├── msg
    └── ps.msg
├── include
    ├── followingpath.txt
    ├── path_follow
    │   └── visual.h
    └── followingpath(复件).txt
├── readme.md
├── launch
    ├── visual_follow.launch
    └── rviz.rviz
├── package.xml
├── CMakeLists.txt
└── src
    └── pathfollowP3dx.cpp


/msg/ps.msg:
--------------------------------------------------------------------------------
1 | geometry_msgs/Point[] points


--------------------------------------------------------------------------------
/include/followingpath.txt:
--------------------------------------------------------------------------------
1 | 0,0
2 | 0.5,0
3 | 


--------------------------------------------------------------------------------
/readme.md:
--------------------------------------------------------------------------------
1 | 运行里面的launch文件，然后运行自己的gazebo仿真，注意对应好订阅发布的话题名即可。


--------------------------------------------------------------------------------
/launch/visual_follow.launch:
--------------------------------------------------------------------------------
 1 | 
 2 | <launch>
 3 | <node pkg="path_follow" type="pathfollowP3dx" name="path_follow" output="screen" />
 4 | 
 5 | <node pkg="tf" type="static_transform_publisher" name="map_to_odom" 
 6 | args="0.0 0.0 0.0 1.57 0.0 0.0 /map /odom 100" />
 7 | 
 8 | <!--增加AMCL定位-->
 9 |  <node pkg="amcl" type="amcl" name="amcl" output="screen">
10 |  <!--一些参数-->
11 |  remap from="scan" to="scan"/>
12 |   <!-- Publish scans from best pose at a max of 10 Hz -->
13 |   <param name="use_map_topic" value="true"/>
14 |   <param name="odom_model_type" value="omni"/>
15 |   <param name="odom_alpha5" value="0.1"/>
16 |   <param name="transform_tolerance" value="0.5" />
17 |   <param name="gui_publish_rate" value="10.0"/>
18 |   <param name="laser_max_beams" value="300"/>
19 |   <param name="min_particles" value="500"/>
20 |   <param name="max_particles" value="5000"/>
21 |   <param name="kld_err" value="0.1"/>
22 |   <param name="kld_z" value="0.99"/>
23 |   <param name="odom_alpha1" value="0.1"/>
24 |   <param name="odom_alpha2" value="0.1"/>
25 |   <!-- translation std dev, m -->
26 |   <param name="odom_alpha3" value="0.1"/>
27 |   <param name="odom_alpha4" value="0.1"/>
28 |   <param name="laser_z_hit" value="0.9"/>
29 |   <param name="laser_z_short" value="0.05"/>
30 |   <param name="laser_z_max" value="0.05"/>
31 |   <param name="laser_z_rand" value="0.5"/>
32 |   <param name="laser_sigma_hit" value="0.2"/>
33 |   <param name="laser_lambda_short" value="0.1"/>
34 |   <param name="laser_lambda_short" value="0.1"/>
35 |   <param name="laser_model_type" value="likelihood_field"/>
36 |   <!-- <param name="laser_model_type" value="beam"/> -->
37 |  <param name="laser_min_range" value="1"/>
38 | <param name="laser_max_range" value="5"/>
39 |   <param name="laser_likelihood_max_dist" value="2.0"/>
40 |   <param name="update_min_d" value="0.2"/>
41 |   <param name="update_min_a" value="0.5"/>
42 |   <param name="resample_interval" value="1"/>
43 |   <param name="transform_tolerance" value="0.1"/>
44 |   <param name="recovery_alpha_slow" value="0.0"/>
45 |   <param name="recovery_alpha_fast" value="0.0"/>
46 | </node>
47 | 
48 |   <node name="rviz" pkg="rviz" type="rviz" args="-d $(find path_follow)/launch/rviz.rviz"/>
49 | </launch>
50 | 
51 | 


--------------------------------------------------------------------------------
/package.xml:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | <package format="2">
 3 |   <name>path_follow</name>
 4 |   <version>0.0.0</version>
 5 |   <description>The path_follow package</description>
 6 | 
 7 |   <!-- One maintainer tag required, multiple allowed, one person per tag -->
 8 |   <!-- Example:  -->
 9 |   <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
10 |   <maintainer email="bqc@todo.todo">bqc</maintainer>
11 | 
12 | 
13 |   <!-- One license tag required, multiple allowed, one license per tag -->
14 |   <!-- Commonly used license strings: -->
15 |   <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
16 |   <license>TODO</license>
17 | 
18 | 
19 |   <!-- Url tags are optional, but multiple are allowed, one per tag -->
20 |   <!-- Optional attribute type can be: website, bugtracker, or repository -->
21 |   <!-- Example: -->
22 |   <!-- <url type="website">http://wiki.ros.org/path_follow</url> -->
23 | 
24 | 
25 |   <!-- Author tags are optional, multiple are allowed, one per tag -->
26 |   <!-- Authors do not have to be maintainers, but could be -->
27 |   <!-- Example: -->
28 |   <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
29 | 
30 | 
31 |   <!-- The *depend tags are used to specify dependencies -->
32 |   <!-- Dependencies can be catkin packages or system dependencies -->
33 |   <!-- Examples: -->
34 |   <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
35 |   <!--   <depend>roscpp</depend> -->
36 |   <!--   Note that this is equivalent to the following: -->
37 |   <!--   <build_depend>roscpp</build_depend> -->
38 |   <!--   <exec_depend>roscpp</exec_depend> -->
39 |   <!-- Use build_depend for packages you need at compile time: -->
