User Tools

Site Tools


drexel_darwin_preview_control_webots

Differences

This shows you the differences between two versions of the page.

Link to this comparison view

drexel_darwin_preview_control_webots [2016/11/06 20:57] (current)
dwallace created
Line 1: Line 1:
 +====== Optimal Preview Control Simulation on Webots ======
  
 +Simulation on Webots is does using the generated trajectories. Trajectory points are generated for each joint. ​
 +
 +These trajectories are imported to variables in the controller program on Webots. ​
 +
 +Here is a video link of the Darwin-OP walking used the generated trajectory points. ​
 +
 +{{youtube>​gFjKknJiKXo?​large}}\\ ​
 +
 +The controller program that does this is : 
 +
 +<code c++>
 +#include "​Symmetry.hpp"​
 +#include <​webots/​Servo.hpp>​
 +
 +#include <​cstdlib>​
 +#include <​cmath>​
 +#include <​iostream>​
 +#include <​fstream>​
 +
 +using namespace webots;
 +using namespace std;
 +
 +static const char *servoNames[NSERVOS] = {
 +  "​ShoulderR"​ /*ID1 */, "​ShoulderL"​ /*ID2 */, "​ArmUpperR"​ /*ID3 */, "​ArmUpperL"​ /*ID4 */,
 +  "​ArmLowerR"​ /*ID5 */, "​ArmLowerL"​ /*ID6 */, "​PelvYR" ​   /*ID7 */, "​PelvYL" ​   /*ID8 */,
 +  "​PelvR" ​    /*ID9 */, "​PelvL" ​    /​*ID10*/,​ "​LegUpperR"​ /*ID11*/, "​LegUpperL"​ /*ID12*/,
 +  "​LegLowerR"​ /*ID13*/, "​LegLowerL"​ /*ID14*/, "​AnkleR" ​   /*ID15*/, "​AnkleL" ​   /*ID16*/,
 +  "​FootR" ​    /​*ID17*/,​ "​FootL" ​    /​*ID18*/,​ "​Neck" ​     /*ID19*/, "​Head" ​     /*ID20*/
 +};
 +
 +//​Constructor
 +Symmetry::​Symmetry():​
 +    Robot()
 +{
 +  //Get time step
 +//  mTimeStep = getBasicTimeStep();​
 +    mTimeStep = 1;
 +  ​
 +  //Get the two RGB_LEDs
 +  mEyeLED = getLED("​EyeLed"​);​
 +  mHeadLED = getLED("​HeadLed"​);​
 +  ​
 +  //Get all the 20 Servos and enable them
 +  for(int i= 0; i < NSERVOS; i++)
 +  {
 +    mServos[i] = getServo(servoNames[i]);​
 +    mServos[i]->​enablePosition(mTimeStep);​
 +  }
 +  ​
 +
 +}
 +
 +//​Destructor
 +Symmetry::​~Symmetry() {
 +}
 +
 +//Step function
 +void Symmetry::​myStep() {
 +  int ret = step(mTimeStep);​
 +  if (ret == -1)
 +    exit(EXIT_SUCCESS);​
 +}
 +
 +//Wait function
 +void Symmetry::​wait(int ms) {
 +  double startTime = getTime();
 +  double s = (double) ms / 1000.0;
 +  while (s + startTime >= getTime())
 +    myStep();
 +}
 +
 +// function containing the main feedback loop
 +void Symmetry::​run() {
 +
 +  ​
 +  double position = 0;
 +  float xp [802] = {0,​1,​2,​3,​4,​5,​6,​7,​8,​9,​10,​11,​12,​13,​14,​15,​16,​17,​18,​19,​20,​21,​22,​23,​24,​25,​26,​27,​28,​29,​30,​31,​32,​33,​34,​35,​36,​37,​38,​39,​40,​41,​42,​43,​44,​45,​46,​47,​48,​49,​50,​51,​52,​53,​54,​55,​56,​57,​58,​59,​60,​61,​62,​63,​64,​65,​66,​67,​68,​69,​70,​71,​72,​73,​74,​75,​76,​77,​78,​79,​80,​81,​82,​83,​84,​85,​86,​87,​88,​89,​90,​91,​92,​93,​94,​95,​96,​97,​98,​99,​100,​101,​102,​103,​104,​105,​106,​107,​108,​109,​110,​111,​112,​113,​114,​115,​116,​117,​118,​119,​120,​121,​122,​123,​124,​125,​126,​127,​128,​129,​130,​131,​132,​133,​134,​135,​136,​137,​138,​139,​140,​141,​142,​143,​144,​145,​146,​147,​148,​149,​150,​151,​152,​153,​154,​155,​156,​157,​158,​159,​160,​161,​162,​163,​164,​165,​166,​167,​168,​169,​170,​171,​172,​173,​174,​175,​176,​177,​178,​179,​180,​181,​182,​183,​184,​185,​186,​187,​188,​189,​190,​191,​192,​193,​194,​195,​196,​197,​198,​199,​200,​201,​202,​203,​204,​205,​206,​207,​208,​209,​210,​211,​212,​213,​214,​215,​216,​217,​218,​219,​220,​221,​222,​223,​224,​225,​226,​227,​228,​229,​230,​231,​232,​233,​234,​235,​236,​237,​238,​239,​240,​241,​242,​243,​244,​245,​246,​247,​248,​249,​250,​251,​252,​253,​254,​255,​256,​257,​258,​259,​260,​261,​262,​263,​264,​265,​266,​267,​268,​269,​270,​271,​272,​273,​274,​275,​276,​277,​278,​279,​280,​281,​282,​283,​284,​285,​286,​287,​288,​289,​290,​291,​292,​293,​294,​295,​296,​297,​298,​299,​300,​301,​302,​303,​304,​305,​306,​307,​308,​309,​310,​311,​312,​313,​314,​315,​316,​317,​318,​319,​320,​321,​322,​323,​324,​325,​326,​327,​328,​329,​330,​331,​332,​333,​334,​335,​336,​337,​338,​339,​340,​341,​342,​343,​344,​345,​346,​347,​348,​349,​350,​351,​352,​353,​354,​355,​356,​357,​358,​359,​360,​361,​362,​363,​364,​365,​366,​367,​368,​369,​370,​371,​372,​373,​374,​375,​376,​377,​378,​379,​380,​381,​382,​383,​384,​385,​386,​387,​388,​389,​390,​391,​392,​393,​394,​395,​396,​397,​398,​399,​400,​401,​402,​403,​404,​405,​406,​407,​408,​409,​410,​411,​412,​413,​414,​415,​416,​417,​418,​419,​420,​421,​422,​423,​424,​425,​426,​427,​428,​429,​430,​431,​432,​433,​434,​435,​436,​437,​438,​439,​440,​441,​442,​443,​444,​445,​446,​447,​448,​449,​450,​451,​452,​453,​454,​455,​456,​457,​458,​459,​460,​461,​462,​463,​464,​465,​466,​467,​468,​469,​470,​471,​472,​473,​474,​475,​476,​477,​478,​479,​480,​481,​482,​483,​484,​485,​486,​487,​488,​489,​490,​491,​492,​493,​494,​495,​496,​497,​498,​499,​500,​501,​502,​503,​504,​505,​506,​507,​508,​509,​510,​511,​512,​513,​514,​515,​516,​517,​518,​519,​520,​521,​522,​523,​524,​525,​526,​527,​528,​529,​530,​531,​532,​533,​534,​535,​536,​537,​538,​539,​540,​541,​542,​543,​544,​545,​546,​547,​548,​549,​550,​551,​552,​553,​554,​555,​556,​557,​558,​559,​560,​561,​562,​563,​564,​565,​566,​567,​568,​569,​570,​571,​572,​573,​574,​575,​576,​577,​578,​579,​580,​581,​582,​583,​584,​585,​586,​587,​588,​589,​590,​591,​592,​593,​594,​595,​596,​597,​598,​599,​600,​601,​602,​603,​604,​605,​606,​607,​608,​609,​610,​611,​612,​613,​614,​615,​616,​617,​618,​619,​620,​621,​622,​623,​624,​625,​626,​627,​628,​629,​630,​631,​632,​633,​634,​635,​636,​637,​638,​639,​640,​641,​642,​643,​644,​645,​646,​647,​648,​649,​650,​651,​652,​653,​654,​655,​656,​657,​658,​659,​660,​661,​662,​663,​664,​665,​666,​667,​668,​669,​670,​671,​672,​673,​674,​675,​676,​677,​678,​679,​680,​681,​682,​683,​684,​685,​686,​687,​688,​689,​690,​691,​692,​693,​694,​695,​696,​697,​698,​699,​700,​701,​702,​703,​704,​705,​706,​707,​708,​709,​710,​711,​712,​713,​714,​715,​716,​717,​718,​719,​720,​721,​722,​723,​724,​725,​726,​727,​728,​729,​730,​731,​732,​733,​734,​735,​736,​737,​738,​739,​740,​741,​742,​743,​744,​745,​746,​747,​748,​749,​750,​751,​752,​753,​754,​755,​756,​757,​758,​759,​760,​761,​762,​763,​764,​765,​766,​767,​768,​769,​770,​771,​772,​773,​774,​775,​776,​777,​778,​779,​780,​781,​782,​783,​784,​785,​786,​787,​788,​789,​790,​791,​792,​793,​794,​795,​796,​797,​798,​799,​800,​801};​
 +  float footl_loc [] = {-1.22,​0,​-0.52886,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53512,​-0.53512,​-0.53512,​-0.53512,​-0.53512,​-0.53512,​-0.53512,​-0.53512,​-0.53512,​-0.53512,​-0.53513,​-0.53513,​-0.53513,​-0.53513,​-0.53513,​-0.53513,​-0.53514,​-0.53514,​-0.53514,​-0.53514,​-0.53515,​-0.53515,​-0.53515,​-0.53516,​-0.53516,​-0.53516,​-0.53517,​-0.53517,​-0.53518,​-0.53518,​-0.53519,​-0.5352,​-0.5352,​-0.53521,​-0.53522,​-0.53522,​-0.53523,​-0.53524,​-0.53525,​-0.53526,​-0.53527,​-0.53529,​-0.5353,​-0.53531,​-0.53533,​-0.53534,​-0.53536,​-0.53538,​-0.53539,​-0.53541,​-0.53544,​-0.53546,​-0.53548,​-0.53551,​-0.53554,​-0.53557,​-0.53561,​-0.53564,​-0.53568,​-0.53572,​-0.53577,​-0.53582,​-0.53587,​-0.53592,​-0.53598,​-0.53604,​-0.53611,​-0.53618,​-0.53626,​-0.53634,​-0.53643,​-0.53652,​-0.53662,​-0.53672,​-0.53683,​-0.53695,​-0.53708,​-0.53723,​-0.53738,​-0.53754,​-0.53772,​-0.53791,​-0.53811,​-0.53832,​-0.53855,​-0.53879,​-0.53906,​-0.53934,​-0.53964,​-0.53996,​-0.5403,​-0.54067,​-0.54106,​-0.54149,​-0.54194,​-0.54242,​-0.54294,​-0.54349,​-0.54408,​-0.54472,​-0.54539,​-0.54612,​-0.54689,​-0.54772,​-0.54861,​-0.54956,​-0.55057,​-0.55165,​-0.55281,​-0.55405,​-0.55537,​-0.55678,​-0.55829,​-0.5599,​-0.56162,​-0.56346,​-0.56542,​-0.56751,​-0.56974,​-0.57211,​-0.57464,​-0.57734,​-0.58021,​-0.58326,​-0.58651,​-0.58996,​-0.59362,​-0.59752,​-0.60166,​-0.60606,​-0.61074,​-0.6157,​-0.62097,​-0.62656,​-0.63246,​-0.63867,​-0.64515,​-0.65187,​-0.65874,​-0.51576,​-0.51315,​-0.52215,​-0.53088,​-0.53943,​-0.54789,​-0.5563,​-0.56467,​-0.57302,​-0.58133,​-0.5896,​-0.59782,​-0.60602,​-0.61418,​-0.62232,​-0.63043,​-0.63853,​-0.64661,​-0.65466,​-0.6627,​-0.6707,​-0.67866,​-0.68659,​-0.69446,​-0.70227,​-0.71002,​-0.71767,​-0.72524,​-0.73269,​-0.74002,​-0.74721,​-0.75424,​-0.7611,​-0.76776,​-0.77422,​-0.78044,​-0.78641,​-0.79211,​-0.79752,​-0.80262,​-0.80739,​-0.81182,​-0.81588,​-0.81956,​-0.82285,​-0.82573,​-0.82819,​-0.83021,​-0.83179,​-0.83293,​-0.83361,​-0.83383,​-0.8336,​-0.83291,​-0.83176,​-0.83017,​-0.82814,​-0.82567,​-0.82278,​-0.81949,​-0.8158,​-0.81174,​-0.80731,​-0.80254,​-0.79744,​-0.79204,​-0.78635,​-0.78039,​-0.77419,​-0.76775,​-0.76111,​-0.75428,​-0.74728,​-0.74012,​-0.73283,​-0.72542,​-0.7179,​-0.7103,​-0.70261,​-0.69486,​-0.68706,​-0.6792,​-0.67132,​-0.6634,​-0.65545,​-0.64748,​-0.6395,​-0.6315,​-0.62348,​-0.61546,​-0.60742,​-0.59936,​-0.59129,​-0.58319,​-0.57507,​-0.5669,​-0.55867,​-0.55035,​-0.5419,​-0.53328,​-0.66554,​-0.36489,​-0.377,​-0.38884,​-0.40014,​-0.41069,​-0.42038,​-0.42922,​-0.43729,​-0.4447,​-0.45153,​-0.45786,​-0.46374,​-0.46921,​-0.4743,​-0.47903,​-0.48343,​-0.48751,​-0.4913,​-0.49483,​-0.49811,​-0.50117,​-0.50402,​-0.50667,​-0.50915,​-0.51146,​-0.51362,​-0.51564,​-0.51753,​-0.5193,​-0.52095,​-0.52251,​-0.52397,​-0.52534,​-0.52664,​-0.52786,​-0.52901,​-0.5301,​-0.53114,​-0.53212,​-0.53306,​-0.53395,​-0.53481,​-0.53563,​-0.53643,​-0.5372,​-0.53796,​-0.5387,​-0.53942,​-0.54014,​-0.54084,​-0.54155,​-0.54225,​-0.54295,​-0.54367,​-0.54439,​-0.54512,​-0.54587,​-0.54664,​-0.54744,​-0.54826,​-0.54911,​-0.54999,​-0.55092,​-0.55188,​-0.