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Replace ivox library with OctVoxMap library

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uavfly
2026-01-03 23:36:02 +08:00
parent fd0ac1c6d6
commit cde9e26ea8
13 changed files with 7971 additions and 6 deletions
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Log/mat_out.txt
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3.49991 0.0065606 0.00778009 0.00125785 0.0101163 0.00732799 0.0100322 -0.000672209 -0.00597538 4.00199e-05 -0.00776472 0.000239322 0.00627362 -0.0354613 0.0212646 -0.0464256 0.00358534 -0.00213705 -9.8054 9112
3.54926 0.00542755 0.00721691 0.00154543 0.0100631 0.00795418 0.0112156 -0.00102877 -0.00293968 0.00269583 -0.00737968 0.00042037 0.00617135 -0.0354585 0.0207217 -0.0471066 0.00358514 -0.0020835 -9.80533 9114
3.60013 0.00462359 0.00664034 0.00196225 0.00982055 0.00847611 0.011395 -0.00347293 -0.00124329 0.00321793 -0.00710432 0.00059869 0.00604383 -0.0354053 0.0202681 -0.0472354 0.00357981 -0.00203855 -9.80532 9194
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3.69902 0.00689388 0.00724472 0.00181369 0.00976548 0.00883975 0.011419 -0.00360648 -0.00276875 0.00107586 -0.00780611 0.000408092 0.00611488 -0.0356648 0.0198817 -0.0469274 0.00360545 -0.00199978 -9.80535 9476
3.74996 0.00542929 0.00699617 0.00167251 0.00969825 0.00783851 0.0129389 -0.00372321 -0.0047409 0.00485314 -0.00732938 0.000491908 0.00613349 -0.0356234 0.0204826 -0.0478631 0.00360162 -0.00206046 -9.80525 8936
3.80007 0.00449421 0.00591411 0.00154623 0.00970225 0.00658597 0.012819 -0.00563193 -0.00613203 0.00354634 -0.00704199 0.000783885 0.00616961 -0.0357349 0.0210945 -0.0477381 0.00361273 -0.00212119 -9.80527 9223
3.85006 0.00686327 0.00666375 0.00116055 0.00950574 0.0061767 0.0135465 -0.00499921 -0.00885797 0.00422049 -0.00771448 0.000577119 0.00628231 -0.0357504 0.0211431 -0.0478303 0.00361427 -0.00212604 -9.80526 8828
3.90009 0.00668248 0.00672175 0.00176041 0.00821981 0.00780196 0.0112519 -0.00769988 -0.00414052 -0.00159043 -0.00765949 0.000543656 0.00613131 -0.0353441 0.0198435 -0.0465146 0.00357358 -0.00199545 -9.80539 9139
3.94999 0.00571572 0.00700661 0.00195581 0.00913799 0.00795233 0.0131551 -0.00453452 -0.00346936 0.00285664 -0.00738857 0.000460383 0.00607585 -0.0361246 0.0196279 -0.0475888 0.00365138 -0.00197526 -9.80528 8871
4.00014 0.00514531 0.00728636 0.00162179 0.00827814 0.00670244 0.0105203 -0.00686044 -0.0050072 -0.00329622 -0.00719845 0.00037217 0.00616531 -0.0357676 0.0202516 -0.0463094 0.00361569 -0.00203577 -9.80541 9158
4.04988 0.00531983 0.00784394 0.00136847 0.00927917 0.0063168 0.0117535 -0.00315401 -0.00545164 -0.000525678 -0.00725734 0.000221823 0.00623846 -0.0365056 0.0202794 -0.046962 0.00368915 -0.00203933 -9.80534 8885
4.10045 0.00649051 0.00765646 0.00181375 0.00724059 0.00774484 0.0091862 -0.00773777 -0.00277116 -0.00677201 -0.00759226 0.000267701 0.00613012 -0.0355631 0.0192948 -0.045605 0.00359533 -0.00193976 -9.80548 9271
4.1501 0.00591763 0.00727613 0.00181932 0.00757954 0.0085725 0.0111894 -0.00616963 -0.00131983 -0.00210106 -0.00742448 0.000378805 0.0061181 -0.0359609 0.0187516 -0.0467098 0.00363506 -0.00188721 -9.80537 8754
4.20005 0.00514774 0.0083052 0.00210087 0.00692722 0.00780265 0.00858535 -0.00669782 -0.00225787 -0.00715926 -0.00720504 0.000105528 0.00604589 -0.0358189 0.0191668 -0.0456924 0.00362079 -0.00192717 -9.80547 9222
4.24998 0.00533525 0.00835657 0.00149151 0.00783192 0.00840459 0.00937718 -0.00271064 -0.000441994 -0.00509946 -0.00724551 0.000107437 0.00619586 -0.0364788 0.0186929 -0.0461328 0.00368641 -0.00188074 -9.80542 8806
4.2999 0.00526274 0.00840018 0.00157799 0.00739431 0.00750738 0.00539578 -0.00341493 -0.00172555 -0.0130084 -0.00723677 9.80346e-05 0.00617797 -0.0363462 0.0191366 -0.0444605 0.00367283 -0.00192258 -9.80559 9278
4.3499 0.0053887 0.00782887 0.00150793 0.009052 0.00812251 0.00710847 0.000898931 -0.000285206 -0.00895491 -0.00727664 0.000254325 0.00619527 -0.0373089 0.0187264 -0.045418 0.00376863 -0.00188321 -9.8055 8707
4.4 0.00584152 0.00856423 0.00174371 0.00782639 0.00841302 0.00450708 -0.00122649 0.000345193 -0.0140315 -0.00740045 5.20485e-05 0.00615088 -0.0366755 0.018592 -0.0445052 0.00370549 -0.00186862 -9.80559 9261
4.44919 0.00586288 0.00822447 0.0012699 0.00901724 0.00806032 0.00675487 0.00147678 -0.00225217 -0.0085737 -0.00738742 0.000144857 0.00626059 -0.0372274 0.0187253 -0.0457244 0.0037607 -0.00188348 -9.80546 8913
4.50006 0.00578775 0.00773022 0.00156305 0.0082301 0.00755273 0.00542165 -0.00124796 -0.00224363 -0.0112894 -0.00734708 0.000247115 0.00618262 -0.0368185 0.0189596 -0.0453405 0.00371995 -0.0019062 -9.8055 9302
4.55018 0.00497255 0.00724499 0.00157418 0.00872725 0.00818038 0.00783018 -0.000430733 -0.00166756 -0.00547313 -0.00713334 0.00037672 0.00616734 -0.037104 0.0185846 -0.0465686 0.00374891 -0.00187061 -9.80538 8661
4.60001 0.00546425 0.00824772 0.00130826 0.00900569 0.00720128 0.00661063 0.000326086 -0.00306377 -0.00805986 -0.00727077 0.000123291 0.00624721 -0.0372018 0.0189763 -0.0462203 0.00375841 -0.00190901 -9.80542 9074
4.64849 0.0053068 0.00799518 0.00158042 0.0095491 0.00676725 0.00835523 0.00172459 -0.00458459 -0.0037222 -0.00719797 0.00018933 0.00616102 -0.0374384 0.0191225 -0.0470972 0.00378242 -0.00192464 -9.80533 8795
4.69824 0.00567163 0.00785197 0.000816448 0.00873189 0.00487145 0.00746436 -0.00104763 -0.00784173 -0.00558765 -0.00729574 0.000214169 0.00634482 -0.0369167 0.0199162 -0.0468175 0.00373051 -0.00200293 -9.80536 9460
4.75001 0.00520962 0.00736373 0.000798867 0.0111173 0.00499823 0.00987798 0.00385581 -0.0075758 -0.000671408 -0.00719361 0.000335308 0.0063458 -0.0380797 0.0195796 -0.0478338 0.00384645 -0.00197095 -9.80526 8780
4.79995 0.00543788 0.00754402 0.00101527 0.00993034 0.00432169 0.00778958 0.000819441 -0.00804754 -0.00470464 -0.00724116 0.00028788 0.00629672 -0.0374634 0.0197631 -0.0470662 0.00378483 -0.00198812 -9.80533 9202
4.84989 0.00472997 0.007588 0.00115068 0.0104303 0.00446239 0.00990854 0.0020113 -0.00750461 0.00020046 -0.00706373 0.000285729 0.00625438 -0.0377054 0.0195269 -0.0480248 0.00380955 -0.00196589 -9.80524 8949
4.90006 0.00477652 0.00722609 0.0012518 0.00937124 0.00273879 0.00892381 0.0099077 -0.0096524 0.00170948 -0.00695951 0.000343853 0.00623566 -0.0371677 0.0201621 -0.0477189 0.00375601 -0.00202833 -9.80527 9257
4.95003 0.00319025 0.00650105 0.00152767 0.0118962 0.00353973 0.0114066 0.011925 -0.00523315 0.00594083 -0.00677905 0.000458681 0.00623202 -0.0381033 0.0195582 -0.0486738 0.00384949 -0.00196983 -9.80517 8675
4.99999 0.00774431 0.0072561 0.00150105 0.0122048 0.00292021 0.00900704 0.0241491 -0.00268244 -0.00484798 -0.00732965 0.000239642 0.00625509 -0.0378188 0.0195918 -0.0475759 0.00382045 -0.00197194 -9.80528 9212
5.04901 0.00571235 0.00841967 0.00162241 0.0138334 0.0043103 0.0114987 0.0274042 -0.00745139 -0.0059461 -0.00729791 0.000353181 0.00625952 -0.0381378 0.0189089 -0.0485125 0.00385287 -0.00190543 -9.80519 8888
5.09983 0.00487387 0.009252 0.00231799 0.0135226 0.00415592 0.00965015 0.0333369 -0.00664571 -0.00333017 -0.00721044 0.000228943 0.00627003 -0.0373429 0.0189378 -0.0478981 0.00377376 -0.0019074 -9.80525 9293
5.14996 0.00470761 0.00973673 0.00128421 0.0158129 0.00445102 0.0120647 0.059727 -0.00723172 0.00185038 -0.0071305 0.000163993 0.00640898 -0.037366 0.018703 -0.0488439 0.00377678 -0.00188511 -9.80516 8715
5.19993 0.00624729 0.00967881 0.00200313 0.0186199 0.00553174 0.00905734 0.101562 -0.00169498 -0.00815122 -0.00751605 0.000108825 0.00637222 -0.0370506 0.0181694 -0.04768 0.00374484 -0.00183115 -9.80527 9234
5.25013 0.00637544 0.0090952 0.00302359 0.0251986 0.00699017 0.00950501 0.12742 0.000191088 -0.00695909 -0.00759264 0.000177752 0.00626332 -0.037452 0.0174837 -0.0479213 0.00378488 -0.00176367 -9.80525 8831
5.30029 0.00509527 0.00859754 0.00352874 0.0292543 0.00768439 0.00746379 0.13361 -0.00037954 -0.0100638 -0.00731841 0.000214837 0.00622551 -0.0365712 0.0172539 -0.0473632 0.00369736 -0.00174021 -9.8053 9239
5.34997 0.00503142 0.00359195 0.00349418 0.037437 0.00629979 0.00951786 0.147584 -0.000480753 -0.000569509 -0.00718897 0.000453387 0.0061391 -0.03696 0.0178268 -0.0481486 0.00373647 -0.00179766 -9.80522 8744
5.39997 0.0062699 0.00383484 0.00342859 0.0452689 0.00601169 0.0077649 0.176887 -0.00281944 -0.00949177 -0.00758356 0.000240456 0.00616578 -0.0370656 0.0179207 -0.0475305 0.0037463 -0.00180635 -9.80528 9242
5.44993 0.00647248 0.00297633 0.00398578 0.0553368 0.00781996 0.00855221 0.196523 0.00210682 -0.00773527 -0.00752436 0.000382799 0.00614279 -0.0373474 0.0171041 -0.047949 0.00377433 -0.001726 -9.80524 8808
5.4999 0.00469216 0.00341693 0.00396254 0.066269 0.00571162 0.00649799 0.211172 -0.00193604 -0.0125432 -0.00714644 0.000268039 0.00613076 -0.0379166 0.0179741 -0.047522 0.0038303 -0.00181135 -9.80529 9129
5.54904 0.00325322 0.00346713 0.0035883 0.0793388 0.00418214 0.00680953 0.224187 -0.00296698 -0.00686489 -0.00696161 0.000218161 0.00616617 -0.0384871 0.018563 -0.0479517 0.00388684 -0.00186971 -9.80524 8965
5.59994 0.005659 0.00376989 0.00274672 0.0907812 0.00476735 0.00659696 0.228173 1.78295e-05 -0.00575204 -0.00746249 0.000165601 0.00626121 -0.0384766 0.0182367 -0.0478397 0.00388592 -0.00183743 -9.80526 9141
5.65002 0.00480286 0.00406488 0.00214092 0.101569 0.00588609 0.00649565 0.231823 0.000366548 -0.0105787 -0.00739524 0.000190938 0.0062478 -0.0384381 0.0177788 -0.0479706 0.00388165 -0.00179231 -9.80524 8571
5.6995 0.00266957 0.00426456 0.00220707 0.112639 0.00619534 0.00616413 0.230922 0.00358341 -0.00582953 -0.00699792 0.000124677 0.00609808 -0.0380905 0.0177731 -0.0481169 0.00384704 -0.00179214 -9.80523 9522
5.75018 0.00267999 0.00458147 0.000695985 0.124288 0.00523149 0.00667072 0.231786 -0.00140454 -0.00252763 -0.00694047 0.000111655 0.0061733 -0.0382004 0.0181874 -0.0484681 0.00385794 -0.00183326 -9.80519 8786
5.79988 0.00448848 0.00439323 -0.000428635 0.136976 0.00573881 0.00825227 0.232923 0.00332467 -0.00414141 -0.00728863 0.000158544 0.0063071 -0.0384444 0.0179712 -0.048914 0.00388191 -0.00181218 -9.80515 9257
5.85017 0.0044742 0.00401137 -0.0006009 0.148738 0.00658912 0.00927608 0.232258 0.00182638 0.000124723 -0.00732874 0.00018448 0.00633452 -0.0385213 0.0176684 -0.0493009 0.00388882 -0.00178247 -9.80511 8634
5.89906 0.00435913 0.00449765 4.62377e-05 0.161527 0.00561072 0.00964574 0.236808 0.000970764 0.00287312 -0.00718748 7.50755e-05 0.00630624 -0.0389264 0.0180586 -0.0494441 0.00392885 -0.00182061 -9.8051 9278
5.95003 0.00383377 0.00454104 7.2481e-06 0.173317 0.00455445 0.00972459 0.234157 0.000356973 -0.00207875 -0.00708634 0.000142537 0.00634142 -0.038882 0.0184983 -0.0495426 0.0039245 -0.00186397 -9.80509 8906
5.99913 0.00463523 0.00430797 -0.00156881 0.185799 0.00345211 0.0114735 0.235929 -0.00190931 0.00201313 -0.00730895 0.000151771 0.00651032 -0.0390005 0.0189338 -0.0500269 0.00393567 -0.00190693 -9.80504 9068
6.05025 0.00437157 0.00378581 -0.00151683 0.196318 0.00365365 0.0110119 0.233687 -0.00155134 0.000493718 -0.00727731 0.000282408 0.00640912 -0.0385608 0.0188879 -0.0498722 0.00389251 -0.00190247 -9.80506 8977
6.09891 0.00341623 0.00492901 -0.00192861 0.207149 0.0037802 0.0101698 0.232907 -0.000526811 -0.000640772 -0.00715606 0.000220624 0.00637056 -0.0381986 0.0188643 -0.0496507 0.00385721 -0.00190012 -9.80508 8864
6.1499 0.00499 0.00684962 -0.00178279 0.217224 0.00317551 0.00929402 0.235208 -0.00624169 0.0161239 -0.00720917 0.000231541 0.00633664 -0.0376686 0.0190834 -0.0494024 0.00380541 -0.00192148 -9.8051 9138
6.20001 0.00259079 0.00862998 -0.00237501 0.229415 0.00327424 0.0094925 0.224882 -0.00470295 0.0050104 -0.00719239 0.000218867 0.00638789 -0.0378222 0.0190739 -0.0494469 0.00382048 -0.00192061 -9.8051 8794
6.24908 0.00358092 0.0071025 -0.00264792 0.239929 0.00247313 0.00746898 0.226342 0.000596587 -0.00705824 -0.0070858 0.000247106 0.00638444 -0.0375961 0.0192372 -0.0488324 0.00379968 -0.00193652 -9.80516 9153
6.30007 0.0034517 0.00740667 -0.00278708 0.251689 0.00151009 0.00818152 0.225921 -0.00390989 -0.00296842 -0.00710152 0.0001209 0.00646422 -0.0376637 0.0195621 -0.0491777 0.00380496 -0.00196835 -9.80513 8691
6.35011 0.00441175 0.0069562 -0.00280754 0.263589 0.000935976 0.00681839 0.230119 -0.00591473 -0.00740662 -0.00715929 0.000170318 0.0064314 -0.037832 0.0196646 -0.0488029 0.0038223 -0.00197898 -9.80516 9193
6.40007 0.00412408 0.00728848 -0.00314186 0.273995 0.00218707 0.00799731 0.228417 -0.00104809 -0.00455374 -0.00706168 0.000126335 0.00647307 -0.0374997 0.0191646 -0.0492861 0.0037895 -0.00192892 -9.80512 8721
6.45011 0.00390937 0.00742452 -0.00285333 0.286251 0.00180766 0.00590049 0.239141 -0.00113168 -0.00791557 -0.00703361 0.000138314 0.00637186 -0.0378084 0.019246 -0.0487373 0.00382098 -0.00193826 -9.80517 9159
6.5002 0.0036877 0.00852559 -0.0036238 0.297964 0.00232794 0.00682367 0.249403 0.00240021 -0.00389334 -0.00701441 -1.40163e-05 0.00638497 -0.0376612 0.0190816 -0.0491431 0.00380612 -0.00192145 -9.80513 8574
6.54994 0.00374526 0.0095081 -0.00474152 0.310401 0.00113512 0.00359263 0.261149 -0.00223227 -0.0114807 -0.00709689 -6.799e-05 0.00643131 -0.0375391 0.0195059 -0.0482818 0.00379443 -0.00196316 -9.80522 9135
6.59993 0.00167513 0.00920924 -0.00618961 0.323692 0.000284734 0.00570915 0.264888 -0.0012601 -0.00380186 -0.00677366 5.37621e-06 0.00648743 -0.0375297 0.0198177 -0.0490883 0.00379133 -0.00199293 -9.80514 8555
6.64999 0.00270869 0.00984193 -0.00774833 0.336357 -0.000508092 0.00393878 0.269304 -0.00363621 -0.00718015 -0.00689052 -3.56769e-05 0.00656837 -0.0372562 0.0199952 -0.0486667 0.00376441 -0.00200939 -9.80518 9164
6.6993 0.00306454 0.00971574 -0.00738104 0.350622 0.000715611 0.00691143 0.265377 0.00421744 -0.00255329 -0.00702316 1.22896e-05 0.00642016 -0.0376828 0.0196045 -0.049493 0.0038065 -0.00197258 -9.8051 8513
6.74994 0.00432141 0.0102649 -0.00720173 0.363506 -4.41373e-05 0.00470581 0.266652 -0.0013413 -0.010151 -0.0072068 -0.000127281 0.00644324 -0.0374956 0.0199067 -0.0489324 0.00378703 -0.00200171 -9.80515 9214
6.80004 0.00462474 0.00970793 -0.00743489 0.377875 0.000195613 0.00593478 0.269427 -0.000528088 -0.00999408 -0.00726496 8.09365e-05 0.00651159 -0.0377966 0.0197791 -0.0493006 0.0038167 -0.00199041 -9.80511 8491
6.85 0.00368697 0.0100279 -0.00843458 0.390663 -0.000717452 0.00454641 0.285982 -0.00326378 -0.00855043 -0.00712232 -3.06618e-05 0.00651386 -0.0374563 0.020101 -0.0491173 0.0037819 -0.00201994 -9.80513 9177
6.90013 0.00349053 0.0114398 -0.00946477 0.406637 -0.000150403 0.00631796 0.309451 0.00124231 -0.00538501 -0.00713699 -0.000119756 0.0065874 -0.0379052 0.0198355 -0.049678 0.00382763 -0.00199656 -9.80508 8491
6.9503 0.0045787 0.0116707 -0.00993725 0.422224 -0.000932838 0.00483784 0.329451 -0.00416097 -0.0150463 -0.00726027 -0.000174643 0.00648605 -0.0378234 0.0201122 -0.0493826 0.00381725 -0.00202344 -9.80511 9103
6.9991 0.00408452 0.0107693 -0.0095057 0.441362 -0.00108182 0.0071909 0.343894 -0.00465486 -9.15275e-05 -0.00726958 1.89078e-06 0.00633977 -0.0385855 0.0201171 -0.0500211 0.00389192 -0.00202925 -9.80505 8481
7.05014 0.00386119 0.00874869 -0.010122 0.45743 -0.000903356 0.00812623 0.348316 -0.00185485 0.00355825 -0.00717345 0.000134565 0.00641151 -0.0382955 0.020016 -0.0502647 0.00386476 -0.0020163 -9.80502 9165
7.09926 0.00510058 0.0082057 -0.0112552 0.477736 -4.09128e-05 0.0122501 0.386325 -0.00265937 0.00529949 -0.00725905 0.000165728 0.00650186 -0.0388954 0.0196223 -0.0512054 0.00392803 -0.00198219 -9.80493 8434
7.15001 0.00616095 0.00830477 -0.01146 0.494772 0.000738469 0.012906 0.402464 -0.00367347 0.00506744 -0.0074545 0.00018327 0.00638983 -0.0383865 0.0194167 -0.0512602 0.00387965 -0.00195693 -9.80492 9037
7.20005 0.00469807 0.00838012 -0.0132863 0.517127 0.000615923 0.0138226 0.420698 0.00132542 0.00381429 -0.00731628 0.000265052 0.00649586 -0.0385949 0.0193906 -0.0514358 0.00390094 -0.00195628 -9.80491 8443
7.25016 0.004497 0.00981446 -0.0147587 0.53696 -0.000208094 0.0138103 0.423899 -0.00743205 0.00318612 -0.00732992 0.000192432 0.00644168 -0.0380768 0.0196771 -0.0514011 0.00384709 -0.00197841 -9.80491 9087
7.30012 0.00381501 0.0101394 -0.0177621 0.558338 0.00084179 0.0147254 0.429144 -0.00228125 0.00756878 -0.00724646 0.000250932 0.00657241 -0.0382391 0.0192186 -0.0515579 0.00386886 -0.0019353 -9.80489 8314
7.34912 0.00548674 0.0109169 -0.017295 0.57804 0.000292156 0.015277 0.428479 -0.00854444 0.00887161 -0.00754753 0.000117635 0.00648963 -0.0377287 0.0193868 -0.051533 0.00381625 -0.00194517 -9.80489 9059
7.40014 0.00535249 0.0106543 -0.0184154 0.598566 0.000339593 0.015911 0.425173 -0.00440219 0.00706318 -0.00757269 0.00017222 0.00652186 -0.0377552 0.0192511 -0.0515792 0.00382069 -0.00193221 -9.80489 8184
7.44889 0.00396867 0.0120458 -0.0194898 0.619425 0.000306046 0.0167854 0.428912 -0.00499512 0.00470937 -0.00745893 0.000159365 0.00647844 -0.0373342 0.0192558 -0.0517631 0.00378007 -0.0019265 -9.80487 9101
7.50003 0.00530532 0.0126001 -0.0211866 0.643695 -0.00117086 0.0165998 0.439221 -0.00819484 0.0035188 -0.00760444 0.000151746 0.00651886 -0.0379324 0.0194892 -0.051653 0.00383443 -0.00195846 -9.80488 8130
7.55 0.0045791 0.0107981 -0.0220267 0.662372 -0.00182752 0.0168025 0.424822 -0.0155345 0.00764539 -0.00768469 0.00031857 0.00663783 -0.0373688 0.0195974 -0.0515808 0.00377724 -0.00195885 -9.80489 8955
7.60001 0.00603514 0.00866422 -0.024445 0.686424 -0.0036994 0.0185871 0.430542 -0.0174688 0.00748282 -0.00778769 0.000479081 0.00670752 -0.0378083 0.0198136 -0.0517837 0.00381664 -0.00198682 -9.80487 7976
7.64986 0.00457209 0.00822032 -0.0250214 0.705088 -0.00461297 0.0215367 0.429953 -0.018083 0.0148877 -0.00756381 0.000517096 0.00655583 -0.0373028 0.0199791 -0.0524087 0.0037662 -0.00199279 -9.80481 8781
7.69888 0.00492142 0.0085361 -0.0285504 0.728141 -0.00623559 0.0210795 0.435853 -0.0193222 0.0115378 -0.00769672 0.000471893 0.00657316 -0.0374344 0.0201225 -0.052108 0.00377506 -0.00200975 -9.80484 7977
7.75012 0.00425946 0.00878593 -0.0328008 0.749605 -0.00795007 0.0193475 0.429296 -0.0233393 0.00871776 -0.00758916 0.000381272 0.00667122 -0.0373525 0.0203027 -0.0516405 0.00376242 -0.00202597 -9.80488 8893
7.79995 0.00490604 0.00810542 -0.0345311 0.77058 -0.00906756 0.0207183 0.424657 -0.0230442 0.0118463 -0.00766871 0.000433696 0.00660279 -0.0373248 0.0203237 -0.0517899 0.00375914 -0.00202696 -9.80487 8012
7.85051 0.00484915 0.00814302 -0.0349147 0.79187 -0.0116166 0.0185077 0.426996 -0.0296185 0.00717765 -0.00758563 0.000430747 0.00654645 -0.0373645 0.0206828 -0.0512195 0.00375259 -0.00206325 -9.80492 8720
7.89906 0.00303781 0.00761096 -0.0375312 0.813793 -0.0137763 0.0172598 0.428761 -0.0289389 0.0012598 -0.00744987 0.00038526 0.00655144 -0.0375521 0.0208912 -0.0509462 0.00376494 -0.00208946 -9.80495 7845
7.95012 0.00127003 0.00857041 -0.0409541 0.834005 -0.0155321 0.0162053 0.423609 -0.0259462 0.00179153 -0.00740289 0.000329004 0.00657995 -0.0371323 0.0210335 -0.0507555 0.00371969 -0.0020905 -9.80497 8827
8.00027 0.00164505 0.0082798 -0.0408005 0.854918 -0.0149179 0.0170603 0.421091 -0.0344026 0.00107349 -0.00745492 0.000329653 0.00648027 -0.0373554 0.0204066 -0.0509182 0.00376118 -0.00203863 -9.80495 7818
8.04921 0.000980929 0.00810372 -0.0421988 0.876315 -0.0166674 0.0133285 0.424128 -0.0305999 -0.00341454 -0.00738567 0.000232431 0.00654099 -0.0372523 0.0204462 -0.0501421 0.00374851 -0.0020405 -9.80503 8626
8.10325 0.00255158 0.00803247 -0.0423037 0.896848 -0.0178965 0.0128054 0.425776 -0.0292464 -0.00921915 -0.00745793 0.000164449 0.00654154 -0.0371568 0.0203716 -0.0500977 0.0037416 -0.0020305 -9.80503 7699
8.14907 0.00184856 0.00860257 -0.0420833 0.917941 -0.0211729 0.0100378 0.424057 -0.0303039 -0.011029 -0.00738479 -4.21178e-05 0.00648121 -0.037138 0.020874 -0.0496674 0.0037198 -0.00207888 -9.80507 8710
8.20002 0.000476057 0.00850244 -0.0434641 0.942179 -0.0203166 0.0134136 0.43313 -0.0260993 -0.0066389 -0.00727254 2.16479e-05 0.00652716 -0.0378572 0.0201505 -0.0504966 0.00382126 -0.00204144 -9.80499 7505
8.24992 0.00157923 0.0095182 -0.0453916 0.961455 -0.0205381 0.00940728 0.432994 -0.0268162 -0.0180762 -0.00743258 -0.000148939 0.00664783 -0.0375101 0.0198721 -0.049738 0.00379892 -0.00200156 -9.80507 8535
8.30003 0.00185487 0.00961071 -0.0456084 0.984541 -0.0218624 0.00905036 0.428602 -0.0233733 -0.0158182 -0.00746564 -0.000139743 0.00673196 -0.0377296 0.0198329 -0.0498702 0.0038222 -0.00200855 -9.80505 7492
