4963 lines
120 KiB
C++
4963 lines
120 KiB
C++
#include "testPidControllerData.hxx"
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std::vector<PidControllerInput> pidControllerInputs = {
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{ -68.086, 8.335},
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{ -68.2036, 8.335},
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{ -68.3595, 8.335},
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{ -68.4833, 8.335},
|
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{ -68.6045, 8.335},
|
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{ -68.7263, 8.335},
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{ -68.8489, 8.335},
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{ -68.9724, 8.335},
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{ -69.0967, 8.335},
|
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{ -69.2219, 8.335},
|
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{ -69.3478, 8.335},
|
|
{ -69.4746, 8.335},
|
|
{ -69.6021, 8.335},
|
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{ -69.7304, 8.335},
|
|
{ -69.8595, 8.335},
|
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{ -69.9891, 8.335},
|
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{ -70.1194, 8.335},
|
|
{ -70.2503, 8.335},
|
|
{ -70.3817, 8.335},
|
|
{ -70.5136, 8.335},
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{ -70.646, 8.335},
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{ -70.7786, 8.335},
|
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{ -70.9114, 8.335},
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{ -71.0442, 8.335},
|
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{ -71.1769, 8.335},
|
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{ -71.3096, 8.335},
|
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{ -71.4421, 8.335},
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|
{ -71.5744, 8.335},
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{ -71.7064, 8.335},
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{ -71.8381, 8.335},
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{ -71.9695, 8.335},
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{ -72.1006, 8.335},
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{ -72.2313, 8.335},
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{ -72.3615, 8.335},
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{ -72.4911, 8.335},
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{ -72.6202, 8.335},
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{ -72.7486, 8.335},
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{ -72.8763, 8.335},
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{ -73.0032, 8.335},
|
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{ -73.1292, 8.335},
|
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{ -73.2543, 8.335},
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{ -73.3785, 8.335},
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{ -73.5016, 8.335},
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{ -73.6237, 8.335},
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{ -73.7446, 8.335},
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{ -73.8643, 8.335},
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{ -73.9827, 8.335},
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{ -74.0998, 8.335},
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{ -74.2156, 8.335},
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{ -74.3299, 8.335},
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{ -74.4428, 8.335},
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{ -74.5541, 8.335},
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{ -74.6639, 8.335},
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{ -74.7721, 8.335},
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{ -74.8785, 8.335},
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{ -74.9833, 8.335},
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{ -75.0863, 8.335},
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{ -75.1876, 8.335},
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{ -75.287, 8.335},
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{ -75.3845, 8.335},
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{ -75.4801, 8.335},
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{ -75.5738, 8.335},
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{ -75.6655, 8.335},
