├── README.md
├── payload_drop
    ├── payload_drop.cpp
    ├── payload_drop.launch
    └── payload_drop.yaml
├── pic
    ├── Piahawk输出通道.png
    ├── aux1.PNG
    ├── ch2-fig-donglimodel.PNG
    ├── ch2-fig-mixer-x.PNG
    ├── ch2-fig3.PNG
    ├── 一阶系统单位阶跃响应曲线.jpg
    ├── 微信图片_20190616230532.jpg
    ├── 拟合误差.png
    ├── 推力-油门曲线.png
    ├── 油门-稳态转速.png
    ├── 电机动态模型验证.png
    ├── 电机响应曲线1300_1600.png
    ├── 稳态转速-力矩曲线.png
    └── 稳态转速-推力曲线.eps
├── px4_pos_estiamtor
    ├── README.md
    └── px4_pos_estimator.cpp
├── 稳态转速-推力曲线.jpg
├── 稳态转速-推力曲线.pdf
└── 稳态转速-推力曲线.png


/README.md:
--------------------------------------------------------------------------------
 1 | # Amovlab_opensource
 2 | 
 3 | 欢迎大家访问[阿木论坛](http://bbs.amovauto.com/forum.php)
 4 | 
 5 | 本仓库将持续更新并开源科研无人机P200中的机载代码。
 6 | 
 7 | 
 8 | ## 关于作者
 9 | 
10 | 阿木社区技术负责人、Mavros培训课程主讲老师、北理工在读博士
11 | 
12 | 对任何与四旋翼无人机有关的话题感兴趣，欢迎交流。
13 | 
14 | 个人微信号：qyp0210
15 | 


--------------------------------------------------------------------------------
/payload_drop/payload_drop.cpp:
--------------------------------------------------------------------------------
  1 | /***************************************************************************************************************************
  2 |  * payload_drop.cpp
  3 |  *
  4 |  * Author: Qyp
  5 |  *
  6 |  * Update Time: 2019.06.07
  7 |  *
  8 |  * Introduction: payload_drop.cpp
  9 |  * 1.Takeoff
 10 |  * 2.Fly to the target position
 11 |  * 3.Decrease the altitude
 12 |  * 4.Drop
 13 |  * 5.Increase the altitude
 14 |  * 6.Back to the takeoff point
 15 |  * 7.Land
 16 | ***************************************************************************************************************************/
 17 | 
 18 | #include <ros/ros.h>
 19 | #include <fstream>
 20 | #include <math.h>
 21 | #include <string>
 22 | #include <time.h>
 23 | #include <queue>
 24 | #include <vector>
 25 | #include <cstdlib>
 26 | #include <stdlib.h>
 27 | #include <iostream>
 28 | #include <stdio.h>
 29 | #include <std_msgs/Bool.h>
 30 | #include <px4_command/command.h>
 31 | #include <mavros_msgs/OverrideRCIn.h>
 32 | #include <geometry_msgs/PoseStamped.h>
 33 | 
 34 | #include <Eigen/Eigen>
 35 | 
 36 | using namespace std;
 37 | //>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>全 局 变 量<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<
 38 | enum Command
 39 | {
 40 |     Move_ENU,
 41 |     Move_Body,
 42 |     Hold,
 43 |     Land,
 44 |     Disarm,
 45 |     Failsafe_land,
 46 |     Idle,
 47 |     Takeoff
 48 | };
 49 | 
 50 | px4_command::command Command_now;
 51 | //---------------------------------------正方形参数---------------------------------------------
 52 | float fly_height;
 53 | float target_x,target_y;
 54 | float drop_height;
 55 | float drop_flag;
 56 | float limit_time;
 57 | float min_distance;
 58 | float distance_to_target;
 59 | 
 60 | int time_sec = 0;
 61 | int comid = 0;
 62 | int switch_flag = 0;
 63 | 
 64 | Eigen::Vector3f drone_pos;
 65 | Eigen::Vector3f point1;
 66 | Eigen::Vector3f point2;
 67 | Eigen::Vector3f point3;
 68 | 
 69 | float cal_distance(Eigen::Vector3f a,Eigen::Vector3f b);
 70 | void printf_result(Eigen::Vector3f target_point);
 71 | 
 72 | void pos_cb(const geometry_msgs::PoseStamped::ConstPtr &msg)
 73 | {
 74 |     drone_pos  = Eigen::Vector3f(msg->pose.position.x,msg->pose.position.y,msg->pose.position.z);
 75 | }
 76 | 
 77 | int main(int argc, char **argv)
 78 | {
 79 |     ros::init(argc, argv, "payload_drop");
 80 |     ros::NodeHandle nh("~");
 81 | 
 82 |     //>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>参数读取<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<
 83 |     nh.param<float>("fly_height", fly_height, 1.0);
 84 |     nh.param<float>("target_x", target_x, 0.0);
 85 |     nh.param<float>("target_y", target_y, 0.0);
 86 |     nh.param<float>("drop_height", drop_height, 1.5);
 87 |     nh.param<float>("limit_time", limit_time, 10.0);
 88 |     nh.param<float>("min_distance", min_distance, 0.2);
 89 | 
 90 |     // 频率 [1hz]
 91 |     ros::Rate rate(1.0);
 92 | 
 93 |     //Subscribe the drone position
 94 |     ros::Subscriber position_sub = nh.subscribe<geometry_msgs::PoseStamped>("/mavros/local_position/pose", 100, pos_cb);
 95 | 
 96 |     // 【发布】发送给position_control.cpp的命令
 97 |     ros::Publisher move_pub = nh.advertise<px4_command::command>("/px4/command", 10);
 98 | 
 99 |     // Drop cmd send to mavros
100 |     ros::Publisher drop_pub = nh.advertise<mavros_msgs::OverrideRCIn>("/mavros/rc/override", 10);
101 | 
102 |     mavros_msgs::OverrideRCIn drop_cmd;
103 | 
104 |     drop_cmd.channels[0] = 0;
105 |     drop_cmd.channels[1] = 0;
106 |     drop_cmd.channels[2] = 0;
107 |     drop_cmd.channels[3] = 0;
108 |     drop_cmd.channels[4] = 0;
109 |     drop_cmd.channels[5] = 0;
110 |     drop_cmd.channels[6] = 0;
111 |     drop_cmd.channels[7] = 1600;
112 | 
113 |     drop_flag = 0;
114 | 
115 |     int check_flag;
116 |     // Check the parameter
117 |     cout << "fly_height: "<<fly_height<<"[m]"<<endl;
118 |     cout << "target_x: "<<target_x<<"[m]"<<endl;
119 |     cout << "target_y: "<<target_y<<"[m]"<<endl;
120 |     cout << "drop_height: "<<drop_height<<"[m]"<<endl;
121 |     cout << "limit_time: "<<limit_time<<"[s]"<<endl;
122 |     cout << "min_distance: "<<min_distance<<"[m]"<<endl;
123 | 
124 |     cout << "Please check the parameter and setting，1 for go on， else for quit: "<<endl;
125 |     cin >> check_flag;
126 | 
127 |     if(check_flag != 1)
128 |     {
129 |         return -1;
130 |     }
131 | 
132 |     //Read the takeoff point
133 |     int i =0;
134 |     for(i=0;i<5;i++)
135 |     {
136 |         ros::spinOnce();
137 |         rate.sleep();
138 |     }
139 | 
140 |     point1[0] = drone_pos[0];
141 |     point1[1] = drone_pos[1];
142 |     point1[2] = fly_height;
143 | 
144 |     point2[0] = target_x;
145 |     point2[1] = target_y;
146 |     point2[2] = fly_height;
147 | 
148 |     point3[0] = target_x;
149 |     point3[1] = target_y;
150 |     point3[2] = drop_height;
151 | 
152 | 
153 |     //Takeoff - fly to point 1
154 |     while (switch_flag == 0)
155 |     {
156 |         Command_now.command = Move_ENU;         //Move模式
157 |         Command_now.sub_mode = 0;               //子模式：位置控制模式
158 |         Command_now.pos_sp[0] = point1[0];
159 |         Command_now.pos_sp[1] = point1[1];
160 |         Command_now.pos_sp[2] = point1[2];
161 |         Command_now.yaw_sp = 0;
162 |         Command_now.comid = comid;
163 |         comid++;
164 | 
165 |         move_pub.publish(Command_now);
166 | 
167 |         distance_to_target = cal_distance(drone_pos,point1);
168 | 
169 |         if(time_sec > limit_time ||  distance_to_target< min_distance )
170 |         {
171 |             switch_flag =1;
172 |         }
173 | 
174 |         time_sec++;
175 | 
176 |         printf_result(point1);
177 | 
178 |         cout << "Takeoff: flying to Point 1"<<endl;
179 | 
180 |         rate.sleep();
181 |         ros::spinOnce();
182 | 
183 |     }
184 | 
185 |     //wait 1s more
186 |     sleep(1.0);
187 |     //reset the flag
188 |     switch_flag = 0;
189 |     time_sec = 0;
190 | 
191 |     //Fly to target - to point 2
192 |     while (switch_flag == 0)
193 |     {
194 |         Command_now.command = Move_ENU;         //Move模式
195 |         Command_now.sub_mode = 0;               //子模式：位置控制模式
196 |         Command_now.pos_sp[0] = point2[0];
197 |         Command_now.pos_sp[1] = point2[1];
198 |         Command_now.pos_sp[2] = point2[2];
199 |         Command_now.yaw_sp = 0;
200 |         Command_now.comid = comid;
201 |         comid++;
202 | 
203 |         move_pub.publish(Command_now);
204 | 
205 |         distance_to_target = cal_distance(drone_pos,point2);
206 | 
207 |         if(time_sec > limit_time ||  distance_to_target< min_distance )
208 |         {
209 |             switch_flag =1;
210 |         }
211 | 
212 |         time_sec++;
213 | 
214 |         printf_result(point2);
215 | 
216 |         cout << "Fly to target - Flying to Point 2"<<endl;
217 | 
218 |         rate.sleep();
219 |         ros::spinOnce();
220 | 
221 |     }
222 | 
223 |     //wait 1s more
224 |     sleep(1.0);
225 |     //reset the flag
226 |     switch_flag = 0;
227 |     time_sec = 0;
228 | 
229 | 
230 |     //Point 3 get target and decrease the height
231 | 
232 |     while (switch_flag == 0)
233 |     {
234 |         Command_now.command = Move_ENU;         //Move模式
235 |         Command_now.sub_mode = 0;               //子模式：位置控制模式
236 |         Command_now.pos_sp[0] = point3[0];
237 |         Command_now.pos_sp[1] = point3[1];
238 |         Command_now.pos_sp[2] = point3[2];
239 |         Command_now.yaw_sp = 0;
240 |         Command_now.comid = comid;
241 |         comid++;
242 | 
243 |         move_pub.publish(Command_now);
244 | 
245 |         distance_to_target = cal_distance(drone_pos,point3);
246 | 
247 |         if(time_sec > limit_time ||  distance_to_target< min_distance )
248 |         {
249 |             switch_flag =1;
250 |         }
251 | 
252 |         time_sec++;
253 | 
254 |         printf_result(point3);
255 | 
256 |         cout << "Get target and decrease the height- flying to Point 3"<<endl;
257 | 
258 |         rate.sleep();
259 |         ros::spinOnce();
260 | 
261 |     }
262 | 
263 |     //wait 1s more
264 |     sleep(1.0);
265 |     //reset the flag
266 |     switch_flag = 0;
267 |     time_sec = 0;
268 | 
269 |     //Drop
270 |     while (time_sec < 3)
271 |     {
272 |         drop_pub.publish(drop_cmd);
273 | 
274 |         cout << "Droping......"<<endl;
275 | 
276 |         time_sec++;
277 |         rate.sleep();
278 |         ros::spinOnce();
279 |     }
280 | 
281 |     //wait 1s more
282 |     sleep(1.0);
283 |     //reset the flag
284 |     switch_flag = 0;
285 |     time_sec = 0;
286 | 
287 |     //Finsh drop and increase the altitude,fly to point2
288 |     while (switch_flag == 0)
289 |     {
290 |         Command_now.command = Move_ENU;         //Move模式
291 |         Command_now.sub_mode = 0;               //子模式：位置控制模式
292 |         Command_now.pos_sp[0] = point2[0];
293 |         Command_now.pos_sp[1] = point2[1];
294 |         Command_now.pos_sp[2] = point2[2];
295 |         Command_now.yaw_sp = 0;
296 |         Command_now.comid = comid;
297 |         comid++;
298 | 
299 |         move_pub.publish(Command_now);
300 | 
301 |         distance_to_target = cal_distance(drone_pos,point2);
302 | 
303 |         if(time_sec > limit_time ||  distance_to_target< min_distance )
304 |         {
305 |             switch_flag =1;
306 |         }
307 | 
308 |         time_sec++;
309 | 
310 |         printf_result(point2);
311 | 
312 |         cout << "Finsh drop and increase the altitude...fly to point2"<<endl;
313 | 
314 |         rate.sleep();
315 |         ros::spinOnce();
316 | 
317 |     }
318 | 
319 |     //wait 1s more
320 |     sleep(1.0);
321 |     //reset the flag
322 |     switch_flag = 0;
323 |     time_sec = 0;
324 | 
325 | 
326 |     //Go back to the takeoff point - point1
327 |     while (switch_flag == 0)
328 |     {
329 |         Command_now.command = Move_ENU;         //Move模式
330 |         Command_now.sub_mode = 0;               //子模式：位置控制模式
331 |         Command_now.pos_sp[0] = point1[0];
332 |         Command_now.pos_sp[1] = point1[1];
333 |         Command_now.pos_sp[2] = point1[2];
334 |         Command_now.yaw_sp = 0;
335 |         Command_now.comid = comid;
336 |         comid++;
337 | 
338 |         move_pub.publish(Command_now);
339 | 
340 |         distance_to_target = cal_distance(drone_pos,point1);
341 | 
342 |         if(time_sec > limit_time ||  distance_to_target< min_distance )
343 |         {
344 |             switch_flag =1;
345 |         }
346 | 
347 |         time_sec++;
348 | 
349 |         printf_result(point1);
350 | 
351 |         cout << "Go back to the takeoff point...flying to point 1"<<endl;
352 | 
353 |         rate.sleep();
354 |         ros::spinOnce();
355 | 
356 |     }
357 | 
358 |     //wait 1s more
359 |     sleep(1.0);
360 |     time_sec = 0;
361 | 
362 | 
363 |     // Land
364 |     while (time_sec < 5)
365 |     {
366 |         Command_now.command = Land;
367 |         move_pub.publish(Command_now);
368 | 
369 |         cout << "Finsh the payload drop mission, Landing..."<<endl;
370 | 
371 |         time_sec++;
372 |         rate.sleep();
373 |         ros::spinOnce();
374 |     }
375 | 
376 | 
377 |     return 0;
378 | }
379 | 
380 | float cal_distance(Eigen::Vector3f a,Eigen::Vector3f b)
381 | {
382 |     float distance;
383 |     distance = sqrt(  (a[0] - b[0])*(a[0] - b[0]) + (a[1] - b[1])*(a[1] - b[1]) + (a[2] - b[2])*(a[2] - b[2]) );
384 |     return distance;
385 | }
386 | 
387 | void printf_result(Eigen::Vector3f target_point)
388 | {
389 |     cout <<">>>>>>>>>>>>>>>>>>>>>>>>>>>>>>Payload Drop Mission<<<<<<<<<<<<<<<<<<<<<<<<<<<" <<endl;
390 | 
391 |     //固定的浮点显示
392 |     cout.setf(ios::fixed);
393 |     //setprecision(n) 设显示小数精度为n位
394 |     cout<<setprecision(2);
395 |     //左对齐
396 |     cout.setf(ios::left);
397 |     // 强制显示小数点
398 |     cout.setf(ios::showpoint);
399 |     // 强制显示符号
400 |     cout.setf(ios::showpos);
401 | 
402 |     cout << "Drone_Pos  [X Y Z] : " << drone_pos[0] << " [ m ] "<< drone_pos[1]<<" [ m ] "<<drone_pos[2]<<" [ m ] "<<endl;
403 |     cout << "Target_Pos [X Y Z] : " << target_point[0] << " [ m ] "<< target_point[1]<<" [ m ] "<<target_point[2]<<" [ m ] "<<endl;
404 |     cout << "Distance_to_target : " << distance_to_target <<" [ m ] "<<endl;
405 |     cout << "Flying_Time        : " << time_sec <<" [ s ] "<<endl;
406 |     cout << "Drop_Flag          : " << drop_flag <<endl;
407 | 
408 | }
409 | 


--------------------------------------------------------------------------------
/payload_drop/payload_drop.launch:
--------------------------------------------------------------------------------
1 | <launch>
2 | 	<node pkg="px4_command" type="payload_drop" name="payload_drop" output="screen">
3 | 
4 | 	<rosparam command="load" file="$(find px4_command)/config/payload_drop.yaml" />
5 | 
6 | 	</node>
7 | </launch>
8 | 


--------------------------------------------------------------------------------
/payload_drop/payload_drop.yaml:
--------------------------------------------------------------------------------
1 | ##payload_drop parameter
2 | fly_height: 1.0
3 | target_x: 0.0
4 | target_y: 1.0
5 | drop_height: 0.4
6 | limit_time: 10.0
7 | min_distance: 0.2
8 | 


--------------------------------------------------------------------------------
/pic/Piahawk输出通道.png:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/potato77/Amovlab_opensource/a4e1b672f4d10a39c676f291346c89ff10a19251/pic/Piahawk输出通道.png


--------------------------------------------------------------------------------
/pic/aux1.PNG:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/potato77/Amovlab_opensource/a4e1b672f4d10a39c676f291346c89ff10a19251/pic/aux1.PNG


--------------------------------------------------------------------------------
/pic/ch2-fig-donglimodel.PNG:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/potato77/Amovlab_opensource/a4e1b672f4d10a39c676f291346c89ff10a19251/pic/ch2-fig-donglimodel.PNG


--------------------------------------------------------------------------------
/pic/ch2-fig-mixer-x.PNG:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/potato77/Amovlab_opensource/a4e1b672f4d10a39c676f291346c89ff10a19251/pic/ch2-fig-mixer-x.PNG


--------------------------------------------------------------------------------
/pic/ch2-fig3.PNG:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/potato77/Amovlab_opensource/a4e1b672f4d10a39c676f291346c89ff10a19251/pic/ch2-fig3.PNG


--------------------------------------------------------------------------------
/pic/一阶系统单位阶跃响应曲线.jpg:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/potato77/Amovlab_opensource/a4e1b672f4d10a39c676f291346c89ff10a19251/pic/一阶系统单位阶跃响应曲线.jpg


--------------------------------------------------------------------------------
/pic/微信图片_20190616230532.jpg:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/potato77/Amovlab_opensource/a4e1b672f4d10a39c676f291346c89ff10a19251/pic/微信图片_20190616230532.jpg


--------------------------------------------------------------------------------
/pic/拟合误差.png:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/potato77/Amovlab_opensource/a4e1b672f4d10a39c676f291346c89ff10a19251/pic/拟合误差.png


--------------------------------------------------------------------------------
/pic/推力-油门曲线.png:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/potato77/Amovlab_opensource/a4e1b672f4d10a39c676f291346c89ff10a19251/pic/推力-油门曲线.png


--------------------------------------------------------------------------------
/pic/油门-稳态转速.png:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/potato77/Amovlab_opensource/a4e1b672f4d10a39c676f291346c89ff10a19251/pic/油门-稳态转速.png


--------------------------------------------------------------------------------
/pic/电机动态模型验证.png:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/potato77/Amovlab_opensource/a4e1b672f4d10a39c676f291346c89ff10a19251/pic/电机动态模型验证.png


--------------------------------------------------------------------------------
/pic/电机响应曲线1300_1600.png:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/potato77/Amovlab_opensource/a4e1b672f4d10a39c676f291346c89ff10a19251/pic/电机响应曲线1300_1600.png


--------------------------------------------------------------------------------
/pic/稳态转速-力矩曲线.png:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/potato77/Amovlab_opensource/a4e1b672f4d10a39c676f291346c89ff10a19251/pic/稳态转速-力矩曲线.png