55289,​-0.55392,​-0.555,​-0.55615,​-0.55739,​-0.55871,​-0.56012,​-0.56162,​-0.5632,​-0.56487,​-0.56665,​-0.56853,​-0.57053,​-0.57265,​-0.5749,​-0.5773,​-0.57985,​-0.58255,​-0.58543,​-0.58848,​-0.59172,​-0.59516,​-0.59881,​-0.60268,​-0.60679,​-0.61112,​-0.61557,​-0.62028,​-0.62536,​-0.63083,​-0.63669,​-0.64288,​-0.64934,​-0.65602,​-0.66282,​-0.33434,​-0.51155,​-0.52046,​-0.52906,​-0.53743,​-0.54566,​-0.55381,​-0.56191,​-0.56997,​-0.57798,​-0.58593,​-0.59381,​-0.60162,​-0.60936,​-0.61703,​-0.62464,​-0.63218,​-0.63965,​-0.64705,​-0.65437,​-0.66162,​-0.66879,​-0.67587,​-0.68287,​-0.68976,​-0.69655,​-0.70324,​-0.70982,​-0.71627,​-0.7226,​-0.7288,​-0.73485,​-0.74076,​-0.74651,​-0.7521,​-0.75751,​-0.76275,​-0.76779,​-0.77264,​-0.77729,​-0.78171,​-0.78592,​-0.7899,​-0.79363,​-0.79712,​-0.80036,​-0.80333,​-0.80604,​-0.80847,​-0.81062,​-0.81249,​-0.81406,​-0.81534,​-0.81632,​-0.817,​-0.81737,​-0.81743,​-0.81719,​-0.81663,​-0.81577,​-0.81459,​-0.81311,​-0.81132,​-0.80922,​-0.80681,​-0.80411,​-0.80111,​-0.79781,​-0.79422,​-0.79034,​-0.78618,​-0.78174,​-0.77702,​-0.77203,​-0.76677,​-0.76125,​-0.75547,​-0.74943,​-0.74314,​-0.7366,​-0.72982,​-0.72279,​-0.71553,​-0.70804,​-0.70031,​-0.69235,​-0.68417,​-0.67576,​-0.66712,​-0.65827,​-0.6492,​-0.6399,​-0.63039,​-0.62066,​-0.61072,​-0.60055,​-0.59017,​-0.57958,​-0.56876,​-0.55772,​-0.54755,​-0.54756,​-0.54759,​-0.54773,​-0.54801,​-0.54837,​-0.54877,​-0.54915,​-0.5495,​-0.5498,​-0.55006,​-0.5503,​-0.55052,​-0.55072,​-0.55091,​-0.55109,​-0.55126,​-0.55143,​-0.55158,​-0.55172,​-0.55185,​-0.55197,​-0.55208,​-0.55219,​-0.55229,​-0.55238,​-0.55246,​-0.55254,​-0.55262,​-0.55269,​-0.55275,​-0.55281,​-0.55287,​-0.55292,​-0.55297,​-0.55302,​-0.55306,​-0.5531,​-0.55314,​-0.55318,​-0.55321,​-0.55324,​-0.55327,​-0.5533,​-0.55332,​-0.55334,​-0.55337,​-0.55339,​-0.55341,​-0.55342,​-0.55344,​-0.55345,​-0.55347,​-0.55348,​-0.5535,​-0.55351,​-0.55352,​-0.55353,​-0.55354,​-0.55355,​-0.55355,​-0.55356,​-0.55357,​-0.55358,​-0.55358,​-0.55359,​-0.55359,​-0.5536,​-0.5536,​-0.55361,​-0.55361,​-0.55362,​-0.55362,​-0.55362,​-0.55363,​-0.55363,​-0.55363,​-0.55364,​-0.55364,​-0.55364,​-0.55364,​-0.55364,​-0.55365,​-0.55365,​-0.55365,​-0.55365,​-0.55365,​-0.55365,​-0.55365,​-0.55366,​-0.55366,​-0.55366,​-0.55366,​-0.55366,​-0.55366,​-0.55366,​-0.55366,​-0.55366,​-0.55366,​-0.55366,​-0.55366,​-0.55366,​-0.55366,​-0.55366,​-0.55364,​-0.55362,​-0.55359,​-0.55357,​-0.55355,​-0.55353,​-0.55351,​-0.5535,​-0.55348,​-0.55347,​-0.55346,​-0.55345,​-0.55344,​-0.55343,​-0.55342,​-0.55341,​-0.5534,​-0.55339,​-0.55339,​-0.55338,​-0.55338,​-0.55337,​-0.55336,​-0.55336,​-0.55335,​-0.55335,​-0.55335,​-0.55334,​-0.55334,​-0.55334,​-0.55333,​-0.55333,​-0.55333,​-0.55332,​-0.55332,​-0.55332,​-0.55332,​-0.55332,​-0.55331,​-0.55331,​-0.55331,​-0.55331,​-0.55331,​-0.55331,​-0.55331,​-0.5533,​-0.5533,​-0.5533,​-0.5533,​-0.5533,​-0.5533,​-0.5533,​-0.5533,​-0.5533,​-0.5533,​-0.5533,​-0.5533,​-0.5533,​-0.5533,​-0.5533,​-0.55329,​-0.55329,​-0.55329,​-0.55329,​-0.55329,​-0.55329,​-0.55329,​-0.55329,​-0.55329,​-0.55329,​-0.55329,​-0.55329,​-0.55329,​-0.55329,​-0.55329,​-0.55329,​-0.55329,​-0.55329,​-0.55329,​-0.55329,​-0.55329,​-0.55329,​-0.55329,​-0.55329,​-0.55329,​-0.55329,​-0.55329,​-0.55329,​-0.55329,​-0.55329,​-0.55329,​-0.55329,​-0.55329,​-0.55329,​-0.55329,​-0.55329};​
 +  float footr_loc [] = {1.22,​0,​0.52886,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53512,​0.53512,​0.53512,​0.53512,​0.53512,​0.53512,​0.53512,​0.53512,​0.53512,​0.53512,​0.53513,​0.53513,​0.53513,​0.53513,​0.53513,​0.53513,​0.53514,​0.53514,​0.53514,​0.53514,​0.53515,​0.53515,​0.53515,​0.53516,​0.53516,​0.53516,​0.53517,​0.53517,​0.53518,​0.53518,​0.53519,​0.5352,​0.5352,​0.53521,​0.53522,​0.53522,​0.53523,​0.53524,​0.53525,​0.53511,​0.53511,​0.54659,​0.55784,​0.56888,​0.57969,​0.59029,​0.60067,​0.61084,​0.62079,​0.63053,​0.64004,​0.64935,​0.65844,​0.6673,​0.67595,​0.68438,​0.69259,​0.70057,​0.70833,​0.71586,​0.72315,​0.73021,​0.73703,​0.74361,​0.74995,​0.75604,​0.76187,​0.76745,​0.77277,​0.77782,​0.78261,​0.78712,​0.79136,​0.79531,​0.79898,​0.80235,​0.80544,​0.80823,​0.81072,​0.81291,​0.8148,​0.81638,​0.81765,​0.81861,​0.81926,​0.81961,​0.81965,​0.81938,​0.8188,​0.81792,​0.81675,​0.81527,​0.81351,​0.81146,​0.80913,​0.80652,​0.80364,​0.8005,​0.79711,​0.79346,​0.78958,​0.78546,​0.78112,​0.77656,​0.77179,​0.76682,​0.76166,​0.75632,​0.75081,​0.74512,​0.73928,​0.73329,​0.72715,​0.72088,​0.71447,​0.70795,​0.70131,​0.69455,​0.6877,​0.68074,​0.67369,​0.66655,​0.65932,​0.652,​0.64461,​0.63714,​0.6296,​0.62199,​0.61431,​0.60656,​0.59874,​0.59086,​0.58292,​0.57491,​0.56683,​0.55866,​0.55037,​0.54194,​0.53333,​0.66566,​0.36509,​0.37715,​0.38881,​0.39976,​0.40986,​0.41906,​0.42744,​0.4351,​0.44216,​0.44869,​0.45476,​0.46041,​0.46567,​0.47056,​0.4751,​0.47932,​0.48324,​0.48688,​0.49027,​0.49342,​0.49636,​0.4991,​0.50166,​0.50404,​0.50627,​0.50835,​0.51029,​0.51211,​0.51382,​0.51542,​0.51692,​0.51833,​0.51966,​0.52091,​0.52209,​0.5232,​0.52426,​0.52527,​0.52622,​0.52714,​0.52801,​0.52885,​0.52966,​0.53044,​0.5312,​0.53193,​0.53266,​0.53337,​0.53407,​0.53476,​0.53546,​0.53615,​0.53685,​0.53755,​0.53827,​0.539,​0.53975,​0.54052,​0.54131,​0.54213,​0.54298,​0.54387,​0.5448,​0.54577,​0.54679,​0.54786,​0.54899,​0.55018,​0.55144,​0.55277,​0.55418,​0.55567,​0.55726,​0.55894,​0.56073,​0.56263,​0.56464,​0.56679,​0.56907,​0.57149,​0.57407,​0.5768,​0.57971,​0.5828,​0.58608,​0.58956,​0.59326,​0.59718,​0.60135,​0.60577,​0.61047,​0.61546,​0.62075,​0.62635,​0.63227,​0.63849,​0.64499,​0.65172,​0.6586,​0.52444,​0.51319,​0.52218,​0.53087,​0.53933,​0.54766,​0.55591,​0.56414,​0.57234,​0.58052,​0.58867,​0.5968,​0.60489,​0.61296,​0.62102,​0.62905,​0.63708,​0.6451,​0.6531,​0.66108,​0.66904,​0.67697,​0.68487,​0.69272,​0.70052,​0.70826,​0.71592,​0.72349,​0.73096,​0.73831,​0.74553,​0.7526,​0.75949,​0.7662,​0.7727,​0.77898,​0.78501,​0.79078,​0.79626,​0.80144,​0.80629,​0.8108,​0.81495,​0.81873,​0.82211,​0.82508,​0.82764,​0.82977,​0.83145,​0.83269,​0.83348,​0.83381,​0.83368,​0.8331,​0.83206,​0.83057,​0.82865,​0.82629,​0.82351,​0.82031,​0.81673,​0.81276,​0.80843,​0.80375,​0.79874,​0.79343,​0.78781,​0.78193,​0.77579,​0.76943,​0.76286,​0.75609,​0.74916,​0.74206,​0.73483,​0.72747,​0.72,​0.71244,​0.70479,​0.69707,​0.6893,​0.68147,​0.6736,​0.66569,​0.65776,​0.6498,​0.64181,​0.63381,​0.62578,​0.61774,​0.60966,​0.6015,​0.59331,​0.58512,​0.57693,​0.56872,​0.56045,​0.5521,​0.5436,​0.53493,​0.35998,​0.37207,​0.3841,​0.39586,​0.40709,​0.41756,​0.42718,​0.43596,​0.44397,​0.45132,​0.45809,​0.46436,​0.47018,​0.4756,​0.48063,​0.4853,​0.48963,​0.49366,​0.49739,​0.50085,​0.50407,​0.50706,​0.50984,​0.51243,​0.51483,​0.51707,​0.51915,​0.52109,​0.5229,​0.52458,​0.52614,​0.5276,​0.52895,​0.53022,​0.5314,​0.53249,​0.53352,​0.53447,​0.53536,​0.53619,​0.53696,​0.53768,​0.53835,​0.53898,​0.53956,​0.54011,​0.54061,​0.54109,​0.54153,​0.54194,​0.54233,​0.54269,​0.54302,​0.54334,​0.54363,​0.5439,​0.54416,​0.54439,​0.54461,​0.54482,​0.54501,​0.54519,​0.54536,​0.54552,​0.54566,​0.5458,​0.54593,​0.54605,​0.54616,​0.54626,​0.54636,​0.54645,​0.54653,​0.54661,​0.54669,​0.54675,​0.54682,​0.54688,​0.54693,​0.54699,​0.54704,​0.54708,​0.54712,​0.54716,​0.5472,​0.54723,​0.54727,​0.5473,​0.54732,​0.54735,​0.54738,​0.5474,​0.54742,​0.54744,​0.54746,​0.54748,​0.54749,​0.54751,​0.54752,​0.54753,​0.54755,​0.54756,​0.54759,​0.54773,​0.54801,​0.54837,​0.54877,​0.54915,​0.5495,​0.5498,​0.55006,​0.5503,​0.55052,​0.55072,​0.55091,​0.55109,​0.55126,​0.55143,​0.55158,​0.55172,​0.55185,​0.55197,​0.55208,​0.55219,​0.55229,​0.55238,​0.55246,​0.55254,​0.55262,​0.55269,​0.55275,​0.55281,​0.55287,​0.55292,​0.55297,​0.55302,​0.55306,​0.5531,​0.55314,​0.55318,​0.55321,​0.55324,​0.55327,​0.5533,​0.55332,​0.55334,​0.55337,​0.55339,​0.55341,​0.55342,​0.55344,​0.55345,​0.55347,​0.55348,​0.5535,​0.55351,​0.55352,​0.55353,​0.55354,​0.55355,​0.55355,​0.55356,​0.55357,​0.55358,​0.55358,​0.55359,​0.55359,​0.5536,​0.5536,​0.55361,​0.55361,​0.55362,​0.55362,​0.55362,​0.55363,​0.55363,​0.55363,​0.55364,​0.55364,​0.55364,​0.55364,​0.55364,​0.55365,​0.55365,​0.55365,​0.55365,​0.55365,​0.55365,​0.55365,​0.55366,​0.55366,​0.55366,​0.55366,​0.55366,​0.55366,​0.55366,​0.55366,​0.55366,​0.55366,​0.55366,​0.55366,​0.55366,​0.55366,​0.55366,​0.55364,​0.55362,​0.55359,​0.55357,​0.55355,​0.55353,​0.55351,​0.5535,​0.55348,​0.55347,​0.55346,​0.55345,​0.55344,​0.55343,​0.55342,​0.55341,​0.5534,​0.55339,​0.55339,​0.55338,​0.55338,​0.55337,​0.55336,​0.55336,​0.55335,​0.55335,​0.55335,​0.55334,​0.55334,​0.55334,​0.55333,​0.55333,​0.55333,​0.55332,​0.55332,​0.55332,​0.55332,​0.55332,​0.55331,​0.55331,​0.55331,​0.55331,​0.55331,​0.55331,​0.55331,​0.5533,​0.5533,​0.5533,​0.5533,​0.5533,​0.5533,​0.5533,​0.5533,​0.5533,​0.5533,​0.5533,​0.5533,​0.5533,​0.5533,​0.5533,​0.55329,​0.55329,​0.55329,​0.55329,​0.55329,​0.55329,​0.55329,​0.55329,​0.55329,​0.55329,​0.55329,​0.55329,​0.55329,​0.55329,​0.55329,​0.55329,​0.55329,​0.55329,​0.55329,​0.55329,​0.55329,​0.55329,​0.55329,​0.55329,​0.55329,​0.55329,​0.55329,​0.55329,​0.55329,​0.55329,​0.55329,​0.55329,​0.55329,​0.55329,​0.55329,​0.55329};​