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{ -75.7552, 8.335},
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{ -75.8429, 8.335},
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{ -75.9285, 8.335},
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{ -76.012, 8.335},
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{ -76.0935, 8.335},
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{ -76.1728, 8.335},
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{ -76.2499, 8.335},
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{ -76.3249, 8.335},
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{ -76.3978, 8.335},
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{ -76.4684, 8.335},
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{ -76.5368, 8.335},
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{ -76.6031, 8.335},
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{ -76.6671, 8.335},
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{ -76.7289, 8.335},
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{ -76.7885, 8.335},
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{ -76.8459, 8.335},
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{ -76.9011, 8.335},
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{ -76.9542, 8.335},
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{ -77.005, 8.335},
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{ -77.0537, 8.335},
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{ -77.1002, 8.335},
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{ -77.1446, 8.335},
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{ -77.1868, 8.335},
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{ -77.2268, 8.335},
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{ -77.2647, 8.335},
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{ -77.3005, 8.335},
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{ -77.3342, 8.335},
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{ -77.3659, 8.335},
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{ -77.3955, 8.335},
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{ -77.423, 8.335},
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{ -77.4485, 8.335},
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{ -77.472, 8.335},
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{ -77.4936, 8.335},
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{ -77.5131, 8.335},
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{ -77.5307, 8.335},
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{ -77.5464, 8.335},
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{ -77.5602, 8.335},
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{ -77.5721, 8.335},
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{ -77.5821, 8.335},
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{ -77.5904, 8.335},
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{ -77.5969, 8.335},
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{ -77.6017, 8.335},
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{ -77.6047, 8.335},
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{ -77.6061, 8.335},
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{ -77.6058, 8.335},
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{ -77.604, 8.335},
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{ -77.6006, 8.335},
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{ -77.5957, 8.335},
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{ -77.5893, 8.335},
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{ -77.5814, 8.335},
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{ -77.5721, 8.335},
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{ -77.5615, 8.335},
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{ -77.5495, 8.335},
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{ -77.5362, 8.335},
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{ -77.5217, 8.335},
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{ -77.506, 8.335},
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{ -77.489, 8.335},
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{ -77.4709, 8.335},
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{ -77.4517, 8.335},
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{ -77.4314, 8.335},
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{ -77.4102, 8.335},
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{ -77.3878, 8.335},
