| #include "y2018/control_loops/python/arm_bounds.h" |
| |
| #include <CGAL/Exact_predicates_inexact_constructions_kernel.h> |
| #include <CGAL/Polygon_2_algorithms.h> |
| #include <CGAL/squared_distance_2.h> |
| #include <math.h> |
| #include <iostream> |
| |
| namespace y2018 { |
| namespace control_loops { |
| |
| static BoundsCheck MakeArbitraryArmSpace(::std::vector<Point> points) { |
| for (Point &point : points) { |
| point = Point(M_PI / 2.0 - point.x(), M_PI / 2.0 - point.y()); |
| } |
| return BoundsCheck(points); |
| } |
| |
| Vector GetNormal(Point pt, Segment segment) { |
| auto perp_line = segment.supporting_line().perpendicular(pt); |
| if (CGAL::do_intersect(perp_line, segment)) { |
| return Vector(segment.supporting_line().projection(pt), pt); |
| } else { |
| if (CGAL::squared_distance(segment.vertex(0), pt) < |
| CGAL::squared_distance(segment.vertex(1), pt)) { |
| return Vector(segment.vertex(0), pt); |
| } else { |
| return Vector(segment.vertex(1), pt); |
| } |
| } |
| } |
| |
| double BoundsCheck::min_distance(Point pt, |
| ::Eigen::Matrix<double, 2, 1> *norm) const { |
| auto *cell = grid_.GetCell(pt); |
| const auto &points = grid_.points(); |
| bool inside = false; |
| double dist = 0; |
| Segment best_segment; |
| if (cell) { |
| if (cell->IsBorderline()) { |
| inside = check_inside(pt, points); |
| } else { |
| inside = cell->IsInside(pt); |
| } |
| dist = cell->Distance(pt, &best_segment); |
| } else { |
| dist = min_dist(pt, points, &best_segment); |
| // TODO(austin): Return norm. |
| } |
| Vector normal = GetNormal(pt, best_segment); |
| norm->x() = normal.x(); |
| norm->y() = normal.y(); |
| |
| norm->normalize(); |
| |
| if (!inside) { |
| *norm = -(*norm); |
| } |
| |
| return inside ? -dist : dist; |
| } |
| |
| BoundsCheck MakeFullArmSpace() { |
| return MakeArbitraryArmSpace({{1.8577014383575772, -1.7353804562372057}, |
| {1.8322288438826315, -1.761574570216062}, |
| {1.7840339881582052, -1.8122752826851365}, |
| {1.7367354460218392, -1.863184376466228}, |
| {1.69054633425053, -1.9140647421906793}, |
| {1.6456590387358871, -1.9646939485526782}, |
| {1.6022412524081968, -2.0148691793459164}, |
| {1.5604334435784202, -2.0644108218872432}, |
| {1.5203477477575325, -2.1131646494909866}, |
| {1.4820681545944325, -2.1610026706370666}, |
| {1.4456517763321752, -2.207822815007094}, |
| {1.4111309389855604, -2.253547685496041}, |
| {1.3785158286698027, -2.298122627340264}, |
| {1.3477974448369014, -2.3415133576238922}, |
| {1.318950649522341, -2.3837033700108243}, |
| {1.2919371475531436, -2.4246912899477153}, |
| {1.266708279449626, -2.464488312575651}, |
| {1.2432075513427807, -2.5031158147261996}, |
| {1.2213728618107609, -2.5406031969824228}, |
| {1.2011384131259828, -2.5769859833310096}, |
| {1.1824363142639513, -2.61230418457078}, |
| {1.165197896140849, -2.64660091671642}, |
| {1.149354767212547, -2.6799212560849437}, |
| {1.134839641107821, -2.712311307404836}, |
| {1.121586968578607, -2.7438174590386177}, |
| {1.1095334047223224, -2.774485799309971}, |
| {1.09861813993779, -2.8043616692157007}, |
| {1.088783119985477, -2.8334893289039758}, |
| {1.079973177230731, -2.861911717797479}, |
| {1.0721360919151535, -2.8896702908486835}, |
| {1.065222599283597, -2.916804915950962}, |
| {1.0591863556764607, -2.943353819884641}, |
| {1.0539838743128325, -2.969353572295195}, |