 +  float anklel_loc [] = {0,​0,​0,​0,​0,​7.2125e-11,​5.8885e-10,​2.0211e-09,​4.7374e-09,​8.9419e-09,​1.47e-08,​2.1997e-08,​3.08e-08,​4.109e-08,​5.2878e-08,​6.6207e-08,​8.1145e-08,​9.7771e-08,​1.1617e-07,​1.3645e-07,​1.5869e-07,​1.83e-07,​2.095e-07,​2.3832e-07,​2.6958e-07,​3.0343e-07,​3.4004e-07,​3.7957e-07,​4.2222e-07,​4.6818e-07,​5.1768e-07,​5.7094e-07,​6.2821e-07,​6.8929e-07,​7.5292e-07,​8.2094e-07,​8.9513e-07,​9.7621e-07,​1.0643e-06,​1.1594e-06,​1.2614e-06,​1.3706e-06,​1.4875e-06,​1.6124e-06,​1.7463e-06,​1.8896e-06,​2.0432e-06,​2.2078e-06,​2.3841e-06,​2.5731e-06,​2.7755e-06,​2.9924e-06,​3.2248e-06,​3.4736e-06,​3.7402e-06,​4.0258e-06,​4.3317e-06,​4.6594e-06,​5.0104e-06,​5.3864e-06,​5.7892e-06,​6.2206e-06,​6.6791e-06,​7.1557e-06,​7.6638e-06,​8.2165e-06,​8.8192e-06,​9.4728e-06,​1.0177e-05,​1.0932e-05,​1.1739e-05,​1.2601e-05,​1.3523e-05,​1.451e-05,​1.5565e-05,​1.6696e-05,​1.7907e-05,​1.9204e-05,​2.0593e-05,​2.2081e-05,​2.3674e-05,​2.538e-05,​2.7208e-05,​2.9165e-05,​3.1261e-05,​3.3507e-05,​3.5911e-05,​3.8487e-05,​4.1245e-05,​4.4199e-05,​4.7364e-05,​5.0753e-05,​5.4383e-05,​5.8272e-05,​6.2436e-05,​6.6897e-05,​7.1674e-05,​7.6792e-05,​8.2272e-05,​8.8143e-05,​9.4431e-05,​0.00010117,​0.00010838,​0.00011611,​0.00012438,​0.00013325,​0.00014274,​0.0001529,​0.00016379,​0.00017545,​0.00018793,​0.0002013,​0.00021562,​0.00023095,​0.00024737,​0.00026496,​0.0002838,​0.00030397,​0.00032558,​0.00034872,​0.00037331,​0.00039887,​0.00042612,​0.00045576,​0.00048807,​0.00052311,​0.00056086,​0.00060133,​0.00064459,​0.00069081,​0.00074022,​0.00079308,​0.00084966,​0.00091025,​0.00097514,​0.0010446,​0.0011191,​0.0011988,​0.0012841,​0.0013756,​0.0014735,​0.0015783,​0.0016906,​0.0018109,​0.0019397,​0.0020776,​0.0022254,​0.0023836,​0.0025531,​0.0027346,​0.002929,​0.0031372,​0.0033602,​0.0035991,​0.0038549,​0.0041289,​0.0044224,​0.0047367,​0.0050733,​0.0054339,​0.00582,​0.0062337,​0.0066766,​0.0071511,​0.0076593,​0.0082035,​0.0087865,​0.0094108,​0.01008,​0.010796,​0.011563,​0.012384,​0.013264,​0.014207,​0.015216,​0.016297,​0.017455,​0.018695,​0.020023,​0.021446,​0.022969,​0.024601,​0.026348,​0.028218,​0.030221,​0.032365,​0.03466,​0.037117,​0.039747,​0.042563,​0.045579,​0.048811,​0.052276,​0.055996,​0.059991,​0.064285,​0.068904,​0.073869,​0.079199,​0.084904,​0.090979,​0.097401,​0.10412,​0.11107,​0.11816,​0.12528,​0.13222,​0.13881,​0.14493,​0.15056,​0.15572,​0.16047,​0.16487,​0.16897,​0.17279,​0.17637,​0.17971,​0.18282,​0.18571,​0.18841,​0.19092,​0.19325,​0.19541,​0.19743,​0.19929,​0.20103,​0.20264,​0.20413,​0.20552,​0.20679,​0.20798,​0.20906,​0.21007,​0.21099,​0.21183,​0.2126,​0.2133,​0.21394,​0.21452,​0.21504,​0.21549,​0.21589,​0.21623,​0.21652,​0.21675,​0.21694,​0.21708,​0.21718,​0.21722,​0.21722,​0.21717,​0.21707,​0.21693,​0.21673,​0.21649,​0.21619,​0.21584,​0.21544,​0.21498,​0.21447,​0.21389,​0.21325,​0.21255,​0.21177,​0.21092,​0.20999,​0.20898,​0.20789,​0.2067,​0.20541,​0.20402,​0.20252,​0.2009,​0.19915,​0.19727,​0.19525,​0.19307,​0.19073,​0.18821,​0.1855,​0.1826,​0.17947,​0.17612,​0.17252,​0.16865,​0.1645,​0.16005,​0.15527,​0.15014,​0.14464,​0.13873,​0.13239,​0.12556,​0.11822,​0.11032,​0.1018,​0.092614,​0.082712,​0.072054,​0.060618,​0.048408,​0.03547,​0.021896,​0.0078303,​-0.0065455,​-0.020977,​-0.034995,​-0.048198,​-0.060389,​-0.071553,​-0.081781,​-0.091208,​-0.099954,​-0.10811,​-0.11574,​-0.12287,​-0.12953,​-0.13574,​-0.14153,​-0.14691,​-0.15192,​-0.15657,​-0.16091,​-0.16494,​-0.1687,​-0.17219,​-0.17543,​-0.17845,​-0.18126,​-0.18386,​-0.18628,​-0.18852,​-0.1906,​-0.19252,​-0.1943,​-0.19594,​-0.19745,​-0.19885,​-0.20012,​-0.20129,​-0.20236,​-0.20333,​-0.20421,​-0.205,​-0.20571,​-0.20633,​-0.20688,​-0.20735,​-0.20775,​-0.20808,​-0.20833,​-0.20852,​-0.20865,​-0.2087,​-0.20869,​-0.20861,​-0.20847,​-0.20825,​-0.20797,​-0.20762,​-0.2072,​-0.2067,​-0.20613,​-0.20548,​-0.20474,​-0.20392,​-0.20302,​-0.20201,​-0.20091,​-0.19971,​-0.19839,​-0.19696,​-0.1954,​-0.19372,​-0.19189,​-0.18992,​-0.18779,​-0.18549,​-0.18301,​-0.18034,​-0.17747,​-0.17438,​-0.17105,​-0.16748,​-0.16363,​-0.15951,​-0.15507,​-0.15031,​-0.1452,​-0.13971,​-0.13382,​-0.12748,​-0.12067,​-0.11333,​-0.10544,​-0.096923,​-0.087742,​-0.077845,​-0.067192,​-0.055759,​-0.043554,​-0.03062,​-0.017052,​-0.0029928,​0.011375,​0.02578,​0.039682,​0.052666,​0.064566,​0.075411,​0.085333,​0.094483,​0.10299,​0.11093,​0.11837,​0.12533,​0.13183,​0.13789,​0.14353,​0.14878,​0.15366,​0.1582,​0.16243,​0.16636,​0.17002,​0.17342,​0.17658,​0.17952,​0.18226,​0.18479,​0.18715,​0.18933,​0.19135,​0.19323,​0.19496,​0.19655,​0.19803,​0.19938,​0.20062,​0.20176,​0.2028,​0.20374,​0.20459,​0.20535,​0.20605,​0.20666,​0.20719,​0.20765,​0.20803,​0.20834,​0.20857,​0.20875,​0.20885,​0.20889,​0.20887,​0.20878,​0.20862,​0.2084,​0.20811,​0.20775,​0.20732,​0.20681,​0.20623,​0.20557,​0.20483,​0.204,​0.20309,​0.20208,​0.20098,​0.19982,​0.19856,​0.19717,​0.19562,​0.19393,​0.19208,​0.19009,​0.18793,​0.18562,​0.18313,​0.18045,​0.17757,​0.17447,​0.17113,​0.16755,​0.1637,​0.15956,​0.15512,​0.15035,​0.14523,​0.13973,​0.13383,​0.12749,​0.12067,​0.11339,​0.10579,​0.097632,​0.088698,​0.078888,​0.068194,​0.056651,​0.044317,​0.03127,​0.017615,​0.0034929,​-0.010921,​-0.025366,​-0.03931,​-0.052339,​-0.064289,​-0.075187,​-0.08516,​-0.094359,​-0.10291,​-0.1109,​-0.11838,​-0.12538,​-0.13192,​-0.13802,​-0.14371,​-0.14899,​-0.15392,​-0.1585,​-0.16276,​-0.16674,​-0.17044,​-0.17389,​-0.1771,​-0.18009,​-0.18288,​-0.18547,​-0.18788,​-0.19012,​-0.1922,​-0.19414,​-0.19594,​-0.19761,​-0.19916,​-0.20059,​-0.20192,​-0.20315,​-0.20429,​-0.20533,​-0.2063,​-0.20718,​-0.20799,​-0.20872,​-0.20939,​-0.21,​-0.21055,​-0.21103,​-0.21146,​-0.21184,​-0.21216,​-0.21243,​-0.21266,​-0.21283,​-0.21296,​-0.21304,​-0.21307,​-0.21306,​-0.213,​-0.21289,​-0.21274,​-0.21254,​-0.21229,​-0.21199,​-0.21163,​-0.21123,​-0.21076,​-0.21025,​-0.20967,​-0.20902,​-0.20832,​-0.20754,​-0.20669,​-0.20576,​-0.20475,​-0.20366,​-0.20247,​-0.20119,​-0.1998,​-0.1983,​-0.19669,​-0.19494,​-0.19307,​-0.19105,​-0.18889,​-0.18656,​-0.18405,​-0.18136,​-0.17847,​-0.17536,​-0.17202,​-0.16842,​-0.16455,​-0.16037,​-0.15586,​-0.151,​-0.14577,​-0.14015,​-0.13415,​-0.12779,​-0.12111,​-0.11418,​-0.10708,​-0.099966,​-0.093167,​-0.086907,​-0.081238,​-0.076106,​-0.071414,​-0.067069,​-0.063004,​-0.059182,​-0.055586,​-0.052209,​-0.049046,​-0.046091,​-0.043335,​-0.040766,​-0.038369,​-0.036133,​-0.034045,​-0.032096,​-0.030274,​-0.028574,​-0.026985,​-0.025502,​-0.024117,​-0.022823,​-0.021616,​-0.020489,​-0.019437,​-0.018454,​-0.017537,​-0.01668,​-0.01588,​-0.015134,​-0.014436,​-0.013785,​-0.013178,​-0.01261,​-0.012081,​-0.011586,​-0.011124,​-0.010693,​-0.010291,​-0.0099147,​-0.0095639,​-0.0092363,​-0.0089304,​-0.0086448,​-0.0083782,​-0.0081293,​-0.0078969,​-0.0076799,​-0.0074773,​-0.0072882,​-0.0071116,​-0.0069467,​-0.0067928,​-0.0066491,​-0.0065149,​-0.0063896,​-0.0062727,​-0.0061635,​-0.0060615,​-0.0059663,​-0.0058775,​-0.0057945,​-0.005717,​-0.0056447,​-0.0055772,​-0.0055141,​-0.0054553,​-0.0054003,​-0.005349,​-0.0053011,​-0.0052564,​-0.0052147,​-0.0051757,​-0.0051393,​-0.0051053,​-0.0050736,​-0.0050439,​-0.0050163,​-0.0049905,​-0.0049664,​-0.0049439,​-0.0049228,​-0.0049032,​-0.0048849,​-0.0048678,​-0.0048518,​-0.0048369,​-0.004823,​-0.00481,​-0.0047979,​-0.0047866,​-0.004776,​-0.0047661,​-0.0047569,​-0.0047483,​-0.0047403,​-0.0047328,​-0.0047092,​-0.0046015,​-0.0043931,​-0.0041152,​-0.0038118,​-0.0035181,​-0.0032533,​-0.003022,​-0.00282,​-0.0026397,​-0.0024743,​-0.0023192,​-0.0021722,​-0.0020327,​-0.0019009,​-0.0017772,​-0.0016617,​-0.0015541,​-0.001454,​-0.0013608,​-0.001274,​-0.0011929,​-0.0011172,​-0.0010464,​-0.00098035,​-0.00091861,​-0.00086097,​-0.00080715,​-0.00075691,​-0.00071001,​-0.00066623,​-0.00062536,​-0.0005872,​-0.00055157,​-0.00051831,​-0.00048725,​-0.00045825,​-0.00043118,​-0.0004059,​-0.0003823,​-0.00036027,​-0.0003397,​-0.00032049,​-0.00030256,​-0.00028582,​-0.00027019,​-0.0002556,​-0.00024197,​-0.00022925,​-0.00021738,​-0.00020629,​-0.00019594,​-0.00018627,​-0.00017725,​-0.00016882,​-0.00016096,​-0.00015361,​-0.00014676,​-0.00014036,​-0.00013438,​-0.0001288,​-0.00012359,​-0.00011873,​-0.00011419,​-0.00010995,​-0.00010599,​-0.00010229,​-9.8842e-05,​-9.5621e-05,​-9.2613e-05,​-8.9805e-05,​-8.7183e-05,​-8.4736e-05,​-8.245e-05,​-8.0317e-05,​-7.8325e-05,​-7.6465e-05,​-7.4728e-05,​-7.3107e-05,​-7.1594e-05,​-7.0181e-05,​-6.8861e-05,​-6.763e-05,​-6.6479e-05,​-6.5406e-05,​-6.4403e-05,​-6.3467e-05,​-6.2594e-05,​-6.1778e-05,​-6.1016e-05,​-6.0305e-05,​-5.9641e-05,​-5.9021e-05,​-5.8442e-05,​-5.7902e-05,​-5.7397e-05,​-5.6926e-05,​-5.6487e-05,​-5.6076e-05};​
