2545 196.8152 41.69309 769.5269 197.5544 44.31451 769.6629 199.6552 41.69303 751.2545 196.8152 46.36443 769.91 224.9216 44.31451 769.6629 199.6552 44.90583 751.865 199.0536 44.90583 751.865 199.0536 44.31451 769.6629 199.6552 46.36443 769.91 224.9216 44.90583 751.865 199.0536 48.24613 764.4576 248.2523 46.36443 753.101 224.9216 50.0231 775.1821 270.2845 50.0231 775.1821 270.2845 48.24613 764.4576 248.2523 46.36443 753.101 224.9216 46.36443 753.101 224.9216 48.24613 764.4576 248.2523 51.65477 979.163 251.3302 51.65477 979.163 251.3302 51.65477 979.163 251.3302 45.98064 998.563 154.7447 45.98064 998.563 154.7447 55.63271 976.9337 135.4942 55.63271 976.9337 135.4942 55.63271 976.9337 135.4942 54.84415 943.6401 134.5786 54.84415 943.6401 134.5786 54.84415 943.6401 134.5786 45.06351 768.838 179.9214 45.06351 768.838 179.9214 45.06351 768.838 179.9214 41.43477 770.1152 182.2279 41.43477 770.1152 182.2279 62.76633 780.628 288.1714 50.0231 775.1821 270.2845 50.52787 758.0331 269.6829 50.52787 758.0331 269.6829 50.0231 775.1821 270.2845 62.76633 780.628 288.1714 50.52787 758.0331 269.6829 122.0719 796.8952 406.9347 122.0719 796.8952 406.9347 122.0719 796.8952 406.9347 139.0459 798.586 415.8225 139.0459 798.586 415.8225 139.0459 798.586 415.8225 295.2803 66.36156 176.3113 295.2803 66.36156 176.3113 295.2803 66.36156 176.3113 295.2803 52.76632 167.071 295.2803 52.76632 167.071 295.2803 52.67422 132.3037 295.2803 52.67422 132.3037 295.2803 57.91777 92.42138 295.2803 57.91777 92.42138 295.2803 57.91777 92.42138 359.7298 74.21379 101.7603 359.7298 74.21379 101.7603 359.7298 74.21379 101.7603 95.9292 399.6228 283.8824 128.1511 383.772 282.4784 82.12057 406.2441 283.7336 82.12057 406.2441 283.7336 128.1511 383.772 282.4784 95.9292 399.6228 283.8824 82.12057 406.2441 283.7336 95.9292 399.6228 283.8824 95.9292 399.6228 283.8824 145.4333 128.3078 234.961 145.4333 128.3078 234.961 145.4333 128.3078 234.961 177.0674 103.886 215.5825 177.0674 103.886 215.5825 177.0674 103.886 215.5825 295.2803 69.3776 184.3965 295.2803 69.3776 184.3965 295.2803 69.3776 184.3965 45.06351 752.7705 179.6877 41.43461 753.6621 181.9814 41.43477 770.1152 182.2279 41.43477 770.1152 182.2279 41.43461 753.6621 181.9814 45.06351 752.7705 179.6877 45.06351 752.7705 179.6877 41.69303 751.2545 196.8152 41.69303 751.2545 196.8152 44.90583 751.865 199.0536 44.90583 751.865 199.0536 48.8234 756.014 251.358 48.48224 763.802 250.473 48.42294 764.2504 250.0117 48.46145 764.2332 250.4044 48.46145 764.2332 250.4044 48.48224 763.802 250.473 48.42294 764.2504 250.0117 48.8234 756.014 251.358 48.8234 756.014 251.358 48.48224 763.802 250.473 48.46145 764.2332 250.4044 48.42294 764.2504 250.0117 50.52787 758.0331 269.6829 48.48224 763.802 250.473 48.46145 764.2332 250.4044 48.42294 764.2504 250.0117 48.42294 764.2504 250.0117 48.46145 764.2332 250.4044 48.48224 763.802 250.473 50.52787 758.0331 269.6829 48.17638 969.3808 257.1643 48.17638 969.3808 257.1643 48.17638 969.3808 257.1643 47.366 969.3808 252.0083 47.366 969.3808 252.0083 47.366 969.3808 252.0083 49.02509 997.898 135.159 49.02509 997.898 135.159 49.02509 997.898 135.159 50.83808 990.5293 135.4942 50.83808 990.5293 135.4942 50.83808 990.5293 135.4942 50.93248 986.4661 160.2191 55.63271 976.9337 135.4942 55.63273 970.6768 135.3305 55.63273 970.6768 135.3305 55.63271 976.9337 135.4942 50.93248 986.4661 160.2191 55.63273 970.6768 135.3305 55.63273 970.6768 135.3305 55.63273 970.6768 135.3305 54.05558 879.5248 133.8266 54.05558 879.5248 133.8266 54.05558 879.5248 133.8266 43.80428 877.2073 181.2011 43.80428 877.2073 181.2011 53.89532 773.1638 133.7501 45.06351 768.838 179.9214 45.06351 768.838 179.9214 53.89532 773.1638 133.7501 53.89532 773.1638 133.7501 45.06351 768.838 179.9214 45.06351 768.838 179.9214 62.13543 767.3201 287.8975 62.13543 767.3201 287.8975 62.13543 767.3201 287.8975 131.6246 798.4772 415.0969 131.6246 798.4772 415.0969 131.6246 798.4772 415.0969 233.3892 69.45182 176.3113 233.3892 69.45182 176.3113 233.3892 69.45182 176.3113 233.7929 55.97972 167.456 233.7929 55.97972 167.456 233.7929 55.97972 167.456 233.7504 55.92632 132.3037 233.7504 55.92632 132.3037 233.7504 55.92632 132.3037 295.2803 55.05119 99.6403 295.2803 55.05119 99.6403 295.2803 55.05119 99.6403 295.2803 55.05119 99.6403 295.2803 55.05119 99.6403 111.7927 311.988 271.6094 95.9292 399.6228 283.8824 82.12057 406.2441 283.7336 82.12057 406.2441 283.7336 95.9292 399.6228 283.8824 111.7927 311.988 271.6094 111.7927 311.988 271.6094 95.9292 399.6228 283.8824 111.7927 311.988 271.6094 112.9736 312.0958 273.019 112.9736 312.0958 273.019 111.7927 311.988 271.6094 95.9292 399.6228 283.8824 127.0238 222.9881 261.0884 127.0238 222.9881 261.0884 138.5697 145.5056 245.2216 124.7124 224.6604 259.4122 124.7124 224.6604 259.4122 138.5697 145.5056 245.2216 124.7124 224.6604 259.4122 145.4333 128.3078 234.961 134.4031 146.5013 243.7894 134.4031 146.5013 243.7894 145.4333 128.3078 234.961 134.4031 146.5013 243.7894 162.129 102.2047 205.5722 162.129 102.2047 205.5722 162.129 102.2047 205.5722 229.9574 73.728 184.7815 229.9574 73.728 184.7815 229.9574 73.728 184.7815 46.32517 673.6041 178.1583 46.32517 673.6041 178.1583 46.32517 673.6041 178.1583 41.43447 673.528 180.567 41.43447 673.528 180.567 41.43447 673.528 180.567 41.69303 672.517 194.9671 41.69303 672.517 194.9671 41.69303 672.517 194.9671 44.43692 672.7637 197.2489 44.43692 672.7637 197.2489 44.43692 672.7637 197.2489 46.36439 673.3817 224.9216 46.36439 673.3817 224.9216 46.36439 673.3817 224.9216 48.84893 753.3653 251.6326 48.48224 763.802 250.473 42.4476 749.707 250.1316 48.8234 756.014 251.358 48.8234 756.014 251.358 48.84893 753.3653 251.6326 48.48224 763.802 250.473 42.4476 749.707 250.1316 42.4476 749.707 250.1316 48.84893 753.3653 251.6326 48.8234 756.014 251.358 48.80667 764.5598 250.4914 48.48224 763.802 250.473 49.0564 753.4839 251.6812 48.84893 753.3653 251.6326 48.84893 753.3653 251.6326 48.8234 756.014 251.358 49.0564 753.4839 251.6812 48.80667 764.5598 250.4914 48.48224 763.802 250.473 48.80667 764.5598 250.4914 49.0564 753.4839 251.6812 44.33759 760.3312 249.3653 48.46145 764.2332 250.4044 48.46145 764.2332 250.4044 44.33759 760.3312 249.3653 44.33759 760.3312 249.3653 48.46145 764.2332 250.4044 48.46145 764.2332 250.4044 48.42294 764.2504 250.0117 43.56216 760.3312 243.9357 48.42294 764.2504 250.0117 43.56216 760.3312 243.9357 43.56216 760.3312 243.9357 48.42294 764.2504 250.0117 48.42294 764.2504 250.0117 48.24613 764.4576 248.2523 48.20962 764.5207 247.7996 48.20962 764.5207 247.7996 48.24613 764.4576 248.2523 48.20962 764.5207 247.7996 47.37761 764.4662 244.0486 48.24613 764.4576 248.2523 48.20962 764.5207 247.7996 48.20962 764.5207 247.7996 48.24613 764.4576 248.2523 47.37761 764.4662 244.0486 47.37761 764.4662 244.0486 51.60382 966.3842 251.5893 51.83391 972.1005 251.4869 51.83391 972.1005 251.4869 51.60382 966.3842 251.5893 51.83391 972.1005 251.4869 51.60382 966.3842 251.5893 52.24098 966.1099 257.6344 52.76053 974.6181 259.132 52.76053 974.6181 259.132 52.24098 966.1099 257.6344 52.24098 966.1099 257.6344 52.76053 974.6181 259.132 51.58891 965.8331 251.667 51.58891 965.8331 251.667 51.58891 965.8331 251.667 50.83808 