--------------------------------------------------------------------------------
/pic/稳态转速-推力曲线.eps:
--------------------------------------------------------------------------------
   1 | %!PS-Adobe-3.0 EPSF-3.0
   2 | %%Creator: (MATLAB, The Mathworks, Inc. Version 9.5.0.944444 \(R2018b\). Operating System: Windows 10)
   3 | %%Title: (C:/Users/Qi/Desktop/???????/???? - 0625/steady/????-????.eps)
   4 | %%CreationDate: 2019-06-30T17:25:08
   5 | %%Pages: (atend)
   6 | %%BoundingBox: 0 0 420 315
   7 | %%LanguageLevel: 3
   8 | %%EndComments
   9 | %%BeginProlog
  10 | %%BeginResource: procset (Apache XML Graphics Std ProcSet) 1.2 0
  11 | %%Version: 1.2 0
  12 | %%Copyright: (Copyright 2001-2003,2010 The Apache Software Foundation. License terms: http://www.apache.org/licenses/LICENSE-2.0)
  13 | /bd{bind def}bind def
  14 | /ld{load def}bd
  15 | /GR/grestore ld
  16 | /GS/gsave ld
  17 | /RM/rmoveto ld
  18 | /C/curveto ld
  19 | /t/show ld
  20 | /L/lineto ld
  21 | /ML/setmiterlimit ld
  22 | /CT/concat ld
  23 | /f/fill ld
  24 | /N/newpath ld
  25 | /S/stroke ld
  26 | /CC/setcmykcolor ld
  27 | /A/ashow ld
  28 | /cp/closepath ld
  29 | /RC/setrgbcolor ld
  30 | /LJ/setlinejoin ld
  31 | /GC/setgray ld
  32 | /LW/setlinewidth ld
  33 | /M/moveto ld
  34 | /re {4 2 roll M
  35 | 1 index 0 rlineto
  36 | 0 exch rlineto
  37 | neg 0 rlineto
  38 | cp } bd
  39 | /_ctm matrix def
  40 | /_tm matrix def
  41 | /BT { _ctm currentmatrix pop matrix _tm copy pop 0 0 moveto } bd
  42 | /ET { _ctm setmatrix } bd
  43 | /iTm { _ctm setmatrix _tm concat } bd
  44 | /Tm { _tm astore pop iTm 0 0 moveto } bd
  45 | /ux 0.0 def
  46 | /uy 0.0 def
  47 | /F {
  48 |   /Tp exch def
  49 |   /Tf exch def
  50 |   Tf findfont Tp scalefont setfont
  51 |   /cf Tf def  /cs Tp def
  52 | } bd
  53 | /ULS {currentpoint /uy exch def /ux exch def} bd
  54 | /ULE {
  55 |   /Tcx currentpoint pop def
  56 |   gsave
  57 |   newpath
  58 |   cf findfont cs scalefont dup
  59 |   /FontMatrix get 0 get /Ts exch def /FontInfo get dup
  60 |   /UnderlinePosition get Ts mul /To exch def
  61 |   /UnderlineThickness get Ts mul /Tt exch def
  62 |   ux uy To add moveto  Tcx uy To add lineto
  63 |   Tt setlinewidth stroke
  64 |   grestore
  65 | } bd
  66 | /OLE {
  67 |   /Tcx currentpoint pop def
  68 |   gsave
  69 |   newpath
  70 |   cf findfont cs scalefont dup
  71 |   /FontMatrix get 0 get /Ts exch def /FontInfo get dup
  72 |   /UnderlinePosition get Ts mul /To exch def
  73 |   /UnderlineThickness get Ts mul /Tt exch def
  74 |   ux uy To add cs add moveto Tcx uy To add cs add lineto
  75 |   Tt setlinewidth stroke
  76 |   grestore
  77 | } bd
  78 | /SOE {
  79 |   /Tcx currentpoint pop def
  80 |   gsave
  81 |   newpath
  82 |   cf findfont cs scalefont dup
  83 |   /FontMatrix get 0 get /Ts exch def /FontInfo get dup
  84 |   /UnderlinePosition get Ts mul /To exch def
  85 |   /UnderlineThickness get Ts mul /Tt exch def
  86 |   ux uy To add cs 10 mul 26 idiv add moveto Tcx uy To add cs 10 mul 26 idiv add lineto
  87 |   Tt setlinewidth stroke
  88 |   grestore
  89 | } bd
  90 | /QT {
  91 | /Y22 exch store
  92 | /X22 exch store
  93 | /Y21 exch store
  94 | /X21 exch store
  95 | currentpoint
  96 | /Y21 load 2 mul add 3 div exch
  97 | /X21 load 2 mul add 3 div exch
  98 | /X21 load 2 mul /X22 load add 3 div
  99 | /Y21 load 2 mul /Y22 load add 3 div
 100 | /X22 load /Y22 load curveto
 101 | } bd
 102 | /SSPD {
 103 | dup length /d exch dict def
 104 | {
 105 | /v exch def
 106 | /k exch def
 107 | currentpagedevice k known {
 108 | /cpdv currentpagedevice k get def
 109 | v cpdv ne {
 110 | /upd false def
 111 | /nullv v type /nulltype eq def
 112 | /nullcpdv cpdv type /nulltype eq def
 113 | nullv nullcpdv or
 114 | {
 115 | /upd true def
 116 | } {
 117 | /sametype v type cpdv type eq def
 118 | sametype {
 119 | v type /arraytype eq {
 120 | /vlen v length def
 121 | /cpdvlen cpdv length def
 122 | vlen cpdvlen eq {
 123 | 0 1 vlen 1 sub {
 124 | /i exch def
 125 | /obj v i get def
 126 | /cpdobj cpdv i get def
 127 | obj cpdobj ne {
 128 | /upd true def
 129 | exit
 130 | } if
 131 | } for
 132 | } {
 133 | /upd true def
 134 | } ifelse
 135 | } {
 136 | v type /dicttype eq {
 137 | v {
 138 | /dv exch def
 139 | /dk exch def
 140 | /cpddv cpdv dk get def
 141 | dv cpddv ne {
 142 | /upd true def
 143 | exit
 144 | } if
 145 | } forall
 146 | } {
 147 | /upd true def
 148 | } ifelse
 149 | } ifelse
 150 | } if
 151 | } ifelse
 152 | upd true eq {
 153 | d k v put
 154 | } if
 155 | } if
 156 | } if
 157 | } forall
 158 | d length 0 gt {
 159 | d setpagedevice
 160 | } if
 161 | } bd
 162 | /RE { % /NewFontName [NewEncodingArray] /FontName RE -
 163 |   findfont dup length dict begin
 164 |   {
 165 |     1 index /FID ne
 166 |     {def} {pop pop} ifelse
 167 |   } forall
 168 |   /Encoding exch def
 169 |   /FontName 1 index def
 170 |   currentdict definefont pop
 171 |   end
 172 | } bind def
 173 | %%EndResource
 174 | %%BeginResource: procset (Apache XML Graphics EPS ProcSet) 1.0 0
 175 | %%Version: 1.0 0
 176 | %%Copyright: (Copyright 2002-2003 The Apache Software Foundation. License terms: http://www.apache.org/licenses/LICENSE-2.0)
 177 | /BeginEPSF { %def
 178 | /b4_Inc_state save def         % Save state for cleanup
 179 | /dict_count countdictstack def % Count objects on dict stack
 180 | /op_count count 1 sub def      % Count objects on operand stack
 181 | userdict begin                 % Push userdict on dict stack
 182 | /showpage { } def              % Redefine showpage, { } = null proc
 183 | 0 setgray 0 setlinecap         % Prepare graphics state
 184 | 1 setlinewidth 0 setlinejoin
 185 | 10 setmiterlimit [ ] 0 setdash newpath
 186 | /languagelevel where           % If level not equal to 1 then
 187 | {pop languagelevel             % set strokeadjust and
 188 | 1 ne                           % overprint to their defaults.
 189 | {false setstrokeadjust false setoverprint
 190 | } if
 191 | } if
 192 | } bd
 193 | /EndEPSF { %def
 194 | count op_count sub {pop} repeat            % Clean up stacks
 195 | countdictstack dict_count sub {end} repeat
 196 | b4_Inc_state restore
 197 | } bd
 198 | %%EndResource
 199 | %FOPBeginFontDict
 200 | %%IncludeResource: font Courier-Oblique
 201 | %%IncludeResource: font Courier-BoldOblique
 202 | %%IncludeResource: font Courier-Bold
 203 | %%IncludeResource: font ZapfDingbats
 204 | %%IncludeResource: font Symbol
 205 | %%IncludeResource: font Helvetica
 206 | %%IncludeResource: font Helvetica-Oblique
 207 | %%IncludeResource: font Helvetica-Bold
 208 | %%IncludeResource: font Helvetica-BoldOblique
 209 | %%IncludeResource: font Times-Roman
 210 | %%IncludeResource: font Times-Italic
 211 | %%IncludeResource: font Times-Bold
 212 | %%IncludeResource: font Times-BoldItalic
 213 | %%IncludeResource: font Courier
 214 | %FOPEndFontDict
 215 | %%BeginResource: encoding WinAnsiEncoding
 216 | /WinAnsiEncoding [
 217 | /.notdef /.notdef /.notdef /.notdef /.notdef
 218 | /.notdef /.notdef /.notdef /.notdef /.notdef
 219 | /.notdef /.notdef /.notdef /.notdef /.notdef
 220 | /.notdef /.notdef /.notdef /.notdef /.notdef
 221 | /.notdef /.notdef /.notdef /.notdef /.notdef
 222 | /.notdef /.notdef /.notdef /.notdef /.notdef
 223 | /.notdef /.notdef /space /exclam /quotedbl
 224 | /numbersign /dollar /percent /ampersand /quotesingle
 225 | /parenleft /parenright /asterisk /plus /comma
 226 | /hyphen /period /slash /zero /one
 227 | /two /three /four /five /six
 228 | /seven /eight /nine /colon /semicolon
 229 | /less /equal /greater /question /at
 230 | /A /B /C /D /E
 231 | /F /G /H /I /J
 232 | /K /L /M /N /O
 233 | /P /Q /R /S /T
 234 | /U /V /W /X /Y
 235 | /Z /bracketleft /backslash /bracketright /asciicircum
 236 | /underscore /quoteleft /a /b /c
 237 | /d /e /f /g /h
 238 | /i /j /k /l /m
 239 | /n /o /p /q /r
 240 | /s /t /u /v /w
 241 | /x /y /z /braceleft /bar
 242 | /braceright /asciitilde /bullet /Euro /bullet
 243 | /quotesinglbase /florin /quotedblbase /ellipsis /dagger
 244 | /daggerdbl /circumflex /perthousand /Scaron /guilsinglleft
 245 | /OE /bullet /Zcaron /bullet /bullet
 246 | /quoteleft /quoteright /quotedblleft /quotedblright /bullet
 247 | /endash /emdash /asciitilde /trademark /scaron
 248 | /guilsinglright /oe /bullet /zcaron /Ydieresis
 249 | /space /exclamdown /cent /sterling /currency
 250 | /yen /brokenbar /section /dieresis /copyright
 251 | /ordfeminine /guillemotleft /logicalnot /sfthyphen /registered
 252 | /macron /degree /plusminus /twosuperior /threesuperior
 253 | /acute /mu /paragraph /middot /cedilla
 254 | /onesuperior /ordmasculine /guillemotright /onequarter /onehalf
 255 | /threequarters /questiondown /Agrave /Aacute /Acircumflex
 256 | /Atilde /Adieresis /Aring /AE /Ccedilla
 257 | /Egrave /Eacute /Ecircumflex /Edieresis /Igrave
 258 | /Iacute /Icircumflex /Idieresis /Eth /Ntilde
 259 | /Ograve /Oacute /Ocircumflex /Otilde /Odieresis
 260 | /multiply /Oslash /Ugrave /Uacute /Ucircumflex
 261 | /Udieresis /Yacute /Thorn /germandbls /agrave
 262 | /aacute /acircumflex /atilde /adieresis /aring
 263 | /ae /ccedilla /egrave /eacute /ecircumflex
 264 | /edieresis /igrave /iacute /icircumflex /idieresis
 265 | /eth /ntilde /ograve /oacute /ocircumflex
 266 | /otilde /odieresis /divide /oslash /ugrave
 267 | /uacute /ucircumflex /udieresis /yacute /thorn
 268 | /ydieresis
 269 | ] def
 270 | %%EndResource
 271 | %FOPBeginFontReencode
 272 | /Courier-Oblique findfont
 273 | dup length dict begin
 274 |   {1 index /FID ne {def} {pop pop} ifelse} forall
 275 |   /Encoding WinAnsiEncoding def
 276 |   currentdict
 277 | end
 278 | /Courier-Oblique exch definefont pop
 279 | /Courier-BoldOblique findfont
 280 | dup length dict begin
 281 |   {1 index /FID ne {def} {pop pop} ifelse} forall
 282 |   /Encoding WinAnsiEncoding def
 283 |   currentdict
 284 | end
 285 | /Courier-BoldOblique exch definefont pop
 286 | /Courier-Bold findfont
 287 | dup length dict begin
 288 |   {1 index /FID ne {def} {pop pop} ifelse} forall
 289 |   /Encoding WinAnsiEncoding def
 290 |   currentdict
 291 | end
 292 | /Courier-Bold exch definefont pop
 293 | /Helvetica findfont
 294 | dup length dict begin
 295 |   {1 index /FID ne {def} {pop pop} ifelse} forall
 296 |   /Encoding WinAnsiEncoding def
 297 |   currentdict
 298 | end
 299 | /Helvetica exch definefont pop
 300 | /Helvetica-Oblique findfont
 301 | dup length dict begin
 302 |   {1 index /FID ne {def} {pop pop} ifelse} forall
 303 |   /Encoding WinAnsiEncoding def
 304 |   currentdict
 305 | end
 306 | /Helvetica-Oblique exch definefont pop
 307 | /Helvetica-Bold findfont
 308 | dup length dict begin
 309 |   {1 index /FID ne {def} {pop pop} ifelse} forall
 310 |   /Encoding WinAnsiEncoding def
 311 |   currentdict
 312 | end
 313 | /Helvetica-Bold exch definefont pop
 314 | /Helvetica-BoldOblique findfont
 315 | dup length dict begin
 316 |   {1 index /FID ne {def} {pop pop} ifelse} forall
 317 |   /Encoding WinAnsiEncoding def
 318 |   currentdict
 319 | end
 320 | /Helvetica-BoldOblique exch definefont pop
 321 | /Times-Roman findfont
 322 | dup length dict begin
 323 |   {1 index /FID ne {def} {pop pop} ifelse} forall
 324 |   /Encoding WinAnsiEncoding def
 325 |   currentdict
 326 | end
 327 | /Times-Roman exch definefont pop
 328 | /Times-Italic findfont
 329 | dup length dict begin
 330 |   {1 index /FID ne {def} {pop pop} ifelse} forall
 331 |   /Encoding WinAnsiEncoding def
 332 |   currentdict
 333 | end
 334 | /Times-Italic exch definefont pop
 335 | /Times-Bold findfont
 336 | dup length dict begin
 337 |   {1 index /FID ne {def} {pop pop} ifelse} forall
 338 |   /Encoding WinAnsiEncoding def
 339 |   currentdict
 340 | end
 341 | /Times-Bold exch definefont pop
 342 | /Times-BoldItalic findfont
 343 | dup length dict begin
 344 |   {1 index /FID ne {def} {pop pop} ifelse} forall
 345 |   /Encoding WinAnsiEncoding def
 346 |   currentdict
 347 | end
 348 | /Times-BoldItalic exch definefont pop
 349 | /Courier findfont
 350 | dup length dict begin
 351 |   {1 index /FID ne {def} {pop pop} ifelse} forall
 352 |   /Encoding WinAnsiEncoding def
 353 |   currentdict
 354 | end
 355 | /Courier exch definefont pop
 356 | %FOPEndFontReencode
 357 | %%EndProlog
 358 | %%Page: 1 1
 359 | %%PageBoundingBox: 0 0 420 315
 360 | %%BeginPageSetup
 361 | [1 0 0 -1 0 315] CT
 362 | %%EndPageSetup
 363 | GS
 364 | [0.75 0 0 0.75 0 0] CT
 365 | 1 GC
 366 | N
 367 | 0 0 560 420 re
 368 | f
 369 | GR
 370 | GS
 371 | [0.75 0 0 0.75 0 0] CT
 372 | 1 GC
 373 | N
 374 | 0 0 560 420 re
 375 | f
 376 | GR
 377 | GS
 378 | [0.75 0 0 0.75 0 0] CT
 379 | 1 GC
 380 | N
 381 | 73 374 M
 382 | 507 374 L
 383 | 507 31 L
 384 | 73 31 L
 385 | cp
 386 | f
 387 | GR
 388 | GS
 389 | [0.75 0 0 0.75 0 0] CT
 390 | 0.149 GC
 391 | 2 setlinecap
 392 | 1 LJ
 393 | 0.667 LW
 394 | N
 395 | 73 374 M
 396 | 507 374 L
 397 | S
 398 | GR
 399 | GS
 400 | [0.75 0 0 0.75 0 0] CT
 401 | 0.149 GC
 402 | 2 setlinecap
 403 | 1 LJ
 404 | 0.667 LW
 405 | N
 406 | 73 31 M
 407 | 507 31 L
 408 | S
 409 | GR
 410 | GS
 411 | [0.75 0 0 0.75 0 0] CT
 412 | 0.149 GC
 413 | 2 setlinecap
 414 | 1 LJ
 415 | 0.667 LW
 416 | N
 417 | 73 374 M
 418 | 73 369.66 L
 419 | S
 420 | GR
 421 | GS
 422 | [0.75 0 0 0.75 0 0] CT
 423 | 0.149 GC
 424 | 2 setlinecap
 425 | 1 LJ
 426 | 0.667 LW
 427 | N
 428 | 116.4 374 M
 429 | 116.4 369.66 L
 430 | S
 431 | GR
 432 | GS
 433 | [0.75 0 0 0.75 0 0] CT
 434 | 0.149 GC
 435 | 2 setlinecap
 436 | 1 LJ
 437 | 0.667 LW
 438 | N
 439 | 159.8 374 M
 440 | 159.8 369.66 L
 441 | S
 442 | GR
 443 | GS
 444 | [0.75 0 0 0.75 0 0] CT
 445 | 0.149 GC
 446 | 2 setlinecap
 447 | 1 LJ
 448 | 0.667 LW
 449 | N
 450 | 203.2 374 M
 451 | 203.2 369.66 L
 452 | S
 453 | GR
 454 | GS
 455 | [0.75 0 0 0.75 0 0] CT
 456 | 0.149 GC
 457 | 2 setlinecap
 458 | 1 LJ
 459 | 0.667 LW
 460 | N
 461 | 246.6 374 M
 462 | 246.6 369.66 L
 463 | S
 464 | GR
 465 | GS
 466 | [0.75 0 0 0.75 0 0] CT
 467 | 0.149 GC
 468 | 2 setlinecap
 469 | 1 LJ
 470 | 0.667 LW
 471 | N
 472 | 290 374 M
 473 | 290 369.66 L
 474 | S
 475 | GR
 476 | GS
 477 | [0.75 0 0 0.75 0 0] CT
 478 | 0.149 GC
 479 | 2 setlinecap
 480 | 1 LJ
 481 | 0.667 LW
 482 | N
 483 | 333.4 374 M
 484 | 333.4 369.66 L
 485 | S
 486 | GR
 487 | GS
 488 | [0.75 0 0 0.75 0 0] CT
 489 | 0.149 GC
 490 | 2 setlinecap
 491 | 1 LJ
 492 | 0.667 LW
 493 | N
 494 | 376.8 374 M
 495 | 376.8 369.66 L
 496 | S
 497 | GR
 498 | GS
 499 | [0.75 0 0 0.75 0 0] CT
 500 | 0.149 GC
 501 | 2 setlinecap
 502 | 1 LJ
 503 | 0.667 LW
 504 | N
 505 | 420.2 374 M
 506 | 420.2 369.66 L
 507 | S
 508 | GR
 509 | GS
 510 | [0.75 0 0 0.75 0 0] CT
 511 | 0.149 GC
 512 | 2 setlinecap
 513 | 1 LJ
 514 | 0.667 LW
 515 | N
 516 | 463.6 374 M
 517 | 463.6 369.66 L
 518 | S
 519 | GR
 520 | GS
 521 | [0.75 0 0 0.75 0 0] CT
 522 | 0.149 GC
 523 | 2 setlinecap
 524 | 1 LJ
 525 | 0.667 LW
 526 | N
 527 | 507 374 M
 528 | 507 369.66 L
 529 | S
 530 | GR
 531 | GS
 532 | [0.75 0 0 0.75 0 0] CT
 533 | 0.149 GC
 534 | 2 setlinecap
 535 | 1 LJ
 536 | 0.667 LW
 537 | N
 538 | 73 31 M
 539 | 73 35.34 L
 540 | S
 541 | GR
 542 | GS
 543 | [0.75 0 0 0.75 0 0] CT
 544 | 0.149 GC
 545 | 2 setlinecap
 546 | 1 LJ
 547 | 0.667 LW
 548 | N
 549 | 116.4 31 M
 550 | 116.4 35.34 L
 551 | S
 552 | GR
 553 | GS
 554 | [0.75 0 0 0.75 0 0] CT
 555 | 0.149 GC
 556 | 2 setlinecap
 557 | 1 LJ
 558 | 0.667 LW
 559 | N
 560 | 159.8 31 M
 561 | 159.8 35.34 L
 562 | S
 563 | GR
 564 | GS
 565 | [0.75 0 0 0.75 0 0] CT
 566 | 0.149 GC
 567 | 2 setlinecap
 568 | 1 LJ
 569 | 0.667 LW
 570 | N
 571 | 203.2 31 M
 572 | 203.2 35.34 L
 573 | S
 574 | GR
 575 | GS
 576 | [0.75 0 0 0.75 0 0] CT
 577 | 0.149 GC
 578 | 2 setlinecap
 579 | 1 LJ
 580 | 0.667 LW
 581 | N
 582 | 246.6 31 M
 583 | 246.6 35.34 L
 584 | S
 585 | GR
 586 | GS
 587 | [0.75 0 0 0.75 0 0] CT
 588 | 0.149 GC
 589 | 2 setlinecap
 590 | 1 LJ
 591 | 0.667 LW
 592 | N
 593 | 290 31 M
 594 | 290 35.34 L
 595 | S
 596 | GR
 597 | GS
 598 | [0.75 0 0 0.75 0 0] CT
 599 | 0.149 GC
 600 | 2 setlinecap
 601 | 1 LJ
 602 | 0.667 LW
 603 | N
 604 | 333.4 31 M
 605 | 333.4 35.34 L
 606 | S
 607 | GR
 608 | GS
 609 | [0.75 0 0 0.75 0 0] CT
 610 | 0.149 GC
 611 | 2 setlinecap
 612 | 1 LJ
 613 | 0.667 LW
 614 | N
 615 | 376.8 31 M
 616 | 376.8 35.34 L
 617 | S
 618 | GR
 619 | GS
 620 | [0.75 0 0 0.75 0 0] CT
 621 | 0.149 GC
 622 | 2 setlinecap
 623 | 1 LJ
 624 | 0.667 LW
 625 | N
 626 | 420.2 31 M
 627 | 420.2 35.34 L
 628 | S
 629 | GR
 630 | GS
 631 | [0.75 0 0 0.75 0 0] CT
 632 | 0.149 GC
 633 | 2 setlinecap
 634 | 1 LJ
 635 | 0.667 LW
 636 | N
 637 | 463.6 31 M
 638 | 463.6 35.34 L
 639 | S
 640 | GR
 641 | GS
 642 | [0.75 0 0 0.75 0 0] CT
 643 | 0.149 GC
 644 | 2 setlinecap
 645 | 1 LJ
 646 | 0.667 LW
 647 | N
 648 | 507 31 M
 649 | 507 35.34 L
 650 | S
 651 | GR
 652 | GS
 653 | [0.75 0 0 0.75 54.75 284.50001] CT
 654 | 0.149 GC
 655 | /Helvetica 13.333 F
 656 | GS
 657 | [1 0 0 1 0 0] CT
 658 | -4 14 moveto 
 659 | 1 -1 scale
 660 | (0) t 
 661 | GR
 662 | GR
 663 | GS
 664 | [0.75 0 0 0.75 87.3 284.50001] CT
 665 | 0.149 GC
 666 | /Helvetica 13.333 F
 667 | GS
 668 | [1 0 0 1 0 0] CT
 669 | -15 14 moveto 
 670 | 1 -1 scale
 671 | (1000) t 
 672 | GR
 673 | GR
 674 | GS
 675 | [0.75 0 0 0.75 119.85 284.50001] CT
 676 | 0.149 GC
 677 | /Helvetica 13.333 F
 678 | GS
 679 | [1 0 0 1 0 0] CT
 680 | -15 14 moveto 
 681 | 1 -1 scale
 682 | (2000) t 
 683 | GR
 684 | GR
 685 | GS
 686 | [0.75 0 0 0.75 152.4 284.50001] CT
 687 | 0.149 GC
 688 | /Helvetica 13.333 F
 689 | GS
 690 | [1 0 0 1 0 0] CT
 691 | -15 14 moveto 
 692 | 1 -1 scale
 693 | (3000) t 
 694 | GR
 695 | GR
 696 | GS
 697 | [0.75 0 0 0.75 184.95 284.50001] CT
 698 | 0.149 GC
 699 | /Helvetica 13.333 F
 700 | GS
 701 | [1 0 0 1 0 0] CT
 702 | -15 14 moveto 
 703 | 1 -1 scale
 704 | (4000) t 
 705 | GR
 706 | GR
 707 | GS
 708 | [0.75 0 0 0.75 217.5 284.50001] CT
 709 | 0.149 GC
 710 | /Helvetica 13.333 F
 711 | GS
 712 | [1 0 0 1 0 0] CT
 713 | -15 14 moveto 
 714 | 1 -1 scale
 715 | (5000) t 
 716 | GR
 717 | GR
 718 | GS
 719 | [0.75 0 0 0.75 250.05 284.50001] CT
 720 | 0.149 GC
 721 | /Helvetica 13.333 F
 722 | GS
 723 | [1 0 0 1 0 0] CT
 724 | -15 14 moveto 
 725 | 1 -1 scale
 726 | (6000) t 
 727 | GR
 728 | GR
 729 | GS
 730 | [0.75 0 0 0.75 282.59999 284.50001] CT
 731 | 0.149 GC
 732 | /Helvetica 13.333 F
 733 | GS
 734 | [1 0 0 1 0 0] CT
 735 | -15 14 moveto 
 736 | 1 -1 scale
 737 | (7000) t 
 738 | GR
 739 | GR
 740 | GS
 741 | [0.75 0 0 0.75 315.15001 284.50001] CT
 742 | 0.149 GC
 743 | /Helvetica 13.333 F
 744 | GS
 745 | [1 0 0 1 0 0] CT
 746 | -15 14 moveto 
 747 | 1 -1 scale
 748 | (8000) t 
 749 | GR
 750 | GR
 751 | GS
 752 | [0.75 0 0 0.75 347.7 284.50001] CT
 753 | 0.149 GC
 754 | /Helvetica 13.333 F
 755 | GS
 756 | [1 0 0 1 0 0] CT
 757 | -15 14 moveto 
 758 | 1 -1 scale
 759 | (9000) t 
 760 | GR
 761 | GR
 762 | GS
 763 | [0.75 0 0 0.75 380.25 284.50001] CT
 764 | 0.149 GC
 765 | /Helvetica 13.333 F
 766 | GS
 767 | [1 0 0 1 0 0] CT
 768 | -19 14 moveto 
 769 | 1 -1 scale
 770 | (10000) t 
 771 | GR
 772 | GR
 773 | GS
 774 | [0.75 0 0 0.75 217.50016 298.24999] CT
 775 | 0.149 GC
 776 | N
 777 | -52 4.625 M
 778 | -50.828 4.391 -49.602 4.039 QT
 779 | -48.375 3.688 -47.609 3.109 QT
 780 | -46.734 4.047 L
 781 | -47.438 4.094 -48.719 4.391 QT
 782 | -48.719 7.141 L
 783 | -48.25 7.141 L
 784 | -47.547 6.438 L
 785 | -46.547 7.5 L
 786 | -48.719 7.5 L
 787 | -48.719 8.672 L
 788 | -47.953 9.016 -47.43 9.461 QT
 789 | -46.906 9.906 -46.906 10.313 QT
 790 | -46.906 10.609 -47.055 10.93 QT
 791 | -47.203 11.25 -47.313 11.25 QT
 792 | -47.484 11.25 -47.719 10.656 QT
 793 | -48.078 9.719 -48.719 9.016 QT
 794 | -48.719 14.828 -48.656 16.063 QT
 795 | -49.547 16.531 L
 796 | -49.484 14.406 -49.484 9.781 QT
 797 | -50.484 12.063 -52.172 13.766 QT
 798 | -52.359 13.656 L
 799 | -51.234 12.063 -50.563 10.484 QT
 800 | -49.891 8.906 -49.547 7.5 QT
 801 | -50.297 7.5 L
 802 | -51.063 7.5 -51.703 7.672 QT
 803 | -52.234 7.141 L
 804 | -49.484 7.141 L
 805 | -49.484 4.516 L
 806 | -50.766 4.688 -51.938 4.859 QT
 807 | -52 4.625 L
 808 | cp
 809 | -43.266 7.094 M
 810 | -42.156 5.031 L
 811 | -44.672 5.031 L
 812 | -45.563 6.094 -46.5 6.859 QT
 813 | -46.672 6.734 L
 814 | -46.031 5.969 -45.383 4.891 QT
 815 | -44.734 3.813 -44.438 2.875 QT
 816 | -43.328 3.578 L
 817 | -43.859 3.75 -44.5 4.688 QT
 818 | -42.219 4.688 L
 819 | -41.688 4.094 L
 820 | -40.75 4.984 L
 821 | -41.281 5.156 -41.688 5.563 QT
 822 | -42.094 5.969 -42.922 7.094 QT
 823 | -40.75 7.094 L
 824 | -40.344 6.5 L
 825 | -39.406 7.203 L