40 |   <!--   <build_depend>message_generation</build_depend> -->
41 |   <!-- Use build_export_depend for packages you need in order to build against this package: -->
42 |   <!--   <build_export_depend>message_generation</build_export_depend> -->
43 |   <!-- Use buildtool_depend for build tool packages: -->
44 |   <!--   <buildtool_depend>catkin</buildtool_depend> -->
45 |   <!-- Use exec_depend for packages you need at runtime: -->
46 |   <!--   <exec_depend>message_runtime</exec_depend> -->
47 |   <!-- Use test_depend for packages you need only for testing: -->
48 |   <!--   <test_depend>gtest</test_depend> -->
49 |   <!-- Use doc_depend for packages you need only for building documentation: -->
50 |   <!--   <doc_depend>doxygen</doc_depend> -->
51 |   <buildtool_depend>catkin</buildtool_depend>
52 |   <build_depend>roscpp</build_depend>
53 |   <build_depend>rospy</build_depend>
54 |   <build_depend>std_msgs</build_depend>
55 |   <build_export_depend>roscpp</build_export_depend>
56 |   <build_export_depend>rospy</build_export_depend>
57 |   <build_export_depend>std_msgs</build_export_depend>
58 |   <exec_depend>roscpp</exec_depend>
59 |   <exec_depend>rospy</exec_depend>
60 |   <exec_depend>std_msgs</exec_depend>
61 |   <build_depend>message_generation</build_depend>
62 |   <build_export_depend>message_generation</build_export_depend>
63 |   <build_depend>nav_msgs</build_depend>
64 |   <exec_depend>nav_msgs</exec_depend>
65 |   <exec_depend>message_runtime</exec_depend>
66 |   <exec_depend>message_generation</exec_depend>
67 | 
68 |   <build_depend>sensor_msgs</build_depend>
69 |   <exec_depend>sensor_msgs</exec_depend>
70 |     <build_depend>tf</build_depend>
71 |   <exec_depend>tf</exec_depend>
72 |   <!-- The export tag contains other, unspecified, tags -->
73 |   <export>
74 |     <!-- Other tools can request additional information be placed here -->
75 | 
76 |   </export>
77 | </package>
78 | 


--------------------------------------------------------------------------------
/include/path_follow/visual.h:
--------------------------------------------------------------------------------
  1 | /**
  2 |  * @file visual.h
  3 |  * @author bqc
  4 |  * @brief 点 点集 文本 线段 rviz可视化
  5 |  * @date 2021-11.20
  6 |  * @copyright Copyright (c) 2021
  7 |  * 
  8 |  */
  9 | 
 10 | #ifndef VISUAL_H_
 11 | #define VISUAL_H_
 12 | 
 13 | #include "ros/ros.h"
 14 | #include "visualization_msgs/Marker.h"
 15 | #include "path_follow/ps.h"
 16 | 
 17 | using namespace std;
 18 | 
 19 | visualization_msgs::Marker Visual_line_list(string frame_, int32_t id_, path_follow::ps p_, float r, float g, float b)
 20 | {
 21 |     visualization_msgs::Marker line_list;
 22 |     line_list.header.frame_id = frame_;
 23 |     line_list.header.stamp = ros::Time(0);
 24 |     line_list.ns = "markers";
 25 |     line_list.id = id_;
 26 |     line_list.type = line_list.LINE_LIST;
 27 |     line_list.action = line_list.ADD;
 28 |     line_list.pose.orientation.w = 1.0;
 29 |     line_list.scale.x = 0.25;
 30 |     line_list.scale.y = 0.01;
 31 |     //line_list.scale.z = -0.15;
 32 |     line_list.color.r = r;
 33 |     line_list.color.g = g;
 34 |     line_list.color.b = b;
 35 |     line_list.color.a = 0.5;
 36 |     line_list.lifetime = ros::Duration();
 37 |     for(int i = 0; i < p_.points.size(); i++)
 38 |     {
 39 |         line_list.points.push_back(p_.points[i]);
 40 |     }
 41 |     return line_list;
 42 | }
 43 | 
 44 | visualization_msgs::Marker Visual_point(string frame_, int32_t id_, float r, float g, float b, geometry_msgs::Point p_)
 45 | {
 46 |     visualization_msgs::Marker point_vis;
 47 |     point_vis.header.frame_id = frame_;
 48 |     point_vis.header.stamp = ros::Time(0);
 49 |     point_vis.ns = "markers";
 50 |     point_vis.id = id_;
 51 |     point_vis.type = point_vis.POINTS;
 52 |     point_vis.action = point_vis.ADD;
 53 |     point_vis.pose.orientation.w = 1.0;
 54 |     point_vis.scale.x = 0.8;
 55 |     point_vis.scale.y = 0.8;
 56 |     point_vis.color.g = g;
 57 |     point_vis.color.r = r;
 58 |     point_vis.color.b = b;
 59 |     point_vis.color.a = 1.0;
 60 |     point_vis.lifetime = ros::Duration();
 61 |     point_vis.points.push_back(p_);
 62 |     return point_vis;
 63 | }
 64 | visualization_msgs::Marker Visual_point(string frame_, int32_t id_, float r, float g, float b, path_follow::ps visps_, float s_)
 65 | {
 66 |     visualization_msgs::Marker point_vis;
 67 |     point_vis.header.frame_id = frame_;
 68 |     point_vis.header.stamp = ros::Time(0);
 69 |     point_vis.ns = "markers";
 70 |     point_vis.id = id_;
 71 |     point_vis.type = point_vis.POINTS;
 72 |     point_vis.action = point_vis.ADD;
 73 |     point_vis.pose.orientation.w = 1.0;
 74 |     point_vis.scale.x = s_;
 75 |     point_vis.scale.y = s_;
 76 |     
 77 |     point_vis.color.g = g;
 78 |     point_vis.color.r = r;
 79 |     point_vis.color.b = b;
 80 |     point_vis.color.a = 1.0;
 81 |     point_vis.lifetime = ros::Duration();
 82 |     for(int i =0; i < visps_.points.size(); i++)