990.5293 135.4942 50.83808 990.5293 135.4942 62.25625 972.4533 101.3846 62.25625 972.4533 101.3846 62.25625 972.4533 101.3846 61.94117 950.5924 101.4916 61.94117 950.5924 101.4916 61.94117 950.5924 101.4916 61.94117 932.8255 100.7396 61.94117 932.8255 100.7396 61.94117 932.8255 100.7396 61.15262 876.4349 101.4916 61.15262 876.4349 101.4916 61.15262 876.4349 101.4916 53.89532 773.1638 133.7501 53.89532 755.2424 133.1485 45.06351 768.838 179.9214 45.06351 768.838 179.9214 53.89532 755.2424 133.1485 53.89532 773.1638 133.7501 53.89532 755.2424 133.1485 45.06351 752.7705 179.6877 45.06351 752.7705 179.6877 51.03247 675.4402 266.3065 51.03247 675.4402 266.3065 51.03247 675.4402 266.3065 119.807 747.3508 404.2718 119.807 747.3508 404.2718 119.807 747.3508 404.2718 136.785 746.5215 413.2505 136.785 746.5215 413.2505 136.785 746.5215 413.2505 233.7929 55.97972 167.456 233.7929 55.97972 167.456 233.7504 55.92632 132.3037 233.7504 55.92632 132.3037 234.1758 72.4326 130.7075 234.1758 72.4326 130.7075 234.1758 72.4326 130.7075 231.2775 61.47708 100.1216 231.2775 61.47708 100.1216 231.2775 61.47708 100.1216 295.2803 68.54257 101.483 295.2803 68.54257 101.483 295.2803 68.54257 101.483 82.45839 316.2189 271.6087 82.45839 316.2189 271.6087 82.45839 316.2189 271.6087 135.7757 138.9873 239.4464 135.7757 138.9873 239.4464 135.7757 138.9873 239.4464 175.0431 99.03633 205.0897 174.9083 98.99477 204.9472 176.6114 99.73686 207.1765 177.4166 99.56656 207.2003 177.6942 99.51098 207.2147 177.6942 99.51098 207.2147 177.4166 99.56656 207.2003 176.6114 99.73686 207.1765 175.0431 99.03633 205.0897 174.9083 98.99477 204.9472 174.9083 98.99477 204.9472 175.0431 99.03633 205.0897 176.6114 99.73686 207.1765 177.4166 99.56656 207.2003 177.6942 99.51098 207.2147 233.3892 69.45182 176.3113 233.3892 69.45182 176.3113 233.3892 69.45182 176.3113 54.52608 673.6041 131.9453 46.32517 673.6041 178.1583 46.32517 673.6041 178.1583 54.52608 673.6041 131.9453 54.52608 673.6041 131.9453 41.43447 673.528 180.567 41.43447 673.528 180.567 41.69303 672.517 194.9671 41.69303 672.517 194.9671 44.43692 672.7637 197.2489 44.43692 672.7637 197.2489 51.03247 675.4402 266.3065 51.03247 675.4402 266.3065 44.52298 748.8067 250.9512 48.84893 753.3653 251.6326 42.4476 749.707 250.1316 48.85037 753.2713 251.648 48.85037 753.2713 251.648 44.52298 748.8067 250.9512 48.84893 753.3653 251.6326 42.4476 749.707 250.1316 44.52298 748.8067 250.9512 48.85037 753.2713 251.648 48.57694 753.4517 248.7083 42.4476 749.707 250.1316 47.66775 753.3907 243.071 48.84893 753.3653 251.6326 48.84893 753.3653 251.6326 48.57694 753.4517 248.7083 42.4476 749.707 250.1316 47.66775 753.3907 243.071 47.66775 753.3907 243.071 48.57694 753.4517 248.7083 49.0564 753.4839 251.6812 48.84893 753.3653 251.6326 48.57694 753.4517 248.7083 48.57694 753.4517 248.7083 48.84893 753.3653 251.6326 49.0564 753.4839 251.6812 49.0564 753.4839 251.6812 48.84893 753.3653 251.6326 48.85037 753.2713 251.648 48.85037 753.2713 251.648 48.84893 753.3653 251.6326 49.0564 753.4839 251.6812 41.86407 749.707 242.9763 41.86407 749.707 242.9763 41.86407 749.707 242.9763 47.66775 753.3907 243.071 47.66775 753.3907 243.071 52.00169 965.4863 251.6336 51.60382 966.3842 251.5893 51.83391 972.1005 251.4869 51.83391 972.1005 251.4869 51.60382 966.3842 251.5893 52.00169 965.4863 251.6336 52.00169 965.4863 251.6336 51.64197 965.8525 252.1537 51.64197 965.8525 252.1537 51.64197 965.8525 252.1537 52.9341 965.5521 257.7146 52.76053 974.6181 259.132 52.24098 966.1099 257.6344 52.24098 966.1099 257.6344 52.76053 974.6181 259.132 52.9341 965.5521 257.7146 52.9341 965.5521 257.7146 51.58891 965.8331 251.667 51.58891 965.8331 251.667 61.75159 990.7456 101.3845 61.75159 990.7456 101.3845 61.75159 990.7456 101.3845 61.75159 990.7456 101.3845 61.75159 990.7456 101.3845 62.25625 972.4533 101.3846 62.25625 972.4533 101.3846 61.94117 950.5924 101.4916 61.94117 950.5924 101.4916 59.57302 777.4896 101.2647 59.57302 777.4896 101.2647 59.57302 777.4896 101.2647 60.83462 758.3323 101.2647 60.83462 758.3323 101.2647 60.83462 758.3323 101.2647 62.13554 674.9922 283.3463 62.13554 674.9922 283.3463 62.13554 674.9922 283.3463 129.8885 747.3761 412.354 129.8885 747.3761 412.354 129.8885 747.3761 412.354 183.7291 79.09201 176.6963 183.7291 79.09201 176.6963 183.7291 79.09201 176.6963 186.959 63.14855 167.456 186.959 63.14855 167.456 186.959 63.14855 167.456 187.0679 63.3178 132.3037 187.0679 63.3178 132.3037 187.0679 63.3178 132.3037 230.8309 74.21379 101.7603 231.2775 61.47708 100.1216 231.2775 61.47708 100.1216 230.8309 74.21379 101.7603 230.8309 74.21379 101.7603 233.2962 63.25725 92.90261 233.2962 63.25725 92.90261 233.2962 63.25725 92.90261 124.7124 224.6604 259.4122 124.7124 224.6604 259.4122 82.45839 316.2189 271.6087 82.12057 406.2441 283.7336 63.8775 324.3763 260.1124 63.8775 324.3763 260.1124 82.12057 406.2441 283.7336 82.45839 316.2189 271.6087 63.8775 324.3763 260.1124 134.4031 146.5013 243.7894 109.3389 156.3414 243.4505 109.3389 156.3414 243.4505 134.4031 146.5013 243.7894 109.3389 156.3414 243.4505 135.7757 138.9873 239.4464 135.7757 138.9873 239.4464 177.8749 98.24962 204.8021 172.4749 89.54831 183.2415 177.8749 98.24962 204.8021 172.4749 89.54831 183.2415 177.8749 98.24962 204.8021 172.4749 89.54831 183.2415 177.6942 99.51098 207.2147 175.0431 99.03633 205.0897 177.4166 99.56656 207.2003 176.6114 99.73686 207.1765 176.6114 99.73686 207.1765 177.4166 99.56656 207.2003 175.0431 99.03633 205.0897 177.6942 99.51098 207.2147 198.4657 84.30783 185.9365 198.4657 84.30783 185.9365 198.4657 84.30783 185.9365 56.41878 530.8509 130.1406 56.41878 530.8509 130.1406 56.41878 530.8509 130.1406 48.21775 530.2329 175.8607 48.21775 530.2329 175.8607 48.21775 530.2329 175.8607 43.76008 529.9965 178.6549 43.76008 529.9965 178.6549 43.76008 529.9965 178.6549 43.76008 529.3439 190.6242 43.76008 529.3439 190.6242 43.76008 529.3439 190.6242 46.36467 528.7894 192.8413 46.36467 528.7894 192.8413 46.36467 528.7894 192.8413 47.6259 529.5619 220.2132 47.6259 529.5619 220.2132 47.6259 529.5619 220.2132 42.62413 748.8067 250.1803 42.62413 748.8067 250.1803 42.62413 748.8067 250.1803 41.86407 749.707 242.9763 41.86407 749.707 242.9763 41.86407 749.707 242.9763 41.86501 748.7133 242.97 41.86501 748.7133 242.97 41.86407 749.707 242.9763 41.86501 748.7133 242.97 51.64197 965.8525 252.1537 51.64197 965.8525 252.1537 59.57302 777.4896 101.2647 59.57302 777.4896 101.2647 61.46558 673.6041 101.2647 61.46558 673.6041 101.2647 61.46558 673.6041 101.2647 51.5372 530.0408 258.3385 51.5372 530.0408 258.3385 51.5372 530.0408 258.3385 124.3816 691.7747 405.2287 124.3816 691.7747 405.2287 124.3816 691.7747 405.2287 131.7457 692.2658 406.7736 131.7457 692.2658 406.7736 131.7457 692.2658 406.7736 186.959 63.14855 167.456 186.959 63.14855 167.456 187.0679 63.3178 132.3037 187.0679 63.3178 132.3037 187.1654 71.48722 131.6232 187.2964 82.47619 130.7079 187.2964 82.47619 130.7079 187.1654 71.48722 131.6232 187.2964 82.47619 130.7079 187.1654 71.48722 131.6232 203.37 73.23947 101.3204 181.8395 82.31409 102.2454 203.37 73.23947 101.3204 181.8395 82.31409 102.2454 181.8395 82.31409 102.2454 203.37 73.23947 101.3204 182.324 67.90413 100.5066 