 826 | -39.875 7.609 L
 827 | -39.875 10.609 -39.813 11.313 QT
 828 | -40.641 11.656 L
 829 | -40.641 10.891 L
 830 | -44.563 10.891 L
 831 | -45.328 10.891 -45.969 11.078 QT
 832 | -46.5 10.547 L
 833 | -40.641 10.547 L
 834 | -40.641 9.203 L
 835 | -43.969 9.203 L
 836 | -44.734 9.203 -45.375 9.375 QT
 837 | -45.906 8.844 L
 838 | -40.641 8.844 L
 839 | -40.641 7.438 L
 840 | -44.563 7.438 L
 841 | -45.328 7.438 -45.969 7.609 QT
 842 | -46.5 7.094 L
 843 | -43.266 7.094 L
 844 | cp
 845 | -46.438 12.766 M
 846 | -46.375 14.063 -46.492 14.594 QT
 847 | -46.609 15.125 -46.875 15.18 QT
 848 | -47.141 15.234 -47.313 15.234 QT
 849 | -47.547 15.234 -47.664 15.18 QT
 850 | -47.781 15.125 -47.781 15 QT
 851 | -47.781 14.828 -47.438 14.469 QT
 852 | -46.969 14 -46.672 12.766 QT
 853 | -46.438 12.766 L
 854 | cp
 855 | -44.031 11.25 M
 856 | -42.797 12.016 -42.625 12.305 QT
 857 | -42.453 12.594 -42.453 12.719 QT
 858 | -42.453 12.953 -42.656 13.242 QT
 859 | -42.859 13.531 -42.922 13.531 QT
 860 | -43.094 13.531 -43.219 13.063 QT
 861 | -43.453 12.359 -44.156 11.359 QT
 862 | -44.031 11.25 L
 863 | cp
 864 | -45.375 12.25 M
 865 | -44.156 12.766 L
 866 | -44.563 13.125 L
 867 | -44.563 14.531 L
 868 | -44.563 15.297 -43.688 15.234 QT
 869 | -42.047 15.234 L
 870 | -41.516 15.125 -41.43 14.477 QT
 871 | -41.344 13.828 -41.281 13.188 QT
 872 | -41.047 13.188 L
 873 | -41.047 13.938 -40.961 14.469 QT
 874 | -40.875 15 -40.406 15.125 QT
 875 | -40.75 16 -41.813 15.875 QT
 876 | -44.328 15.875 L
 877 | -45.328 15.828 -45.328 14.875 QT
 878 | -45.328 13.422 -45.375 12.25 QT
 879 | cp
 880 | -40.641 12.656 M
 881 | -39.813 13.063 -39.313 13.5 QT
 882 | -38.813 13.938 -38.813 14.359 QT
 883 | -38.813 14.594 -39.023 14.914 QT
 884 | -39.234 15.234 -39.281 15.234 QT
 885 | -39.406 15.234 -39.516 14.938 QT
 886 | -39.703 14.469 -39.938 14 QT
 887 | -40.172 13.531 -40.75 12.766 QT
 888 | -40.641 12.656 L
 889 | cp
 890 | -31.648 2.75 M
 891 | -30.133 3.453 L
 892 | -30.711 3.75 L
 893 | -30.836 4.516 -31.008 5.563 QT
 894 | -26.492 5.563 L
 895 | -25.617 4.688 L
 896 | -24.383 5.922 L
 897 | -30.477 5.922 L
 898 | -29.258 8.078 -27.438 9.016 QT
 899 | -25.617 9.953 -24.102 10.078 QT
 900 | -24.102 10.313 L
 901 | -25.211 10.484 -25.32 11.078 QT
 902 | -27.727 10.188 -28.984 8.758 QT
 903 | -30.242 7.328 -30.773 5.922 QT
 904 | -31.07 5.922 L
 905 | -31.648 7.672 -32.477 8.734 QT
 906 | -31.414 9.141 -30.742 9.547 QT
 907 | -30.07 9.953 -30.07 10.398 QT
 908 | -30.07 10.844 -30.219 11.016 QT
 909 | -30.367 11.188 -30.43 11.188 QT
 910 | -30.664 11.188 -31.008 10.609 QT
 911 | -31.539 9.781 -32.648 8.969 QT
 912 | -34.461 10.609 -37.633 11.359 QT
 913 | -37.742 11.125 L
 914 | -35.461 10.484 -34 9.227 QT
 915 | -32.539 7.969 -31.945 5.922 QT
 916 | -35.461 5.922 L
 917 | -36.227 5.922 -36.867 6.094 QT
 918 | -37.398 5.563 L
 919 | -31.883 5.563 L
 920 | -31.648 3.859 -31.648 2.75 QT
 921 | cp
 922 | -35.227 12.063 M
 923 | -35.227 13.125 -35.43 13.914 QT
 924 | -35.633 14.703 -35.961 14.852 QT
 925 | -36.289 15 -36.523 15 QT
 926 | -36.805 15 -37.016 14.914 QT
 927 | -37.227 14.828 -37.227 14.703 QT
 928 | -37.227 14.531 -36.758 14.125 QT
 929 | -36.055 13.594 -35.461 12.016 QT
 930 | -35.227 12.063 L
 931 | cp
 932 | -32.242 11.25 M
 933 | -32.117 11.078 L
 934 | -31.008 11.547 -30.453 11.922 QT
 935 | -29.898 12.297 -29.93 12.711 QT
 936 | -29.961 13.125 -30.164 13.359 QT
 937 | -30.367 13.594 -30.43 13.594 QT
 938 | -30.664 13.594 -30.836 13.063 QT
 939 | -31.133 12.359 -32.242 11.25 QT
 940 | cp
 941 | -27.492 11.953 M
 942 | -27.32 11.828 L
 943 | -25.914 12.594 -25.383 13.094 QT
 944 | -24.852 13.594 -24.945 14.063 QT
 945 | -25.039 14.531 -25.242 14.703 QT
 946 | -25.445 14.875 -25.508 14.875 QT
 947 | -25.742 14.875 -25.977 14.172 QT
 948 | -26.32 13.234 -27.492 11.953 QT
 949 | cp
 950 | -33.883 14.875 M
 951 | -33.883 12.484 -33.945 11.188 QT
 952 | -32.586 11.891 L
 953 | -33.055 12.297 L
 954 | -33.055 14.594 L
 955 | -33.18 15.359 -32.352 15.297 QT
 956 | -29.258 15.297 L
 957 | -28.555 15.297 -28.438 14.711 QT
 958 | -28.32 14.125 -28.32 12.891 QT
 959 | -28.023 12.891 L
 960 | -27.961 13.938 -27.844 14.531 QT
 961 | -27.727 15.125 -27.148 15.234 QT
 962 | -27.617 16.063 -28.789 16 QT
 963 | -32.305 16 L
 964 | -33.945 16.109 -33.883 14.875 QT
 965 | cp
 966 | -19.922 16.469 M
 967 | -19.859 14.297 -19.859 12.531 QT
 968 | -22.141 13.359 -22.375 13.703 QT
 969 | -23.031 12.656 L
 970 | -21.266 12.297 -19.859 11.953 QT
 971 | -19.859 9.438 L
 972 | -21.328 9.438 L
 973 | -21.859 9.906 L
 974 | -22.5 9.016 L
 975 | -22.141 8.844 -21.82 8.055 QT
 976 | -21.5 7.266 -21.094 5.625 QT
 977 | -21.797 5.625 -22.438 5.797 QT
 978 | -22.969 5.266 L
 979 | -20.969 5.266 L
 980 | -20.688 4.047 -20.453 2.688 QT
 981 | -19.281 3.281 L
 982 | -19.563 3.453 -19.742 3.867 QT
 983 | -19.922 4.281 -20.156 5.266 QT
 984 | -18.625 5.266 L
 985 | -17.922 4.563 L
 986 | -16.984 5.625 L
 987 | -20.266 5.625 L
 988 | -21.328 9.078 L
 989 | -19.859 9.078 L
 990 | -19.859 7.969 -19.922 6.625 QT
 991 | -18.578 7.203 L
 992 | -19.094 7.609 L
 993 | -19.094 9.078 L
 994 | -18.344 9.078 L
 995 | -17.688 8.375 L
 996 | -16.75 9.438 L
 997 | -19.094 9.438 L
 998 | -19.094 11.781 L
 999 | -16.516 11.188 L
1000 | -16.469 11.359 L
1001 | -19.094 12.297 L
1002 | -19.094 14.875 -19.047 16.109 QT
1003 | -19.922 16.469 L
1004 | cp
1005 | -12.531 3.391 M
1006 | -13.125 3.813 L
1007 | -13.531 5.563 L
1008 | -11.656 5.563 L
1009 | -10.891 4.797 L
1010 | -9.844 5.922 L
1011 | -13.594 5.922 L
1012 | -14.234 8.375 L
1013 | -11.188 8.375 L
1014 | -10.375 7.609 L
1015 | -9.313 8.734 L
1016 | -14.297 8.734 L
1017 | -14.938 10.719 L
1018 | -11.953 10.719 L
1019 | -11.484 10.188 L
1020 | -10.422 11.25 L
1021 | -11.188 11.422 -11.891 12.328 QT
1022 | -12.594 13.234 -13.234 14.172 QT
1023 | -11.828 14.828 -11.711 15.234 QT
1024 | -11.594 15.641 -11.711 16.023 QT
1025 | -11.828 16.406 -11.953 16.406 QT
1026 | -12.125 16.406 -12.359 16.109 QT
1027 | -12.891 15.531 -13.797 14.828 QT
1028 | -14.703 14.125 -16.047 13.297 QT
1029 | -15.938 13.125 L
1030 | -15 13.469 -13.594 14.063 QT
1031 | -11.953 11.078 L
1032 | -14.875 11.078 L
1033 | -15.344 11.594 L
1034 | -16.109 10.781 L
1035 | -15.875 10.719 -15.609 10.133 QT
1036 | -15.344 9.547 -15.109 8.734 QT
1037 | -15.297 8.734 L
1038 | -16.047 8.734 -16.703 8.906 QT
1039 | -17.219 8.375 L
1040 | -15 8.375 L
1041 | -14.406 5.922 L
1042 | -14.875 5.922 L
1043 | -15.641 5.922 -16.281 6.094 QT
1044 | -16.813 5.563 L
1045 | -14.359 5.563 L
1046 | -13.938 3.922 -13.766 2.641 QT
1047 | -12.531 3.391 L
1048 | cp
1049 | -2.445 7.328 M
1050 | -2.445 9.375 L
1051 | -0.336 9.375 L
1052 | -0.336 7.328 L
1053 | -2.445 7.328 L
1054 | cp
1055 | 0.43 7.328 M
1056 | 0.43 9.375 L
1057 | 2.602 9.375 L
1058 | 2.602 7.328 L
1059 | 0.43 7.328 L
1060 | cp
1061 | 0.43 11.078 M
1062 | 0.43 13.125 0.492 14.594 QT
1063 | -0.445 14.938 L
1064 | -0.336 13.188 -0.336 10.609 QT
1065 | -2.086 12.766 -4.32 13.938 QT
1066 | -4.43 13.766 L
1067 | -1.805 11.781 -0.68 9.719 QT
1068 | -2.445 9.719 L
1069 | -2.445 10.25 L
1070 | -3.211 10.547 L
1071 | -3.211 6.563 L
1072 | -2.445 6.969 L
1073 | -0.336 6.969 L
1074 | -0.336 5.328 L
1075 | -2.68 5.328 L
1076 | -3.445 5.328 -4.086 5.5 QT
1077 | -4.617 4.984 L
1078 | -0.336 4.984 L
1079 | -0.336 4.094 -0.398 2.875 QT
1080 | 0.961 3.391 L
1081 | 0.43 3.813 L
1082 | 0.43 4.984 L
1083 | 3.07 4.984 L
1084 | 3.82 4.328 L
1085 | 4.82 5.328 L
1086 | 0.43 5.328 L
1087 | 0.43 6.969 L
1088 | 2.477 6.969 L
1089 | 2.883 6.391 L
1090 | 3.883 7.031 L
1091 | 3.352 7.438 L
1092 | 3.352 8.969 3.414 10.078 QT
1093 | 2.602 10.375 L
1094 | 2.602 9.719 L
1095 | 0.43 9.719 L
1096 | 0.43 10.781 L
1097 | 2.367 11.359 3.242 11.828 QT
1098 | 4.117 12.297 4.148 12.828 QT
1099 | 4.18 13.359 3.977 13.594 QT
1100 | 3.773 13.828 3.07 12.953 QT
1101 | 2.367 12.063 0.43 11.078 QT
1102 | cp
1103 | -7.43 3.813 M
1104 | -7.242 3.688 L
1105 | -6.367 4.156 -5.844 4.594 QT
1106 | -5.32 5.031 -5.344 5.383 QT
1107 | -5.367 5.734 -5.602 6 QT
1108 | -5.836 6.266 -5.961 6.266 QT
1109 | -6.195 6.266 -6.367 5.625 QT
1110 | -6.664 4.75 -7.43 3.813 QT
1111 | cp
1112 | -5.258 13.422 M
1113 | -4.617 14.063 -3.648 14.648 QT
1114 | -2.68 15.234 -0.188 15.266 QT
1115 | 2.305 15.297 5.414 14.938 QT
1116 | 5.414 15.172 L
1117 | 4.289 15.531 4.242 16.109 QT
1118 | 1.539 16.172 -0.188 16.117 QT
1119 | -1.914 16.063 -3.031 15.594 QT
1120 | -4.148 15.125 -4.727 14.406 QT
1121 | -5.367 13.766 -5.664 13.766 QT
1122 | -5.961 13.766 -6.602 14.445 QT
1123 | -7.242 15.125 -7.539 15.641 QT
1124 | -8.367 14.875 L
1125 | -7.43 14.063 -6.023 13.359 QT
1126 | -6.023 8.734 L
1127 | -6.539 8.734 L
1128 | -7.305 8.734 -7.945 8.906 QT
1129 | -8.477 8.375 L
1130 | -6.133 8.375 L
1131 | -5.727 7.797 L
1132 | -4.727 8.5 L
1133 | -5.258 8.906 L
1134 | -5.258 13.422 L
1135 | cp
1136 | 13.244 18.156 M
1137 | 12.15 16.781 11.392 14.938 QT
1138 | 10.634 13.094 10.634 11.109 QT
1139 | 10.634 9.375 11.197 7.766 QT
1140 | 11.853 5.922 13.244 4.078 QT
1141 | 14.181 4.078 L
1142 | 13.291 5.609 13.009 6.25 QT
1143 | 12.556 7.266 12.306 8.359 QT
1144 | 11.994 9.734 11.994 11.125 QT
1145 | 11.994 14.641 14.181 18.156 QT
1146 | 13.244 18.156 L
1147 | cp
1148 | 15.781 15 M
1149 | 15.781 4.266 L
1150 | 20.546 4.266 L
1151 | 21.984 4.266 22.734 4.555 QT
1152 | 23.484 4.844 23.929 5.578 QT
1153 | 24.374 6.313 24.374 7.188 QT
1154 | 24.374 8.328 23.632 9.117 QT
1155 | 22.89 9.906 21.343 10.109 QT
1156 | 21.906 10.391 22.203 10.656 QT
1157 | 22.828 11.219 23.39 12.078 QT
1158 | 25.249 15 L
1159 | 23.468 15 L
1160 | 22.046 12.766 L
1161 | 21.421 11.797 21.015 11.289 QT
1162 | 20.609 10.781 20.296 10.57 QT
1163 | 19.984 10.359 19.656 10.281 QT
1164 | 19.406 10.234 18.859 10.234 QT
1165 | 17.203 10.234 L
1166 | 17.203 15 L
1167 | 15.781 15 L
1168 | cp
1169 | 17.203 9 M
1170 | 20.265 9 L
1171 | 21.234 9 21.789 8.797 QT
1172 | 22.343 8.594 22.624 8.156 QT
1173 | 22.906 7.719 22.906 7.188 QT
1174 | 22.906 6.438 22.351 5.945 QT
1175 | 21.796 5.453 20.609 5.453 QT
1176 | 17.203 5.453 L
1177 | 17.203 9 L
1178 | cp
1179 | 26.349 15 M
1180 | 26.349 4.266 L
1181 | 30.396 4.266 L
1182 | 31.474 4.266 32.037 4.359 QT
1183 | 32.818 4.5 33.357 4.867 QT
1184 | 33.896 5.234 34.224 5.898 QT
1185 | 34.553 6.563 34.553 7.375 QT
1186 | 34.553 8.734 33.678 9.688 QT
1187 | 32.803 10.641 30.521 10.641 QT
1188 | 27.771 10.641 L
1189 | 27.771 15 L
1190 | 26.349 15 L
1191 | cp
1192 | 27.771 9.375 M
1193 | 30.553 9.375 L
1194 | 31.928 9.375 32.506 8.859 QT
1195 | 33.084 8.344 33.084 7.406 QT
1196 | 33.084 6.734 32.74 6.258 QT
1197 | 32.396 5.781 31.849 5.625 QT
1198 | 31.49 5.531 30.521 5.531 QT
1199 | 27.771 5.531 L
1200 | 27.771 9.375 L
1201 | cp
1202 | 36.078 15 M
1203 | 36.078 4.266 L
1204 | 38.219 4.266 L
1205 | 40.766 11.859 L
1206 | 41.109 12.922 41.281 13.453 QT
1207 | 41.453 12.875 41.844 11.734 QT
1208 | 44.422 4.266 L
1209 | 46.328 4.266 L
1210 | 46.328 15 L
1211 | 44.953 15 L
1212 | 44.953 6.016 L
1213 | 41.844 15 L
1214 | 40.563 15 L
1215 | 37.453 5.859 L
1216 | 37.453 15 L
1217 | 36.078 15 L
1218 | cp
1219 | 49.037 18.156 M
1220 | 48.084 18.156 L
1221 | 50.271 14.641 50.271 11.125 QT
1222 | 50.271 9.734 49.959 8.391 QT
1223 | 49.709 7.281 49.271 6.281 QT
1224 | 48.974 5.625 48.084 4.078 QT
1225 | 49.037 4.078 L
1226 | 50.412 5.922 51.068 7.766 QT
1227 | 51.631 9.375 51.631 11.109 QT
1228 | 51.631 13.094 50.873 14.938 QT
1229 | 50.115 16.781 49.037 18.156 QT
1230 | cp
1231 | f
1232 | GR
1233 | GS
1234 | [0.75 0 0 0.75 0 0] CT
1235 | 0.149 GC
1236 | 2 setlinecap
1237 | 1 LJ
1238 | 0.667 LW
1239 | N
1240 | 73 374 M
1241 | 73 31 L
1242 | S
1243 | GR
1244 | GS
1245 | [0.75 0 0 0.75 0 0] CT
1246 | 0.149 GC
1247 | 2 setlinecap
1248 | 1 LJ
1249 | 0.667 LW
1250 | N
1251 | 507 374 M
1252 | 507 31 L
1253 | S
1254 | GR
1255 | GS
1256 | [0.75 0 0 0.75 0 0] CT
1257 | 0.149 GC
1258 | 2 setlinecap
1259 | 1 LJ
1260 | 0.667 LW
1261 | N
1262 | 73 374 M
1263 | 77.34 374 L
1264 | S
1265 | GR
1266 | GS
1267 | [0.75 0 0 0.75 0 0] CT
1268 | 0.149 GC
1269 | 2 setlinecap
1270 | 1 LJ
1271 | 0.667 LW
1272 | N
1273 | 73 331.125 M
1274 | 77.34 331.125 L
1275 | S
1276 | GR
1277 | GS
1278 | [0.75 0 0 0.75 0 0] CT
1279 | 0.149 GC
1280 | 2 setlinecap
1281 | 1 LJ
1282 | 0.667 LW
1283 | N
1284 | 73 288.25 M
1285 | 77.34 288.25 L
1286 | S
1287 | GR
1288 | GS
1289 | [0.75 0 0 0.75 0 0] CT
1290 | 0.149 GC
1291 | 2 setlinecap
1292 | 1 LJ
1293 | 0.667 LW
1294 | N
1295 | 73 245.375 M
1296 | 77.34 245.375 L
1297 | S
1298 | GR
1299 | GS
1300 | [0.75 0 0 0.75 0 0] CT
1301 | 0.149 GC
1302 | 2 setlinecap
1303 | 1 LJ
1304 | 0.667 LW
1305 | N
1306 | 73 202.5 M
1307 | 77.34 202.5 L
1308 | S
1309 | GR
1310 | GS
1311 | [0.75 0 0 0.75 0 0] CT
1312 | 0.149 GC
1313 | 2 setlinecap
1314 | 1 LJ
1315 | 0.667 LW
1316 | N
1317 | 73 159.625 M
1318 | 77.34 159.625 L
1319 | S
1320 | GR
1321 | GS
1322 | [0.75 0 0 0.75 0 0] CT
1323 | 0.149 GC
1324 | 2 setlinecap
1325 | 1 LJ
1326 | 0.667 LW
1327 | N
1328 | 73 116.75 M
1329 | 77.34 116.75 L
1330 | S
1331 | GR
1332 | GS
1333 | [0.75 0 0 0.75 0 0] CT
1334 | 0.149 GC
1335 | 2 setlinecap
1336 | 1 LJ
1337 | 0.667 LW
1338 | N
1339 | 73 73.875 M
1340 | 77.34 73.875 L
1341 | S
1342 | GR
1343 | GS
1344 | [0.75 0 0 0.75 0 0] CT
1345 | 0.149 GC
1346 | 2 setlinecap
1347 | 1 LJ
1348 | 0.667 LW
1349 | N
1350 | 73 31 M
1351 | 77.34 31 L
1352 | S
1353 | GR
1354 | GS
1355 | [0.75 0 0 0.75 0 0] CT
1356 | 0.149 GC
1357 | 2 setlinecap
1358 | 1 LJ
1359 | 0.667 LW
1360 | N
1361 | 507 374 M
1362 | 502.66 374 L
1363 | S
1364 | GR
1365 | GS
1366 | [0.75 0 0 0.75 0 0] CT
1367 | 0.149 GC
1368 | 2 setlinecap
1369 | 1 LJ
1370 | 0.667 LW
1371 | N
1372 | 507 331.125 M
1373 | 502.66 331.125 L
1374 | S
1375 | GR
1376 | GS
1377 | [0.75 0 0 0.75 0 0] CT
1378 | 0.149 GC
1379 | 2 setlinecap
1380 | 1 LJ
1381 | 0.667 LW
1382 | N
1383 | 507 288.25 M
1384 | 502.66 288.25 L
1385 | S
1386 | GR
1387 | GS
1388 | [0.75 0 0 0.75 0 0] CT
1389 | 0.149 GC
1390 | 2 setlinecap
1391 | 1 LJ
1392 | 0.667 LW
1393 | N
1394 | 507 245.375 M
1395 | 502.66 245.375 L
1396 | S
1397 | GR
1398 | GS
1399 | [0.75 0 0 0.75 0 0] CT
1400 | 0.149 GC
1401 | 2 setlinecap
1402 | 1 LJ
1403 | 0.667 LW
1404 | N
1405 | 507 202.5 M
1406 | 502.66 202.5 L
1407 | S
1408 | GR
1409 | GS
1410 | [0.75 0 0 0.75 0 0] CT
1411 | 0.149 GC
1412 | 2 setlinecap
1413 | 1 LJ
1414 | 0.667 LW
1415 | N
1416 | 507 159.625 M
1417 | 502.66 159.625 L
1418 | S
1419 | GR
1420 | GS
1421 | [0.75 0 0 0.75 0 0] CT
1422 | 0.149 GC
1423 | 2 setlinecap
1424 | 1 LJ
1425 | 0.667 LW
1426 | N
1427 | 507 116.75 M
1428 | 502.66 116.75 L
1429 | S
1430 | GR
1431 | GS
1432 | [0.75 0 0 0.75 0 0] CT
1433 | 0.149 GC
1434 | 2 setlinecap
1435 | 1 LJ
1436 | 0.667 LW
1437 | N
1438 | 507 73.875 M
1439 | 502.66 73.875 L
1440 | S
1441 | GR
1442 | GS
1443 | [0.75 0 0 0.75 0 0] CT
1444 | 0.149 GC
1445 | 2 setlinecap
1446 | 1 LJ
1447 | 0.667 LW
1448 | N
1449 | 507 31 M
1450 | 502.66 31 L
1451 | S
1452 | GR
1453 | GS
1454 | [0.75 0 0 0.75 50.75 280.5] CT
1455 | 0.149 GC
1456 | /Helvetica 13.333 F
1457 | GS
1458 | [1 0 0 1 0 0] CT
1459 | -8 5.5 moveto 
1460 | 1 -1 scale
1461 | (0) t 
1462 | GR
1463 | GR
1464 | GS
1465 | [0.75 0 0 0.75 50.75 248.34375] CT
1466 | 0.149 GC
1467 | /Helvetica 13.333 F
1468 | GS
1469 | [1 0 0 1 0 0] CT
1470 | -8 5.5 moveto 
1471 | 1 -1 scale
1472 | (1) t 
1473 | GR
1474 | GR
1475 | GS
1476 | [0.75 0 0 0.75 50.75 216.1875] CT
1477 | 0.149 GC
1478 | /Helvetica 13.333 F
1479 | GS
1480 | [1 0 0 1 0 0] CT
1481 | -8 5.5 moveto 
1482 | 1 -1 scale
1483 | (2) t 
1484 | GR
1485 | GR
1486 | GS
1487 | [0.75 0 0 0.75 50.75 184.03125] CT
1488 | 0.149 GC
1489 | /Helvetica 13.333 F
1490 | GS
1491 | [1 0 0 1 0 0] CT
1492 | -8 5.5 moveto 
1493 | 1 -1 scale
1494 | (3) t 
1495 | GR
1496 | GR
1497 | GS
1498 | [0.75 0 0 0.75 50.75 151.875] CT
1499 | 0.149 GC
1500 | /Helvetica 13.333 F
1501 | GS
1502 | [1 0 0 1 0 0] CT
1503 | -8 5.5 moveto 
1504 | 1 -1 scale
1505 | (4) t 
1506 | GR
1507 | GR
1508 | GS
1509 | [0.75 0 0 0.75 50.75 119.71875] CT
1510 | 0.149 GC
1511 | /Helvetica 13.333 F
1512 | GS
1513 | [1 0 0 1 0 0] CT
1514 | -8 5.5 moveto 
1515 | 1 -1 scale
1516 | (5) t 
1517 | GR
1518 | GR
1519 | GS
1520 | [0.75 0 0 0.75 50.75 87.5625] CT
1521 | 0.149 GC
1522 | /Helvetica 13.333 F
1523 | GS
1524 | [1 0 0 1 0 0] CT
1525 | -8 5.5 moveto 
1526 | 1 -1 scale
1527 | (6) t 
1528 | GR
1529 | GR
1530 | GS
1531 | [0.75 0 0 0.75 50.75 55.40625] CT
1532 | 0.149 GC
1533 | /Helvetica 13.333 F
1534 | GS
1535 | [1 0 0 1 0 0] CT
1536 | -8 5.5 moveto 
1537 | 1 -1 scale
1538 | (7) t 
1539 | GR
1540 | GR
1541 | GS
1542 | [0.75 0 0 0.75 50.75 23.25] CT
1543 | 0.149 GC
1544 | /Helvetica 13.333 F
1545 | GS
1546 | [1 0 0 1 0 0] CT
1547 | -8 5.5 moveto 
1548 | 1 -1 scale
1549 | (8) t 
1550 | GR
1551 | GR
1552 | GS
1553 | [0 -0.75 0.75 0 41.75 151.87487] CT
1554 | 0.149 GC
1555 | N
1556 | -20.141 -2.703 M
1557 | -20.078 -4.359 -20.078 -11.328 QT
1558 | -20.547 -10.391 -21.547 -8.922 QT
1559 | -21.719 -9.047 L
1560 | -20.609 -11.203 -20.055 -13.172 QT
1561 | -19.5 -15.141 -19.375 -16.188 QT
1562 | -18.031 -15.484 L
1563 | -18.5 -15.188 L
1564 | -18.906 -14.078 -19.266 -13.313 QT
1565 | -14.453 -13.313 L
1566 | -13.75 -14.016 L
1567 | -12.703 -12.969 L
1568 | -16.281 -12.969 L
1569 | -16.281 -10.453 L
1570 | -14.875 -10.453 L
1571 | -14.219 -11.094 L
1572 | -13.234 -10.094 L
1573 | -16.281 -10.094 L
1574 | -16.281 -7.453 L
1575 | -14.75 -7.453 L
1576 | -14.047 -8.156 L
1577 | -13 -7.109 L
1578 | -16.281 -7.109 L
1579 | -16.281 -4.359 L
1580 | -14.516 -4.359 L
1581 | -13.75 -5.109 L
1582 | -12.641 -4 L
1583 | -19.328 -4 L
1584 | -19.328 -3.063 L
1585 | -20.141 -2.703 L
1586 | cp
1587 | -17.031 -12.969 M
1588 | -19.328 -12.969 L
1589 | -19.328 -10.453 L
1590 | -17.031 -10.453 L
1591 | -17.031 -12.969 L
1592 | cp
1593 | -19.328 -10.094 M
1594 | -19.328 -7.453 L
1595 | -17.031 -7.453 L
1596 | -17.031 -10.094 L
1597 | -19.328 -10.094 L
1598 | cp
1599 | -19.328 -7.109 M
1600 | -19.328 -4.359 L
1601 | -17.031 -4.359 L
1602 | -17.031 -7.109 L
1603 | -19.328 -7.109 L
1604 | cp
1605 | -17.391 -15.953 M
1606 | -15.813 -15.016 -15.695 -14.578 QT
1607 | -15.578 -14.141 -15.813 -13.875 QT
1608 | -16.047 -13.609 -16.219 -13.609 QT
1609 | -16.391 -13.609 -16.563 -14.141 QT
1610 | -16.797 -14.906 -17.563 -15.844 QT
1611 | -17.391 -15.953 L
1612 | cp
1613 | -25.766 -4.125 M
1614 | -24.359 -3.938 -24.07 -3.969 QT
1615 | -23.781 -4 -23.781 -4.594 QT
1616 | -23.781 -9.047 L
1617 | -24.656 -8.453 -25.297 -7.922 QT
1618 | -25.656 -7.453 L
1619 | -26.406 -8.453 L
1620 | -25.594 -8.75 -23.781 -9.625 QT
1621 | -23.781 -12.5 L
1622 | -25.188 -12.5 L
1623 | -25.828 -12.375 L
1624 | -26.297 -12.844 L
1625 | -23.781 -12.844 L
1626 | -23.781 -14.844 -23.828 -16.188 QT
1627 | -22.422 -15.547 L
1628 | -23.016 -15.141 L
1629 | -23.016 -12.844 L
1630 | -22.188 -12.844 L
1631 | -21.547 -13.5 L
1632 | -20.547 -12.5 L
1633 | -23.016 -12.5 L
1634 | -23.016 -9.984 L
1635 | -21.25 -10.859 L
1636 | -21.141 -10.688 L
1637 | -23.016 -9.453 L
1638 | -23.016 -4.172 L
1639 | -23.078 -3.063 -24.188 -2.703 QT
1640 | -24.125 -3.359 -25.766 -3.875 QT
1641 | -25.766 -4.125 L
1642 | cp
1643 | -4.367 -15.25 M
1644 | -4.477 -13.547 -4.539 -12.266 QT
1645 | -0.148 -12.266 L
1646 | 0.32 -12.906 L
1647 | 1.383 -12.094 L
1648 | 0.789 -11.625 L
1649 | 0.492 -7.219 0.234 -5.727 QT
1650 | -0.023 -4.234 -0.586 -3.586 QT
1651 | -1.148 -2.938 -2.32 -2.703 QT
1652 | -2.195 -3.531 -4.133 -4.406 QT
1653 | -4.07 -4.703 L
1654 | -2.602 -4.297 -1.961 -4.211 QT
1655 | -1.32 -4.125 -0.906 -5.117 QT
1656 | -0.492 -6.109 -0.086 -11.906 QT
1657 | -4.602 -11.906 L
1658 | -4.898 -9.797 -5.625 -8.133 QT
1659 | -6.352 -6.469 -7.703 -5.031 QT
1660 | -9.055 -3.594 -11.461 -2.469 QT
1661 | -11.508 -2.703 L
1662 | -9.523 -3.875 -8.203 -5.492 QT
1663 | -6.883 -7.109 -6.266 -8.75 QT
1664 | -5.648 -10.391 -5.477 -11.906 QT
1665 | -8.414 -11.906 L
1666 | -9.164 -11.906 -9.82 -11.734 QT
1667 | -10.336 -12.266 L
1668 | -5.414 -12.266 L
1669 | -5.305 -15.078 -5.367 -16.359 QT
1670 | -3.836 -15.719 L
1671 | -4.367 -15.25 L
1672 | cp
1673 | 9.916 -0.844 M
1674 | 8.822 -2.219 8.064 -4.063 QT
1675 | 7.306 -5.906 7.306 -7.891 QT
1676 | 7.306 -9.625 7.869 -11.234 QT
1677 | 8.525 -13.078 9.916 -14.922 QT
1678 | 10.853 -14.922 L
1679 | 9.963 -13.391 9.681 -12.75 QT
1680 | 9.228 -11.734 8.978 -10.641 QT
1681 | 8.666 -9.266 8.666 -7.875 QT
1682 | 8.666 -4.359 10.853 -0.844 QT
1683 | 9.916 -0.844 L
1684 | cp
1685 | 12.421 -4 M
1686 | 12.421 -14.734 L
1687 | 13.874 -14.734 L
1688 | 19.515 -6.313 L
1689 | 19.515 -14.734 L
1690 | 20.89 -14.734 L
1691 | 20.89 -4 L
1692 | 19.421 -4 L
1693 | 13.781 -12.438 L
1694 | 13.781 -4 L
1695 | 12.421 -4 L