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{ -77.3646, 8.335},
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{ -77.3404, 8.335},
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{ -77.3153, 8.335},
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{ -77.2893, 8.335},
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{ -77.2626, 8.335},
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{ -77.235, 8.335},
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{ -77.2067, 8.335},
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{ -77.1777, 8.335},
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{ -77.148, 8.335},
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{ -77.1176, 8.335},
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{ -77.0866, 8.335},
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{ -77.0551, 8.335},
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{ -77.0229, 8.335},
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{ -76.9903, 8.335},
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{ -76.9571, 8.335},
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{ -76.9235, 8.335},
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{ -76.8895, 8.335},
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{ -76.855, 8.335},
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{ -76.8202, 8.335},
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{ -76.785, 8.335},
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{ -76.7496, 8.335},
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{ -76.7138, 8.335},
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{ -76.6777, 8.335},
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{ -76.6414, 8.335},
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{ -76.605, 8.335},
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{ -76.5683, 8.335},
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{ -76.5314, 8.335},
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{ -76.4945, 8.335},
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{ -76.4574, 8.335},
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{ -76.4202, 8.335},
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{ -76.3828, 8.335},
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{ -76.3449, 8.335},
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{ -76.3065, 8.335},
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{ -76.2675, 8.335},
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{ -76.2281, 8.335},
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{ -76.1883, 8.335},
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{ -76.148, 8.335},
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{ -76.1073, 8.335},
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{ -76.0663, 8.335},
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{ -76.0249, 8.335},
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{ -75.9832, 8.335},
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{ -75.9412, 8.335},
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{ -75.899, 8.335},
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{ -75.8566, 8.335},
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{ -75.8139, 8.335},
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{ -75.7711, 8.335},
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{ -75.7281, 8.335},
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{ -75.6851, 8.335},
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{ -75.642, 8.335},
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{ -75.5989, 8.335},
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{ -75.5559, 8.335},
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{ -75.5129, 8.335},
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{ -75.47, 8.335},
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{ -75.4271, 8.335},
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{ -75.3844, 8.335},
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{ -75.3419, 8.335},
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{ -75.2994, 8.335},
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{ -75.2572, 8.335},
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{ -75.2152, 8.335},
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{ -75.1734, 8.335},
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{ -75.1316, 8.335},
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{ -75.09, 8.335},
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{ -75.0484, 8.335},