182.324 67.90413 100.5066 182.324 67.90413 100.5066 82.58461 245.2751 259.5951 82.58461 245.2751 259.5951 82.58461 245.2751 259.5951 62.60024 392.9614 267.8715 62.60024 392.9614 267.8715 62.60024 392.9614 267.8715 64.85023 258.8704 249.9698 64.85023 258.8704 249.9698 64.85023 258.8704 249.9698 187.1609 90.04306 192.0967 187.1609 90.04306 192.0967 187.1609 90.04306 192.0967 183.7291 79.09201 176.6963 183.7291 79.09201 176.6963 183.7291 79.09201 176.6963 62.72726 530.8509 100.0616 62.72726 530.8509 100.0616 62.72726 530.8509 100.0616 48.21775 530.2329 175.8607 48.21775 530.2329 175.8607 43.76008 529.9965 178.6549 43.76008 529.9965 178.6549 43.76008 529.3439 190.6242 43.76008 529.3439 190.6242 46.36467 528.7894 192.8413 46.36467 528.7894 192.8413 51.5372 530.0408 258.3385 51.5372 530.0408 258.3385 42.44637 720.8496 250.1382 42.44637 720.8496 250.1382 42.44637 720.8496 250.1382 47.66775 753.3907 243.071 44.17812 748.7133 242.7854 44.17812 748.7133 242.7854 47.66775 753.3907 243.071 44.17812 748.7133 242.7854 62.13544 527.7853 275.9347 62.13544 527.7853 275.9347 62.13544 527.7853 275.9347 114.8856 692.0278 397.6516 114.8856 692.0278 397.6516 114.8856 692.0278 397.6516 172.4749 89.54831 183.2415 172.4749 89.54831 183.2415 172.4749 89.54831 183.2415 176.916 65.29827 167.5523 176.916 65.29827 167.5523 176.916 65.29827 167.5523 179.891 69.36567 131.9273 177.6053 65.31908 132.3037 183.0809 67.16709 132.054 184.5375 68.70769 131.9004 184.5375 68.70769 131.9004 183.0809 67.16709 132.054 179.891 69.36567 131.9273 177.6053 65.31908 132.3037 179.891 69.36567 131.9273 177.6053 65.31908 132.3037 183.0809 67.16709 132.054 184.5375 68.70769 131.9004 183.0809 67.16709 132.054 179.891 69.36567 131.9273 184.5375 68.70769 131.9004 184.5375 68.70769 131.9004 183.0809 67.16709 132.054 179.891 69.36567 131.9273 182.0033 77.44249 101.6575 192.252 71.25251 100.9911 198.9599 67.21511 100.5566 198.9599 67.21511 100.5566 192.252 71.25251 100.9911 182.0033 77.44249 101.6575 182.0033 77.44249 101.6575 192.252 71.25251 100.9911 198.9599 67.21511 100.5566 182.324 67.90413 100.5066 192.252 71.25251 100.9911 198.9599 67.21511 100.5566 198.9599 67.21511 100.5566 182.324 67.90413 100.5066 192.252 71.25251 100.9911 183.838 70.1789 93.38389 183.838 70.1789 93.38389 183.838 70.1789 93.38389 82.58461 245.2751 259.5951 82.58461 245.2751 259.5951 72.56729 417.3917 284.0314 72.56729 417.3917 284.0314 72.56729 417.3917 284.0314 53.3953 334.6348 246.9258 53.3953 334.6348 246.9258 53.3953 334.6348 246.9258 53.88764 280.994 239.8633 53.88764 280.994 239.8633 53.88764 280.994 239.8633 80.55059 175.443 244.0984 80.55059 175.443 244.0984 80.55059 175.443 244.0984 63.0996 465.2184 99.08861 63.0996 465.2184 99.08861 63.0996 465.2184 99.08861 56.53887 458.7914 129.4083 56.53887 458.7914 129.4083 56.53887 458.7914 129.4083 48.71642 453.3531 173.7809 48.71642 453.3531 173.7809 48.71642 453.3531 173.7809 46.08571 453.8569 176.2697 46.08571 453.8569 176.2697 46.08571 453.8569 176.2697 46.34433 454.4825 187.6211 46.34433 454.4825 187.6211 46.34433 454.4825 187.6211 48.96866 454.342 216.9984 48.96866 454.342 216.9984 48.96866 454.342 216.9984 41.85886 720.7935 242.7528 41.85886 720.7935 242.7528 41.85886 720.7935 242.7528 44.54687 720.8618 250.9771 44.54687 720.8618 250.9771 44.54687 720.8618 250.9771 44.30093 720.7398 242.5896 44.30093 720.7398 242.5896 44.30093 720.7398 242.5896 51.99663 458.5204 253.5577 51.99663 458.5204 253.5577 51.99663 458.5204 253.5577 117.3276 634.3344 392.859 117.3276 634.3344 392.859 117.3276 634.3344 392.859 124.2136 634.518 393.7831 124.2136 634.518 393.7831 124.2136 634.518 393.7831 176.916 65.29827 167.5523 176.916 65.29827 167.5523 177.6053 65.31908 132.3037 177.6053 65.31908 132.3037 177.709 70.8321 131.8682 178.9165 70.02785 131.9004 178.9165 70.02785 131.9004 177.709 70.8321 131.8682 177.709 70.8321 131.8682 178.9165 70.02785 131.9004 177.9767 85.06813 130.7435 178.9165 70.02785 131.9004 177.709 70.8321 131.8682 178.9165 70.02785 131.9004 177.9767 85.06813 130.7435 177.709 70.8321 131.8682 177.9767 85.06813 130.7435 136.7757 98.19049 104.3327 136.7757 98.19049 104.3327 136.7757 98.19049 104.3327 136.9032 82.24127 102.7204 136.9032 82.24127 102.7204 136.9032 82.24127 102.7204 65.45087 203.2524 237.7938 65.45087 203.2524 237.7938 65.45087 203.2524 237.7938 82.94362 463.2112 311.5982 72.56729 417.3917 284.0314 82.12057 406.2441 283.7336 82.12057 406.2441 283.7336 72.56729 417.3917 284.0314 82.94362 463.2112 311.5982 82.94362 463.2112 311.5982 67.39945 465.8017 286.1875 67.39945 465.8017 286.1875 67.39945 465.8017 286.1875 52.36648 393.2088 251.3713 52.36648 393.2088 251.3713 52.36648 393.2088 251.3713 54.16491 220.4318 227.2301 54.16491 220.4318 227.2301 54.16491 220.4318 227.2301 80.55059 175.443 244.0984 80.55059 175.443 244.0984 48.71642 453.3531 173.7809 48.71642 453.3531 173.7809 46.08571 453.8569 176.2697 46.08571 453.8569 176.2697 46.34433 454.4825 187.6211 46.34433 454.4825 187.6211 48.33787 454.5891 189.807 48.33787 454.5891 189.807 48.33787 454.5891 189.807 48.33787 454.5891 189.807 48.33787 454.5891 189.807 51.99663 458.5204 253.5577 51.99663 458.5204 253.5577 41.86407 719.8544 242.724 41.86407 719.8544 242.724 41.86407 719.8544 242.724 42.4476 719.8544 250.1316 42.4476 719.8544 250.1316 42.4476 719.8544 250.1316 62.09024 461.2297 271.942 62.09024 461.2297 271.942 62.09024 461.2297 271.942 107.7928 633.3283 384.9247 107.7928 633.3283 384.9247 107.7928 633.3283 384.9247 137.3494 97.1323 183.2415 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</node> + </visual_scene> + </library_visual_scenes> + <scene> + <instance_visual_scene url="#Scene"/> + </scene> +</COLLADA> \ No newline at end of file diff --git a/src/drivers/gazeboserver/models/opel/model.config b/src/drivers/gazeboserver/models/opel/model.config new file mode 100644 index 000000000..db5d06a26 --- /dev/null +++ b/src/drivers/gazeboserver/models/opel/model.config @@ -0,0 +1,17 @@ +<?xml version="1.0"?> + +<model> + <name>Opel</name> + <version>1.0</version> + <sdf version="1.4">model.sdf</sdf> + + <author> + <name>Satyaki Chakraborty</name> + <email>satyaki.cs15@gmail.com</email> + </author> + + <description> + A car model. + </description> + +</model> diff --git a/src/drivers/gazeboserver/models/opel/model.sdf b/src/drivers/gazeboserver/models/opel/model.sdf new file mode 100644 index 000000000..2f821b719 --- /dev/null +++ b/src/drivers/gazeboserver/models/opel/model.sdf @@ -0,0 +1,230 @@ +<?xml version='1.0'?