1696 | cp
1697 | 23.724 -0.844 M
1698 | 22.771 -0.844 L
1699 | 24.959 -4.359 24.959 -7.875 QT
1700 | 24.959 -9.266 24.646 -10.609 QT
1701 | 24.396 -11.719 23.959 -12.719 QT
1702 | 23.662 -13.375 22.771 -14.922 QT
1703 | 23.724 -14.922 L
1704 | 25.099 -13.078 25.756 -11.234 QT
1705 | 26.318 -9.625 26.318 -7.891 QT
1706 | 26.318 -5.906 25.56 -4.063 QT
1707 | 24.803 -2.219 23.724 -0.844 QT
1708 | cp
1709 | f
1710 | GR
1711 | GS
1712 | [0.75 0 0 0.75 217.50021 21.18749] CT
1713 | N
1714 | -60.5 -14.375 M
1715 | -59.328 -14.609 -58.102 -14.961 QT
1716 | -56.875 -15.313 -56.109 -15.891 QT
1717 | -55.234 -14.953 L
1718 | -55.938 -14.906 -57.219 -14.609 QT
1719 | -57.219 -11.859 L
1720 | -56.75 -11.859 L
1721 | -56.047 -12.563 L
1722 | -55.047 -11.5 L
1723 | -57.219 -11.5 L
1724 | -57.219 -10.328 L
1725 | -56.453 -9.984 -55.93 -9.539 QT
1726 | -55.406 -9.094 -55.406 -8.688 QT
1727 | -55.406 -8.391 -55.555 -8.07 QT
1728 | -55.703 -7.75 -55.813 -7.75 QT
1729 | -55.984 -7.75 -56.219 -8.344 QT
1730 | -56.578 -9.281 -57.219 -9.984 QT
1731 | -57.219 -4.172 -57.156 -2.938 QT
1732 | -58.047 -2.469 L
1733 | -57.984 -4.594 -57.984 -9.219 QT
1734 | -58.984 -6.938 -60.672 -5.234 QT
1735 | -60.859 -5.344 L
1736 | -59.734 -6.938 -59.063 -8.516 QT
1737 | -58.391 -10.094 -58.047 -11.5 QT
1738 | -58.797 -11.5 L
1739 | -59.563 -11.5 -60.203 -11.328 QT
1740 | -60.734 -11.859 L
1741 | -57.984 -11.859 L
1742 | -57.984 -14.484 L
1743 | -59.266 -14.313 -60.438 -14.141 QT
1744 | -60.5 -14.375 L
1745 | cp
1746 | -51.766 -11.906 M
1747 | -50.656 -13.969 L
1748 | -53.172 -13.969 L
1749 | -54.063 -12.906 -55 -12.141 QT
1750 | -55.172 -12.266 L
1751 | -54.531 -13.031 -53.883 -14.109 QT
1752 | -53.234 -15.188 -52.938 -16.125 QT
1753 | -51.828 -15.422 L
1754 | -52.359 -15.25 -53 -14.313 QT
1755 | -50.719 -14.313 L
1756 | -50.188 -14.906 L
1757 | -49.25 -14.016 L
1758 | -49.781 -13.844 -50.188 -13.438 QT
1759 | -50.594 -13.031 -51.422 -11.906 QT
1760 | -49.25 -11.906 L
1761 | -48.844 -12.5 L
1762 | -47.906 -11.797 L
1763 | -48.375 -11.391 L
1764 | -48.375 -8.391 -48.313 -7.688 QT
1765 | -49.141 -7.344 L
1766 | -49.141 -8.109 L
1767 | -53.063 -8.109 L
1768 | -53.828 -8.109 -54.469 -7.922 QT
1769 | -55 -8.453 L
1770 | -49.141 -8.453 L
1771 | -49.141 -9.797 L
1772 | -52.469 -9.797 L
1773 | -53.234 -9.797 -53.875 -9.625 QT
1774 | -54.406 -10.156 L
1775 | -49.141 -10.156 L
1776 | -49.141 -11.563 L
1777 | -53.063 -11.563 L
1778 | -53.828 -11.563 -54.469 -11.391 QT
1779 | -55 -11.906 L
1780 | -51.766 -11.906 L
1781 | cp
1782 | -54.938 -6.234 M
1783 | -54.875 -4.938 -54.992 -4.406 QT
1784 | -55.109 -3.875 -55.375 -3.82 QT
1785 | -55.641 -3.766 -55.813 -3.766 QT
1786 | -56.047 -3.766 -56.164 -3.82 QT
1787 | -56.281 -3.875 -56.281 -4 QT
1788 | -56.281 -4.172 -55.938 -4.531 QT
1789 | -55.469 -5 -55.172 -6.234 QT
1790 | -54.938 -6.234 L
1791 | cp
1792 | -52.531 -7.75 M
1793 | -51.297 -6.984 -51.125 -6.695 QT
1794 | -50.953 -6.406 -50.953 -6.281 QT
1795 | -50.953 -6.047 -51.156 -5.758 QT
1796 | -51.359 -5.469 -51.422 -5.469 QT
1797 | -51.594 -5.469 -51.719 -5.938 QT
1798 | -51.953 -6.641 -52.656 -7.641 QT
1799 | -52.531 -7.75 L
1800 | cp
1801 | -53.875 -6.75 M
1802 | -52.656 -6.234 L
1803 | -53.063 -5.875 L
1804 | -53.063 -4.469 L
1805 | -53.063 -3.703 -52.188 -3.766 QT
1806 | -50.547 -3.766 L
1807 | -50.016 -3.875 -49.93 -4.523 QT
1808 | -49.844 -5.172 -49.781 -5.813 QT
1809 | -49.547 -5.813 L
1810 | -49.547 -5.063 -49.461 -4.531 QT
1811 | -49.375 -4 -48.906 -3.875 QT
1812 | -49.25 -3 -50.313 -3.125 QT
1813 | -52.828 -3.125 L
1814 | -53.828 -3.172 -53.828 -4.125 QT
1815 | -53.828 -5.578 -53.875 -6.75 QT
1816 | cp
1817 | -49.141 -6.344 M
1818 | -48.313 -5.938 -47.813 -5.5 QT
1819 | -47.313 -5.063 -47.313 -4.641 QT
1820 | -47.313 -4.406 -47.523 -4.086 QT
1821 | -47.734 -3.766 -47.781 -3.766 QT
1822 | -47.906 -3.766 -48.016 -4.063 QT
1823 | -48.203 -4.531 -48.438 -5 QT
1824 | -48.672 -5.469 -49.25 -6.234 QT
1825 | -49.141 -6.344 L
1826 | cp
1827 | -40.148 -16.25 M
1828 | -38.633 -15.547 L
1829 | -39.211 -15.25 L
1830 | -39.336 -14.484 -39.508 -13.438 QT
1831 | -34.992 -13.438 L
1832 | -34.117 -14.313 L
1833 | -32.883 -13.078 L
1834 | -38.977 -13.078 L
1835 | -37.758 -10.922 -35.938 -9.984 QT
1836 | -34.117 -9.047 -32.602 -8.922 QT
1837 | -32.602 -8.688 L
1838 | -33.711 -8.516 -33.82 -7.922 QT
1839 | -36.227 -8.813 -37.484 -10.242 QT
1840 | -38.742 -11.672 -39.273 -13.078 QT
1841 | -39.57 -13.078 L
1842 | -40.148 -11.328 -40.977 -10.266 QT
1843 | -39.914 -9.859 -39.242 -9.453 QT
1844 | -38.57 -9.047 -38.57 -8.602 QT
1845 | -38.57 -8.156 -38.719 -7.984 QT
1846 | -38.867 -7.813 -38.93 -7.813 QT
1847 | -39.164 -7.813 -39.508 -8.391 QT
1848 | -40.039 -9.219 -41.148 -10.031 QT
1849 | -42.961 -8.391 -46.133 -7.641 QT
1850 | -46.242 -7.875 L
1851 | -43.961 -8.516 -42.5 -9.773 QT
1852 | -41.039 -11.031 -40.445 -13.078 QT
1853 | -43.961 -13.078 L
1854 | -44.727 -13.078 -45.367 -12.906 QT
1855 | -45.898 -13.438 L
1856 | -40.383 -13.438 L
1857 | -40.148 -15.141 -40.148 -16.25 QT
1858 | cp
1859 | -43.727 -6.938 M
1860 | -43.727 -5.875 -43.93 -5.086 QT
1861 | -44.133 -4.297 -44.461 -4.148 QT
1862 | -44.789 -4 -45.023 -4 QT
1863 | -45.305 -4 -45.516 -4.086 QT
1864 | -45.727 -4.172 -45.727 -4.297 QT
1865 | -45.727 -4.469 -45.258 -4.875 QT
1866 | -44.555 -5.406 -43.961 -6.984 QT
1867 | -43.727 -6.938 L
1868 | cp
1869 | -40.742 -7.75 M
1870 | -40.617 -7.922 L
1871 | -39.508 -7.453 -38.953 -7.078 QT
1872 | -38.398 -6.703 -38.43 -6.289 QT
1873 | -38.461 -5.875 -38.664 -5.641 QT
1874 | -38.867 -5.406 -38.93 -5.406 QT
1875 | -39.164 -5.406 -39.336 -5.938 QT
1876 | -39.633 -6.641 -40.742 -7.75 QT
1877 | cp
1878 | -35.992 -7.047 M
1879 | -35.82 -7.172 L
1880 | -34.414 -6.406 -33.883 -5.906 QT
1881 | -33.352 -5.406 -33.445 -4.938 QT
1882 | -33.539 -4.469 -33.742 -4.297 QT
1883 | -33.945 -4.125 -34.008 -4.125 QT
1884 | -34.242 -4.125 -34.477 -4.828 QT
1885 | -34.82 -5.766 -35.992 -7.047 QT
1886 | cp
1887 | -42.383 -4.125 M
1888 | -42.383 -6.516 -42.445 -7.813 QT
1889 | -41.086 -7.109 L
1890 | -41.555 -6.703 L
1891 | -41.555 -4.406 L
1892 | -41.68 -3.641 -40.852 -3.703 QT
1893 | -37.758 -3.703 L
1894 | -37.055 -3.703 -36.938 -4.289 QT
1895 | -36.82 -4.875 -36.82 -6.109 QT
1896 | -36.523 -6.109 L
1897 | -36.461 -5.063 -36.344 -4.469 QT
1898 | -36.227 -3.875 -35.648 -3.766 QT
1899 | -36.117 -2.938 -37.289 -3 QT
1900 | -40.805 -3 L
1901 | -42.445 -2.891 -42.383 -4.125 QT
1902 | cp
1903 | -28.422 -2.531 M
1904 | -28.359 -4.703 -28.359 -6.469 QT
1905 | -30.641 -5.641 -30.875 -5.297 QT
1906 | -31.531 -6.344 L
1907 | -29.766 -6.703 -28.359 -7.047 QT
1908 | -28.359 -9.563 L
1909 | -29.828 -9.563 L
1910 | -30.359 -9.094 L
1911 | -31 -9.984 L
1912 | -30.641 -10.156 -30.32 -10.945 QT
1913 | -30 -11.734 -29.594 -13.375 QT
1914 | -30.297 -13.375 -30.938 -13.203 QT
1915 | -31.469 -13.734 L
1916 | -29.469 -13.734 L
1917 | -29.188 -14.953 -28.953 -16.313 QT
1918 | -27.781 -15.719 L
1919 | -28.063 -15.547 -28.242 -15.133 QT
1920 | -28.422 -14.719 -28.656 -13.734 QT
1921 | -27.125 -13.734 L
1922 | -26.422 -14.438 L
1923 | -25.484 -13.375 L
1924 | -28.766 -13.375 L
1925 | -29.828 -9.922 L
1926 | -28.359 -9.922 L
1927 | -28.359 -11.031 -28.422 -12.375 QT
1928 | -27.078 -11.797 L
1929 | -27.594 -11.391 L
1930 | -27.594 -9.922 L
1931 | -26.844 -9.922 L
1932 | -26.188 -10.625 L
1933 | -25.25 -9.563 L
1934 | -27.594 -9.563 L
1935 | -27.594 -7.219 L
1936 | -25.016 -7.813 L
1937 | -24.969 -7.641 L
1938 | -27.594 -6.703 L
1939 | -27.594 -4.125 -27.547 -2.891 QT
1940 | -28.422 -2.531 L
1941 | cp
1942 | -21.031 -15.609 M
1943 | -21.625 -15.188 L
1944 | -22.031 -13.438 L
1945 | -20.156 -13.438 L
1946 | -19.391 -14.203 L
1947 | -18.344 -13.078 L
1948 | -22.094 -13.078 L
1949 | -22.734 -10.625 L
1950 | -19.688 -10.625 L
1951 | -18.875 -11.391 L
1952 | -17.813 -10.266 L
1953 | -22.797 -10.266 L
1954 | -23.438 -8.281 L
1955 | -20.453 -8.281 L
1956 | -19.984 -8.813 L
1957 | -18.922 -7.75 L
1958 | -19.688 -7.578 -20.391 -6.672 QT
1959 | -21.094 -5.766 -21.734 -4.828 QT
1960 | -20.328 -4.172 -20.211 -3.766 QT
1961 | -20.094 -3.359 -20.211 -2.977 QT
1962 | -20.328 -2.594 -20.453 -2.594 QT
1963 | -20.625 -2.594 -20.859 -2.891 QT
1964 | -21.391 -3.469 -22.297 -4.172 QT
1965 | -23.203 -4.875 -24.547 -5.703 QT
1966 | -24.438 -5.875 L
1967 | -23.5 -5.531 -22.094 -4.938 QT
1968 | -20.453 -7.922 L
1969 | -23.375 -7.922 L
1970 | -23.844 -7.406 L
1971 | -24.609 -8.219 L
1972 | -24.375 -8.281 -24.109 -8.867 QT
1973 | -23.844 -9.453 -23.609 -10.266 QT
1974 | -23.797 -10.266 L
1975 | -24.547 -10.266 -25.203 -10.094 QT
1976 | -25.719 -10.625 L
1977 | -23.5 -10.625 L
1978 | -22.906 -13.078 L
1979 | -23.375 -13.078 L
1980 | -24.141 -13.078 -24.781 -12.906 QT
1981 | -25.313 -13.438 L
1982 | -22.859 -13.438 L
1983 | -22.438 -15.078 -22.266 -16.359 QT
1984 | -21.031 -15.609 L
1985 | cp
1986 | -10.945 -11.672 M
1987 | -10.945 -9.625 L
1988 | -8.836 -9.625 L
1989 | -8.836 -11.672 L
1990 | -10.945 -11.672 L
1991 | cp
1992 | -8.07 -11.672 M
1993 | -8.07 -9.625 L
1994 | -5.898 -9.625 L
1995 | -5.898 -11.672 L
1996 | -8.07 -11.672 L
1997 | cp
1998 | -8.07 -7.922 M
1999 | -8.07 -5.875 -8.008 -4.406 QT
2000 | -8.945 -4.063 L
2001 | -8.836 -5.813 -8.836 -8.391 QT
2002 | -10.586 -6.234 -12.82 -5.063 QT
2003 | -12.93 -5.234 L
2004 | -10.305 -7.219 -9.18 -9.281 QT
2005 | -10.945 -9.281 L
2006 | -10.945 -8.75 L
2007 | -11.711 -8.453 L
2008 | -11.711 -12.438 L
2009 | -10.945 -12.031 L
2010 | -8.836 -12.031 L
2011 | -8.836 -13.672 L
2012 | -11.18 -13.672 L
2013 | -11.945 -13.672 -12.586 -13.5 QT
2014 | -13.117 -14.016 L
2015 | -8.836 -14.016 L
2016 | -8.836 -14.906 -8.898 -16.125 QT
2017 | -7.539 -15.609 L
2018 | -8.07 -15.188 L
2019 | -8.07 -14.016 L
2020 | -5.43 -14.016 L
2021 | -4.68 -14.672 L
2022 | -3.68 -13.672 L
2023 | -8.07 -13.672 L
2024 | -8.07 -12.031 L
2025 | -6.023 -12.031 L
2026 | -5.617 -12.609 L
2027 | -4.617 -11.969 L
2028 | -5.148 -11.563 L
2029 | -5.148 -10.031 -5.086 -8.922 QT
2030 | -5.898 -8.625 L
2031 | -5.898 -9.281 L
2032 | -8.07 -9.281 L
2033 | -8.07 -8.219 L
2034 | -6.133 -7.641 -5.258 -7.172 QT
2035 | -4.383 -6.703 -4.352 -6.172 QT
2036 | -4.32 -5.641 -4.523 -5.406 QT
2037 | -4.727 -5.172 -5.43 -6.047 QT
2038 | -6.133 -6.938 -8.07 -7.922 QT
2039 | cp
2040 | -15.93 -15.188 M
2041 | -15.742 -15.313 L
2042 | -14.867 -14.844 -14.344 -14.406 QT
2043 | -13.82 -13.969 -13.844 -13.617 QT
2044 | -13.867 -13.266 -14.102 -13 QT
2045 | -14.336 -12.734 -14.461 -12.734 QT
2046 | -14.695 -12.734 -14.867 -13.375 QT
2047 | -15.164 -14.25 -15.93 -15.188 QT
2048 | cp
2049 | -13.758 -5.578 M
2050 | -13.117 -4.938 -12.148 -4.352 QT
2051 | -11.18 -3.766 -8.688 -3.734 QT
2052 | -6.195 -3.703 -3.086 -4.063 QT
2053 | -3.086 -3.828 L
2054 | -4.211 -3.469 -4.258 -2.891 QT
2055 | -6.961 -2.828 -8.688 -2.883 QT
2056 | -10.414 -2.938 -11.531 -3.406 QT
2057 | -12.648 -3.875 -13.227 -4.594 QT
2058 | -13.867 -5.234 -14.164 -5.234 QT
2059 | -14.461 -5.234 -15.102 -4.555 QT
2060 | -15.742 -3.875 -16.039 -3.359 QT
2061 | -16.867 -4.125 L
2062 | -15.93 -4.938 -14.523 -5.641 QT
2063 | -14.523 -10.266 L
2064 | -15.039 -10.266 L
2065 | -15.805 -10.266 -16.445 -10.094 QT
2066 | -16.977 -10.625 L
2067 | -14.633 -10.625 L
2068 | -14.227 -11.203 L
2069 | -13.227 -10.5 L
2070 | -13.758 -10.094 L
2071 | -13.758 -5.578 L
2072 | cp
2073 | -2.375 -7.219 M
2074 | -2.375 -8.547 L
2075 | 1.688 -8.547 L
2076 | 1.688 -7.219 L
2077 | -2.375 -7.219 L
2078 | cp
2079 | 8.896 -2.703 M
2080 | 8.959 -4.359 8.959 -11.328 QT
2081 | 8.49 -10.391 7.49 -8.922 QT
2082 | 7.318 -9.047 L
2083 | 8.428 -11.203 8.982 -13.172 QT
2084 | 9.537 -15.141 9.662 -16.188 QT
2085 | 11.006 -15.484 L
2086 | 10.537 -15.188 L
2087 | 10.131 -14.078 9.771 -13.313 QT
2088 | 14.584 -13.313 L
2089 | 15.287 -14.016 L
2090 | 16.334 -12.969 L
2091 | 12.756 -12.969 L
2092 | 12.756 -10.453 L
2093 | 14.162 -10.453 L
2094 | 14.818 -11.094 L
2095 | 15.803 -10.094 L
2096 | 12.756 -10.094 L
2097 | 12.756 -7.453 L
2098 | 14.287 -7.453 L
2099 | 14.99 -8.156 L
2100 | 16.037 -7.109 L
2101 | 12.756 -7.109 L
2102 | 12.756 -4.359 L
2103 | 14.521 -4.359 L
2104 | 15.287 -5.109 L
2105 | 16.396 -4 L
2106 | 9.709 -4 L
2107 | 9.709 -3.063 L
2108 | 8.896 -2.703 L
2109 | cp
2110 | 12.006 -12.969 M
2111 | 9.709 -12.969 L
2112 | 9.709 -10.453 L
2113 | 12.006 -10.453 L
2114 | 12.006 -12.969 L
2115 | cp
2116 | 9.709 -10.094 M
2117 | 9.709 -7.453 L
2118 | 12.006 -7.453 L
2119 | 12.006 -10.094 L
2120 | 9.709 -10.094 L
2121 | cp
2122 | 9.709 -7.109 M
2123 | 9.709 -4.359 L
2124 | 12.006 -4.359 L
2125 | 12.006 -7.109 L
2126 | 9.709 -7.109 L
2127 | cp
2128 | 11.646 -15.953 M
2129 | 13.224 -15.016 13.342 -14.578 QT
2130 | 13.459 -14.141 13.224 -13.875 QT
2131 | 12.99 -13.609 12.818 -13.609 QT
2132 | 12.646 -13.609 12.474 -14.141 QT
2133 | 12.24 -14.906 11.474 -15.844 QT
2134 | 11.646 -15.953 L
2135 | cp
2136 | 3.271 -4.125 M
2137 | 4.678 -3.938 4.967 -3.969 QT
2138 | 5.256 -4 5.256 -4.594 QT
2139 | 5.256 -9.047 L
2140 | 4.381 -8.453 3.74 -7.922 QT
2141 | 3.381 -7.453 L
2142 | 2.631 -8.453 L
2143 | 3.443 -8.75 5.256 -9.625 QT
2144 | 5.256 -12.5 L
2145 | 3.849 -12.5 L
2146 | 3.209 -12.375 L
2147 | 2.74 -12.844 L
2148 | 5.256 -12.844 L
2149 | 5.256 -14.844 5.209 -16.188 QT
2150 | 6.615 -15.547 L
2151 | 6.021 -15.141 L
2152 | 6.021 -12.844 L
2153 | 6.849 -12.844 L
2154 | 7.49 -13.5 L
2155 | 8.49 -12.5 L
2156 | 6.021 -12.5 L
2157 | 6.021 -9.984 L
2158 | 7.787 -10.859 L
2159 | 7.896 -10.688 L
2160 | 6.021 -9.453 L
2161 | 6.021 -4.172 L
2162 | 5.959 -3.063 4.849 -2.703 QT
2163 | 4.912 -3.359 3.271 -3.875 QT
2164 | 3.271 -4.125 L
2165 | cp
2166 | 24.67 -15.25 M
2167 | 24.56 -13.547 24.498 -12.266 QT
2168 | 28.888 -12.266 L
2169 | 29.357 -12.906 L
2170 | 30.42 -12.094 L
2171 | 29.826 -11.625 L
2172 | 29.529 -7.219 29.271 -5.727 QT
2173 | 29.013 -4.234 28.451 -3.586 QT
2174 | 27.888 -2.938 26.717 -2.703 QT
2175 | 26.842 -3.531 24.904 -4.406 QT
2176 | 24.967 -4.703 L
2177 | 26.435 -4.297 27.076 -4.211 QT
2178 | 27.717 -4.125 28.131 -5.117 QT
2179 | 28.545 -6.109 28.951 -11.906 QT
2180 | 24.435 -11.906 L
2181 | 24.138 -9.797 23.412 -8.133 QT
2182 | 22.685 -6.469 21.334 -5.031 QT
2183 | 19.982 -3.594 17.576 -2.469 QT
2184 | 17.529 -2.703 L
2185 | 19.513 -3.875 20.834 -5.492 QT
2186 | 22.154 -7.109 22.771 -8.75 QT
2187 | 23.388 -10.391 23.56 -11.906 QT
2188 | 20.623 -11.906 L
2189 | 19.873 -11.906 19.217 -11.734 QT
2190 | 18.701 -12.266 L
2191 | 23.623 -12.266 L
2192 | 23.732 -15.078 23.67 -16.359 QT
2193 | 25.201 -15.719 L
2194 | 24.67 -15.25 L
2195 | cp
2196 | 40.865 -8.688 M
2197 | 40.865 -4.469 L
2198 | 43.256 -4.469 L
2199 | 43.256 -8.688 L
2200 | 40.865 -8.688 L
2201 | cp
2202 | 33.709 -13.5 M
2203 | 34.646 -12.969 L
2204 | 36.928 -12.969 L
2205 | 36.928 -15.141 36.881 -16.313 QT
2206 | 38.224 -15.656 L
2207 | 37.693 -15.25 L
2208 | 37.693 -12.969 L
2209 | 40.099 -12.969 L
2210 | 40.099 -15.375 40.037 -16.313 QT
2211 | 41.443 -15.609 L
2212 | 40.865 -15.25 L
2213 | 40.865 -12.969 L
2214 | 43.146 -12.969 L
2215 | 43.678 -13.547 L
2216 | 44.615 -12.797 L
2217 | 44.084 -12.375 L
2218 | 44.084 -4.766 44.146 -3.406 QT
2219 | 43.256 -3 L
2220 | 43.256 -4.125 L
2221 | 34.584 -4.125 L
2222 | 34.584 -3.172 L
2223 | 33.709 -2.766 L
2224 | 33.771 -5.531 33.771 -8.25 QT
2225 | 33.771 -10.969 33.709 -13.5 QT
2226 | cp
2227 | 34.584 -12.609 M
2228 | 34.584 -9.047 L
2229 | 36.928 -9.047 L
2230 | 36.928 -12.609 L
2231 | 34.584 -12.609 L
2232 | cp
2233 | 37.693 -12.609 M
2234 | 37.693 -9.047 L
2235 | 40.099 -9.047 L
2236 | 40.099 -12.609 L
2237 | 37.693 -12.609 L
2238 | cp
2239 | 40.865 -12.609 M
2240 | 40.865 -9.047 L
2241 | 43.256 -9.047 L
2242 | 43.256 -12.609 L
2243 | 40.865 -12.609 L
2244 | cp
2245 | 34.584 -8.688 M
2246 | 34.584 -4.469 L
2247 | 36.928 -4.469 L
2248 | 36.928 -8.688 L
2249 | 34.584 -8.688 L
2250 | cp
2251 | 37.693 -8.688 M
2252 | 37.693 -4.469 L
2253 | 40.099 -4.469 L
2254 | 40.099 -8.688 L
2255 | 37.693 -8.688 L
2256 | cp
2257 | 55.17 -11.969 M
2258 | 55.17 -11.156 55.295 -9.797 QT
2259 | 58.045 -10.094 L
2260 | 58.81 -10.969 L
2261 | 59.982 -9.984 L
2262 | 55.342 -9.516 L
2263 | 55.529 -7.688 55.935 -6.641 QT
2264 | 57.217 -7.813 57.982 -9.094 QT
2265 | 59.045 -8.047 L
2266 | 58.513 -7.984 L
2267 | 57.404 -6.938 56.279 -5.875 QT
2268 | 57.342 -4.406 58.748 -3.828 QT
2269 | 59.56 -6.641 L
2270 | 59.795 -6.578 L
2271 | 59.685 -5.234 59.654 -4.352 QT
2272 | 59.623 -3.469 59.92 -2.938 QT
2273 | 59.982 -2.828 59.982 -2.766 QT
2274 | 59.982 -2.531 59.365 -2.617 QT
2275 | 58.748 -2.703 57.724 -3.32 QT
2276 | 56.701 -3.938 55.638 -5.297 QT
2277 | 54.592 -4.594 53.506 -4.117 QT
2278 | 52.42 -3.641 50.779 -3.172 QT
2279 | 50.717 -3.406 L
2280 | 53.232 -4.359 55.232 -6 QT
2281 | 54.701 -7.578 54.529 -9.391 QT
2282 | 52.123 -9.094 L
2283 | 51.654 -8.859 L
2284 | 51.013 -9.328 L
2285 | 54.467 -9.688 L
2286 | 54.404 -10.5 54.357 -11.906 QT
2287 | 52.654 -11.797 L
2288 | 52.295 -11.563 L
2289 | 51.779 -12.031 L
2290 | 54.357 -12.203 L
2291 | 54.295 -14.25 54.232 -16.313 QT
2292 | 55.576 -15.656 L
2293 | 55.107 -15.25 L
2294 | 55.107 -14.016 55.17 -12.266 QT
2295 | 57.685 -12.5 L
2296 | 58.451 -13.375 L
2297 | 59.623 -12.328 L
2298 | 55.17 -11.969 L
2299 | cp
2300 | 56.045 -15.313 M
2301 | 56.107 -15.484 L
2302 | 57.92 -15.016 58.099 -14.695 QT
2303 | 58.279 -14.375 58.279 -14.141 QT
2304 | 58.279 -13.844 58.162 -13.555 QT
2305 | 58.045 -13.266 57.92 -13.266 QT
2306 | 57.81 -13.266 57.576 -13.734 QT
2307 | 57.17 -14.375 56.045 -15.313 QT
2308 | cp
2309 | 49.607 -16.078 M
2310 | 50.779 -15.313 L
2311 | 50.31 -15.141 49.779 -14.141 QT
2312 | 49.248 -13.078 47.842 -11.156 QT
2313 | 50.248 -11.391 L
2314 | 50.951 -12.563 51.357 -13.734 QT
2315 | 52.42 -12.969 L
2316 | 52.013 -12.734 51.013 -11.266 QT
2317 | 50.013 -9.797 48.435 -7.75 QT
2318 | 49.248 -7.875 52.06 -8.391 QT
2319 | 52.06 -8.156 L
2320 | 50.482 -7.75 49.607 -7.43 QT
2321 | 48.732 -7.109 47.842 -6.516 QT
2322 | 47.138 -7.75 L
2323 | 47.795 -7.922 48.638 -9.008 QT
2324 | 49.482 -10.094 50.138 -11.156 QT
2325 | 49.482 -11.031 48.779 -10.828 QT
2326 | 48.076 -10.625 47.498 -10.094 QT
2327 | 46.857 -11.203 L
2328 | 47.498 -11.328 48.349 -12.883 QT
2329 | 49.201 -14.438 49.607 -16.078 QT
2330 | cp
2331 | 46.795 -4.875 M
2332 | 48.435 -5.109 49.428 -5.289 QT
2333 | 50.42 -5.469 52.654 -5.938 QT
2334 | 52.717 -5.703 L
2335 | 50.076 -4.938 48.873 -4.5 QT
2336 | 47.67 -4.063 47.373 -3.766 QT
2337 | 46.795 -4.875 L
2338 | cp
2339 | f
2340 | GR
2341 | GS
2342 | [0.75 0 0 0.75 54.75 280.5] CT
2343 | 0 0 1 RC
2344 | 10.0 ML
2345 | 2.667 LW
2346 | N
2347 | -4.714 -4.714 M
2348 | 4.714 4.714 L
2349 | -4.714 4.714 M
2350 | 4.714 -4.714 L
2351 | S
2352 | GR
2353 | GS
2354 | [0.75 0 0 0.75 119.85449 270.76598] CT
2355 | 0 0 1 RC
2356 | 10.0 ML
2357 | 2.667 LW
2358 | N
2359 | -4.714 -4.714 M
2360 | 4.714 4.714 L
2361 | -4.714 4.714 M
2362 | 4.714 -4.714 L
2363 | S
2364 | GR
2365 | GS
2366 | [0.75 0 0 0.75 152.29562 257.85745] CT
2367 | 0 0 1 RC
2368 | 10.0 ML
2369 | 2.667 LW
2370 | N
2371 | -4.714 -4.714 M
2372 | 4.714 4.714 L
2373 | -4.714 4.714 M
2374 | 4.714 -4.714 L
2375 | S
2376 | GR
2377 | GS
2378 | [0.75 0 0 0.75 188.64442 237.22794] CT
2379 | 0 0 1 RC
2380 | 10.0 ML
2381 | 2.667 LW
2382 | N
2383 | -4.714 -4.714 M
2384 | 4.714 4.714 L
2385 | -4.714 4.714 M
2386 | 4.714 -4.714 L
2387 | S
2388 | GR
2389 | GS
2390 | [0.75 0 0 0.75 221.47671 211.42012] CT
2391 | 0 0 1 RC
2392 | 10.0 ML
2393 | 2.667 LW
2394 | N
2395 | -4.714 -4.714 M
2396 | 4.714 4.714 L
2397 | -4.714 4.714 M
2398 | 4.714 -4.714 L
2399 | S
2400 | GR
2401 | GS
2402 | [0.75 0 0 0.75 253.32408 183.7024] CT
2403 | 0 0 1 RC
2404 | 10.0 ML
2405 | 2.667 LW
2406 | N
2407 | -4.714 -4.714 M
2408 | 4.714 4.714 L
2409 | -4.714 4.714 M
2410 | 4.714 -4.714 L
2411 | S
2412 | GR
2413 | GS
2414 | [0.75 0 0 0.75 282.66625 149.6132] CT
2415 | 0 0 1 RC
2416 | 10.0 ML
2417 | 2.667 LW
2418 | N
2419 | -4.714 -4.714 M
2420 | 4.714 4.714 L
2421 | -4.714 4.714 M
2422 | 4.714 -4.714 L
2423 | S
2424 | GR
2425 | GS
2426 | [0.75 0 0 0.75 304.77232 123.52576] CT
2427 | 0 0 1 RC
2428 | 10.0 ML
2429 | 2.667 LW
2430 | N
2431 | -4.714 -4.714 M
2432 | 4.714 4.714 L
2433 | -4.714 4.714 M
2434 | 4.714 -4.714 L
2435 | S
2436 | GR
2437 | GS
2438 | [0.75 0 0 0.75 325.27016 95.43237] CT
2439 | 0 0 1 RC
2440 | 10.0 ML
2441 | 2.667 LW
2442 | N
2443 | -4.714 -4.714 M
2444 | 4.714 4.714 L
2445 | -4.714 4.714 M
2446 | 4.714 -4.714 L
2447 | S
2448 | GR
2449 | GS
2450 | [0.75 0 0 0.75 344.11235 67.9343] CT
2451 | 0 0 1 RC
2452 | 10.0 ML
2453 | 2.667 LW
2454 | N
2455 | -4.714 -4.714 M
2456 | 4.714 4.714 L
2457 | -4.714 4.714 M
2458 | 4.714 -4.714 L
2459 | S
2460 | GR
2461 | GS
2462 | [0.75 0 0 0.75 360.91908 43.45051] CT
2463 | 0 0 1 RC
2464 | 10.0 ML