 +  float ankler_loc [] = {0,​0,​0,​0,​0,​7.2125e-11,​5.8885e-10,​2.0211e-09,​4.7374e-09,​8.9419e-09,​1.47e-08,​2.1997e-08,​3.08e-08,​4.109e-08,​5.2878e-08,​6.6207e-08,​8.1145e-08,​9.7771e-08,​1.1617e-07,​1.3645e-07,​1.5869e-07,​1.83e-07,​2.095e-07,​2.3832e-07,​2.6958e-07,​3.0343e-07,​3.4004e-07,​3.7957e-07,​4.2222e-07,​4.6818e-07,​5.1768e-07,​5.7094e-07,​6.2821e-07,​6.8929e-07,​7.5292e-07,​8.2094e-07,​8.9513e-07,​9.7621e-07,​1.0643e-06,​1.1594e-06,​1.2614e-06,​1.3706e-06,​1.4875e-06,​1.6124e-06,​1.7463e-06,​1.8896e-06,​2.0432e-06,​2.2078e-06,​2.3841e-06,​2.5731e-06,​2.7755e-06,​2.9924e-06,​3.2248e-06,​3.4736e-06,​3.7402e-06,​4.0258e-06,​4.3317e-06,​4.6594e-06,​5.0104e-06,​5.3864e-06,​5.7892e-06,​6.2206e-06,​6.6791e-06,​7.1557e-06,​7.6638e-06,​8.2165e-06,​8.8192e-06,​9.4728e-06,​1.0177e-05,​1.0932e-05,​1.1739e-05,​1.2601e-05,​1.3523e-05,​1.451e-05,​1.5565e-05,​1.6696e-05,​1.7907e-05,​1.9204e-05,​2.0593e-05,​2.2081e-05,​2.3674e-05,​2.538e-05,​2.7208e-05,​2.9165e-05,​3.1261e-05,​3.3507e-05,​3.5911e-05,​3.8487e-05,​4.1245e-05,​4.4199e-05,​4.7364e-05,​5.0753e-05,​5.4383e-05,​5.8272e-05,​6.2436e-05,​6.6897e-05,​7.1674e-05,​7.6792e-05,​8.2272e-05,​8.8143e-05,​9.4431e-05,​0.00010117,​0.00010838,​0.00011611,​0.00012438,​0.00013325,​0.00014274,​0.0001529,​0.00016379,​0.00017545,​0.00018793,​0.0002013,​0.00021562,​0.00023095,​0.00024737,​0.00026496,​0.0002838,​0.00030397,​0.00032558,​0.00034872,​0.00037331,​0.00039887,​0.00042612,​0.00045576,​0.00048807,​0.00052311,​0.00056086,​0.00060133,​0.00064459,​0.00069081,​0.00074022,​0.00079308,​0.00084966,​0.00091025,​0.00097514,​0.0010446,​0.0011191,​0.0011988,​0.0012841,​0.0013756,​0.0014735,​0.0015783,​0.0016906,​0.0018109,​0.0019397,​0.0020776,​0.0022254,​0.0023836,​0.0025531,​0.0027346,​0.002929,​0.0031372,​0.0033602,​0.0035991,​0.0038549,​0.0041289,​0.0044224,​0.0047367,​0.0050733,​0.0054339,​0.00582,​0.0062337,​0.0066766,​0.0071511,​0.0076593,​0.0082035,​0.0087865,​0.0094108,​0.01008,​0.010796,​0.011563,​0.012384,​0.013264,​0.014207,​0.015216,​0.016297,​0.017455,​0.018695,​0.020023,​0.021446,​0.022969,​0.024601,​0.026348,​0.028218,​0.030221,​0.032365,​0.03466,​0.037117,​0.039747,​0.042563,​0.045579,​0.048811,​0.052276,​0.055996,​0.059991,​0.064285,​0.068904,​0.073869,​0.079199,​0.084904,​0.090979,​0.097401,​0.10412,​0.11107,​0.11816,​0.12528,​0.13222,​0.13881,​0.14493,​0.15056,​0.15572,​0.16047,​0.16487,​0.16897,​0.17279,​0.17637,​0.17971,​0.18282,​0.18571,​0.18841,​0.19092,​0.19325,​0.19541,​0.19743,​0.19929,​0.20103,​0.20264,​0.20413,​0.20552,​0.20679,​0.20798,​0.20906,​0.21007,​0.21099,​0.21183,​0.2126,​0.2133,​0.21394,​0.21452,​0.21504,​0.21549,​0.21589,​0.21623,​0.21652,​0.21675,​0.21694,​0.21708,​0.21718,​0.21722,​0.21722,​0.21717,​0.21707,​0.21693,​0.21673,​0.21649,​0.21619,​0.21584,​0.21544,​0.21498,​0.21447,​0.21389,​0.21325,​0.21255,​0.21177,​0.21092,​0.20999,​0.20898,​0.20789,​0.2067,​0.20541,​0.20402,​0.20252,​0.2009,​0.19915,​0.19727,​0.19525,​0.19307,​0.19073,​0.18821,​0.1855,​0.1826,​0.17947,​0.17612,​0.17252,​0.16865,​0.1645,​0.16005,​0.15527,​0.15014,​0.14464,​0.13873,​0.13239,​0.12556,​0.11822,​0.11032,​0.1018,​0.092614,​0.082712,​0.072054,​0.060618,​0.048408,​0.03547,​0.021896,​0.0078303,​-0.0065455,​-0.020977,​-0.034995,​-0.048198,​-0.060389,​-0.071553,​-0.081781,​-0.091208,​-0.099954,​-0.10811,​-0.11574,​-0.12287,​-0.12953,​-0.13574,​-0.14153,​-0.14691,​-0.15192,​-0.15657,​-0.16091,​-0.16494,​-0.1687,​-0.17219,​-0.17543,​-0.17845,​-0.18126,​-0.18386,​-0.18628,​-0.18852,​-0.1906,​-0.19252,​-0.1943,​-0.19594,​-0.19745,​-0.19885,​-0.20012,​-0.20129,​-0.20236,​-0.20333,​-0.20421,​-0.205,​-0.20571,​-0.20633,​-0.20688,​-0.20735,​-0.20775,​-0.20808,​-0.20833,​-0.20852,​-0.20865,​-0.2087,​-0.20869,​-0.20861,​-0.20847,​-0.20825,​-0.20797,​-0.20762,​-0.2072,​-0.2067,​-0.20613,​-0.20548,​-0.20474,​-0.20392,​-0.20302,​-0.20201,​-0.20091,​-0.19971,​-0.19839,​-0.19696,​-0.1954,​-0.19372,​-0.19189,​-0.18992,​-0.18779,​-0.18549,​-0.18301,​-0.18034,​-0.17747,​-0.17438,​-0.17105,​-0.16748,​-0.16363,​-0.15951,​-0.15507,​-0.15031,​-0.1452,​-0.13971,​-0.13382,​-0.12748,​-0.12067,​-0.11333,​-0.10544,​-0.096923,​-0.087742,​-0.077845,​-0.067192,​-0.055759,​-0.043554,​-0.03062,​-0.017052,​-0.0029928,​0.011375,​0.02578,​0.039682,​0.052666,​0.064566,​0.075411,​0.085333,​0.094483,​0.10299,​0.11093,​0.11837,​0.12533,​0.13183,​0.13789,​0.14353,​0.14878,​0.15366,​0.1582,​0.16243,​0.16636,​0.17002,​0.17342,​0.17658,​0.17952,​0.18226,​0.18479,​0.18715,​0.18933,​0.19135,​0.19323,​0.19496,​0.19655,​0.19803,​0.19938,​0.20062,​0.20176,​0.2028,​0.20374,​0.20459,​0.20535,​0.20605,​0.20666,​0.20719,​0.20765,​0.20803,​0.20834,​0.20857,​0.20875,​0.20885,​0.20889,​0.20887,​0.20878,​0.20862,​0.2084,​0.20811,​0.20775,​0.20732,​0.20681,​0.20623,​0.20557,​0.20483,​0.204,​0.20309,​0.20208,​0.20098,​0.19982,​0.19856,​0.19717,​0.19562,​0.19393,​0.19208,​0.19009,​0.18793,​0.18562,​0.18313,​0.18045,​0.17757,​0.17447,​0.17113,​0.16755,​0.1637,​0.15956,​0.15512,​0.15035,​0.14523,​0.13973,​0.13383,​0.12749,​0.12067,​0.11339,​0.10579,​0.097632,​0.088698,​0.078888,​0.068194,​0.056651,​0.044317,​0.03127,​0.017615,​0.0034929,​-0.010921,​-0.025366,​-0.03931,​-0.052339,​-0.064289,​-0.075187,​-0.08516,​-0.094359,​-0.10291,​-0.1109,​-0.11838,​-0.12538,​-0.13192,​-0.13802,​-0.14371,​-0.14899,​-0.15392,​-0.1585,​-0.16276,​-0.16674,​-0.17044,​-0.17389,​-0.1771,​-0.18009,​-0.18288,​-0.18547,​-0.18788,​-0.19012,​-0.1922,​-0.19414,​-0.19594,​-0.19761,​-0.19916,​-0.20059,​-0.20192,​-0.20315,​-0.20429,​-0.20533,​-0.2063,​-0.20718,​-0.20799,​-0.20872,​-0.20939,​-0.21,​-0.21055,​-0.21103,​-0.21146,​-0.21184,​-0.21216,​-0.21243,​-0.21266,​-0.21283,​-0.21296,​-0.21304,​-0.21307,​-0.21306,​-0.213,​-0.21289,​-0.21274,​-0.21254,​-0.21229,​-0.21199,​-0.21163,​-0.21123,​-0.21076,​-0.21025,​-0.20967,​-0.20902,​-0.20832,​-0.20754,​-0.20669,​-0.20576,​-0.20475,​-0.20366,​-0.20247,​-0.20119,​-0.1998,​-0.1983,​-0.19669,​-0.19494,​-0.19307,​-0.19105,​-0.18889,​-0.18656,​-0.18405,​-0.18136,​-0.17847,​-0.17536,​-0.17202,​-0.16842,​-0.16455,​-0.16037,​-0.15586,​-0.151,​-0.14577,​-0.14015,​-0.13415,​-0.12779,​-0.12111,​-0.11418,​-0.10708,​-0.099966,​-0.093167,​-0.086907,​-0.081238,​-0.076106,​-0.071414,​-0.067069,​-0.063004,​-0.059182,​-0.055586,​-0.052209,​-0.049046,​-0.046091,​-0.043335,​-0.040766,​-0.038369,​-0.036133,​-0.034045,​-0.032096,​-0.030274,​-0.028574,​-0.026985,​-0.025502,​-0.024117,​-0.022823,​-0.021616,​-0.020489,​-0.019437,​-0.018454,​-0.017537,​-0.01668,​-0.01588,​-0.015134,​-0.014436,​-0.013785,​-0.013178,​-0.01261,​-0.012081,​-0.011586,​-0.011124,​-0.010693,​-0.010291,​-0.0099147,​-0.0095639,​-0.0092363,​-0.0089304,​-0.0086448,​-0.0083782,​-0.0081293,​-0.0078969,​-0.0076799,​-0.0074773,​-0.0072882,​-0.0071116,​-0.0069467,​-0.0067928,​-0.0066491,​-0.0065149,​-0.0063896,​-0.0062727,​-0.0061635,​-0.0060615,​-0.0059663,​-0.0058775,​-0.0057945,​-0.005717,​-0.0056447,​-0.0055772,​-0.0055141,​-0.0054553,​-0.0054003,​-0.005349,​-0.0053011,​-0.0052564,​-0.0052147,​-0.0051757,​-0.0051393,​-0.0051053,​-0.0050736,​-0.0050439,​-0.0050163,​-0.0049905,​-0.0049664,​-0.0049439,​-0.0049228,​-0.0049032,​-0.0048849,​-0.0048678,​-0.0048518,​-0.0048369,​-0.004823,​-0.00481,​-0.0047979,​-0.0047866,​-0.004776,​-0.0047661,​-0.0047569,​-0.0047483,​-0.0047403,​-0.0047328,​-0.0047092,​-0.0046015,​-0.0043931,​-0.0041152,​-0.0038118,​-0.0035181,​-0.0032533,​-0.003022,​-0.00282,​-0.0026397,​-0.0024743,​-0.0023192,​-0.0021722,​-0.0020327,​-0.0019009,​-0.0017772,​-0.0016617,​-0.0015541,​-0.001454,​-0.0013608,​-0.001274,​-0.0011929,​-0.0011172,​-0.0010464,​-0.00098035,​-0.00091861,​-0.00086097,​-0.00080715,​-0.00075691,​-0.00071001,​-0.00066623,​-0.00062536,​-0.0005872,​-0.00055157,​-0.00051831,​-0.00048725,​-0.00045825,​-0.00043118,​-0.0004059,​-0.0003823,​-0.00036027,​-0.0003397,​-0.00032049,​-0.00030256,​-0.00028582,​-0.00027019,​-0.0002556,​-0.00024197,​-0.00022925,​-0.00021738,​-0.00020629,​-0.00019594,​-0.00018627,​-0.00017725,​-0.00016882,​-0.00016096,​-0.00015361,​-0.00014676,​-0.00014036,​-0.00013438,​-0.0001288,​-0.00012359,​-0.00011873,​-0.00011419,​-0.00010995,​-0.00010599,​-0.00010229,​-9.8842e-05,​-9.5621e-05,​-9.2613e-05,​-8.9805e-05,​-8.7183e-05,​-8.4736e-05,​-8.245e-05,​-8.0317e-05,​-7.8325e-05,​-7.6465e-05,​-7.4728e-05,​-7.3107e-05,​-7.1594e-05,​-7.0181e-05,​-6.8861e-05,​-6.763e-05,​-6.6479e-05,​-6.5406e-05,​-6.4403e-05,​-6.3467e-05,​-6.2594e-05,​-6.1778e-05,​-6.1016e-05,​-6.0305e-05,​-5.9641e-05,​-5.9021e-05,​-5.8442e-05,​-5.7902e-05,​-5.7397e-05,​-5.6926e-05,​-5.6487e-05,​-5.6076e-05};​
 +  float kneel_loc [] = {-2.25,​0,​-1.0577,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0701,​-1.0701,​-1.0701,​-1.0701,​-1.0701,​-1.0701,​-1.0701,​-1.0701,​-1.07,​-1.07,​-1.07,​-1.0699,​-1.0699,​-1.0698,​-1.0698,​-1.0697,​-1.0697,​-1.0696,​-1.0695,​-1.0694,​-1.0693,​-1.0691,​-1.069,​-1.0688,​-1.0686,​-1.0683,​-1.0681,​-1.0677,​-1.0674,​-1.067,​-1.0665,​-1.0659,​-1.0653,​-1.0646,​-1.0638,​-1.0628,​-1.0617,​-1.0604,​-1.059,​-1.0573,​-1.0554,​-1.0532,​-1.0506,​-1.0476,​-1.0442,​-1.0404,​-1.036,​-1.0312,​-1.026,​-1.044,​-1.0614,​-1.0785,​-1.0954,​-1.1122,​-1.1289,​-1.1456,​-1.1622,​-1.1787,​-1.1952,​-1.2116,​-1.2279,​-1.2441,​-1.2604,​-1.2766,​-1.2927,​-1.3088,​-1.3249,​-1.3409,​-1.3568,​-1.3727,​-1.3884,​-1.4041,​-1.4196,​-1.4349,​-1.45,​-1.4649,​-1.4796,​-1.494,​-1.5081,​-1.5218,​-1.5352,​-1.5481,​-1.5605,​-1.5725,​-1.5839,​-1.5947,​-1.605,​-1.6145,​-1.6234,​-1.6316,​-1.6389,​-1.6455,​-1.6513,​-1.6563,​-1.6603,​-1.6635,​-1.6658,​-1.6672,​-1.6677,​-1.6672,​-1.6659,​-1.6636,​-1.6604,​-1.6564,​-1.6515,​-1.6457,​-1.6392,​-1.6318,​-1.6237,​-1.6149,​-1.6053,​-1.5952,​-1.5844,​-1.573,​-1.5611,​-1.5487,​-1.5359,​-1.5226,​-1.509,​-1.495,​-1.4807,​-1.4661,​-1.4513,​-1.4363,​-1.4211,​-1.4057,​-1.3902,​-1.3746,​-1.3589,​-1.3431,​-1.3273,​-1.3114,​-1.2955,​-1.2795,​-1.2635,​-1.2474,​-1.2314,​-1.2153,​-1.1992,​-1.183,​-1.1668,​-1.1506,​-1.1342,​-1.1177,​-1.1011,​-1.0842,​-1.0669,​-1.0313,​-1.0309,​-1.0359,​-1.0405,​-1.0446,​-1.0482,​-1.0513,​-1.0539,​-1.0562,​-1.0581,​-1.0598,​-1.0612,​-1.0625,​-1.0636,​-1.0645,​-1.0653,​-1.066,​-1.0667,​-1.0672,​-1.0676,​-1.068,​-1.0684,​-1.0687,​-1.0689,​-1.0691,​-1.0693,​-1.0695,​-1.0696,​-1.0697,​-1.0698,​-1.0699,​-1.0699,​-1.07,​-1.0701,​-1.0701,​-1.0701,​-1.0701,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0702,​-1.0701,​-1.0701,​-1.0701,​-1.0701,​-1.0701,​-1.07,​-1.07,​-1.07,​-1.0699,​-1.0699,​-1.0699,​-1.0698,​-1.0698,​-1.0697,​-1.0697,​-1.0696,​-1.0695,​-1.0694,​-1.0693,​-1.0692,​-1.0691,​-1.069,​-1.0688,​-1.0686,​-1.0684,​-1.0682,​-1.068,​-1.0677,​-1.0673,​-1.067,​-1.0665,​-1.0661,​-1.0655,​-1.0649,​-1.0642,​-1.0634,​-1.0625,​-1.0614,​-1.0602,​-1.0589,​-1.0574,​-1.0556,​-1.0537,​-1.0513,​-1.0486,​-1.0454,​-1.0419,​-1.0378,​-1.0333,​-0.66962,​-1.0228,​-1.0406,​-1.0577,​-1.0745,​-1.0909,​-1.1072,​-1.1234,​-1.1395,​-1.1555,​-1.1714,​-1.1871,​-1.2027,​-1.2182,​-1.2336,​-1.2488,​-1.2638,​-1.2788,​-1.2936,​-1.3082,​-1.3227,​-1.337,​-1.3512,​-1.3652,​-1.379,​-1.3926,​-1.4059,​-1.4191,​-1.432,​-1.4447,​-1.4571,​-1.4692,​-1.481,​-1.4925,​-1.5037,​-1.5145,​-1.525,​-1.5351,​-1.5448,​-1.5541,​-1.563,​-1.5714,​-1.5794,​-1.5868,​-1.5938,​-1.6003,​-1.6063,​-1.6117,​-1.6166,​-1.6209,​-1.6246,​-1.6278,​-1.6304,​-1.6323,​-1.6337,​-1.6345,​-1.6346,​-1.6341,​-1.633,​-1.6313,​-1.629,​-1.626,​-1.6224,​-1.6182,​-1.6134,​-1.6081,​-1.6021,​-1.5955,​-1.5883,​-1.5806,​-1.5722,​-1.5634,​-1.5539,​-1.544,​-1.5334,​-1.5224,​-1.5109,​-1.4988,​-1.4862,​-1.4731,​-1.4596,​-1.4455,​-1.431,​-1.416,​-1.4006,​-1.3847,​-1.3683,​-1.3515,​-1.3342,​-1.3165,​-1.2984,​-1.2798,​-1.2608,​-1.2413,​-1.2214,​-1.2011,​-1.1803,​-1.1591,​-1.1375,​-1.1154,​-1.0699,​-1.0699,​-1.0699,​-1.0699,​-1.0699,​-1.0699,​-1.0699,​-1.0699,​-1.0699,​-1.0698,​-1.0698,​-1.0698,​-1.0698,​-1.0698,​-1.0698,​-1.0698,​-1.0698,​-1.0697,​-1.0697,​-1.0697,​-1.0697,​-1.0697,​-1.0697,​-1.0697,​-1.0697,​-1.0697,​-1.0697,​-1.0697,​-1.0697,​-1.0697,​-1.0697,​-1.0697,​-1.0697,​-1.0697,​-1.0697,​-1.0697,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696,​-1.0696};​