| {1.049574439440948, -2.9948390990606946}, |
| {1.0459200058000553, -3.01984371800932}, |
| {1.0429850888932353, -3.044399191310831}, |
| {1.0407366503803421, -3.0685357900111128}, |
| {1.039143981929867, -3.092282367132034}, |
| {1.0381785900853944, -3.1156664365461078}, |
| {1.0378140840766794, -3.1387142554815886}, |
| {1.038026068010855, -3.1614509090414518}, |
| {1.0387920384931424, -3.1839003955494407}, |
| {1.0400912884293725, -3.2060857118856374}, |
| {1.0419048175385754, -3.2280289382581637}, |
| {1.0442152499395827, -3.2497513220895704}, |
| {1.047006759060362, -3.2712733608874625}, |
| {1.050265000044113, -3.2926148841283163}, |
| {1.0539770497854413, -3.3137951343195065}, |
| {1.0581313547182551, -3.3348328475243303}, |
| {1.0627176864909802, -3.355746333744654}, |
| {1.0677271057021644, -3.376553557661551}, |
| {1.0731519339297724, -3.397272220341514}, |
| {1.0789857343709142, -3.4179198426302158}, |
| {1.08522330151719, -3.438513851083329}, |
| {1.0918606604276442, -3.4590716674313335}, |
| {1.0988950763314502, -3.4796108027504618}, |
| {1.1063250755031675, -3.5001489577245133}, |
| {1.114150478614587, -3.5207041306442908}, |
| {1.1223724480923383, -3.541294735118319}, |
| {1.1309935514178655, -3.561939729880535}, |
| {1.1400178428208325, -3.5826587636046994}, |
| {1.1494509664724388, -3.6034723383075913}, |
| {1.1593002851278627, -3.6244019957930833}, |
| {1.1695750392617108, -3.6454705327253025}, |
| {1.1802865431772855, -3.6667022514168814}, |
| {1.191448426478074, -3.6881232554134113}, |
| {1.203076931852669, -3.709761801642497}, |
| {1.2151912836117884, -3.731648724559698}, |
| {1.2278141462274539, -3.753817952785642}, |
| {1.2409721988621754, -3.7763071458245956}, |
| {1.2546968614661016, -3.7991584885622527}, |
| {1.2690252219158191, -3.82241969589366}, |
| {1.2840012342034617, -3.846145301494764}, |
| {1.2996772887032604, -3.870398337481948}, |
| {1.316116303559539, -3.895252562382127}, |
| {1.3333945626553043, -3.920795475499501}, |
| {1.3516056511178856, -3.9471324882568375}, |
| {1.3708660530144583, -3.974392848721103}, |
| {1.3913233553973305, -4.002738316267376}, |
| {1.4131687110627962, -4.032376331240737}, |
| {1.436656614785, -4.063580905628138}, |
| {1.4621380338543308, -4.0967276147972065}, |
| {1.4901198983671067, -4.132356427437651}, |
| {1.5213822452925796, -4.171295431810658}, |
| {1.5572408030205178, -4.214938203914619}, |
| {1.6002650085871786, -4.266002359325245}, |
| {1.657096323745671, -4.331507506063609}, |
| {1.7977393629734166, -4.48544594420617}, |
| {1.8577014383575772, -4.546720690281509}, |
| {1.8577014383575772, -5.497787143782138}, |
| {1.2663322229932439, -5.497787143782138}, |
| {1.2656247456808565, -5.4967516608259}, |
| {1.2287034601894442, -5.445751427768824}, |
| {1.1786904071656892, -5.381167803357418}, |
| {1.0497616572686415, -5.233423649910944}, |
| {0.9097522267255194, -5.096760177110545}, |
| {0.8484431816837388, -5.043472544717165}, |
| {0.8000049977037023, -5.003989210148714}, |
| {0.7581818853313602, -4.9717075285444}, |
| {0.7205493452982701, -4.944073122571691}, |
| {0.6882849734317291, -4.921474754757885}, |
| {0.6882849734317291, -2.40847516476558}, |
| {0.8062364039734171, -2.2816832357742984}, |
| {0.9846964491122989, -2.0749837238115147}, |
| {1.080856081125841, -1.9535526052833936}, |
| {1.1403399741223543, -1.8700303125904767}, |