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{ -75.0069, 8.335},
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{ -74.9656, 8.335},
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{ -74.9245, 8.335},
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{ -74.8836, 8.335},
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{ -74.8429, 8.335},
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{ -74.8024, 8.335},
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{ -74.7621, 8.335},
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{ -74.7222, 8.335},
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{ -74.6826, 8.335},
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{ -74.6433, 8.335},
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{ -74.6044, 8.335},
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{ -74.5659, 8.335},
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{ -74.5277, 8.335},
|
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{ -74.4899, 8.335},
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{ -74.4526, 8.335},
|
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{ -74.4156, 8.335},
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{ -74.379, 8.335},
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{ -74.3428, 8.335},
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{ -74.3071, 8.335},
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{ -74.2717, 8.335},
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{ -74.2368, 8.335},
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{ -74.2023, 8.335},
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{ -74.1683, 8.335},
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{ -74.1347, 8.335},
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{ -74.1015, 8.335},
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{ -74.0687, 8.335},
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{ -74.0364, 8.335},
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{ -74.0044, 8.335},
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{ -73.9728, 8.335},
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{ -73.9417, 8.335},
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{ -73.911, 8.335},
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{ -73.8806, 8.335},
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{ -73.8507, 8.335},
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{ -73.8212, 8.335},
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{ -73.792, 8.335},
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{ -73.7632, 8.335},
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{ -73.7348, 8.335},
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{ -73.7067, 8.335},
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{ -73.6789, 8.335},
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{ -73.6516, 8.335},
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{ -73.6245, 8.335},
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{ -73.5978, 8.335},
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{ -73.5714, 8.335},
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{ -73.5452, 8.335},
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{ -73.5194, 8.335},
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{ -73.4938, 8.335},
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{ -73.4685, 8.335},
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{ -73.4434, 8.335},
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{ -73.4186, 8.335},
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{ -73.394, 8.335},
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{ -73.3696, 8.335},
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{ -73.3454, 8.335},
|
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{ -73.3214, 8.335},
|
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{ -73.2975, 8.335},
|
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{ -73.2738, 8.335},
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{ -73.2504, 8.335},
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{ -73.2271, 8.335},
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{ -73.204, 8.335},
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{ -73.181, 8.335},
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{ -73.1582, 8.335},
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{ -73.1355, 8.335},
|
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{ -73.1129, 8.335},