8.35018 0.00244118 0.00819541 -0.044072 1.00598 -0.0226293 0.00971774 0.434723 -0.0245507 -0.0198461 -0.00748495 2.97165e-05 0.00652123 -0.0379092 0.0197692 -0.050149 0.0038412 -0.00201045 -9.80503 8231
8.39885 0.00111886 0.00886339 -0.0446616 1.029 -0.0224746 0.0105794 0.437608 -0.0224336 -0.0188966 -0.00736956 -3.48361e-06 0.00650755 -0.0378977 0.0194135 -0.050582 0.00385944 -0.00197615 -9.80499 7662
8.45004 0.00215448 0.00891611 -0.0467375 1.05099 -0.0234836 0.0112957 0.440138 -0.0264578 -0.0142942 -0.0075289 3.65832e-05 0.00666754 -0.0379446 0.019334 -0.0508299 0.00386828 -0.00196996 -9.80496 8145
8.50015 0.00323619 0.00830376 -0.0468165 1.07212 -0.0238787 0.0114404 0.432215 -0.0243433 -0.00726617 -0.00758503 2.95517e-05 0.00665815 -0.0377241 0.0191368 -0.0509613 0.0038583 -0.00193857 -9.80495 7696
8.55038 0.0029542 0.00810726 -0.0465129 1.09335 -0.0251331 0.013757 0.435324 -0.0260026 -0.00465727 -0.00754959 -5.56881e-05 0.00658453 -0.037583 0.0192301 -0.0515476 0.00384058 -0.00193703 -9.80489 8053
8.59999 0.00433728 0.00803036 -0.0468978 1.11507 -0.0264327 0.0145302 0.436681 -0.0273698 -0.00240212 -0.00758613 -4.55395e-05 0.00661834 -0.0375374 0.0192033 -0.0517788 0.00383853 -0.00193114 -9.80487 7808
8.64914 0.00355638 0.00824354 -0.0493108 1.1363 -0.026508 0.0156652 0.436299 -0.0225364 -0.000524614 -0.00756688 1.37355e-05 0.00667327 -0.0372804 0.0189306 -0.0519862 0.00383144 -0.00188908 -9.80485 7898
8.69921 0.00343741 0.00827236 -0.0511188 1.15736 -0.0262005 0.0150964 0.434353 -0.0230733 0.00368982 -0.00760649 0.000101119 0.00665335 -0.0370867 0.0185596 -0.0518404 0.00383573 -0.00184304 -9.80487 8003
8.75012 0.00364936 0.00948212 -0.0530839 1.17816 -0.0287609 0.0169522 0.435015 -0.0275606 0.00548709 -0.00756696 0.00013264 0.00658027 -0.0367564 0.0190053 -0.0522335 0.00377823 -0.00186113 -9.80483 7666
8.80007 0.00439338 0.0100427 -0.0528866 1.1995 -0.0287333 0.0169394 0.432651 -0.0305887 0.00459239 -0.00764806 7.22697e-05 0.00645086 -0.0367032 0.0186601 -0.0521546 0.00379486 -0.00182661 -9.80483 8062
8.84991 0.00472769 0.00983328 -0.0541357 1.21879 -0.0300925 0.0173528 0.425068 -0.0273181 0.00768959 -0.00769699 0.000127718 0.00652924 -0.0360529 0.0187257 -0.0521605 0.00373124 -0.00178814 -9.80483 7430
8.89863 0.00424843 0.0104878 -0.0555643 1.24049 -0.0315986 0.0157685 0.432788 -0.0311912 -0.000114512 -0.0077131 0.000133382 0.00656002 -0.036205 0.0186922 -0.0517858 0.00374631 -0.00179626 -9.80487 8272
8.94894 0.00476163 0.0132529 -0.055568 1.26118 -0.0336959 0.0169589 0.4251 -0.0367426 0.0100226 -0.00770575 8.81362e-06 0.00648868 -0.0358954 0.0189164 -0.0521059 0.00370375 -0.0017947 -9.80484 7608
8.99907 0.00603091 0.00973008 -0.0565555 1.28148 -0.0353684 0.0164701 0.421648 -0.0328821 0.000991021 -0.0076877 0.000196963 0.00654637 -0.0356042 0.0189239 -0.051915 0.00367653 -0.00177431 -9.80486 8322
9.0489 0.00491462 0.0091844 -0.0573971 1.3011 -0.0360032 0.0179514 0.422283 -0.0319254 0.00741017 -0.0075097 4.69946e-05 0.00657951 -0.0351017 0.0187434 -0.0522562 0.00364541 -0.00172127 -9.80482 7564
9.09992 0.00569449 0.00817063 -0.0582437 1.3213 -0.0378123 0.014421 0.420724 -0.0321075 -0.00243281 -0.00757445 0.000146925 0.00659124 -0.0349276 0.0187823 -0.0514321 0.00362395 -0.00171192 -9.8049 8434
9.14914 0.00411047 0.0079815 -0.0608943 1.34362 -0.0381237 0.0174915 0.426306 -0.0257224 0.00623011 -0.00747453 0.000108908 0.006673 -0.035064 0.0184714 -0.0520813 0.00366116 -0.00169423 -9.80484 7539
9.20018 0.00452174 0.00723021 -0.0619508 1.3639 -0.0395562 0.0182949 0.428408 -0.033389 0.00694799 -0.0074647 0.000179605 0.00655028 -0.034899 0.0185249 -0.0521707 0.00364271 -0.00168622 -9.80483 8470
9.24914 0.0055415 0.00768637 -0.0633155 1.38557 -0.040117 0.0210889 0.423153 -0.030986 0.0127811 -0.00757897 0.000100233 0.00655387 -0.0348445 0.0182731 -0.0526569 0.00365858 -0.00165976 -9.80478 7520
9.30004 0.00633342 0.00913067 -0.062652 1.4057 -0.0427545 0.0179347 0.42434 -0.035205 0.00258657 -0.00752885 6.25693e-05 0.00647696 -0.0347893 0.0184977 -0.0519244 0.00363374 -0.00167467 -9.80485 8635
9.35004 0.00456586 0.00902456 -0.0661697 1.4276 -0.0470504 0.0163892 0.432898 -0.0372697 -0.00428992 -0.00749917 -2.73689e-05 0.00669132 -0.034962 0.0190815 -0.0516133 0.00360208 -0.00174038 -9.80488 7687
9.40003 0.00289037 0.0107703 -0.0657073 1.44902 -0.0483452 0.0136171 0.436217 -0.0375327 -0.00866888 -0.00721158 -6.16852e-05 0.00647552 -0.0350187 0.0188826 -0.0510916 0.00362097 -0.00172666 -9.80493 8719
9.44995 0.00443969 0.0117686 -0.0663803 1.47107 -0.0498864 0.0143688 0.429489 -0.0414365 -0.00227032 -0.00732475 -7.75902e-06 0.0065046 -0.0348369 0.0187926 -0.051264 0.00361294 -0.00170333 -9.80492 7862
9.50025 0.00446609 0.0110533 -0.0678273 1.49216 -0.0535639 0.0134016 0.431376 -0.0446855 -0.0017891 -0.0073275 8.53689e-05 0.00656288 -0.034941 0.0192086 -0.0510755 0.00358667 -0.0017484 -9.80493 8789
9.5499 0.0055342 0.0130503 -0.0687145 1.51196 -0.0535915 0.0137932 0.436559 -0.0409935 -0.00256286 -0.00741777 -9.74273e-05 0.00657898 -0.034645 0.0187643 -0.0511915 0.00359886 -0.00168359 -9.80492 7371
9.59665 0.00461712 0.0136762 -0.0695777 1.53359 -0.055726 0.0122167 0.432178 -0.0365043 -0.00546746 -0.0073316 -4.77198e-07 0.0065736 -0.0343641 0.0188132 -0.0508443 0.00356932 -0.00166136 -9.80495 9462
9.64924 0.00464775 0.0150964 -0.0718901 1.55558 -0.0547388 0.0137562 0.432376 -0.0333731 0.001369 -0.00740844 3.98585e-05 0.00659454 -0.0343938 0.0181459 -0.0512288 0.00363219 -0.00160701 -9.80492 7955
9.69904 0.00537841 0.0152615 -0.0733968 1.57567 -0.0567323 0.0133715 0.432322 -0.0368804 -0.0073897 -0.0074315 9.45838e-05 0.00656519 -0.0338865 0.0183223 -0.0511456 0.00357306 -0.00157408 -9.80492 9137
9.75015 0.00564948 0.0159752 -0.0736055 1.59733 -0.0576185 0.0145544 0.429256 -0.0335003 -0.00191966 -0.0075 5.3045e-05 0.00647648 -0.0338499 0.0181558 -0.0514492 0.00358702 -0.00155683 -9.80489 7994
9.80005 0.00640096 0.0135456 -0.0707467 1.61728 -0.0599993 0.0141015 0.435528 -0.0325181 -0.00833983 -0.00751107 0.000238754 0.00637313 -0.0334566 0.0183858 -0.0513631 0.0035322 -0.00153732 -9.8049 9111
9.84918 0.00512933 0.0127044 -0.0505221 1.63899 -0.0599371 0.0138863 0.451137 -0.0228908 -0.007062 -0.00740019 0.000184855 0.00566197 -0.0334804 0.0180552 -0.0513773 0.00356531 -0.00151129 -9.8049 8266
9.90001 0.00659214 0.0125722 -0.0186567 1.66062 -0.0629811 0.0138265 0.470756 -0.0191143 -0.00364248 -0.00748391 0.00014875 0.0054584 -0.0330426 0.0186506 -0.0513735 0.00347219 -0.00151772 -9.8049 9096
9.95001 0.00676003 0.0121647 0.0267233 1.68759 -0.0626438 0.0134436 0.505411 -0.00413832 0.00284949 -0.00740143 0.000103941 0.00485252 -0.034014 0.0182618 -0.051306 0.00358932 -0.00158046 -9.80491 8418
10 0.00764436 0.0138064 0.0804126 1.71283 -0.0649302 0.0127743 0.529347 0.0086538 -0.00160139 -0.00744597 5.26294e-06 0.0047403 -0.0337873 0.0188872 -0.0511623 0.00351159 -0.00161196 -9.80492 9122
10.0499 0.00687793 0.0135935 0.145807 1.74303 -0.063221 0.0142334 0.553687 0.0308638 0.00187297 -0.00717763 7.31086e-05 0.00412703 -0.0346695 0.0185641 -0.0514851 0.00361942 -0.0016593 -9.8049 8448
10.1001 0.00697503 0.0145291 0.214468 1.7708 -0.0637823 0.0143364 0.569646 0.0486534 0.00495487 -0.0072491 -9.39793e-05 0.00398248 -0.0347321 0.0191756 -0.0514841 0.0035824 -0.00171582 -9.8049 9228
10.1502 0.00866687 0.0142267 0.289956 1.80272 -0.0617558 0.0163375 0.57973 0.0664933 0.00580402 -0.00695032 -0.000272004 0.00376397 -0.0356262 0.0192273 -0.0518649 0.00366597 -0.00175255 -9.80487 8566
10.1999 0.008736 0.0122501 0.369502 1.83283 -0.0600486 0.0152007 0.588272 0.0849569 0.0198551 -0.00695538 -1.98704e-06 0.00368663 -0.0359581 0.0197003 -0.0515507 0.00368664 -0.00180504 -9.80491 9283
10.25 0.00622571 0.013243 0.456541 1.86658 -0.055252 0.0167084 0.59299 0.120349 -0.00779302 -0.0067266 -5.79396e-05 0.00353539 -0.0368811 0.0198185 -0.0518116 0.00378429 -0.00176475 -9.8049 8636
10.3001 0.00891113 0.010031 0.542527 1.89587 -0.0512314 0.0169543 0.591592 0.163728 0.00767946 -0.00674643 0.000138379 0.00342795 -0.0369917 0.0204191 -0.051713 0.00384208 -0.001827 -9.80491 9294
10.3499 0.00767333 0.0145782 0.636427 1.93017 -0.0426895 0.0182139 0.594466 0.20244 0.0143447 -0.00663304 -0.00014869 0.00334405 -0.0381415 0.0208661 -0.0520352 0.00401167 -0.00161574 -9.80489 8635
10.399 0.0079303 0.0134027 0.733986 1.9594 -0.0331582 0.0164595 0.577472 0.245318 0.00458889 -0.00659758 -0.000126301 0.00328292 -0.0380848 0.021182 -0.0515383 0.00407681 -0.00165033 -9.80494 9355
10.449 0.0062005 0.016125 0.830284 1.99236 -0.020849 0.0170579 0.570005 0.290559 0.00530752 -0.00636565 -0.000247979 0.00357985 -0.0394014 0.0220308 -0.0516818 0.00430342 -0.0011274 -9.80494 8618
10.4987 0.00735541 0.0151976 0.937237 2.02136 -0.00517496 0.0145171 0.528883 0.32782 -0.0070538 -0.0062916 -0.000108326 0.00360391 -0.0395734 0.0221459 -0.0510128 0.00434407 -0.00103893 -9.80501 9455
10.5505 0.00456772 0.0201363 1.04724 2.05228 0.0119022 0.0156027 0.511752 0.368468 -0.00884385 -0.00593196 -0.000445366 0.00393679 -0.0404224 0.0233427 -0.0513904 0.00466965 -0.000376145 -9.80499 8755
10.6 0.00693904 0.0180223 1.1593 2.077 0.0294784 0.0132839 0.479738 0.399742 -0.00397698 -0.00603554 -0.000151516 0.00386609 -0.0402789 0.0235644 -0.0510172 0.00479919 -0.000402311 -9.80503 9293
10.6499 0.00853158 0.021274 1.26643 2.10482 0.0506415 0.0131945 0.444703 0.416246 -0.0142074 -0.00601999 -0.000271655 0.00435301 -0.0411284 0.0249981 -0.0511532 0.00509788 0.000629525 -9.80503 8768
10.6992 0.00813259 0.0237035 1.36345 2.12619 0.0721384 0.0121147 0.378845 0.413645 -0.0194838 -0.00581943 -0.000265387 0.00437595 -0.0415406 0.0251739 -0.050989 0.00501927 0.000926009 -9.80505 9385
10.7501 0.00891657 0.0256861 1.44037 2.14485 0.0935873 0.011956 0.299441 0.434571 -0.0050107 -0.00580846 -0.000297205 0.00519466 -0.0420737 0.0257417 -0.0511705 0.0049496 0.00146793 -9.80504 8747
10.8001 0.00677116 0.0258312 1.49213 2.15731 0.119877 0.0108921 0.217692 0.470371 -0.0125392 -0.00557264 -0.000149363 0.00550288 -0.0435803 0.0249221 -0.0510079 0.00382772 0.00166459 -9.80505 9190
10.8499 0.00839303 0.025589 1.50741 2.16598 0.148256 0.0107469 0.149594 0.493963 -0.00746611 -0.0056321 -0.000148509 0.00673003 -0.0454148 0.0242506 -0.0512056 0.00246727 0.00197122 -9.80504 8917
10.9001 0.00586277 0.0259186 1.50938 2.1702 0.176375 0.0108702 0.115924 0.484985 -0.016094 -0.00553691 -0.000195933 0.00695405 -0.047304 0.0229989 -0.0513923 0.000885461 0.00187207 -9.80503 9236
10.9502 0.00634651 0.0250733 1.50832 2.17373 0.202928 0.0104755 0.117062 0.487989 -0.00964958 -0.00559427 -0.000135503 0.00717004 -0.0486612 0.021485 -0.0514447 -0.000458572 0.0012854 -9.80502 8935
10.9999 0.00616519 0.0263285 1.50824 2.17564 0.227629 0.011065 0.103169 0.489634 -0.00783361 -0.00552628 -0.000171727 0.00714691 -0.0495033 0.0191289 -0.0516658 -0.00167259 -0.000127101 -9.80499 8978
11.0501 0.0063345 0.0259014 1.50656 2.17746 0.252535 0.011486 0.0928622 0.489586 -0.00413452 -0.00557034 -9.70179e-05 0.007132 -0.0504368 0.0170232 -0.0518476 -0.00284928 -0.00138376 -9.80497 9196
11.0989 0.00667558 0.0259735 1.50508 2.17828 0.276915 0.0107154 0.0798354 0.490759 -0.0125237 -0.00560735 -0.00010042 0.00713217 -0.050966 0.0143789 -0.0517453 -0.00385476 -0.00317949 -9.80496 8922
11.1501 0.00624611 0.0273904 1.5036 2.17819 0.300101 0.00944147 0.0670807 0.494964 -0.0114153 -0.00554988 -0.000191397 0.00711387 -0.0518637 0.0115537 -0.0515632 -0.0051167 -0.00504802 -9.80497 9174
11.1993 0.00635816 0.0264329 1.50274 2.17654 0.324573 0.0105132 0.0502608 0.496853 -0.00615658 -0.00561274 -0.000142035 0.00707534 -0.0529672 0.00814636 -0.0518906 -0.00663385 -0.00729833 -9.80492 8691
11.2492 0.00648131 0.0253302 1.50077 2.17645 0.34604 0.00943157 0.0400201 0.496011 -0.00574238 -0.00564891 -5.77127e-05 0.00707745 -0.0522128 0.00578291 -0.0516912 -0.00658261 -0.00924172 -9.80492 9307
11.3 0.00679157 0.0246672 1.49248 2.17616 0.370714 0.00823165 0.0365707 0.515622 -0.0133057 -0.00572552 -1.3446e-05 0.00723705 -0.0526907 0.00416537 -0.0515262 -0.00725151 -0.0103441 -9.80492 8790
11.3501 0.00516909 0.023155 1.46932 2.17721 0.39532 0.00881856 0.0325851 0.530407 -0.00806463 -0.0055785 -8.60397e-05 0.00758269 -0.0523969 0.00328226 -0.0517183 -0.0072121 -0.0110627 -9.8049 9337
11.4 0.00530944 0.0250451 1.44225 2.17625 0.418066 0.00963456 0.0473816 0.545158 0.0030231 -0.00567223 -0.000129345 0.00776089 -0.051641 0.000429411 -0.0519311 -0.00721916 -0.0133482 -9.80485 8594
11.45 0.00438431 0.0258612 1.41679 2.17827 0.443882 0.00789768 0.0553459 0.533885 -0.013598 -0.00572599 -0.000100195 0.00757454 -0.0509777 -0.000362022 -0.0515829 -0.00688409 -0.0140794 -9.80487 9368
11.5001 0.00509309 0.025514 1.40516 2.18134 0.465518 0.00841749 0.0574389 0.508362 -0.00282313 -0.00575462 -0.000109281 0.00740259 -0.0489683 -0.00125634 -0.0516776 -0.00559434 -0.0151491 -9.80484 8432
11.5489 0.00520106 0.0268491 1.40551 2.18434 0.489112 0.00760342 0.0507281 0.502234 -0.00428158 -0.00579773 -8.5727e-05 0.00706899 -0.0479326 -0.00144911 -0.0515379 -0.00487299 -0.0155024 -9.80484 9552
11.5991 0.00644069 0.0282226 1.40442 2.18759 0.510389 0.00922835 0.0557675 0.49269 0.0010087 -0.00588896 -0.000176693 0.00706894 -0.0460523 -0.00197403 -0.0518665 -0.00360393 -0.0162582 -9.80479 8586
11.65 0.00733349 0.0278094 1.40275 2.19086 0.533316 0.00774895 0.0528079 0.494892 -0.0022726 -0.00593591 -5.28443e-05 0.00705701 -0.0452026 -0.00191392 -0.0515577 -0.00296706 -0.0163892 -9.80481 9397
11.7002 0.0062962 0.027662 1.40085 2.19391 0.550783 0.00709278 0.0481984 0.48833 -0.0137423 -0.00587885 -9.54881e-05 0.00712275 -0.0420602 -0.00339651 -0.0513666 -0.000948909 -0.0181048 -9.80479 8499
11.75 0.00521407 0.0275481 1.40003 2.19668 0.574521 0.00611486 0.0503687 0.483671 -0.00826232 -0.0058514 -1.44068e-05 0.00712248 -0.0418016 -0.00330126 -0.0512572 -0.000739711 -0.0180884 -9.80479 9347
11.7991 0.00705489 0.0286868 1.39748 2.20065 0.594911 0.00711229 0.0631884 0.484258 0.00174598 -0.00595443 -1.9786e-05 0.00711505 -0.039803 -0.00354665 -0.0515396 0.000676422 -0.0186649 -9.80475 8479
11.8492 0.00782509 0.0283072 1.39675 2.20382 0.618472 0.00582179 0.0616371 0.480587 -0.000983168 -0.00602357 6.59232e-05 0.00711012 -0.0394897 -0.00360176 -0.0512956 0.000899048 -0.0187747 -9.80476 9482
11.9002 0.00734492 0.0281487 1.39743 2.20829 0.637726 0.00666375 0.0626906 0.473571 -0.00196812 -0.00593555 1.40011e-05 0.00709397 -0.0373785 -0.00386141 -0.0514389 0.00239615 -0.0193904 -9.80473 8442
11.9501 0.00810141 0.0257425 1.39664 2.21113 0.659632 0.00581048 0.0617869 0.473377 -0.00333964 -0.00592985 0.000156955 0.00708821 -0.0368034 -0.00436137 -0.0512761 0.00271678 -0.0198746 -9.80473 9413
12 0.00808005 0.0273895 1.39563 2.2151 0.67883 0.00676193 0.0627319 0.467861 -0.00559697 -0.00600143 -2.58661e-05 0.00702648 -0.034965 -0.00479862 -0.0514653 0.003976 -0.0205726 -9.80469 8440
12.0499 0.00702186 0.0270506 1.39377 2.21889 0.700467 0.00522435 0.0643459 0.469358 -0.00406703 -0.0058895 0.000101403 0.00714241 -0.0341561 -0.00486577 -0.0511683 0.00455751 -0.0207951 -9.80471 9449
12.1 0.00720264 0.0280128 1.39299 2.22346 0.7185 0.00583597 0.0601644 0.462515 -0.00211775 -0.00580359 -4.99295e-05 0.00711483 -0.0319783 -0.0051209 -0.0512578 0.00610139 -0.0214397 -9.80468 8481
12.15 0.00668416 0.0250083 1.39143 2.22672 0.739373 0.00532788 0.0620077 0.45589 0.00486998 -0.0058675 5.4255e-05 0.00705368 -0.0310795 -0.00528674 -0.0511718 0.00672511 -0.0217559 -9.80467 9336
12.2 0.00841035 0.0233336 1.39093 2.23189 0.7574 0.0052281 0.0671159 0.453073 -0.00499797 -0.00586832 -2.92986e-05 0.00699577 -0.0290309 -0.00519722 -0.0511533 0.00824576 -0.0221369 -9.80465 8578
12.2501 0.00704642 0.0227308 1.38902 2.2347 0.777455 0.00412927 0.0573966 0.457533 -0.00354566 -0.00587442 3.98767e-05 0.007066 -0.0287989 -0.00529332 -0.0509529 0.00839598 -0.0222602 -9.80467 9077
12.2996 0.00850291 0.0235551 1.38724 2.23986 0.797766 0.00490809 0.0702727 0.451988 -0.00354314 -0.00595188 -3.58399e-05 0.00711419 -0.0271426 -0.00525104 -0.0511348 0.00961341 -0.0225937 -9.80464 8856
12.35 0.00799424 0.0234891 1.38649 2.24302 0.818713 0.00415828 0.070944 0.450505 -0.00396894 -0.00592236 4.95834e-05 0.00718955 -0.0267661 -0.00556373 -0.0510132 0.00981903 -0.0229034 -9.80464 9331
12.399 0.0083699 0.0228446 1.3873 2.24801 0.838864 0.0061688 0.0748457 0.44352 0.00220524 -0.00598366 1.90107e-05 0.00703914 -0.0256618 -0.00537877 -0.0513707 0.0106618 -0.0230141 -9.8046 8623
12.4491 0.00797397 0.0226055 1.38598 2.25184 0.863008 0.00425853 0.0724261 0.453834 -0.0022242 -0.0058544 2.85613e-05 0.00711771 -0.0260823 -0.00516742 -0.0510251 0.0104054 -0.0227718 -9.80463 9448
12.4999 0.00713224 0.0237605 1.38479 2.25609 0.88454 0.00559992 0.072178 0.457006 -0.00296988 -0.00584323 -3.51595e-05 0.00707685 -0.0255545 -0.00509445 -0.0513075 0.0108036 -0.0228348 -9.8046 8636
12.5499 0.00580263 0.0244301 1.38364 2.25931 0.907339 0.00402333 0.0741374 0.463543 -0.00407387 -0.00574492 1.54172e-05 0.0071551 -0.0256561 -0.00524841 -0.0510377 0.0106967 -0.0229251 -9.80463 9380
12.6002 0.00683179 0.0253033 1.38316 2.26408 0.926667 0.0043466 0.0741443 0.45556 -0.00409873 -0.00579287 -5.38998e-05 0.00701946 -0.0242865 -0.00542821 -0.0510992 0.0116474 -0.0233697 -9.80461 8671
12.6501 0.00847652 0.0238309 1.38504 2.2678 0.948732 0.0036687 0.0746258 0.470337 -0.00420634 -0.00588731 3.92667e-07 0.00706187 -0.0241212 -0.00552358 -0.0509665 0.0117455 -0.0234793 -9.80462 9435
12.7001 0.00815831 0.0253682 1.39282 2.2718 0.968803 0.00419779 0.0710447 0.466145 -0.00565297 -0.00601402 -9.30925e-05 0.00688635 -0.0230121 -0.00582952 -0.0511366 0.0124761 -0.0239555 -9.80459 8596
12.75 0.00706853 0.0253029 1.39565 2.27548 0.992397 0.0038589 0.0718535 0.470735 -0.0126051 -0.00595647 -3.33967e-05 0.00697218 -0.0230197 -0.00572863 -0.0511146 0.0124933 -0.0238808 -9.80459 9359
12.8001 0.00735606 0.025204 1.39353 2.27962 1.01394 0.00559067 0.0755073 0.463661 -0.00155535 -0.0059837 -2.40477e-05 0.00708938 -0.022367 -0.00578396 -0.0514988 0.0129477 -0.0240666 -9.80455 8737
12.8501 0.00739951 0.0253718 1.39237 2.28365 1.03529 0.00455592 0.0713916 0.468138 -0.00407804 -0.00598064 -2.11908e-05 0.00711359 -0.0223071 -0.00551472 -0.0513211 0.0130526 -0.0238907 -9.80457 9254
12.9019 0.00829679 0.0253399 1.3928 2.28831 1.05733 0.00443287 0.0759259 0.462157 0.00249548 -0.00610242 -2.09645e-05 0.00711984 -0.0210983 -0.00574567 -0.0512997 0.0138675 -0.0243417 -9.80456 8793
12.95 0.00910371 0.0254524 1.39128 2.29156 1.07765 0.00373899 0.0732696 0.466674 -0.000361122 -0.00614676 -4.08614e-05 0.00713411 -0.0207126 -0.00606326 -0.0511679 0.0140729 -0.0246626 -9.80456 9334
13.0001 0.00927651 0.0262707 1.39008 2.29654 1.09793 0.00572234 0.0776221 0.463557 0.00218958 -0.00622308 -1.87646e-05 0.00713241 -0.0193318 -0.00614885 -0.0515241 0.0150409 -0.0250435 -9.80452 8636
13.0492 0.0089155 0.0268776 1.38921 2.29986 1.11703 0.00518975 0.0768415 0.460893 -0.00122688 -0.00617309 1.00719e-06 0.00714064 -0.0184772 -0.00674389 -0.0513758 0.0155192 -0.0256738 -9.80452 9227
13.099 0.00970242 0.0270512 1.38686 2.30392 1.13637 0.0047924 0.077295 0.451415 0.00517925 -0.00627043 -6.74411e-05 0.00716078 -0.0173852 -0.00711464 -0.0512922 0.016217 -0.0261992 -9.80452 8797
13.15 0.00673526 0.0269283 1.3853 2.30764 1.15875 0.0040444 0.0754763 0.457517 0.00487419 -0.00607636 -6.33822e-05 0.00717404 -0.0175069 -0.00696654 -0.051148 0.0161648 -0.0260655 -9.80453 9327
13.2 0.00740434 0.0276053 1.38343 2.31297 1.17818 0.00415883 0.0762104 0.450963 -0.00789733 -0.00613409 -1.37584e-05 0.0071874 -0.0161148 -0.00690967 -0.0511489 0.0171722 -0.0263535 -9.80452 8655
13.2493 0.00818502 0.0235538 1.38807 2.31636 1.19994 0.00238235 0.0792235 0.465552 -0.00535939 -0.00614835 0.000123658 0.00705675 -0.0159923 -0.00714676 -0.0507896 0.0172074 -0.0265599 -9.80455 9265
13.3001 0.0085331 0.0226337 1.40418 2.32159 1.22189 0.00353016 0.0782645 0.467673 0.00227731 -0.00616781 4.28802e-05 0.00678992 -0.0152902 -0.00684117 -0.0510647 0.0177776 -0.0265029 -9.80452 8767
13.3493 0.00929583 0.020388 1.4215 2.32517 1.24449 0.00365674 0.0718306 0.482303 0.001415 -0.0061662 6.86687e-05 0.00669769 -0.0149264 -0.00713782 -0.0510167 0.0179705 -0.0268028 -9.80452 9211
13.4 0.0100281 0.0193863 1.44035 2.32966 1.26866 0.00328905 0.0648117 0.495728 0.00267602 -0.00623035 0.000100836 0.00666138 -0.0147642 -0.00666037 -0.0509644 0.0181941 -0.0265003 -9.80453 8973