 +  float kneer_loc [] = {2.25,​0,​1.0577,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0932,​1.1157,​1.1378,​1.1594,​1.1806,​1.2013,​1.2217,​1.2416,​1.2611,​1.2801,​1.2987,​1.3169,​1.3346,​1.3519,​1.3688,​1.3852,​1.4012,​1.4167,​1.4317,​1.4463,​1.4605,​1.4741,​1.4873,​1.5,​1.5121,​1.5238,​1.535,​1.5456,​1.5557,​1.5653,​1.5743,​1.5828,​1.5907,​1.5981,​1.6048,​1.611,​1.6166,​1.6216,​1.626,​1.6298,​1.6329,​1.6355,​1.6374,​1.6388,​1.6395,​1.6395,​1.639,​1.6379,​1.6361,​1.6338,​1.6309,​1.6273,​1.6233,​1.6186,​1.6134,​1.6077,​1.6014,​1.5946,​1.5873,​1.5796,​1.5713,​1.5627,​1.5536,​1.544,​1.5341,​1.5238,​1.5131,​1.5021,​1.4907,​1.4791,​1.4671,​1.4548,​1.4423,​1.4295,​1.4164,​1.4031,​1.3896,​1.3759,​1.362,​1.3479,​1.3336,​1.3191,​1.3045,​1.2897,​1.2748,​1.2597,​1.2445,​1.2291,​1.2136,​1.1979,​1.1822,​1.1663,​1.1502,​1.1341,​1.1177,​1.1011,​1.0842,​1.067,​1.0312,​1.031,​1.036,​1.0405,​1.0445,​1.0479,​1.0509,​1.0534,​1.0556,​1.0575,​1.0591,​1.0605,​1.0618,​1.0629,​1.0638,​1.0647,​1.0654,​1.066,​1.0666,​1.067,​1.0675,​1.0678,​1.0681,​1.0684,​1.0687,​1.0689,​1.0691,​1.0692,​1.0694,​1.0695,​1.0696,​1.0697,​1.0697,​1.0698,​1.0699,​1.0699,​1.07,​1.07,​1.07,​1.0701,​1.0701,​1.0701,​1.0701,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0701,​1.0701,​1.0701,​1.0701,​1.07,​1.07,​1.07,​1.0699,​1.0699,​1.0698,​1.0697,​1.0697,​1.0696,​1.0695,​1.0693,​1.0692,​1.0691,​1.0689,​1.0687,​1.0684,​1.0681,​1.0678,​1.0675,​1.067,​1.0666,​1.066,​1.0654,​1.0647,​1.0638,​1.0629,​1.0618,​1.0605,​1.0591,​1.0574,​1.0555,​1.0532,​1.0507,​1.0477,​1.0443,​1.0405,​1.0361,​1.0492,​1.0261,​1.044,​1.0614,​1.0783,​1.0949,​1.1114,​1.1279,​1.1442,​1.1606,​1.1769,​1.1931,​1.2093,​1.2254,​1.2415,​1.2576,​1.2737,​1.2897,​1.3057,​1.3217,​1.3376,​1.3534,​1.3692,​1.385,​1.4006,​1.416,​1.4314,​1.4465,​1.4615,​1.4762,​1.4906,​1.5048,​1.5186,​1.532,​1.545,​1.5576,​1.5697,​1.5812,​1.5922,​1.6026,​1.6123,​1.6214,​1.6297,​1.6373,​1.644,​1.65,​1.6552,​1.6594,​1.6628,​1.6653,​1.6669,​1.6676,​1.6674,​1.6662,​1.6642,​1.6612,​1.6574,​1.6527,​1.6472,​1.6408,​1.6336,​1.6257,​1.6171,​1.6078,​1.5978,​1.5871,​1.5759,​1.5642,​1.5519,​1.5392,​1.5261,​1.5126,​1.4987,​1.4845,​1.4701,​1.4554,​1.4404,​1.4253,​1.41,​1.3946,​1.3791,​1.3634,​1.3477,​1.3319,​1.316,​1.3001,​1.2841,​1.2681,​1.252,​1.2359,​1.2198,​1.2035,​1.1871,​1.1707,​1.1543,​1.1378,​1.1213,​1.1046,​1.0876,​1.0702,​1.0288,​1.0339,​1.0387,​1.0431,​1.047,​1.0504,​1.0533,​1.0558,​1.0579,​1.0597,​1.0613,​1.0626,​1.0638,​1.0648,​1.0656,​1.0663,​1.067,​1.0675,​1.0679,​1.0683,​1.0687,​1.0689,​1.0692,​1.0694,​1.0695,​1.0697,​1.0698,​1.0699,​1.07,​1.07,​1.0701,​1.0701,​1.0701,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0702,​1.0701,​1.0701,​1.0701,​1.0701,​1.0701,​1.0701,​1.0701,​1.0701,​1.0701,​1.0701,​1.0701,​1.0701,​1.07,​1.07,​1.07,​1.07,​1.07,​1.07,​1.07,​1.07,​1.07,​1.07,​1.07,​1.07,​1.07,​1.07,​1.07,​1.07,​1.07,​1.07,​1.07,​1.07,​1.07,​1.07,​1.07,​1.07,​1.07,​1.07,​1.07,​1.07,​1.07,​1.07,​1.07,​1.07,​1.0699,​1.0699,​1.0699,​1.0699,​1.0699,​1.0699,​1.0699,​1.0699,​1.0699,​1.0699,​1.0699,​1.0699,​1.0699,​1.0699,​1.0699,​1.0699,​1.0699,​1.0699,​1.0698,​1.0698,​1.0698,​1.0698,​1.0698,​1.0698,​1.0698,​1.0698,​1.0697,​1.0697,​1.0697,​1.0697,​1.0697,​1.0697,​1.0697,​1.0697,​1.0697,​1.0697,​1.0697,​1.0697,​1.0697,​1.0697,​1.0697,​1.0697,​1.0697,​1.0697,​1.0697,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696,​1.0696};​
 +  float hipPl_loc [] = {1.15,​0,​0.52886,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.53511,​0.5351,​0.5351,​0.5351,​0.5351,​0.5351,​0.5351,​0.5351,​0.5351,​0.5351,​0.5351,​0.5351,​0.5351,​0.5351,​0.5351,​0.5351,​0.5351,​0.5351,​0.5351,​0.5351,​0.5351,​0.5351,​0.5351,​0.5351,​0.5351,​0.5351,​0.5351,​0.5351,​0.5351,​0.5351,​0.5351,​0.5351,​0.5351,​0.5351,​0.5351,​0.5351,​0.5351,​0.5351,​0.5351,​0.5351,​0.5351,​0.5351,​0.5351,​0.5351,​0.5351,​0.5351,​0.5351,​0.5351,​0.5351,​0.5351,​0.53509,​0.53509,​0.53509,​0.53509,​0.53509,​0.53509,​0.53509,​0.53509,​0.53509,​0.53509,​0.53508,​0.53508,​0.53508,​0.53508,​0.53508,​0.53508,​0.53507,​0.53507,​0.53507,​0.53507,​0.53506,​0.53506,​0.53506,​0.53505,​0.53505,​0.53505,​0.53504,​0.53504,​0.53503,​0.53503,​0.53502,​0.53501,​0.53501,​0.535,​0.53499,​0.53499,​0.53498,​0.53497,​0.53496,​0.53495,​0.53494,​0.53492,​0.53491,​0.5349,​0.53488,​0.53487,​0.53485,​0.53483,​0.53482,​0.5348,​0.53477,​0.53475,​0.53473,​0.5347,​0.53467,​0.53464,​0.5346,​0.53457,​0.53453,​0.53449,​0.53444,​0.53439,​0.53434,​0.53429,​0.53423,​0.53417,​0.5341,​0.53403,​0.53395,​0.53387,​0.53378,​0.53369,​0.53359,​0.53348,​0.53337,​0.53325,​0.53312,​0.53298,​0.53282,​0.53266,​0.53248,​0.53229,​0.53209,​0.53187,​0.53164,​0.53139,​0.53113,​0.53084,​0.53054,​0.53021,​0.52986,​0.52949,​0.52908,​0.52865,​0.52819,​0.5277,​0.52717,​0.5266,​0.52599,​0.52534,​0.52463,​0.52388,​0.52308,​0.52221,​0.52129,​0.52029,​0.51923,​0.51808,​0.51685,​0.51554,​0.51412,​0.51261,​0.51098,​0.50923,​0.50735,​0.50533,​0.50316,​0.50083,​0.49832,​0.49563,​0.49273,​0.48962,​0.48627,​0.48267,​0.47879,​0.47462,​0.47013,​0.46528,​0.46004,​0.45438,​0.44826,​0.44162,​0.43441,​0.4266,​0.41812,​0.40895,​0.39907,​0.3885,​0.3773,​0.51546,​0.51282,​0.52181,​0.53052,​0.53905,​0.54749,​0.55589,​0.56425,​0.57258,​0.58088,​0.58914,​0.59736,​0.60554,​0.6137,​0.62183,​0.62994,​0.63804,​0.64611,​0.65417,​0.6622,​0.67021,​0.67818,​0.6861,​0.69398,​0.7018,​0.70955,​0.71722,​0.72479,​0.73225,​0.73959,​0.74679,​0.75384,​0.76071,​0.76739,​0.77386,​0.78009,​0.78608,​0.7918,​0.79723,​0.80235,​0.80714,​0.81159,​0.81567,​0.81938,​0.82269,​0.82559,​0.82807,​0.83012,​0.83172,​0.83288,​0.83358,​0.83383,​0.83362,​0.83295,​0.83183,​0.83026,​0.82825,​0.82581,​0.82295,​0.81967,​0.81601,​0.81196,​0.80756,​0.80281,​0.79773,​0.79234,​0.78667,​0.78073,​0.77454,​0.76812,​0.7615,​0.75468,​0.74769,​0.74055,​0.73327,​0.72587,​0.71836,​0.71076,​0.70308,​0.69534,​0.68754,​0.67969,​0.6718,​0.66388,​0.65594,​0.64797,​0.63998,​0.63198,​0.62396,​0.61593,​0.60788,​0.59982,​0.59173,​0.58363,​0.57549,​0.56731,​0.55906,​0.55072,​0.54226,​0.53362,​0.36577,​0.66605,​0.65892,​0.65166,​0.64446,​0.6375,​0.6309,​0.6247,​0.61888,​0.61341,​0.60825,​0.60337,​0.59874,​0.59436,​0.59022,​0.58631,​0.58262,​0.57915,​0.57588,​0.57281,​0.56992,​0.5672,​0.56464,​0.56223,​0.55997,​0.55784,​0.55584,​0.55395,​0.55218,​0.5505,​0.54893,​0.54744,​0.54604,​0.54471,​0.54346,​0.54227,​0.54114,​0.54007,​0.53905,​0.53807,​0.53714,​0.53626,​0.5354,​0.53458,​0.53378,​0.533,​0.53224,​0.53149,​0.53076,​0.53003,​0.52931,​0.52859,​0.52787,​0.52715,​0.52642,​0.52568,​0.52492,​0.52414,​0.52334,​0.52251,​0.52166,​0.52077,​0.51983,​0.51886,​0.51784,​0.51677,​0.51567,​0.51452,​0.51328,​0.51195,​0.51052,​0.50898,​0.50735,​0.50561,​0.50376,​0.50179,​0.49968,​0.49743,​0.49502,​0.49243,​0.48966,​0.48669,​0.48351,​0.48009,​0.47641,​0.47247,​0.46823,​0.46366,​0.45874,​0.45344,​0.44775,​0.44179,​0.43537,​0.42829,​0.42048,​0.4119,​0.40257,​0.39252,​0.38178,​0.37043,​0.33528,​0.51121,​0.52011,​0.52868,​0.53704,​0.54525,​0.55338,​0.56147,​0.56952,​0.57751,​0.58545,​0.59332,​0.60112,​0.60886,​0.61652,​0.62412,​0.63165,​0.63912,​0.64652,​0.65384,​0.66109,​0.66825,​0.67533,​0.68232,​0.68922,​0.69602,​0.70271,​0.70928,​0.71574,​0.72207,​0.72827,​0.73433,​0.74025,​0.74601,​0.7516,​0.75702,​0.76226,​0.76732,​0.77218,​0.77683,​0.78127,​0.78548,​0.78947,​0.79321,​0.79672,​0.79996,​0.80295,​0.80567,​0.80811,​0.81027,​0.81215,​0.81373,​0.81502,​0.81602,​0.8167,​0.81709,​0.81716,​0.81693,​0.81639,​0.81553,​0.81437,​0.8129,​0.81111,​0.80903,​0.80663,​0.80394,​0.80095,​0.79766,​0.79408,​0.79021,​0.78606,​0.78162,​0.77691,​0.77193,​0.76668,​0.76116,​0.75539,​0.74935,​0.74307,​0.73654,​0.72976,​0.72274,​0.71548,​0.70799,​0.70027,​0.69231,​0.68413,​0.67572,​0.66709,​0.65824,​0.64917,​0.63987,​0.63036,​0.62063,​0.61069,​0.60053,​0.59015,​0.57955,​0.56873,​0.5577,​0.5224,​0.52239,​0.52235,​0.5222,​0.52192,​0.52154,​0.52112,​0.52072,​0.52035,​0.52004,​0.51976,​0.51951,​0.51928,​0.51907,​0.51887,​0.51867,​0.51849,​0.51832,​0.51816,​0.51801,​0.51788,​0.51775,​0.51763,​0.51752,​0.51741,​0.51731,​0.51722,​0.51714,​0.51706,​0.51698,​0.51691,​0.51685,​0.51679,​0.51673,​0.51668,​0.51663,​0.51658,​0.51654,​0.5165,​0.51646,​0.51643,​0.5164,​0.51637,​0.51634,​0.51631,​0.51629,​0.51626,​0.51624,​0.51622,​0.5162,​0.51619,​0.51617,​0.51615,​0.51614,​0.51613,​0.51611,​0.5161,​0.51609,​0.51608,​0.51607,​0.51606,​0.51605,​0.51605,​0.51604,​0.51603,​0.51603,​0.51602,​0.51601,​0.51601,​0.516,​0.516,​0.516,​0.51599,​0.51599,​0.51599,​0.51598,​0.51598,​0.51598,​0.51597,​0.51597,​0.51597,​0.51597,​0.51597,​0.51596,​0.51596,​0.51596,​0.51596,​0.51596,​0.51596,​0.51595,​0.51595,​0.51595,​0.51595,​0.51595,​0.51595,​0.51595,​0.51595,​0.51595,​0.51595,​0.51595,​0.51595,​0.51595,​0.51595,​0.51595,​0.51597,​0.516,​0.51602,​0.51605,​0.51607,​0.51609,​0.51611,​0.51612,​0.51614,​0.51615,​0.51616,​0.51618,​0.51619,​0.5162,​0.51621,​0.51622,​0.51622,​0.51623,​0.51624,​0.51625,​0.51625,​0.51626,​0.51627,​0.51627,​0.51628,​0.51628,​0.51628,​0.51629,​0.51629,​0.5163,​0.5163,​0.5163,​0.51631,​0.51631,​0.51631,​0.51631,​0.51631,​0.51632,​0.51632,​0.51632,​0.51632,​0.51632,​0.51633,​0.51633,​0.51633,​0.51633,​0.51633,​0.51633,​0.51633,​0.51633,​0.51633,​0.51633,​0.51634,​0.51634,​0.51634,​0.51634,​0.51634,​0.51634,​0.51634,​0.51634,​0.51634,​0.51634,​0.51634,​0.51634,​0.51634,​0.51634,​0.51634,​0.51634,​0.51634,​0.51634,​0.51634,​0.51634,​0.51634,​0.51634,​0.51634,​0.51634,​0.51634,​0.51634,​0.51634,​0.51634,​0.51634,​0.51634,​0.51634,​0.51634,​0.51634,​0.51634,​0.51634,​0.51634,​0.51634,​0.51634,​0.51634,​0.51634,​0.51634,​0.51634,​0.51634,​0.51634};​ // 