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{ -73.0903, 8.335},
|
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{ -73.0678, 8.335},
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{ -73.0454, 8.335},
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{ -73.023, 8.335},
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{ -73.0006, 8.335},
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{ -72.9783, 8.335},
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{ -72.956, 8.335},
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{ -72.9335, 8.335},
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{ -72.911, 8.335},
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{ -72.8883, 8.335},
|
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{ -72.8654, 8.335},
|
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{ -72.8424, 8.335},
|
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{ -72.8192, 8.335},
|
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{ -72.7958, 8.335},
|
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{ -72.7723, 8.335},
|
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{ -72.7485, 8.335},
|
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{ -72.7244, 8.335},
|
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{ -72.7002, 8.335},
|
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{ -72.6757, 8.335},
|
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{ -72.651, 8.335},
|
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{ -72.626, 8.335},
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{ -72.6007, 8.335},
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{ -72.5751, 8.335},
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{ -72.5493, 8.335},
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{ -72.5232, 8.335},
|
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{ -72.4967, 8.335},
|
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{ -72.4699, 8.335},
|
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{ -72.4428, 8.335},
|
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{ -72.4153, 8.335},
|
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{ -72.3876, 8.335},
|
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{ -72.3595, 8.335},
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{ -72.331, 8.335},
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{ -72.3022, 8.335},
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{ -72.273, 8.335},
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{ -72.2435, 8.335},
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{ -72.2135, 8.335},
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{ -72.1832, 8.335},
|
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{ -72.1526, 8.335},
|
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{ -72.1215, 8.335},
|
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{ -72.0901, 8.335},
|
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{ -72.0584, 8.335},
|
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{ -72.0262, 8.335},
|
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{ -71.9937, 8.335},
|
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{ -71.9608, 8.335},
|
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{ -71.9275, 8.335},
|
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{ -71.8938, 8.335},
|
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{ -71.8598, 8.335},
|
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{ -71.8253, 8.335},
|
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{ -71.7905, 8.335},
|
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{ -71.7553, 8.335},
|
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{ -71.7197, 8.335},
|
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{ -71.6837, 8.335},
|
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{ -71.6473, 8.335},
|
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{ -71.6106, 8.335},
|
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{ -71.5735, 8.335},
|
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{ -71.536, 8.335},
|
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{ -71.4981, 8.335},
|
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{ -71.4598, 8.335},
|
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{ -71.4211, 8.335},
|
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{ -71.3821, 8.335},
|
|
{ -71.3427, 8.335},
|