2465 | 2.667 LW
2466 | N
2467 | -4.714 -4.714 M
2468 | 4.714 4.714 L
2469 | -4.714 4.714 M
2470 | 4.714 -4.714 L
2471 | S
2472 | GR
2473 | GS
2474 | [0.75 0 0 0.75 0 0] CT
2475 | 0 1 0 RC
2476 | 1 LJ
2477 | 2 LW
2478 | N
2479 | 73 374 M
2480 | 73.434 374 L
2481 | 73.868 373.999 L
2482 | 74.302 373.997 L
2483 | 74.736 373.994 L
2484 | 75.17 373.991 L
2485 | 75.604 373.987 L
2486 | 76.038 373.983 L
2487 | 76.472 373.977 L
2488 | 76.906 373.971 L
2489 | 77.34 373.964 L
2490 | 77.774 373.957 L
2491 | 78.208 373.949 L
2492 | 78.642 373.94 L
2493 | 79.076 373.93 L
2494 | 79.51 373.92 L
2495 | 79.944 373.909 L
2496 | 80.378 373.897 L
2497 | 80.812 373.885 L
2498 | 81.246 373.871 L
2499 | 81.68 373.858 L
2500 | 82.114 373.843 L
2501 | 82.548 373.828 L
2502 | 82.982 373.812 L
2503 | 83.416 373.795 L
2504 | 83.85 373.777 L
2505 | 84.284 373.759 L
2506 | 84.718 373.74 L
2507 | 85.152 373.721 L
2508 | 85.586 373.7 L
2509 | 86.02 373.679 L
2510 | 86.454 373.658 L
2511 | 86.888 373.635 L
2512 | 87.322 373.612 L
2513 | 87.756 373.588 L
2514 | 88.19 373.564 L
2515 | 88.624 373.538 L
2516 | 89.058 373.512 L
2517 | 89.492 373.486 L
2518 | 89.926 373.458 L
2519 | 90.36 373.43 L
2520 | 90.794 373.401 L
2521 | 91.228 373.372 L
2522 | 91.662 373.341 L
2523 | 92.096 373.31 L
2524 | 92.53 373.279 L
2525 | 92.964 373.246 L
2526 | 93.398 373.213 L
2527 | 93.832 373.179 L
2528 | 94.266 373.145 L
2529 | 94.7 373.109 L
2530 | 95.134 373.074 L
2531 | 95.568 373.037 L
2532 | 96.002 372.999 L
2533 | 96.436 372.961 L
2534 | 96.87 372.922 L
2535 | 97.304 372.883 L
2536 | 97.738 372.843 L
2537 | 98.172 372.802 L
2538 | 98.606 372.76 L
2539 | 99.04 372.718 L
2540 | 99.474 372.675 L
2541 | 99.908 372.631 L
2542 | 100.342 372.586 L
2543 | 100.776 372.541 L
2544 | 101.21 372.495 L
2545 | 101.644 372.448 L
2546 | 102.078 372.401 L
2547 | 102.512 372.353 L
2548 | 102.946 372.304 L
2549 | 103.38 372.255 L
2550 | 103.814 372.204 L
2551 | 104.248 372.153 L
2552 | 104.682 372.102 L
2553 | 105.116 372.049 L
2554 | 105.55 371.996 L
2555 | 105.984 371.943 L
2556 | 106.418 371.888 L
2557 | 106.852 371.833 L
2558 | 107.286 371.777 L
2559 | 107.72 371.72 L
2560 | 108.154 371.663 L
2561 | 108.588 371.605 L
2562 | 109.022 371.546 L
2563 | 109.456 371.487 L
2564 | 109.89 371.426 L
2565 | 110.324 371.366 L
2566 | 110.758 371.304 L
2567 | 111.192 371.242 L
2568 | 111.626 371.178 L
2569 | 112.06 371.115 L
2570 | 112.494 371.05 L
2571 | 112.928 370.985 L
2572 | 113.362 370.919 L
2573 | 113.796 370.853 L
2574 | 114.23 370.785 L
2575 | 114.664 370.717 L
2576 | 115.098 370.648 L
2577 | 115.532 370.579 L
2578 | 115.966 370.509 L
2579 | 116.4 370.438 L
2580 | 116.834 370.366 L
2581 | 117.268 370.294 L
2582 | 117.702 370.221 L
2583 | 118.136 370.147 L
2584 | 118.57 370.073 L
2585 | 119.004 369.998 L
2586 | 119.438 369.922 L
2587 | 119.872 369.845 L
2588 | 120.306 369.768 L
2589 | 120.74 369.69 L
2590 | 121.174 369.611 L
2591 | 121.608 369.532 L
2592 | 122.042 369.452 L
2593 | 122.476 369.371 L
2594 | 122.91 369.289 L
2595 | 123.344 369.207 L
2596 | 123.778 369.124 L
2597 | 124.212 369.04 L
2598 | 124.646 368.956 L
2599 | 125.08 368.871 L
2600 | 125.514 368.785 L
2601 | 125.948 368.698 L
2602 | 126.382 368.611 L
2603 | 126.816 368.523 L
2604 | 127.25 368.434 L
2605 | 127.684 368.345 L
2606 | 128.118 368.255 L
2607 | 128.552 368.164 L
2608 | 128.986 368.072 L
2609 | 129.42 367.98 L
2610 | 129.854 367.887 L
2611 | 130.288 367.793 L
2612 | 130.722 367.699 L
2613 | 131.156 367.604 L
2614 | 131.59 367.508 L
2615 | 132.024 367.412 L
2616 | 132.458 367.314 L
2617 | 132.892 367.216 L
2618 | 133.326 367.118 L
2619 | 133.76 367.018 L
2620 | 134.194 366.918 L
2621 | 134.628 366.817 L
2622 | 135.062 366.716 L
2623 | 135.496 366.614 L
2624 | 135.93 366.511 L
2625 | 136.364 366.407 L
2626 | 136.798 366.303 L
2627 | 137.232 366.198 L
2628 | 137.666 366.092 L
2629 | 138.1 365.985 L
2630 | 138.534 365.878 L
2631 | 138.968 365.77 L
2632 | 139.402 365.662 L
2633 | 139.836 365.552 L
2634 | 140.27 365.442 L
2635 | 140.704 365.331 L
2636 | 141.138 365.22 L
2637 | 141.572 365.108 L
2638 | 142.006 364.995 L
2639 | 142.44 364.881 L
2640 | 142.874 364.767 L
2641 | 143.308 364.652 L
2642 | 143.742 364.536 L
2643 | 144.176 364.419 L
2644 | 144.61 364.302 L
2645 | 145.044 364.184 L
2646 | 145.478 364.066 L
2647 | 145.912 363.946 L
2648 | 146.346 363.826 L
2649 | 146.78 363.706 L
2650 | 147.214 363.584 L
2651 | 147.648 363.462 L
2652 | 148.082 363.339 L
2653 | 148.516 363.216 L
2654 | 148.95 363.091 L
2655 | 149.384 362.966 L
2656 | 149.818 362.84 L
2657 | 150.252 362.714 L
2658 | 150.686 362.587 L
2659 | 151.12 362.459 L
2660 | 151.554 362.33 L
2661 | 151.988 362.201 L
2662 | 152.422 362.071 L
2663 | 152.856 361.94 L
2664 | 153.29 361.809 L
2665 | 153.724 361.677 L
2666 | 154.158 361.544 L
2667 | 154.592 361.41 L
2668 | 155.026 361.276 L
2669 | 155.46 361.141 L
2670 | 155.894 361.005 L
2671 | 156.328 360.869 L
2672 | 156.762 360.732 L
2673 | 157.196 360.594 L
2674 | 157.63 360.455 L
2675 | 158.064 360.316 L
2676 | 158.498 360.176 L
2677 | 158.932 360.035 L
2678 | 159.366 359.894 L
2679 | 159.8 359.752 L
2680 | 160.234 359.609 L
2681 | 160.668 359.465 L
2682 | 161.102 359.321 L
2683 | 161.536 359.176 L
2684 | 161.97 359.03 L
2685 | 162.404 358.884 L
2686 | 162.838 358.737 L
2687 | 163.272 358.589 L
2688 | 163.706 358.441 L
2689 | 164.14 358.291 L
2690 | 164.574 358.141 L
2691 | 165.008 357.991 L
2692 | 165.442 357.839 L
2693 | 165.876 357.687 L
2694 | 166.31 357.534 L
2695 | 166.744 357.381 L
2696 | 167.178 357.227 L
2697 | 167.612 357.072 L
2698 | 168.046 356.916 L
2699 | 168.48 356.76 L
2700 | 168.914 356.603 L
2701 | 169.348 356.445 L
2702 | 169.782 356.286 L
2703 | 170.216 356.127 L
2704 | 170.65 355.967 L
2705 | 171.084 355.806 L
2706 | 171.518 355.645 L
2707 | 171.952 355.483 L
2708 | 172.386 355.32 L
2709 | 172.82 355.157 L
2710 | 173.254 354.993 L
2711 | 173.688 354.828 L
2712 | 174.122 354.662 L
2713 | 174.556 354.496 L
2714 | 174.99 354.329 L
2715 | 175.424 354.161 L
2716 | 175.858 353.992 L
2717 | 176.292 353.823 L
2718 | 176.726 353.653 L
2719 | 177.16 353.483 L
2720 | 177.594 353.311 L
2721 | 178.028 353.139 L
2722 | 178.462 352.966 L
2723 | 178.896 352.793 L
2724 | 179.33 352.619 L
2725 | 179.764 352.444 L
2726 | 180.198 352.268 L
2727 | 180.632 352.092 L
2728 | 181.066 351.915 L
2729 | 181.5 351.737 L
2730 | 181.934 351.559 L
2731 | 182.368 351.38 L
2732 | 182.802 351.2 L
2733 | 183.236 351.019 L
2734 | 183.67 350.838 L
2735 | 184.104 350.656 L
2736 | 184.538 350.473 L
2737 | 184.972 350.29 L
2738 | 185.406 350.105 L
2739 | 185.84 349.921 L
2740 | 186.274 349.735 L
2741 | 186.708 349.549 L
2742 | 187.142 349.362 L
2743 | 187.576 349.174 L
2744 | 188.01 348.985 L
2745 | 188.444 348.796 L
2746 | 188.878 348.606 L
2747 | 189.312 348.416 L
2748 | 189.746 348.225 L
2749 | 190.18 348.033 L
2750 | 190.614 347.84 L
2751 | 191.048 347.646 L
2752 | 191.482 347.452 L
2753 | 191.916 347.258 L
2754 | 192.35 347.062 L
2755 | 192.784 346.866 L
2756 | 193.218 346.669 L
2757 | 193.652 346.471 L
2758 | 194.086 346.273 L
2759 | 194.52 346.073 L
2760 | 194.954 345.874 L
2761 | 195.388 345.673 L
2762 | 195.822 345.472 L
2763 | 196.256 345.27 L
2764 | 196.69 345.067 L
2765 | 197.124 344.864 L
2766 | 197.558 344.66 L
2767 | 197.992 344.455 L
2768 | 198.426 344.249 L
2769 | 198.86 344.043 L
2770 | 199.294 343.836 L
2771 | 199.728 343.629 L
2772 | 200.162 343.42 L
2773 | 200.596 343.211 L
2774 | 201.03 343.001 L
2775 | 201.464 342.791 L
2776 | 201.898 342.579 L
2777 | 202.332 342.368 L
2778 | 202.766 342.155 L
2779 | 203.2 341.941 L
2780 | 203.634 341.727 L
2781 | 204.068 341.513 L
2782 | 204.502 341.297 L
2783 | 204.936 341.081 L
2784 | 205.37 340.864 L
2785 | 205.804 340.646 L
2786 | 206.238 340.428 L
2787 | 206.672 340.209 L
2788 | 207.106 339.989 L
2789 | 207.54 339.769 L
2790 | 207.974 339.547 L
2791 | 208.408 339.326 L
2792 | 208.842 339.103 L
2793 | 209.276 338.88 L
2794 | 209.71 338.656 L
2795 | 210.144 338.431 L
2796 | 210.578 338.205 L
2797 | 211.012 337.979 L
2798 | 211.446 337.752 L
2799 | 211.88 337.525 L
2800 | 212.314 337.296 L
2801 | 212.748 337.067 L
2802 | 213.182 336.837 L
2803 | 213.616 336.607 L
2804 | 214.05 336.376 L
2805 | 214.484 336.144 L
2806 | 214.918 335.911 L
2807 | 215.352 335.678 L
2808 | 215.786 335.444 L
2809 | 216.22 335.209 L
2810 | 216.654 334.974 L
2811 | 217.088 334.738 L
2812 | 217.522 334.501 L
2813 | 217.956 334.263 L
2814 | 218.39 334.025 L
2815 | 218.824 333.786 L
2816 | 219.258 333.546 L
2817 | 219.692 333.306 L
2818 | 220.126 333.065 L
2819 | 220.56 332.823 L
2820 | 220.994 332.58 L
2821 | 221.428 332.337 L
2822 | 221.862 332.093 L
2823 | 222.296 331.848 L
2824 | 222.73 331.603 L
2825 | 223.164 331.357 L
2826 | 223.598 331.11 L
2827 | 224.032 330.862 L
2828 | 224.466 330.614 L
2829 | 224.9 330.365 L
2830 | 225.334 330.115 L
2831 | 225.768 329.865 L
2832 | 226.202 329.614 L
2833 | 226.636 329.362 L
2834 | 227.07 329.109 L
2835 | 227.504 328.856 L
2836 | 227.938 328.602 L
2837 | 228.372 328.347 L
2838 | 228.806 328.092 L
2839 | 229.24 327.836 L
2840 | 229.674 327.579 L
2841 | 230.108 327.321 L
2842 | 230.542 327.063 L
2843 | 230.976 326.804 L
2844 | 231.41 326.545 L
2845 | 231.844 326.284 L
2846 | 232.278 326.023 L
2847 | 232.712 325.761 L
2848 | 233.146 325.499 L
2849 | 233.58 325.235 L
2850 | 234.014 324.972 L
2851 | 234.448 324.707 L
2852 | 234.882 324.441 L
2853 | 235.316 324.175 L
2854 | 235.75 323.909 L
2855 | 236.184 323.641 L
2856 | 236.618 323.373 L
2857 | 237.052 323.104 L
2858 | 237.486 322.834 L
2859 | 237.92 322.564 L
2860 | 238.354 322.293 L
2861 | 238.788 322.021 L
2862 | 239.222 321.749 L
2863 | 239.656 321.475 L
2864 | 240.09 321.201 L
2865 | 240.524 320.927 L
2866 | 240.958 320.651 L
2867 | 241.392 320.375 L
2868 | 241.826 320.099 L
2869 | 242.26 319.821 L
2870 | 242.694 319.543 L
2871 | 243.128 319.264 L
2872 | 243.562 318.984 L
2873 | 243.996 318.704 L
2874 | 244.43 318.423 L
2875 | 244.864 318.141 L
2876 | 245.298 317.859 L
2877 | 245.732 317.576 L
2878 | 246.166 317.292 L
2879 | 246.6 317.007 L
2880 | 247.034 316.722 L
2881 | 247.468 316.436 L
2882 | 247.902 316.149 L
2883 | 248.336 315.862 L
2884 | 248.77 315.573 L
2885 | 249.204 315.285 L
2886 | 249.638 314.995 L
2887 | 250.072 314.705 L
2888 | 250.506 314.414 L
2889 | 250.94 314.122 L
2890 | 251.374 313.829 L
2891 | 251.808 313.536 L
2892 | 252.242 313.242 L
2893 | 252.676 312.948 L
2894 | 253.11 312.652 L
2895 | 253.544 312.357 L
2896 | 253.978 312.06 L
2897 | 254.412 311.762 L
2898 | 254.846 311.464 L
2899 | 255.28 311.165 L
2900 | 255.714 310.866 L
2901 | 256.148 310.565 L
2902 | 256.582 310.264 L
2903 | 257.016 309.963 L
2904 | 257.45 309.66 L
2905 | 257.884 309.357 L
2906 | 258.318 309.053 L
2907 | 258.752 308.749 L
2908 | 259.186 308.444 L
2909 | 259.62 308.138 L
2910 | 260.054 307.831 L
2911 | 260.488 307.523 L
2912 | 260.922 307.215 L
2913 | 261.356 306.907 L
2914 | 261.79 306.597 L
2915 | 262.224 306.287 L
2916 | 262.658 305.976 L
2917 | 263.092 305.664 L
2918 | 263.526 305.352 L
2919 | 263.96 305.039 L
2920 | 264.394 304.725 L
2921 | 264.828 304.41 L
2922 | 265.262 304.095 L
2923 | 265.696 303.779 L
2924 | 266.13 303.462 L
2925 | 266.564 303.145 L
2926 | 266.998 302.827 L
2927 | 267.432 302.508 L
2928 | 267.866 302.189 L
2929 | 268.3 301.868 L
2930 | 268.734 301.547 L
2931 | 269.168 301.226 L
2932 | 269.602 300.903 L
2933 | 270.036 300.58 L
2934 | 270.47 300.257 L
2935 | 270.904 299.932 L
2936 | 271.338 299.607 L
2937 | 271.772 299.281 L
2938 | 272.206 298.954 L
2939 | 272.64 298.627 L
2940 | 273.074 298.299 L
2941 | 273.508 297.97 L
2942 | 273.942 297.641 L
2943 | 274.376 297.31 L
2944 | 274.81 296.979 L
2945 | 275.244 296.648 L
2946 | 275.678 296.315 L
2947 | 276.112 295.982 L
2948 | 276.546 295.649 L
2949 | 276.98 295.314 L
2950 | 277.414 294.979 L
2951 | 277.848 294.643 L
2952 | 278.282 294.306 L
2953 | 278.716 293.969 L
2954 | 279.15 293.631 L
2955 | 279.584 293.292 L
2956 | 280.018 292.953 L
2957 | 280.452 292.613 L
2958 | 280.886 292.272 L
2959 | 281.32 291.93 L
2960 | 281.754 291.588 L
2961 | 282.188 291.245 L
2962 | 282.622 290.901 L
2963 | 283.056 290.557 L
2964 | 283.49 290.212 L
2965 | 283.924 289.866 L
2966 | 284.358 289.519 L
2967 | 284.792 289.172 L
2968 | 285.226 288.824 L
2969 | 285.66 288.475 L
2970 | 286.094 288.126 L
2971 | 286.528 287.775 L
2972 | 286.962 287.425 L
2973 | 287.396 287.073 L
2974 | 287.83 286.721 L
2975 | 288.264 286.368 L
2976 | 288.698 286.014 L
2977 | 289.132 285.66 L
2978 | 289.566 285.304 L
2979 | 290 284.949 L
2980 | 290.434 284.592 L
2981 | 290.868 284.235 L
2982 | 291.302 283.877 L
2983 | 291.736 283.518 L
2984 | 292.17 283.159 L
2985 | 292.604 282.799 L
2986 | 293.038 282.438 L
2987 | 293.472 282.076 L
2988 | 293.906 281.714 L
2989 | 294.34 281.351 L
2990 | 294.774 280.987 L
2991 | 295.208 280.623 L
2992 | 295.642 280.258 L
2993 | 296.076 279.892 L
2994 | 296.51 279.525 L
2995 | 296.944 279.158 L
2996 | 297.378 278.79 L
2997 | 297.812 278.422 L
2998 | 298.246 278.052 L
2999 | 298.68 277.682 L
3000 | 299.114 277.311 L
3001 | 299.548 276.94 L
3002 | 299.982 276.567 L
3003 | 300.416 276.195 L
3004 | 300.85 275.821 L
3005 | 301.284 275.446 L
3006 | 301.718 275.071 L
3007 | 302.152 274.696 L
3008 | 302.586 274.319 L
3009 | 303.02 273.942 L
3010 | 303.454 273.564 L
3011 | 303.888 273.185 L
3012 | 304.322 272.806 L
3013 | 304.756 272.426 L
3014 | 305.19 272.045 L
3015 | 305.624 271.664 L
3016 | 306.058 271.281 L
3017 | 306.492 270.898 L
3018 | 306.926 270.515 L
3019 | 307.36 270.13 L
3020 | 307.794 269.745 L
3021 | 308.228 269.36 L
3022 | 308.662 268.973 L
3023 | 309.096 268.586 L
3024 | 309.53 268.198 L
3025 | 309.964 267.809 L
3026 | 310.398 267.42 L
3027 | 310.832 267.03 L
3028 | 311.266 266.639 L
3029 | 311.7 266.248 L
3030 | 312.134 265.856 L
3031 | 312.568 265.463 L
3032 | 313.002 265.069 L
3033 | 313.436 264.675 L
3034 | 313.87 264.28 L
3035 | 314.304 263.884 L
3036 | 314.738 263.488 L
3037 | 315.172 263.09 L
3038 | 315.606 262.693 L
3039 | 316.04 262.294 L
3040 | 316.474 261.895 L
3041 | 316.908 261.495 L
3042 | 317.342 261.094 L
3043 | 317.776 260.692 L
3044 | 318.21 260.29 L
3045 | 318.644 259.887 L
3046 | 319.078 259.484 L
3047 | 319.512 259.08 L
3048 | 319.946 258.675 L
3049 | 320.38 258.269 L
3050 | 320.814 257.862 L
3051 | 321.248 257.455 L
3052 | 321.682 257.047 L
3053 | 322.116 256.639 L
3054 | 322.55 256.23 L
3055 | 322.984 255.82 L
3056 | 323.418 255.409 L
3057 | 323.852 254.997 L
3058 | 324.286 254.585 L
3059 | 324.72 254.172 L
3060 | 325.154 253.759 L
3061 | 325.588 253.345 L
3062 | 326.022 252.93 L
3063 | 326.456 252.514 L
3064 | 326.89 252.098 L
3065 | 327.324 251.68 L
3066 | 327.758 251.263 L
3067 | 328.192 250.844 L
3068 | 328.626 250.425 L
3069 | 329.06 250.005 L
3070 | 329.494 249.584 L
3071 | 329.928 249.163 L
3072 | 330.362 248.741 L
3073 | 330.796 248.318 L
3074 | 331.23 247.894 L
3075 | 331.664 247.47 L
3076 | 332.098 247.045 L
3077 | 332.532 246.619 L
3078 | 332.966 246.193 L
3079 | 333.4 245.766 L
3080 | 333.834 245.338 L
3081 | 334.268 244.91 L
3082 | 334.702 244.48 L
3083 | 335.136 244.051 L
3084 | 335.57 243.62 L
3085 | 336.004 243.189 L
3086 | 336.438 242.756 L
3087 | 336.872 242.324 L
3088 | 337.306 241.89 L
3089 | 337.74 241.456 L
3090 | 338.174 241.021 L
3091 | 338.608 240.585 L
3092 | 339.042 240.149 L
3093 | 339.476 239.712 L
3094 | 339.91 239.274 L
3095 | 340.344 238.836 L
3096 | 340.778 238.396 L
3097 | 341.212 237.957 L
3098 | 341.646 237.516 L
3099 | 342.08 237.075 L
3100 | 342.514 236.633 L
3101 | 342.948 236.19 L
3102 | 343.382 235.746 L
3103 | 343.816 235.302 L
3104 | 344.25 234.857 L
3105 | 344.684 234.412 L
3106 | 345.118 233.965 L
3107 | 345.552 233.518 L
3108 | 345.986 233.07 L
3109 | 346.42 232.622 L
3110 | 346.854 232.173 L
3111 | 347.288 231.723 L
3112 | 347.722 231.272 L
3113 | 348.156 230.821 L
3114 | 348.59 230.369 L
3115 | 349.024 229.916 L
3116 | 349.458 229.463 L
3117 | 349.892 229.009 L
3118 | 350.326 228.554 L
3119 | 350.76 228.098 L
3120 | 351.194 227.642 L
3121 | 351.628 227.185 L
3122 | 352.062 226.727 L
3123 | 352.496 226.269 L
3124 | 352.93 225.81 L
3125 | 353.364 225.35 L
3126 | 353.798 224.889 L
3127 | 354.232 224.428 L
3128 | 354.666 223.966 L
3129 | 355.1 223.503 L
3130 | 355.534 223.04 L
3131 | 355.968 222.576 L
3132 | 356.402 222.111 L
3133 | 356.836 221.645 L
3134 | 357.27 221.179 L
3135 | 357.704 220.712 L
3136 | 358.138 220.244 L
3137 | 358.572 219.776 L
3138 | 359.006 219.307 L
3139 | 359.44 218.837 L
3140 | 359.874 218.366 L
3141 | 360.308 217.895 L
3142 | 360.742 217.423 L
3143 | 361.176 216.95 L
3144 | 361.61 216.477 L
3145 | 362.044 216.003 L
3146 | 362.478 215.528 L
3147 | 362.912 215.053 L
3148 | 363.346 214.576 L
3149 | 363.78 214.099 L
3150 | 364.214 213.622 L
3151 | 364.648 213.143 L
3152 | 365.082 212.664 L
3153 | 365.516 212.184 L
3154 | 365.95 211.704 L
3155 | 366.384 211.223 L
3156 | 366.818 210.741 L
3157 | 367.252 210.258 L
3158 | 367.686 209.775 L
3159 | 368.12 209.291 L
3160 | 368.554 208.806 L
3161 | 368.988 208.32 L
3162 | 369.422 207.834 L
3163 | 369.856 207.347 L
3164 | 370.29 206.859 L
3165 | 370.724 206.371 L
3166 | 371.158 205.882 L
3167 | 371.592 205.392 L
3168 | 372.026 204.902 L
3169 | 372.46 204.411 L
3170 | 372.894 203.919 L
3171 | 373.328 203.426 L
3172 | 373.762 202.933 L
3173 | 374.196 202.439 L
3174 | 374.63 201.944 L
3175 | 375.064 201.448 L
3176 | 375.498 200.952 L
3177 | 375.932 200.455 L
3178 | 376.366 199.958 L
3179 | 376.8 199.459 L
3180 | 377.234 198.96 L
3181 | 377.668 198.46 L
3182 | 378.102 197.96 L
3183 | 378.536 197.459 L
3184 | 378.97 196.957 L
3185 | 379.404 196.454 L
3186 | 379.838 195.951 L
3187 | 380.272 195.447 L
3188 | 380.706 194.942 L
3189 | 381.14 194.437 L
3190 | 381.574 193.931 L
3191 | 382.008 193.424 L
3192 | 382.442 192.916 L
3193 | 382.876 192.408 L
3194 | 383.31 191.899 L
3195 | 383.744 191.389 L
3196 | 384.178 190.879 L
3197 | 384.612 190.368 L
3198 | 385.046 189.856 L
3199 | 385.48 189.343 L
3200 | 385.914 188.83 L
3201 | 386.348 188.316 L
3202 | 386.782 187.801 L
3203 | 387.216 187.286 L
3204 | 387.65 186.769 L
3205 | 388.084 186.253 L
3206 | 388.518 185.735 L
3207 | 388.952 185.217 L
3208 | 389.386 184.698 L
3209 | 389.82 184.178 L
3210 | 390.254 183.658 L
3211 | 390.688 183.137 L
3212 | 391.122 182.615 L
3213 | 391.556 182.092 L
3214 | 391.99 181.569 L
3215 | 392.424 181.045 L
3216 | 392.858 180.52 L
3217 | 393.292 179.995 L
3218 | 393.726 179.469 L
3219 | 394.16 178.942 L
3220 | 394.594 178.414 L
3221 | 395.028 177.886 L
3222 | 395.462 177.357 L
3223 | 395.896 176.827 L
3224 | 396.33 176.297 L
3225 | 396.764 175.766 L
3226 | 397.198 175.234 L
3227 | 397.632 174.702 L
3228 | 398.066 174.168 L
3229 | 398.5 173.634 L
3230 | 398.934 173.1 L
3231 | 399.368 172.564 L
3232 | 399.802 172.028 L
3233 | 400.236 171.491 L
3234 | 400.67 170.954 L
3235 | 401.104 170.416 L
3236 | 401.538 169.877 L
3237 | 401.972 169.337 L
3238 | 402.406 168.797 L
3239 | 402.84 168.256 L
3240 | 403.274 167.714 L
3241 | 403.708 167.171 L
3242 | 404.142 166.628 L
3243 | 404.576 166.084 L
3244 | 405.01 165.54 L
3245 | 405.444 164.994 L
3246 | 405.878 164.448 L
3247 | 406.312 163.901 L
3248 | 406.746 163.354 L
3249 | 407.18 162.806 L
3250 | 407.614 162.257 L
3251 | 408.048 161.707 L
3252 | 408.482 161.157 L
3253 | 408.916 160.606 L
3254 | 409.35 160.054 L
3255 | 409.784 159.502 L
3256 | 410.218 158.948 L
3257 | 410.652 158.395 L
3258 | 411.086 157.84 L
3259 | 411.52 157.285 L
3260 | 411.954 156.729 L
3261 | 412.388 156.172 L
3262 | 412.822 155.614 L
3263 | 413.256 155.056 L
3264 | 413.69 154.497 L
3265 | 414.124 153.938 L
3266 | 414.558 153.377 L
3267 | 414.992 152.816 L
3268 | 415.426 152.255 L
3269 | 415.86 151.692 L
3270 | 416.294 151.129 L
3271 | 416.728 150.565 L
3272 | 417.162 150.001 L
3273 | 417.596 149.435 L
3274 | 418.03 148.869 L
3275 | 418.464 148.302 L
3276 | 418.898 147.735 L
3277 | 419.332 147.167 L
3278 | 419.766 146.598 L
3279 | 420.2 146.028 L
3280 | 420.634 145.458 L
3281 | 421.068 144.887 L
3282 | 421.502 144.315 L
3283 | 421.936 143.743 L
3284 | 422.37 143.17 L
3285 | 422.804 142.596 L
3286 | 423.238 142.022 L
3287 | 423.672 141.446 L
3288 | 424.106 140.87 L
3289 | 424.54 140.294 L
3290 | 424.974 139.716 L
3291 | 425.408 139.138 L
3292 | 425.842 138.559 L
3293 | 426.276 137.98 L
3294 | 426.71 137.399 L
3295 | 427.144 136.818 L
3296 | 427.578 136.237 L
3297 | 428.012 135.654 L
3298 | 428.446 135.071 L
3299 | 428.88 134.487 L
3300 | 429.314 133.903 L
3301 | 429.748 133.318 L
3302 | 430.182 132.732 L
3303 | 430.616 132.145 L
3304 | 431.05 131.558 L
3305 | 431.484 130.97 L
3306 | 431.918 130.381 L
3307 | 432.352 129.791 L
3308 | 432.786 129.201 L
3309 | 433.22 128.61 L