13.4493 0.00943987 0.0185444 1.46437 2.33332 1.2944 0.00274127 0.0580416 0.518916 -0.00207908 -0.00613081 0.000108305 0.00654104 -0.0146829 -0.00645817 -0.0508474 0.018299 -0.0263765 -9.80454 9005
13.5017 0.0107773 0.0171936 1.49162 2.33741 1.319 0.002042 0.0494175 0.524669 -0.00284502 -0.00612328 0.000111226 0.00647863 -0.0140519 -0.00608041 -0.0507169 0.0188346 -0.026255 -9.80455 9135
13.5492 0.00716738 0.0154066 1.51489 2.33964 1.34253 0.000116541 0.0343742 0.529209 -0.0193657 -0.00602099 0.00013515 0.00648594 -0.0133334 -0.00634359 -0.0503968 0.0192911 -0.0266171 -9.80457 8830
13.6 0.00900253 0.0170122 1.51746 2.34216 1.36863 0.000254036 0.026192 0.508166 -0.00183328 -0.00606577 -1.01246e-05 0.0071584 -0.0130625 -0.00602509 -0.0504594 0.0195531 -0.0264451 -9.80457 9254
13.6502 0.00993484 0.0153533 1.51626 2.34466 1.39059 -0.000259842 0.0311959 0.477887 -0.00467022 -0.00609768 6.48456e-05 0.00715809 -0.0122266 -0.00594321 -0.0503571 0.0201684 -0.0265772 -9.80457 8698
13.7001 0.00886386 0.0139549 1.51384 2.34699 1.41042 -0.000509751 0.033276 0.463864 -0.00205747 -0.00604283 8.485e-05 0.00721548 -0.0111791 -0.00611023 -0.0503064 0.020885 -0.0269325 -9.80457 9184
13.75 0.00950831 0.0141993 1.51387 2.34743 1.43311 0.00127361 0.0353646 0.459107 0.00402039 -0.00610806 4.18375e-05 0.00718377 -0.0113102 -0.00662725 -0.050608 0.0206808 -0.0272767 -9.80454 8618
13.8001 0.00906096 0.0163165 1.51346 2.3486 1.4576 0.000758683 0.0328568 0.46501 0.00364834 -0.0060938 -3.9396e-05 0.00716086 -0.0117615 -0.00664522 -0.0504969 0.0203533 -0.0271948 -9.80455 9159
13.849 0.00889697 0.0168258 1.51302 2.35027 1.48206 0.00228169 0.0320132 0.469767 0.00497721 -0.00608996 -7.21301e-08 0.00713685 -0.0120142 -0.00649728 -0.0507335 0.0201992 -0.0270291 -9.80453 8688
13.9 0.00888523 0.0174952 1.51062 2.35171 1.50688 0.00123734 0.0341587 0.468748 0.00167359 -0.00600847 -2.31222e-06 0.00726053 -0.0124087 -0.00642682 -0.0504896 0.0199298 -0.0268984 -9.80455 9277
13.9501 0.00852934 0.0155931 1.50871 2.35249 1.53147 0.00233681 0.0291243 0.469333 0.00929608 -0.00599935 0.000145718 0.00720274 -0.01274 -0.00660125 -0.0506248 0.0196549 -0.0269579 -9.80454 8599
14.0001 0.00888095 0.016011 1.50932 2.35348 1.55614 0.00128791 0.0249746 0.481419 0.00170009 -0.00610181 0.000147944 0.00706275 -0.0132756 -0.00643836 -0.0503929 0.0192972 -0.026732 -9.80456 9176
14.0491 0.00759651 0.0170501 1.50659 2.35397 1.57668 0.000850692 0.0214437 0.476081 0.00123946 -0.00606584 0.000108136 0.00721607 -0.0125844 -0.00714461 -0.0502612 0.0196659 -0.0273959 -9.80457 8529
14.0989 0.00863929 0.0169629 1.50469 2.35559 1.59899 0.000743714 0.0279361 0.472119 0.00199252 -0.00605468 0.000110866 0.00723723 -0.0121016 -0.0072131 -0.0502136 0.0200056 -0.0275416 -9.80458 9431
14.15 0.00742409 0.0164817 1.50278 2.3568 1.61356 0.000488375 0.0187588 0.456747 -0.000462556 -0.00591668 0.000105361 0.00723561 -0.0101135 -0.00825887 -0.0501441 0.0212642 -0.0287071 -9.80458 8395
14.1991 0.00663491 0.0157662 1.50237 2.3582 1.63359 0.00101347 0.0187097 0.451734 0.00213413 -0.00595627 0.00012284 0.00723443 -0.00939109 -0.00845874 -0.0502158 0.0217557 -0.0289936 -9.80457 9410
14.2501 0.00720856 0.0163835 1.5024 2.35913 1.64987 0.00110973 0.0203694 0.442612 -0.000499 -0.00600272 9.33453e-05 0.00719608 -0.00796608 -0.00932708 -0.0501885 0.0226409 -0.0299116 -9.80457 8496
14.3001 0.00719953 0.0171365 1.50167 2.36124 1.66964 -0.000779638 0.0254659 0.44106 0.000429312 -0.00601214 0.000114832 0.00721076 -0.00732576 -0.00923563 -0.0498566 0.0231283 -0.0299691 -9.80461 9370
14.35 0.00690456 0.0184811 1.50071 2.36307 1.68672 -0.000665236 0.0203294 0.434229 -0.00169 -0.00597217 7.83205e-05 0.00720036 -0.00607867 -0.00967279 -0.0498642 0.0239652 -0.0305291 -9.80461 8420
14.3991 0.00724306 0.0182934 1.49853 2.3648 1.70843 -0.000951851 0.0228496 0.432327 0.00198875 -0.00598877 9.22272e-05 0.00727964 -0.00604988 -0.00941361 -0.0498024 0.0240329 -0.0303432 -9.80461 9358
14.4499 0.00760616 0.0169967 1.49727 2.36619 1.72724 -0.00106596 0.0230235 0.427439 0.00359366 -0.00602618 0.000133085 0.00720051 -0.00530876 -0.00974455 -0.0497541 0.0245184 -0.0307286 -9.80462 8559
14.5001 0.00721763 0.0168201 1.49532 2.36761 1.74841 -0.00130744 0.0210531 0.423561 0.00489944 -0.00604359 0.000140058 0.00726824 -0.00521036 -0.00968003 -0.0497016 0.0246024 -0.0306999 -9.80462 9291
14.55 0.00630637 0.0179895 1.49529 2.36817 1.76677 -0.000237477 0.0194253 0.425896 -0.00146974 -0.00608176 7.5185e-05 0.00715271 -0.00468031 -0.010159 -0.0498462 0.0249063 -0.0311518 -9.80461 8369
14.599 0.00735409 0.0165743 1.49285 2.37021 1.7876 -0.00101632 0.0268324 0.432635 -0.0037088 -0.00609386 0.00016852 0.00719915 -0.00438695 -0.0100714 -0.0497385 0.0251381 -0.0311436 -9.80462 9420
14.6499 0.00816975 0.0175827 1.49236 2.37178 1.80654 -0.00171369 0.0263437 0.425071 -0.00591993 -0.00616204 2.91793e-05 0.00709842 -0.00376414 -0.0103188 -0.0496666 0.0255533 -0.0314448 -9.80463 8501
14.7002 0.00616935 0.0163919 1.49127 2.3741 1.82746 -0.00333381 0.028037 0.426552 -0.00996723 -0.00606794 0.000129154 0.00713267 -0.00354105 -0.0100598 -0.0494604 0.0257651 -0.0312978 -9.80465 9314
14.75 0.00750645 0.0191035 1.49126 2.37641 1.84297 -0.00241852 0.0356002 0.422449 -0.00572019 -0.00621011 -1.81931e-05 0.0070957 -0.00227321 -0.0105272 -0.0496561 0.0266141 -0.0318805 -9.80463 8468
14.8002 0.00695903 0.0196795 1.49024 2.37873 1.86547 -0.00305516 0.034178 0.428371 -0.00581724 -0.0061091 6.97046e-05 0.00713526 -0.00246452 -0.0101865 -0.0495947 0.0265353 -0.031594 -9.80463 9194
14.849 0.0074135 0.021339 1.48892 2.38081 1.88319 -0.00303021 0.0373413 0.420105 -0.00430636 -0.00617578 1.75445e-05 0.00714819 -0.00165213 -0.010503 -0.0496345 0.0270755 -0.0319808 -9.80463 8535
14.9002 0.00703198 0.0208438 1.48665 2.38323 1.90479 -0.00375101 0.0343537 0.423489 -0.0111353 -0.00611669 9.78569e-05 0.00718787 -0.001608 -0.0103175 -0.0495683 0.0271419 -0.0318536 -9.80464 9378
14.9506 0.00597502 0.0219932 1.48648 2.38517 1.92592 -0.00325547 0.0328881 0.426686 -0.00521579 -0.00604472 9.01731e-06 0.00712426 -0.0014664 -0.0103352 -0.0497048 0.0272427 -0.0318917 -9.80463 8487
15.0002 0.00499311 0.0217178 1.4842 2.38701 1.94743 -0.00373224 0.0359698 0.430556 -0.00138528 -0.00605003 8.84308e-05 0.00713797 -0.00150078 -0.0101792 -0.0496656 0.0272463 -0.0317719 -9.80463 9270
15.05 0.00469865 0.0213005 1.48164 2.38791 1.97348 -0.00297656 0.0312112 0.461257 -0.00255609 -0.00607302 0.000116733 0.00717576 -0.00240051 -0.00991888 -0.0498215 0.0266326 -0.0314065 -9.80462 8419
15.1 0.00625936 0.0210885 1.47971 2.39046 2 -0.00339652 0.0347647 0.511064 -0.00455456 -0.00609283 9.44998e-05 0.00718701 -0.00281796 -0.00943281 -0.0498093 0.0264172 -0.0309721 -9.80462 9352
15.15 0.0055109 0.0204053 1.47838 2.39254 2.02841 -0.00242229 0.0363496 0.547617 0.00171061 -0.00608616 4.25668e-05 0.00709264 -0.00311691 -0.00911412 -0.0499894 0.0262571 -0.0306805 -9.8046 8404
15.2 0.0063314 0.0200523 1.47738 2.39451 2.05379 -0.00217039 0.0470925 0.567047 0.00179478 -0.00612423 9.38163e-05 0.0071203 -0.00307212 -0.00910687 -0.0499991 0.026291 -0.0306843 -9.8046 9332
15.2499 0.00607665 0.0211534 1.47697 2.39832 2.08495 -0.00200978 0.0484185 0.583919 0.000973507 -0.00613365 0.000166685 0.00706729 -0.0029408 -0.0087258 -0.0500065 0.0264593 -0.0304343 -9.8046 8468
15.3004 0.00550049 0.0212373 1.47527 2.40065 2.1084 -0.00357158 0.0539654 0.585496 -0.000717576 -0.00605533 0.000171103 0.00710567 -0.00274406 -0.00875765 -0.0497458 0.0265987 -0.0304985 -9.80462 9359
15.3501 0.00637085 0.0219717 1.47178 2.40418 2.13912 -0.00293195 0.0600713 0.593774 0.00432922 -0.0060628 0.00011163 0.00718052 -0.00212414 -0.00903037 -0.0498332 0.0269985 -0.0308182 -9.80461 8401
15.4 0.00610998 0.0214845 1.46887 2.40614 2.1687 -0.00386216 0.0578788 0.628149 -0.00293625 -0.00612816 0.000169151 0.00720015 -0.002346 -0.00916501 -0.0496872 0.0268113 -0.0308737 -9.80463 9348
15.4501 0.00651205 0.0219247 1.46575 2.41004 2.19933 -0.00302745 0.068921 0.645776 -0.0045314 -0.00621872 0.000121433 0.00721746 -0.00178954 -0.00918596 -0.0498343 0.0272118 -0.0309999 -9.80461 8451
15.5 0.00745195 0.0209675 1.46347 2.41288 2.23188 -0.00317928 0.0626028 0.661818 -0.00262735 -0.00624734 0.000116361 0.0071706 -0.00210447 -0.00910185 -0.0498455 0.026999 -0.0308759 -9.80461 9198
15.5498 0.00681513 0.020447 1.46254 2.41607 2.26734 -0.00215915 0.0710905 0.672382 0.00201402 -0.00628913 0.000131904 0.00710749 -0.00199058 -0.009285 -0.0499973 0.0270447 -0.0310298 -9.8046 8518
15.5991 0.00714152 0.0212498 1.46077 2.41893 2.29793 -0.00339417 0.0662691 0.676197 -0.00194229 -0.00629013 0.000145392 0.00709882 -0.00191203 -0.00946769 -0.0497774 0.0270673 -0.0311803 -9.80462 9338
15.6505 0.00597245 0.0209333 1.45809 2.42323 2.33324 -0.00291368 0.0727187 0.687789 -0.00672032 -0.0062 0.000129591 0.00711398 -0.0016814 -0.00939021 -0.0498613 0.0272491 -0.0311701 -9.80461 8454
15.6992 0.00264504 0.0225011 1.45558 2.42718 2.36644 -0.0035336 0.0677671 0.687804 -0.00282967 -0.00620717 0.000148151 0.00709997 -0.00141649 -0.0094063 -0.0497822 0.0274385 -0.0312376 -9.80461 9253
15.7502 0.0063136 0.021889 1.4513 2.43254 2.39967 -0.00340143 0.082509 0.694468 -0.00270691 -0.00637929 0.000157144 0.00714939 -0.00106739 -0.00907504 -0.0498325 0.0277569 -0.0310737 -9.80461 8482
15.7991 0.0068863 0.0208712 1.44742 2.43597 2.43429 -0.00361348 0.0812077 0.711976 -0.00133998 -0.00644135 0.000148515 0.00717891 -0.000975449 -0.00933947 -0.049826 0.0277701 -0.0312829 -9.80461 9266
15.85 0.0057618 0.0183226 1.44553 2.44176 2.46755 -0.00367988 0.0940154 0.722432 0.00709059 -0.00636345 0.000148767 0.00711364 -0.000290661 -0.00915551 -0.0498011 0.0283012 -0.0312958 -9.8046 8620
15.899 0.00573713 0.0186632 1.44355 2.44607 2.50519 -0.00347169 0.0911109 0.774229 0.000100878 -0.00629703 0.000171422 0.00711305 -0.000421978 -0.00929026 -0.0498066 0.0281791 -0.0313635 -9.8046 9138
15.95 0.00416984 0.0147738 1.43728 2.4517 2.54081 -0.00363793 0.104887 0.78206 -0.0273694 -0.0062244 0.000266401 0.0072499 0.000389207 -0.00945328 -0.0497439 0.0287277 -0.0316528 -9.8046 8818
15.9993 0.00542627 0.0135806 1.43378 2.45742 2.57914 -0.00443552 0.127401 0.851648 -0.0167878 -0.00632902 0.000196605 0.00718509 0.000933677 -0.00974288 -0.049773 0.0290585 -0.031977 -9.8046 8928
16.0503 0.004489 0.013612 1.42794 2.46429 2.62038 -0.00476909 0.132481 0.877693 -0.0309515 -0.00630895 0.000106141 0.00724475 0.00136606 -0.00975731 -0.0498675 0.0293645 -0.0320795 -9.80458 9022
16.0991 0.00401157 0.0136568 1.42623 2.47032 2.66113 -0.00536983 0.128866 0.878874 -0.0106052 -0.00629172 5.41924e-05 0.00722595 0.0021593 -0.0103838 -0.0499646 0.0297991 -0.0326957 -9.80457 8684
16.1507 0.00666104 0.0143681 1.43504 2.4772 2.69945 -0.00670174 0.133631 0.87781 -0.0241705 -0.00631238 4.10794e-05 0.00696384 0.00300148 -0.0106537 -0.049862 0.030343 -0.0330752 -9.80457 9051
16.2002 0.00737926 0.0152117 1.4474 2.48245 2.74241 -0.00597185 0.119101 0.877014 -0.0173265 -0.00630057 3.89544e-05 0.00685098 0.00318606 -0.0111145 -0.0500938 0.0303745 -0.0334394 -9.80455 8640
16.2501 0.00660708 0.0148969 1.4602 2.48802 2.78456 -0.00696529 0.101809 0.883418 -0.0166104 -0.00619577 3.49042e-05 0.00681952 0.00330231 -0.0111677 -0.0500695 0.0304455 -0.0335022 -9.80455 8997
16.2989 0.00790145 0.0150724 1.47865 2.49137 2.82413 -0.00596158 0.0912861 0.881139 -0.0199721 -0.00635441 -2.32612e-05 0.00666186 0.00397488 -0.0119444 -0.0503417 0.0307532 -0.0342001 -9.80453 8591
16.3492 0.0076916 0.0129434 1.50033 2.49622 2.86755 -0.0059108 0.0723554 0.892775 -0.00494127 -0.00625713 2.59623e-05 0.00665367 0.00423704 -0.0118756 -0.050448 0.0309533 -0.0342087 -9.80452 9147
16.3999 0.00884422 0.0158828 1.52779 2.50053 2.90984 -0.00504105 0.0617891 0.895082 -0.00499305 -0.00637067 -4.45299e-05 0.00649085 0.00478017 -0.0118278 -0.050667 0.0313473 -0.034296 -9.8045 8613
16.45 0.0101502 0.0129477 1.5554 2.50381 2.95447 -0.0040603 0.0459684 0.899235 0.00324071 -0.00633895 -6.63211e-06 0.00660577 0.00508247 -0.0118437 -0.0507963 0.0315572 -0.0343729 -9.80448 9167
16.5001 0.0121421 0.0157896 1.58425 2.50658 2.99523 -0.00293774 0.0252833 0.901962 -0.00362228 -0.00644525 -0.00015034 0.00645958 0.00578279 -0.0118859 -0.0509097 0.0320435 -0.0345569 -9.80447 8516
16.5501 0.0132749 0.0155404 1.60745 2.50738 3.04093 -0.00337416 -0.00221911 0.893875 0.00560979 -0.0065163 -0.00014224 0.00673835 0.00568863 -0.0118303 -0.050872 0.0319876 -0.0344966 -9.80448 9052
16.6001 0.0118523 0.016634 1.62058 2.50723 3.08588 -0.00355028 -0.0360436 0.88945 -0.00184215 -0.00646879 -9.65304e-05 0.00690506 0.00574803 -0.0116851 -0.0508543 0.0320591 -0.0344055 -9.80448 8647
16.6503 0.0102526 0.0188639 1.62107 2.50599 3.1294 -0.00333934 -0.0219273 0.875127 -0.00695721 -0.00641627 -9.57618e-05 0.00708482 0.00583699 -0.0115745 -0.0509446 0.0321445 -0.0343426 -9.80447 9002
16.6999 0.0123885 0.0178014 1.61601 2.50412 3.17075 -0.00191537 -0.0164123 0.884748 -0.0224372 -0.00641468 -2.2749e-05 0.00725599 0.00606016 -0.012063 -0.0512066 0.0322093 -0.0347411 -9.80445 8435
16.749 0.0116088 0.018695 1.61382 2.5034 3.21347 -0.00220071 -0.00545575 0.887503 -0.0169333 -0.00635048 -6.98228e-05 0.00712692 0.006394 -0.0123066 -0.0513199 0.0324071 -0.034984 -9.80444 9283
16.8001 0.0106927 0.0166521 1.60912 2.50296 3.25793 -0.00202121 -0.00778323 0.899094 -0.0100073 -0.00625406 -1.89542e-05 0.00725684 0.00648456 -0.0123852 -0.0514018 0.0324597 -0.0350597 -9.80443 8410
16.8499 0.00785841 0.0180204 1.60401 2.50225 3.30052 -0.00315195 -0.0163236 0.908261 -0.00792864 -0.00623224 -0.000177193 0.00724598 0.0068039 -0.0125625 -0.0512838 0.032663 -0.0352497 -9.80444 9033
16.9 0.00947074 0.0187865 1.60145 2.50079 3.34578 -0.00210509 -0.00331798 0.899418 0.00568218 -0.00629979 -0.000189822 0.00721523 0.00681478 -0.012894 -0.0514634 0.032616 -0.0354953 -9.80443 8573
16.9501 0.00830566 0.0182433 1.59629 2.50017 3.38996 -0.00252029 -0.017783 0.910584 -0.020862 -0.00626789 -0.000168047 0.00717353 0.0068959 -0.0128949 -0.0514577 0.0326757 -0.03551 -9.80443 8960
16.9988 0.00967832 0.0177574 1.59368 2.49827 3.43639 -0.00125601 -0.0136 0.916081 -0.00610246 -0.00632001 -0.000111461 0.00713128 0.00673155 -0.0131557 -0.0517302 0.0325149 -0.0356755 -9.8044 8666
17.05 0.0104555 0.0170236 1.58856 2.49813 3.48487 -0.00229488 -0.0150654 0.936256 -0.0149057 -0.00635651 -0.000187802 0.00718742 0.00659759 -0.0129071 -0.051654 0.0324525 -0.0354683 -9.80441 9061
17.1001 0.00880359 0.0201167 1.58402 2.49725 3.53245 -0.00340474 -0.0126986 0.956085 -0.0134072 -0.00639495 -0.00033839 0.00724605 0.006369 -0.0127477 -0.0515882 0.0323072 -0.0353145 -9.80441 8466
17.1499 0.0123368 0.0233841 1.58093 2.49755 3.5821 -0.00495454 -0.0024837 0.969567 -0.0272528 -0.00637033 -0.000280914 0.00719765 0.00634125 -0.012572 -0.0514855 0.0323118 -0.0351795 -9.80442 9151
17.2001 0.00994757 0.0216721 1.57518 2.49611 3.62522 -0.00167481 6.31677e-06 0.969162 -0.0158233 -0.00636273 -0.00014533 0.00725344 0.00680511 -0.0132744 -0.0520094 0.0325548 -0.0357692 -9.80438 8475
17.2501 0.0110302 0.0190874 1.57291 2.49706 3.67393 -0.00282733 0.00675175 0.976758 -0.000938504 -0.00637321 -6.01933e-05 0.00721609 0.00675598 -0.0129936 -0.0519126 0.0325566 -0.0355525 -9.80439 9032
17.3001 0.00995202 0.0208671 1.56732 2.49727 3.71997 -0.00263695 -0.00288803 0.983278 -0.00737529 -0.00636768 -0.000180326 0.0072414 0.00720518 -0.0132909 -0.0519732 0.0328491 -0.035838 -9.80438 8515
17.3501 0.0104773 0.0185877 1.56318 2.49781 3.76953 -0.00303163 0.0227216 0.984628 -0.00679803 -0.00626709 -0.000173069 0.0073035 0.00718321 -0.0131721 -0.0519469 0.0328491 -0.0357461 -9.80439 8893
17.3987 0.0108319 0.0180459 1.55722 2.49824 3.81415 -0.00397161 0.00710623 1.00162 -0.00892931 -0.00637296 -0.000161134 0.00727216 0.00781903 -0.0137048 -0.0518415 0.0332497 -0.0362346 -9.80439 8635
17.4501 0.0114875 0.0186536 1.55393 2.49982 3.863 -0.00472756 0.0156723 1.02138 -0.0162376 -0.00633743 -0.000113094 0.00727999 0.00793685 -0.0135613 -0.0518466 0.0333564 -0.0361442 -9.80439 8992
17.5001 0.0114723 0.0172455 1.54906 2.50035 3.91138 -0.00509386 0.0144079 1.01726 -0.00830791 -0.00629287 -7.01567e-05 0.00721439 0.00880652 -0.0143182 -0.0518657 0.0338999 -0.0368284 -9.80439 8525
17.5501 0.00847097 0.0193296 1.54406 2.50103 3.95684 -0.0060587 0.0191673 1.02825 0.00148389 -0.00621696 -3.76685e-05 0.00726606 0.00890063 -0.0143379 -0.0517655 0.0339673 -0.0368567 -9.8044 9029
17.6 0.00985011 0.0181209 1.53925 2.50278 4.0076 -0.00424712 0.0152175 1.01219 -0.00186113 -0.00627843 3.84102e-06 0.00726981 0.0097471 -0.0147662 -0.0519527 0.0345365 -0.0372934 -9.80438 8546
17.6502 0.0105406 0.0197366 1.53636 2.5049 4.05678 -0.00475388 0.0348811 1.01872 0.000193759 -0.00632552 -7.93768e-05 0.00724259 0.00986584 -0.014556 -0.0519059 0.0346556 -0.0371579 -9.80439 8958
17.7001 0.010813 0.0180929 1.53144 2.50654 4.10511 -0.00267108 0.0298893 1.01322 0.00436317 -0.00636967 -8.13039e-05 0.0071982 0.0102354 -0.0148147 -0.052126 0.0348923 -0.0374007 -9.80437 8559
17.75 0.00865213 0.0206558 1.52758 2.50807 4.15215 -0.00456488 0.0390875 1.00742 0.00508943 -0.00629634 -0.000133726 0.00720915 0.010416 -0.0149204 -0.051824 0.0350119 -0.0375076 -9.80439 9037
17.8 0.00928615 0.0223318 1.5232 2.51105 4.20301 -0.0036778 0.0427592 0.994857 0.00392958 -0.00625305 -0.000133876 0.00719134 0.0107279 -0.0148917 -0.0519515 0.0352469 -0.0375334 -9.80438 8423
17.8491 0.00655697 0.0243264 1.51927 2.51275 4.24998 -0.00335283 0.0494799 0.976256 -0.0119064 -0.00621586 -4.55451e-05 0.00721607 0.0110836 -0.0152185 -0.0519886 0.0354603 -0.0378252 -9.80438 9076
17.8992 0.00928151 0.0233636 1.52164 2.51555 4.29546 -0.00292599 0.0411617 0.9716 -0.00296429 -0.00633158 -2.1647e-05 0.00711924 0.011425 -0.0153605 -0.0520668 0.0356911 -0.0379841 -9.80437 8674
17.9501 0.00642636 0.0255221 1.52308 2.51757 4.34433 -0.0048896 0.0404324 0.96544 -0.016555 -0.00624054 -8.6837e-05 0.00703531 0.011493 -0.0153551 -0.0518375 0.0357429 -0.0379931 -9.80439 8880
17.9989 0.00734161 0.0251073 1.52129 2.52151 4.38909 -0.00647362 0.0508092 0.946157 -0.00766071 -0.00622533 -7.34789e-05 0.00715096 0.0122408 -0.0154439 -0.0517135 0.03628 -0.0381836 -9.8044 8628
18.0492 0.0033523 0.0250698 1.51416 2.52389 4.43357 -0.00681374 0.0516791 0.950537 -0.0179891 -0.00621436 -5.20131e-05 0.00728733 0.0125145 -0.0155911 -0.051754 0.0364568 -0.0383344 -9.80439 9052
18.1001 0.00496587 0.0245857 1.51084 2.52707 4.48418 -0.00592648 0.0583761 0.952658 -0.00969096 -0.00620891 -5.72298e-05 0.00725185 0.0122224 -0.0153331 -0.05201 0.036285 -0.0380962 -9.80438 8589
18.1492 0.00530854 0.0235268 1.50645 2.53029 4.53271 -0.00929343 0.0530171 0.963358 -0.0163131 -0.0062478 -5.49241e-06 0.00724571 0.0119246 -0.0150218 -0.0516455 0.0361219 -0.0378279 -9.80441 9071
18.1991 0.00454691 0.0279744 1.50337 2.53355 4.58256 -0.0102795 0.0697209 0.961512 -0.0155093 -0.00620339 -0.000187335 0.0071262 0.0118643 -0.0148878 -0.0516407 0.036102 -0.037722 -9.80441 8557
18.2493 0.00491026 0.0243078 1.4994 2.53655 4.6302 -0.011346 0.0542635 0.96712 -0.0223748 -0.006252 3.35584e-05 0.00720921 0.0117075 -0.0148746 -0.0515589 0.03599 -0.0376856 -9.80442 9039
18.2991 0.00627032 0.0257046 1.49771 2.54073 4.6815 -0.0118898 0.0712683 0.971771 -0.0226215 -0.00627951 -4.0811e-05 0.00718266 0.0116262 -0.0145147 -0.0516913 0.0359956 -0.0374149 -9.80441 8662
18.3493 0.0047692 0.0236545 1.49277 2.54352 4.73147 -0.0126121 0.0606639 0.976742 -0.0226812 -0.00619753 -2.24287e-05 0.007183 0.0115337 -0.0145997 -0.051727 0.0359127 -0.037456 -9.80441 8984
18.3991 0.00393109 0.0284074 1.48905 2.54736 4.78083 -0.0123977 0.0740188 0.983449 -0.0159452 -0.00620999 -0.000230363 0.00720136 0.0115443 -0.0143734 -0.0519146 0.0359618 -0.037296 -9.80439 8838
18.4493 0.0054271 0.0243477 1.48458 2.55156 4.82641 -0.0139855 0.0692356 0.96519 -0.0109099 -0.00618706 -6.21111e-05 0.00718238 0.0120683 -0.0145446 -0.0517673 0.0363075 -0.0375194 -9.8044 8859
18.4991 0.00391639 0.0239604 1.48036 2.55646 4.87142 -0.0143918 0.0782346 0.969601 -0.0240469 -0.00617041 -4.52755e-05 0.00719167 0.0127024 -0.0145099 -0.051808 0.0367685 -0.0376184 -9.80439 9028
18.5492 0.00468435 0.0202538 1.47786 2.55947 4.91917 -0.0149648 0.0679113 0.958585 -0.0149462 -0.00611613 4.92225e-05 0.00720294 0.0126217 -0.0146893 -0.0518611 0.036675 -0.0377266 -9.80438 8600
18.6001 0.00478451 0.0198315 1.47975 2.5636 4.96942 -0.0155336 0.0675388 0.980694 -0.0126252 -0.00617383 4.88134e-06 0.00707183 0.0125403 -0.014393 -0.0518976 0.0366753 -0.0375039 -9.80438 9100