| {1.1796460643255697, -1.8073338252603661}, |
| {1.206509908068604, -1.7574623871869075}, |
| {1.225108933139178, -1.7160975113819317}, |
| {1.237917343016644, -1.6806816402603253}, |
| {1.2465009152225068, -1.6495957958330445}, |
| {1.251901644035212, -1.6217619064422375}, |
| {1.2548410275662123, -1.5964327471863136}, |
| {1.2558349967266738, -1.5730732293972975}, |
| {1.2552624664807475, -1.551289614657788}, |
| {1.2534080548485127, -1.5307854126408047}, |
| {1.2504896957865235, -1.5113328783804112}, |
| {1.2466770509718135, -1.492754008779478}, |
| {1.2421041193998992, -1.4749075280685116}, |
| {1.236878076935188, -1.457679763958034}, |
| {1.231085601347444, -1.4409781183381307}, |
| {1.2247974811461413, -1.4247263085140511}, |
| {1.2180720288351026, -1.408860841660136}, |
| {1.2109576458572935, -1.3933283641188086}, |
| {1.2034947755974974, -1.378083641634472}, |
| {1.1957174082841977, -1.363088001457586}, |
| {1.1876542532510088, -1.3483081171759035}, |
| {1.179329661157153, -1.3337150510329991}, |
| {1.1707643560768641, -1.3192834919003447}, |
| {1.1385726725405734, -1.3512941162901886}, |
| {1.1061744838535637, -1.3828092440478137}, |
| {1.0736355415504857, -1.4137655512448706}, |
| {1.0410203155384732, -1.444102884084807}, |
| {1.0083912519665894, -1.4737649313813326}, |
| {0.975808099297045, -1.5026998012630925}, |
| {0.9433273192311136, -1.5308604887780404}, |
| {0.941597772428203, -1.50959779639341}, |
| {0.9392183822389457, -1.488861961175901}, |
| {0.9362399962318921, -1.4685999567644576}, |
| {0.9327074201772598, -1.448764371832554}, |
| {0.9286602163651203, -1.4293126388801052}, |
| {0.9241333769591611, -1.410206381002334}, |
| {0.9191578939466147, -1.3914108561164176}, |
| {0.9137612431353617, -1.3728944819981919}, |
| {0.9079677963791273, -1.3546284285619337}, |
| {0.9017991735984072, -1.3365862662768213}, |
| {0.8952745440670551, -1.3187436615861219}, |
| {0.888410884742945, -1.3010781117818295}, |
| {0.8812232020507231, -1.2835687130679965}, |
| {0.8737247224089426, -1.2661959565824437}, |
| {0.8659270558807739, -1.2489415479874506}, |
| {0.8578403365760008, -1.2317882469234374}, |
| {0.8810761292150717, -1.2118184809610988}, |
| {0.9041762360363244, -1.1914283310662528}, |
| {0.9271196683064211, -1.1706361926784383}, |
| {0.949885054142765, -1.1494613527499984}, |
| {0.9724507572661958, -1.1279238910069835}, |
| {0.9947950004998649, -1.1060445714951375}, |
| {1.0168959923240788, -1.0838447258650978}, |
| {1.0387320546908576, -1.0613461300367468}, |
| {1.0602817502430675, -1.0385708760262022}, |
| {1.0815240070740941, -1.0155412408147642}, |
| {1.102438239206001, -0.9922795541836177}, |
| {1.123004461055328, -0.9688080674301042}, |
| {1.1432033942926907, -0.9451488248218312}, |
| {1.1630165656794818, -0.9213235395370803}, |
| {1.1824263946752058, -0.8973534756890716}, |
| {1.2014162698440272, -0.8732593378443982}, |
| {1.2199706133398625, -0.8490611692304734}, |
| {1.2380749330068292, -0.8247782595916947}, |
| {1.2557158618869284, -0.800429063408306}, |
| {1.2728811851714203, -0.776031128944234}, |
| {1.2895598548592355, -0.7516010383486005}, |
| {1.3057419925890068, -0.7271543588072293}, |
| {1.3214188812865908, -0.702705604531139}, |
| {1.3365829464142562, -0.6782682091832445}, |
| {1.351227727719687, -0.6538545081853449}, |
| {1.365347842462401, -0.6294757302167044}, |
| {1.3789389411433586, -0.6051419971134862}, |