3310 | 433.654 128.018 L
3311 | 434.088 127.426 L
3312 | 434.522 126.833 L
3313 | 434.956 126.239 L
3314 | 435.39 125.645 L
3315 | 435.824 125.049 L
3316 | 436.258 124.453 L
3317 | 436.692 123.857 L
3318 | 437.126 123.259 L
3319 | 437.56 122.661 L
3320 | 437.994 122.063 L
3321 | 438.428 121.463 L
3322 | 438.862 120.863 L
3323 | 439.296 120.262 L
3324 | 439.73 119.66 L
3325 | 440.164 119.058 L
3326 | 440.598 118.455 L
3327 | 441.032 117.851 L
3328 | 441.466 117.247 L
3329 | 441.9 116.642 L
3330 | 442.334 116.036 L
3331 | 442.768 115.429 L
3332 | 443.202 114.822 L
3333 | 443.636 114.214 L
3334 | 444.07 113.605 L
3335 | 444.504 112.995 L
3336 | 444.938 112.385 L
3337 | 445.372 111.774 L
3338 | 445.806 111.163 L
3339 | 446.24 110.55 L
3340 | 446.674 109.937 L
3341 | 447.108 109.324 L
3342 | 447.542 108.709 L
3343 | 447.976 108.094 L
3344 | 448.41 107.478 L
3345 | 448.844 106.862 L
3346 | 449.278 106.244 L
3347 | 449.712 105.626 L
3348 | 450.146 105.007 L
3349 | 450.58 104.388 L
3350 | 451.014 103.768 L
3351 | 451.448 103.147 L
3352 | 451.882 102.525 L
3353 | 452.316 101.903 L
3354 | 452.75 101.28 L
3355 | 453.184 100.656 L
3356 | 453.618 100.032 L
3357 | 454.052 99.407 L
3358 | 454.486 98.781 L
3359 | 454.92 98.154 L
3360 | 455.354 97.527 L
3361 | 455.788 96.899 L
3362 | 456.222 96.27 L
3363 | 456.656 95.641 L
3364 | 457.09 95.011 L
3365 | 457.524 94.38 L
3366 | 457.958 93.749 L
3367 | 458.392 93.116 L
3368 | 458.826 92.483 L
3369 | 459.26 91.85 L
3370 | 459.694 91.215 L
3371 | 460.128 90.58 L
3372 | 460.562 89.944 L
3373 | 460.996 89.308 L
3374 | 461.43 88.67 L
3375 | 461.864 88.033 L
3376 | 462.298 87.394 L
3377 | 462.732 86.754 L
3378 | 463.166 86.114 L
3379 | 463.6 85.474 L
3380 | 464.034 84.832 L
3381 | 464.468 84.19 L
3382 | 464.902 83.547 L
3383 | 465.336 82.903 L
3384 | 465.77 82.259 L
3385 | 466.204 81.614 L
3386 | 466.638 80.968 L
3387 | 467.072 80.321 L
3388 | 467.506 79.674 L
3389 | 467.94 79.026 L
3390 | 468.374 78.378 L
3391 | 468.808 77.728 L
3392 | 469.242 77.078 L
3393 | 469.676 76.427 L
3394 | 470.11 75.776 L
3395 | 470.544 75.124 L
3396 | 470.978 74.471 L
3397 | 471.412 73.817 L
3398 | 471.846 73.163 L
3399 | 472.28 72.508 L
3400 | 472.714 71.852 L
3401 | 473.148 71.195 L
3402 | 473.582 70.538 L
3403 | 474.016 69.88 L
3404 | 474.45 69.222 L
3405 | 474.884 68.562 L
3406 | 475.318 67.902 L
3407 | 475.752 67.242 L
3408 | 476.186 66.58 L
3409 | 476.62 65.918 L
3410 | 477.054 65.255 L
3411 | 477.488 64.591 L
3412 | 477.922 63.927 L
3413 | 478.356 63.262 L
3414 | 478.79 62.596 L
3415 | 479.224 61.93 L
3416 | 479.658 61.263 L
3417 | 480.092 60.595 L
3418 | 480.526 59.926 L
3419 | 480.96 59.257 L
3420 | 481.394 58.587 L
3421 | 481.828 57.916 L
3422 | 482.262 57.245 L
3423 | 482.696 56.572 L
3424 | 483.13 55.9 L
3425 | 483.564 55.226 L
3426 | 483.998 54.552 L
3427 | 484.432 53.877 L
3428 | 484.866 53.201 L
3429 | 485.3 52.525 L
3430 | 485.734 51.847 L
3431 | 486.168 51.17 L
3432 | 486.602 50.491 L
3433 | 487.036 49.812 L
3434 | 487.47 49.132 L
3435 | 487.904 48.451 L
3436 | 488.338 47.77 L
3437 | 488.772 47.087 L
3438 | 489.206 46.405 L
3439 | 489.64 45.721 L
3440 | 490.074 45.037 L
3441 | 490.508 44.352 L
3442 | 490.942 43.666 L
3443 | 491.376 42.98 L
3444 | 491.81 42.293 L
3445 | 492.244 41.605 L
3446 | 492.678 40.916 L
3447 | 493.112 40.227 L
3448 | 493.546 39.537 L
3449 | 493.98 38.846 L
3450 | 494.414 38.155 L
3451 | 494.848 37.463 L
3452 | 495.282 36.77 L
3453 | 495.716 36.076 L
3454 | 496.15 35.382 L
3455 | 496.584 34.687 L
3456 | 497.018 33.992 L
3457 | 497.452 33.295 L
3458 | 497.886 32.598 L
3459 | 498.32 31.9 L
3460 | 498.754 31.202 L
3461 | 498.905 30.959 L
3462 | S
3463 | GR
3464 | GS
3465 | [0.75 0 0 0.75 0 0] CT
3466 | 1 GC
3467 | N
3468 | 190 83 M
3469 | 190 47 L
3470 | 91 47 L
3471 | 91 83 L
3472 | cp
3473 | f
3474 | GR
3475 | GS
3476 | [0.75 0 0 0.75 103.5 42.64726] CT
3477 | N
3478 | 3.703 3.125 M
3479 | 3.75 2.234 3.75 -0.484 QT
3480 | 3.75 -3.203 3.703 -4.375 QT
3481 | 4.406 -3.953 L
3482 | 6.703 -3.953 L
3483 | 7.078 -4.328 L
3484 | 7.688 -3.719 L
3485 | 7.313 -3.438 L
3486 | 7.313 0.594 L
3487 | 7.313 1.531 7.359 2.469 QT
3488 | 6.75 2.75 L
3489 | 6.75 -3.672 L
3490 | 4.359 -3.672 L
3491 | 4.359 2.844 L
3492 | 3.703 3.125 L
3493 | cp
3494 | 5.203 -2.453 M
3495 | 6.188 -1.938 L
3496 | 5.859 -1.609 L
3497 | 5.906 1.578 5.391 3.242 QT
3498 | 4.875 4.906 2.578 6.125 QT
3499 | 2.484 5.938 L
3500 | 4.125 4.813 4.641 3.641 QT
3501 | 5.156 2.469 5.203 0.898 QT
3502 | 5.25 -0.672 5.203 -2.453 QT
3503 | cp
3504 | 5.813 3.219 M
3505 | 7.172 4.156 7.383 4.508 QT
3506 | 7.594 4.859 7.594 5.047 QT
3507 | 7.594 5.281 7.453 5.492 QT
3508 | 7.313 5.703 7.219 5.703 QT
3509 | 7.031 5.703 6.844 5.141 QT
3510 | 6.563 4.297 5.719 3.359 QT
3511 | 5.813 3.219 L
3512 | cp
3513 | 8.391 3.453 M
3514 | 8.438 2.75 8.438 1.813 QT
3515 | 8.438 -1.375 L
3516 | 8.438 -2.406 8.391 -3.063 QT
3517 | 9.422 -2.547 L
3518 | 9.047 -2.172 L
3519 | 9.047 1.813 L
3520 | 9.047 2.516 9.094 3.219 QT
3521 | 8.391 3.453 L
3522 | cp
3523 | 10.078 4.719 M
3524 | 10.078 -2.594 L
3525 | 10.078 -3.906 10.031 -4.609 QT
3526 | 11.016 -4.141 L
3527 | 10.688 -3.813 L
3528 | 10.688 4.859 L
3529 | 10.688 5.375 10.5 5.656 QT
3530 | 10.313 5.938 9.75 6.125 QT
3531 | 9.422 5.422 8.344 5.094 QT
3532 | 8.344 4.906 L
3533 | 9.609 5.094 9.844 5.07 QT
3534 | 10.078 5.047 10.078 4.719 QT
3535 | cp
3536 | 3.469 -1.563 M
3537 | 2.578 2.141 2.438 2.703 QT
3538 | 2.25 3.313 2.273 4.156 QT
3539 | 2.297 5 2.344 5.328 QT
3540 | 2.344 5.516 2.109 5.516 QT
3541 | 1.922 5.516 1.641 5.422 QT
3542 | 1.359 5.328 1.359 5 QT
3543 | 1.359 4.766 1.5 4.297 QT
3544 | 1.641 3.828 1.641 3.547 QT
3545 | 1.641 3.219 1.43 3.031 QT
3546 | 1.219 2.844 0.516 2.656 QT
3547 | 0.516 2.469 L
3548 | 1.359 2.563 1.57 2.539 QT
3549 | 1.781 2.516 2.039 2.117 QT
3550 | 2.297 1.719 3.281 -1.609 QT
3551 | 3.469 -1.563 L
3552 | cp
3553 | 0.703 -2.078 M
3554 | 2.016 -1.281 2.086 -0.813 QT
3555 | 2.156 -0.344 1.969 -0.203 QT
3556 | 1.781 -0.063 1.688 -0.063 QT
3557 | 1.5 -0.063 1.359 -0.578 QT
3558 | 1.125 -1.281 0.609 -1.938 QT
3559 | 0.703 -2.078 L
3560 | cp
3561 | 1.5 -4.563 M
3562 | 2.766 -3.859 2.906 -3.461 QT
3563 | 3.047 -3.063 2.859 -2.852 QT
3564 | 2.672 -2.641 2.531 -2.641 QT
3565 | 2.391 -2.641 2.25 -3.063 QT
3566 | 2.016 -3.719 1.406 -4.422 QT
3567 | 1.5 -4.563 L
3568 | cp
3569 | 15.188 0.5 M
3570 | 15.188 1.484 L
3571 | 17.672 1.484 L
3572 | 17.672 0.5 L
3573 | 15.188 0.5 L
3574 | cp
3575 | 18.281 0.5 M
3576 | 18.281 1.484 L
3577 | 20.672 1.484 L
3578 | 20.672 0.5 L
3579 | 18.281 0.5 L
3580 | cp
3581 | 15.188 1.766 M
3582 | 15.188 2.703 L
3583 | 17.672 2.703 L
3584 | 17.672 1.766 L
3585 | 15.188 1.766 L
3586 | cp
3587 | 18.281 1.766 M
3588 | 18.281 2.703 L
3589 | 20.672 2.703 L
3590 | 20.672 1.766 L
3591 | 18.281 1.766 L
3592 | cp
3593 | 21.281 0.641 M
3594 | 21.281 2.469 21.328 3.078 QT
3595 | 20.672 3.359 L
3596 | 20.672 2.984 L
3597 | 18.281 2.984 L
3598 | 18.281 4.016 L
3599 | 20.813 4.016 L
3600 | 21.469 3.453 L
3601 | 22.219 4.297 L
3602 | 18.281 4.297 L
3603 | 18.281 5.422 L
3604 | 21.891 5.422 L
3605 | 22.594 4.766 L
3606 | 23.391 5.703 L
3607 | 14.203 5.703 L
3608 | 13.594 5.703 13.078 5.844 QT
3609 | 12.656 5.422 L
3610 | 17.672 5.422 L
3611 | 17.672 4.297 L
3612 | 15.234 4.297 L
3613 | 14.625 4.297 14.109 4.438 QT
3614 | 13.688 4.016 L
3615 | 17.672 4.016 L
3616 | 17.672 2.984 L
3617 | 15.188 2.984 L
3618 | 15.188 3.266 L
3619 | 14.531 3.5 L
3620 | 14.578 2.563 14.578 1.648 QT
3621 | 14.578 0.734 14.531 -0.156 QT
3622 | 15.188 0.219 L
3623 | 20.625 0.219 L
3624 | 20.906 -0.156 L
3625 | 21.609 0.359 L
3626 | 21.281 0.641 L
3627 | cp
3628 | 15.328 -4 M
3629 | 15.328 -3.203 L
3630 | 20.531 -3.203 L
3631 | 20.531 -4 L
3632 | 15.328 -4 L
3633 | cp
3634 | 15.328 -2.922 M
3635 | 15.328 -2.078 L
3636 | 20.531 -2.078 L
3637 | 20.531 -2.922 L
3638 | 15.328 -2.922 L
3639 | cp
3640 | 21.141 -3.906 M
3641 | 21.141 -2.172 21.188 -1.609 QT
3642 | 20.531 -1.328 L
3643 | 20.531 -1.797 L
3644 | 15.328 -1.797 L
3645 | 15.328 -1.375 L
3646 | 14.672 -1.094 L
3647 | 14.719 -1.844 14.719 -2.992 QT
3648 | 14.719 -4.141 14.672 -4.609 QT
3649 | 15.375 -4.281 L
3650 | 20.438 -4.281 L
3651 | 20.719 -4.703 L
3652 | 21.469 -4.188 L
3653 | 21.141 -3.906 L
3654 | cp
3655 | 12.469 -0.859 M
3656 | 22.078 -0.859 L
3657 | 22.734 -1.469 L
3658 | 23.531 -0.578 L
3659 | 13.781 -0.578 L
3660 | 13.406 -0.578 12.891 -0.438 QT
3661 | 12.469 -0.859 L
3662 | cp
3663 | 27.516 2.141 M
3664 | 27.141 2.75 26.813 3.313 QT
3665 | 27.422 3.453 28.266 3.641 QT
3666 | 28.688 3.172 29.109 2.141 QT
3667 | 27.516 2.141 L
3668 | cp
3669 | 25.594 -4.188 M
3670 | 26.484 -3.625 26.672 -3.344 QT
3671 | 26.859 -3.063 26.859 -2.922 QT
3672 | 26.859 -2.688 26.695 -2.453 QT
3673 | 26.531 -2.219 26.438 -2.219 QT
3674 | 26.297 -2.219 26.156 -2.688 QT
3675 | 25.969 -3.344 25.453 -4.094 QT
3676 | 25.594 -4.188 L
3677 | cp
3678 | 29.625 -4.328 M
3679 | 30.469 -3.766 L
3680 | 30.094 -3.672 29.813 -3.297 QT
3681 | 29.484 -2.922 28.734 -2.172 QT
3682 | 28.594 -2.266 L
3683 | 29.484 -3.672 29.625 -4.328 QT
3684 | cp
3685 | 27.516 -4.844 M
3686 | 28.547 -4.375 L
3687 | 28.172 -4.047 L
3688 | 28.172 -1.891 L
3689 | 29.344 -1.891 L
3690 | 29.859 -2.406 L
3691 | 30.656 -1.609 L
3692 | 28.172 -1.609 L
3693 | 28.172 -1.188 L
3694 | 29.25 -0.953 29.508 -0.742 QT
3695 | 29.766 -0.531 29.766 -0.203 QT
3696 | 29.766 -0.063 29.719 0.148 QT
3697 | 29.672 0.359 29.578 0.359 QT
3698 | 29.484 0.359 29.25 0.031 QT
3699 | 28.875 -0.484 28.172 -0.953 QT
3700 | 28.172 0.5 L
3701 | 27.609 0.875 L
3702 | 28.266 1.156 L
3703 | 28.031 1.25 27.656 1.859 QT
3704 | 29.109 1.859 L
3705 | 29.438 1.438 L
3706 | 30.141 2.047 L
3707 | 29.719 2.281 L
3708 | 29.25 3.359 28.875 3.781 QT
3709 | 29.625 3.969 29.883 4.18 QT
3710 | 30.141 4.391 30.141 4.719 QT
3711 | 30.141 5.047 30 5.047 QT
3712 | 29.859 5.047 29.672 4.859 QT
3713 | 29.156 4.484 28.5 4.203 QT
3714 | 26.859 5.516 24.609 5.938 QT
3715 | 24.563 5.797 L
3716 | 26.719 5.094 27.938 3.969 QT
3717 | 27 3.641 26.109 3.5 QT
3718 | 26.297 3.219 26.859 2.141 QT
3719 | 26.25 2.141 L
3720 | 25.641 2.141 25.125 2.281 QT
3721 | 24.703 1.859 L
3722 | 26.953 1.859 L
3723 | 27.141 1.391 27.328 0.734 QT
3724 | 27.563 0.828 L
3725 | 27.563 -1.094 L
3726 | 26.297 0.359 24.656 1.156 QT
3727 | 24.563 1.016 L
3728 | 26.297 -0.203 27.188 -1.609 QT
3729 | 26.344 -1.609 L
3730 | 25.734 -1.609 25.219 -1.469 QT
3731 | 24.797 -1.891 L
3732 | 27.563 -1.891 L
3733 | 27.563 -3.578 27.516 -4.844 QT
3734 | cp
3735 | 31.359 -1.609 M
3736 | 31.594 1.109 32.484 2.938 QT
3737 | 33.234 1.344 33.422 -1.609 QT
3738 | 31.359 -1.609 L
3739 | cp
3740 | 31.594 -4.844 M
3741 | 32.672 -4.234 L
3742 | 32.297 -4.094 32.109 -3.672 QT
3743 | 31.922 -3.25 31.406 -1.891 QT
3744 | 34.078 -1.891 L
3745 | 34.641 -2.453 L
3746 | 35.484 -1.609 L
3747 | 34.125 -1.609 L
3748 | 33.844 1.859 32.906 3.547 QT
3749 | 33.984 4.859 35.438 5.188 QT
3750 | 35.438 5.375 L
3751 | 34.547 5.516 34.5 5.938 QT
3752 | 33.281 5.094 32.484 4.016 QT
3753 | 30.938 5.516 28.781 6.219 QT
3754 | 28.688 6.078 L
3755 | 30.844 5.094 32.109 3.5 QT
3756 | 31.219 1.297 31.172 -1.328 QT
3757 | 30.703 -0.109 29.813 0.969 QT
3758 | 29.672 0.875 L
3759 | 30.797 -1 31.594 -4.844 QT
3760 | cp
3761 | 41.859 6.219 M
3762 | 41.906 5.188 41.906 4.039 QT
3763 | 41.906 2.891 41.859 2 QT
3764 | 42.516 2.375 L
3765 | 43.828 2.375 L
3766 | 43.828 0.5 L
3767 | 41.625 0.5 L
3768 | 41.297 3.828 39.141 5.984 QT
3769 | 39 5.844 L
3770 | 40.031 4.484 40.57 2.773 QT
3771 | 41.109 1.063 41.133 -1.211 QT
3772 | 41.156 -3.484 41.109 -4.469 QT
3773 | 41.813 -4.047 L
3774 | 45.656 -4.047 L
3775 | 46.031 -4.422 L
3776 | 46.688 -3.813 L
3777 | 46.313 -3.578 L
3778 | 46.313 -2.172 46.359 -1.516 QT
3779 | 45.703 -1.234 L
3780 | 45.703 -1.797 L
3781 | 41.766 -1.797 L
3782 | 41.766 -0.906 41.672 0.219 QT
3783 | 43.828 0.219 L
3784 | 43.828 -0.672 43.781 -1.516 QT
3785 | 44.813 -1.047 L
3786 | 44.438 -0.766 L
3787 | 44.438 0.219 L
3788 | 45.984 0.219 L
3789 | 46.5 -0.297 L
3790 | 47.297 0.5 L
3791 | 44.438 0.5 L
3792 | 44.438 2.375 L
3793 | 45.656 2.375 L
3794 | 46.031 1.953 L
3795 | 46.688 2.563 L
3796 | 46.313 2.844 L
3797 | 46.313 4.719 46.359 5.75 QT
3798 | 45.703 6.125 L
3799 | 45.703 5.141 L
3800 | 42.516 5.141 L
3801 | 42.516 5.938 L
3802 | 41.859 6.219 L
3803 | cp
3804 | 41.766 -3.766 M
3805 | 41.766 -2.078 L
3806 | 45.703 -2.078 L
3807 | 45.703 -3.766 L
3808 | 41.766 -3.766 L
3809 | cp
3810 | 42.516 2.656 M
3811 | 42.516 4.859 L
3812 | 45.703 4.859 L
3813 | 45.703 2.656 L
3814 | 42.516 2.656 L
3815 | cp
3816 | 39.141 0.406 M
3817 | 40.688 -0.484 L
3818 | 40.781 -0.297 L
3819 | 39.141 0.922 L
3820 | 39.141 4.719 L
3821 | 39.094 5.563 38.109 5.938 QT
3822 | 38.203 5.469 36.938 4.953 QT
3823 | 36.938 4.766 L
3824 | 37.969 4.953 38.227 4.93 QT
3825 | 38.484 4.906 38.484 4.578 QT
3826 | 38.484 1.25 L
3827 | 37.172 2.188 37.125 2.469 QT
3828 | 36.422 1.625 L
3829 | 36.703 1.578 38.484 0.688 QT
3830 | 38.484 -1.703 L
3831 | 37.406 -1.703 L
3832 | 36.844 -1.609 L
3833 | 36.469 -1.984 L
3834 | 38.484 -1.984 L
3835 | 38.484 -3.906 38.438 -4.703 QT
3836 | 39.516 -4.141 L
3837 | 39.141 -3.813 L
3838 | 39.141 -1.984 L
3839 | 39.656 -1.984 L
3840 | 40.266 -2.5 L
3841 | 40.969 -1.703 L
3842 | 39.141 -1.703 L
3843 | 39.141 0.406 L
3844 | cp
3845 | f
3846 | GR
3847 | GS
3848 | [0.75 0 0 0.75 86.25 42.64726] CT
3849 | 0 0 1 RC
3850 | 10.0 ML
3851 | 2.667 LW
3852 | N
3853 | -4.714 -4.714 M
3854 | 4.714 4.714 L
3855 | -4.714 4.714 M
3856 | 4.714 -4.714 L
3857 | S
3858 | GR
3859 | GS
3860 | [0.75 0 0 0.75 103.5 54.85274] CT
3861 | N
3862 | 5.906 3.031 M
3863 | 7.969 1.438 L
3864 | 8.109 1.578 L
3865 | 7.5 2.188 6.797 2.961 QT
3866 | 6.094 3.734 5.719 4.438 QT
3867 | 5.016 3.734 L
3868 | 5.25 3.5 5.25 2.891 QT
3869 | 5.25 -0.859 L
3870 | 5.25 -2.219 5.203 -3.719 QT
3871 | 6.328 -3.156 L
3872 | 5.906 -2.828 L
3873 | 5.906 3.031 L
3874 | cp
3875 | 9.469 2.797 M
3876 | 10.734 3.688 11.039 4.156 QT
3877 | 11.344 4.625 11.25 5.023 QT
3878 | 11.156 5.422 10.969 5.609 QT
3879 | 10.781 5.797 10.547 4.953 QT
3880 | 10.266 4.109 9.375 3.078 QT
3881 | 8.203 5.422 4.922 6.266 QT
3882 | 4.875 6.078 L
3883 | 6.094 5.563 6.961 4.93 QT
3884 | 7.828 4.297 8.438 3.289 QT
3885 | 9.047 2.281 9.094 0.5 QT
3886 | 9.141 -1.281 9.141 -2.031 QT
3887 | 9.141 -3.484 9.047 -4.375 QT
3888 | 10.313 -3.766 L
3889 | 9.844 -3.391 L
3890 | 9.844 -1.844 9.82 -0.203 QT
3891 | 9.797 1.438 9.469 2.797 QT
3892 | cp
3893 | 2.578 -2.219 M
3894 | 2.578 -4.141 2.531 -4.797 QT
3895 | 3.609 -4.281 L
3896 | 3.234 -3.906 L
3897 | 3.234 -2.219 L
3898 | 3.844 -2.219 L
3899 | 4.359 -2.734 L
3900 | 5.156 -1.938 L
3901 | 3.234 -1.938 L
3902 | 3.234 0.266 L
3903 | 4.828 -0.578 L
3904 | 4.922 -0.391 L
3905 | 3.234 0.734 L
3906 | 3.234 4.813 L
3907 | 3.188 5.656 2.203 6.031 QT
3908 | 2.25 5.516 0.844 5 QT
3909 | 0.844 4.813 L
3910 | 1.875 5 2.25 4.977 QT
3911 | 2.625 4.953 2.578 4.344 QT
3912 | 2.578 1.156 L
3913 | 1.266 2 1.125 2.328 QT
3914 | 0.469 1.484 L
3915 | 1.031 1.344 2.578 0.547 QT
3916 | 2.578 -1.938 L
3917 | 1.453 -1.938 L
3918 | 0.844 -1.844 L
3919 | 0.469 -2.219 L
3920 | 2.578 -2.219 L
3921 | cp
3922 | 6.703 -3.953 M
3923 | 7.594 -3.203 7.875 -2.781 QT
3924 | 8.156 -2.359 8.156 -2.078 QT
3925 | 8.156 -1.938 8.086 -1.727 QT
3926 | 8.016 -1.516 7.875 -1.398 QT
3927 | 7.734 -1.281 7.688 -1.281 QT
3928 | 7.5 -1.281 7.406 -1.938 QT
3929 | 7.219 -2.734 6.563 -3.859 QT
3930 | 6.703 -3.953 L
3931 | cp
3932 | 18.703 -4.141 M
3933 | 18.281 -3.906 L
3934 | 18.844 -2.922 20.086 -1.867 QT
3935 | 21.328 -0.813 23.484 -0.297 QT
3936 | 23.484 -0.156 L
3937 | 22.781 -0.016 22.5 0.5 QT
3938 | 20.438 -0.625 19.43 -1.773 QT
3939 | 18.422 -2.922 18.094 -3.672 QT
3940 | 16.828 -1.75 15.539 -0.766 QT
3941 | 14.25 0.219 12.563 0.828 QT
3942 | 12.516 0.641 L
3943 | 14.344 -0.297 15.633 -1.563 QT
3944 | 16.922 -2.828 17.719 -4.797 QT
3945 | 18.703 -4.141 L
3946 | cp
3947 | 14.859 -0.063 M
3948 | 19.547 -0.063 L
3949 | 20.156 -0.672 L
3950 | 21.047 0.219 L
3951 | 16.313 0.219 L
3952 | 15.797 0.219 15.281 0.359 QT
3953 | 14.859 -0.063 L
3954 | cp
3955 | 15.703 2.188 M
3956 | 15.703 4.813 L
3957 | 20.203 4.813 L
3958 | 20.203 2.188 L
3959 | 15.703 2.188 L
3960 | cp
3961 | 20.859 2.422 M
3962 | 20.859 4.531 20.906 5.609 QT
3963 | 20.203 5.891 L
3964 | 20.203 5.094 L
3965 | 15.703 5.094 L
3966 | 15.703 5.703 L
3967 | 15 5.984 L
3968 | 15.047 4.813 15.047 3.734 QT
3969 | 15.047 2.656 15 1.531 QT
3970 | 15.703 1.906 L
3971 | 20.109 1.906 L
3972 | 20.578 1.438 L
3973 | 21.234 2.094 L
3974 | 20.859 2.422 L
3975 | cp
3976 | 31.594 1.25 M
3977 | 31.594 4.625 L
3978 | 33.516 4.625 L
3979 | 33.516 1.25 L
3980 | 31.594 1.25 L
3981 | cp
3982 | 25.875 -2.594 M
3983 | 26.625 -2.172 L
3984 | 28.453 -2.172 L
3985 | 28.453 -3.906 28.406 -4.844 QT
3986 | 29.484 -4.328 L
3987 | 29.063 -4 L
3988 | 29.063 -2.172 L
3989 | 30.984 -2.172 L
3990 | 30.984 -4.094 30.938 -4.844 QT
3991 | 32.063 -4.281 L
3992 | 31.594 -4 L
3993 | 31.594 -2.172 L
3994 | 33.422 -2.172 L
3995 | 33.844 -2.641 L
3996 | 34.594 -2.031 L
3997 | 34.172 -1.703 L
3998 | 34.172 4.391 34.219 5.469 QT
3999 | 33.516 5.797 L
4000 | 33.516 4.906 L
4001 | 26.578 4.906 L
4002 | 26.578 5.656 L
4003 | 25.875 5.984 L
4004 | 25.922 3.781 25.922 1.602 QT
4005 | 25.922 -0.578 25.875 -2.594 QT
4006 | cp
4007 | 26.578 -1.891 M
4008 | 26.578 0.969 L
4009 | 28.453 0.969 L
4010 | 28.453 -1.891 L
4011 | 26.578 -1.891 L
4012 | cp
4013 | 29.063 -1.891 M
4014 | 29.063 0.969 L
4015 | 30.984 0.969 L
4016 | 30.984 -1.891 L
4017 | 29.063 -1.891 L
4018 | cp
4019 | 31.594 -1.891 M
4020 | 31.594 0.969 L
4021 | 33.516 0.969 L
4022 | 33.516 -1.891 L
4023 | 31.594 -1.891 L
4024 | cp
4025 | 26.578 1.25 M
4026 | 26.578 4.625 L
4027 | 28.453 4.625 L
4028 | 28.453 1.25 L
4029 | 26.578 1.25 L
4030 | cp
4031 | 29.063 1.25 M
4032 | 29.063 4.625 L
4033 | 30.984 4.625 L
4034 | 30.984 1.25 L
4035 | 29.063 1.25 L
4036 | cp
4037 | 43.313 -1.375 M
4038 | 43.313 -0.719 43.406 0.359 QT
4039 | 45.609 0.125 L
4040 | 46.219 -0.578 L
4041 | 47.156 0.219 L
4042 | 43.453 0.594 L
4043 | 43.594 2.047 43.922 2.891 QT
4044 | 44.953 1.953 45.563 0.922 QT
4045 | 46.406 1.766 L
4046 | 45.984 1.813 L
4047 | 45.094 2.656 44.203 3.5 QT
4048 | 45.047 4.672 46.172 5.141 QT
4049 | 46.828 2.891 L
4050 | 47.016 2.938 L
4051 | 46.922 4.016 46.898 4.719 QT
4052 | 46.875 5.422 47.109 5.844 QT
4053 | 47.156 5.938 47.156 5.984 QT
4054 | 47.156 6.172 46.664 6.102 QT
4055 | 46.172 6.031 45.352 5.539 QT
4056 | 44.531 5.047 43.688 3.969 QT
4057 | 42.844 4.531 41.977 4.906 QT
4058 | 41.109 5.281 39.797 5.656 QT
4059 | 39.75 5.469 L
4060 | 41.766 4.719 43.359 3.406 QT
4061 | 42.938 2.141 42.797 0.688 QT
4062 | 40.875 0.922 L
4063 | 40.5 1.109 L
4064 | 39.984 0.734 L
4065 | 42.75 0.453 L
4066 | 42.703 -0.203 42.656 -1.328 QT
4067 | 41.297 -1.234 L
4068 | 41.016 -1.047 L
4069 | 40.594 -1.422 L
4070 | 42.656 -1.563 L
4071 | 42.609 -3.203 42.563 -4.844 QT
4072 | 43.641 -4.328 L
4073 | 43.266 -4 L
4074 | 43.266 -3.016 43.313 -1.609 QT
4075 | 45.328 -1.797 L
4076 | 45.938 -2.5 L
4077 | 46.875 -1.656 L
4078 | 43.313 -1.375 L
4079 | cp
4080 | 44.016 -4.047 M
4081 | 44.063 -4.188 L
4082 | 45.516 -3.813 45.656 -3.555 QT
4083 | 45.797 -3.297 45.797 -3.109 QT
4084 | 45.797 -2.875 45.703 -2.641 QT
4085 | 45.609 -2.406 45.516 -2.406 QT
4086 | 45.422 -2.406 45.234 -2.781 QT
4087 | 44.906 -3.297 44.016 -4.047 QT
4088 | cp
4089 | 38.859 -4.656 M
4090 | 39.797 -4.047 L
4091 | 39.422 -3.906 39 -3.109 QT
4092 | 38.578 -2.266 37.453 -0.719 QT
4093 | 39.375 -0.906 L
4094 | 39.938 -1.844 40.266 -2.781 QT
4095 | 41.109 -2.172 L
4096 | 40.781 -1.984 39.984 -0.813 QT
4097 | 39.188 0.359 37.922 2 QT
4098 | 38.578 1.906 40.828 1.484 QT
4099 | 40.828 1.672 L
4100 | 39.563 2 38.859 2.258 QT
4101 | 38.156 2.516 37.453 2.984 QT
4102 | 36.891 2 L
4103 | 37.406 1.859 38.086 0.992 QT
4104 | 38.766 0.125 39.281 -0.719 QT
4105 | 38.766 -0.625 38.203 -0.461 QT
4106 | 37.641 -0.297 37.172 0.125 QT
4107 | 36.656 -0.766 L
4108 | 37.172 -0.859 37.852 -2.102 QT
4109 | 38.531 -3.344 38.859 -4.656 QT
4110 | cp
4111 | 36.609 4.297 M
4112 | 37.922 4.109 38.719 3.969 QT
4113 | 39.516 3.828 41.297 3.453 QT
4114 | 41.344 3.641 L
4115 | 39.234 4.25 38.273 4.602 QT
4116 | 37.313 4.953 37.078 5.188 QT
4117 | 36.609 4.297 L
4118 | cp
4119 | f
4120 | GR
4121 | GS
4122 | [0.75 0 0 0.75 0 0] CT
4123 | 0 1 0 RC
4124 | 1 LJ
4125 | 2 LW
4126 | N
4127 | 95 73.137 M
4128 | 135 73.137 L
4129 | S
4130 | GR
4131 | GS
4132 | [0.75 0 0 0.75 0 0] CT
4133 | 0.149 GC
4134 | 10.0 ML
4135 | 0.667 LW
4136 | N
4137 | 91 83 M
4138 | 91 47 L
4139 | 190 47 L
4140 | 190 83 L
4141 | cp
4142 | S
4143 | GR
4144 | %%Trailer
4145 | %%Pages: 1
4146 | %%EOF
4147 | 