18.65 0.00730362 0.0217889 1.48726 2.56693 5.01715 -0.015037 0.0694503 0.965317 -0.0100477 -0.00621768 -5.65606e-05 0.0069306 0.012647 -0.0145177 -0.0520229 0.0367259 -0.0376116 -9.80437 8508
18.7 0.00435873 0.0212274 1.49467 2.57124 5.0636 -0.0127075 0.0512518 0.964422 -0.0101065 -0.00617967 -7.24295e-05 0.00689192 0.0130852 -0.014356 -0.052384 0.0370652 -0.0375833 -9.80433 9076
18.75 0.00712358 0.0206292 1.50157 2.57451 5.10991 -0.0131047 0.05236 0.957581 0.000231234 -0.00616612 -3.92556e-05 0.0069052 0.0133858 -0.0144 -0.0523892 0.0372684 -0.037676 -9.80433 8474
18.7992 0.00633775 0.0214913 1.50208 2.57825 5.15618 -0.0141448 0.0411245 0.968767 -0.0101066 -0.00620743 -0.000142735 0.0070804 0.0137403 -0.0142324 -0.0522744 0.0375533 -0.0376356 -9.80433 9071
18.85 0.00613422 0.0234921 1.49962 2.58173 5.20544 -0.013408 0.0576356 0.971297 -0.00399722 -0.00622724 -0.000138422 0.00714544 0.0137824 -0.0139572 -0.0523984 0.0376383 -0.0374513 -9.80432 8619
18.9 0.00680244 0.0222274 1.49562 2.58601 5.25074 -0.012641 0.0556759 0.966023 -0.00075616 -0.00620721 -9.66623e-05 0.0072073 0.0141999 -0.0137741 -0.0524946 0.0379671 -0.0374105 -9.80431 8801
18.9507 0.00580832 0.0239777 1.49172 2.59065 5.29768 -0.0133341 0.075698 0.960647 -0.0104123 -0.00628916 -0.000179814 0.00718301 0.0146207 -0.0136062 -0.0524501 0.0382965 -0.037384 -9.80431 8642
18.9991 0.00815591 0.0204844 1.48807 2.59632 5.34475 -0.0129622 0.0767002 0.946866 -7.39145e-05 -0.0063579 -8.84325e-05 0.00717791 0.014951 -0.0132713 -0.0524745 0.0385954 -0.0372211 -9.8043 9067
19.0502 0.00693264 0.0172112 1.48512 2.60011 5.38787 -0.0131114 0.0832482 0.922245 0.0248426 -0.00630761 -4.20849e-05 0.00714796 0.0153654 -0.013483 -0.0523622 0.0388413 -0.0374577 -9.8043 8449
19.1001 0.00826368 0.0172734 1.47987 2.60471 5.43042 -0.0115254 0.0768496 0.887952 0.0269156 -0.00629654 -7.7335e-05 0.00719094 0.0158515 -0.0135712 -0.0524161 0.0391605 -0.0376214 -9.80429 9026
19.1499 0.00603775 0.0162179 1.47767 2.60848 5.47304 -0.0111821 0.0747032 0.880901 0.0188036 -0.00625239 -0.000119084 0.00714372 0.0160959 -0.0136705 -0.0523327 0.0393106 -0.0377436 -9.8043 8537
19.2001 0.0063525 0.0133337 1.48106 2.61308 5.51807 -0.0111449 0.075801 0.884414 0.00894672 -0.00613843 0.000129131 0.00699084 0.016002 -0.013448 -0.0522851 0.0392918 -0.0375695 -9.8043 8917
19.2503 0.00444053 0.0181792 1.48707 2.61786 5.56639 -0.0115311 0.0690328 0.884051 0.0102284 -0.00604959 -0.000123469 0.00693907 0.0157445 -0.0130815 -0.0521114 0.0391922 -0.0372621 -9.80432 8575
19.3002 0.00500717 0.0190585 1.49225 2.6215 5.61099 -0.0107631 0.0742184 0.887712 0.0161497 -0.00605778 -7.22167e-05 0.00696974 0.0155499 -0.0129037 -0.0521395 0.0390945 -0.0370966 -9.80432 8846
19.3491 0.00385853 0.0181066 1.49697 2.62546 5.65475 -0.00954521 0.0537834 0.884261 0.0203853 -0.00605831 -0.000110804 0.00697454 0.0158634 -0.0128986 -0.0521316 0.0393124 -0.0371606 -9.80432 8597
19.4002 0.0039597 0.0176282 1.50504 2.62879 5.69742 -0.0102462 0.0587371 0.888998 0.0130315 -0.00606092 -8.04268e-05 0.00693217 0.0160278 -0.0128034 -0.0519584 0.0394468 -0.0371324 -9.80433 8898
19.4501 0.00539835 0.0158874 1.51987 2.63164 5.74113 -0.00903982 0.0419217 0.90573 0.0215843 -0.0061303 -8.94365e-05 0.00674292 0.0160947 -0.0127975 -0.0519733 0.0394943 -0.0371434 -9.80433 8458
19.5 0.00479547 0.017876 1.54092 2.63386 5.78624 -0.00967612 0.026491 0.933871 0.02301 -0.00616404 -0.000130214 0.00673338 0.0162783 -0.0127683 -0.0517848 0.039628 -0.0371649 -9.80434 8948
19.55 0.00719367 0.0185051 1.56932 2.63596 5.82691 -0.00712674 0.00722341 0.925205 0.0259395 -0.00633409 -0.00015044 0.00642156 0.017194 -0.0129929 -0.0519649 0.0402108 -0.037516 -9.80432 8562
19.6002 0.00852415 0.0174188 1.59438 2.63679 5.87168 -0.0083667 0.00138945 0.922058 0.00801254 -0.0064152 -8.71635e-05 0.00642617 0.0172742 -0.0129089 -0.0516985 0.0402843 -0.0374774 -9.80434 8850
19.65 0.00865486 0.016903 1.62029 2.63812 5.91778 -0.00712713 -0.0199315 0.923753 0.0276519 -0.0063929 -0.000113226 0.00644753 0.0174344 -0.0126011 -0.051763 0.040457 -0.0372956 -9.80434 8512
19.7001 0.0109114 0.0201846 1.64246 2.63738 5.9635 -0.00766737 -0.048317 0.931529 0.00158673 -0.0063617 -0.00017227 0.00650383 0.017462 -0.0125099 -0.0515802 0.0404955 -0.0372392 -9.80435 8895
19.75 0.00876571 0.0219997 1.66314 2.63501 6.01083 -0.00514913 -0.0755878 0.910649 0.0323598 -0.00640254 -6.88505e-05 0.00662875 0.017444 -0.0122793 -0.0518549 0.0405241 -0.0370692 -9.80433 8420
19.799 0.00618772 0.0236318 1.67353 2.63167 6.0566 -0.00573171 -0.0758575 0.898255 0.0286884 -0.00626635 -0.0001184 0.00667113 0.0173847 -0.0121413 -0.0516431 0.0405117 -0.0369635 -9.80435 8954
19.8501 0.00737483 0.0223638 1.67035 2.62846 6.09869 -0.00473706 -0.0811415 0.882038 0.0374737 -0.00634197 -4.91819e-05 0.00710815 0.0176923 -0.0122071 -0.0515567 0.0407139 -0.0370668 -9.80435 8490
19.9 0.00656005 0.0230438 1.66704 2.62533 6.13487 -0.00591301 -0.0737868 0.886606 0.0206924 -0.00618585 -7.84723e-05 0.00718709 0.0176435 -0.0121544 -0.0512598 0.0406932 -0.0370261 -9.80438 8886
19.9501 0.00470853 0.0206733 1.65889 2.62003 6.1835 -0.00564857 -0.0867071 0.884143 0.00495204 -0.00621604 -0.00010954 0.00715998 0.0181131 -0.0124586 -0.0512959 0.0409775 -0.0373247 -9.80437 8545
20 0.00248942 0.0202005 1.65405 2.61576 6.22998 -0.00806835 -0.100853 0.894963 0.00544383 -0.00616461 -0.000105387 0.00719398 0.0180745 -0.0123674 -0.0510178 0.0409661 -0.0372558 -9.8044 8932
20.0502 0.00535966 0.020522 1.65264 2.61234 6.27008 -0.00768333 -0.0705142 0.882944 0.00299021 -0.00629921 -8.55008e-05 0.0070721 0.018576 -0.0125059 -0.0510418 0.0413008 -0.037429 -9.80439 8440
20.1 0.00407861 0.0196182 1.64975 2.60905 6.31191 -0.00974912 -0.077593 0.883071 0.00105983 -0.00621116 -7.3609e-05 0.00706759 0.0187209 -0.0125128 -0.0507932 0.0414072 -0.0374589 -9.80441 8858
20.1501 0.00610489 0.0213832 1.6467 2.60595 6.35585 -0.00989106 -0.072605 0.883025 0.00877698 -0.00630836 -0.000102593 0.00699762 0.0189135 -0.0125053 -0.0507556 0.041545 -0.037477 -9.80442 8369
20.1991 0.0058278 0.021085 1.64208 2.60316 6.39056 -0.0105279 -0.0761978 0.887127 -0.00567691 -0.00624655 -8.8735e-05 0.00703944 0.0189442 -0.012514 -0.0506782 0.0415681 -0.037489 -9.80442 9011
20.2501 0.00376877 0.0210325 1.63627 2.59802 6.44452 -0.0136696 -0.0747727 0.888957 -0.00431874 -0.00628077 -3.28329e-05 0.00699522 0.018852 -0.0124799 -0.0503578 0.0415074 -0.0374565 -9.80445 8433
20.3 0.00553969 0.0218202 1.63378 2.59596 6.4872 -0.0140411 -0.0576756 0.894331 -0.0138471 -0.00626607 -6.79737e-05 0.00701711 0.0191804 -0.0124121 -0.0503678 0.0417529 -0.0374425 -9.80445 8902
20.3501 0.00623229 0.0224767 1.63123 2.59355 6.53518 -0.0149774 -0.0564376 0.907085 -0.0111045 -0.00634199 -0.000149818 0.00701573 0.0187497 -0.0119762 -0.0503343 0.0414824 -0.0370698 -9.80445 8455
20.4001 0.00171125 0.0203441 1.62784 2.59192 6.57677 -0.0165295 -0.0564881 0.902213 -0.0136959 -0.00626411 -2.38195e-05 0.00703171 0.0188171 -0.0116902 -0.0501926 0.0415619 -0.0368648 -9.80446 8865
20.4492 0.00321178 0.0182768 1.62144 2.58938 6.62986 -0.0175182 -0.0601673 0.897317 -0.010374 -0.00636214 7.43438e-06 0.00715477 0.0187888 -0.0114967 -0.0502034 0.0415587 -0.036717 -9.80446 8595
20.5002 0.00279378 0.0186322 1.61801 2.58761 6.6693 -0.0182945 -0.0371299 0.901319 -0.0123879 -0.00639086 -2.76141e-05 0.00714489 0.0189198 -0.0114099 -0.0501699 0.0416637 -0.0366661 -9.80446 8798
20.549 0.00436388 0.0168972 1.61568 2.58568 6.71609 -0.0189278 -0.0492818 0.890702 -0.0180688 -0.00645549 -3.29624e-05 0.00712461 0.0191924 -0.0115677 -0.0502003 0.0418491 -0.03681 -9.80446 8565
20.6 0.00158139 0.0201549 1.61052 2.58331 6.75822 -0.018064 -0.0404135 0.922815 0.000550525 -0.00646964 -0.000149377 0.00722519 0.0192248 -0.0115576 -0.0503291 0.0418727 -0.0368043 -9.80445 9040
20.6502 0.00403888 0.0192099 1.60574 2.58215 6.80299 -0.0179866 -0.0379788 0.9226 0.00115916 -0.00655735 -0.000106389 0.00720507 0.0197343 -0.011773 -0.0503315 0.0422287 -0.0370146 -9.80444 8483
20.7002 0.00363991 0.0174167 1.60101 2.57982 6.84407 -0.0167883 -0.0341067 0.914758 0.0029176 -0.00652581 -2.24724e-05 0.0071978 0.0200109 -0.0121304 -0.0504396 0.0423968 -0.0373037 -9.80444 8884
20.7485 0.00503252 0.0190054 1.59848 2.57851 6.88526 -0.0158781 -0.0154732 0.898359 0.00220204 -0.00658795 -0.000144578 0.00712097 0.0206093 -0.0125859 -0.0505187 0.0427937 -0.0376983 -9.80443 8537
20.7992 0.00409163 0.0180013 1.59546 2.57706 6.93099 -0.0154703 -0.0268631 0.907353 0.00551274 -0.00648688 -9.50671e-05 0.00710134 0.0205578 -0.0126312 -0.0505671 0.0427496 -0.0377244 -9.80442 9037
20.85 0.00590195 0.0187997 1.59141 2.57667 6.97271 -0.0154611 -0.0250606 0.903207 0.00146094 -0.00657061 -7.32483e-05 0.00710504 0.0210527 -0.0127761 -0.0505472 0.0431018 -0.0378849 -9.80442 8640
20.8988 0.00581489 0.0188346 1.58638 2.57544 7.02228 -0.016698 -0.0272277 0.908811 -0.00691778 -0.00655246 -2.47914e-05 0.00713641 0.0206821 -0.012455 -0.0504363 0.0428634 -0.0376128 -9.80443 8900
20.9491 0.00429399 0.0207719 1.58136 2.57565 7.06955 -0.0165236 -0.00949019 0.911563 0.00296999 -0.00654633 -0.000140467 0.00712914 0.0206511 -0.0120992 -0.0504684 0.0428814 -0.0373538 -9.80443 8809
20.9992 0.00642412 0.0207112 1.57903 2.57613 7.11706 -0.0170927 0.0048288 0.920284 -0.0105793 -0.0065855 -0.000149378 0.00711208 0.0205221 -0.0118639 -0.0504469 0.0428143 -0.0371714 -9.80443 8885
21.0501 0.00764973 0.0218368 1.57536 2.57841 7.16197 -0.0171137 0.0226723 0.93314 -0.0303178 -0.00658595 -0.000160862 0.00717165 0.0208199 -0.0115447 -0.0504844 0.0430736 -0.0369813 -9.80442 8945
21.0991 0.00580236 0.0228879 1.57065 2.57873 7.20333 -0.0173308 0.00483868 0.909617 -0.00298128 -0.00653043 -9.56096e-05 0.00721993 0.0212857 -0.011946 -0.0505438 0.0433665 -0.0373237 -9.80442 8613
21.1492 0.00548025 0.0195651 1.5651 2.57883 7.24502 -0.0167158 0.00309119 0.90065 -0.00130645 -0.00643362 4.0493e-05 0.0072549 0.021759 -0.0123568 -0.0506321 0.0436595 -0.0376743 -9.80441 9074
21.2001 0.00390009 0.0196503 1.56244 2.57788 7.2841 -0.0161833 0.0187058 0.885165 0.00484037 -0.00647268 -1.86901e-05 0.00715956 0.0221558 -0.0129787 -0.0506453 0.0438685 -0.0381667 -9.80441 8567
21.2501 0.0036133 0.0155839 1.55961 2.57945 7.32265 -0.0168156 0.0146253 0.869567 -0.0101667 -0.00647088 0.000103307 0.00712014 0.022847 -0.0133684 -0.0505491 0.0443207 -0.0385376 -9.80441 9072
21.3002 0.00940501 0.016029 1.55796 2.57948 7.36735 -0.014713 0.0187918 0.891135 0.0147505 -0.00646761 2.68955e-05 0.00704005 0.0226988 -0.0135114 -0.0507671 0.0441905 -0.0386153 -9.8044 8267
21.35 0.00812918 0.0164788 1.55244 2.58052 7.41116 -0.0147366 0.0368953 0.900194 0.00668199 -0.00643303 6.73091e-05 0.00715348 0.022755 -0.0135889 -0.0506854 0.0442203 -0.0386775 -9.8044 9260
21.3991 0.00492629 0.0171004 1.54725 2.58198 7.46167 -0.014496 0.0495129 0.905746 0.0165764 -0.00623981 4.14611e-05 0.00714489 0.0220819 -0.0133064 -0.0506597 0.0437739 -0.0383772 -9.80441 8613
21.45 0.00520057 0.0175635 1.54375 2.58533 7.50627 -0.014019 0.0614833 0.906935 0.00373953 -0.0061649 6.67427e-05 0.00716061 0.0222099 -0.0132394 -0.05066 0.0438759 -0.0383498 -9.80441 9039
21.4992 0.00418462 0.0171932 1.54051 2.58608 7.55053 -0.0139231 0.0541418 0.903106 0.00791817 -0.00606347 0.000102952 0.00714865 0.0220896 -0.0136714 -0.0506411 0.0437209 -0.0386295 -9.80441 8533
21.5501 0.00329594 0.0195426 1.53569 2.58799 7.59447 -0.0136347 0.0445199 0.903523 0.0143821 -0.00594071 1.83537e-05 0.00718327 0.0221972 -0.0138712 -0.0505893 0.0437655 -0.0387837 -9.80441 9189
21.6 0.0032875 0.0194698 1.53126 2.58954 7.63899 -0.0136701 0.0448337 0.897674 0.0111899 -0.00587306 4.37603e-05 0.00714913 0.0221626 -0.0139931 -0.0505076 0.0437207 -0.0388621 -9.80442 8540
21.6502 0.00183822 0.0197145 1.52797 2.59212 7.68018 -0.0128278 0.0567438 0.876191 0.0259243 -0.00587809 0.00019961 0.00708533 0.0225175 -0.0142027 -0.0504666 0.0439372 -0.0390669 -9.80442 9024
21.6992 0.00415794 0.0192632 1.52429 2.5937 7.72262 -0.0114199 0.0614574 0.876693 0.0143467 -0.00592179 0.000114719 0.0070953 0.0225765 -0.0145779 -0.0505065 0.0439141 -0.039335 -9.80442 8549
21.7502 0.00154377 0.018644 1.52151 2.59691 7.76483 -0.0120991 0.0589247 0.871828 0.0232874 -0.00588561 0.00024342 0.00718259 0.0227124 -0.0145785 -0.0502734 0.0440107 -0.0393607 -9.80444 9130
21.7992 0.00158305 0.0203192 1.51673 2.59789 7.81118 -0.0127152 0.0461476 0.887415 0.0158642 -0.00595573 0.000178455 0.00719664 0.0223503 -0.014743 -0.050094 0.0437286 -0.0394105 -9.80445 8486
21.85 0.00270264 0.0222357 1.51349 2.5997 7.85369 -0.0131516 0.0439234 0.882305 0.0126852 -0.0059719 0.000219516 0.00710999 0.0224145 -0.0148737 -0.0499754 0.0437504 -0.0395125 -9.80446 9194
21.9001 0.00263277 0.0222619 1.51054 2.60199 7.8996 -0.012733 0.0545664 0.879245 0.0180507 -0.00607081 0.000311397 0.00712142 0.0223001 -0.0148271 -0.0499083 0.0436803 -0.0394613 -9.80447 8091
21.9494 0.0012797 0.0231478 1.50576 2.60446 7.94424 -0.0142225 0.0401567 0.880565 0.00274686 -0.00602971 0.00028456 0.00714276 0.0221544 -0.0147248 -0.0497321 0.0435998 -0.0393653 -9.80448 9511
21.9991 0.00201054 0.0221993 1.50398 2.60652 7.99058 -0.0122589 0.0497436 0.887271 0.00647257 -0.00600611 0.000296129 0.00711133 0.0219611 -0.0146777 -0.0499098 0.043474 -0.0392944 -9.80447 8459
22.0491 0.000641066 0.0230603 1.49919 2.60926 8.03636 -0.0133213 0.0449413 0.899091 -0.00444174 -0.00606078 0.000276104 0.00709036 0.0218727 -0.0145489 -0.0497772 0.0434399 -0.0391924 -9.80448 9145
22.0992 0.00123364 0.0233808 1.49404 2.61251 8.08252 -0.0123936 0.0649871 0.891816 0.0233742 -0.0062154 0.000227665 0.00713632 0.0218202 -0.0144313 -0.0498425 0.0434277 -0.0391042 -9.80447 8601
22.1503 0.00111007 0.0235467 1.49068 2.61574 8.12537 -0.0114475 0.0676113 0.890994 0.0135396 -0.0062283 0.000180609 0.00710602 0.0218865 -0.0144565 -0.0498352 0.0434681 -0.0391348 -9.80447 8985
22.1988 0.00153408 0.0223406 1.48653 2.61933 8.17134 -0.0106769 0.0687869 0.88787 0.0170074 -0.00628288 0.000261204 0.00712705 0.0217976 -0.014393 -0.0498232 0.0434211 -0.0390748 -9.80447 8724
22.2501 0.00124629 0.0230299 1.48183 2.62322 8.21447 -0.0109922 0.0684966 0.895055 0.0144876 -0.00631515 0.000221492 0.00714174 0.0219189 -0.014361 -0.0497089 0.0435109 -0.0390807 -9.80448 9004
22.2991 0.00121213 0.0237728 1.47735 2.62737 8.25653 -0.0108896 0.0723194 0.889005 0.0100302 -0.00630246 0.000169997 0.00712962 0.022222 -0.0143694 -0.0496401 0.043713 -0.0391517 -9.80448 8537
22.3491 0.000652038 0.0246865 1.47383 2.63048 8.2958 -0.0103864 0.0778817 0.883048 0.0227673 -0.00633709 0.000149783 0.00715319 0.0222699 -0.0144321 -0.0496049 0.0437319 -0.0392042 -9.80449 9202
22.4 0.00361082 0.0227914 1.47019 2.63517 8.34088 -0.00748786 0.0867535 0.8826 0.00486109 -0.00649429 0.000189377 0.00707289 0.0225667 -0.014556 -0.0498061 0.0439009 -0.0393508 -9.80447 8556
22.4501 0.00295688 0.0233321 1.46706 2.63975 8.38483 -0.00904717 0.0890697 0.861814 0.00352221 -0.00647663 0.000123137 0.00713256 0.0225482 -0.0144903 -0.0496086 0.0439062 -0.0393055 -9.80448 9040
22.5001 0.00272058 0.0240484 1.46348 2.64401 8.43259 -0.00895874 0.0808319 0.874728 -0.00733036 -0.00651515 6.83387e-05 0.00699981 0.0220233 -0.0142303 -0.0496526 0.0436202 -0.0390167 -9.80449 8251
22.5506 0.00262507 0.0238016 1.4601 2.64787 8.47206 -0.012015 0.0869343 0.852912 -0.0112519 -0.00646744 0.000138709 0.00700695 0.0219197 -0.0141385 -0.0493746 0.0435762 -0.0389361 -9.80451 9412
22.6001 0.000973712 0.024283 1.45597 2.65264 8.52453 -0.0134468 0.086087 0.840036 -0.00401433 -0.00643724 0.000130834 0.00700785 0.0215818 -0.0140213 -0.0492752 0.043385 -0.0387815 -9.80452 8585
22.65 0.00183483 0.0227377 1.45334 2.65652 8.5604 -0.0140774 0.0867371 0.821379 -0.0186189 -0.00647753 0.000163348 0.00700083 0.0214711 -0.0139261 -0.0492535 0.043336 -0.0386949 -9.80452 9064
22.7002 0.00263557 0.0223106 1.45041 2.66257 8.60396 -0.0166637 0.0808871 0.789259 -0.00730652 -0.00658246 0.000175306 0.00706622 0.021873 -0.0139122 -0.0490458 0.0436009 -0.0387882 -9.80453 8621
22.7501 0.00251201 0.022184 1.44719 2.66674 8.63949 -0.0183739 0.077462 0.76883 -0.0160735 -0.00661707 0.000141807 0.00701229 0.0219659 -0.0138838 -0.0489205 0.0436691 -0.0387954 -9.80454 9036
22.8 0.00197832 0.0238615 1.44387 2.67122 8.67621 -0.020338 0.0794046 0.744926 -0.0180022 -0.00659108 3.93994e-05 0.00701131 0.0223433 -0.0140168 -0.0488088 0.0438773 -0.0389752 -9.80454 8567
22.8492 0.0033934 0.0254836 1.4419 2.67468 8.70682 -0.0215361 0.0701878 0.717686 -0.0183857 -0.00664784 9.61858e-06 0.00699585 0.0224366 -0.0140296 -0.0487558 0.0439339 -0.0390087 -9.80454 9090
22.8992 0.0041853 0.0236922 1.43852 2.67981 8.74379 -0.0221099 0.0790106 0.698548 -0.0224089 -0.00671824 0.000103278 0.00699232 0.0227919 -0.0139847 -0.0487782 0.0441685 -0.0390733 -9.80454 8647
22.9492 0.00406812 0.0235129 1.4368 2.68392 8.77462 -0.0217311 0.081302 0.676138 -0.0117481 -0.00665772 0.000139225 0.0069837 0.0229698 -0.0139909 -0.0489056 0.0442764 -0.039121 -9.80452 9104
23 0.00443755 0.0220702 1.43407 2.68891 8.80957 -0.021339 0.0774735 0.66132 -0.0174764 -0.00665098 0.000194855 0.00702084 0.0230479 -0.0138965 -0.0490368 0.0443487 -0.0390809 -9.80451 8606
23.0491 0.00328792 0.0232253 1.43194 2.6929 8.84044 -0.0220462 0.0726902 0.65346 -0.0143952 -0.00659762 0.000108431 0.00703 0.0230903 -0.0138492 -0.0490428 0.0443875 -0.0390624 -9.80451 9088
23.1 0.0024791 0.0237216 1.42909 2.69839 8.87324 -0.0236717 0.0795249 0.642194 -0.0185553 -0.00654572 0.000102591 0.00700797 0.0232836 -0.0136598 -0.0489588 0.0445584 -0.0389998 -9.80451 8382
23.1491 0.00224087 0.0247431 1.42683 2.70239 8.90471 -0.0232066 0.0809242 0.626287 -0.0106974 -0.00652679 0.000119352 0.00703191 0.0234583 -0.0137805 -0.0490845 0.0446304 -0.0391193 -9.8045 9288
23.2 0.00171911 0.0234426 1.42588 2.70728 8.93621 -0.0223854 0.0782395 0.614477 -0.0113292 -0.0065224 0.000161509 0.00693662 0.0234289 -0.0135926 -0.0492221 0.0446635 -0.038995 -9.80449 8646
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23.7506 0.00476435 0.027613 1.50917 2.74577 9.26519 -0.0226819 0.039252 0.5812 -0.00293783 -0.0066819 0.00021011 0.00691046 0.0246432 -0.0131316 -0.0496287 0.045508 -0.0390579 -9.80443 8777
23.8002 0.00536711 0.0269423 1.50519 2.74807 9.28975 -0.0222474 0.0433483 0.570029 0.0034937 -0.00674479 0.000202755 0.00696469 0.0250377 -0.0132375 -0.0496637 0.0457131 -0.0392297 -9.80441 8970
23.8502 0.00178598 0.0285259 1.5026 2.74966 9.31627 -0.0228646 0.0424886 0.561562 0.00122306 -0.0066668 0.000158603 0.00695727 0.0251593 -0.0133578 -0.0495888 0.0457558 -0.0393403 -9.80442 8436
23.8992 0.00434217 0.0273623 1.5022 2.75214 9.3412 -0.0219605 0.050075 0.548468 -0.00313016 -0.00676221 0.000192063 0.00693197 0.0254561 -0.0134519 -0.0496681 0.0459082 -0.0394748 -9.8044 9196
23.95 0.00455722 0.0265499 1.50084 2.75426 9.36789 -0.0223524 0.0450583 0.549399 -0.00509814 -0.00671397 0.000272863 0.00690117 0.0254884 -0.0135371 -0.0496395 0.0459072 -0.0395389 -9.8044 8530
24 0.00334771 0.0267412 1.49913 2.75656 9.39358 -0.0227356 0.0482282 0.53977 0.00847774 -0.00669353 0.000211141 0.00699533 0.0255517 -0.0135474 -0.0495709 0.0459442 -0.0395626 -9.80441 8997
24.0491 0.00280114 0.0272644 1.49916 2.75941 9.42244 -0.0241598 0.0413258 0.546402 0.00188007 -0.00658916 0.000170042 0.00694224 0.0255116 -0.0134489 -0.0493987 0.0459465 -0.0394937 -9.80442 8642
24.1002 0.00249456 0.0288622 1.50283 2.76176 9.45316 -0.0246991 0.0432445 0.564003 -0.00885796 -0.00660355 0.000239949 0.00682545 0.0252985 -0.0133301 -0.0494105 0.0458438 -0.0393649 -9.80443 9075
24.1504 0.00403068 0.0277621 1.50763 2.76381 9.48693 -0.0241176 0.0382696 0.570921 -0.00884884 -0.00663206 0.000353664 0.00680638 0.0247804 -0.0131255 -0.0495578 0.0455721 -0.0391048 -9.80443 8533
24.2 0.001808 0.0268751 1.51169 2.76503 9.51389 -0.0234878 0.0276358 0.564951 -0.0146098 -0.00656889 0.000382907 0.00679688 0.0248708 -0.0132206 -0.0496818 0.0456049 -0.0391859 -9.80442 9134
24.2502 0.00233978 0.027513 1.51437 2.76716 9.54618 -0.0249396 0.0372839 0.567866 -0.00682139 -0.00665584 0.000349612 0.00683128 0.0245794 -0.0129829 -0.0496123 0.0454799 -0.0389636 -9.80443 8443
24.3001 0.00174943 0.0255795 1.51667 2.7685 9.57677 -0.0248368 0.0275322 0.573663 0.00495102 -0.00658716 0.000303811 0.00687895 0.0244452 -0.012947 -0.0496214 0.0454049 -0.0389095 -9.80444 8780
24.3508 0.00406374 0.026724 1.52175 2.77148 9.60333 -0.022841 0.0286421 0.56755 0.00647042 -0.00675608 0.000282944 0.0068055 0.0246493 -0.012756 -0.0497948 0.0455718 -0.0388277 -9.80442 8249