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{ -71.3029, 8.335},
|
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{ -71.2628, 8.335},
|
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{ -71.2223, 8.335},
|
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{ -71.1815, 8.335},
|
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{ -71.1403, 8.335},
|
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{ -71.0988, 8.335},
|
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{ -71.0569, 8.335},
|
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{ -71.0147, 8.335},
|
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{ -70.9722, 8.335},
|
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{ -70.9293, 8.335},
|
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{ -70.886, 8.335},
|
|
{ -70.8425, 8.335},
|
|
{ -70.7987, 8.335},
|
|
{ -70.7545, 8.335},
|
|
{ -70.7101, 8.335},
|
|
{ -70.6653, 8.335},
|
|
{ -70.6202, 8.335},
|
|
{ -70.5749, 8.335},
|
|
{ -70.5293, 8.335},
|
|
{ -70.4835, 8.335},
|
|
{ -70.4373, 8.335},
|
|
{ -70.391, 8.335},
|
|
{ -70.3443, 8.335},
|
|
{ -70.2975, 8.335},
|
|
{ -70.2504, 8.335},
|
|
{ -70.203, 8.335},
|
|
{ -70.1555, 8.335},
|
|
{ -70.1078, 8.335},
|
|
{ -70.0598, 8.335},
|
|
{ -70.0117, 8.335},
|
|
{ -69.9634, 8.335},
|
|
{ -69.915, 8.335},
|
|
{ -69.8664, 8.335},
|
|
{ -69.8175, 8.335},
|
|
{ -69.7685, 8.335},
|
|
{ -69.7194, 8.335},
|
|
{ -69.6701, 8.335},
|
|
{ -69.6207, 8.335},
|
|
{ -69.5712, 8.335},
|
|
{ -69.5215, 8.335},
|
|
{ -69.4717, 8.335},
|
|
{ -69.4218, 8.335},
|
|
{ -69.3718, 8.335},
|
|
{ -69.3216, 8.335},
|
|
{ -69.2714, 8.335},
|
|
{ -69.221, 8.335},
|
|
{ -69.1706, 8.335},
|
|
{ -69.1201, 8.335},
|
|
{ -69.0695, 8.335},
|
|
{ -69.0188, 8.335},
|
|
{ -68.9681, 8.335},
|
|
{ -68.9172, 8.335},
|
|
{ -68.8663, 8.335},
|
|
{ -68.8153, 8.335},
|
|
{ -68.7643, 8.335},
|
|
{ -68.7132, 8.335},
|
|
{ -68.6621, 8.335},
|
|
{ -68.6109, 8.335},
|
|
{ -68.5597, 8.335},
|
|
{ -68.5084, 8.335},
|
|
{ -68.4572, 8.335},
|
|
{ -68.4058, 8.335},
|
|
{ -68.3543, 8.335},
|
|
{ -68.3029, 8.335},
|
|
{ -68.2514, 8.335},
|
|
{ -68.1999, 8.335},
|
|
{ -68.1483, 8.335},
|
|
{ -68.0967, 8.335},
|
|
{ -68.0451, 8.335},
|
|
{ -67.9935, 8.335},
|
|
{ -67.9418, 8.335},
|
|
{ -67.8901, 8.335},
|
|
{ -67.8384, 8.335},
|
|
{ -67.7866, 8.335},
|
|
{ -67.7348, 8.335},
|
|
{ -67.683, 8.335},
|
|
{ -67.6312, 8.335},
|
|
{ -67.5794, 8.335},
|
|
{ -67.5275, 8.335},
|
|
{ -67.4756, 8.335},
|
|
{ -67.4236, 8.335},
|
|
{ -67.3716, 8.335},
|
|
{ -67.3196, 8.335},
|
|
{ -67.2676, 8.335},
|
|
{ -67.2155, 8.335},
|
|
{ -67.1635, 8.335},
|
|
{ -67.1113, 8.335},
|
|
{ -67.0592, 8.335},
|
|
{ -67.007, 8.335},
|
|
{ -66.9547, 8.335},
|
|
{ -66.9024, 8.335},
|
|
{ -66.8501, 8.335},
|
|
{ -66.7977, 8.335},
|
|
{ -66.7453, 8.335},
|
|
{ -66.6928, 8.335},
|
|
{ -66.6403, 8.335},
|
|
{ -66.5877, 8.335},
|
|
{ -66.5351, 8.335},
|
|
{ -66.4824, 8.335},
|
|
{ -66.4296, 8.335},
|
|
{ -66.3768, 8.335},
|
|
{ -66.3239, 8.335},
|
|
{ -66.2709, 8.335},
|
|
{ -66.2178, 8.335},
|
|
{ -66.1647, 8.335},
|
|
{ -66.1116, 8.335},
|
|
{ -66.0583, 8.335},
|
|
{ -66.0049, 8.335},
|
|
{ -65.9515, 8.335},
|
|
{ -65.898, 8.335},
|
|
{ -65.8443, 8.335},
|
|
{ -65.7906, 8.335},
|
|
{ -65.7368, 8.335},
|
|
{ -65.683, 8.335},
|
|
{ -65.629, 8.335},
|
|
{ -65.5749, 8.335},
|
|
{ -65.5207, 8.335},
|
|
{ -65.4664, 8.335},
|
|
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|
{ 4.05243, 8.335},
|
|
{ 4.05261, 8.335},
|
|
{ 4.05279, 8.335},
|
|
{ 4.05297, 8.335},
|
|
{ 4.05313, 8.335},
|
|
{ 4.05329, 8.335},
|
|
{ 4.05345, 8.335},
|
|
{ 4.05361, 8.335},
|
|
{ 4.05376, 8.335},
|
|
{ 4.0539, 8.335},
|
|
{ 4.05405, 8.335},
|
|
{ 4.05418, 8.335},
|
|
{ 4.05432, 8.335},
|
|
{ 4.05445, 8.335},
|
|
{ 4.05458, 8.335},
|
|
{ 4.05469, 8.335},
|
|
{ 4.0548, 8.335},
|
|
{ 4.05491, 8.335},
|
|
{ 4.05502, 8.335},
|
|
{ 4.05513, 8.335},
|
|
{ 4.05524, 8.335},
|
|
{ 4.05535, 8.335},
|
|
{ 4.05545, 8.335},
|
|
{ 4.05555, 8.335},
|
|
{ 4.05564, 8.335},
|
|
{ 4.05574, 8.335},
|
|
{ 4.05582, 8.335},
|
|
{ 4.0559, 8.335},
|
|
{ 4.05597, 8.335},
|
|
{ 4.05604, 8.335},
|
|
{ 4.05611, 8.335},
|
|
{ 4.05618, 8.335},
|
|
{ 4.05624, 8.335},
|
|
{ 4.0563, 8.335},
|
|
{ 4.05635, 8.335},
|
|
{ 4.05639, 8.335},
|
|
{ 4.05643, 8.335},
|
|
{ 4.05647, 8.335},
|
|
{ 4.0565, 8.335},
|
|
{ 4.05652, 8.335},
|
|
{ 4.05655, 8.335},
|
|
{ 4.05657, 8.335},
|
|
{ 4.0566, 8.335},
|
|
{ 4.05661, 8.335},
|
|
{ 4.05662, 8.335},
|
|
{ 4.05662, 8.335},
|
|
{ 4.05662, 8.335},
|
|
{ 4.05661, 8.335},
|
|