--------------------------------------------------------------------------------
/px4_pos_estiamtor/README.md:
--------------------------------------------------------------------------------
  1 |  # **如何使用外部定位设备作为无人机位置估计？**
  2 | 主要针对室内飞行，在无GPS定位的情况下，如何将外部设备或者机载SLAM系统的定位信息传递给飞控中的位置及姿态估计器，从而使得飞控中的估计器可以融合外部定位数据及自身IMU数据得到能够用于室内飞行的定位信息。
  3 | ## 写在前面
  4 | 近期论坛上很多小伙伴都提出了类似的问题，这里做一个系统性的解答。但是，一提笔总觉得很多相关内容都糅杂在一起，很难剥离出来说清楚。所以，这篇权当一次试水，大家看不懂的地方，以及大家希望了解的技术细节，可以在本帖下方留言。
  5 | 
  6 | 其次，关于无人机、PX4二次开发、自主控制、室内导航、offboard模式、mavros、SLAM、视觉追踪等等笔者略知一二的东西都会陆陆续续整理出来，同时也会开源一些P200科研无人机中的源码给大家使用。
  7 | 
  8 | 手写的文字及代码难免有错及笔误，烦请各位指正。
  9 | 
 10 | ## 准备工作
 11 | 
 12 | **飞控固件及版本**：PX4（建议用教新的版本）
 13 | 
 14 | **其他要求**：机载电脑（默认已经掌握：如何使用Mavros连接机载电脑和飞控）
 15 | 
 16 | Mavros源码链接：[Mavros Github](https://github.com/mavlink/mavros)
 17 | 
 18 | 旧的PX4手册是没有这部分相关内容的详细说明的，最新版本的手册已经更新了这部分内容，与本文档内容略有重叠，但侧重不同，供大家参考。
 19 | 官方教程链接：[https://dev.px4.io/en/ros/external_position_estimation.html](https://dev.px4.io/en/ros/external_position_estimation.html)
 20 | 
 21 | 
 22 | ## 飞控中的估计模块（滤波器）
 23 | 
 24 | 状态估计包括**位置估计**与**姿态估计**。在旧版本的飞控中默认使用的是`attitude_estimator_q`（姿态估计）、`position_estimator_inav`（位置估计，最新的固件已经删除这个模块了）或`local_position_estimator`（位置估计）。新版本固件中的默认滤波器是`ekf2`模块（包含位置及姿态估计）。
 25 | 
 26 | 本文就将利用`ekf2`模块中提供的vehicle_visual_odometry.msg（uORB消息）接口实现这个功能。（备注：吐槽一下官方，固件更新太快，1.9.0以前这个话题不是叫这个名字，应该是vehicle_vision_position.msg及vehicle_vision_attitude.msg）
 27 | 
 28 | ## 室内定位需要哪些信息？
 29 | 
 30 | 一般针对室内情况，需要通过外部设备获得无人机的位置及偏航角（这是由于飞控自身的磁力计在室内的太无力了）。
 31 | 
 32 | ## 都有哪些常见的定位方式？
 33 | 
 34 | 定位方式按照是否机载可以大致分为两大类：外部定位及机载定位。
 35 | 
 36 |  - **外部定位**：利用动作捕捉系统（motion capture
 37 |    system，简称mocap）、UWB等设备测量无人机当前的位置及姿态。mocap目前主流的是两家国外牌子：Vicon和Optitrack。mocap设备价格较为昂贵（十几万到几百万不等），但是精度很高，可以达到厘米甚至毫米级别的定位，且刷新率很高。UWB没有深入的了解，从他人口中听闻，价格大概也需要几万块，精度5-10cm左右，刷新率肯定是不如MOCAP的。
 38 |  - **机载定位**：这大概就是目前比较火的视觉SLAM和激光SLAM。这里就不深入讲了，网上资料太多了。笔者用过的有：HKUST开源的VINS，谷歌开源的cartographer。（前两天在一个会议上见到HKUST的沈老师，以前一直以为是个老教授，结果是个很年轻的老师，比我大不了几岁。欸~）
 39 | 
 40 | ## 如何在机载电脑中接收定位信息？
 41 | 
 42 | 如果是mocap的话，推荐使用`vrpn_clinet_ros`功能包来得到地面软件发出的定位信息（只需要将地面软件所在的电脑和机载电脑接入同一个局域网，IP设置正确即可。这一步不懂的可以留言，我后期可以补充具体步骤）。
 43 | 
 44 | 如果是UWB，一般来说是串口收发方式，将其提供的接收端插在机载电脑上，github上找一个基于ros的串口收发小程序对应改改就可以（按照其协议解码即可）。
 45 | 
 46 | 主流的传感器和SLAM算法一般都有相应的ROS功能包，直接按照官方教程安装，运行起来就可以看到其发布的包含定位数据的话题了。
 47 | 
 48 | **注意**：距离单位！！ 尽管默认的单位都是米，也不排除有例外的。别问我怎么知道要提示你这一点的，都是泪。以及大部分姿态都是用四元数表示，这里可能涉及到四元数与欧拉角的转换关系。嘿嘿。别搞错了哦。
 49 | 
 50 | **小结**：无论哪种定位方式，这一步你需要能够在机载电脑中接收到所需要的定位信息（位置xyz+偏航角yaw）。
 51 | 
 52 | ## 飞控中如何设置？
 53 | 
 54 | 这里就不讲怎么连接机载电脑和飞控了，默认你已经会使用Mavros连接机载电脑了。
 55 | 
 56 | 为了配合机载电脑中传来的定位信息，有两个和ekf2有关的参数需要修改。
 57 | 
 58 | - [EKF2_AID_MASK](https://dev.px4.io/en/advanced/parameter_reference.html#EKF2_AID_MASK) 设置为24（即勾选_vision position fusion_ and _vision yaw fusion_）
 59 | 
 60 | - [EKF2_HGT_MODE](https://dev.px4.io/en/advanced/parameter_reference.html#EKF2_HGT_MODE) 设置为VISION  （默认为气压计）
 61 | 
 62 | 因为ekf2中默认是不会融合这个外部的定位信息的，这里相当于在ekf2中启用这个功能。至于ekf2参数中还有很多和这个外部定位相关的滤波参数设置，就请参看官网教程吧。我没有改任何参数，但是ekf2代码的话，阿木团队优化过，具体修改笔者也不清楚。
 63 | 
 64 | 其他说明：
 65 | 
 66 |  - 做了以上修改之后，水平校准会遇到问题，所以要修改之前校准水平。
 67 |  - 修改之后，自稳模式会变得有些奇怪，基本上只能使用位置闭环的控制模式了，也就是offboard模式。
 68 | 
 69 | 
 70 | ## 如何将定位信息发送至飞控中？（重点内容）
 71 | 
 72 | 话不多说，直接共享代码  [px4_pos_estimator.cpp](https://github.com/potato77/px4_pos_estimator/blob/master/px4_pos_estimator.cpp)
 73 | 
 74 | `px4_pos_estimator.cpp`是阿木社区最新推出的P200科研无人机中px4_command功能包中的一个小程序，主要负责的功能就是将外部信息发送到飞控中，代码文件中有详尽的注释（因为是基于ros写的，所以需要一点点ros编程的基础）。该程序也只是提供一个示例及代码框架而已，照搬肯定是不行的，部分地方还是要按照你选择定位方式的具体情况来修改的。
 75 | 
 76 | 我在这里大致提几点注意事项：
 77 |  1. 坐标系转换（对应的callback函数中修改）：需要将外部定位信息转换至ENU坐标系。mavros中默认使用的是ENU系。这里的ENU系是指：无人机前方为正，左方为正，上方为正，由上向下看飞机逆时针旋转为正。
 78 |  2. `/mavros/vision_pose/pose` 这个话题发布的时候必须要加时间戳，不然mavros不会订阅。
 79 |  3. 订阅飞控返回的位置及姿态信息并打印出来，同时打印外部定位信数据，用于检查是否发送成功并确认方向。
 80 | 
 81 | ## 具体消息流向
 82 | 就像我在Mavros培训课上讲得，只要梳理清楚每个消息的流向及其存在形式，那么就能很轻松的把握Mavros和PX4的代码了。
 83 | 
 84 | 首先，理解ros话题、Mavlink消息、uORB消息这三者的概念。简单来说：ros话题是机载电脑中传递的消息载体，Mavlink是机载电脑与飞控传递的消息载体，uORB话题是飞控内部传递的消息载体。
 85 | 
 86 | 这里针对外部定位位置（即一个包含xyz的数据类型）进行梳理：
 87 | 
 88 |  - 首先是传感器测量得到，由机载电脑中的ros话题发布出来。
 89 |  - `px4_pos_estimator.cpp`订阅该话题，进行一定处理后，转存至另一个话题`/mavros/vision_pose/pose` 并发布。
 90 |  - Mavros功能包中[vision_pose_estimate.cpp](https://github.com/mavlink/mavros/blob/master/mavros_extras/src/plugins/vision_pose_estimate.cpp)订阅`/mavros/vision_pose/pose`话题，并将其封装成Mavlink消息，发送给飞控。
 91 |  - 飞控接收到该Mavlink消息，通过[mavlink_receiver.cpp](https://github.com/abner-amov/Firmware/blob/master-amov/src/modules/mavlink/mavlink_receiver.cpp)接收并处理，转存为相应的uORB消息。
 92 |  - 飞控中ekf2模块订阅该uORB消息，并进行相应计算处理，融合得到无人机的位置速度等状态。
 93 | 
 94 | ## 实现步骤总结
 95 | 
 96 |  1. 在机载电脑中，利用相应驱动程序或者功能包获得外部定位数据，并以ros话题的形式发布出来。
 97 |  2. 利用px4_pos_estimator.cpp程序订阅该话题，做好相应坐标转换，然后转发该数据至飞控中。
 98 |  3. 打印相应信息，检查飞控是否收到定位信息。
 99 |  4. 前后左右移动飞机，确认方向正确。
100 | 
101 | ## 调试建议
102 | 
103 |  - 第四步很重要，基本上问题都出在这，如果实在搞不清方向转换的，就多试几次，因为位置的坐标转换只是正负号的问题，多试几次总能得到正确的结果。
104 |  - 基本上飞行的控制精度是取决于这里的定位精度的。理解以下几个概念：静态定位精度，动态定位精度，控制精度。以激光slam为例，静态精度1cm左右，动态精度可能只有5cm了，如果不其他（延时，控制参数等等）影响不显著时，控制精度较好时在正负10cm以内，较差的话正负20cm以内，再差可能飞机就定不住发散了。
105 | 
106 | 
107 | 
108 | 
109 | 
110 | ## 关于作者
111 | 
112 | 阿木社区技术负责人、Mavros培训课程主讲老师、北理工在读博士
113 | 
114 | 对任何与四旋翼无人机有关的话题感兴趣，欢迎交流。
115 | 
116 | 个人微信号：qyp0210
117 | 