24.3989 0.00309043 0.0277026 1.52617 2.77287 9.62969 -0.0228358 0.0262915 0.572702 -0.00198639 -0.00671149 0.000293725 0.00680528 0.0248121 -0.0128554 -0.0497727 0.0456522 -0.0389296 -9.80442 9646
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24.5 0.00359899 0.0296357 1.53257 2.77483 9.68684 -0.0237907 0.00973398 0.57395 -0.00824938 -0.00661587 0.000258977 0.00685887 0.0247954 -0.0128874 -0.0496291 0.0456373 -0.0389496 -9.80443 8924
24.549 0.00236792 0.0282029 1.53133 2.77701 9.71389 -0.0229948 0.0138493 0.569918 0.00421218 -0.00666531 0.000392147 0.00691417 0.0249991 -0.0127226 -0.0497189 0.0457997 -0.0388843 -9.80442 8703
24.6 0.000403459 0.0297265 1.53194 2.77756 9.74216 -0.0229298 0.0103274 0.561194 0.00615306 -0.00663632 0.000346871 0.00691916 0.0250507 -0.0127451 -0.0496829 0.0458283 -0.0389107 -9.80442 9126
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24.7 0.00269544 0.0287359 1.53068 2.77844 9.79388 -0.0223701 0.0101591 0.553652 0.00490511 -0.00665915 0.000430147 0.00701126 0.0253237 -0.0129902 -0.0496566 0.0459505 -0.0391286 -9.80441 9072
24.75 0.00287117 0.0294804 1.53165 2.77946 9.81848 -0.0218261 0.014756 0.551057 0.00710952 -0.00677514 0.000344224 0.00694068 0.0256377 -0.0130673 -0.0496673 0.0461344 -0.0392435 -9.8044 8521
24.8 0.00192206 0.0308434 1.53266 2.78016 9.84603 -0.0229267 0.00850837 0.559154 0.0056725 -0.00671533 0.000318578 0.00691228 0.0256335 -0.0130443 -0.04955 0.0461384 -0.0392299 -9.80441 9077
24.8501 0.00465095 0.0306607 1.53285 2.78149 9.87516 -0.0183848 0.0106327 0.549918 0.00923621 -0.00684132 0.000360333 0.00688563 0.0255677 -0.0128898 -0.0499637 0.0461209 -0.0391075 -9.80438 8445
24.8991 0.00337057 0.0305912 1.53447 2.78167 9.89653 -0.0206902 0.00443424 0.55215 0.00672257 -0.00669907 0.000339935 0.00682512 0.0255477 -0.012897 -0.0497138 0.0461109 -0.0391132 -9.8044 8567
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25.3499 0.000736 0.0333244 1.54572 2.79564 10.1608 -0.0249458 0.0180996 0.575722 -0.00499862 -0.00666125 0.000202994 0.0068885 0.0260514 -0.0116771 -0.0486673 0.0466923 -0.0384294 -9.80446 8482
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510
Log/pos_log.txt
View File

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23.000019 0.004438 0.022070 1.434070 2.688907 8.809567 -0.021339 0.000000 0.000000 0.000000 0.077474 0.661320 -0.017476 0.000000 0.000000 0.000000 -0.006651 0.000195 0.007021 0.023048 -0.013897 -0.049037 0.044349 -0.039081 -9.804510
23.049057 0.003288 0.023225 1.431940 2.692901 8.840444 -0.022046 0.000000 0.000000 0.000000 0.072690 0.653460 -0.014395 0.000000 0.000000 0.000000 -0.006598 0.000108 0.007030 0.023090 -0.013849 -0.049043 0.044388 -0.039062 -9.804508
23.099966 0.002479 0.023722 1.429088 2.698392 8.873243 -0.023672 0.000000 0.000000 0.000000 0.079525 0.642194 -0.018555 0.000000 0.000000 0.000000 -0.006546 0.000103 0.007008 0.023284 -0.013660 -0.048959 0.044558 -0.039000 -9.804510
23.149060 0.002241 0.024743 1.426825 2.702389 8.904705 -0.023207 0.000000 0.000000 0.000000 0.080924 0.626287 -0.010697 0.000000 0.000000 0.000000 -0.006527 0.000119 0.007032 0.023458 -0.013780 -0.049084 0.044630 -0.039119 -9.804497
23.200029 0.001719 0.023443 1.425881 2.707283 8.936212 -0.022385 0.000000 0.000000 0.000000 0.078240 0.614477 -0.011329 0.000000 0.000000 0.000000 -0.006522 0.000162 0.006937 0.023429 -0.013593 -0.049222 0.044663 -0.038995 -9.804487
23.249315 0.001621 0.024106 1.427023 2.710849 8.967710 -0.024274 0.000000 0.000000 0.000000 0.088436 0.621425 -0.023477 0.000000 0.000000 0.000000 -0.006482 0.000174 0.006932 0.023367 -0.013618 -0.049095 0.044620 -0.038995 -9.804498
23.300247 0.002042 0.026001 1.434940 2.716391 8.997697 -0.025259 0.000000 0.000000 0.000000 0.078054 0.614291 -0.016408 0.000000 0.000000 0.000000 -0.006455 0.000113 0.006805 0.023528 -0.013444 -0.049101 0.044766 -0.038936 -9.804494
23.349208 0.003670 0.024669 1.444363 2.721037 9.025940 -0.023469 0.000000 0.000000 0.000000 0.073565 0.613159 -0.012288 0.000000 0.000000 0.000000 -0.006526 0.000172 0.006731 0.023756 -0.013395 -0.049331 0.044914 -0.038968 -9.804472
23.400052 0.002782 0.026875 1.454016 2.725586 9.055638 -0.024096 0.000000 0.000000 0.000000 0.067134 0.618244 -0.008142 0.000000 0.000000 0.000000 -0.006503 0.000134 0.006812 0.023970 -0.013295 -0.049319 0.045069 -0.038970 -9.804468
23.449089 0.002811 0.028192 1.464747 2.728503 9.086596 -0.024632 0.000000 0.000000 0.000000 0.058060 0.620637 -0.012438 0.000000 0.000000 0.000000 -0.006484 0.000086 0.006713 0.023936 -0.013308 -0.049316 0.045046 -0.038968 -9.804469
23.499963 0.002455 0.027632 1.474847 2.732331 9.115762 -0.024398 0.000000 0.000000 0.000000 0.053545 0.612609 -0.004255 0.000000 0.000000 0.000000 -0.006574 0.000206 0.006685 0.024155 -0.013199 -0.049377 0.045204 -0.038965 -9.804459
23.548729 0.003646 0.025969 1.486078 2.735052 9.146255 -0.023320 0.000000 0.000000 0.000000 0.056924 0.611417 -0.011401 0.000000 0.000000 0.000000 -0.006657 0.000219 0.006664 0.024217 -0.013192 -0.049528 0.045241 -0.038976 -9.804446
23.600067 0.004554 0.026012 1.494931 2.738854 9.175835 -0.023314 0.000000 0.000000 0.000000 0.054677 0.613642 0.002205 0.000000 0.000000 0.000000 -0.006669 0.000179 0.006791 0.024400 -0.013103 -0.049546 0.045373 -0.038974 -9.804441
23.650218 0.003747 0.026434 1.506733 2.741254 9.206982 -0.023680 0.000000 0.000000 0.000000 0.039666 0.615473 0.001502 0.000000 0.000000 0.000000 -0.006584 0.000126 0.006671 0.024314 -0.013087 -0.049505 0.045328 -0.038942 -9.804446
23.700078 0.003651 0.028024 1.509927 2.744352 9.237150 -0.023134 0.000000 0.000000 0.000000 0.040472 0.605732 -0.006153 0.000000 0.000000 0.000000 -0.006614 0.000165 0.006899 0.024501 -0.012977 -0.049568 0.045467 -0.038924 -9.804437
23.750607 0.004764 0.027613 1.509170 2.745771 9.265188 -0.022682 0.000000 0.000000 0.000000 0.039252 0.581200 -0.002938 0.000000 0.000000 0.000000 -0.006682 0.000210 0.006910 0.024643 -0.013132 -0.049629 0.045508 -0.039058 -9.804428
23.800215 0.005367 0.026942 1.505193 2.748070 9.289749 -0.022247 0.000000 0.000000 0.000000 0.043348 0.570029 0.003494 0.000000 0.000000 0.000000 -0.006745 0.000203 0.006965 0.025038 -0.013238 -0.049664 0.045713 -0.039230 -9.804414
23.850185 0.001786 0.028526 1.502595 2.749663 9.316269 -0.022865 0.000000 0.000000 0.000000 0.042489 0.561562 0.001223 0.000000 0.000000 0.000000 -0.006667 0.000159 0.006957 0.025159 -0.013358 -0.049589 0.045756 -0.039340 -9.804416
23.899158 0.004342 0.027362 1.502197 2.752137 9.341204 -0.021961 0.000000 0.000000 0.000000 0.050075 0.548468 -0.003130 0.000000 0.000000 0.000000 -0.006762 0.000192 0.006932 0.025456 -0.013452 -0.049668 0.045908 -0.039475 -9.804401
23.950045 0.004557 0.026550 1.500837 2.754256 9.367890 -0.022352 0.000000 0.000000 0.000000 0.045058 0.549399 -0.005098 0.000000 0.000000 0.000000 -0.006714 0.000273 0.006901 0.025488 -0.013537 -0.049639 0.045907 -0.039539 -9.804402
24.000049 0.003348 0.026741 1.499127 2.756559 9.393585 -0.022736 0.000000 0.000000 0.000000 0.048228 0.539770 0.008478 0.000000 0.000000 0.000000 -0.006694 0.000211 0.006995 0.025552 -0.013547 -0.049571 0.045944 -0.039563 -9.804405
24.049088 0.002801 0.027264 1.499156 2.759411 9.422444 -0.024160 0.000000 0.000000 0.000000 0.041326 0.546402 0.001880 0.000000 0.000000 0.000000 -0.006589 0.000170 0.006942 0.025512 -0.013449 -0.049399 0.045946 -0.039494 -9.804420
24.100185 0.002495 0.028862 1.502827 2.761761 9.453162 -0.024699 0.000000 0.000000 0.000000 0.043244 0.564003 -0.008858 0.000000 0.000000 0.000000 -0.006604 0.000240 0.006825 0.025299 -0.013330 -0.049411 0.045844 -0.039365 -9.804426
24.150355 0.004031 0.027762 1.507630 2.763807 9.486929 -0.024118 0.000000 0.000000 0.000000 0.038270 0.570921 -0.008849 0.000000 0.000000 0.000000 -0.006632 0.000354 0.006806 0.024780 -0.013126 -0.049558 0.045572 -0.039105 -9.804432
24.200036 0.001808 0.026875 1.511687 2.765025 9.513887 -0.023488 0.000000 0.000000 0.000000 0.027636 0.564951 -0.014610 0.000000 0.000000 0.000000 -0.006569 0.000383 0.006797 0.024871 -0.013221 -0.049682 0.045605 -0.039186 -9.804419
24.250207 0.002340 0.027513 1.514370 2.767163 9.546177 -0.024940 0.000000 0.000000 0.000000 0.037284 0.567866 -0.006821 0.000000 0.000000 0.000000 -0.006656 0.000350 0.006831 0.024579 -0.012983 -0.049612 0.045480 -0.038964 -9.804435
24.300071 0.001749 0.025579 1.516671 2.768498 9.576773 -0.024837 0.000000 0.000000 0.000000 0.027532 0.573663 0.004951 0.000000 0.000000 0.000000 -0.006587 0.000304 0.006879 0.024445 -0.012947 -0.049621 0.045405 -0.038910 -9.804438
24.350800 0.004064 0.026724 1.521750 2.771476 9.603335 -0.022841 0.000000 0.000000 0.000000 0.028642 0.567550 0.006470 0.000000 0.000000 0.000000 -0.006756 0.000283 0.006806 0.024649 -0.012756 -0.049795 0.045572 -0.038828 -9.804420
24.398939 0.003090 0.027703 1.526166 2.772874 9.629689 -0.022836 0.000000 0.000000 0.000000 0.026292 0.572702 -0.001986 0.000000 0.000000 0.000000 -0.006711 0.000294 0.006805 0.024812 -0.012855 -0.049773 0.045652 -0.038930 -9.804416
24.449996 0.003762 0.028173 1.530737 2.774074 9.658403 -0.022582 0.000000 0.000000 0.000000 0.022718 0.568066 0.004803 0.000000 0.000000 0.000000 -0.006753 0.000283 0.006772 0.024780 -0.012843 -0.049776 0.045635 -0.038914 -9.804417
24.499996 0.003599 0.029636 1.532572 2.774831 9.686838 -0.023791 0.000000 0.000000 0.000000 0.009734 0.573950 -0.008249 0.000000 0.000000 0.000000 -0.006616 0.000259 0.006859 0.024795 -0.012887 -0.049629 0.045637 -0.038950 -9.804427
24.548967 0.002368 0.028203 1.531328 2.777013 9.713894 -0.022995 0.000000 0.000000 0.000000 0.013849 0.569918 0.004212 0.000000 0.000000 0.000000 -0.006665 0.000392 0.006914 0.024999 -0.012723 -0.049719 0.045800 -0.038884 -9.804416
24.600033 0.000403 0.029726 1.531941 2.777556 9.742161 -0.022930 0.000000 0.000000 0.000000 0.010327 0.561194 0.006153 0.000000 0.000000 0.000000 -0.006636 0.000347 0.006919 0.025051 -0.012745 -0.049683 0.045828 -0.038911 -9.804417
24.650074 0.003107 0.029153 1.531611 2.777751 9.767162 -0.021526 0.000000 0.000000 0.000000 0.019101 0.552929 0.008465 0.000000 0.000000 0.000000 -0.006734 0.000417 0.007049 0.025258 -0.012950 -0.049776 0.045915 -0.039086 -9.804402
24.700024 0.002695 0.028736 1.530679 2.778444 9.793875 -0.022370 0.000000 0.000000 0.000000 0.010159 0.553652 0.004905 0.000000 0.000000 0.000000 -0.006659 0.000430 0.007011 0.025324 -0.012990 -0.049657 0.045950 -0.039129 -9.804408
24.749975 0.002871 0.029480 1.531647 2.779462 9.818477 -0.021826 0.000000 0.000000 0.000000 0.014756 0.551057 0.007110 0.000000 0.000000 0.000000 -0.006775 0.000344 0.006941 0.025638 -0.013067 -0.049667 0.046134 -0.039244 -9.804397
24.799954 0.001922 0.030843 1.532660 2.780159 9.846026 -0.022927 0.000000 0.000000 0.000000 0.008508 0.559154 0.005672 0.000000 0.000000 0.000000 -0.006715 0.000319 0.006912 0.025633 -0.013044 -0.049550 0.046138 -0.039230 -9.804406
24.850131 0.004651 0.030661 1.532853 2.781487 9.875163 -0.018385 0.000000 0.000000 0.000000 0.010633 0.549918 0.009236 0.000000 0.000000 0.000000 -0.006841 0.000360 0.006886 0.025568 -0.012890 -0.049964 0.046121 -0.039108 -9.804378
24.899126 0.003371 0.030591 1.534472 2.781667 9.896525 -0.020690 0.000000 0.000000 0.000000 0.004434 0.552150 0.006723 0.000000 0.000000 0.000000 -0.006699 0.000340 0.006825 0.025548 -0.012897 -0.049714 0.046111 -0.039113 -9.804398
24.951213 0.001728 0.030301 1.534170 2.781916 9.931016 -0.019750 0.000000 0.000000 0.000000 0.002281 0.557540 0.014553 0.000000 0.000000 0.000000 -0.006748 0.000320 0.006923 0.025479 -0.012827 -0.049729 0.046080 -0.039054 -9.804399
24.999125 0.001427 0.031206 1.536046 2.782566 9.953011 -0.018989 0.000000 0.000000 0.000000 0.008846 0.558436 0.017495 0.000000 0.000000 0.000000 -0.006738 0.000297 0.006896 0.025462 -0.012742 -0.049742 0.046086 -0.038994 -9.804399
25.049111 0.004539 0.030882 1.539946 2.784335 9.991578 -0.017534 0.000000 0.000000 0.000000 0.007415 0.572272 0.034021 0.000000 0.000000 0.000000 -0.006778 0.000191 0.006879 0.025154 -0.012345 -0.049724 0.045966 -0.038674 -9.804414
25.099168 0.004004 0.029570 1.541626 2.784890 10.014267 -0.019035 0.000000 0.000000 0.000000 -0.000671 0.577685 0.032575 0.000000 0.000000 0.000000 -0.006749 0.000263 0.006885 0.025178 -0.012306 -0.049450 0.045994 -0.038659 -9.804434
25.149648 0.004226 0.031303 1.541869 2.788281 10.048041 -0.018447 0.000000 0.000000 0.000000 0.019185 0.577987 0.015687 0.000000 0.000000 0.000000 -0.006859 0.000204 0.007019 0.025535 -0.012033 -0.049369 0.046278 -0.038550 -9.804429
25.198790 0.003357 0.031826 1.543535 2.789368 10.072570 -0.020934 0.000000 0.000000 0.000000 0.019552 0.579786 -0.001268 0.000000 0.000000 0.000000 -0.006735 0.000181 0.006918 0.025512 -0.011991 -0.049081 0.046276 -0.038524 -9.804452
25.249155 0.002945 0.031871 1.543933 2.793294 10.107231 -0.021889 0.000000 0.000000 0.000000 0.017756 0.581169 0.001278 0.000000 0.000000 0.000000 -0.006710 0.000234 0.006924 0.025602 -0.011553 -0.048990 0.046420 -0.038257 -9.804459
25.299164 0.001177 0.030676 1.543917 2.793763 10.132993 -0.023972 0.000000 0.000000 0.000000 0.012152 0.583051 0.001440 0.000000 0.000000 0.000000 -0.006622 0.000258 0.006890 0.025556 -0.011572 -0.048770 0.046390 -0.038265 -9.804477
25.349944 0.000736 0.033324 1.545725 2.795644 10.160826 -0.024946 0.000000 0.000000 0.000000 0.018100 0.575722 -0.004999 0.000000 0.000000 0.000000 -0.006661 0.000203 0.006888 0.026051 -0.011677 -0.048667 0.046692 -0.038429 -9.804464
25.400134 0.001438 0.032106 1.547058 2.796643 10.183709 -0.026681 0.000000 0.000000 0.000000 0.022770 0.566129 -0.008616 0.000000 0.000000 0.000000 -0.006614 0.000172 0.006865 0.026213 -0.011770 -0.048481 0.046782 -0.038524 -9.804471
25.450054 0.003139 0.029551 1.548133 2.797794 10.212320 -0.027734 0.000000 0.000000 0.000000 0.015121 0.560053 -0.007153 0.000000 0.000000 0.000000 -0.006735 0.000163 0.006908 0.026432 -0.011882 -0.048398 0.046904 -0.038640 -9.804467
25.498953 0.002524 0.026891 1.549371 2.797337 10.237795 -0.028863 0.000000 0.000000 0.000000 0.012568 0.555179 -0.008107 0.000000 0.000000 0.000000 -0.006732 0.000329 0.006868 0.026668 -0.012205 -0.048290 0.046998 -0.038897 -9.804463
25.550254 0.003295 0.027790 1.548260 2.798316 10.263707 -0.029829 0.000000 0.000000 0.000000 0.014936 0.553270 -0.010119 0.000000 0.000000 0.000000 -0.006822 0.000231 0.006915 0.026861 -0.012260 -0.048230 0.047113 -0.038970 -9.804459
25.599974 0.004573 0.025753 1.546421 2.798610 10.288197 -0.030504 0.000000 0.000000 0.000000 0.012641 0.553782 -0.013404 0.000000 0.000000 0.000000 -0.006887 0.000300 0.006977 0.026926 -0.012371 -0.048202 0.047135 -0.039056 -9.804457
25.650014 0.005326 0.023830 1.544506 2.799077 10.317128 -0.031219 0.000000 0.000000 0.000000 0.008917 0.552260 -0.009598 0.000000 0.000000 0.000000 -0.006982 0.000295 0.007000 0.026935 -0.012407 -0.048201 0.047134 -0.039080 -9.804456
25.699310 0.002538 0.022488 1.543415 2.798351 10.342090 -0.031993 0.000000 0.000000 0.000000 0.015295 0.548951 -0.009605 0.000000 0.000000 0.000000 -0.006895 0.000256 0.006892 0.027044 -0.012665 -0.048158 0.047158 -0.039270 -9.804453

6
config/mid360.yaml
View File

@@ -4,12 +4,12 @@
prop_at_freq_of_imu: True
check_satu: True
init_map_size: 1000
point_filter_num: 3 # Options: 1, 3
point_filter_num: 1 # Options: 1, 3
space_down_sample: True
filter_size_surf: 0.5 # Options: 0.5, 0.3, 0.2, 0.15, 0.1
filter_size_map: 0.5 # Options: 0.5, 0.3, 0.15, 0.1
cube_side_length: 1000.0 # Option: 1000
runtime_pos_log_enable: false # Option: True
runtime_pos_log_enable: true # Option: True
common:
lid_topic: "/livox/lidar"
@@ -45,7 +45,7 @@
acc_cov_input: 0.1 # for IMU as input model
plane_thr: 0.1 # 0.05, the threshold for plane criteria, the smaller, the flatter a plane
match_s: 81.0
ivox_grid_resolution: 2.0
ivox_grid_resolution: 0.5
gravity: [0.0, 0.0, -9.810] # [0.0, 9.810, 0.0] # # [0.0, 0.0, -9.787561] # gvins #
gravity_init: [0.0, 0.0, -9.810] # preknown gravity in the initial IMU frame for unstationary start or in the initial LiDAR frame for using without IMU
extrinsic_T: [ 0.04165, 0.02326, -0.0284 ] # avia # [0.011, 0.02329, -0.04412] # mid360

193
include/OctVoxMap/HKNN_list60_gem.h Normal file
View File

@@ -0,0 +1,193 @@
#pragma once
#include <array>
#include <vector>
#include <Eigen/Core>
/// The last number is useless
static const std::array<float, 6> orders_min_dis = {
0.250000, 0.353553, 0.500000, 0.559017, 0.612372, 10
};
static const std::array<float, 6> orders_min_dis2 = {
0.062500, 0.125000, 0.250000, 0.312500, 0.375000, 100
};
alignas(16) static const std::array<Eigen::Vector3i, 60> HKNN_neighbor_voxel =
{
Eigen::Vector3i(0, 0, 0), Eigen::Vector3i(0, -1, 0), Eigen::Vector3i(0, 0, -1), Eigen::Vector3i(-1, 0, 0), Eigen::Vector3i(-1, 0, -1), Eigen::Vector3i(0, -1, -1),
Eigen::Vector3i(-1, -1, 0), Eigen::Vector3i(-1, -1, -1), Eigen::Vector3i(1, 0, 0), Eigen::Vector3i(0, 1, 0), Eigen::Vector3i(0, 0, 1), Eigen::Vector3i(0, -1, 1),
Eigen::Vector3i(1, -1, 0), Eigen::Vector3i(1, 0, -1), Eigen::Vector3i(0, 1, -1), Eigen::Vector3i(-1, 1, 0), Eigen::Vector3i(-1, 0, 1), Eigen::Vector3i(-1, -1, 1),
Eigen::Vector3i(-1, 1, -1), Eigen::Vector3i(1, -1, -1), Eigen::Vector3i(0, 0, -2), Eigen::Vector3i(0, 1, 1), Eigen::Vector3i(1, 1, 0), Eigen::Vector3i(1, 0, 1),
Eigen::Vector3i(-2, 0, 0), Eigen::Vector3i(0, -2, 0), Eigen::Vector3i(-2, 0, -1), Eigen::Vector3i(-1, 0, -2), Eigen::Vector3i(-1, -2, 0), Eigen::Vector3i(-2, -1, 0),
Eigen::Vector3i(0, -2, -1), Eigen::Vector3i(1, 1, -1), Eigen::Vector3i(-1, 1, 1), Eigen::Vector3i(1, -1, 1), Eigen::Vector3i(0, -1, -2), Eigen::Vector3i(-2, -1, -1),
Eigen::Vector3i(-1, -1, -2), Eigen::Vector3i(-1, -2, -1), Eigen::Vector3i(-2, 1, 0), Eigen::Vector3i(1, -2, 0), Eigen::Vector3i(0, -2, 1), Eigen::Vector3i(0, 1, -2),
Eigen::Vector3i(1, 0, -2), Eigen::Vector3i(1, 1, 1), Eigen::Vector3i(-2, 0, 1), Eigen::Vector3i(1, -1, -2), Eigen::Vector3i(1, -2, -1), Eigen::Vector3i(-2, 1, -1),
Eigen::Vector3i(-2, -1, 1), Eigen::Vector3i(-1, 1, -2), Eigen::Vector3i(-1, -2, 1), Eigen::Vector3i(0, -2, -2), Eigen::Vector3i(-2, 0, -2), Eigen::Vector3i(-2, 1, 1),
Eigen::Vector3i(1, 1, -2), Eigen::Vector3i(1, -2, 1), Eigen::Vector3i(-2, -2, 0), Eigen::Vector3i(-2, -1, -2), Eigen::Vector3i(-2, -2, -1), Eigen::Vector3i(-1, -2, -2),
};
static constexpr std::array<uint16_t, 7> flat_search_order_offsets = {{
0, 43, 135, 219, 321, 465, 593,
}};
static constexpr std::array<uint8_t, 593> flat_search_order = {{
// Group0
0, 8, 0, 1, 2, 3, 4, 5, 6, 7,
1, 4, 2, 3, 6, 7,
2, 4, 4, 5, 6, 7,
3, 4, 1, 3, 5, 7,
4, 2, 5, 7,
5, 2, 6, 7,
6, 2, 3, 7,
7, 1, 7,
// Group1
1, 4, 0, 1, 4, 5,
2, 4, 0, 1, 2, 3,
3, 4, 0, 2, 4, 6,
4, 4, 1, 3, 4, 6,
5, 4, 2, 3, 4, 5,
6, 4, 1, 2, 5, 6,
7, 3, 3, 5, 6,
8, 4, 0, 2, 4, 6,
9, 4, 0, 1, 4, 5,
10, 4, 0, 1, 2, 3,
11, 2, 2, 3,
12, 2, 2, 6,
13, 2, 4, 6,
14, 2, 4, 5,
15, 2, 1, 5,
16, 2, 1, 3,
17, 1, 3,
18, 1, 5,
19, 1, 6,
// Group2
4, 2, 0, 2,
5, 2, 0, 1,
6, 2, 0, 4,
7, 4, 0, 1, 2, 4,
11, 2, 0, 1,
12, 2, 0, 4,
13, 2, 0, 2,
14, 2, 0, 1,
15, 2, 0, 4,
16, 2, 0, 2,
17, 3, 0, 1, 2,
18, 3, 0, 1, 4,
19, 3, 0, 2, 4,
21, 2, 0, 1,
22, 2, 0, 4,
23, 2, 0, 2,
31, 2, 0, 4,
32, 2, 0, 1,
33, 2, 0, 2,
43, 1, 0,
// Group3
8, 4, 1, 3, 5, 7,
9, 4, 2, 3, 6, 7,
10, 4, 4, 5, 6, 7,
11, 2, 6, 7,
12, 2, 3, 7,
13, 2, 5, 7,
14, 2, 6, 7,
15, 2, 3, 7,
16, 2, 5, 7,
17, 1, 7,
18, 1, 7,
19, 1, 7,
20, 4, 4, 5, 6, 7,
24, 4, 1, 3, 5, 7,
25, 4, 2, 3, 6, 7,
26, 2, 5, 7,
27, 2, 5, 7,
28, 2, 3, 7,
29, 2, 3, 7,
30, 2, 6, 7,
34, 2, 6, 7,
35, 1, 7,
36, 1, 7,
37, 1, 7,
// Group4
11, 2, 4, 5,
12, 2, 1, 5,
13, 2, 1, 3,
14, 2, 2, 3,
15, 2, 2, 6,
16, 2, 4, 6,
17, 2, 5, 6,
18, 2, 3, 6,
19, 2, 3, 5,
21, 4, 2, 3, 4, 5,
22, 4, 1, 2, 5, 6,
23, 4, 1, 3, 4, 6,
26, 2, 1, 3,
27, 2, 4, 6,
28, 2, 2, 6,
29, 2, 1, 5,
30, 2, 2, 3,
31, 2, 5, 6,
32, 2, 3, 5,
33, 2, 3, 6,
34, 2, 4, 5,
35, 2, 3, 5,
36, 2, 5, 6,
37, 2, 3, 6,
38, 2, 1, 5,
39, 2, 2, 6,
40, 2, 2, 3,
41, 2, 4, 5,
42, 2, 4, 6,
44, 2, 1, 3,
45, 1, 6,
46, 1, 6,
47, 1, 5,
48, 1, 3,
49, 1, 5,
50, 1, 3,
// Group5
17, 1, 4,
18, 1, 2,
19, 1, 1,
21, 2, 6, 7,
22, 2, 3, 7,
23, 2, 5, 7,
31, 3, 1, 2, 7,
32, 3, 2, 4, 7,
33, 3, 1, 4, 7,
35, 1, 1,
36, 1, 4,
37, 1, 2,
38, 2, 3, 7,
39, 2, 3, 7,
40, 2, 6, 7,
41, 2, 6, 7,
42, 2, 5, 7,
43, 3, 1, 2, 4,
44, 2, 5, 7,
45, 2, 4, 7,
46, 2, 2, 7,
47, 2, 1, 7,
48, 2, 1, 7,
49, 2, 4, 7,
50, 2, 2, 7,
51, 2, 6, 7,
52, 2, 5, 7,
53, 1, 1,
54, 1, 4,
55, 1, 2,
56, 2, 3, 7,
57, 1, 7,
58, 1, 7,
59, 1, 7,
}};

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include/OctVoxMap/OctVoxMap.hpp Normal file
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#ifndef OctVoxMap_HPP_