{ 4.05661, 8.335},
|
|
{ 4.05659, 8.335},
|
|
{ 4.05656, 8.335},
|
|
{ 4.05654, 8.335},
|
|
{ 4.05651, 8.335},
|
|
{ 4.05647, 8.335},
|
|
{ 4.05644, 8.335},
|
|
{ 4.0564, 8.335},
|
|
{ 4.05635, 8.335},
|
|
{ 4.05629, 8.335},
|
|
{ 4.05624, 8.335},
|
|
{ 4.05618, 8.335},
|
|
{ 4.05611, 8.335},
|
|
{ 4.05604, 8.335},
|
|
{ 4.05596, 8.335},
|
|
{ 4.05588, 8.335},
|
|
{ 4.05582, 8.335},
|
|
{ 4.05574, 8.335},
|
|
{ 4.05566, 8.335},
|
|
{ 4.05557, 8.335},
|
|
{ 4.05548, 8.335},
|
|
{ 4.05539, 8.335},
|
|
{ 4.05528, 8.335},
|
|
{ 4.05519, 8.335},
|
|
{ 4.05507, 8.335},
|
|
{ 4.05495, 8.335},
|
|
{ 4.05484, 8.335},
|
|
{ 4.05472, 8.335},
|
|
{ 4.05459, 8.335},
|
|
{ 4.05447, 8.335},
|
|
{ 4.05433, 8.335},
|
|
{ 4.05419, 8.335},
|
|
{ 4.05404, 8.335},
|
|
{ 4.05389, 8.335},
|
|
{ 4.05374, 8.335},
|
|
{ 4.05359, 8.335},
|
|
{ 4.05343, 8.335},
|
|
{ 4.05326, 8.335},
|
|
{ 4.05309, 8.335},
|
|
{ 4.05292, 8.335},
|
|
{ 4.05275, 8.335},
|
|
{ 4.05257, 8.335},
|
|
{ 4.05237, 8.335},
|
|
{ 4.05218, 8.335},
|
|
{ 4.05199, 8.335},
|
|
{ 4.05179, 8.335},
|
|
{ 4.05159, 8.335},
|
|
{ 4.05138, 8.335},
|
|
{ 4.05116, 8.335},
|
|
{ 4.05095, 8.335},
|
|
{ 4.05073, 8.335},
|
|
{ 4.0505, 8.335},
|
|
{ 4.05028, 8.335},
|
|
{ 4.05004, 8.335},
|
|
{ 4.0498, 8.335},
|
|
{ 4.04956, 8.335},
|
|
{ 4.04932, 8.335},
|
|
{ 4.04907, 8.335},
|
|
{ 4.04882, 8.335},
|
|
{ 4.04857, 8.335},
|
|
{ 4.04833, 8.335},
|
|
{ 4.04808, 8.335},
|
|
{ 4.04782, 8.335},
|
|
{ 4.04756, 8.335},
|
|
{ 4.0473, 8.335},
|
|
{ 4.04703, 8.335},
|
|
{ 4.04676, 8.335},
|
|
{ 4.04648, 8.335},
|
|
{ 4.04621, 8.335},
|
|
{ 4.04593, 8.335},
|
|
{ 4.04564, 8.335},
|
|
{ 4.04536, 8.335},
|
|
{ 4.04506, 8.335},
|
|
{ 4.04476, 8.335},
|
|
{ 4.04446, 8.335},
|
|
{ 4.04416, 8.335},
|
|
{ 4.04386, 8.335},
|
|
{ 4.04354, 8.335},
|
|
{ 4.04323, 8.335},
|
|
{ 4.04292, 8.335},
|
|
{ 4.0426, 8.335},
|
|
{ 4.04229, 8.335},
|
|
{ 4.04196, 8.335},
|
|
{ 4.04164, 8.335},
|
|
{ 4.0413, 8.335},
|
|
{ 4.04097, 8.335},
|
|
{ 4.04063, 8.335},
|
|
{ 4.0403, 8.335},
|
|
{ 4.03995, 8.335},
|
|
{ 4.03961, 8.335},
|
|
{ 4.03926, 8.335},
|
|
{ 4.03891, 8.335},
|
|
{ 4.03856, 8.335},
|
|
{ 4.03821, 8.335},
|
|
{ 4.03785, 8.335},
|
|
{ 4.03749, 8.335},
|
|
{ 4.03712, 8.335},
|
|
{ 4.03675, 8.335},
|
|
{ 4.03638, 8.335},
|
|
{ 4.03601, 8.335},
|
|
{ 4.03563, 8.335},
|
|
{ 4.03525, 8.335},
|
|
{ 4.03487, 8.335},
|
|
{ 4.0345, 8.335},
|
|
{ 4.03412, 8.335},
|
|
{ 4.03375, 8.335},
|
|
{ 4.03336, 8.335},
|
|
{ 4.03299, 8.335},
|
|
{ 4.0326, 8.335},
|
|
{ 4.03221, 8.335},
|
|
{ 4.03182, 8.335},
|
|
{ 4.03143, 8.335},
|
|
{ 4.03103, 8.335},
|
|
{ 4.03064, 8.335},
|
|
{ 4.03024, 8.335},
|
|
{ 4.02983, 8.335},
|
|
{ 4.02943, 8.335},
|
|
{ 4.02903, 8.335},
|
|
{ 4.02862, 8.335},
|
|
{ 4.02821, 8.335},
|
|
{ 4.0278, 8.335},
|
|
{ 4.02739, 8.335},
|
|
{ 4.02697, 8.335},
|
|
{ 4.02656, 8.335},
|
|
{ 4.02613, 8.335},
|
|
{ 4.02571, 8.335},
|
|
{ 4.02528, 8.335},
|
|
{ 4.02485, 8.335},
|
|
{ 4.02443, 8.335},
|
|
{ 4.02399, 8.335},
|
|
{ 4.02355, 8.335},
|
|
{ 4.02311, 8.335},
|
|
{ 4.02266, 8.335},
|
|
{ 4.02222, 8.335},
|
|
{ 4.02178, 8.335},
|
|
{ 4.02133, 8.335},
|
|
{ 4.02088, 8.335},
|
|
{ 4.02043, 8.335},
|
|
{ 4.01998, 8.335},
|
|
{ 4.01952, 8.335},
|
|
{ 4.01906, 8.335},
|
|
{ 4.0186, 8.335},
|
|
{ 4.01814, 8.335},
|
|
{ 4.01768, 8.335},
|
|
{ 4.0172, 8.335},
|
|
{ 4.01674, 8.335},
|
|
{ 4.01628, 8.335},
|
|
{ 4.01581, 8.335},
|
|
{ 4.01536, 8.335},
|
|
{ 4.0149, 8.335},
|
|
{ 4.01442, 8.335},
|
|
{ 4.01395, 8.335},
|
|
{ 4.01348, 8.335},
|
|
{ 4.013, 8.335},
|
|
{ 4.01253, 8.335},
|
|
{ 4.01206, 8.335},
|
|
{ 4.01158, 8.335},
|
|
{ 4.0111, 8.335},
|
|
{ 4.01062, 8.335},
|
|
{ 4.01014, 8.335},
|
|
{ 4.00966, 8.335},
|
|
{ 4.00917, 8.335},
|
|
{ 4.00868, 8.335},
|
|
{ 4.00818, 8.335},
|
|
{ 4.0077, 8.335},
|
|
{ 4.0072, 8.335},
|
|
{ 4.0067, 8.335},
|
|
{ 4.0062, 8.335},
|
|
{ 4.0057, 8.335},
|
|
{ 4.00518, 8.335},
|
|
{ 4.00468, 8.335},
|
|
{ 4.00417, 8.335},
|
|
{ 4.00366, 8.335},
|
|
{ 4.00314, 8.335},
|
|
{ 4.00262, 8.335},
|
|
{ 4.0021, 8.335},
|
|
{ 4.00158, 8.335},
|
|
{ 4.00106, 8.335},
|
|
{ 4.00054, 8.335},
|
|
{ 4.00001, 8.335},
|
|
{ 3.99948, 8.335},
|
|
{ 3.99895, 8.335},
|
|
{ 3.99842, 8.335},
|
|
{ 3.99788, 8.335},
|
|
{ 3.99735, 8.335},
|
|
{ 3.99681, 8.335},
|
|
{ 3.99626, 8.335},
|
|
{ 3.99572, 8.335},
|
|
{ 3.99517, 8.335},
|
|
{ 3.99462, 8.335},
|
|
{ 3.99408, 8.335},
|
|
{ 3.99354, 8.335},
|
|
{ 3.993, 8.335},
|
|
{ 3.99245, 8.335},
|
|
{ 3.9919, 8.335},
|
|
{ 3.99135, 8.335},
|
|
{ 3.99081, 8.335},
|
|
{ 3.99026, 8.335},
|
|
{ 3.9897, 8.335},