--------------------------------------------------------------------------------
/px4_pos_estiamtor/px4_pos_estimator.cpp:
--------------------------------------------------------------------------------
  1 | /***************************************************************************************************************************
  2 |  * px4_pos_estimator.cpp
  3 |  *
  4 |  * Author: Qyp
  5 |  *
  6 |  * Update Time: 2019.3.10
  7 |  *
  8 |  * 说明: mavros位置估计程序
  9 |  *      1. 订阅激光SLAM (cartorgrapher_ros节点) 发布的位置信息,从laser坐标系转换至NED坐标系
 10 |  *      2. 订阅Mocap设备 (vrpn-client-ros节点) 发布的位置信息，从mocap坐标系转换至NED坐标系
 11 |  *      3. 订阅飞控发布的位置、速度及欧拉角信息，作对比用
 12 |  *      4. 存储飞行数据，实验分析及作图使用
 13 |  *      5. 选择激光SLAM或者Mocap设备作为位置来源，发布位置及偏航角(xyz+yaw)给飞控
 14 |  *
 15 | ***************************************************************************************************************************/
 16 | /***************************************************************************************************************************
 17 | * px4_pos_controller.cpp
 18 | *
 19 | * Author: Qyp
 20 | *
 21 | * Update Time: 2019.3.16
 22 | *
 23 | * Introduction:  PX4 Position Estimator using external positioning equipment
 24 | *         1. Subscribe position and yaw information from Lidar SLAM node(cartorgrapher_ros节点), transfrom from laser frame to ENU frame
 25 | *         2. Subscribe position and yaw information from Vicon node(vrpn-client-ros节点), transfrom from vicon frame to ENU frame
 26 | *         3. Send the position and yaw information to FCU using Mavros package (/mavros/mocap/pose or /mavros/vision_estimate/pose)
 27 | *         4. Subscribe position and yaw information from FCU, used for compare
 28 | ***************************************************************************************************************************/
 29 | 
 30 | 
 31 | //头文件
 32 | #include <ros/ros.h>
 33 | 
 34 | #include <iostream>
 35 | #include <Eigen/Eigen>
 36 | 
 37 | 
 38 | #include <math_utils.h>
 39 | #include <Frame_tf_utils.h>
 40 | //msg 头文件
 41 | #include <mavros_msgs/CommandBool.h>
 42 | #include <mavros_msgs/SetMode.h>
 43 | #include <mavros_msgs/State.h>
 44 | #include <geometry_msgs/Vector3.h>
 45 | #include <geometry_msgs/TwistStamped.h>
 46 | #include <geometry_msgs/PoseStamped.h>
 47 | #include <nav_msgs/Odometry.h>
 48 | #include <sensor_msgs/Imu.h>
 49 | #include <std_msgs/Bool.h>
 50 | #include <geometry_msgs/Pose.h>
 51 | #include <geometry_msgs/Vector3Stamped.h>
 52 | #include <geometry_msgs/Point.h>
 53 | #include <std_msgs/UInt16.h>
 54 | #include <std_msgs/Float64.h>
 55 | #include <tf2_msgs/TFMessage.h>
 56 | #include <geometry_msgs/TransformStamped.h>
 57 | #include <sensor_msgs/Range.h>
 58 | 
 59 | 
 60 | using namespace std;
 61 | //---------------------------------------相关参数-----------------------------------------------
 62 | int flag_use_laser_or_vicon;                               //0:使用mocap数据作为定位数据 1:使用laser数据作为定位数据
 63 | //---------------------------------------vicon定位相关------------------------------------------
 64 | Eigen::Vector3d pos_drone_mocap;                          //无人机当前位置 (vicon)
 65 | Eigen::Quaterniond q_mocap;
 66 | Eigen::Vector3d Euler_mocap;                              //无人机当前姿态 (vicon)
 67 | //---------------------------------------laser定位相关------------------------------------------
 68 | Eigen::Vector3d pos_drone_laser;                          //无人机当前位置 (laser)
 69 | Eigen::Quaterniond q_laser;
 70 | Eigen::Vector3d Euler_laser;                                         //无人机当前姿态(laser)
 71 | 
 72 | geometry_msgs::TransformStamped laser;                          //当前时刻cartorgrapher发布的数据
 73 | geometry_msgs::TransformStamped laser_last;
 74 | //---------------------------------------无人机位置及速度--------------------------------------------
 75 | Eigen::Vector3d pos_drone_fcu;                           //无人机当前位置 (来自fcu)
 76 | Eigen::Vector3d vel_drone_fcu;                           //无人机上一时刻位置 (来自fcu)
 77 | 
 78 | Eigen::Quaterniond q_fcu;
 79 | Eigen::Vector3d Euler_fcu;                                          //无人机当前欧拉角(来自fcu)
 80 | //---------------------------------------发布相关变量--------------------------------------------
 81 | geometry_msgs::PoseStamped vision;
 82 | //>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>函数声明<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<
 83 | float get_dt(ros::Time last);                                                        //获取时间间隔
 84 | void printf_info();                                                                       //打印函数
 85 | //>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>回调函数<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<
 86 | void laser_cb(const tf2_msgs::TFMessage::ConstPtr& msg)
 87 | {
 88 |     //确定是cartographer发出来的/tf信息
 89 |     //有的时候/tf这个消息的发布者不止一个
 90 |     if (msg->transforms[0].header.frame_id == "map")
 91 |     {
 92 |         laser = msg->transforms[0];
 93 | 
 94 |         float dt_laser;
 95 | 
 96 |         dt_laser = (laser.header.stamp.sec - laser_last.header.stamp.sec) + (laser.header.stamp.nsec - laser_last.header.stamp.nsec)/10e9;
 97 | 
 98 |         //这里需要做这个判断是因为cartographer发布位置时有一个小bug，ENU到NED不展开讲。
 99 |         if (dt_laser != 0)
100 |         {
101 |             //位置 xy  [将解算的位置从laser坐标系转换至ENU坐标系]???
102 |             pos_drone_laser[0]  = laser.transform.translation.x;
103 |             pos_drone_laser[1]  = laser.transform.translation.y;
104 | 
105 |             // Read the Quaternion from the Carto Package [Frame: Laser[ENU]]
106 |             Eigen::Quaterniond q_laser_enu(laser.transform.rotation.w, laser.transform.rotation.x, laser.transform.rotation.y, laser.transform.rotation.z);
107 | 
108 |             q_laser = q_laser_enu;
109 | 
110 |             // Transform the Quaternion to Euler Angles
111 |             Euler_laser = quaternion_to_euler(q_laser);
112 |         }
113 | 
114 |         laser_last = laser;
115 |     }
116 | }
117 | void sonic_cb(const std_msgs::UInt16::ConstPtr& msg)
118 | {
119 |     std_msgs::UInt16 sonic;
120 | 
121 |     sonic = *msg;
122 | 
123 |     //位置
124 |     pos_drone_laser[2]  = (float)sonic.data / 1000;
125 | }
126 | 
127 | void tfmini_cb(const sensor_msgs::Range::ConstPtr& msg)
128 | {
129 |     sensor_msgs::Range tfmini;
130 | 
131 |     tfmini = *msg;
132 | 
133 |     //位置
134 |     pos_drone_laser[2]  = tfmini.range ;
135 | 
136 | }
137 | 
138 | void optitrack_cb(const geometry_msgs::PoseStamped::ConstPtr& msg)
139 | {
140 |     //位置 -- optitrack系 到 ENU系
141 |     int optitrack_frame = 1; //Frame convention 0: Z-up -- 1: Y-up
142 |     // Read the Drone Position from the Vrpn Package [Frame: Vicon]  (Vicon to ENU frame)
143 |     Eigen::Vector3d pos_drone_mocap_enu(-msg->pose.position.x,msg->pose.position.z,msg->pose.position.y);
144 | 
145 |     pos_drone_mocap = pos_drone_mocap_enu;
146 | 
147 |     if(optitrack_frame == 0){
148 |         // Read the Quaternion from the Vrpn Package [Frame: Vicon[ENU]]
149 |         Eigen::Quaterniond q_mocap_enu(msg->pose.orientation.w, msg->pose.orientation.x, msg->pose.orientation.y, msg->pose.orientation.z);
150 |         q_mocap = q_mocap_enu;
151 |     }
152 |     else
153 |     {
154 |         // Read the Quaternion from the Vrpn Package [Frame: Vicon[ENU]]
155 |         Eigen::Quaterniond q_mocap_enu(msg->pose.orientation.w, msg->pose.orientation.x, msg->pose.orientation.z, msg->pose.orientation.y); //Y-up convention, switch the q2 & q3
156 |         q_mocap = q_mocap_enu;
157 |     }
158 | 
159 |     // Transform the Quaternion to Euler Angles
160 |     Euler_mocap = quaternion_to_euler(q_mocap);
161 | 
162 | }
163 | 
164 | void pos_cb(const geometry_msgs::PoseStamped::ConstPtr &msg)
165 | {
166 |     // Read the Drone Position from the Mavros Package [Frame: ENU]
167 |     Eigen::Vector3d pos_drone_fcu_enu(msg->pose.position.x,msg->pose.position.y,msg->pose.position.z);
168 | 
169 |     pos_drone_fcu = pos_drone_fcu_enu;
170 | }
171 | 
172 | void vel_cb(const geometry_msgs::TwistStamped::ConstPtr &msg)
173 | {
174 |     // Read the Drone Velocity from the Mavros Package [Frame: ENU]
175 |     Eigen::Vector3d vel_drone_fcu_enu(msg->twist.linear.x,msg->twist.linear.y,msg->twist.linear.z);
176 | 
177 |     vel_drone_fcu = vel_drone_fcu_enu;
178 | }
179 | 
180 | void euler_cb(const sensor_msgs::Imu::ConstPtr& msg)
181 | {
182 |     // Read the Quaternion from the Mavros Package [Frame: ENU]
183 |     Eigen::Quaterniond q_fcu_enu(msg->orientation.w, msg->orientation.x, msg->orientation.y, msg->orientation.z);
184 | 
185 |     q_fcu = q_fcu_enu;
186 | 
187 |     //Transform the Quaternion to Euler Angles
188 |     Euler_fcu = quaternion_to_euler(q_fcu);
189 | 
190 |     // Transform the Quaternion from ENU to NED
191 |     Eigen::Quaterniond q_ned = transform_orientation_enu_to_ned( transform_orientation_baselink_to_aircraft(q_fcu_enu) );
192 | }
193 | 
194 | //>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>主 函 数<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<
195 | int main(int argc, char **argv)
196 | {
197 |     ros::init(argc, argv, "px4_pos_estimator");
198 |     ros::NodeHandle nh("~");
199 | 
200 |     //读取参数表中的参数
201 |     // 使用激光SLAM数据orVicon数据 0 for vicon， 1 for 激光SLAM
202 |     nh.param<int>("flag_use_laser_or_vicon", flag_use_laser_or_vicon, 0);
203 | 
204 |     // 【订阅】cartographer估计位置
205 |     ros::Subscriber laser_sub = nh.subscribe<tf2_msgs::TFMessage>("/tf", 1000, laser_cb);
206 | 
207 |     // 【订阅】超声波的数据
208 |     ros::Subscriber sonic_sub = nh.subscribe<std_msgs::UInt16>("/sonic", 100, sonic_cb);
209 | 
210 |     // 【订阅】tf mini的数据
211 |     ros::Subscriber tfmini_sub = nh.subscribe<sensor_msgs::Range>("/TFmini/TFmini", 100, tfmini_cb);
212 | 
213 |     // 【订阅】optitrack估计位置
214 |     ros::Subscriber optitrack_sub = nh.subscribe<geometry_msgs::PoseStamped>("/vrpn_client_node/UAV/pose", 1000, optitrack_cb);
215 | 
216 |     // 【订阅】无人机当前位置 坐标系:ENU系 [室外：GPS，室内：自主定位或mocap等] 这里订阅仅作比较用
217 |     ros::Subscriber position_sub = nh.subscribe<geometry_msgs::PoseStamped>("/mavros/local_position/pose", 10, pos_cb);
218 | 
219 |     // 【订阅】无人机当前速度 坐标系:ENU系 [室外：GPS，室内：自主定位或mocap等] 这里订阅仅作比较用
220 |     ros::Subscriber velocity_sub = nh.subscribe<geometry_msgs::TwistStamped>("/mavros/local_position/velocity_local", 10, vel_cb);
221 | 
222 |     // 【订阅】无人机当前欧拉角 坐标系:ENU系 这里订阅仅作比较用
223 |     ros::Subscriber euler_sub = nh.subscribe<sensor_msgs::Imu>("/mavros/imu/data", 10, euler_cb);
224 | 
225 |     // 【发布】无人机位置和偏航角 坐标系 ENU系
226 |     //  本话题要发送飞控(通过mavros_extras/src/plugins/vision_pose_estimate.cpp发送), 对应Mavlink消息为VISION_POSITION_ESTIMATE(#??), 对应的飞控中的uORB消息为vehicle_vision_position.msg 及 vehicle_vision_attitude.msg
227 |     ros::Publisher vision_pub = nh.advertise<geometry_msgs::PoseStamped>("/mavros/vision_pose/pose", 100);
228 | 
229 |     // 频率
230 |     ros::Rate rate(20.0);
231 | 
232 | //>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>Main Loop<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<
233 |     while(ros::ok())
234 |     {
235 |         //回调一次 更新传感器状态
236 |         ros::spinOnce();
237 | 
238 |         //vicon
239 |         if(flag_use_laser_or_vicon == 0)
240 |         {
241 |             vision.pose.position.x = pos_drone_mocap[0] ;
242 |             vision.pose.position.y = pos_drone_mocap[1] ;
243 |             vision.pose.position.z = pos_drone_mocap[2] ;
244 | 
245 |             vision.pose.orientation.x = q_mocap.x();
246 |             vision.pose.orientation.y = q_mocap.y();
247 |             vision.pose.orientation.z = q_mocap.z();
248 |             vision.pose.orientation.w = q_mocap.w();
249 | 
250 |         }//laser
251 |         else if (flag_use_laser_or_vicon == 1)
252 |         {
253 |             vision.pose.position.x = pos_drone_laser[0];
254 |             vision.pose.position.y = pos_drone_laser[1];
255 |             vision.pose.position.z = pos_drone_laser[2];
256 | 
257 |             vision.pose.orientation.x = q_laser.x();
258 |             vision.pose.orientation.y = q_laser.y();
259 |             vision.pose.orientation.z = q_laser.z();
260 |             vision.pose.orientation.w = q_laser.w();
261 |         }
262 | 
263 |         vision.header.stamp = ros::Time::now();
264 |         vision_pub.publish(vision);
265 | 
266 |         //打印
267 |         printf_info();
268 |         rate.sleep();
269 |     }
270 | 
271 |     return 0;
272 | 
273 | }
274 | 
275 | //获取当前时间 单位：秒
276 | float get_dt(ros::Time last)
277 | {
278 |     ros::Time time_now = ros::Time::now();
279 |     float currTimeSec = time_now.sec-last.sec;
280 |     float currTimenSec = time_now.nsec / 1e9 - last.nsec / 1e9;
281 |     return (currTimeSec + currTimenSec);
282 | }
283 | 
284 | void printf_info()
285 | {
286 |     cout <<">>>>>>>>>>>>>>>>>>>>>>>>PX4_POS_ESTIMATOR<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<" <<endl;
287 | 
288 |     //固定的浮点显示
289 |     cout.setf(ios::fixed);
290 |     //setprecision(n) 设显示小数精度为n位
291 |     cout<<setprecision(2);
292 |     //左对齐
293 |     cout.setf(ios::left);
294 |     // 强制显示小数点
295 |     cout.setf(ios::showpoint);
296 |     // 强制显示符号
297 |     cout.setf(ios::showpos);
298 | 
299 |     //using vicon system
300 |     if(flag_use_laser_or_vicon == 0)
301 |     {
302 |         cout <<">>>>>>>>>>>>>>>>>>>>>>>>Vicon Info [ENU Frame]<<<<<<<<<<<<<<<<<<<<<<<<<" <<endl;
303 |         cout << "Pos_vicon [X Y Z] : " << pos_drone_mocap[0] << " [ m ] "<< pos_drone_mocap[1] <<" [ m ] "<< pos_drone_mocap[2] <<" [ m ] "<<endl;
304 |         cout << "Euler_vicon [Yaw] : " << Euler_mocap[2] * 180/M_PI<<" [deg]  "<<endl;
305 |     }else
306 |     {
307 |         cout <<">>>>>>>>>>>>>>>>>>>>>>>>Laser Info [ENU Frame]<<<<<<<<<<<<<<<<<<<<<<<<<" <<endl;
308 |         cout << "Pos_laser [X Y Z] : " << pos_drone_laser[0] << " [ m ] "<< pos_drone_laser[1] <<" [ m ] "<< pos_drone_laser[2] <<" [ m ] "<<endl;
309 |         cout << "Euler_vlaser[Yaw] : " << Euler_laser[2] * 180/M_PI<<" [deg]  "<<endl;
310 |     }
311 | 
312 |         cout <<">>>>>>>>>>>>>>>>>>>>>>>>FCU Info [ENU Frame]<<<<<<<<<<<<<<<<<<<<<<<<<<<" <<endl;
313 |         cout << "Pos_fcu [X Y Z] : " << pos_drone_fcu[0] << " [ m ] "<< pos_drone_fcu[1] <<" [ m ] "<< pos_drone_fcu[2] <<" [ m ] "<<endl;
314 |         cout << "Vel_fcu [X Y Z] : " << vel_drone_fcu[0] << " [m/s] "<< vel_drone_fcu[1] <<" [m/s] "<< vel_drone_fcu[2] <<" [m/s] "<<endl;
315 |         cout << "Euler_fcu [Yaw] : " << Euler_fcu[2] * 180/M_PI<<" [deg] "<<endl;
316 | }
317 | 


--------------------------------------------------------------------------------
/稳态转速-推力曲线.jpg:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/potato77/Amovlab_opensource/a4e1b672f4d10a39c676f291346c89ff10a19251/稳态转速-推力曲线.jpg


--------------------------------------------------------------------------------
/稳态转速-推力曲线.pdf:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/potato77/Amovlab_opensource/a4e1b672f4d10a39c676f291346c89ff10a19251/稳态转速-推力曲线.pdf


--------------------------------------------------------------------------------
/稳态转速-推力曲线.png:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/potato77/Amovlab_opensource/a4e1b672f4d10a39c676f291346c89ff10a19251/稳态转速-推力曲线.png


--------------------------------------------------------------------------------