#define OctVoxMap_HPP_
#include <set>
#include <list>
#include <queue>
#include <vector>
#include <memory>
#include <cstring>
#include <iostream>
#include <execution>
#include <filesystem>
#include <unordered_map>
#include <unordered_set>
#include <Eigen/Core>
#include "tsl/robin_map.h"
#include "HKNN_list60_gem.h"
namespace LI2Sup{
template<int K, typename Point>
class KNNHeap {
public:
KNNHeap() : count(0), worst_(0), max_dist2_(0.0f) {
memset(dist2_, 0, sizeof(dist2_));
}
void reset() {
count = 0;
worst_ = 0;
max_dist2_ = 0.0f;
memset(dist2_, 0, sizeof(dist2_));
}
uint8_t count;
uint8_t worst_;
float max_dist2_;
float dist2_[K];
std::array<Point, K> points_;
inline void try_insert(float dist2, const Point& pt) {
const bool not_full = (count < K);
const bool should_insert = not_full || (dist2 < max_dist2_);
if (should_insert) {
const uint8_t insert_idx = not_full ? count : worst_;
dist2_[insert_idx] = dist2;
points_[insert_idx] = pt;
if (not_full) {
count++;
if (dist2 > max_dist2_) {
max_dist2_ = dist2;
worst_ = insert_idx;
}
} else {
update_worst_unrolled();
}
}
}
private:
inline void update_worst_unrolled() {
float d0 = dist2_[0], d1 = dist2_[1], d2 = dist2_[2], d3 = dist2_[3], d4 = dist2_[4];
uint8_t idx01 = d0 > d1 ? 0 : 1;
float max01 = d0 > d1 ? d0 : d1;
uint8_t idx23 = d2 > d3 ? 2 : 3;
float max23 = d2 > d3 ? d2 : d3;
uint8_t idx0123 = max01 > max23 ? idx01 : idx23;
float max0123 = max01 > max23 ? max01 : max23;
worst_ = max0123 > d4 ? idx0123 : 4;
max_dist2_ = max0123 > d4 ? max0123 : d4;
}
public:
inline float max_dist2() const { return max_dist2_; }
};
template<typename Point>
class OctVox{
public:
OctVox(const Point& pt, uint8_t local_idx)
{
counts_.fill(UNINIT_MASK);
points_[local_idx] = pt;
counts_[local_idx] = 1;
}
~OctVox() {}
void AddPoint(const Point& pt, uint8_t local_idx) {
uint8_t& count = counts_[local_idx];
Point& stored_point = points_[local_idx];
if(count == UNINIT_MASK) {
stored_point = pt;
count = 1;
return;
}
if(count >= MAX_POINTS_PER_SUBVOXEL) return;
if ((pt - stored_point).squaredNorm() > DISTANCE_THRESHOLD_SQ) return;
stored_point = (stored_point * count + pt) / (count + 1);
++count;
}
bool getPoint(const uint8_t local_idx, Point& pt) const {
if (counts_[local_idx] == UNINIT_MASK) return false;
pt = points_[local_idx];
return true;
}
static constexpr uint8_t UNINIT_MASK = 0x00;
static constexpr uint8_t MAX_POINTS_PER_SUBVOXEL = 20;
static constexpr double DISTANCE_THRESHOLD_SQ = 0.1 * 0.1;
std::array<uint8_t, 8> counts_;
std::array<Point, 8> points_;
};
template<typename Point, typename Scalar>
class OctVoxMap {
public:
using Ptr = std::shared_ptr<OctVoxMap>;
using KEY = Eigen::Vector3i;
using Points = std::vector<Point, Eigen::aligned_allocator<Point>>;
using KNNHeapType = KNNHeap<5, Point>;
using OctVoxType = OctVox<Point>;
struct Options {
float resolution = 0.5;
std::size_t capacity = 1000000;
Options(float __resolution, std::size_t __capacity) {
resolution = __resolution;
capacity = __capacity;
}
};
OctVoxMap() {
flat_search_ptrs_.reserve(flat_search_order_offsets.size());
for(std::size_t i = 0; i < flat_search_order_offsets.size(); i++){
uint16_t start = flat_search_order_offsets[i];
flat_search_ptrs_.push_back(const_cast<uint8_t*>(flat_search_order.data() + start));
}
group_idx_max_ = flat_search_order_offsets.size() - 1;
}
~OctVoxMap() {
grids_.clear();
data_.clear();
}
OctVoxMap(Options options){
SetOptions(options);
std::cout << " ---> OctVoxMap init. Resolution: " << resolution_
<< " Capacity: " << capacity_ << std::endl;
flat_search_ptrs_.reserve(flat_search_order_offsets.size());
for(std::size_t i = 0; i < flat_search_order_offsets.size(); i++){
uint16_t start = flat_search_order_offsets[i];
flat_search_ptrs_.push_back(const_cast<uint8_t*>(flat_search_order.data() + start));
}
group_idx_max_ = flat_search_order_offsets.size() - 1;
}
void SetOptions(const Options& options)
{
resolution_ = options.resolution;
capacity_ = options.capacity;
inv_resolution_ = 1.0 / resolution_;
sub_resolution_ = resolution_ / 2.0;
sub_inv_resolution_ = 1.0 / sub_resolution_;
}
void insert(const Points& cloud_world);
void printInfo() const;
void getMap(std::vector<float>&) const;
void saveMap() const; // TODO:
void resetMap(const std::vector<float>&);
void clear();
void getTopK(const Point& point, KNNHeapType& top_K) const;
void getTopK_VN(const Point& point, KNNHeapType& top_K) const;
void reset_max_group(){
group_idx_max_ = flat_search_order_offsets.size() - 1;
}
void decrease_max_group(){
if(group_idx_max_ > 4) group_idx_max_--;
}
// size_t getMemoryUsageBytes() const {
// size_t bytes = 0;
// bytes += sizeof(*this);
// bytes += data_.size() * (sizeof(KEY) + sizeof(OctVoxType)
// + sizeof(void*) * 2); // list node pointers
// bytes += grids_.size() * (sizeof(KEY) + sizeof(DATA_ITER)
// + sizeof(size_t)); // hash & pair overhead
// bytes += grids_.bucket_count() * sizeof(void*); // bucket array
// bytes += flat_search_ptrs_.capacity() * sizeof(uint8_t*);
// return bytes;
// }
private:
float resolution_ = 0.5;
float inv_resolution_ = 1.0;
float sub_resolution_ = 0.25;
float sub_inv_resolution_ = 4.0;
std::size_t capacity_ = 1000000;
bool reset_map_ = false;
int reset_map_count_ = 0;
const KEY nearby_grids_[19] = {
KEY(0, 0, 0),
KEY(-1, -1, 0), KEY(-1, 0, 0), KEY(-1, 1, 0),
KEY(0, -1, 0), KEY(0, 1, 0),
KEY(1, -1, 0), KEY(1, 0, 0), KEY(1, 1, 0),
KEY(0, 0, -1), KEY(1, 0, -1), KEY(-1, 0, -1),
KEY(0, 1, -1), KEY(0, -1, -1),
KEY(0, 0, 1), KEY(1, 0, 1), KEY(-1, 0, 1),
KEY(0, 1, 1), KEY(0, -1, 1)
};
/// HashShiftMix
struct HASH_VEC {
std::size_t operator()(const KEY &v) const {
size_t h = static_cast<size_t>(v[0]);
h ^= v[1] * 0x9e3779b9 + (h << 6) + (h >> 2);
h ^= v[2] * 0x85ebca6b + (h << 6) + (h >> 2);
return h;
}
};
using DATA_LIST = std::list<std::pair<KEY, OctVoxType>>;
using DATA_ITER = typename DATA_LIST::iterator;
DATA_LIST data_;
tsl::robin_map<KEY, DATA_ITER, HASH_VEC> grids_;
std::vector<uint8_t*> flat_search_ptrs_;
int group_idx_max_;
};
template<typename Point, typename Scalar>
void OctVoxMap<Point, Scalar>::insert(const Points& cloud_world){
if(reset_map_){
reset_map_count_--;
if(reset_map_count_ > 0){
std::cout << "OctVoxMap::insert skip: reset_map_count_ = " << reset_map_count_ << std::endl;
return;
}
reset_map_ = false;
}
for(auto& pt : cloud_world){
KEY fine_key = (pt * sub_inv_resolution_).array().floor().template cast<int>();
KEY key;
key[0] = fine_key[0] >> 1;
key[1] = fine_key[1] >> 1;
key[2] = fine_key[2] >> 1;
uint8_t dx = fine_key[0] & 1;
uint8_t dy = fine_key[1] & 1;
uint8_t dz = fine_key[2] & 1;
uint8_t local_idx = (dz << 2) | (dy << 1) | dx;
auto iter = grids_.find(key);
if (iter == grids_.end()) {
data_.emplace_front(std::piecewise_construct,
std::forward_as_tuple(key),
std::forward_as_tuple(pt, local_idx));
grids_.insert(std::make_pair(key, data_.begin()));
if (data_.size() >= capacity_) {
grids_.erase(data_.back().first);
data_.pop_back();
}
} else {
iter->second->second.AddPoint(pt, local_idx);
data_.splice(data_.begin(), data_, iter->second);
grids_.erase(iter);
grids_.insert(std::make_pair(key, data_.begin()));
}
}
}
template<typename Point, typename Scalar>
void OctVoxMap<Point, Scalar>::getTopK(const Point& point, KNNHeapType& top_K) const {
const KEY fine_key = (point * sub_inv_resolution_).array().floor().template cast<int>();
KEY key;
key[0] = fine_key[0] >> 1;
key[1] = fine_key[1] >> 1;
key[2] = fine_key[2] >> 1;
const int dx = fine_key[0] & 1;
const int dy = fine_key[1] & 1;
const int dz = fine_key[2] & 1;
const int local_idx = (dz << 2) | (dy << 1) | dx;
const KEY mirror_axis = KEY(1 - (dx << 1), 1 - (dy << 1), 1 - (dz << 1));
const int pre_voxel_ptr_size = 8;
OctVoxType* top_voxels_2_search[pre_voxel_ptr_size];
std::fill_n(top_voxels_2_search, pre_voxel_ptr_size, nullptr);
for(uint8_t i = 0; i < pre_voxel_ptr_size; ++i)
{
KEY delta_key = mirror_axis.cwiseProduct(HKNN_neighbor_voxel[i]);
KEY n_key = key + delta_key;
if (auto iter = grids_.find(n_key); iter != grids_.end()) {
top_voxels_2_search[i] = &iter->second->second;
}
}
Point __sub_point;
for (int group_idx = 0; group_idx < group_idx_max_; ++group_idx) {
const uint8_t* group_it = flat_search_ptrs_[group_idx];
const uint8_t* group_end = flat_search_ptrs_[group_idx + 1];
while(group_it < group_end){
const uint8_t neighbor_idx = *group_it++;
uint8_t data_size = *group_it++;
if(neighbor_idx < pre_voxel_ptr_size)
{
OctVoxType* voxel_ptr = top_voxels_2_search[neighbor_idx];
if (voxel_ptr) {
while (data_size--) {
uint8_t _local_idx = (*group_it++)^local_idx;
if (voxel_ptr->getPoint(_local_idx, __sub_point)) {
const float dist2 = (__sub_point - point).squaredNorm();
top_K.try_insert(dist2, __sub_point);
}
}
}
else group_it+=data_size;
continue;
}
KEY delta_key = mirror_axis.cwiseProduct(HKNN_neighbor_voxel[neighbor_idx]);
const KEY n_key = key + delta_key;
if (auto iter = grids_.find(n_key); iter != grids_.end()){
OctVoxType* voxel_ptr = &iter->second->second;
while (data_size--){
const uint8_t _local_idx = (*group_it++)^local_idx;
if (voxel_ptr->getPoint(_local_idx, __sub_point)) {
float dist2 = (__sub_point - point).squaredNorm();
top_K.try_insert(dist2, __sub_point);
}
}
}
else group_it+=data_size;
}
if (top_K.count == 5)
if (top_K.max_dist2_ < orders_min_dis2[group_idx]){
break;
}
}
}
template<typename Point, typename Scalar>
void OctVoxMap<Point, Scalar>::getTopK_VN(const Point& point, KNNHeapType& top_K) const{
KEY key = (point * inv_resolution_).array().floor().template cast<int>();
std::vector<OctVoxType*> voxels_2_search;
voxels_2_search.reserve(19);
for(std::size_t i = 0; i < 19; ++i) {
KEY n_key = key + nearby_grids_[i];
if (auto iter = grids_.find(n_key); iter != grids_.end()) {
voxels_2_search.emplace_back(&iter->second->second);
}
}
Point pt;
for(auto& voxel : voxels_2_search) {
for(uint8_t _i = 0; _i < 8; ++_i) {
if(!voxel->getPoint(_i, pt)) continue;
float dist2 = (pt - point).squaredNorm();
top_K.try_insert(dist2, pt);
}
}
}
template<typename Point, typename Scalar>
void OctVoxMap<Point, Scalar>::getMap(std::vector<float>& output) const{
size_t total_points = 0;
output.clear();
output.reserve(total_points * 3);
Point point;
float pcl_point[3];
for (const auto& voxel_pair : data_) {
const OctVoxType& voxel = voxel_pair.second;
for(uint8_t i = 0; i < 8; ++i) {
if (!voxel.getPoint(i, point)) continue;
pcl_point[0] = static_cast<float>(point.x());
pcl_point[1] = static_cast<float>(point.y());
pcl_point[2] = static_cast<float>(point.z());
output.push_back(pcl_point[0]);
output.push_back(pcl_point[1]);
output.push_back(pcl_point[2]);
}
}
}
template<typename Point, typename Scalar>
void OctVoxMap<Point, Scalar>::resetMap(const std::vector<float>& input){
if (input.empty()) return;
clear();
size_t num_points = input.size() / 3;
Points cloud_world;
cloud_world.reserve(num_points);
for (size_t i = 0; i < num_points; ++i) {
Point point(input[i * 3], input[i * 3 + 1], input[i * 3 + 2]);
cloud_world.push_back(point);
}
insert(cloud_world);
reset_map_ = true;
reset_map_count_ = 10;
}
template<typename Point, typename Scalar>
void OctVoxMap<Point, Scalar>::saveMap() const {
const std::string g_root_dir = std::string(ROOT_DIR);
std::string filename = g_root_dir + "map/OctVoxMap.pcd";
if (std::filesystem::exists(filename)) {
std::filesystem::remove(filename);
std::cout << "Removed existing file: " << filename << std::endl;
}
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
size_t total_points = data_.size() * 8;
cloud->points.reserve(total_points);
for (const auto& voxel_pair : data_) {
const OctVoxType& voxel = voxel_pair.second;
for(uint8_t i = 0; i < 8; ++i) {
pcl::PointXYZ pcl_point;
Point point;
if (!voxel.getPoint(i, point)) continue;
pcl_point.x = static_cast<float>(point.x());
pcl_point.y = static_cast<float>(point.y());
pcl_point.z = static_cast<float>(point.z());
cloud->points.push_back(pcl_point);
}
}
cloud->width = cloud->points.size();
cloud->height = 1;
cloud->is_dense = true;
int result = pcl::io::savePCDFileBinary(filename, *cloud);
if (result == 0) {
std::cout << "Successfully saved " << cloud->points.size()
<< " points to " << filename << " (binary format)" << std::endl;
} else {
std::cerr << "Error saving point cloud to " << filename << std::endl;
throw std::runtime_error("Failed to save PCD file: " + filename);
}
}
template<typename Point, typename Scalar>
void OctVoxMap<Point, Scalar>::clear() {
grids_.clear();
data_.clear();
}
template<typename Point, typename Scalar>
void OctVoxMap<Point, Scalar>::printInfo() const {
std::cout << " ---> OctVoxMap info. Size: " << data_.size()
<< " Capacity: " << capacity_ << std::endl;
}
}
#endif

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include/OctVoxMap/OctVoxMapAdapter.hpp Normal file
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#ifndef OCTVOXMAP_ADAPTER_HPP
#define OCTVOXMAP_ADAPTER_HPP
#include "OctVoxMap.hpp"
#include <vector>
#include <memory>
#include <pcl/point_types.h>
#include <Eigen/Core>
// Adapter to make OctVoxMap look like IVox
template <int dim = 3, int node_type = 0, typename PointType = pcl::PointXYZ>
class OctVoxMapAdapter {
public:
using KeyType = Eigen::Matrix<int, dim, 1>;
using PtType = Eigen::Matrix<float, dim, 1>;
using PointVector = std::vector<PointType, Eigen::aligned_allocator<PointType>>;
// Use Eigen::Vector3f internally for OctVoxMap to avoid operator overloading issues with PCL types
using InternalPointType = Eigen::Matrix<float, dim, 1>;
using OctVoxMapType = LI2Sup::OctVoxMap<InternalPointType, float>;
using KNNHeapType = typename OctVoxMapType::KNNHeapType;
enum class NearbyType {
CENTER,
NEARBY6,
NEARBY18,
NEARBY26
};
struct Options {
float resolution_ = 0.2;
float inv_resolution_ = 10.0;
NearbyType nearby_type_ = NearbyType::NEARBY6; // Not used by OctVoxMap
std::size_t capacity_ = 1000000;
};
explicit OctVoxMapAdapter(Options options) {
typename OctVoxMapType::Options oct_options(options.resolution_, options.capacity_);
oct_vox_map_.reset(new OctVoxMapType(oct_options));
}
void AddPoints(const PointVector& points_to_add) {
// Convert PCL points to Eigen points
std::vector<InternalPointType, Eigen::aligned_allocator<InternalPointType>> internal_points;
internal_points.reserve(points_to_add.size());
for (const auto& pt : points_to_add) {
internal_points.emplace_back(pt.x, pt.y, pt.z);
}
// OctVoxMap handles downsampling internally
oct_vox_map_->insert(internal_points);
}
bool GetClosestPoint(const PointType& pt, PointVector& closest_pt, int max_num = 5, double max_range = 5.0) {
// OctVoxMap hardcodes K=5 in KNNHeap<5, Point>
if (max_num > 5) max_num = 5;
InternalPointType internal_pt(pt.x, pt.y, pt.z);
KNNHeapType top_K;
// OctVoxMap::getTopK takes (Point, KNNHeap&)
oct_vox_map_->getTopK(internal_pt, top_K);
closest_pt.clear();
closest_pt.reserve(top_K.count);
float max_range_sq = max_range * max_range;
for (int i = 0; i < top_K.count; ++i) {
if (top_K.dist2_[i] <= max_range_sq) {
PointType p;
p.x = top_K.points_[i].x();
p.y = top_K.points_[i].y();
p.z = top_K.points_[i].z();
// Intensity/Curvature are lost, but not needed for geometric ICP
closest_pt.emplace_back(p);
}
}
return !closest_pt.empty();
}
// Overload for single point NN if needed
bool GetClosestPoint(const PointType& pt, PointType& closest_pt) {
InternalPointType internal_pt(pt.x, pt.y, pt.z);
KNNHeapType top_K;
oct_vox_map_->getTopK(internal_pt, top_K);
if (top_K.count > 0) {
// Find the closest one in the heap
int best_idx = -1;
float min_dist = std::numeric_limits<float>::max();
for(int i=0; i<top_K.count; ++i) {
if(top_K.dist2_[i] < min_dist) {
min_dist = top_K.dist2_[i];
best_idx = i;
}
}
if (best_idx != -1) {
closest_pt.x = top_K.points_[best_idx].x();
closest_pt.y = top_K.points_[best_idx].y();
closest_pt.z = top_K.points_[best_idx].z();
return true;
}
}
return false;
}
size_t NumValidGrids() const { return 0; }
size_t NumPoints() const { return 0; }
std::vector<float> StatGridPoints() const { return {}; }
private:
std::shared_ptr<OctVoxMapType> oct_vox_map_;
};
#endif // OCTVOXMAP_ADAPTER_HPP

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include/OctVoxMap/VoxelGridFilter.h Normal file
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#ifndef VOXEL_GRID_CLOSEST_H
#define VOXEL_GRID_CLOSEST_H
#include <pcl/point_cloud.h>
#include <Eigen/Core>
#include "tsl/robin_hood.h"
namespace LI2Sup {
template<typename PointType>
class VoxelGridClosest {
private:
using Point = PointType;
using PointCloud = pcl::PointCloud<Point>;
using CloudPtr = typename PointCloud::Ptr;
CloudPtr cloud_;
float voxel_size_ = 0.5f;
float inv_voxel_size_ = 2.0f;
robin_hood::unordered_flat_map<std::size_t, std::size_t> voxel_map_;
std::vector<Point, Eigen::aligned_allocator<Point>> points_;
std::vector<float> dist2_;
const Eigen::Vector3i offset_ = Eigen::Vector3i(1000, 1000, 1000);
public:
VoxelGridClosest() {
dist2_.reserve(10000);
points_.reserve(10000);
voxel_map_.reserve(10000);
}
void setLeafSize(float lx) {
voxel_size_ = lx;
inv_voxel_size_ = 1.0f / lx;
}
void setInputCloud(const CloudPtr& cloud) {
cloud_ = cloud;
}
void filter(CloudPtr& output) {
voxel_map_.clear();
dist2_.clear();
points_.clear();
for (const auto& pt : cloud_->points) {
Eigen::Vector3f pf = pt.getVector3fMap();
Eigen::Vector3i idx = (pf * inv_voxel_size_).array().round().cast<int>();
Eigen::Vector3f center = voxel_size_ * idx.cast<float>();
float d2 = (pf - center).squaredNorm();
idx += offset_; // Avoid negative indices
const std::size_t key = ((std::size_t(idx[2])) << 30) |
((std::size_t(idx[1])) << 15) |
( std::size_t(idx[0]));
auto it = voxel_map_.find(key);
if (it == voxel_map_.end()) {
voxel_map_.emplace(key, points_.size());
points_.push_back(pt);
dist2_.push_back(d2);
} else if (d2 < dist2_[it->second]) {
points_[it->second] = pt;
dist2_[it->second] = d2;
}
}
output->points.swap(points_);
output->width = output->points.size();
output->height = 1;
output->is_dense = true;
output->header = cloud_->header;
}
};
}
#endif // VOXEL_GRID_CLOSEST_H

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/**
* MIT License
*
* Copyright (c) 2017 Thibaut Goetghebuer-Planchon <tessil@gmx.com>
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*/
#ifndef TSL_ROBIN_GROWTH_POLICY_H
#define TSL_ROBIN_GROWTH_POLICY_H
#include <algorithm>
#include <array>
#include <climits>
#include <cmath>
#include <cstddef>
#include <cstdint>
#include <iterator>
#include <limits>
#include <ratio>
#include <stdexcept>
// A change of the major version indicates an API and/or ABI break (change of
// in-memory layout of the data structure)
#define TSL_RH_VERSION_MAJOR 1
// A change of the minor version indicates the addition of a feature without
// impact on the API/ABI
#define TSL_RH_VERSION_MINOR 4
// A change of the patch version indicates a bugfix without additional
// functionality
#define TSL_RH_VERSION_PATCH 0
#ifdef TSL_DEBUG
#define tsl_rh_assert(expr) assert(expr)
#else
#define tsl_rh_assert(expr) (static_cast<void>(0))
#endif
/**
* If exceptions are enabled, throw the exception passed in parameter, otherwise
* call std::terminate.
*/
#if (defined(__cpp_exceptions) || defined(__EXCEPTIONS) || \
(defined(_MSC_VER) && defined(_CPPUNWIND))) && \
!defined(TSL_NO_EXCEPTIONS)
#define TSL_RH_THROW_OR_TERMINATE(ex, msg) throw ex(msg)
#else
#define TSL_RH_NO_EXCEPTIONS
#ifdef TSL_DEBUG
#include <iostream>
#define TSL_RH_THROW_OR_TERMINATE(ex, msg) \
do { \
std::cerr << msg << std::endl; \
std::terminate(); \
} while (0)
#else
#define TSL_RH_THROW_OR_TERMINATE(ex, msg) std::terminate()
#endif
#endif
#if defined(__GNUC__) || defined(__clang__)
#define TSL_RH_LIKELY(exp) (__builtin_expect(!!(exp), true))
#else
#define TSL_RH_LIKELY(exp) (exp)
#endif
#define TSL_RH_UNUSED(x) static_cast<void>(x)
namespace tsl {
namespace rh {
/**
* Grow the hash table by a factor of GrowthFactor keeping the bucket count to a
* power of two. It allows the table to use a mask operation instead of a modulo
* operation to map a hash to a bucket.
*
* GrowthFactor must be a power of two >= 2.
*/
template <std::size_t GrowthFactor>
class power_of_two_growth_policy {
public:
/**
* Called on the hash table creation and on rehash. The number of buckets for
* the table is passed in parameter. This number is a minimum, the policy may
* update this value with a higher value if needed (but not lower).
*
* If 0 is given, min_bucket_count_in_out must still be 0 after the policy
* creation and bucket_for_hash must always return 0 in this case.