> +<sdf version="1.4"> +<model name="opel"> + <pose>0 0 0.5 0 0 0</pose> + <link name="opel"> + <gravity>1</gravity> + <inertial> + <mass>500</mass> + </inertial> + <collision name="collision"> + <geometry> + <mesh> + <uri>model://opel/meshes/model.dae</uri> + </mesh> + </geometry> + </collision> + <visual name="visual"> + <geometry> + <mesh> + <uri>model://opel/meshes/model.dae</uri> + </mesh> + </geometry> + </visual> + </link> + <plugin name="opelMotors" filename="libopelMotors.so"/> + + <link name='camera_center'> + <pose>-0.3000 -0.3000 1.400 0.000000 0.000000 0.000000</pose> + + <sensor name='cam_opel_center' type='camera'> + <pose>0.000000 0.000000 0.000000 0.00000 0.00000 -1.570000</pose> + <update_rate>20.000000</update_rate> + <camera name='__default__'> + <horizontal_fov>1.570000</horizontal_fov> + <image> + <width>640</width> + <height>480</height> + <format>R8G8B8</format> + </image> + <clip> + <near>0.100000</near> + <far>35.000000</far> + </clip> + </camera> + <plugin name='camera_dump' filename='libcamera_dumpopel.so'/> + </sensor> + <visual name='visual'> + <geometry> +<sphere> + <radius>.01</radius> +</sphere> + </geometry> + </visual> + <collision name='collision'> + <geometry> + <box> + <size>0.100000 0.100000 0.100000</size> + </box> + </geometry> + <surface> + <friction> + <ode> + <mu>100000.000000</mu> + <mu2>100000.000000</mu2> + <slip1>0.000000</slip1> + <slip2>0.000000</slip2> + </ode> + </friction> + <bounce/> + <contact> + <ode/> + </contact> + </surface> + <max_contacts>10</max_contacts> + </collision> + <velocity_decay> + <linear>0.000000</linear> + <angular>0.000000</angular> + </velocity_decay> + <self_collide>0</self_collide> + <kinematic>0</kinematic> + <gravity>1</gravity> + </link> + + <link name='camera_left'> + <pose>0.7000 -2.200 0.500 0.000000 0.000000 1.000000</pose> + + <sensor name='cam_opel_left' type='camera'> + <pose>0.000000 0.000000 0.000000 0.00000 0.00000 -1.570000</pose> + <update_rate>20.000000</update_rate> + <camera name='__default__'> + <horizontal_fov>1.570000</horizontal_fov> + <image> + <width>640</width> + <height>480</height> + <format>R8G8B8</format> + </image> + <clip> + <near>0.100000</near> + <far>35.000000</far> + </clip> + </camera> + <plugin name='camera_dump' filename='libcamera_dumpopel.so'/> + </sensor> + <visual name='visual'> + <geometry> +<sphere> + <radius>.01</radius> +</sphere> + </geometry> + </visual> + <collision name='collision'> + <geometry> + <box> + <size>0.100000 0.100000 0.100000</size> + </box> + </geometry> + <surface> + <friction> + <ode> + <mu>100000.000000</mu> + <mu2>100000.000000</mu2> + <slip1>0.000000</slip1> + <slip2>0.000000</slip2> + </ode> + </friction> + <bounce/> + <contact> + <ode/> + </contact> + </surface> + <max_contacts>10</max_contacts> + </collision> + <velocity_decay> + <linear>0.000000</linear> + <angular>0.000000</angular> + </velocity_decay> + <self_collide>0</self_collide> + <kinematic>0</kinematic> + <gravity>1</gravity> + </link> + + <link name='camera_right'> + <pose>-0.7000 -2.200 0.500 0.000000 0.000000 -1.000000</pose> + + <sensor name='cam_opel_right' type='camera'> + <pose>0.000000 0.000000 0.000000 0.00000 0.00000 -1.570000</pose> + <update_rate>20.000000</update_rate> + <camera name='__default__'> + <horizontal_fov>1.570000</horizontal_fov> + <image> + <width>640</width> + <height>480</height> + <format>R8G8B8</format> + </image> + <clip> + <near>0.100000</near> + <far>35.000000</far> + </clip> + </camera> + <plugin name='camera_dump' filename='libcamera_dumpopel.so'/> + </sensor> + <visual name='visual'> + <geometry> +<sphere> + <radius>.01</radius> +</sphere> + </geometry> + </visual> + <collision name='collision'> + <geometry> + <box> + <size>0.100000 0.100000 0.100000</size> + </box> + </geometry> + <surface> + <friction> + <ode> + <mu>100000.000000</mu> + <mu2>100000.000000</mu2> + <slip1>0.000000</slip1> + <slip2>0.000000</slip2> + </ode> + </friction> + <bounce/> + <contact> + <ode/> + </contact> + </surface> + <max_contacts>10</max_contacts> + </collision> + <velocity_decay> + <linear>0.000000</linear> + <angular>0.000000</angular> + </velocity_decay> + <self_collide>0</self_collide> + <kinematic>0</kinematic> + <gravity>1</gravity> + </link> + + <plugin name="pose3d" filename="libopelPose3D.so"/> + + <joint type="revolute" name="camera_center"> + <pose>0 0 0 0 0 0</pose> + <child>camera_center</child> + <parent>opel</parent> + <axis> + <xyz>0 0 0</xyz> + </axis> + </joint> + + <joint type="revolute" name="camera_left"> + <pose>0 0 0 0 0 0</pose> + <child>camera_left</child> + <parent>opel</parent> + <axis> + <xyz>0 0 0</xyz> + </axis> + </joint> + + <joint type="revolute" name="camera_right"> + <pose>0 0 0 0 0 0</pose> + <child>camera_right</child> + <parent>opel</parent> + <axis> + <xyz>0 0 0</xyz> + </axis> + </joint> + </model> +</sdf> diff --git a/src/drivers/gazeboserver/models/stopW/meshes/Asphalt_New.jpg b/src/drivers/gazeboserver/models/stopW/meshes/Asphalt_New.jpg new file mode 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symbol="material_3-material" target="#material_3-material"/> + </technique_common> + </bind_material> + </instance_geometry> + </node> + </visual_scene> + </library_visual_scenes> + <scene> + <instance_visual_scene url="#Scene"/> + </scene> +</COLLADA> \ No newline at end of file diff --git a/src/drivers/gazeboserver/models/stopW/model.config b/src/drivers/gazeboserver/models/stopW/model.config new file mode 100644 index 000000000..6e8f13a12 --- /dev/null +++ b/src/drivers/gazeboserver/models/stopW/model.config @@ -0,0 +1,16 @@ +<?xml version="1.0"?> + +<model> + <name>stopW</name> + <version>1.0</version> + <sdf>model.sdf</sdf> + + <author> + <name>Nate Koenig</name> + <email>nate@osrfoundation.org</email> + </author> + + <description> + A simple ground plane. + </description> +</model> diff --git a/src/drivers/gazeboserver/models/stopW/model.sdf b/src/drivers/gazeboserver/models/stopW/model.sdf new file mode 100644 index 000000000..6d91df875 --- /dev/null +++ b/src/drivers/gazeboserver/models/stopW/model.sdf @@ -0,0 +1,23 @@ +<?xml version="1.0" ?> +<sdf version="1.5"> + <model name="stop"> + <static>true</static> + <link name="link"> + <collision name="collision"> + <geometry> + <plane> + <normal>0 0 1</normal> + <size>100 100</size> + </plane> + </geometry> + </collision> + <visual name="visual"> + <geometry> + <mesh> + <uri>model://stopW/meshes/stop.dae</uri> + </mesh> + </geometry> + </visual> + </link> + </model> +</sdf> diff --git a/src/drivers/gazeboserver/models/stop_sign/materials/scripts/stopsign.material b/src/drivers/gazeboserver/models/stop_sign/materials/scripts/stopsign.material new file mode 100644 index 000000000..ec100d3b1 --- /dev/null +++ b/src/drivers/gazeboserver/models/stop_sign/materials/scripts/stopsign.material @@ -0,0 +1,29 @@ +material StopSign/Diffuse +{ + receive_shadows off + technique + { + pass + { + texture_unit + { + texture StopSign_Diffuse.png + } + } + } +} + +material StopSign/Specular +{ + 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encoding="utf-8"?