 83 |     {
 84 |         point_vis.points.push_back(visps_.points[i]);
 85 |     }
 86 |     return point_vis;
 87 | }
 88 | 
 89 | visualization_msgs::Marker Visual_text(string frame_, int32_t id_, float r, float g, float b, geometry_msgs::Point p_,string text_string)
 90 | {
 91 |     visualization_msgs::Marker text_vis;
 92 |     text_vis.header.frame_id = frame_;
 93 |     text_vis.header.stamp = ros::Time(0);
 94 |     text_vis.ns = "markers";
 95 |     text_vis.id = id_;
 96 |     text_vis.type = text_vis.TEXT_VIEW_FACING;
 97 |     text_vis.action = text_vis.ADD;
 98 |     text_vis.pose.orientation.w = 1.0;
 99 |     text_vis.pose.position.x = p_.x;
100 |     text_vis.pose.position.y = p_.y;
101 |     text_vis.scale.x = 1.5;
102 |     text_vis.scale.y = 1.5;
103 |     text_vis.scale.z = 1.5;
104 |     text_vis.color.r = r;
105 |     text_vis.color.g = g;
106 |     text_vis.color.b = b;
107 |     text_vis.color.a = 1.0;
108 |     text_vis.lifetime = ros::Duration();
109 |     text_vis.text = text_string;
110 |     return text_vis;
111 | }
112 | #endif


--------------------------------------------------------------------------------
/launch/rviz.rviz:
--------------------------------------------------------------------------------
  1 | Panels:
  2 |   - Class: rviz/Displays
  3 |     Help Height: 78
  4 |     Name: Displays
  5 |     Property Tree Widget:
  6 |       Expanded:
  7 |         - /Global Options1
  8 |         - /Status1
  9 |       Splitter Ratio: 0.5
 10 |     Tree Height: 755
 11 |   - Class: rviz/Selection
 12 |     Name: Selection
 13 |   - Class: rviz/Tool Properties
 14 |     Expanded:
 15 |       - /2D Pose Estimate1
 16 |       - /2D Nav Goal1
 17 |       - /Publish Point1
 18 |     Name: Tool Properties
 19 |     Splitter Ratio: 0.5886790156364441
 20 |   - Class: rviz/Views
 21 |     Expanded:
 22 |       - /Current View1
 23 |     Name: Views
 24 |     Splitter Ratio: 0.5
 25 |   - Class: rviz/Time
 26 |     Experimental: false
 27 |     Name: Time
 28 |     SyncMode: 0
 29 |     SyncSource: ""
 30 | Preferences:
 31 |   PromptSaveOnExit: true
 32 | Toolbars:
 33 |   toolButtonStyle: 2
 34 | Visualization Manager:
 35 |   Class: ""
 36 |   Displays:
 37 |     - Alpha: 0.5
 38 |       Cell Size: 1
 39 |       Class: rviz/Grid
 40 |       Color: 160; 160; 164
 41 |       Enabled: true
 42 |       Line Style:
 43 |         Line Width: 0.029999999329447746
 44 |         Value: Lines
 45 |       Name: Grid
 46 |       Normal Cell Count: 0
 47 |       Offset:
 48 |         X: 0
 49 |         Y: 0
 50 |         Z: 0
 51 |       Plane: XY
 52 |       Plane Cell Count: 10
 53 |       Reference Frame: <Fixed Frame>
 54 |       Value: true
 55 |     - Class: rviz/Marker
 56 |       Enabled: true
 57 |       Marker Topic: /Assigned_vis
 58 |       Name: Marker
 59 |       Namespaces:
 60 |         markers: true
 61 |       Queue Size: 100
 62 |       Value: true
 63 |     - Alpha: 1
 64 |       Class: rviz/RobotModel
 65 |       Collision Enabled: false
 66 |       Enabled: true
 67 |       Links:
 68 |         All Links Enabled: true
 69 |         Expand Joint Details: false
 70 |         Expand Link Details: false
 71 |         Expand Tree: false
 72 |         Link Tree Style: Links in Alphabetic Order
 73 |         base_link:
 74 |           Alpha: 1
 75 |           Show Axes: false
 76 |           Show Trail: false
 77 |         battery0:
 78 |           Alpha: 1
 79 |           Show Axes: false
 80 |           Show Trail: false
 81 |           Value: true
 82 |         center_hubcap:
 83 |           Alpha: 1
 84 |           Show Axes: false
 85 |           Show Trail: false
 86 |           Value: true
 87 |         center_wheel:
 88 |           Alpha: 1
 89 |           Show Axes: false
 90 |           Show Trail: false
 91 |           Value: true
 92 |         chassis:
 93 |           Alpha: 1
 94 |           Show Axes: false
 95 |           Show Trail: false
 96 |           Value: true
 97 |         hokuyo_utm30lx_base_link:
 98 |           Alpha: 1
 99 |           Show Axes: false
100 |           Show Trail: false
101 |           Value: true
102 |         hokuyo_utm30lx_link:
103 |           Alpha: 1
104 |           Show Axes: false
105 |           Show Trail: false
106 |         left_hub:
107 |           Alpha: 1
108 |           Show Axes: false
109 |           Show Trail: false
110 |           Value: true
111 |         left_wheel:
112 |           Alpha: 1
113 |           Show Axes: false
114 |           Show Trail: false
115 |           Value: true
116 |         right_hub:
117 |           Alpha: 1
118 |           Show Axes: false
119 |           Show Trail: false
120 |           Value: true
121 |         right_wheel:
122 |           Alpha: 1
123 |           Show Axes: false
124 |           Show Trail: false
125 |           Value: true
126 |         sonar:
127 |           Alpha: 1
128 |           Show Axes: false
129 |           Show Trail: false
130 |           Value: true
131 |         swivel:
132 |           Alpha: 1
133 |           Show Axes: false