 +  float hipPr_loc [] = {-1.15,​0,​-0.52886,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.53511,​-0.5351,​-0.5351,​-0.5351,​-0.5351,​-0.5351,​-0.5351,​-0.5351,​-0.5351,​-0.5351,​-0.5351,​-0.5351,​-0.5351,​-0.5351,​-0.5351,​-0.5351,​-0.5351,​-0.5351,​-0.5351,​-0.5351,​-0.5351,​-0.5351,​-0.5351,​-0.5351,​-0.5351,​-0.5351,​-0.5351,​-0.5351,​-0.5351,​-0.5351,​-0.5351,​-0.5351,​-0.5351,​-0.5351,​-0.5351,​-0.5351,​-0.5351,​-0.5351,​-0.5351,​-0.5351,​-0.5351,​-0.5351,​-0.5351,​-0.5351,​-0.5351,​-0.5351,​-0.5351,​-0.5351,​-0.5351,​-0.5351,​-0.53509,​-0.53509,​-0.53509,​-0.53509,​-0.53509,​-0.53509,​-0.53509,​-0.53509,​-0.53509,​-0.53509,​-0.53508,​-0.53508,​-0.53508,​-0.53508,​-0.53508,​-0.53508,​-0.53507,​-0.53507,​-0.53507,​-0.53507,​-0.53506,​-0.53506,​-0.53506,​-0.53505,​-0.53505,​-0.53505,​-0.53504,​-0.53504,​-0.53503,​-0.53503,​-0.53502,​-0.53501,​-0.53501,​-0.535,​-0.53499,​-0.53499,​-0.53498,​-0.53497,​-0.53496,​-0.5351,​-0.5351,​-0.54658,​-0.55784,​-0.56888,​-0.57969,​-0.59029,​-0.60067,​-0.61084,​-0.62079,​-0.63053,​-0.64005,​-0.64935,​-0.65844,​-0.66731,​-0.67596,​-0.6844,​-0.69261,​-0.70059,​-0.70835,​-0.71588,​-0.72318,​-0.73024,​-0.73707,​-0.74366,​-0.75,​-0.75609,​-0.76193,​-0.76752,​-0.77285,​-0.77791,​-0.7827,​-0.78722,​-0.79146,​-0.79542,​-0.7991,​-0.80249,​-0.80559,​-0.80839,​-0.81089,​-0.81309,​-0.81498,​-0.81657,​-0.81786,​-0.81883,​-0.8195,​-0.81985,​-0.8199,​-0.81964,​-0.81908,​-0.81821,​-0.81705,​-0.81559,​-0.81384,​-0.8118,​-0.80948,​-0.80688,​-0.80401,​-0.80088,​-0.7975,​-0.79386,​-0.78999,​-0.78588,​-0.78155,​-0.777,​-0.77224,​-0.76728,​-0.76213,​-0.7568,​-0.75129,​-0.74561,​-0.73977,​-0.73378,​-0.72765,​-0.72138,​-0.71498,​-0.70846,​-0.70182,​-0.69507,​-0.68821,​-0.68125,​-0.6742,​-0.66706,​-0.65983,​-0.65251,​-0.64511,​-0.63764,​-0.63009,​-0.62247,​-0.61478,​-0.60702,​-0.5992,​-0.59131,​-0.58336,​-0.57534,​-0.56724,​-0.55905,​-0.55075,​-0.5423,​-0.53367,​-0.36556,​-0.66594,​-0.65882,​-0.65168,​-0.6447,​-0.63806,​-0.63182,​-0.62596,​-0.62047,​-0.6153,​-0.61041,​-0.60577,​-0.60137,​-0.59721,​-0.59327,​-0.58956,​-0.58607,​-0.58278,​-0.57969,​-0.57678,​-0.57404,​-0.57147,​-0.56904,​-0.56676,​-0.56462,​-0.5626,​-0.56071,​-0.55892,​-0.55724,​-0.55565,​-0.55416,​-0.55275,​-0.55142,​-0.55016,​-0.54897,​-0.54784,​-0.54677,​-0.54575,​-0.54478,​-0.54386,​-0.54297,​-0.54212,​-0.5413,​-0.5405,​-0.53974,​-0.53899,​-0.53826,​-0.53754,​-0.53684,​-0.53614,​-0.53545,​-0.53475,​-0.53406,​-0.53336,​-0.53265,​-0.53192,​-0.53118,​-0.53043,​-0.52964,​-0.52884,​-0.528,​-0.52712,​-0.52621,​-0.52525,​-0.52425,​-0.52319,​-0.52207,​-0.52089,​-0.51964,​-0.51831,​-0.5169,​-0.5154,​-0.5138,​-0.51209,​-0.51027,​-0.50832,​-0.50624,​-0.50402,​-0.50163,​-0.49907,​-0.49633,​-0.49339,​-0.49024,​-0.48685,​-0.48322,​-0.47931,​-0.4751,​-0.47058,​-0.4657,​-0.46044,​-0.45476,​-0.44861,​-0.44195,​-0.43473,​-0.42689,​-0.4184,​-0.40921,​-0.39932,​-0.38873,​-0.37752,​-0.52476,​-0.51287,​-0.52184,​-0.53051,​-0.53895,​-0.54726,​-0.5555,​-0.56371,​-0.5719,​-0.58007,​-0.58821,​-0.59633,​-0.60441,​-0.61248,​-0.62053,​-0.62856,​-0.63658,​-0.64459,​-0.65259,​-0.66058,​-0.66854,​-0.67647,​-0.68437,​-0.69223,​-0.70004,​-0.70778,​-0.71545,​-0.72303,​-0.73051,​-0.73787,​-0.7451,​-0.75218,​-0.75909,​-0.76582,​-0.77233,​-0.77863,​-0.78468,​-0.79046,​-0.79596,​-0.80116,​-0.80603,​-0.81056,​-0.81473,​-0.81853,​-0.82193,​-0.82493,​-0.82751,​-0.82966,​-0.83137,​-0.83263,​-0.83344,​-0.83379,​-0.83369,​-0.83313,​-0.83212,​-0.83066,​-0.82875,​-0.82641,​-0.82365,​-0.82049,​-0.81692,​-0.81297,​-0.80866,​-0.80401,​-0.79902,​-0.79372,​-0.78812,​-0.78225,​-0.77613,​-0.76979,​-0.76323,​-0.75648,​-0.74956,​-0.74248,​-0.73525,​-0.7279,​-0.72044,​-0.71289,​-0.70525,​-0.69754,​-0.68976,​-0.68194,​-0.67407,​-0.66617,​-0.65823,​-0.65027,​-0.64228,​-0.63428,​-0.62625,​-0.6182,​-0.61011,​-0.60195,​-0.59374,​-0.58554,​-0.57734,​-0.56912,​-0.56084,​-0.55246,​-0.54395,​-0.53526,​-0.66886,​-0.66185,​-0.6546,​-0.64721,​-0.6399,​-0.63284,​-0.62614,​-0.61985,​-0.61395,​-0.60841,​-0.60319,​-0.59825,​-0.59358,​-0.58916,​-0.58498,​-0.58104,​-0.57733,​-0.57384,​-0.57056,​-0.56748,​-0.56459,​-0.56188,​-0.55933,​-0.55694,​-0.5547,​-0.5526,​-0.55064,​-0.54879,​-0.54707,​-0.54545,​-0.54394,​-0.54252,​-0.54119,​-0.53995,​-0.53879,​-0.53771,​-0.53669,​-0.53574,​-0.53485,​-0.53402,​-0.53325,​-0.53252,​-0.53184,​-0.53121,​-0.53061,​-0.53006,​-0.52954,​-0.52906,​-0.52861,​-0.52819,​-0.52779,​-0.52742,​-0.52708,​-0.52676,​-0.52646,​-0.52618,​-0.52591,​-0.52567,​-0.52544,​-0.52523,​-0.52503,​-0.52484,​-0.52467,​-0.52451,​-0.52435,​-0.52421,​-0.52408,​-0.52396,​-0.52384,​-0.52373,​-0.52363,​-0.52354,​-0.52345,​-0.52337,​-0.52329,​-0.52322,​-0.52316,​-0.52309,​-0.52303,​-0.52298,​-0.52293,​-0.52288,​-0.52284,​-0.5228,​-0.52276,​-0.52272,​-0.52269,​-0.52266,​-0.52263,​-0.5226,​-0.52258,​-0.52255,​-0.52253,​-0.52251,​-0.52249,​-0.52247,​-0.52245,​-0.52244,​-0.52242,​-0.52241,​-0.5224,​-0.52239,​-0.52235,​-0.5222,​-0.52192,​-0.52154,​-0.52112,​-0.52072,​-0.52035,​-0.52004,​-0.51976,​-0.51951,​-0.51928,​-0.51907,​-0.51887,​-0.51867,​-0.51849,​-0.51832,​-0.51816,​-0.51801,​-0.51788,​-0.51775,​-0.51763,​-0.51752,​-0.51741,​-0.51731,​-0.51722,​-0.51714,​-0.51706,​-0.51698,​-0.51691,​-0.51685,​-0.51679,​-0.51673,​-0.51668,​-0.51663,​-0.51658,​-0.51654,​-0.5165,​-0.51646,​-0.51643,​-0.5164,​-0.51637,​-0.51634,​-0.51631,​-0.51629,​-0.51626,​-0.51624,​-0.51622,​-0.5162,​-0.51619,​-0.51617,​-0.51615,​-0.51614,​-0.51613,​-0.51611,​-0.5161,​-0.51609,​-0.51608,​-0.51607,​-0.51606,​-0.51605,​-0.51605,​-0.51604,​-0.51603,​-0.51603,​-0.51602,​-0.51601,​-0.51601,​-0.516,​-0.516,​-0.516,​-0.51599,​-0.51599,​-0.51599,​-0.51598,​-0.51598,​-0.51598,​-0.51597,​-0.51597,​-0.51597,​-0.51597,​-0.51597,​-0.51596,​-0.51596,​-0.51596,​-0.51596,​-0.51596,​-0.51596,​-0.51595,​-0.51595,​-0.51595,​-0.51595,​-0.51595,​-0.51595,​-0.51595,​-0.51595,​-0.51595,​-0.51595,​-0.51595,​-0.51595,​-0.51595,​-0.51595,​-0.51595,​-0.51597,​-0.516,​-0.51602,​-0.51605,​-0.51607,​-0.51609,​-0.51611,​-0.51612,​-0.51614,​-0.51615,​-0.51616,​-0.51618,​-0.51619,​-0.5162,​-0.51621,​-0.51622,​-0.51622,​-0.51623,​-0.51624,​-0.51625,​-0.51625,​-0.51626,​-0.51627,​-0.51627,​-0.51628,​-0.51628,​-0.51628,​-0.51629,​-0.51629,​-0.5163,​-0.5163,​-0.5163,​-0.51631,​-0.51631,​-0.51631,​-0.51631,​-0.51631,​-0.51632,​-0.51632,​-0.51632,​-0.51632,​-0.51632,​-0.51633,​-0.51633,​-0.51633,​-0.51633,​-0.51633,​-0.51633,​-0.51633,​-0.51633,​-0.51633,​-0.51633,​-0.51634,​-0.51634,​-0.51634,​-0.51634,​-0.51634,​-0.51634,​-0.51634,​-0.51634,​-0.51634,​-0.51634,​-0.51634,​-0.51634,​-0.51634,​-0.51634,​-0.51634,​-0.51634,​-0.51634,​-0.51634,​-0.51634,​-0.51634,​-0.51634,​-0.51634,​-0.51634,​-0.51634,​-0.51634,​-0.51634,​-0.51634,​-0.51634,​-0.51634,​-0.51634,​-0.51634,​-0.51634,​-0.51634,​-0.51634,​-0.51634,​-0.51634,​-0.51634,​-0.51634,​-0.51634,​-0.51634,​-0.51634,​-0.51634,​-0.51634,​-0.51634};​