> +<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1"> + <asset> + <contributor> + <author>Cole</author> + <authoring_tool>OpenCOLLADA for 3ds Max; Version: 1.3.1; Revision: 847M; Platform: x64; Configuration: Release_Max2012_static</authoring_tool> + <source_data>file:///C:/Users/Cole/Desktop/Houses.max</source_data> + </contributor> + <created>2012-12-21T07:34:46</created> + <modified>2012-12-21T07:34:46</modified> + <unit name="inch" meter="0.0254"/> + <up_axis>Z_UP</up_axis> + </asset> + <library_effects> + <effect id="_1_-_Default"> + <profile_COMMON> + <technique sid="common"> + <blinn> + <emission> + <color>0.4 0.4 0.4 1</color> + </emission> + <ambient> + <color>1 1 1 1</color> + </ambient> + <diffuse> + <color>1 1 1 1</color> + </diffuse> + <specular> + <color>0.9 0.9 0.9 1</color> + </specular> + <shininess> + <float>9.999999</float> + </shininess> + <reflective> + <color>0 0 0 1</color> + </reflective> + <transparent opaque="A_ONE"> + <color>1 1 1 1</color> + </transparent> + <transparency> + <float>1</float> + </transparency> + </blinn> + </technique> + </profile_COMMON> + <extra> + <technique profile="OpenCOLLADA3dsMax"> + <extended_shader> + <apply_reflection_dimming>0</apply_reflection_dimming> + <dim_level>0</dim_level> + <falloff_type>0</falloff_type> + <index_of_refraction>1.5</index_of_refraction> + <opacity_type>0</opacity_type> + <reflection_level>3</reflection_level> + <wire_size>1</wire_size> + <wire_units>0</wire_units> + </extended_shader> + <shader> + <ambient_diffuse_lock>1</ambient_diffuse_lock> + <ambient_diffuse_texture_lock>1</ambient_diffuse_texture_lock> + <diffuse_specular_lock>0</diffuse_specular_lock> + <soften>0.1</soften> + <use_self_illum_color>0</use_self_illum_color> + </shader> + </technique> + </extra> + </effect> + </library_effects> + <library_materials> + <material id="_1_-_Default-material" name="_1_-_Default"> + <instance_effect url="#_1_-_Default"/> + </material> + </library_materials> + <library_geometries> + <geometry id="geom-Box001" name="Box001"> + <mesh> + <source id="geom-Box001-positions"> + <float_array id="geom-Box001-positions-array" count="84">-13.84356 -13.84356 0 13.84356 -13.84356 0 -20.80055 13.85827 0 20.80055 13.84356 0 -13.84356 -13.84356 0.06310844 13.84356 -13.84356 0.06310844 -20.80055 13.85827 0.06310844 20.80055 13.84356 0.06310844 -38.9725 13.85827 0 38.9725 13.85827 0 -38.9725 13.85827 0.06310844 38.9725 13.85827 0.06310844 372.7209 14.83838 0.05638889 -152.7327 14.83845 0.0493368 152.7327 14.83844 0.07323318 -372.7209 14.83851 0.06618109 152.7327 14.83841 0.0493368 -372.7209 14.8385 0.05638889 372.7209 14.8384 0.06618109 -152.7327 14.83848 0.07323318 372.7209 14.82395 0.05638889 -152.7327 14.82388 0.0493368 152.7327 14.82389 0.07323318 -372.7209 14.82382 0.06618109 152.7327 14.82393 0.0493368 -372.7209 14.82384 0.05638889 372.7209 14.82394 0.06618109 -152.7327 14.82385 0.07323318</float_array> + <technique_common> + <accessor source="#geom-Box001-positions-array" count="28" stride="3"> + <param name="X" type="float"/> + <param name="Y" type="float"/> + <param name="Z" type="float"/> + </accessor> + </technique_common> + </source> + <source id="geom-Box001-normals"> + <float_array id="geom-Box001-normals-array" count="120">0 1 0 0 1 0 0 1 0 0 1 0 -0.9698516 0.243696 0 -0.9698516 0.243696 0 -0.9698516 0.243696 0 -0.9698516 0.243696 0 0.9698822 0.2435743 0 0.9698822 0.2435743 0 0.9698822 0.2435743 0 0.9698822 0.2435743 0 -8.0925e-4 0.9999996 0 -8.0925e-4 0.9999996 0 -8.0925e-4 0.9999997 0 -8.0925e-4 0.9999996 0 -8.0925e-4 0.9999996 0 -8.0925e-4 0.9999997 0 5.24806e-8 1 0 5.24806e-8 1 0 5.24806e-8 1 0 5.24806e-8 1 0 5.24806e-8 1 0 5.24806e-8 1 0 1.52086e-7 0.9999991 -0.001363475 1.52086e-7 0.9999991 -0.001363475 1.50729e-7 0.9999991 -0.001345753 1.49858e-7 0.999999 -0.001410702 1.52086e-7 0.9999991 -0.001363475 1.52086e-7 0.9999991 -0.001363475 1.50729e-7 0.9999991 -0.001345753 1.49858e-7 0.999999 -0.001410702 1.52274e-7 -0.9999991 -0.001365922 1.52086e-7 -0.9999991 -0.001363475 1.52086e-7 -0.9999991 -0.001363475 1.5298e-7 -0.9999992 -0.001313311 1.50083e-7 -0.9999991 -0.001393926 1.47751e-7 -0.9999991 -0.001363475 1.47751e-7 -0.9999991 -0.001363475 1.49858e-7 -0.999999 -0.001410703</float_array> + <technique_common> + <accessor source="#geom-Box001-normals-array" count="40" stride="3"> + <param name="X" type="float"/> + <param name="Y" type="float"/> + <param name="Z" type="float"/> + </accessor> + </technique_common> + </source> + <source id="geom-Box001-map1"> + <float_array id="geom-Box001-map1-array" count="84">0.9494321 0.01310597 0 0.9643632 0.01310597 0 0.9643632 0.9873208 0 0.9494321 0.9873208 0 0.9797532 0.01310597 0 0.9797532 0.9873208 0 0.9342675 0.01310597 0 0.9342675 0.9873208 0 0.9895588 0.01310597 0 0.9895588 0.9873208 0 0.9244692 0.9873208 0 0.9244692 0.01310597 0 0.2972562 0.5648474 0 0.7110413 0.3916107 0 0.4704929 0.9786325 0 0.8842779 0.8053958 0 0.4704929 0.3916107 0 0.8842779 0.5648474 0 0.2972562 0.8053958 0 0.7110413 0.9786325 0 0.01798677 0.1499531 0 0.3365018 0.01660254 0 0.1513374 0.4684682 0 0.4698524 0.3351176 0 0.1513374 0.01660254 0 0.4698524 0.1499531 0 0.01798677 0.3351176 0 0.3365018 0.4684682 0</float_array> + <technique_common> + <accessor source="#geom-Box001-map1-array" count="28" stride="3"> + <param name="S" type="float"/> + <param name="T" type="float"/> + <param name="P" type="float"/> + </accessor> + </technique_common> + </source> + <vertices id="geom-Box001-vertices"> + <input semantic="POSITION" source="#geom-Box001-positions"/> + </vertices> + <triangles material="_1_-_Default_1" count="22"> + <input semantic="VERTEX" source="#geom-Box001-vertices" offset="0"/> + <input semantic="NORMAL" source="#geom-Box001-normals" offset="1"/> + <input semantic="TEXCOORD" source="#geom-Box001-map1" offset="2" set="0"/> + <p>0 0 0 4 1 3 5 2 2 5 2 2 1 3 1 0 0 0 1 4 1 5 5 2 7 6 5 7 6 5 3 7 4 1 4 1 2 8 6 6 9 7 4 10 3 4 10 3 0 11 0 2 8 6 7 12 5 11 13 9 9 14 8 9 15 8 3 16 4 7 17 5 2 18 6 8 19 11 10 20 10 10 21 10 6 22 7 2 23 6 18 24 18 12 25 12 16 26 16 16 26 16 13 27 13 17 28 17 17 28 17 15 29 15 19 30 19 16 26 16 17 28 17 19 30 19 18 24 18 16 26 16 19 30 19 14 31 14 18 24 18 19 30 19 27 32 27 23 33 23 25 34 25 25 34 25 21 35 21 24 36 24 27 32 27 25 34 25 24 36 24 24 36 24 20 37 20 26 38 26 27 32 27 24 36 24 26 38 26 22 39 22 27 32 27 26 38 26</p> + </triangles> + </mesh> + </geometry> + </library_geometries> + <library_lights> + <light id="EnvironmentAmbientLight" name="EnvironmentAmbientLight"> + <technique_common> + <ambient> + <color>0 0 0</color> + </ambient> + </technique_common> + </light> + </library_lights> + <library_visual_scenes> + <visual_scene id="MaxScene"> + <node name="EnvironmentAmbientLight"> + <instance_light url="#EnvironmentAmbientLight"/> + </node> + <node id="node-Box001" name="Box001"> + <rotate>0 0 1 -180</rotate> + <scale>0.03132377 0.03132377 977.1375</scale> + <instance_geometry url="#geom-Box001"> + <bind_material> + <technique_common> + <instance_material symbol="_1_-_Default_1" target="#_1_-_Default-material"/> + </technique_common> + </bind_material> + </instance_geometry> + </node> + </visual_scene> + </library_visual_scenes> + <scene> + <instance_visual_scene url="#MaxScene"/> + </scene> +</COLLADA> diff --git a/src/drivers/gazeboserver/models/stop_sign/model-1_3.sdf b/src/drivers/gazeboserver/models/stop_sign/model-1_3.sdf new file mode 100644 index 000000000..6c2c6f9c6 --- /dev/null +++ b/src/drivers/gazeboserver/models/stop_sign/model-1_3.sdf @@ -0,0 +1,28 @@ +<?xml version="1.0"?