| {1.391997656782351, -0.5808623313043475}, |
| {1.4045215487801634, -0.5566446698699925}, |
| {1.4165090423718034, -0.5324958842910054}, |
| {1.4279593646268474, -0.5084218049460658}, |
| {1.4388724778869602, -0.4844272494383845}, |
| {1.449249011452494, -0.460516053858597}, |
| {1.4590901922431447, -0.4366911061340692}, |
| {1.468397775065033, -0.4129543806643518}, |
| {1.4771739730209745, -0.38930697349737264}, |
| {1.485421388504271, -0.36574913735813025}, |
| {1.4931429451209484, -0.3422803158986589}, |
| {1.5003418207921726, -0.3188991765927855}, |
| {1.5070213821985838, -0.2956036417497373}, |
| {1.513185120641734, -0.2723909171654731}, |
| {1.5188365893149296, -0.24925751796822435}, |
| {1.5239793418959948, -0.22619929124396096}, |
| {1.5286168722972349, -0.2032114350471563}, |
| {1.5327525553319497, -0.1802885134112242}, |
| {1.5363895879810432, -0.15742446697009113}, |
| {1.5395309308654115, -0.1346126187862511}, |
| {1.5421792494481048, -0.11184567494963411}, |
| {1.5443368544016174, -0.0891157194637005}, |
| {1.5460056404769755, -0.06641420286771664}, |
| {1.5471870230984175, -0.043731923953761714}, |
| {1.547881871775246, -0.021059003819238205}, |
| {1.5480904392645911, 0.0016151486553661097}, |
| {1.547812285227133, 0.024301881005710235}, |
| {1.5470461928818935, 0.047013352405288866}, |
| {1.5457900768723736, 0.06976260156314103}, |
| {1.5440408801865422, 0.09256362934244797}, |
| {1.5417944575035705, 0.11543149864415554}, |
| {1.5390454417383017, 0.13838245474060726}, |
| {1.5357870897759938, 0.16143407007284788}, |
| {1.5320111023738603, 0.18460541860588778}, |
| {1.5277074118667517, 0.20791728625864334}, |
| {1.5228639295308124, 0.23139242581719505}, |
| {1.5174662420569858, 0.25505586728497265}, |
| {1.5114972433117844, 0.27893529808946027}, |
| {1.5049366830391921, 0.30306153234932315}, |
| {1.4977606078174102, 0.32746909510770755}, |
| {1.4899406605544634, 0.35219695697813347}, |
| {1.4814431917184283, 0.37728946847450484}, |
| {1.4722281161523716, 0.40279756372788583}, |
| {1.4622474200998372, 0.4287803341537376}, |
| {1.4514431778273647, 0.45530712040457033}, |
| {1.4397448652396179, 0.48246034696312606}, |
| {1.427065639662639, 0.5103394485717625}, |
| {1.4132970536897833, 0.5390664502570618}, |
| {1.3983013135749314, 0.5687941401756967}, |
| {1.3818995257862978, 0.5997184788509978}, |
| {1.3638530549860057, 0.6320982830132342}, |
| {1.3438323057823602, 0.6662881915757862}, |
| {1.3213606855701236, 0.7027978462604986}, |
| {1.2957042956404132, 0.7424084023365868}, |
| {1.2656247456808565, 0.786433646353686}, |
| {1.2287034601894442, 0.8374338794107618}, |
| {1.1786904071656892, 0.902017503822168}, |
| {1.0497616572686415, 1.0497616572686426}, |
| {0.9097522267255194, 1.1864251300690412}, |
| {0.8484431816837388, 1.2397127624624213}, |
| {0.8000049977037023, 1.2791960970308718}, |
| {0.7581818853313602, 1.3114777786351866}, |
| {0.7205493452982701, 1.3391121846078957}, |
| {0.6882849734317291, 1.3617105524217008}, |
| {0.6882849734317291, 2.356194490192345}, |
| {1.3376784164442164, 2.356194490192345}, |
| {1.3516056511178856, 2.3360528189227487}, |
| {1.3708660530144583, 2.308792458458483}, |
| {1.3913233553973305, 2.2804469909122105}, |
| {1.4131687110627962, 2.2508089759388485}, |
| {1.436656614785, 2.219604401551449}, |
| {1.4621380338543308, 2.18645769238238}, |