|
|
{ 3.98914, 8.335},
|
|
{ 3.98859, 8.335},
|
|
{ 3.98804, 8.335},
|
|
{ 3.98749, 8.335},
|
|
{ 3.98693, 8.335},
|
|
{ 3.98636, 8.335},
|
|
{ 3.9858, 8.335},
|
|
{ 3.98523, 8.335},
|
|
{ 3.98466, 8.335},
|
|
{ 3.98409, 8.335},
|
|
{ 3.98352, 8.335},
|
|
{ 3.98296, 8.335},
|
|
{ 3.98238, 8.335},
|
|
{ 3.98182, 8.335},
|
|
{ 3.98125, 8.335},
|
|
{ 3.98068, 8.335},
|
|
{ 3.9801, 8.335},
|
|
{ 3.97953, 8.335},
|
|
{ 3.97895, 8.335},
|
|
{ 3.97837, 8.335},
|
|
{ 3.97778, 8.335},
|
|
{ 3.9772, 8.335},
|
|
{ 3.97662, 8.335},
|
|
{ 3.97604, 8.335},
|
|
{ 3.97545, 8.335},
|
|
{ 3.97487, 8.335},
|
|
{ 3.97429, 8.335},
|
|
{ 3.9737, 8.335},
|
|
{ 3.9731, 8.335},
|
|
{ 3.97251, 8.335},
|
|
{ 3.97192, 8.335},
|
|
{ 3.97133, 8.335},
|
|
{ 3.97072, 8.335},
|
|
{ 3.97013, 8.335},
|
|
{ 3.96955, 8.335},
|
|
{ 3.96897, 8.335},
|
|
{ 3.96838, 8.335},
|
|
{ 3.96779, 8.335},
|
|
{ 3.96719, 8.335},
|
|
{ 3.9666, 8.335},
|
|
{ 3.96601, 8.335},
|
|
{ 3.96541, 8.335},
|
|
{ 3.96482, 8.335},
|
|
{ 3.96421, 8.335},
|
|
{ 3.96361, 8.335},
|
|
{ 3.96302, 8.335},
|
|
{ 3.96242, 8.335},
|
|
};
|
|
|
|
std::vector<PidControllerOutput> pidControllerOutputs = {
|
|
{ -1},
|
|
{ 0.619054},
|
|
{ 0.785061},
|
|
{ 0.798172},
|
|
{ 0.794085},
|
|
{ 0.788043},
|
|
{ 0.781764},
|
|
{ 0.775431},
|
|
{ 0.769074},
|
|
{ 0.762685},
|
|
{ 0.756279},
|
|
{ 0.749841},
|
|
{ 0.743384},
|
|
{ 0.736901},
|
|
{ 0.730391},
|
|
{ 0.723871},
|
|
{ 0.717325},
|
|
{ 0.710759},
|
|
{ 0.704179},
|
|
{ 0.697581},
|
|
{ 0.690965},
|
|
{ 0.684347},
|
|
{ 0.677719},
|
|
{ 0.671091},
|
|
{ 0.664463},
|
|
{ 0.657827},
|
|
{ 0.651196},
|
|
{ 0.644565},
|
|
{ 0.637939},
|
|
{ 0.631315},
|
|
{ 0.624693},
|
|
{ 0.618073},
|
|
{ 0.61146},
|
|
{ 0.604857},
|
|
{ 0.598267},
|
|
{ 0.591682},
|
|
{ 0.585114},
|
|
{ 0.578558},
|
|
{ 0.57202},
|
|
{ 0.565503},
|
|
{ 0.559002},
|
|
{ 0.55252},
|
|
{ 0.546065},
|
|
{ 0.539628},
|
|
{ 0.53322},
|
|
{ 0.526839},
|
|
{ 0.520488},
|
|
{ 0.514164},
|
|
{ 0.507869},
|
|
{ 0.501611},
|
|
{ 0.495382},
|
|
{ 0.489193},
|
|
{ 0.483035},
|
|
{ 0.476915},
|
|
{ 0.470841},
|
|
{ 0.464798},
|
|
{ 0.458801},
|
|
{ 0.452839},
|
|
{ 0.446926},
|
|
{ 0.441058},
|
|
{ 0.435232},
|
|
{ 0.429451},
|
|
{ 0.423718},
|
|
{ 0.418031},
|
|
{ 0.412391},
|
|
{ 0.406803},
|
|
{ 0.401264},
|
|
{ 0.395769},
|
|
{ 0.390331},
|
|
{ 0.384945},
|
|
{ 0.379606},
|
|
{ 0.374316},
|
|
{ 0.369086},
|
|
{ 0.363906},
|
|
{ 0.358772},
|
|
{ 0.353699},
|
|
{ 0.348676},
|
|
{ 0.343705},
|
|
{ 0.338787},
|
|
{ 0.333921},
|
|
{ 0.329104},
|
|
{ 0.324346},
|
|
{ 0.319634},
|
|
{ 0.314978},
|
|
{ 0.310369},
|
|
{ 0.305817},
|
|
{ 0.301318},
|
|
{ 0.296867},
|
|
{ 0.292467},
|
|
{ 0.288118},
|
|
{ 0.283815},
|
|
{ 0.279565},
|
|
{ 0.275367},
|
|
{ 0.271216},
|
|
{ 0.267113},
|
|
{ 0.263054},
|
|
{ 0.259052},
|
|
{ 0.255092},
|
|
{ 0.251178},
|
|
{ 0.247311},
|
|
{ 0.243491},
|
|
{ 0.239718},
|
|
{ 0.235982},
|
|
{ 0.232293},
|
|
{ 0.228644},
|
|
{ 0.225042},
|
|
{ 0.221474},
|
|
{ 0.217952},
|
|
{ 0.214461},
|
|
{ 0.211014},
|
|
{ 0.207601},
|
|
{ 0.204226},
|
|
{ 0.200888},
|
|
{ 0.197584},
|
|
{ 0.194309},
|
|
{ 0.191072},
|
|
{ 0.187866},
|
|
{ 0.184688},
|
|
{ 0.181539},
|
|
{ 0.178427},
|
|
{ 0.175338},
|
|
{ 0.172277},
|
|
{ 0.169244},
|
|
{ 0.166228},
|
|
{ 0.163252},
|
|
{ 0.160286},
|
|
{ 0.157351},
|
|
{ 0.154437},
|
|
{ 0.151546},
|
|
{ 0.148669},
|
|
{ 0.14582},
|
|
{ 0.142985},
|
|
{ 0.140168},
|
|
{ 0.137369},
|
|
{ 0.13459},
|
|
{ 0.131824},
|
|
{ 0.129069},
|
|
{ 0.126338},
|
|
{ 0.12361},
|
|
{ 0.120904},
|
|
{ 0.118204},
|
|
{ 0.115515},
|
|
{ 0.112843},
|
|
{ 0.110174},
|
|
{ 0.107519},
|
|
{ 0.104866},
|
|
{ 0.102229},
|
|
{ 0.0995981},
|
|
{ 0.0969712},
|
|
{ 0.0943454},
|
|
{ 0.0917337},
|
|
{ 0.0891264},
|
|
{ 0.086515},
|
|
{ 0.0839149},
|
|
{ 0.0813167},
|
|
{ 0.0787275},
|
|
{ 0.0761606},
|
|
{ 0.0736088},
|
|
{ 0.0710764},
|
|
{ 0.0685505},
|
|
{ 0.0660358},
|
|
{ 0.0635378},
|
|
{ 0.0610492},
|
|
{ 0.0585668},
|
|
{ 0.0560986},
|
|
{ 0.0536371},
|
|
{ 0.0511846},
|
|
{ 0.0487362},
|
|
{ 0.0462943},
|
|
{ 0.0438642},
|
|
{ 0.0414334},
|
|
{ 0.0390115},
|
|
{ 0.0365863},
|
|
{ 0.0341675},
|
|
{ 0.0317481},
|
|
{ 0.029325},
|
|
{ 0.026906},
|
|
{ 0.0244839},
|
|
{ 0.0220661},
|
|
{ 0.0196399},
|
|
{ 0.0172099},
|
|
{ 0.014787},
|
|
{ 0.0123509},
|
|
{ 0.0099134},
|
|
{ 0.00747287},
|
|
{ 0.00503945},
|
|
{ 0.00259798},
|
|
{ 0.000163091},
|
|
{ -0.00227473},
|
|
{ -0.00471873},
|
|
{ -0.00716634},
|
|
{ -0.00961728},
|
|
{ -0.0120715},
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