*/
explicit power_of_two_growth_policy(std::size_t& min_bucket_count_in_out) {
if (min_bucket_count_in_out > max_bucket_count()) {
TSL_RH_THROW_OR_TERMINATE(std::length_error,
"The hash table exceeds its maximum size.");
}
if (min_bucket_count_in_out > 0) {
min_bucket_count_in_out =
round_up_to_power_of_two(min_bucket_count_in_out);
m_mask = min_bucket_count_in_out - 1;
} else {
m_mask = 0;
}
}
/**
* Return the bucket [0, bucket_count()) to which the hash belongs.
* If bucket_count() is 0, it must always return 0.
*/
std::size_t bucket_for_hash(std::size_t hash) const noexcept {
return hash & m_mask;
}
/**
* Return the number of buckets that should be used on next growth.
*/
std::size_t next_bucket_count() const {
if ((m_mask + 1) > max_bucket_count() / GrowthFactor) {
TSL_RH_THROW_OR_TERMINATE(std::length_error,
"The hash table exceeds its maximum size.");
}
return (m_mask + 1) * GrowthFactor;
}
/**
* Return the maximum number of buckets supported by the policy.
*/
std::size_t max_bucket_count() const {
// Largest power of two.
return (std::numeric_limits<std::size_t>::max() / 2) + 1;
}
/**
* Reset the growth policy as if it was created with a bucket count of 0.
* After a clear, the policy must always return 0 when bucket_for_hash is
* called.
*/
void clear() noexcept { m_mask = 0; }
private:
static std::size_t round_up_to_power_of_two(std::size_t value) {
if (is_power_of_two(value)) {
return value;
}
if (value == 0) {
return 1;
}
--value;
for (std::size_t i = 1; i < sizeof(std::size_t) * CHAR_BIT; i *= 2) {
value |= value >> i;
}
return value + 1;
}
static constexpr bool is_power_of_two(std::size_t value) {
return value != 0 && (value & (value - 1)) == 0;
}
protected:
static_assert(is_power_of_two(GrowthFactor) && GrowthFactor >= 2,
"GrowthFactor must be a power of two >= 2.");
std::size_t m_mask;
};
/**
* Grow the hash table by GrowthFactor::num / GrowthFactor::den and use a modulo
* to map a hash to a bucket. Slower but it can be useful if you want a slower
* growth.
*/
template <class GrowthFactor = std::ratio<3, 2>>
class mod_growth_policy {
public:
explicit mod_growth_policy(std::size_t& min_bucket_count_in_out) {
if (min_bucket_count_in_out > max_bucket_count()) {
TSL_RH_THROW_OR_TERMINATE(std::length_error,
"The hash table exceeds its maximum size.");
}
if (min_bucket_count_in_out > 0) {
m_mod = min_bucket_count_in_out;
} else {
m_mod = 1;
}
}
std::size_t bucket_for_hash(std::size_t hash) const noexcept {
return hash % m_mod;
}
std::size_t next_bucket_count() const {
if (m_mod == max_bucket_count()) {
TSL_RH_THROW_OR_TERMINATE(std::length_error,
"The hash table exceeds its maximum size.");
}
const double next_bucket_count =
std::ceil(double(m_mod) * REHASH_SIZE_MULTIPLICATION_FACTOR);
if (!std::isnormal(next_bucket_count)) {
TSL_RH_THROW_OR_TERMINATE(std::length_error,
"The hash table exceeds its maximum size.");
}
if (next_bucket_count > double(max_bucket_count())) {
return max_bucket_count();
} else {
return std::size_t(next_bucket_count);
}
}
std::size_t max_bucket_count() const { return MAX_BUCKET_COUNT; }
void clear() noexcept { m_mod = 1; }
private:
static constexpr double REHASH_SIZE_MULTIPLICATION_FACTOR =
1.0 * GrowthFactor::num / GrowthFactor::den;
static const std::size_t MAX_BUCKET_COUNT =
std::size_t(double(std::numeric_limits<std::size_t>::max() /
REHASH_SIZE_MULTIPLICATION_FACTOR));
static_assert(REHASH_SIZE_MULTIPLICATION_FACTOR >= 1.1,
"Growth factor should be >= 1.1.");
std::size_t m_mod;
};
namespace detail {
#if SIZE_MAX >= ULLONG_MAX
#define TSL_RH_NB_PRIMES 51
#elif SIZE_MAX >= ULONG_MAX
#define TSL_RH_NB_PRIMES 40
#else
#define TSL_RH_NB_PRIMES 23
#endif
inline constexpr std::array<std::size_t, TSL_RH_NB_PRIMES> PRIMES = {{
1u,
5u,
17u,
29u,
37u,
53u,
67u,
79u,
97u,
131u,
193u,
257u,
389u,
521u,
769u,
1031u,
1543u,
2053u,
3079u,
6151u,
12289u,
24593u,
49157u,
#if SIZE_MAX >= ULONG_MAX
98317ul,
196613ul,
393241ul,
786433ul,
1572869ul,
3145739ul,
6291469ul,
12582917ul,
25165843ul,
50331653ul,
100663319ul,
201326611ul,
402653189ul,
805306457ul,
1610612741ul,
3221225473ul,
4294967291ul,
#endif
#if SIZE_MAX >= ULLONG_MAX
6442450939ull,
12884901893ull,
25769803751ull,
51539607551ull,
103079215111ull,
206158430209ull,
412316860441ull,
824633720831ull,
1649267441651ull,
3298534883309ull,
6597069766657ull,
#endif
}};
template <unsigned int IPrime>
static constexpr std::size_t mod(std::size_t hash) {
return hash % PRIMES[IPrime];
}
// MOD_PRIME[iprime](hash) returns hash % PRIMES[iprime]. This table allows for
// faster modulo as the compiler can optimize the modulo code better with a
// constant known at the compilation.
inline constexpr std::array<std::size_t (*)(std::size_t), TSL_RH_NB_PRIMES>
MOD_PRIME = {{
&mod<0>, &mod<1>, &mod<2>, &mod<3>, &mod<4>, &mod<5>,
&mod<6>, &mod<7>, &mod<8>, &mod<9>, &mod<10>, &mod<11>,
&mod<12>, &mod<13>, &mod<14>, &mod<15>, &mod<16>, &mod<17>,
&mod<18>, &mod<19>, &mod<20>, &mod<21>, &mod<22>,
#if SIZE_MAX >= ULONG_MAX
&mod<23>, &mod<24>, &mod<25>, &mod<26>, &mod<27>, &mod<28>,
&mod<29>, &mod<30>, &mod<31>, &mod<32>, &mod<33>, &mod<34>,
&mod<35>, &mod<36>, &mod<37>, &mod<38>, &mod<39>,
#endif
#if SIZE_MAX >= ULLONG_MAX
&mod<40>, &mod<41>, &mod<42>, &mod<43>, &mod<44>, &mod<45>,
&mod<46>, &mod<47>, &mod<48>, &mod<49>, &mod<50>,
#endif
}};
} // namespace detail
/**
* Grow the hash table by using prime numbers as bucket count. Slower than
* tsl::rh::power_of_two_growth_policy in general but will probably distribute
* the values around better in the buckets with a poor hash function.
*
* To allow the compiler to optimize the modulo operation, a lookup table is
* used with constant primes numbers.
*
* With a switch the code would look like:
* \code
* switch(iprime) { // iprime is the current prime of the hash table
* case 0: hash % 5ul;
* break;
* case 1: hash % 17ul;
* break;
* case 2: hash % 29ul;
* break;
* ...
* }
* \endcode
*
* Due to the constant variable in the modulo the compiler is able to optimize
* the operation by a series of multiplications, substractions and shifts.
*
* The 'hash % 5' could become something like 'hash - (hash * 0xCCCCCCCD) >> 34)
* * 5' in a 64 bits environment.
*/
class prime_growth_policy {
public:
explicit prime_growth_policy(std::size_t& min_bucket_count_in_out) {
auto it_prime = std::lower_bound(
detail::PRIMES.begin(), detail::PRIMES.end(), min_bucket_count_in_out);
if (it_prime == detail::PRIMES.end()) {
TSL_RH_THROW_OR_TERMINATE(std::length_error,
"The hash table exceeds its maximum size.");
}
m_iprime = static_cast<unsigned int>(
std::distance(detail::PRIMES.begin(), it_prime));
if (min_bucket_count_in_out > 0) {
min_bucket_count_in_out = *it_prime;
} else {
min_bucket_count_in_out = 0;
}
}
std::size_t bucket_for_hash(std::size_t hash) const noexcept {
return detail::MOD_PRIME[m_iprime](hash);
}
std::size_t next_bucket_count() const {
if (m_iprime + 1 >= detail::PRIMES.size()) {
TSL_RH_THROW_OR_TERMINATE(std::length_error,
"The hash table exceeds its maximum size.");
}
return detail::PRIMES[m_iprime + 1];
}
std::size_t max_bucket_count() const { return detail::PRIMES.back(); }
void clear() noexcept { m_iprime = 0; }
private:
unsigned int m_iprime;
static_assert(std::numeric_limits<decltype(m_iprime)>::max() >=
detail::PRIMES.size(),
"The type of m_iprime is not big enough.");
};
} // namespace rh
} // namespace tsl
#endif

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/**
* MIT License
*
* Copyright (c) 2017 Thibaut Goetghebuer-Planchon <tessil@gmx.com>
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*/
#ifndef TSL_ROBIN_MAP_H
#define TSL_ROBIN_MAP_H
#include <cstddef>
#include <functional>
#include <initializer_list>
#include <memory>
#include <type_traits>
#include <utility>
#include "robin_hash.h"
namespace tsl {
/**
* Implementation of a hash map using open-addressing and the robin hood hashing
* algorithm with backward shift deletion.
*
* For operations modifying the hash map (insert, erase, rehash, ...), the
* strong exception guarantee is only guaranteed when the expression
* `std::is_nothrow_swappable<std::pair<Key, T>>::value &&
* std::is_nothrow_move_constructible<std::pair<Key, T>>::value` is true,
* otherwise if an exception is thrown during the swap or the move, the hash map
* may end up in a undefined state. Per the standard a `Key` or `T` with a
* noexcept copy constructor and no move constructor also satisfies the
* `std::is_nothrow_move_constructible<std::pair<Key, T>>::value` criterion (and
* will thus guarantee the strong exception for the map).
*
* When `StoreHash` is true, 32 bits of the hash are stored alongside the
* values. It can improve the performance during lookups if the `KeyEqual`
* function takes time (if it engenders a cache-miss for example) as we then
* compare the stored hashes before comparing the keys. When
* `tsl::rh::power_of_two_growth_policy` is used as `GrowthPolicy`, it may also
* speed-up the rehash process as we can avoid to recalculate the hash. When it
* is detected that storing the hash will not incur any memory penalty due to
* alignment (i.e. `sizeof(tsl::detail_robin_hash::bucket_entry<ValueType,
* true>) == sizeof(tsl::detail_robin_hash::bucket_entry<ValueType, false>)`)
* and `tsl::rh::power_of_two_growth_policy` is used, the hash will be stored
* even if `StoreHash` is false so that we can speed-up the rehash (but it will
* not be used on lookups unless `StoreHash` is true).
*
* `GrowthPolicy` defines how the map grows and consequently how a hash value is
* mapped to a bucket. By default the map uses
* `tsl::rh::power_of_two_growth_policy`. This policy keeps the number of
* buckets to a power of two and uses a mask to map the hash to a bucket instead
* of the slow modulo. Other growth policies are available and you may define
* your own growth policy, check `tsl::rh::power_of_two_growth_policy` for the
* interface.
*
* `std::pair<Key, T>` must be swappable.
*
* `Key` and `T` must be copy and/or move constructible.
*
* If the destructor of `Key` or `T` throws an exception, the behaviour of the
* class is undefined.
*
* Iterators invalidation:
* - clear, operator=, reserve, rehash: always invalidate the iterators.
* - insert, emplace, emplace_hint, operator[]: if there is an effective
* insert, invalidate the iterators.
* - erase: always invalidate the iterators.
*/
template <class Key, class T, class Hash = std::hash<Key>,
class KeyEqual = std::equal_to<Key>,
class Allocator = std::allocator<std::pair<Key, T>>,
bool StoreHash = false,
class GrowthPolicy = tsl::rh::power_of_two_growth_policy<2>>
class robin_map {
private:
template <typename U>
using has_is_transparent = tsl::detail_robin_hash::has_is_transparent<U>;
class KeySelect {
public:
using key_type = Key;
const key_type& operator()(
const std::pair<Key, T>& key_value) const noexcept {
return key_value.first;
}
key_type& operator()(std::pair<Key, T>& key_value) noexcept {
return key_value.first;
}
};
class ValueSelect {
public:
using value_type = T;
const value_type& operator()(
const std::pair<Key, T>& key_value) const noexcept {
return key_value.second;
}
value_type& operator()(std::pair<Key, T>& key_value) noexcept {
return key_value.second;
}
};
using ht = detail_robin_hash::robin_hash<std::pair<Key, T>, KeySelect,
ValueSelect, Hash, KeyEqual,
Allocator, StoreHash, GrowthPolicy>;
public:
using key_type = typename ht::key_type;
using mapped_type = T;
using value_type = typename ht::value_type;
using size_type = typename ht::size_type;
using difference_type = typename ht::difference_type;
using hasher = typename ht::hasher;
using key_equal = typename ht::key_equal;
using allocator_type = typename ht::allocator_type;
using reference = typename ht::reference;
using const_reference = typename ht::const_reference;
using pointer = typename ht::pointer;
using const_pointer = typename ht::const_pointer;
using iterator = typename ht::iterator;
using const_iterator = typename ht::const_iterator;
public:
/*
* Constructors
*/
robin_map() : robin_map(ht::DEFAULT_INIT_BUCKETS_SIZE) {}
explicit robin_map(size_type bucket_count, const Hash& hash = Hash(),
const KeyEqual& equal = KeyEqual(),
const Allocator& alloc = Allocator())
: m_ht(bucket_count, hash, equal, alloc) {}
robin_map(size_type bucket_count, const Allocator& alloc)
: robin_map(bucket_count, Hash(), KeyEqual(), alloc) {}
robin_map(size_type bucket_count, const Hash& hash, const Allocator& alloc)
: robin_map(bucket_count, hash, KeyEqual(), alloc) {}
explicit robin_map(const Allocator& alloc)
: robin_map(ht::DEFAULT_INIT_BUCKETS_SIZE, alloc) {}
template <class InputIt>
robin_map(InputIt first, InputIt last,
size_type bucket_count = ht::DEFAULT_INIT_BUCKETS_SIZE,
const Hash& hash = Hash(), const KeyEqual& equal = KeyEqual(),
const Allocator& alloc = Allocator())
: robin_map(bucket_count, hash, equal, alloc) {
insert(first, last);
}
template <class InputIt>
robin_map(InputIt first, InputIt last, size_type bucket_count,
const Allocator& alloc)
: robin_map(first, last, bucket_count, Hash(), KeyEqual(), alloc) {}
template <class InputIt>
robin_map(InputIt first, InputIt last, size_type bucket_count,
const Hash& hash, const Allocator& alloc)
: robin_map(first, last, bucket_count, hash, KeyEqual(), alloc) {}
robin_map(std::initializer_list<value_type> init,
size_type bucket_count = ht::DEFAULT_INIT_BUCKETS_SIZE,
const Hash& hash = Hash(), const KeyEqual& equal = KeyEqual(),
const Allocator& alloc = Allocator())
: robin_map(init.begin(), init.end(), bucket_count, hash, equal, alloc) {}
robin_map(std::initializer_list<value_type> init, size_type bucket_count,
const Allocator& alloc)
: robin_map(init.begin(), init.end(), bucket_count, Hash(), KeyEqual(),
alloc) {}
robin_map(std::initializer_list<value_type> init, size_type bucket_count,
const Hash& hash, const Allocator& alloc)
: robin_map(init.begin(), init.end(), bucket_count, hash, KeyEqual(),
alloc) {}
robin_map& operator=(std::initializer_list<value_type> ilist) {
m_ht.clear();
m_ht.reserve(ilist.size());
m_ht.insert(ilist.begin(), ilist.end());
return *this;
}
allocator_type get_allocator() const { return m_ht.get_allocator(); }
/*
* Iterators
*/
iterator begin() noexcept { return m_ht.begin(); }
const_iterator begin() const noexcept { return m_ht.begin(); }
const_iterator cbegin() const noexcept { return m_ht.cbegin(); }
iterator end() noexcept { return m_ht.end(); }
const_iterator end() const noexcept { return m_ht.end(); }
const_iterator cend() const noexcept { return m_ht.cend(); }
/*
* Capacity
*/
bool empty() const noexcept { return m_ht.empty(); }
size_type size() const noexcept { return m_ht.size(); }
size_type max_size() const noexcept { return m_ht.max_size(); }
/*
* Modifiers
*/
void clear() noexcept { m_ht.clear(); }
std::pair<iterator, bool> insert(const value_type& value) {
return m_ht.insert(value);
}
template <class P, typename std::enable_if<std::is_constructible<
value_type, P&&>::value>::type* = nullptr>
std::pair<iterator, bool> insert(P&& value) {
return m_ht.emplace(std::forward<P>(value));
}
std::pair<iterator, bool> insert(value_type&& value) {
return m_ht.insert(std::move(value));
}
iterator insert(const_iterator hint, const value_type& value) {
return m_ht.insert_hint(hint, value);
}
template <class P, typename std::enable_if<std::is_constructible<
value_type, P&&>::value>::type* = nullptr>
iterator insert(const_iterator hint, P&& value) {
return m_ht.emplace_hint(hint, std::forward<P>(value));
}
iterator insert(const_iterator hint, value_type&& value) {
return m_ht.insert_hint(hint, std::move(value));
}
template <class InputIt>
void insert(InputIt first, InputIt last) {
m_ht.insert(first, last);
}
void insert(std::initializer_list<value_type> ilist) {
m_ht.insert(ilist.begin(), ilist.end());
}
template <class M>
std::pair<iterator, bool> insert_or_assign(const key_type& k, M&& obj) {
return m_ht.insert_or_assign(k, std::forward<M>(obj));
}
template <class M>
std::pair<iterator, bool> insert_or_assign(key_type&& k, M&& obj) {
return m_ht.insert_or_assign(std::move(k), std::forward<M>(obj));
}
template <class M>
iterator insert_or_assign(const_iterator hint, const key_type& k, M&& obj) {
return m_ht.insert_or_assign(hint, k, std::forward<M>(obj));
}
template <class M>
iterator insert_or_assign(const_iterator hint, key_type&& k, M&& obj) {
return m_ht.insert_or_assign(hint, std::move(k), std::forward<M>(obj));
}
/**
* Due to the way elements are stored, emplace will need to move or copy the
* key-value once. The method is equivalent to
* insert(value_type(std::forward<Args>(args)...));
*
* Mainly here for compatibility with the std::unordered_map interface.
*/
template <class... Args>
std::pair<iterator, bool> emplace(Args&&... args) {
return m_ht.emplace(std::forward<Args>(args)...);
}
/**
* Due to the way elements are stored, emplace_hint will need to move or copy
* the key-value once. The method is equivalent to insert(hint,
* value_type(std::forward<Args>(args)...));
*
* Mainly here for compatibility with the std::unordered_map interface.
*/
template <class... Args>
iterator emplace_hint(const_iterator hint, Args&&... args) {
return m_ht.emplace_hint(hint, std::forward<Args>(args)...);
}
template <class... Args>
std::pair<iterator, bool> try_emplace(const key_type& k, Args&&... args) {
return m_ht.try_emplace(k, std::forward<Args>(args)...);
}
template <class... Args>
std::pair<iterator, bool> try_emplace(key_type&& k, Args&&... args) {
return m_ht.try_emplace(std::move(k), std::forward<Args>(args)...);
}
template <class... Args>
iterator try_emplace(const_iterator hint, const key_type& k, Args&&... args) {
return m_ht.try_emplace_hint(hint, k, std::forward<Args>(args)...);
}
template <class... Args>
iterator try_emplace(const_iterator hint, key_type&& k, Args&&... args) {
return m_ht.try_emplace_hint(hint, std::move(k),
std::forward<Args>(args)...);
}
iterator erase(iterator pos) { return m_ht.erase(pos); }
iterator erase(const_iterator pos) { return m_ht.erase(pos); }
iterator erase(const_iterator first, const_iterator last) {
return m_ht.erase(first, last);
}
size_type erase(const key_type& key) { return m_ht.erase(key); }
/**
* Erase the element at position 'pos'. In contrast to the regular erase()
* function, erase_fast() does not return an iterator. This allows it to be
* faster especially in hash tables with a low load factor, where finding the
* next nonempty bucket would be costly.
*/
void erase_fast(iterator pos) { return m_ht.erase_fast(pos); }
/**
* Use the hash value 'precalculated_hash' instead of hashing the key. The
* hash value should be the same as hash_function()(key). Useful to speed-up
* the lookup to the value if you already have the hash.
*/
size_type erase(const key_type& key, std::size_t precalculated_hash) {
return m_ht.erase(key, precalculated_hash);
}
/**
* This overload only participates in the overload resolution if the typedef
* KeyEqual::is_transparent exists. If so, K must be hashable and comparable
* to Key.
*/
template <
class K, class KE = KeyEqual,
typename std::enable_if<has_is_transparent<KE>::value>::type* = nullptr>
size_type erase(const K& key) {
return m_ht.erase(key);
}
/**
* @copydoc erase(const K& key)
*
* Use the hash value 'precalculated_hash' instead of hashing the key. The
* hash value should be the same as hash_function()(key). Useful to speed-up
* the lookup to the value if you already have the hash.
*/
template <
class K, class KE = KeyEqual,
typename std::enable_if<has_is_transparent<KE>::value>::type* = nullptr>
size_type erase(const K& key, std::size_t precalculated_hash) {
return m_ht.erase(key, precalculated_hash);
}
void swap(robin_map& other) { other.m_ht.swap(m_ht); }
/*
* Lookup
*/
T& at(const Key& key) { return m_ht.at(key); }
/**
* Use the hash value 'precalculated_hash' instead of hashing the key. The
* hash value should be the same as hash_function()(key). Useful to speed-up
* the lookup if you already have the hash.
*/
T& at(const Key& key, std::size_t precalculated_hash) {
return m_ht.at(key, precalculated_hash);
}
const T& at(const Key& key) const { return m_ht.at(key); }
/**
* @copydoc at(const Key& key, std::size_t precalculated_hash)
*/
const T& at(const Key& key, std::size_t precalculated_hash) const {
return m_ht.at(key, precalculated_hash);
}
/**
* This overload only participates in the overload resolution if the typedef
* KeyEqual::is_transparent exists. If so, K must be hashable and comparable
* to Key.
*/
template <
class K, class KE = KeyEqual,
typename std::enable_if<has_is_transparent<KE>::value>::type* = nullptr>
T& at(const K& key) {
return m_ht.at(key);
}
/**
* @copydoc at(const K& key)
*
* Use the hash value 'precalculated_hash' instead of hashing the key. The
* hash value should be the same as hash_function()(key). Useful to speed-up
* the lookup if you already have the hash.
*/
template <
class K, class KE = KeyEqual,
typename std::enable_if<has_is_transparent<KE>::value>::type* = nullptr>
T& at(const K& key, std::size_t precalculated_hash) {
return m_ht.at(key, precalculated_hash);
}
/**
* @copydoc at(const K& key)
*/
template <
class K, class KE = KeyEqual,
typename std::enable_if<has_is_transparent<KE>::value>::type* = nullptr>
const T& at(const K& key) const {
return m_ht.at(key);
}
/**
* @copydoc at(const K& key, std::size_t precalculated_hash)
*/
template <
class K, class KE = KeyEqual,
typename std::enable_if<has_is_transparent<KE>::value>::type* = nullptr>
const T& at(const K& key, std::size_t precalculated_hash) const {
return m_ht.at(key, precalculated_hash);
}
T& operator[](const Key& key) { return m_ht[key]; }
T& operator[](Key&& key) { return m_ht[std::move(key)]; }
size_type count(const Key& key) const { return m_ht.count(key); }
/**
* Use the hash value 'precalculated_hash' instead of hashing the key. The
* hash value should be the same as hash_function()(key). Useful to speed-up
* the lookup if you already have the hash.
*/
size_type count(const Key& key, std::size_t precalculated_hash) const {
return m_ht.count(key, precalculated_hash);
}
/**
* This overload only participates in the overload resolution if the typedef
* KeyEqual::is_transparent exists. If so, K must be hashable and comparable
* to Key.
*/
template <
class K, class KE = KeyEqual,
typename std::enable_if<has_is_transparent<KE>::value>::type* = nullptr>
size_type count(const K& key) const {
return m_ht.count(key);
}
/**
* @copydoc count(const K& key) const
*
* Use the hash value 'precalculated_hash' instead of hashing the key. The
* hash value should be the same as hash_function()(key). Useful to speed-up
* the lookup if you already have the hash.
*/
template <
class K, class KE = KeyEqual,
typename std::enable_if<has_is_transparent<KE>::value>::type* = nullptr>
size_type count(const K& key, std::size_t precalculated_hash) const {
return m_ht.count(key, precalculated_hash);
}
iterator find(const Key& key) { return m_ht.find(key); }
/**
* Use the hash value 'precalculated_hash' instead of hashing the key. The
* hash value should be the same as hash_function()(key). Useful to speed-up
* the lookup if you already have the hash.
*/
iterator find(const Key& key, std::size_t precalculated_hash) {
return m_ht.find(key, precalculated_hash);
}
const_iterator find(const Key& key) const { return m_ht.find(key); }
/**
* @copydoc find(const Key& key, std::size_t precalculated_hash)
*/
const_iterator find(const Key& key, std::size_t precalculated_hash) const {
return m_ht.find(key, precalculated_hash);
}
/**
* This overload only participates in the overload resolution if the typedef
* KeyEqual::is_transparent exists. If so, K must be hashable and comparable
* to Key.
*/
template <
class K, class KE = KeyEqual,
typename std::enable_if<has_is_transparent<KE>::value>::type* = nullptr>
iterator find(const K& key) {
return m_ht.find(key);
}
/**
* @copydoc find(const K& key)
*
* Use the hash value 'precalculated_hash' instead of hashing the key. The
* hash value should be the same as hash_function()(key). Useful to speed-up
* the lookup if you already have the hash.
*/
template <
class K, class KE = KeyEqual,
typename std::enable_if<has_is_transparent<KE>::value>::type* = nullptr>
iterator find(const K& key, std::size_t precalculated_hash) {
return m_ht.find(key, precalculated_hash);
}
/**
* @copydoc find(const K& key)
*/
template <
class K, class KE = KeyEqual,
typename std::enable_if<has_is_transparent<KE>::value>::type* = nullptr>
const_iterator find(const K& key) const {
return m_ht.find(key);
}
/**
* @copydoc find(const K& key)
*
* Use the hash value 'precalculated_hash' instead of hashing the key. The
* hash value should be the same as hash_function()(key). Useful to speed-up
* the lookup if you already have the hash.
*/
template <
class K, class KE = KeyEqual,
typename std::enable_if<has_is_transparent<KE>::value>::type* = nullptr>
const_iterator find(const K& key, std::size_t precalculated_hash) const {
return m_ht.find(key, precalculated_hash);
}
bool contains(const Key& key) const { return m_ht.contains(key); }
/**
* Use the hash value 'precalculated_hash' instead of hashing the key. The
* hash value should be the same as hash_function()(key). Useful to speed-up
* the lookup if you already have the hash.
*/
bool contains(const Key& key, std::size_t precalculated_hash) const {
return m_ht.contains(key, precalculated_hash);
}
/**
* This overload only participates in the overload resolution if the typedef
* KeyEqual::is_transparent exists. If so, K must be hashable and comparable
* to Key.
*/
template <
class K, class KE = KeyEqual,
typename std::enable_if<has_is_transparent<KE>::value>::type* = nullptr>
bool contains(const K& key) const {
return m_ht.contains(key);
}
/**
* @copydoc contains(const K& key) const
*
* Use the hash value 'precalculated_hash' instead of hashing the key. The
* hash value should be the same as hash_function()(key). Useful to speed-up
* the lookup if you already have the hash.
*/
template <
class K, class KE = KeyEqual,
typename std::enable_if<has_is_transparent<KE>::value>::type* = nullptr>
bool contains(const K& key, std::size_t precalculated_hash) const {
return m_ht.contains(key, precalculated_hash);
}
std::pair<iterator, iterator> equal_range(const Key& key) {
return m_ht.equal_range(key);
}
/**
* Use the hash value 'precalculated_hash' instead of hashing the key. The
* hash value should be the same as hash_function()(key). Useful to speed-up
* the lookup if you already have the hash.