134 |           Show Trail: false
135 |           Value: true
136 |         top:
137 |           Alpha: 1
138 |           Show Axes: false
139 |           Show Trail: false
140 |           Value: true
141 |       Name: RobotModel
142 |       Robot Description: robot_description
143 |       TF Prefix: ""
144 |       Update Interval: 0
145 |       Value: true
146 |       Visual Enabled: true
147 |   Enabled: true
148 |   Global Options:
149 |     Background Color: 48; 48; 48
150 |     Default Light: true
151 |     Fixed Frame: map
152 |     Frame Rate: 30
153 |   Name: root
154 |   Tools:
155 |     - Class: rviz/Interact
156 |       Hide Inactive Objects: true
157 |     - Class: rviz/MoveCamera
158 |     - Class: rviz/Select
159 |     - Class: rviz/FocusCamera
160 |     - Class: rviz/Measure
161 |     - Class: rviz/SetInitialPose
162 |       Theta std deviation: 0.2617993950843811
163 |       Topic: /initialpose
164 |       X std deviation: 0.5
165 |       Y std deviation: 0.5
166 |     - Class: rviz/SetGoal
167 |       Topic: /move_base_simple/goal
168 |     - Class: rviz/PublishPoint
169 |       Single click: true
170 |       Topic: /clicked_point
171 |   Value: true
172 |   Views:
173 |     Current:
174 |       Class: rviz/Orbit
175 |       Distance: 15.735193252563477
176 |       Enable Stereo Rendering:
177 |         Stereo Eye Separation: 0.05999999865889549
178 |         Stereo Focal Distance: 1
179 |         Swap Stereo Eyes: false
180 |         Value: false
181 |       Focal Point:
182 |         X: 1.1535999774932861
183 |         Y: -0.7176034450531006
184 |         Z: 0.5765437483787537
185 |       Focal Shape Fixed Size: true
186 |       Focal Shape Size: 0.05000000074505806
187 |       Invert Z Axis: false
188 |       Name: Current View
189 |       Near Clip Distance: 0.009999999776482582
190 |       Pitch: 1.5697963237762451
191 |       Target Frame: <Fixed Frame>
192 |       Value: Orbit (rviz)
193 |       Yaw: 4.723577499389648
194 |     Saved: ~
195 | Window Geometry:
196 |   Displays:
197 |     collapsed: true
198 |   Height: 1052
199 |   Hide Left Dock: true
200 |   Hide Right Dock: true
201 |   QMainWindow State: 000000ff00000000fd0000000400000000000001560000037efc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000003d0000037e000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000037efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d0000037e000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000003c00000003efc0100000002fb0000000800540069006d00650100000000000003c0000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000003c00000037e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
202 |   Selection:
203 |     collapsed: false
204 |   Time:
205 |     collapsed: false
206 |   Tool Properties:
207 |     collapsed: false
208 |   Views:
209 |     collapsed: true
210 |   Width: 960
211 |   X: 0
212 |   Y: 0
213 | 


--------------------------------------------------------------------------------
/CMakeLists.txt:
--------------------------------------------------------------------------------
  1 | cmake_minimum_required(VERSION 3.0.2)
  2 | project(path_follow)
  3 | 
  4 | ## Compile as C++11, supported in ROS Kinetic and newer
  5 | # add_compile_options(-std=c++11)
  6 | 
  7 | ## Find catkin macros and libraries
  8 | ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
  9 | ## is used, also find other catkin packages
 10 | find_package(catkin REQUIRED COMPONENTS
 11 |   roscpp
 12 |   rospy
 13 |   std_msgs
 14 |   tf
 15 |   pcl_ros
 16 |   message_generation
 17 |   sensor_msgs
 18 |   nav_msgs
 19 | )
 20 | 
 21 | ## System dependencies are found with CMake's conventions
 22 | # find_package(Boost REQUIRED COMPONENTS system)
 23 | 
 24 | # Eigen3
 25 | find_package(Eigen3 REQUIRED)
 26 | if(Eigen3_FOUND)
 27 |   message(STATUS ${EIGEN3_INCLUDE_DIRS})
 28 | endif()
 29 | 
 30 | ## Uncomment this if the package has a setup.py. This macro ensures
 31 | ## modules and global scripts declared therein get installed
 32 | ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
 33 | # catkin_python_setup()
 34 | 
 35 | ################################################
 36 | ## Declare ROS messages, services and actions ##
 37 | ################################################
 38 | 
 39 | ## To declare and build messages, services or actions from within this
 40 | ## package, follow these steps:
 41 | ## * Let MSG_DEP_SET be the set of packages whose message types you use in
 42 | ##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
 43 | ## * In the file package.xml:
 44 | ##   * add a build_depend tag for "message_generation"
 45 | ##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
 46 | ##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
 47 | ##     but can be declared for certainty nonetheless:
 48 | ##     * add a exec_depend tag for "message_runtime"
 49 | ## * In this file (CMakeLists.txt):
 50 | ##   * add "message_generation" and every package in MSG_DEP_SET to
 51 | ##     find_package(catkin REQUIRED COMPONENTS ...)