> +<sdf version="1.3"> + <model name="Stop Sign"> + <link name="link"> + <collision name="collision"> + <geometry> + <mesh> + <uri>model://stop_sign/meshes/stop_sign.dae</uri> + </mesh> + </geometry> + </collision> + <visual name="visual"> + <geometry> + <mesh> + <uri>model://stop_sign/meshes/stop_sign.dae</uri> + </mesh> + </geometry> + <material> + <script> + <uri>model://stop_sign/materials/scripts</uri> + <uri>model://stop_sign/materials/textures</uri> + <name>StopSign/Diffuse</name> + </script> + </material> + </visual> + </link> + </model> +</sdf> diff --git a/src/drivers/gazeboserver/models/stop_sign/model-1_4.sdf b/src/drivers/gazeboserver/models/stop_sign/model-1_4.sdf new file mode 100644 index 000000000..c3945a933 --- /dev/null +++ b/src/drivers/gazeboserver/models/stop_sign/model-1_4.sdf @@ -0,0 +1,28 @@ +<?xml version="1.0"?> +<sdf version="1.4"> + <model name="Stop Sign"> + <link name="link"> + <collision name="collision"> + <geometry> + <mesh> + <uri>model://stop_sign/meshes/stop_sign.dae</uri> + </mesh> + </geometry> + </collision> + <visual name="visual"> + <geometry> + <mesh> + <uri>model://stop_sign/meshes/stop_sign.dae</uri> + </mesh> + </geometry> + <material> + <script> + <uri>model://stop_sign/materials/scripts</uri> + <uri>model://stop_sign/materials/textures</uri> + <name>StopSign/Diffuse</name> + </script> + </material> + </visual> + </link> + </model> +</sdf> diff --git a/src/drivers/gazeboserver/models/stop_sign/model.config b/src/drivers/gazeboserver/models/stop_sign/model.config new file mode 100644 index 000000000..5c538ee6f --- /dev/null +++ b/src/drivers/gazeboserver/models/stop_sign/model.config @@ -0,0 +1,24 @@ +<?xml version="1.0"?> + +<model> + <name>Stop Sign</name> + <version>1.0</version> + <sdf version="1.3">model-1_3.sdf</sdf> + <sdf version="1.4">model-1_4.sdf</sdf> + <sdf version="1.5">model.sdf</sdf> + + <author> + <name>Cole Biesemeyer</name> + <email>cole.bsmr@gmail.com</email> + </author> + + <author> + <name>Nate Koenig</name> + <email>natekoenig@gmail.com</email> + </author> + + <description> + A stop sign. + </description> + +</model> diff --git a/src/drivers/gazeboserver/models/stop_sign/model.sdf b/src/drivers/gazeboserver/models/stop_sign/model.sdf new file mode 100644 index 000000000..656ac7d57 --- /dev/null +++ b/src/drivers/gazeboserver/models/stop_sign/model.sdf @@ -0,0 +1,28 @@ +<?xml version="1.0" ?> +<sdf version="1.5"> + <model name="Stop Sign"> + <link name="link"> + <collision name="collision"> + <geometry> + <mesh> + <uri>model://stop_sign/meshes/stop_sign.dae</uri> + </mesh> + </geometry> + </collision> + <visual name="visual"> + <geometry> + <mesh> + <uri>model://stop_sign/meshes/stop_sign.dae</uri> + </mesh> + </geometry> + <material> + <script> + <uri>model://stop_sign/materials/scripts</uri> + <uri>model://stop_sign/materials/textures</uri> + <name>StopSign/Diffuse</name> + </script> + </material> + </visual> + </link> + </model> +</sdf> diff --git a/src/drivers/gazeboserver/models/stop_sign/my_mesh.world~ b/src/drivers/gazeboserver/models/stop_sign/my_mesh.world~ new file mode 100644 index 000000000..40bc7e8ea --- /dev/null +++ b/src/drivers/gazeboserver/models/stop_sign/my_mesh.world~ @@ -0,0 +1,37 @@ +<?xml version="1.0"?> +<sdf version="1.4"> + <world name="default"> + <include> + <uri>model://stop_sign/meshes/stop_sign.dae</uri> + </include> + + <include> + <uri>model://sun</uri> + </include> + + <model name="my_mesh"> + <pose>0 0 0 0 0 0</pose> + <static>true</static> + <link name="body"> + <visual name="visual"> + <geometry> + <mesh><uri>file://my_mesh.dae</uri></mesh> + </geometry> + </visual> + <visual name="visual"> + <pose>0 6 5 1.5708 0 0</pose> + <geometry> + <mesh><uri>file://stop_sign/meshes/stop_sign.dae</uri></mesh> + </geometry> + <material> + <script> + <uri>model://stop_sign/materials/scripts</uri> + <uri>model://stop_sign/materials/textures</uri> + <name>StopSign/Diffuse</name> + </script> + </material> + </visual> + </link> + </model> + </world> +</sdf> diff --git a/src/drivers/gazeboserver/plugins/dummycar/CMakeLists.txt b/src/drivers/gazeboserver/plugins/dummycar/CMakeLists.txt new file mode 100644 index 000000000..4a5f5141d --- /dev/null +++ b/src/drivers/gazeboserver/plugins/dummycar/CMakeLists.txt @@ -0,0 +1,25 @@ +include_directories( + ${GAZEBO_INCLUDE_DIRS} + ${INTERFACES_CPP_DIR} + ${LIBS_DIR} + ${CMAKE_CURRENT_SOURCE_DIR} +) + +link_directories( + ${GAZEBO_LIBRARY_DIRS} +) +#boost_system +add_library(carplugin SHARED carplugin.cc) +target_link_libraries(carplugin + ${GAZEBO_libraries} +) + + +INSTALL (TARGETS carplugin DESTINATION share/jderobot/gazebo/plugins/dummycar/ COMPONENT core) +FILE(GLOB_RECURSE CFG_FILES ${CMAKE_CURRENT_SOURCE_DIR}/*.cfg) +INSTALL (FILES ${CFG_FILES} DESTINATION share/jderobot/gazebo/plugins/dummycar/ COMPONENT core) + + + + + diff --git a/src/drivers/gazeboserver/plugins/dummycar/carplugin.cc b/src/drivers/gazeboserver/plugins/dummycar/carplugin.cc new file mode 100644 index 000000000..e157967b7 --- /dev/null +++ b/src/drivers/gazeboserver/plugins/dummycar/carplugin.cc @@ -0,0 +1,46 @@ +#include <boost/bind.hpp> +#include <gazebo/gazebo.hh> +#include <gazebo/physics/physics.hh> +#include <gazebo/common/common.hh> +#include <stdio.h> +#include <iostream> + +namespace gazebo +{ + class ModelPush : public ModelPlugin { + + private: math::Pose pose; + + public: void Load(physics::ModelPtr _parent, sdf::ElementPtr ) { + this->model = _parent; + this->updateConnection = event::Events::ConnectWorldUpdateBegin( + boost::bind(&ModelPush::OnUpdate, this, _1)); + std::cout << "Loading carplugin dummy" << std::endl; + } + + public: void OnUpdate(const common::UpdateInfo & ) { + pose = this->model->GetWorldPose(); + + + if (pose.pos.y < 0){ + this->model->SetLinearVel(math::Vector3(5, 0, 0)); + if ( pose.pos.x >=50 ) { + pose.pos.x = -50; + this->model->SetWorldPose(pose); + } + } + + if (pose.pos.y >= 0){ + this->model->SetLinearVel(math::Vector3(-5, 0, 0)); + if ( pose.pos.x <= -50 ) { + pose.pos.x = 50; + this->model->SetWorldPose(pose); + } + } + + } + private: physics::ModelPtr model; + private: event::ConnectionPtr updateConnection; + }; + GZ_REGISTER_MODEL_PLUGIN(ModelPush) +} diff --git a/src/drivers/gazeboserver/plugins/opel/CMakeLists.txt b/src/drivers/gazeboserver/plugins/opel/CMakeLists.txt new file mode 100644 index 000000000..0e0ae8fdb --- /dev/null +++ b/src/drivers/gazeboserver/plugins/opel/CMakeLists.txt @@ -0,0 +1,49 @@ + +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(opelMotors SHARED opelMotors.cc) +target_link_libraries(opelMotors + ${GAZEBO_libraries} + ${ZeroCIce_LIBRARIES} + + ${easyiceconfig_LIBRARIES} + colorspacesmm + JderobotInterfaces +) + +add_library(opelPose3D SHARED pose3d.cc) +target_link_libraries(opelPose3D + ${GAZEBO_libraries} + ${ZeroCIce_LIBRARIES} + + ${easyiceconfig_LIBRARIES} + colorspacesmm + JderobotInterfaces +) + +add_library(camera_dumpopel SHARED camera_dump.cc) +target_link_libraries(camera_dumpopel + ${GAZEBO_libraries} + ${ZeroCIce_LIBRARIES} + CameraPlugin + ${easyiceconfig_LIBRARIES} + colorspacesmm + JderobotInterfaces +) + +INSTALL (TARGETS opelMotors DESTINATION share/jderobot/gazebo/plugins/opel/ COMPONENT core) +FILE(GLOB_RECURSE CFG_FILES ${CMAKE_CURRENT_SOURCE_DIR}/*.cfg) +INSTALL (FILES ${CFG_FILES} DESTINATION share/jderobot/gazebo/plugins/opel/ COMPONENT core) + + diff --git a/src/drivers/gazeboserver/plugins/opel/cam_opel_center.cfg b/src/drivers/gazeboserver/plugins/opel/cam_opel_center.cfg new file mode 100644 index 000000000..4068a53de --- /dev/null +++ b/src/drivers/gazeboserver/plugins/opel/cam_opel_center.cfg @@ -0,0 +1,8 @@ +#without registry +CameraGazebo.Endpoints=default -h 0.0.0.0 -p 8995:ws -h 0.0.0.0 -p 12002 + +#camera 1 +CameraGazebo.Camera.0.Name=cameraA +CameraGazebo.Camera.0.ImageWidth=320 +CameraGazebo.Camera.0.ImageHeight=240 +CameraGazebo.Camera.0.Format=RGB8 diff --git a/src/drivers/gazeboserver/plugins/opel/cam_opel_left.cfg b/src/drivers/gazeboserver/plugins/opel/cam_opel_left.cfg new file mode 100644 index 000000000..5e9983035 --- /dev/null +++ b/src/drivers/gazeboserver/plugins/opel/cam_opel_left.cfg @@ -0,0 +1,8 @@ +#without registry +CameraGazebo.Endpoints=default -h 0.0.0.0 -p 8996:ws -h 0.0.0.0 -p 12000 + +#camera 1 +CameraGazebo.Camera.0.Name=cameraA +CameraGazebo.Camera.0.ImageWidth=320 +CameraGazebo.Camera.0.ImageHeight=240 +CameraGazebo.Camera.0.Format=RGB8 diff --git a/src/drivers/gazeboserver/plugins/opel/cam_opel_right.cfg b/src/drivers/gazeboserver/plugins/opel/cam_opel_right.cfg new file mode 100644 index 000000000..cc0ddfd00 --- /dev/null +++ b/src/drivers/gazeboserver/plugins/opel/cam_opel_right.cfg @@ -0,0 +1,8 @@ +#without registry +CameraGazebo.Endpoints=default -h 0.0.0.0 -p 8997:ws -h 0.0.0.0 -p 12001 + +#camera 1 +CameraGazebo.Camera.0.Name=cameraA +CameraGazebo.Camera.0.ImageWidth=320 +CameraGazebo.Camera.0.ImageHeight=240 +CameraGazebo.Camera.0.Format=RGB8 diff --git a/src/drivers/gazeboserver/plugins/opel/camera_dump.cc b/src/drivers/gazeboserver/plugins/opel/camera_dump.cc new file mode 100644 index 000000000..ad3251286 --- /dev/null +++ b/src/drivers/gazeboserver/plugins/opel/camera_dump.cc @@ -0,0 +1,306 @@ +#include "gazebo.hh" +#include "plugins/CameraPlugin.hh" +#include "common/common.hh" +#include "transport/transport.hh" + +#include <opencv2/core/core.hpp> +#include <opencv2/imgproc/imgproc.hpp> +#include <opencv2/highgui/highgui.hpp> + +// ICE utils includes +#include <Ice/Ice.h> +#include <IceUtil/IceUtil.h> +#include <easyiceconfig/EasyIce.h> + +#include <jderobot/camera.h> + +#include <visionlib/colorspaces/colorspacesmm.h> + +#include <iostream> + +#include <boost/algorithm/string.hpp> +#include <boost/lexical_cast.hpp> + +void *myMain(void* v); + +namespace gazebo +{ + class CameraDump : public CameraPlugin + { + public: CameraDump() : CameraPlugin(),count(0) + { + pthread_mutex_init (&mutex, NULL); + n = round(rand()*1000); + } + + public: void Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf) + { + // Don't forget to load the camera plugin + CameraPlugin::Load(_parent,_sdf); + std::cout << "Load: " <<n << " " << this->parentSensor->Camera()->Name()<< std::endl; + } + + // Update the controller + public: void OnNewFrame(const unsigned char *_image, + unsigned int _width, unsigned int _height, unsigned int _depth, + const std::string &_format) + { + //std::cout << "OnNewFrame: " <<n << " " << this->parentSensor->GetCamera()->GetName()<< std::endl; + if(count==0){ + + std::string name = this->parentSensor->Camera()->Name(); + + + std::cout <<" camera: " << name << std::endl; + + std::vector<std::string> strs; + boost::split(strs, name, boost::is_any_of("::")); + + + + nameConfig = std::string("--Ice.Config=" + strs[4] + ".cfg"); + nameCamera = std::string(strs[4]); + + if (count == 0){ + pthread_t thr_gui; + pthread_create(&thr_gui, NULL, &myMain, (void*)this); + } + + image.create(_height, _width, CV_8UC3); + count++; + } + pthread_mutex_lock (&mutex); + memcpy((unsigned char *) image.data, &(_image[0]), _width*_height * 3); + + //cv::imshow(nameCamera, image); + //cv::waitKey(10); + + pthread_mutex_unlock (&mutex); + + } + + private: int count; + private: int n; + public: std::string nameCamera; + public: std::string nameConfig; + public: cv::Mat image; + public: pthread_mutex_t mutex; + public: std::string nameGlobal; + }; + + // Register this plugin with the simulator + GZ_REGISTER_SENSOR_PLUGIN(CameraDump) +} + +class CameraI: virtual public jderobot::Camera { + public: + CameraI(std::string propertyPrefix, gazebo::CameraDump* camera) + : prefix(propertyPrefix), cameraI(camera) { + + std::cout << "Constructor CameraI" << std::endl; + + imageDescription = (new jderobot::ImageDescription()); + cameraDescription = (new jderobot::CameraDescription()); + cameraDescription->name = "camera Introrob"; + + replyTask = new ReplyTask(this); + replyTask->start(); // my own thread + + } + + std::string getName () { + return (cameraDescription->name); + } + + std::string getRobotName () { + return "RobotName"; + } + + virtual ~CameraI() { + + + } + + virtual jderobot::ImageDescriptionPtr getImageDescription(const Ice::Current& c){ + return imageDescription; + } + + virtual jderobot::CameraDescriptionPtr getCameraDescription(const Ice::Current& c){ + return cameraDescription; + } + + virtual Ice::Int setCameraDescription(const jderobot::CameraDescriptionPtr &description, const Ice::Current& c) { + return 0; + } + + virtual void getImageData_async (const jderobot::AMD_ImageProvider_getImageDataPtr& cb,const std::string& format, const Ice::Current& c){ + replyTask->pushJob(cb, format); + } + + virtual jderobot::ImageFormat getImageFormat(const Ice::Current& c) + { + jderobot::ImageFormat mFormats; + mFormats.push_back(colorspaces::ImageRGB8::FORMAT_RGB8.get()->name); + + return mFormats; + } + + virtual std::string startCameraStreaming(const Ice::Current&){ + + } + + virtual void stopCameraStreaming(const Ice::Current&) { + + } + + virtual void reset(const Ice::Current&) + { + } + + private: + class ReplyTask: public IceUtil::Thread { + public: + ReplyTask(CameraI* camera){ + mycamera = camera; + + std::cout << "safeThread" << std::endl; + } + + void pushJob(const jderobot::AMD_ImageProvider_getImageDataPtr& cb, std::string format){ + + mFormat = format; + IceUtil::Mutex::Lock sync(requestsMutex); + requests.push_back(cb); + } + + virtual void run(){ + jderobot::ImageDataPtr reply(new jderobot::ImageData); + struct timeval a, b; + int cycle = 48; + long totalb,totala; + long diff; + + int count =0 ; + + while(1){ + + if(!mycamera->cameraI->image.data){ + usleep(100); + continue; + } + if(count==0){ + pthread_mutex_lock (&mycamera->cameraI->mutex); + mycamera->imageDescription->width = mycamera->cameraI->image.cols; + mycamera->imageDescription->height = mycamera->cameraI->image.rows; + mycamera->imageDescription->size = mycamera->cameraI->image.cols*mycamera->cameraI->image.rows*3; + pthread_mutex_unlock (&mycamera->cameraI->mutex); + + mycamera->imageDescription->format = "RGB8"; + + reply->description = mycamera->imageDescription; + count++; + } + + //std::cout << nameGlobal<< std::endl; + + gettimeofday(&a,NULL); + totala=a.tv_sec*1000000+a.tv_usec; + + + IceUtil::Time t = IceUtil::Time::now(); + reply->timeStamp.seconds = (long)t.toSeconds(); + reply->timeStamp.useconds = (long)t.toMicroSeconds() - reply->timeStamp.seconds*1000000; + + pthread_mutex_lock (&mycamera->cameraI->mutex); + reply->pixelData.resize(mycamera->cameraI->image.rows*mycamera->cameraI->image.cols*3); + + memcpy( &(reply->pixelData[0]), (unsigned char *) mycamera->cameraI->image.data, mycamera->cameraI->image.rows*mycamera->cameraI->image.cols*3); + pthread_mutex_unlock (&mycamera->cameraI->mutex); + + { //critical region start + IceUtil::Mutex::Lock sync(requestsMutex); + while(!requests.empty()) { + jderobot::AMD_ImageProvider_getImageDataPtr cb = requests.front(); + requests.pop_front(); + cb->ice_response(reply); + } + } //critical region end + + gettimeofday(&b,NULL); + totalb=b.tv_sec*1000000+b.tv_usec; + + diff = (totalb-totala)/1000; + diff = cycle-diff; + + //std::cout << "Gazeboserver takes " << diff << " ms " << mycamera->fileName << std::endl; + + if(diff < 33) + diff = 33; + + + /*Sleep Algorithm*/ + usleep(diff*1000); + } + } + + CameraI* mycamera; + IceUtil::Mutex requestsMutex; + std::list<jderobot::AMD_ImageProvider_getImageDataPtr> requests; + std::string mFormat; + }; + + typedef IceUtil::Handle<ReplyTask> ReplyTaskPtr; + std::string prefix; + + colorspaces::Image::FormatPtr imageFmt; + jderobot::ImageDescriptionPtr imageDescription; + jderobot::CameraDescriptionPtr cameraDescription; + ReplyTaskPtr replyTask; + gazebo::CameraDump* cameraI; + +}; // end class CameraI + + +void *myMain(void* v) +{ + + gazebo::CameraDump* camera = (gazebo::CameraDump*)v; + + char* name = (char*)camera->nameConfig.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("CameraGazebo.Endpoints"); + std::cout << "CameraGazebo "<< camera->nameCamera <<" Endpoints > " << Endpoints << std::endl; + + Ice::ObjectAdapterPtr adapter = + ic->createObjectAdapterWithEndpoints("CameraGazebo", Endpoints); + + Ice::ObjectPtr object = new CameraI(std::string("CameraGazebo"), camera); + adapter->add(object, ic->stringToIdentity(camera->nameCamera)); + 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/opel/opelMotors.cc b/src/drivers/gazeboserver/plugins/opel/opelMotors.cc new file mode 100644 index 000000000..4de5f2bc7 --- /dev/null +++ b/src/drivers/gazeboserver/plugins/opel/opelMotors.cc @@ -0,0 +1,179 @@ +#include <opelMotors.h> + +/* +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->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=opelMotors.cfg"); + pthread_t thr_gui; + pthread_create(&thr_gui, NULL, &motorsICE, (void*) this); + + } + + float z = model->GetRelativeLinearVel().z; + math::Vector3 vel(0,-robotMotors.v/10.0,0); + + 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/opel/opelMotors.cfg b/src/drivers/gazeboserver/plugins/opel/opelMotors.cfg new file mode 100644 index 000000000..e3c157158 --- /dev/null +++ b/src/drivers/gazeboserver/plugins/opel/opelMotors.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/opel/opelMotors.h b/src/drivers/gazeboserver/plugins/opel/opelMotors.h new file mode 100644 index 000000000..507828282 --- /dev/null +++ b/src/drivers/gazeboserver/plugins/opel/opelMotors.h @@ -0,0 +1,66 @@ +#include <boost/bind.hpp> +#include <gazebo/gazebo.hh> +#include <gazebo/math/Angle.hh> +#include <gazebo/physics/physics.hh> +#include <gazebo/common/common.hh> +#include <gazebo/transport/transport.hh> +#include <stdio.h> + +// JDErobot general ice component includes +#include <jderobot/motors.h> + +// ICE utils includes +#include <Ice/Ice.h> +#include <IceUtil/IceUtil.h> +#include <easyiceconfig/EasyIce.h> + +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/opel/opelPose3D.cfg b/src/drivers/gazeboserver/plugins/opel/opelPose3D.cfg new file mode 100644 index 000000000..3e36e754f --- /dev/null +++ b/src/drivers/gazeboserver/plugins/opel/opelPose3D.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 diff --git a/src/drivers/gazeboserver/plugins/opel/pose3d.cc b/src/drivers/gazeboserver/plugins/opel/pose3d.cc new file mode 100644 index 000000000..4c57668a1 --- /dev/null +++ b/src/drivers/gazeboserver/plugins/opel/pose3d.cc @@ -0,0 +1,154 @@ +#include "pose3d.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=" + name + "Pose3D.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/opel/pose3d.h b/src/drivers/gazeboserver/plugins/opel/pose3d.h new file mode 100644 index 000000000..d359eed43 --- /dev/null +++ b/src/drivers/gazeboserver/plugins/opel/pose3d.h @@ -0,0 +1,60 @@ +#include <boost/bind.hpp> +#include "gazebo.hh" +#include "physics/physics.hh" +#include "common/common.hh" +#include "transport/transport.hh" + + +// ICE utils includes +#include <Ice/Ice.h> +#include <IceUtil/IceUtil.h> +#include <easyiceconfig/EasyIce.h> + + +//#include <jderobot/motors.h> +#include <jderobot/pose3d.h> + +#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 */ diff --git a/src/drivers/gazeboserver/worlds/stop.world b/src/drivers/gazeboserver/worlds/stop.world new file mode 100644 index 000000000..e1c265739 --- /dev/null +++ b/src/drivers/gazeboserver/worlds/stop.world @@ -0,0 +1,141 @@ +<?xml version="1.0"?> +<sdf version="1.4"> + <world name="default"> + + <scene> + <grid>false</grid> + </scene> + + <!-- A global light source --> + <include> + <uri>model://sun</uri> + <pose>1.5 -30 100 0 0 0</pose> + </include> + + <!-- Stop signs --> + <include> + <static>true</static> + <uri>model://gazebo/models/stop_sign</uri> + <pose>3.5 -3.5 0 0 0 0</pose> + </include> + + <include> + <static>true</static> + <uri>model://gazebo/models/stop_sign</uri> + <pose>-3 3 0 0 0 3.15</pose> + </include> + + + <!-- Houses --> + <include> + <uri>model://house_1</uri> + <pose>-9.5 8.5 0 0 0 0</pose> + </include> + + <include> + <uri>model://house_2</uri> + <pose>-25 7.5 0 0 0 0</pose> + </include> + + <include> + <uri>model://house_3</uri> + <pose>-5.5 -7 0 0 0 1.55</pose> + </include> + + + <!-- A gas station --> + <include> + <uri>model://gas_station</uri> + <pose>10 14 0 0 0 1.55</pose> + </include> + + + <!-- Lamps --> + <include> + <uri>model://lamp_post</uri> + <pose>-3 13 0 0 0 1.55</pose> + </include> + <include> + <uri>model://lamp_post</uri> + <pose>3 23 0 0 0 -1.55</pose> + </include> + <include> + <uri>model://lamp_post</uri> + <pose>-3 33 0 0 0 1.55</pose> + </include> + + <include> + <uri>model://lamp_post</uri> + <pose>-3 -3 0 0 0 1.55</pose> + </include> + <include> + <uri>model://lamp_post</uri> + <pose>3 -13 0 0 0 -1.55</pose> + </include> + <include> + <uri>model://lamp_post</uri> + <pose>-3 -23 0 0 0 1.55</pose> + </include> + <include> + <uri>model://lamp_post</uri> + <pose>3 -33 0 0 0 -1.55</pose> + </include> + + <include> + <uri>model://lamp_post</uri> + <pose>3 3 0 0 0 0</pose> + </include> + <include> + <uri>model://lamp_post</uri> + <pose>13 -3 0 0 0 3.15</pose> + </include> + <include> + <uri>model://lamp_post</uri> + <pose>23 3 0 0 0 0</pose> + </include> + <include> + <uri>model://lamp_post</uri> + <pose>33 -3 0 0 0 3.15</pose> + </include> + + <include> + <uri>model://lamp_post</uri> + <pose>-13 3 0 0 0 0</pose> + </include> + <include> + <uri>model://lamp_post</uri> + <pose>-23 -3 0 0 0 3.15</pose> + </include> + <include> + <uri>model://lamp_post</uri> + <pose>-33 3 0 0 0 0</pose> + </include> + + + <!-- A opel car --> + <include> + <uri>model://opel</uri> + <pose>1.5 -30 0 0 0 3.14</pose> + </include> + + + <!-- Cars --> + <include> + <uri>model://car</uri> + <pose>-30 -1.5 0 0 0 1.57</pose> + </include> + + <include> + <uri>model://car</uri> + <pose>40 1.5 0 0 0 -1.57</pose> + </include> + + + <!-- Roads --> + <include> + <uri>model://stopW</uri> + <pose>0 0 0 0 0 0</pose> + </include> + + </world> +</sdf>