*/
std::pair<iterator, iterator> equal_range(const Key& key,
std::size_t precalculated_hash) {
return m_ht.equal_range(key, precalculated_hash);
}
std::pair<const_iterator, const_iterator> equal_range(const Key& key) const {
return m_ht.equal_range(key);
}
/**
* @copydoc equal_range(const Key& key, std::size_t precalculated_hash)
*/
std::pair<const_iterator, const_iterator> equal_range(
const Key& key, std::size_t precalculated_hash) const {
return m_ht.equal_range(key, precalculated_hash);
}
/**
* This overload only participates in the overload resolution if the typedef
* KeyEqual::is_transparent exists. If so, K must be hashable and comparable
* to Key.
*/
template <
class K, class KE = KeyEqual,
typename std::enable_if<has_is_transparent<KE>::value>::type* = nullptr>
std::pair<iterator, iterator> equal_range(const K& key) {
return m_ht.equal_range(key);
}
/**
* @copydoc equal_range(const K& key)
*
* Use the hash value 'precalculated_hash' instead of hashing the key. The
* hash value should be the same as hash_function()(key). Useful to speed-up
* the lookup if you already have the hash.
*/
template <
class K, class KE = KeyEqual,
typename std::enable_if<has_is_transparent<KE>::value>::type* = nullptr>
std::pair<iterator, iterator> equal_range(const K& key,
std::size_t precalculated_hash) {
return m_ht.equal_range(key, precalculated_hash);
}
/**
* @copydoc equal_range(const K& key)
*/
template <
class K, class KE = KeyEqual,
typename std::enable_if<has_is_transparent<KE>::value>::type* = nullptr>
std::pair<const_iterator, const_iterator> equal_range(const K& key) const {
return m_ht.equal_range(key);
}
/**
* @copydoc equal_range(const K& key, std::size_t precalculated_hash)
*/
template <
class K, class KE = KeyEqual,
typename std::enable_if<has_is_transparent<KE>::value>::type* = nullptr>
std::pair<const_iterator, const_iterator> equal_range(
const K& key, std::size_t precalculated_hash) const {
return m_ht.equal_range(key, precalculated_hash);
}
/*
* Bucket interface
*/
size_type bucket_count() const { return m_ht.bucket_count(); }
size_type max_bucket_count() const { return m_ht.max_bucket_count(); }
/*
* Hash policy
*/
float load_factor() const { return m_ht.load_factor(); }
float min_load_factor() const { return m_ht.min_load_factor(); }
float max_load_factor() const { return m_ht.max_load_factor(); }
/**
* Set the `min_load_factor` to `ml`. When the `load_factor` of the map goes
* below `min_load_factor` after some erase operations, the map will be
* shrunk when an insertion occurs. The erase method itself never shrinks
* the map.
*
* The default value of `min_load_factor` is 0.0f, the map never shrinks by
* default.
*/
void min_load_factor(float ml) { m_ht.min_load_factor(ml); }
void max_load_factor(float ml) { m_ht.max_load_factor(ml); }
void rehash(size_type count_) { m_ht.rehash(count_); }
void reserve(size_type count_) { m_ht.reserve(count_); }
/*
* Observers
*/
hasher hash_function() const { return m_ht.hash_function(); }
key_equal key_eq() const { return m_ht.key_eq(); }
/*
* Other
*/
/**
* Convert a const_iterator to an iterator.
*/
iterator mutable_iterator(const_iterator pos) {
return m_ht.mutable_iterator(pos);
}
/**
* Serialize the map through the `serializer` parameter.
*
* The `serializer` parameter must be a function object that supports the
* following call:
* - `template<typename U> void operator()(const U& value);` where the types
* `std::int16_t`, `std::uint32_t`, `std::uint64_t`, `float` and
* `std::pair<Key, T>` must be supported for U.
*
* The implementation leaves binary compatibility (endianness, IEEE 754 for
* floats, ...) of the types it serializes in the hands of the `Serializer`
* function object if compatibility is required.
*/
template <class Serializer>
void serialize(Serializer& serializer) const {
m_ht.serialize(serializer);
}
/**
* Deserialize a previously serialized map through the `deserializer`
* parameter.
*
* The `deserializer` parameter must be a function object that supports the
* following call:
* - `template<typename U> U operator()();` where the types `std::int16_t`,
* `std::uint32_t`, `std::uint64_t`, `float` and `std::pair<Key, T>` must be
* supported for U.
*
* If the deserialized hash map type is hash compatible with the serialized
* map, the deserialization process can be sped up by setting
* `hash_compatible` to true. To be hash compatible, the Hash, KeyEqual and
* GrowthPolicy must behave the same way than the ones used on the serialized
* map and the StoreHash must have the same value. The `std::size_t` must also
* be of the same size as the one on the platform used to serialize the map.
* If these criteria are not met, the behaviour is undefined with
* `hash_compatible` sets to true.
*
* The behaviour is undefined if the type `Key` and `T` of the `robin_map` are
* not the same as the types used during serialization.
*
* The implementation leaves binary compatibility (endianness, IEEE 754 for
* floats, size of int, ...) of the types it deserializes in the hands of the
* `Deserializer` function object if compatibility is required.
*/
template <class Deserializer>
static robin_map deserialize(Deserializer& deserializer,
bool hash_compatible = false) {
robin_map map(0);
map.m_ht.deserialize(deserializer, hash_compatible);
return map;
}
friend bool operator==(const robin_map& lhs, const robin_map& rhs) {
if (lhs.size() != rhs.size()) {
return false;
}
for (const auto& element_lhs : lhs) {
const auto it_element_rhs = rhs.find(element_lhs.first);
if (it_element_rhs == rhs.cend() ||
element_lhs.second != it_element_rhs->second) {
return false;
}
}
return true;
}
friend bool operator!=(const robin_map& lhs, const robin_map& rhs) {
return !operator==(lhs, rhs);
}
friend void swap(robin_map& lhs, robin_map& rhs) { lhs.swap(rhs); }
private:
ht m_ht;
};
/**
* Same as `tsl::robin_map<Key, T, Hash, KeyEqual, Allocator, StoreHash,
* tsl::rh::prime_growth_policy>`.
*/
template <class Key, class T, class Hash = std::hash<Key>,
class KeyEqual = std::equal_to<Key>,
class Allocator = std::allocator<std::pair<Key, T>>,
bool StoreHash = false>
using robin_pg_map = robin_map<Key, T, Hash, KeyEqual, Allocator, StoreHash,
tsl::rh::prime_growth_policy>;
} // end namespace tsl
#endif

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include/OctVoxMap/tsl/robin_set.h Normal file
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@@ -0,0 +1,668 @@
/**
* MIT License
*
* Copyright (c) 2017 Thibaut Goetghebuer-Planchon <tessil@gmx.com>
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*/
#ifndef TSL_ROBIN_SET_H
#define TSL_ROBIN_SET_H
#include <cstddef>
#include <functional>
#include <initializer_list>
#include <memory>
#include <type_traits>
#include <utility>
#include "robin_hash.h"
namespace tsl {
/**
* Implementation of a hash set using open-addressing and the robin hood hashing
* algorithm with backward shift deletion.
*
* For operations modifying the hash set (insert, erase, rehash, ...), the
* strong exception guarantee is only guaranteed when the expression
* `std::is_nothrow_swappable<Key>::value &&
* std::is_nothrow_move_constructible<Key>::value` is true, otherwise if an
* exception is thrown during the swap or the move, the hash set may end up in a
* undefined state. Per the standard a `Key` with a noexcept copy constructor
* and no move constructor also satisfies the
* `std::is_nothrow_move_constructible<Key>::value` criterion (and will thus
* guarantee the strong exception for the set).
*
* When `StoreHash` is true, 32 bits of the hash are stored alongside the
* values. It can improve the performance during lookups if the `KeyEqual`
* function takes time (or engenders a cache-miss for example) as we then
* compare the stored hashes before comparing the keys. When
* `tsl::rh::power_of_two_growth_policy` is used as `GrowthPolicy`, it may also
* speed-up the rehash process as we can avoid to recalculate the hash. When it
* is detected that storing the hash will not incur any memory penalty due to
* alignment (i.e. `sizeof(tsl::detail_robin_hash::bucket_entry<ValueType,
* true>) == sizeof(tsl::detail_robin_hash::bucket_entry<ValueType, false>)`)
* and `tsl::rh::power_of_two_growth_policy` is used, the hash will be stored
* even if `StoreHash` is false so that we can speed-up the rehash (but it will
* not be used on lookups unless `StoreHash` is true).
*
* `GrowthPolicy` defines how the set grows and consequently how a hash value is
* mapped to a bucket. By default the set uses
* `tsl::rh::power_of_two_growth_policy`. This policy keeps the number of
* buckets to a power of two and uses a mask to set the hash to a bucket instead
* of the slow modulo. Other growth policies are available and you may define
* your own growth policy, check `tsl::rh::power_of_two_growth_policy` for the
* interface.
*
* `Key` must be swappable.
*
* `Key` must be copy and/or move constructible.
*
* If the destructor of `Key` throws an exception, the behaviour of the class is
* undefined.
*
* Iterators invalidation:
* - clear, operator=, reserve, rehash: always invalidate the iterators.
* - insert, emplace, emplace_hint, operator[]: if there is an effective
* insert, invalidate the iterators.
* - erase: always invalidate the iterators.
*/
template <class Key, class Hash = std::hash<Key>,
class KeyEqual = std::equal_to<Key>,
class Allocator = std::allocator<Key>, bool StoreHash = false,
class GrowthPolicy = tsl::rh::power_of_two_growth_policy<2>>
class robin_set {
private:
template <typename U>
using has_is_transparent = tsl::detail_robin_hash::has_is_transparent<U>;
class KeySelect {
public:
using key_type = Key;
const key_type& operator()(const Key& key) const noexcept { return key; }
key_type& operator()(Key& key) noexcept { return key; }
};
using ht = detail_robin_hash::robin_hash<Key, KeySelect, void, Hash, KeyEqual,
Allocator, StoreHash, GrowthPolicy>;
public:
using key_type = typename ht::key_type;
using value_type = typename ht::value_type;
using size_type = typename ht::size_type;
using difference_type = typename ht::difference_type;
using hasher = typename ht::hasher;
using key_equal = typename ht::key_equal;
using allocator_type = typename ht::allocator_type;
using reference = typename ht::reference;
using const_reference = typename ht::const_reference;
using pointer = typename ht::pointer;
using const_pointer = typename ht::const_pointer;
using iterator = typename ht::iterator;
using const_iterator = typename ht::const_iterator;
/*
* Constructors
*/
robin_set() : robin_set(ht::DEFAULT_INIT_BUCKETS_SIZE) {}
explicit robin_set(size_type bucket_count, const Hash& hash = Hash(),
const KeyEqual& equal = KeyEqual(),
const Allocator& alloc = Allocator())
: m_ht(bucket_count, hash, equal, alloc) {}
robin_set(size_type bucket_count, const Allocator& alloc)
: robin_set(bucket_count, Hash(), KeyEqual(), alloc) {}
robin_set(size_type bucket_count, const Hash& hash, const Allocator& alloc)
: robin_set(bucket_count, hash, KeyEqual(), alloc) {}
explicit robin_set(const Allocator& alloc)
: robin_set(ht::DEFAULT_INIT_BUCKETS_SIZE, alloc) {}
template <class InputIt>
robin_set(InputIt first, InputIt last,
size_type bucket_count = ht::DEFAULT_INIT_BUCKETS_SIZE,
const Hash& hash = Hash(), const KeyEqual& equal = KeyEqual(),
const Allocator& alloc = Allocator())
: robin_set(bucket_count, hash, equal, alloc) {
insert(first, last);
}
template <class InputIt>
robin_set(InputIt first, InputIt last, size_type bucket_count,
const Allocator& alloc)
: robin_set(first, last, bucket_count, Hash(), KeyEqual(), alloc) {}
template <class InputIt>
robin_set(InputIt first, InputIt last, size_type bucket_count,
const Hash& hash, const Allocator& alloc)
: robin_set(first, last, bucket_count, hash, KeyEqual(), alloc) {}
robin_set(std::initializer_list<value_type> init,
size_type bucket_count = ht::DEFAULT_INIT_BUCKETS_SIZE,
const Hash& hash = Hash(), const KeyEqual& equal = KeyEqual(),
const Allocator& alloc = Allocator())
: robin_set(init.begin(), init.end(), bucket_count, hash, equal, alloc) {}
robin_set(std::initializer_list<value_type> init, size_type bucket_count,
const Allocator& alloc)
: robin_set(init.begin(), init.end(), bucket_count, Hash(), KeyEqual(),
alloc) {}
robin_set(std::initializer_list<value_type> init, size_type bucket_count,
const Hash& hash, const Allocator& alloc)
: robin_set(init.begin(), init.end(), bucket_count, hash, KeyEqual(),
alloc) {}
robin_set& operator=(std::initializer_list<value_type> ilist) {
m_ht.clear();
m_ht.reserve(ilist.size());
m_ht.insert(ilist.begin(), ilist.end());
return *this;
}
allocator_type get_allocator() const { return m_ht.get_allocator(); }
/*
* Iterators
*/
iterator begin() noexcept { return m_ht.begin(); }
const_iterator begin() const noexcept { return m_ht.begin(); }
const_iterator cbegin() const noexcept { return m_ht.cbegin(); }
iterator end() noexcept { return m_ht.end(); }
const_iterator end() const noexcept { return m_ht.end(); }
const_iterator cend() const noexcept { return m_ht.cend(); }
/*
* Capacity
*/
bool empty() const noexcept { return m_ht.empty(); }
size_type size() const noexcept { return m_ht.size(); }
size_type max_size() const noexcept { return m_ht.max_size(); }
/*
* Modifiers
*/
void clear() noexcept { m_ht.clear(); }
std::pair<iterator, bool> insert(const value_type& value) {
return m_ht.insert(value);
}
std::pair<iterator, bool> insert(value_type&& value) {
return m_ht.insert(std::move(value));
}
iterator insert(const_iterator hint, const value_type& value) {
return m_ht.insert_hint(hint, value);
}
iterator insert(const_iterator hint, value_type&& value) {
return m_ht.insert_hint(hint, std::move(value));
}
template <class InputIt>
void insert(InputIt first, InputIt last) {
m_ht.insert(first, last);
}
void insert(std::initializer_list<value_type> ilist) {
m_ht.insert(ilist.begin(), ilist.end());
}
/**
* Due to the way elements are stored, emplace will need to move or copy the
* key-value once. The method is equivalent to
* insert(value_type(std::forward<Args>(args)...));
*
* Mainly here for compatibility with the std::unordered_map interface.
*/
template <class... Args>
std::pair<iterator, bool> emplace(Args&&... args) {
return m_ht.emplace(std::forward<Args>(args)...);
}
/**
* Due to the way elements are stored, emplace_hint will need to move or copy
* the key-value once. The method is equivalent to insert(hint,
* value_type(std::forward<Args>(args)...));
*
* Mainly here for compatibility with the std::unordered_map interface.
*/
template <class... Args>
iterator emplace_hint(const_iterator hint, Args&&... args) {
return m_ht.emplace_hint(hint, std::forward<Args>(args)...);
}
iterator erase(iterator pos) { return m_ht.erase(pos); }
iterator erase(const_iterator pos) { return m_ht.erase(pos); }
iterator erase(const_iterator first, const_iterator last) {
return m_ht.erase(first, last);
}
size_type erase(const key_type& key) { return m_ht.erase(key); }
/**
* Erase the element at position 'pos'. In contrast to the regular erase()
* function, erase_fast() does not return an iterator. This allows it to be
* faster especially in hash sets with a low load factor, where finding the
* next nonempty bucket would be costly.
*/
void erase_fast(iterator pos) { return m_ht.erase_fast(pos); }
/**
* Use the hash value 'precalculated_hash' instead of hashing the key. The
* hash value should be the same as hash_function()(key). Useful to speed-up
* the lookup to the value if you already have the hash.
*/
size_type erase(const key_type& key, std::size_t precalculated_hash) {
return m_ht.erase(key, precalculated_hash);
}
/**
* This overload only participates in the overload resolution if the typedef
* KeyEqual::is_transparent exists. If so, K must be hashable and comparable
* to Key.
*/
template <
class K, class KE = KeyEqual,
typename std::enable_if<has_is_transparent<KE>::value>::type* = nullptr>
size_type erase(const K& key) {
return m_ht.erase(key);
}
/**
* @copydoc erase(const K& key)
*
* Use the hash value 'precalculated_hash' instead of hashing the key. The
* hash value should be the same as hash_function()(key). Useful to speed-up
* the lookup to the value if you already have the hash.
*/
template <
class K, class KE = KeyEqual,
typename std::enable_if<has_is_transparent<KE>::value>::type* = nullptr>
size_type erase(const K& key, std::size_t precalculated_hash) {
return m_ht.erase(key, precalculated_hash);
}
void swap(robin_set& other) { other.m_ht.swap(m_ht); }
/*
* Lookup
*/
size_type count(const Key& key) const { return m_ht.count(key); }
/**
* Use the hash value 'precalculated_hash' instead of hashing the key. The
* hash value should be the same as hash_function()(key). Useful to speed-up
* the lookup if you already have the hash.
*/
size_type count(const Key& key, std::size_t precalculated_hash) const {
return m_ht.count(key, precalculated_hash);
}
/**
* This overload only participates in the overload resolution if the typedef
* KeyEqual::is_transparent exists. If so, K must be hashable and comparable
* to Key.
*/
template <
class K, class KE = KeyEqual,
typename std::enable_if<has_is_transparent<KE>::value>::type* = nullptr>
size_type count(const K& key) const {
return m_ht.count(key);
}
/**
* @copydoc count(const K& key) const
*
* Use the hash value 'precalculated_hash' instead of hashing the key. The
* hash value should be the same as hash_function()(key). Useful to speed-up
* the lookup if you already have the hash.
*/
template <
class K, class KE = KeyEqual,
typename std::enable_if<has_is_transparent<KE>::value>::type* = nullptr>
size_type count(const K& key, std::size_t precalculated_hash) const {
return m_ht.count(key, precalculated_hash);
}
iterator find(const Key& key) { return m_ht.find(key); }
/**
* Use the hash value 'precalculated_hash' instead of hashing the key. The
* hash value should be the same as hash_function()(key). Useful to speed-up
* the lookup if you already have the hash.
*/
iterator find(const Key& key, std::size_t precalculated_hash) {
return m_ht.find(key, precalculated_hash);
}
const_iterator find(const Key& key) const { return m_ht.find(key); }
/**
* @copydoc find(const Key& key, std::size_t precalculated_hash)
*/
const_iterator find(const Key& key, std::size_t precalculated_hash) const {
return m_ht.find(key, precalculated_hash);
}
/**
* This overload only participates in the overload resolution if the typedef
* KeyEqual::is_transparent exists. If so, K must be hashable and comparable
* to Key.
*/
template <
class K, class KE = KeyEqual,
typename std::enable_if<has_is_transparent<KE>::value>::type* = nullptr>
iterator find(const K& key) {
return m_ht.find(key);
}
/**
* @copydoc find(const K& key)
*
* Use the hash value 'precalculated_hash' instead of hashing the key. The
* hash value should be the same as hash_function()(key). Useful to speed-up
* the lookup if you already have the hash.
*/
template <
class K, class KE = KeyEqual,
typename std::enable_if<has_is_transparent<KE>::value>::type* = nullptr>
iterator find(const K& key, std::size_t precalculated_hash) {
return m_ht.find(key, precalculated_hash);
}
/**
* @copydoc find(const K& key)
*/
template <
class K, class KE = KeyEqual,
typename std::enable_if<has_is_transparent<KE>::value>::type* = nullptr>
const_iterator find(const K& key) const {
return m_ht.find(key);
}
/**
* @copydoc find(const K& key)
*
* Use the hash value 'precalculated_hash' instead of hashing the key. The
* hash value should be the same as hash_function()(key). Useful to speed-up
* the lookup if you already have the hash.
*/
template <
class K, class KE = KeyEqual,
typename std::enable_if<has_is_transparent<KE>::value>::type* = nullptr>
const_iterator find(const K& key, std::size_t precalculated_hash) const {
return m_ht.find(key, precalculated_hash);
}
bool contains(const Key& key) const { return m_ht.contains(key); }
/**
* Use the hash value 'precalculated_hash' instead of hashing the key. The
* hash value should be the same as hash_function()(key). Useful to speed-up
* the lookup if you already have the hash.
*/
bool contains(const Key& key, std::size_t precalculated_hash) const {
return m_ht.contains(key, precalculated_hash);
}
/**
* This overload only participates in the overload resolution if the typedef
* KeyEqual::is_transparent exists. If so, K must be hashable and comparable
* to Key.
*/
template <
class K, class KE = KeyEqual,
typename std::enable_if<has_is_transparent<KE>::value>::type* = nullptr>
bool contains(const K& key) const {
return m_ht.contains(key);
}
/**
* @copydoc contains(const K& key) const
*
* Use the hash value 'precalculated_hash' instead of hashing the key. The
* hash value should be the same as hash_function()(key). Useful to speed-up
* the lookup if you already have the hash.
*/
template <
class K, class KE = KeyEqual,
typename std::enable_if<has_is_transparent<KE>::value>::type* = nullptr>
bool contains(const K& key, std::size_t precalculated_hash) const {
return m_ht.contains(key, precalculated_hash);
}
std::pair<iterator, iterator> equal_range(const Key& key) {
return m_ht.equal_range(key);
}
/**
* Use the hash value 'precalculated_hash' instead of hashing the key. The
* hash value should be the same as hash_function()(key). Useful to speed-up
* the lookup if you already have the hash.
*/
std::pair<iterator, iterator> equal_range(const Key& key,
std::size_t precalculated_hash) {
return m_ht.equal_range(key, precalculated_hash);
}
std::pair<const_iterator, const_iterator> equal_range(const Key& key) const {
return m_ht.equal_range(key);
}
/**
* @copydoc equal_range(const Key& key, std::size_t precalculated_hash)
*/
std::pair<const_iterator, const_iterator> equal_range(
const Key& key, std::size_t precalculated_hash) const {
return m_ht.equal_range(key, precalculated_hash);
}
/**
* This overload only participates in the overload resolution if the typedef
* KeyEqual::is_transparent exists. If so, K must be hashable and comparable
* to Key.
*/
template <
class K, class KE = KeyEqual,
typename std::enable_if<has_is_transparent<KE>::value>::type* = nullptr>
std::pair<iterator, iterator> equal_range(const K& key) {
return m_ht.equal_range(key);
}
/**
* @copydoc equal_range(const K& key)
*
* Use the hash value 'precalculated_hash' instead of hashing the key. The
* hash value should be the same as hash_function()(key). Useful to speed-up
* the lookup if you already have the hash.
*/
template <
class K, class KE = KeyEqual,
typename std::enable_if<has_is_transparent<KE>::value>::type* = nullptr>
std::pair<iterator, iterator> equal_range(const K& key,
std::size_t precalculated_hash) {
return m_ht.equal_range(key, precalculated_hash);
}
/**
* @copydoc equal_range(const K& key)
*/
template <
class K, class KE = KeyEqual,
typename std::enable_if<has_is_transparent<KE>::value>::type* = nullptr>
std::pair<const_iterator, const_iterator> equal_range(const K& key) const {
return m_ht.equal_range(key);
}
/**
* @copydoc equal_range(const K& key, std::size_t precalculated_hash)
*/
template <
class K, class KE = KeyEqual,
typename std::enable_if<has_is_transparent<KE>::value>::type* = nullptr>
std::pair<const_iterator, const_iterator> equal_range(
const K& key, std::size_t precalculated_hash) const {
return m_ht.equal_range(key, precalculated_hash);
}
/*
* Bucket interface
*/
size_type bucket_count() const { return m_ht.bucket_count(); }
size_type max_bucket_count() const { return m_ht.max_bucket_count(); }
/*
* Hash policy
*/
float load_factor() const { return m_ht.load_factor(); }
float min_load_factor() const { return m_ht.min_load_factor(); }
float max_load_factor() const { return m_ht.max_load_factor(); }
/**
* Set the `min_load_factor` to `ml`. When the `load_factor` of the set goes
* below `min_load_factor` after some erase operations, the set will be
* shrunk when an insertion occurs. The erase method itself never shrinks
* the set.
*
* The default value of `min_load_factor` is 0.0f, the set never shrinks by
* default.
*/
void min_load_factor(float ml) { m_ht.min_load_factor(ml); }
void max_load_factor(float ml) { m_ht.max_load_factor(ml); }
void rehash(size_type count_) { m_ht.rehash(count_); }
void reserve(size_type count_) { m_ht.reserve(count_); }
/*
* Observers
*/
hasher hash_function() const { return m_ht.hash_function(); }
key_equal key_eq() const { return m_ht.key_eq(); }
/*
* Other
*/
/**
* Convert a const_iterator to an iterator.
*/
iterator mutable_iterator(const_iterator pos) {
return m_ht.mutable_iterator(pos);
}
friend bool operator==(const robin_set& lhs, const robin_set& rhs) {
if (lhs.size() != rhs.size()) {
return false;
}
for (const auto& element_lhs : lhs) {
const auto it_element_rhs = rhs.find(element_lhs);
if (it_element_rhs == rhs.cend()) {
return false;
}
}
return true;
}
/**
* Serialize the set through the `serializer` parameter.
*
* The `serializer` parameter must be a function object that supports the
* following call:
* - `template<typename U> void operator()(const U& value);` where the types
* `std::int16_t`, `std::uint32_t`, `std::uint64_t`, `float` and `Key` must be
* supported for U.
*
* The implementation leaves binary compatibility (endianness, IEEE 754 for
* floats, ...) of the types it serializes in the hands of the `Serializer`
* function object if compatibility is required.
*/
template <class Serializer>
void serialize(Serializer& serializer) const {
m_ht.serialize(serializer);
}
/**
* Deserialize a previously serialized set through the `deserializer`
* parameter.
*
* The `deserializer` parameter must be a function object that supports the
* following call:
* - `template<typename U> U operator()();` where the types `std::int16_t`,
* `std::uint32_t`, `std::uint64_t`, `float` and `Key` must be supported for
* U.
*
* If the deserialized hash set type is hash compatible with the serialized
* set, the deserialization process can be sped up by setting
* `hash_compatible` to true. To be hash compatible, the Hash, KeyEqual and
* GrowthPolicy must behave the same way than the ones used on the serialized
* set and the StoreHash must have the same value. The `std::size_t` must also
* be of the same size as the one on the platform used to serialize the set.
* If these criteria are not met, the behaviour is undefined with
* `hash_compatible` sets to true.
*
* The behaviour is undefined if the type `Key` of the `robin_set` is not the
* same as the type used during serialization.
*
* The implementation leaves binary compatibility (endianness, IEEE 754 for
* floats, size of int, ...) of the types it deserializes in the hands of the
* `Deserializer` function object if compatibility is required.
*/
template <class Deserializer>
static robin_set deserialize(Deserializer& deserializer,
bool hash_compatible = false) {
robin_set set(0);
set.m_ht.deserialize(deserializer, hash_compatible);
return set;
}
friend bool operator!=(const robin_set& lhs, const robin_set& rhs) {
return !operator==(lhs, rhs);
}
friend void swap(robin_set& lhs, robin_set& rhs) { lhs.swap(rhs); }
private:
ht m_ht;
};
/**
* Same as `tsl::robin_set<Key, Hash, KeyEqual, Allocator, StoreHash,
* tsl::rh::prime_growth_policy>`.
*/
template <class Key, class Hash = std::hash<Key>,
class KeyEqual = std::equal_to<Key>,
class Allocator = std::allocator<Key>, bool StoreHash = false>
using robin_pg_set = robin_set<Key, Hash, KeyEqual, Allocator, StoreHash,
tsl::rh::prime_growth_policy>;
} // end namespace tsl
#endif

10
src/parameters.h
View File

@@ -23,13 +23,19 @@
#include <sensor_msgs/msg/imu.hpp>
#include <pcl/common/transforms.h>
#include <geometry_msgs/msg/vector3.hpp>
#include <OctVoxMap/OctVoxMapAdapter.hpp>
// #define IVOX_NODE_TYPE_PHC
#define IVOX_NODE_TYPE_OCTVOXMAP
#ifdef IVOX_NODE_TYPE_PHC
using IVoxType = faster_lio::IVox<3, faster_lio::IVoxNodeType::PHC, PointType>;
#ifdef IVOX_NODE_TYPE_OCTVOXMAP
using IVoxType = OctVoxMapAdapter<3, 0, PointType>;
#else
#ifdef IVOX_NODE_TYPE_PHC
using IVoxType = faster_lio::IVox<3, faster_lio::IVoxNodeType::PHC, PointType>;
#else
using IVoxType = faster_lio::IVox<3, faster_lio::IVoxNodeType::DEFAULT, PointType>;
#endif
#endif
extern bool is_first_frame;