 52 | ##   * add "message_runtime" and every package in MSG_DEP_SET to
 53 | ##     catkin_package(CATKIN_DEPENDS ...)
 54 | ##   * uncomment the add_*_files sections below as needed
 55 | ##     and list every .msg/.srv/.action file to be processed
 56 | ##   * uncomment the generate_messages entry below
 57 | ##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
 58 | 
 59 | ## Generate messages in the 'msg' folder
 60 | # add_message_files(
 61 | #   FILES
 62 | #   Message1.msg
 63 | #   Message2.msg
 64 | # )
 65 | add_message_files(FILES
 66 |   ps.msg
 67 | )
 68 | generate_messages(DEPENDENCIES
 69 |   std_msgs
 70 |   nav_msgs
 71 | )
 72 | ## Generate services in the 'srv' folder
 73 | # add_service_files(
 74 | #   FILES
 75 | #   Service1.srv
 76 | #   Service2.srv
 77 | # )
 78 | 
 79 | ## Generate actions in the 'action' folder
 80 | # add_action_files(
 81 | #   FILES
 82 | #   Action1.action
 83 | #   Action2.action
 84 | # )
 85 | 
 86 | ## Generate added messages and services with any dependencies listed here
 87 | # generate_messages(
 88 | #   DEPENDENCIES
 89 | #   std_msgs
 90 | # )
 91 | 
 92 | ################################################
 93 | ## Declare ROS dynamic reconfigure parameters ##
 94 | ################################################
 95 | 
 96 | ## To declare and build dynamic reconfigure parameters within this
 97 | ## package, follow these steps:
 98 | ## * In the file package.xml:
 99 | ##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
100 | ## * In this file (CMakeLists.txt):
101 | ##   * add "dynamic_reconfigure" to
102 | ##     find_package(catkin REQUIRED COMPONENTS ...)
103 | ##   * uncomment the "generate_dynamic_reconfigure_options" section below
104 | ##     and list every .cfg file to be processed
105 | 
106 | ## Generate dynamic reconfigure parameters in the 'cfg' folder
107 | # generate_dynamic_reconfigure_options(
108 | #   cfg/DynReconf1.cfg
109 | #   cfg/DynReconf2.cfg
110 | # )
111 | 
112 | ###################################
113 | ## catkin specific configuration ##
114 | ###################################
115 | ## The catkin_package macro generates cmake config files for your package
116 | ## Declare things to be passed to dependent projects
117 | ## INCLUDE_DIRS: uncomment this if your package contains header files
118 | ## LIBRARIES: libraries you create in this project that dependent projects also need
119 | ## CATKIN_DEPENDS: catkin_packages dependent projects also need
120 | ## DEPENDS: system dependencies of this project that dependent projects also need
121 | catkin_package(
122 |   INCLUDE_DIRS include
123 |   CATKIN_DEPENDS roscpp rospy sensor_msgs std_msgs tf message_runtime
124 |   DEPENDS system_lib
125 | )
126 | 
127 | ###########
128 | ## Build ##
129 | ###########
130 | 
131 | ## Specify additional locations of header files
132 | ## Your package locations should be listed before other locations
133 | include_directories(
134 | # include
135 |   ${catkin_INCLUDE_DIRS}
136 |   ${EIGEN3_INCLUDE_DIRS}
137 | )
138 | 
139 | ## Declare a C++ library
140 | # add_library(${PROJECT_NAME}
141 | #   src/${PROJECT_NAME}/path_follow.cpp
142 | # )
143 |   add_executable(pathfollowP3dx src/pathfollowP3dx.cpp)
144 | target_link_libraries(pathfollowP3dx
145 |   ${catkin_LIBRARIES})
146 | ## Add cmake target dependencies of the library
147 | ## as an example, code may need to be generated before libraries
148 | ## either from message generation or dynamic reconfigure
149 | # add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
150 | 
151 | ## Declare a C++ executable
152 | ## With catkin_make all packages are built within a single CMake context
153 | ## The recommended prefix ensures that target names across packages don't collide
154 | # add_executable(${PROJECT_NAME}_node src/path_follow_node.cpp)
155 | 
156 | ## Rename C++ executable without prefix
157 | ## The above recommended prefix causes long target names, the following renames the
158 | ## target back to the shorter version for ease of user use
159 | ## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
160 | # set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
161 | 
162 | ## Add cmake target dependencies of the executable
163 | ## same as for the library above
164 | # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
165 | 
166 | ## Specify libraries to link a library or executable target against
167 | # target_link_libraries(${PROJECT_NAME}_node
168 | #   ${catkin_LIBRARIES}
169 | # )
170 | 
171 | #############
172 | ## Install ##
173 | #############
174 | 
175 | # all install targets should use catkin DESTINATION variables
176 | # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
177 | 
178 | ## Mark executable scripts (Python etc.) for installation
179 | ## in contrast to setup.py, you can choose the destination
180 | # catkin_install_python(PROGRAMS
181 | #   scripts/my_python_script
182 | #   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
183 | # )
184 | 
185 | ## Mark executables for installation
186 | ## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
187 | # install(TARGETS ${PROJECT_NAME}_node
188 | #   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
189 | # )
190 | 
191 | ## Mark libraries for installation
192 | ## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
193 | # install(TARGETS ${PROJECT_NAME}
194 | #   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
195 | #   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
196 | #   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
197 | # )
198 | 
199 | ## Mark cpp header files for installation
200 | # install(DIRECTORY include/${PROJECT_NAME}/
201 | #   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
202 | #   FILES_MATCHING PATTERN "*.h"
203 | #   PATTERN ".svn" EXCLUDE
204 | # )
205 | 
206 | ## Mark other files for installation (e.g. launch and bag files, etc.)