| {1.4901198983671067, 2.1508288797419346}, |
| {1.5213822452925796, 2.111889875368928}, |
| {1.5572408030205178, 2.0682471032649676}, |
| {1.6002650085871786, 2.0171829478543404}, |
| {1.657096323745671, 1.9516778011159774}, |
| {1.7977393629734166, 1.7977393629734166}, |
| {1.8577014383575772, 1.7364646168980775}, |
| {1.8577014383575772, -1.7353804562372057}}); |
| } |
| |
| BoundsCheck MakeClippedArmSpace() { |
| return MakeArbitraryArmSpace({{1.8577014383575772, -1.7353804562372057}, |
| {1.8322288438826315, -1.761574570216062}, |
| {1.7840339881582052, -1.8122752826851365}, |
| {1.7367354460218392, -1.863184376466228}, |
| {1.69054633425053, -1.9140647421906793}, |
| {1.6456590387358871, -1.9646939485526782}, |
| {1.6022412524081968, -2.0148691793459164}, |
| {1.5604334435784202, -2.0644108218872432}, |
| {1.5203477477575325, -2.1131646494909866}, |
| {1.4820681545944325, -2.1610026706370666}, |
| {1.4456517763321752, -2.207822815007094}, |
| {1.4111309389855604, -2.253547685496041}, |
| {1.3785158286698027, -2.298122627340264}, |
| {1.3477974448369014, -2.3415133576238922}, |
| {1.318950649522341, -2.3837033700108243}, |
| {1.2919371475531436, -2.4246912899477153}, |
| {1.266708279449626, -2.464488312575651}, |
| {1.2432075513427807, -2.5031158147261996}, |
| {1.2213728618107609, -2.5406031969824228}, |
| {1.2011384131259828, -2.5769859833310096}, |
| {1.1824363142639513, -2.61230418457078}, |
| {1.165197896140849, -2.64660091671642}, |
| {1.149354767212547, -2.6799212560849437}, |
| {1.134839641107821, -2.712311307404836}, |
| {1.121586968578607, -2.7438174590386177}, |
| {1.1095334047223224, -2.774485799309971}, |
| {1.09861813993779, -2.8043616692157007}, |
| {1.088783119985477, -2.8334893289039758}, |
| {1.079973177230731, -2.861911717797479}, |
| {1.0721360919151535, -2.8896702908486835}, |
| {1.065222599283597, -2.916804915950962}, |
| {1.0591863556764607, -2.943353819884641}, |
| {1.0539838743128325, -2.969353572295195}, |
| {1.049574439440948, -2.9948390990606946}, |
| {1.0459200058000553, -3.01984371800932}, |
| {1.0429850888932353, -3.044399191310831}, |
| {1.0407366503803421, -3.0685357900111128}, |
| {1.039143981929867, -3.092282367132034}, |
| {1.0381785900853944, -3.1156664365461078}, |
| {1.0378140840766794, -3.1387142554815886}, |
| {1.038026068010855, -3.1614509090414518}, |
| {1.0387920384931424, -3.1839003955494407}, |
| {1.0400912884293725, -3.2060857118856374}, |
| {1.0419048175385754, -3.2280289382581637}, |
| {1.0442152499395827, -3.2497513220895704}, |
| {1.047006759060362, -3.2712733608874625}, |
| {1.050265000044113, -3.2926148841283163}, |
| {1.0513266200838918, -3.2986722862692828}, |
| {0.6882849734317291, -3.2986722862692828}, |
| {0.6882849734317291, -2.40847516476558}, |
| {0.8062364039734171, -2.2816832357742984}, |
| {0.9846964491122989, -2.0749837238115147}, |
| {1.080856081125841, -1.9535526052833936}, |
| {1.1403399741223543, -1.8700303125904767}, |
| {1.1796460643255697, -1.8073338252603661}, |
| {1.206509908068604, -1.7574623871869075}, |
| {1.225108933139178, -1.7160975113819317}, |
| {1.237917343016644, -1.6806816402603253}, |
| {1.2465009152225068, -1.6495957958330445}, |
| {1.251901644035212, -1.6217619064422375}, |
| {1.2548410275662123, -1.5964327471863136}, |
| {1.2558349967266738, -1.5730732293972975}, |
| {1.2552624664807475, -1.551289614657788}, |