 +  float hipRl_loc [] ={0,​0,​0,​0,​0,​7.2125e-11,​5.8885e-10,​2.0211e-09,​4.7374e-09,​8.9419e-09,​1.47e-08,​2.1997e-08,​3.08e-08,​4.109e-08,​5.2878e-08,​6.6207e-08,​8.1145e-08,​9.7771e-08,​1.1617e-07,​1.3645e-07,​1.5869e-07,​1.83e-07,​2.095e-07,​2.3832e-07,​2.6958e-07,​3.0343e-07,​3.4004e-07,​3.7957e-07,​4.2222e-07,​4.6818e-07,​5.1768e-07,​5.7094e-07,​6.2821e-07,​6.8929e-07,​7.5292e-07,​8.2094e-07,​8.9513e-07,​9.7621e-07,​1.0643e-06,​1.1594e-06,​1.2614e-06,​1.3706e-06,​1.4875e-06,​1.6124e-06,​1.7463e-06,​1.8896e-06,​2.0432e-06,​2.2078e-06,​2.3841e-06,​2.5731e-06,​2.7755e-06,​2.9924e-06,​3.2248e-06,​3.4736e-06,​3.7402e-06,​4.0258e-06,​4.3317e-06,​4.6594e-06,​5.0104e-06,​5.3864e-06,​5.7892e-06,​6.2206e-06,​6.6791e-06,​7.1557e-06,​7.6638e-06,​8.2165e-06,​8.8192e-06,​9.4728e-06,​1.0177e-05,​1.0932e-05,​1.1739e-05,​1.2601e-05,​1.3523e-05,​1.451e-05,​1.5565e-05,​1.6696e-05,​1.7907e-05,​1.9204e-05,​2.0593e-05,​2.2081e-05,​2.3674e-05,​2.538e-05,​2.7208e-05,​2.9165e-05,​3.1261e-05,​3.3507e-05,​3.5911e-05,​3.8487e-05,​4.1245e-05,​4.4199e-05,​4.7364e-05,​5.0753e-05,​5.4383e-05,​5.8272e-05,​6.2436e-05,​6.6897e-05,​7.1674e-05,​7.6792e-05,​8.2272e-05,​8.8143e-05,​9.4431e-05,​0.00010117,​0.00010838,​0.00011611,​0.00012438,​0.00013325,​0.00014274,​0.0001529,​0.00016379,​0.00017545,​0.00018793,​0.0002013,​0.00021562,​0.00023095,​0.00024737,​0.00026496,​0.0002838,​0.00030397,​0.00032558,​0.00034872,​0.00037331,​0.00039887,​0.00042612,​0.00045576,​0.00048807,​0.00052311,​0.00056086,​0.00060133,​0.00064459,​0.00069081,​0.00074022,​0.00079308,​0.00084966,​0.00091025,​0.00097514,​0.0010446,​0.0011191,​0.0011988,​0.0012841,​0.0013756,​0.0014735,​0.0015783,​0.0016906,​0.0018109,​0.0019397,​0.0020776,​0.0022254,​0.0023836,​0.0025531,​0.0027346,​0.002929,​0.0031372,​0.0033602,​0.0035991,​0.0038549,​0.0041289,​0.0044224,​0.0047367,​0.0050733,​0.0054339,​0.00582,​0.0062337,​0.0066766,​0.0071511,​0.0076593,​0.0082035,​0.0087865,​0.0094108,​0.01008,​0.010796,​0.011563,​0.012384,​0.013264,​0.014207,​0.015216,​0.016297,​0.017455,​0.018695,​0.020023,​0.021446,​0.022969,​0.024601,​0.026348,​0.028218,​0.030221,​0.032365,​0.03466,​0.037117,​0.039747,​0.042563,​0.045579,​0.048811,​0.052276,​0.055996,​0.059991,​0.064285,​0.068904,​0.073869,​0.079199,​0.084904,​0.090979,​0.097401,​0.10412,​0.11107,​0.11816,​0.12528,​0.13222,​0.13881,​0.14493,​0.15056,​0.15572,​0.16047,​0.16487,​0.16897,​0.17279,​0.17637,​0.17971,​0.18282,​0.18571,​0.18841,​0.19092,​0.19325,​0.19541,​0.19743,​0.19929,​0.20103,​0.20264,​0.20413,​0.20552,​0.20679,​0.20798,​0.20906,​0.21007,​0.21099,​0.21183,​0.2126,​0.2133,​0.21394,​0.21452,​0.21504,​0.21549,​0.21589,​0.21623,​0.21652,​0.21675,​0.21694,​0.21708,​0.21718,​0.21722,​0.21722,​0.21717,​0.21707,​0.21693,​0.21673,​0.21649,​0.21619,​0.21584,​0.21544,​0.21498,​0.21447,​0.21389,​0.21325,​0.21255,​0.21177,​0.21092,​0.20999,​0.20898,​0.20789,​0.2067,​0.20541,​0.20402,​0.20252,​0.2009,​0.19915,​0.19727,​0.19525,​0.19307,​0.19073,​0.18821,​0.1855,​0.1826,​0.17947,​0.17612,​0.17252,​0.16865,​0.1645,​0.16005,​0.15527,​0.15014,​0.14464,​0.13873,​0.13239,​0.12556,​0.11822,​0.11032,​0.1018,​0.092614,​0.082712,​0.072054,​0.060618,​0.048408,​0.03547,​0.021896,​0.0078303,​-0.0065455,​-0.020977,​-0.034995,​-0.048198,​-0.060389,​-0.071553,​-0.081781,​-0.091208,​-0.099954,​-0.10811,​-0.11574,​-0.12287,​-0.12953,​-0.13574,​-0.14153,​-0.14691,​-0.15192,​-0.15657,​-0.16091,​-0.16494,​-0.1687,​-0.17219,​-0.17543,​-0.17845,​-0.18126,​-0.18386,​-0.18628,​-0.18852,​-0.1906,​-0.19252,​-0.1943,​-0.19594,​-0.19745,​-0.19885,​-0.20012,​-0.20129,​-0.20236,​-0.20333,​-0.20421,​-0.205,​-0.20571,​-0.20633,​-0.20688,​-0.20735,​-0.20775,​-0.20808,​-0.20833,​-0.20852,​-0.20865,​-0.2087,​-0.20869,​-0.20861,​-0.20847,​-0.20825,​-0.20797,​-0.20762,​-0.2072,​-0.2067,​-0.20613,​-0.20548,​-0.20474,​-0.20392,​-0.20302,​-0.20201,​-0.20091,​-0.19971,​-0.19839,​-0.19696,​-0.1954,​-0.19372,​-0.19189,​-0.18992,​-0.18779,​-0.18549,​-0.18301,​-0.18034,​-0.17747,​-0.17438,​-0.17105,​-0.16748,​-0.16363,​-0.15951,​-0.15507,​-0.15031,​-0.1452,​-0.13971,​-0.13382,​-0.12748,​-0.12067,​-0.11333,​-0.10544,​-0.096923,​-0.087742,​-0.077845,​-0.067192,​-0.055759,​-0.043554,​-0.03062,​-0.017052,​-0.0029928,​0.011375,​0.02578,​0.039682,​0.052666,​0.064566,​0.075411,​0.085333,​0.094483,​0.10299,​0.11093,​0.11837,​0.12533,​0.13183,​0.13789,​0.14353,​0.14878,​0.15366,​0.1582,​0.16243,​0.16636,​0.17002,​0.17342,​0.17658,​0.17952,​0.18226,​0.18479,​0.18715,​0.18933,​0.19135,​0.19323,​0.19496,​0.19655,​0.19803,​0.19938,​0.20062,​0.20176,​0.2028,​0.20374,​0.20459,​0.20535,​0.20605,​0.20666,​0.20719,​0.20765,​0.20803,​0.20834,​0.20857,​0.20875,​0.20885,​0.20889,​0.20887,​0.20878,​0.20862,​0.2084,​0.20811,​0.20775,​0.20732,​0.20681,​0.20623,​0.20557,​0.20483,​0.204,​0.20309,​0.20208,​0.20098,​0.19982,​0.19856,​0.19717,​0.19562,​0.19393,​0.19208,​0.19009,​0.18793,​0.18562,​0.18313,​0.18045,​0.17757,​0.17447,​0.17113,​0.16755,​0.1637,​0.15956,​0.15512,​0.15035,​0.14523,​0.13973,​0.13383,​0.12749,​0.12067,​0.11339,​0.10579,​0.097632,​0.088698,​0.078888,​0.068194,​0.056651,​0.044317,​0.03127,​0.017615,​0.0034929,​-0.010921,​-0.025366,​-0.03931,​-0.052339,​-0.064289,​-0.075187,​-0.08516,​-0.094359,​-0.10291,​-0.1109,​-0.11838,​-0.12538,​-0.13192,​-0.13802,​-0.14371,​-0.14899,​-0.15392,​-0.1585,​-0.16276,​-0.16674,​-0.17044,​-0.17389,​-0.1771,​-0.18009,​-0.18288,​-0.18547,​-0.18788,​-0.19012,​-0.1922,​-0.19414,​-0.19594,​-0.19761,​-0.19916,​-0.20059,​-0.20192,​-0.20315,​-0.20429,​-0.20533,​-0.2063,​-0.20718,​-0.20799,​-0.20872,​-0.20939,​-0.21,​-0.21055,​-0.21103,​-0.21146,​-0.21184,​-0.21216,​-0.21243,​-0.21266,​-0.21283,​-0.21296,​-0.21304,​-0.21307,​-0.21306,​-0.213,​-0.21289,​-0.21274,​-0.21254,​-0.21229,​-0.21199,​-0.21163,​-0.21123,​-0.21076,​-0.21025,​-0.20967,​-0.20902,​-0.20832,​-0.20754,​-0.20669,​-0.20576,​-0.20475,​-0.20366,​-0.20247,​-0.20119,​-0.1998,​-0.1983,​-0.19669,​-0.19494,​-0.19307,​-0.19105,​-0.18889,​-0.18656,​-0.18405,​-0.18136,​-0.17847,​-0.17536,​-0.17202,​-0.16842,​-0.16455,​-0.16037,​-0.15586,​-0.151,​-0.14577,​-0.14015,​-0.13415,​-0.12779,​-0.12111,​-0.11418,​-0.10708,​-0.099966,​-0.093167,​-0.086907,​-0.081238,​-0.076106,​-0.071414,​-0.067069,​-0.063004,​-0.059182,​-0.055586,​-0.052209,​-0.049046,​-0.046091,​-0.043335,​-0.040766,​-0.038369,​-0.036133,​-0.034045,​-0.032096,​-0.030274,​-0.028574,​-0.026985,​-0.025502,​-0.024117,​-0.022823,​-0.021616,​-0.020489,​-0.019437,​-0.018454,​-0.017537,​-0.01668,​-0.01588,​-0.015134,​-0.014436,​-0.013785,​-0.013178,​-0.01261,​-0.012081,​-0.011586,​-0.011124,​-0.010693,​-0.010291,​-0.0099147,​-0.0095639,​-0.0092363,​-0.0089304,​-0.0086448,​-0.0083782,​-0.0081293,​-0.0078969,​-0.0076799,​-0.0074773,​-0.0072882,​-0.0071116,​-0.0069467,​-0.0067928,​-0.0066491,​-0.0065149,​-0.0063896,​-0.0062727,​-0.0061635,​-0.0060615,​-0.0059663,​-0.0058775,​-0.0057945,​-0.005717,​-0.0056447,​-0.0055772,​-0.0055141,​-0.0054553,​-0.0054003,​-0.005349,​-0.0053011,​-0.0052564,​-0.0052147,​-0.0051757,​-0.0051393,​-0.0051053,​-0.0050736,​-0.0050439,​-0.0050163,​-0.0049905,​-0.0049664,​-0.0049439,​-0.0049228,​-0.0049032,​-0.0048849,​-0.0048678,​-0.0048518,​-0.0048369,​-0.004823,​-0.00481,​-0.0047979,​-0.0047866,​-0.004776,​-0.0047661,​-0.0047569,​-0.0047483,​-0.0047403,​-0.0047328,​-0.0047092,​-0.0046015,​-0.0043931,​-0.0041152,​-0.0038118,​-0.0035181,​-0.0032533,​-0.003022,​-0.00282,​-0.0026397,​-0.0024743,​-0.0023192,​-0.0021722,​-0.0020327,​-0.0019009,​-0.0017772,​-0.0016617,​-0.0015541,​-0.001454,​-0.0013608,​-0.001274,​-0.0011929,​-0.0011172,​-0.0010464,​-0.00098035,​-0.00091861,​-0.00086097,​-0.00080715,​-0.00075691,​-0.00071001,​-0.00066623,​-0.00062536,​-0.0005872,​-0.00055157,​-0.00051831,​-0.00048725,​-0.00045825,​-0.00043118,​-0.0004059,​-0.0003823,​-0.00036027,​-0.0003397,​-0.00032049,​-0.00030256,​-0.00028582,​-0.00027019,​-0.0002556,​-0.00024197,​-0.00022925,​-0.00021738,​-0.00020629,​-0.00019594,​-0.00018627,​-0.00017725,​-0.00016882,​-0.00016096,​-0.00015361,​-0.00014676,​-0.00014036,​-0.00013438,​-0.0001288,​-0.00012359,​-0.00011873,​-0.00011419,​-0.00010995,​-0.00010599,​-0.00010229,​-9.8842e-05,​-9.5621e-05,​-9.2613e-05,​-8.9805e-05,​-8.7183e-05,​-8.4736e-05,​-8.245e-05,​-8.0317e-05,​-7.8325e-05,​-7.6465e-05,​-7.4728e-05,​-7.3107e-05,​-7.1594e-05,​-7.0181e-05,​-6.8861e-05,​-6.763e-05,​-6.6479e-05,​-6.5406e-05,​-6.4403e-05,​-6.3467e-05,​-6.2594e-05,​-6.1778e-05,​-6.1016e-05,​-6.0305e-05,​-5.9641e-05,​-5.9021e-05,​-5.8442e-05,​-5.7902e-05,​-5.7397e-05,​-5.6926e-05,​-5.6487e-05,​-5.6076e-05};​
 +  float hipRr_loc [] = {0,​0,​0,​0,​0,​7.2125e-11,​5.8885e-10,​2.0211e-09,​4.7374e-09,​8.9419e-09,​1.47e-08,​2.1997e-08,​3.08e-08,​4.109e-08,​5.2878e-08,​6.6207e-08,​8.1145e-08,​9.7771e-08,​1.1617e-07,​1.3645e-07,​1.5869e-07,​1.83e-07,​2.095e-07,​2.3832e-07,​2.6958e-07,​3.0343e-07,​3.4004e-07,​3.7957e-07,​4.2222e-07,​4.6818e-07,​5.1768e-07,​5.7094e-07,​6.2821e-07,​6.8929e-07,​7.5292e-07,​8.2094e-07,​8.9513e-07,​9.7621e-07,​1.0643e-06,​1.1594e-06,​1.2614e-06,​1.3706e-06,​1.4875e-06,​1.6124e-06,​1.7463e-06,​1.8896e-06,​2.0432e-06,​2.2078e-06,​2.3841e-06,​2.5731e-06,​2.7755e-06,​2.9924e-06,​3.2248e-06,​3.4736e-06,​3.7402e-06,​4.0258e-06,​4.3317e-06,​4.6594e-06,​5.0104e-06,​5.3864e-06,​5.7892e-06,​6.2206e-06,​6.6791e-06,​7.1557e-06,​7.6638e-06,​8.2165e-06,​8.8192e-06,​9.4728e-06,​1.0177e-05,​1.0932e-05,​1.1739e-05,​1.2601e-05,​1.3523e-05,​1.451e-05,​1.5565e-05,​1.6696e-05,​1.7907e-05,​1.9204e-05,​2.0593e-05,​2.2081e-05,​2.3674e-05,​2.538e-05,​2.7208e-05,​2.9165e-05,​3.1261e-05,​3.3507e-05,​3.5911e-05,​3.8487e-05,​4.1245e-05,​4.4199e-05,​4.7364e-05,​5.0753e-05,​5.4383e-05,​5.8272e-05,​6.2436e-05,​6.6897e-05,​7.1674e-05,​7.6792e-05,​8.2272e-05,​8.8143e-05,​9.4431e-05,​0.00010117,​0.00010838,​0.00011611,​0.00012438,​0.00013325,​0.00014274,​0.0001529,​0.00016379,​0.00017545,​0.00018793,​0.0002013,​0.00021562,​0.00023095,​0.00024737,​0.00026496,​0.0002838,​0.00030397,​0.00032558,​0.00034872,​0.00037331,​0.00039887,​0.00042612,​0.00045576,​0.00048807,​0.00052311,​0.00056086,​0.00060133,​0.00064459,​0.00069081,​0.00074022,​0.00079308,​0.00084966,​0.00091025,​0.00097514,​0.0010446,​0.0011191,​0.0011988,​0.0012841,​0.0013756,​0.0014735,​0.0015783,​0.0016906,​0.0018109,​0.0019397,​0.0020776,​0.0022254,​0.0023836,​0.0025531,​0.0027346,​0.002929,​0.0031372,​0.0033602,​0.0035991,​0.0038549,​0.0041289,​0.0044224,​0.0047367,​0.0050733,​0.0054339,​0.00582,​0.0062337,​0.0066766,​0.0071511,​0.0076593,​0.0082035,​0.0087865,​0.0094108,​0.01008,​0.010796,​0.011563,​0.012384,​0.013264,​0.014207,​0.015216,​0.016297,​0.017455,​0.018695,​0.020023,​0.021446,​0.022969,​0.024601,​0.026348,​0.028218,​0.030221,​0.032365,​0.03466,​0.037117