207 | # install(FILES
208 | #   # myfile1
209 | #   # myfile2
210 | #   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
211 | # )
212 | 
213 | #############
214 | ## Testing ##
215 | #############
216 | 
217 | ## Add gtest based cpp test target and link libraries
218 | # catkin_add_gtest(${PROJECT_NAME}-test test/test_path_follow.cpp)
219 | # if(TARGET ${PROJECT_NAME}-test)
220 | #   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
221 | # endif()
222 | 
223 | ## Add folders to be run by python nosetests
224 | # catkin_add_nosetests(test)
225 | 


--------------------------------------------------------------------------------
/src/pathfollowP3dx.cpp:
--------------------------------------------------------------------------------
  1 | #include <Eigen/Eigen>
  2 | #include <stdio.h>
  3 | #include <fstream>
  4 | #include <iostream>
  5 | #include <stdio.h>
  6 | #include <vector>
  7 | #include <queue>
  8 | #include <utility>
  9 | 
 10 | #include <ros/ros.h>
 11 | #include <geometry_msgs/PoseStamped.h>
 12 | #include <nav_msgs/Odometry.h>
 13 | #include <geometry_msgs/Twist.h>
 14 | #include <tf/tf.h>
 15 | 
 16 | #include <pcl/point_cloud.h>
 17 | #include <pcl/point_types.h>
 18 | #include <pcl/kdtree/kdtree_flann.h>
 19 | #include <pcl/kdtree/impl/kdtree_flann.hpp>
 20 | #include <pcl/search/impl/kdtree.hpp>
 21 | 
 22 | //自定义消息
 23 | #include "path_follow/ps.h"
 24 | //可视化
 25 | #include "/home/bqc/catkin_mp_ws/src/path_follow/include/path_follow/visual.h" //TODO 需要修改路径
 26 | visualization_msgs::Marker assigned_goal_vis;
 27 | path_follow::ps pps;
 28 | 
 29 | ros::Subscriber poseSub_;
 30 | ros::Publisher cmd_velPub_;
 31 | geometry_msgs::Twist vel_des_;
 32 | Eigen::Vector3d pose_des_;
 33 | Eigen::Vector3d pose_cur_;
 34 | std::string wp_flie_path_;
 35 | std::vector<std::vector<double> > des_pose_;
 36 | // constraints
 37 | double theta_err2_, max_angular_vel_, max_linear_vel_, dis_toNextTarget_;
 38 | // control gains
 39 | double kp_, ki_, kd_;
 40 | // flags
 41 | bool isToMove_, initTracking_;
 42 | // kdTree used for target finding
 43 | pcl::KdTreeFLANN<pcl::PointXY>::Ptr kdtreeGlobalPath_;
 44 | pcl::PointCloud<pcl::PointXY>::Ptr path_pcl_;
 45 | pcl::PointXY tmp_node_;
 46 | std::vector<int> nearestIndex_;
 47 | std::vector<float> nearestDis_;
 48 | int tarIndex_;
 49 | float tarDis_;
 50 | 
 51 | inline double Distance(double x1, double y1, double x2, double y2)
 52 | {
 53 |   double dx = x2 - x1;
 54 |   double dy = y2 - y1;
 55 |   double dist = hypot(dx, dy);
 56 |   return dist;
 57 | }
 58 | 
 59 | inline bool isGoalReached(const Eigen::Vector3d& robot_pose)
 60 | {
 61 |   double distance =
 62 |       Distance(robot_pose[0], robot_pose[1], des_pose_[des_pose_.size()-1][0], des_pose_[des_pose_.size()-1][1]);
 63 | 
 64 |   if (distance < 0.3)
 65 |     return true;
 66 |   else
 67 |     return false;
 68 | }
 69 | 
 70 | inline double NormalizeAngle(double angle)
 71 | {
 72 |   while (angle < -M_PI)
 73 |   {
 74 |     if (angle < -(2.0 * M_PI))
 75 |     {
 76 |       angle += (int)(angle / -(2.0 * M_PI)) * (2.0 * M_PI);
 77 |     }
 78 |     else
 79 |     {
 80 |       angle += (2.0 * M_PI);
 81 |     }
 82 |   }
 83 | 
 84 |   while (angle > M_PI)
 85 |   {
 86 |     if (angle > (2.0 * M_PI))
 87 |     {
 88 |       angle -= (int)(angle / (2.0 * M_PI)) * (2.0 * M_PI);
 89 |     }
 90 |     else
 91 |     {
 92 |       angle -= (2.0 * M_PI);
 93 |     }
 94 |   }
 95 | 
 96 |   assert(angle >= -M_PI && angle <= M_PI);
 97 | 
 98 |   return angle;
 99 | }
100 | 
101 | inline void getTarget(Eigen::Vector3d& targetPose)
102 | {
103 |   if(des_pose_.empty()){
104 | 
105 |     ROS_ERROR("no path, so no target to track!!!");
106 |     exit(0);