| {1.2534080548485127, -1.5307854126408047}, |
| {1.2504896957865235, -1.5113328783804112}, |
| {1.2466770509718135, -1.492754008779478}, |
| {1.2421041193998992, -1.4749075280685116}, |
| {1.236878076935188, -1.457679763958034}, |
| {1.231085601347444, -1.4409781183381307}, |
| {1.2247974811461413, -1.4247263085140511}, |
| {1.2180720288351026, -1.408860841660136}, |
| {1.2109576458572935, -1.3933283641188086}, |
| {1.2034947755974974, -1.378083641634472}, |
| {1.1957174082841977, -1.363088001457586}, |
| {1.1876542532510088, -1.3483081171759035}, |
| {1.179329661157153, -1.3337150510329991}, |
| {1.1707643560768641, -1.3192834919003447}, |
| {1.1385726725405734, -1.3512941162901886}, |
| {1.1061744838535637, -1.3828092440478137}, |
| {1.0736355415504857, -1.4137655512448706}, |
| {1.0410203155384732, -1.444102884084807}, |
| {1.0083912519665894, -1.4737649313813326}, |
| {0.975808099297045, -1.5026998012630925}, |
| {0.9433273192311136, -1.5308604887780404}, |
| {0.941597772428203, -1.50959779639341}, |
| {0.9392183822389457, -1.488861961175901}, |
| {0.9362399962318921, -1.4685999567644576}, |
| {0.9327074201772598, -1.448764371832554}, |
| {0.9286602163651203, -1.4293126388801052}, |
| {0.9241333769591611, -1.410206381002334}, |
| {0.9191578939466147, -1.3914108561164176}, |
| {0.9137612431353617, -1.3728944819981919}, |
| {0.9079677963791273, -1.3546284285619337}, |
| {0.9017991735984072, -1.3365862662768213}, |
| {0.8952745440670551, -1.3187436615861219}, |
| {0.888410884742945, -1.3010781117818295}, |
| {0.8812232020507231, -1.2835687130679965}, |
| {0.8737247224089426, -1.2661959565824437}, |
| {0.8659270558807739, -1.2489415479874506}, |
| {0.8578403365760008, -1.2317882469234374}, |
| {0.8810761292150717, -1.2118184809610988}, |
| {0.9041762360363244, -1.1914283310662528}, |
| {0.9271196683064211, -1.1706361926784383}, |
| {0.949885054142765, -1.1494613527499984}, |
| {0.9724507572661958, -1.1279238910069835}, |
| {0.9947950004998649, -1.1060445714951375}, |
| {1.0168959923240788, -1.0838447258650978}, |
| {1.0387320546908576, -1.0613461300367468}, |
| {1.0602817502430675, -1.0385708760262022}, |
| {1.0815240070740941, -1.0155412408147642}, |
| {1.102438239206001, -0.9922795541836177}, |
| {1.123004461055328, -0.9688080674301042}, |
| {1.1432033942926907, -0.9451488248218312}, |
| {1.1630165656794818, -0.9213235395370803}, |
| {1.1824263946752058, -0.8973534756890716}, |
| {1.2014162698440272, -0.8732593378443982}, |
| {1.2199706133398625, -0.8490611692304734}, |
| {1.2380749330068292, -0.8247782595916947}, |
| {1.2557158618869284, -0.800429063408306}, |
| {1.2728811851714203, -0.776031128944234}, |
| {1.2895598548592355, -0.7516010383486005}, |
| {1.3057419925890068, -0.7271543588072293}, |
| {1.3214188812865908, -0.702705604531139}, |
| {1.3365829464142562, -0.6782682091832445}, |
| {1.351227727719687, -0.6538545081853449}, |
| {1.365347842462401, -0.6294757302167044}, |
| {1.3789389411433586, -0.6051419971134862}, |
| {1.391997656782351, -0.5808623313043475}, |
| {1.4045215487801634, -0.5566446698699925}, |
| {1.4165090423718034, -0.5324958842910054}, |
| {1.4279593646268474, -0.5084218049460658}, |
| {1.4388724778869602, -0.4844272494383845}, |
| {1.449249011452494, -0.460516053858597}, |
| {1.4590901922431447, -0.4366911061340692}, |
| {1.468397775065033, -0.4129543806643518}, |
| {1.4771739730209745, -0.38930697349737264}, |