,​0.039747,​0.042563,​0.045579,​0.048811,​0.052276,​0.055996,​0.059991,​0.064285,​0.068904,​0.073869,​0.079199,​0.084904,​0.090979,​0.097401,​0.10412,​0.11107,​0.11816,​0.12528,​0.13222,​0.13881,​0.14493,​0.15056,​0.15572,​0.16047,​0.16487,​0.16897,​0.17279,​0.17637,​0.17971,​0.18282,​0.18571,​0.18841,​0.19092,​0.19325,​0.19541,​0.19743,​0.19929,​0.20103,​0.20264,​0.20413,​0.20552,​0.20679,​0.20798,​0.20906,​0.21007,​0.21099,​0.21183,​0.2126,​0.2133,​0.21394,​0.21452,​0.21504,​0.21549,​0.21589,​0.21623,​0.21652,​0.21675,​0.21694,​0.21708,​0.21718,​0.21722,​0.21722,​0.21717,​0.21707,​0.21693,​0.21673,​0.21649,​0.21619,​0.21584,​0.21544,​0.21498,​0.21447,​0.21389,​0.21325,​0.21255,​0.21177,​0.21092,​0.20999,​0.20898,​0.20789,​0.2067,​0.20541,​0.20402,​0.20252,​0.2009,​0.19915,​0.19727,​0.19525,​0.19307,​0.19073,​0.18821,​0.1855,​0.1826,​0.17947,​0.17612,​0.17252,​0.16865,​0.1645,​0.16005,​0.15527,​0.15014,​0.14464,​0.13873,​0.13239,​0.12556,​0.11822,​0.11032,​0.1018,​0.092614,​0.082712,​0.072054,​0.060618,​0.048408,​0.03547,​0.021896,​0.0078303,​-0.0065455,​-0.020977,​-0.034995,​-0.048198,​-0.060389,​-0.071553,​-0.081781,​-0.091208,​-0.099954,​-0.10811,​-0.11574,​-0.12287,​-0.12953,​-0.13574,​-0.14153,​-0.14691,​-0.15192,​-0.15657,​-0.16091,​-0.16494,​-0.1687,​-0.17219,​-0.17543,​-0.17845,​-0.18126,​-0.18386,​-0.18628,​-0.18852,​-0.1906,​-0.19252,​-0.1943,​-0.19594,​-0.19745,​-0.19885,​-0.20012,​-0.20129,​-0.20236,​-0.20333,​-0.20421,​-0.205,​-0.20571,​-0.20633,​-0.20688,​-0.20735,​-0.20775,​-0.20808,​-0.20833,​-0.20852,​-0.20865,​-0.2087,​-0.20869,​-0.20861,​-0.20847,​-0.20825,​-0.20797,​-0.20762,​-0.2072,​-0.2067,​-0.20613,​-0.20548,​-0.20474,​-0.20392,​-0.20302,​-0.20201,​-0.20091,​-0.19971,​-0.19839,​-0.19696,​-0.1954,​-0.19372,​-0.19189,​-0.18992,​-0.18779,​-0.18549,​-0.18301,​-0.18034,​-0.17747,​-0.17438,​-0.17105,​-0.16748,​-0.16363,​-0.15951,​-0.15507,​-0.15031,​-0.1452,​-0.13971,​-0.13382,​-0.12748,​-0.12067,​-0.11333,​-0.10544,​-0.096923,​-0.087742,​-0.077845,​-0.067192,​-0.055759,​-0.043554,​-0.03062,​-0.017052,​-0.0029928,​0.011375,​0.02578,​0.039682,​0.052666,​0.064566,​0.075411,​0.085333,​0.094483,​0.10299,​0.11093,​0.11837,​0.12533,​0.13183,​0.13789,​0.14353,​0.14878,​0.15366,​0.1582,​0.16243,​0.16636,​0.17002,​0.17342,​0.17658,​0.17952,​0.18226,​0.18479,​0.18715,​0.18933,​0.19135,​0.19323,​0.19496,​0.19655,​0.19803,​0.19938,​0.20062,​0.20176,​0.2028,​0.20374,​0.20459,​0.20535,​0.20605,​0.20666,​0.20719,​0.20765,​0.20803,​0.20834,​0.20857,​0.20875,​0.20885,​0.20889,​0.20887,​0.20878,​0.20862,​0.2084,​0.20811,​0.20775,​0.20732,​0.20681,​0.20623,​0.20557,​0.20483,​0.204,​0.20309,​0.20208,​0.20098,​0.19982,​0.19856,​0.19717,​0.19562,​0.19393,​0.19208,​0.19009,​0.18793,​0.18562,​0.18313,​0.18045,​0.17757,​0.17447,​0.17113,​0.16755,​0.1637,​0.15956,​0.15512,​0.15035,​0.14523,​0.13973,​0.13383,​0.12749,​0.12067,​0.11339,​0.10579,​0.097632,​0.088698,​0.078888,​0.068194,​0.056651,​0.044317,​0.03127,​0.017615,​0.0034929,​-0.010921,​-0.025366,​-0.03931,​-0.052339,​-0.064289,​-0.075187,​-0.08516,​-0.094359,​-0.10291,​-0.1109,​-0.11838,​-0.12538,​-0.13192,​-0.13802,​-0.14371,​-0.14899,​-0.15392,​-0.1585,​-0.16276,​-0.16674,​-0.17044,​-0.17389,​-0.1771,​-0.18009,​-0.18288,​-0.18547,​-0.18788,​-0.19012,​-0.1922,​-0.19414,​-0.19594,​-0.19761,​-0.19916,​-0.20059,​-0.20192,​-0.20315,​-0.20429,​-0.20533,​-0.2063,​-0.20718,​-0.20799,​-0.20872,​-0.20939,​-0.21,​-0.21055,​-0.21103,​-0.21146,​-0.21184,​-0.21216,​-0.21243,​-0.21266,​-0.21283,​-0.21296,​-0.21304,​-0.21307,​-0.21306,​-0.213,​-0.21289,​-0.21274,​-0.21254,​-0.21229,​-0.21199,​-0.21163,​-0.21123,​-0.21076,​-0.21025,​-0.20967,​-0.20902,​-0.20832,​-0.20754,​-0.20669,​-0.20576,​-0.20475,​-0.20366,​-0.20247,​-0.20119,​-0.1998,​-0.1983,​-0.19669,​-0.19494,​-0.19307,​-0.19105,​-0.18889,​-0.18656,​-0.18405,​-0.18136,​-0.17847,​-0.17536,​-0.17202,​-0.16842,​-0.16455,​-0.16037,​-0.15586,​-0.151,​-0.14577,​-0.14015,​-0.13415,​-0.12779,​-0.12111,​-0.11418,​-0.10708,​-0.099966,​-0.093167,​-0.086907,​-0.081238,​-0.076106,​-0.071414,​-0.067069,​-0.063004,​-0.059182,​-0.055586,​-0.052209,​-0.049046,​-0.046091,​-0.043335,​-0.040766,​-0.038369,​-0.036133,​-0.034045,​-0.032096,​-0.030274,​-0.028574,​-0.026985,​-0.025502,​-0.024117,​-0.022823,​-0.021616,​-0.020489,​-0.019437,​-0.018454,​-0.017537,​-0.01668,​-0.01588,​-0.015134,​-0.014436,​-0.013785,​-0.013178,​-0.01261,​-0.012081,​-0.011586,​-0.011124,​-0.010693,​-0.010291,​-0.0099147,​-0.0095639,​-0.0092363,​-0.0089304,​-0.0086448,​-0.0083782,​-0.0081293,​-0.0078969,​-0.0076799,​-0.0074773,​-0.0072882,​-0.0071116,​-0.0069467,​-0.0067928,​-0.0066491,​-0.0065149,​-0.0063896,​-0.0062727,​-0.0061635,​-0.0060615,​-0.0059663,​-0.0058775,​-0.0057945,​-0.005717,​-0.0056447,​-0.0055772,​-0.0055141,​-0.0054553,​-0.0054003,​-0.005349,​-0.0053011,​-0.0052564,​-0.0052147,​-0.0051757,​-0.0051393,​-0.0051053,​-0.0050736,​-0.0050439,​-0.0050163,​-0.0049905,​-0.0049664,​-0.0049439,​-0.0049228,​-0.0049032,​-0.0048849,​-0.0048678,​-0.0048518,​-0.0048369,​-0.004823,​-0.00481,​-0.0047979,​-0.0047866,​-0.004776,​-0.0047661,​-0.0047569,​-0.0047483,​-0.0047403,​-0.0047328,​-0.0047092,​-0.0046015,​-0.0043931,​-0.0041152,​-0.0038118,​-0.0035181,​-0.0032533,​-0.003022,​-0.00282,​-0.0026397,​-0.0024743,​-0.0023192,​-0.0021722,​-0.0020327,​-0.0019009,​-0.0017772,​-0.0016617,​-0.0015541,​-0.001454,​-0.0013608,​-0.001274,​-0.0011929,​-0.0011172,​-0.0010464,​-0.00098035,​-0.00091861,​-0.00086097,​-0.00080715,​-0.00075691,​-0.00071001,​-0.00066623,​-0.00062536,​-0.0005872,​-0.00055157,​-0.00051831,​-0.00048725,​-0.00045825,​-0.00043118,​-0.0004059,​-0.0003823,​-0.00036027,​-0.0003397,​-0.00032049,​-0.00030256,​-0.00028582,​-0.00027019,​-0.0002556,​-0.00024197,​-0.00022925,​-0.00021738,​-0.00020629,​-0.00019594,​-0.00018627,​-0.00017725,​-0.00016882,​-0.00016096,​-0.00015361,​-0.00014676,​-0.00014036,​-0.00013438,​-0.0001288,​-0.00012359,​-0.00011873,​-0.00011419,​-0.00010995,​-0.00010599,​-0.00010229,​-9.8842e-05,​-9.5621e-05,​-9.2613e-05,​-8.9805e-05,​-8.7183e-05,​-8.4736e-05,​-8.245e-05,​-8.0317e-05,​-7.8325e-05,​-7.6465e-05,​-7.4728e-05,​-7.3107e-05,​-7.1594e-05,​-7.0181e-05,​-6.8861e-05,​-6.763e-05,​-6.6479e-05,​-6.5406e-05,​-6.4403e-05,​-6.3467e-05,​-6.2594e-05,​-6.1778e-05,​-6.1016e-05,​-6.0305e-05,​-5.9641e-05,​-5.9021e-05,​-5.8442e-05,​-5.7902e-05,​-5.7397e-05,​-5.6926e-05,​-5.6487e-05,​-5.6076e-05};​
 +  float x = 0;
 +  float anklel; ​
 +  float ankler; ​
 +  float footl; ​
 +  float footr;
 +  float kneel; ​
 +  float kneer;
 +  float hipPl; ​
 +  float hipPr;
 +  float hipRl; ​
 +  float hipRr;
 +//  for(int i= 0; i < 50; i++)
 +//  {
 +//    anklel_loc[i] = -anklel_loc[i];​
 +//    ankler_loc[i] = -ankler_loc[i];​
 +//    hipRl_loc[i] = -hipRl_loc[i];​
 +//    hipRr_loc[i] = -hipRr_loc[i];​
 +//    }
 +  myStep();
 +  for(int i= 0; i < NSERVOS; i++)
 +  {
 +    position = mServos[i]->​getPosition();​
 +    cout << i ;
 +    cout << "​["​ << position << "​]\n";​
 +  }
 +   
 +  while (1) {
 +    ​
 +    if (x<​2)  ​
 +    {
 +      footl = lip(x,​xp,​footl_loc);​
 +      footr = lip(x,​xp,​footr_loc);​
 +      kneel = lip(x,​xp,​kneel_loc);​
 +      kneer = lip(x,​xp,​kneer_loc);​
 +      hipPl = lip(x,​xp,​hipPl_loc);​
 +      hipPr = lip(x,​xp,​hipPr_loc);​
 +      mServos[15]->​setPosition(footl);​
 +      mServos[14]->​setPosition(footr);​
 +      mServos[13]->​setPosition(kneel);​
 +      mServos[12]->​setPosition(kneer);​
 +      mServos[11]->​setPosition(hipPl);​
 +      mServos[10]->​setPosition(hipPr);​
 +      ​
 +//    cout << y ;
 +//    position = mServos[0]->​getPosition();​
 +//    cout << "​["​ << position << "​]\n";​
 +//    if (position >= 2.1)
 +//          {sign = (-1);}
 +//        if (position <= 0)
 +//          {sign = (1);}
 +//    position = position + (sign)*0.1;
 +//    mServos[0]->​setPosition(y);​
 +//    x = x + 0.02;
 +    }
 +    else if (x<802)
 +    {
 +    footl = lip(x,​xp,​footl_loc);​
 +    footr = lip(x,​xp,​footr_loc);​
 +    kneel = lip(x,​xp,​kneel_loc);​
 +    kneer = lip(x,​xp,​kneer_loc);​
 +    hipPl = lip(x,​xp,​hipPl_loc);​
 +    hipPr = lip(x,​xp,​hipPr_loc);​
 +
 +          // hip swing movement
 +    anklel = lip(x,​xp,​anklel_loc);​
 +    ankler = lip(x,​xp,​ankler_loc);​
 +    hipRl = lip(x,​xp,​hipRl_loc);​
 +    hipRr = lip(x,​xp,​hipRr_loc);​
 +    ​
 +    cout << hipRr ;
 +    mServos[17]->​setPosition(anklel);​
 +    mServos[16]->​setPosition(ankler);​
 +    mServos[15]->​setPosition(footl);​
 +    mServos[14]->​setPosition(footr);​
 +    mServos[13]->​setPosition(kneel);​
 +    mServos[12]->​setPosition(kneer);​
 +    mServos[11]->​setPosition(hipPl);​
 +    mServos[10]->​setPosition(hipPr);​
 +    mServos[9]->​setPosition(hipRl);​
 +    mServos[8]->​setPosition(hipRr);​
 +    }
 +    if (x<2)
 +      x = x+ 0.01;
 +    else if(x<​501)
 +      x = x + 4;
 +    else
 +      x = 301;
 +    // step
 +    myStep();
 +  }
 +}
 +
 +float Symmetry::​lip(float x,float xp[],float yp[])
 +{
 +  float y=0;
 +  float xp0=0;
 +  float yp0=0;
 +  float xp1=0;
 +  float yp1=0;
 +  for (int i =0; i<=802; i++)
 +  {
 +    if (xp[i]<​=x)
 +    {
 +      xp0 = xp[i];
 +      yp0 = yp[i];
 +    }
 +    if (xp[i]>​x)
 +    {
 +      xp1 = xp[i];
 +      yp1 = yp[i];
 +      break;
 +    }
 +  }
 +  float m = (yp1-yp0)/​(xp1-xp0);​
 +  y = (yp0 +(m*(x-xp0)));​
 +  return (y);
 +}
 +
 +</​code>​
drexel_darwin_preview_control_webots.txt ยท Last modified: 2016/11/06 20:57 by dwallace