107 |   }
108 | 
109 |   // get the nearest waypoint
110 |   tmp_node_.x = (float)pose_cur_[0];
111 |   tmp_node_.y = (float)pose_cur_[1];
112 |   kdtreeGlobalPath_->nearestKSearch(tmp_node_, 1, nearestIndex_, nearestDis_);
113 |   int globalPath_size = des_pose_.size();
114 | 
115 |   // extend the target forward by dis_toNextTarget_
116 |   tarIndex_ = nearestIndex_[0];
117 |   tarDis_ = nearestDis_[0];
118 |   for(size_t idx = nearestIndex_[0] + 1; idx < globalPath_size; ++idx){
119 |     if(tarDis_ < dis_toNextTarget_)
120 |     {
121 |       tarIndex_ = idx;
122 |       tarDis_ = sqrt( pow((des_pose_[idx][0] - tmp_node_.x), 2) + 
123 |                       pow((des_pose_[idx][1] - tmp_node_.y), 2) );
124 |     } else {
125 |       break;
126 |     }
127 |   }
128 | 
129 |   targetPose[0] = des_pose_[tarIndex_][0];
130 |   targetPose[1] = des_pose_[tarIndex_][1];
131 |   targetPose[2] = 0.0;
132 | }
133 | 
134 | inline void controller(const Eigen::Vector3d& targetPose, geometry_msgs::Twist& Twist)
135 | {
136 |   // linear velocity
137 |   double dis_ = Distance(pose_des_[0], pose_des_[1], pose_cur_[0], pose_cur_[1]);
138 |   Twist.linear.x = kp_ * dis_;
139 | 
140 |   // angular velocity
141 |   double theta = atan2(pose_des_[1] - pose_cur_[1], pose_des_[0] - pose_cur_[0]);
142 |   double theta_err1 = NormalizeAngle(theta - pose_cur_[2]);
143 |   if(initTracking_)
144 |   {
145 |     ROS_INFO("Iniliatizing");
146 |     Twist.linear.x = 0.0;
147 |     Twist.angular.z = 0.5 * theta_err1;
148 |     if (Twist.angular.z > max_angular_vel_)
149 |       Twist.angular.z = max_angular_vel_;
150 |     else if (Twist.angular.z < -max_angular_vel_)
151 |       Twist.angular.z = -max_angular_vel_;
152 | 
153 |     if(fabs(theta_err1) < 0.174)
154 |       initTracking_ = false;
155 |     return;
156 |   }
157 |   // ROS_WARN("Initialization completed!");
158 |   Twist.angular.z = 0.5 * kp_ * theta_err1 + kd_ * NormalizeAngle(theta_err1 - theta_err2_);
159 | 
160 |   if (Twist.angular.z > max_angular_vel_)
161 |     Twist.angular.z = max_angular_vel_;
162 |   else if (Twist.angular.z < -max_angular_vel_)
163 |     Twist.angular.z = -max_angular_vel_;
164 | 
165 |   if(Twist.linear.x > max_linear_vel_)
166 |     Twist.linear.x = max_linear_vel_;
167 |   else if(Twist.linear.x < -max_linear_vel_)
168 |     Twist.linear.x = -max_linear_vel_;
169 | }
170 | 
171 | void poseCallback(const nav_msgs::Odometry& current_Pose)
172 | {
173 |   pose_cur_[0] = current_Pose.pose.pose.position.x;
174 |   pose_cur_[1] = current_Pose.pose.pose.position.y;
175 |   pose_cur_[2] = tf::getYaw(current_Pose.pose.pose.orientation);
176 |   // std::cout << "current yaw angle: " << pose_cur_[2] << std::endl;
177 |   if(isGoalReached(pose_cur_)) {
178 |     isToMove_ = false;
179 |     cmd_velPub_.shutdown();
180 |     ROS_INFO("Path tracking is finished!");
181 |   }
182 | }
183 | 
184 | bool txt2Vector(std::vector< std::vector<double> >& res, const std::string& filename , path_follow::ps & visps)
185 | {
186 |   std::fstream input_file;
187 |   input_file.open(filename, std::ios::in);
188 |   assert(input_file.is_open());
189 |   std::string str;
190 |   while (getline(input_file, str))
191 |   {
192 |     std::vector<double> temp;
193 |     // std::istringstream is(str);// 将读出的一行转化为数据流进行操作
194 |     // string->char *
195 |     char *s_input = (char *)str.c_str();
196 |     const char *split = ",";
197 |     // 以‘,’为分隔符拆分字符串
198 |     char *p = strtok(s_input, split);
199 |     double a;
200 |     while (p != NULL)
201 |     {
202 |         // char * -> int
203 |         a = atof(p);
204 |         // cout << a << "|";
205 |         temp.push_back(a);
206 |         p = strtok(NULL, split);
207 |     } //end while