| {1.485421388504271, -0.36574913735813025}, |
| {1.4931429451209484, -0.3422803158986589}, |
| {1.5003418207921726, -0.3188991765927855}, |
| {1.5070213821985838, -0.2956036417497373}, |
| {1.513185120641734, -0.2723909171654731}, |
| {1.5188365893149296, -0.24925751796822435}, |
| {1.5239793418959948, -0.22619929124396096}, |
| {1.5286168722972349, -0.2032114350471563}, |
| {1.5327525553319497, -0.1802885134112242}, |
| {1.5363895879810432, -0.15742446697009113}, |
| {1.5395309308654115, -0.1346126187862511}, |
| {1.5421792494481048, -0.11184567494963411}, |
| {1.5443368544016174, -0.0891157194637005}, |
| {1.5460056404769755, -0.06641420286771664}, |
| {1.5471870230984175, -0.043731923953761714}, |
| {1.547881871775246, -0.021059003819238205}, |
| {1.5480904392645911, 0.0016151486553661097}, |
| {1.547812285227133, 0.024301881005710235}, |
| {1.5470461928818935, 0.047013352405288866}, |
| {1.5457900768723736, 0.06976260156314103}, |
| {1.5440408801865422, 0.09256362934244797}, |
| {1.5417944575035705, 0.11543149864415554}, |
| {1.5390454417383017, 0.13838245474060726}, |
| {1.5357870897759938, 0.16143407007284788}, |
| {1.5320111023738603, 0.18460541860588778}, |
| {1.5277074118667517, 0.20791728625864334}, |
| {1.5228639295308124, 0.23139242581719505}, |
| {1.5174662420569858, 0.25505586728497265}, |
| {1.5114972433117844, 0.27893529808946027}, |
| {1.5049366830391921, 0.30306153234932315}, |
| {1.4977606078174102, 0.32746909510770755}, |
| {1.4899406605544634, 0.35219695697813347}, |
| {1.4814431917184283, 0.37728946847450484}, |
| {1.4722281161523716, 0.40279756372788583}, |
| {1.4622474200998372, 0.4287803341537376}, |
| {1.4514431778273647, 0.45530712040457033}, |
| {1.4397448652396179, 0.48246034696312606}, |
| {1.427065639662639, 0.5103394485717625}, |
| {1.4132970536897833, 0.5390664502570618}, |
| {1.3983013135749314, 0.5687941401756967}, |
| {1.3818995257862978, 0.5997184788509978}, |
| {1.3638530549860057, 0.6320982830132342}, |
| {1.3438323057823602, 0.6662881915757862}, |
| {1.3213606855701236, 0.7027978462604986}, |
| {1.2957042956404132, 0.7424084023365868}, |
| {1.2656247456808565, 0.786433646353686}, |
| {1.2287034601894442, 0.8374338794107618}, |
| {1.1786904071656892, 0.902017503822168}, |
| {1.0497616572686415, 1.0497616572686426}, |
| {0.9097522267255194, 1.1864251300690412}, |
| {0.8484431816837388, 1.2397127624624213}, |
| {0.8000049977037023, 1.2791960970308718}, |
| {0.7581818853313602, 1.3114777786351866}, |
| {0.7205493452982701, 1.3391121846078957}, |
| {0.6882849734317291, 1.3617105524217008}, |
| {0.6882849734317291, 2.356194490192345}, |
| {1.3376784164442164, 2.356194490192345}, |
| {1.3516056511178856, 2.3360528189227487}, |
| {1.3708660530144583, 2.308792458458483}, |
| {1.3913233553973305, 2.2804469909122105}, |
| {1.4131687110627962, 2.2508089759388485}, |
| {1.436656614785, 2.219604401551449}, |
| {1.4621380338543308, 2.18645769238238}, |
| {1.4901198983671067, 2.1508288797419346}, |
| {1.5213822452925796, 2.111889875368928}, |
| {1.5572408030205178, 2.0682471032649676}, |
| {1.6002650085871786, 2.0171829478543404}, |
| {1.657096323745671, 1.9516778011159774}, |
| {1.7977393629734166, 1.7977393629734166}, |
| {1.8577014383575772, 1.7364646168980775}, |
| {1.8577014383575772, -1.7353804562372057}}); |
| } |
| |
| } // namespace control_loops |
| } // namespace y2018 |