208 | 
209 |     res.push_back(temp);
210 |   }
211 |   input_file.close();
212 |   if (res.size() == 0) {
213 |     std::cout << res.size() << std::endl;
214 |     return false;
215 |   }
216 |   for(int i = 0; i < res.size(); i++)
217 |   {
218 |         
219 |         
220 |         geometry_msgs::Point pp;
221 |         pp.x = res[i][0];
222 |         pp.y = res[i][1]; 
223 |         visps.points.push_back(pp);
224 |         // assigned_goal_vis = Visual_point(mapData.header.frame_id, 1, 1.0, 0.0, 0.0, visps, 0.4);
225 |         // Assigned_visual_pub.publish(assigned_goal_vis);
226 |   }
227 |   ROS_WARN("waypoints number is : %d", res.size());
228 |   // int i = 0;
229 |   // while (i < res.size()) {
230 |   //   std::cout << res[i][0] << "..." << res[i][1] << std::endl;
231 |   //   i++;
232 |   // }
233 |   return true;
234 | }
235 | 
236 | bool setParam()
237 | {
238 |   bool ret = true;
239 |   //路径点储存位置 
240 |   wp_flie_path_ = "/home/bqc/catkin_mp_ws/src/path_follow/include/followingpath.txt"; //TODO 需要修改路径
241 |   if (!ros::param::get( "/wp_path", wp_flie_path_)) {
242 |     ROS_WARN("No wp_path found. Looking for %s. Default is txt.",
243 |         "/wp_path");
244 |   }
245 |   max_angular_vel_ = 0.3;
246 |   if (!ros::param::get("/max_angular_vel", max_angular_vel_)) {
247 |     ROS_WARN("No max_angular_vel constraint found. Looking for %s. Default value is 0.5.", "/max_angular_vel");
248 |   }
249 |   max_linear_vel_ = 0.55;
250 |   if (!ros::param::get("/max_linear_vel", max_linear_vel_)) {
251 |     ROS_WARN("No max_linear_vel constraint found. Looking for %s. Default value is 0.3.", "/max_linear_vel");
252 |   }
253 |   kp_ = 1.0;
254 |   if (!ros::param::get( "/kp", kp_)) {
255 |     ROS_WARN("No propotion gain found. Looking for %s. Default value is 1.0.", "/kp");
256 |   }
257 | 
258 |   ki_ = 1.0;
259 |   if (!ros::param::get("/ki", ki_)) {
260 |     ROS_WARN("No integral gain found. Looking for %s. Default value is 1.0.", "/ki");
261 |   }
262 | 
263 |   kd_ = 0.8;
264 |   if (!ros::param::get("/kd", kd_)) {
265 |     ROS_WARN("No differential gain found. Looking for %s. Default value is 1.0.", "/kd");
266 |   }
267 | 
268 |   dis_toNextTarget_ = 0.5;
269 |   if (!ros::param::get("/dis_toNextTarget", dis_toNextTarget_)) {
270 |     ROS_WARN("No dis_toNextTarget found. Looking for %s. Default value is 0.3.", "/dis_toNextTarget");
271 |   }
272 | 
273 |   return ret;
274 | }
275 | 
276 | int main(int argc, char** argv)
277 | {
278 |   ros::init(argc, argv, "p3dx_vel");
279 |   ros::NodeHandle nh;
280 |     ros::Publisher Assigned_visual_pub = nh.advertise<visualization_msgs::Marker>("/Assigned_vis", 10);
281 |   if (!setParam())
282 |   {
283 |     ROS_ERROR("Could not configure the required parammeters!");
284 |   }
285 |   // subcribers
286 |   poseSub_ = nh.subscribe("/RosAria/pose", 10, poseCallback);
287 | 
288 |   // publishers
289 |   cmd_velPub_  = nh.advertise<geometry_msgs::Twist>("/RosAria/cmd_vel", 10);
290 | 
291 |   if (!txt2Vector(des_pose_, wp_flie_path_, pps)) {
292 |     ROS_ERROR("Could not get the desired pose data!");
293 |   }
294 | 
295 | 
296 |   // creat kdTree for target searching
297 |   kdtreeGlobalPath_.reset(new pcl::KdTreeFLANN<pcl::PointXY>());
298 |   path_pcl_.reset(new pcl::PointCloud<pcl::PointXY>);
299 |   nearestIndex_.resize(2);
300 |   nearestDis_.resize(2);
301 |   int i = 0;
302 |   path_pcl_->clear();
303 |   while (i < des_pose_.size()) {
304 |     tmp_node_.x = (float)des_pose_[i][0];
305 |     tmp_node_.y = (float)des_pose_[i][1];
306 |     path_pcl_->push_back(tmp_node_);
307 |     i++;
308 |   }
309 |   kdtreeGlobalPath_->setInputCloud(path_pcl_);
310 | 
311 |   theta_err2_ = 0.0;
312 |   initTracking_ = true;
313 |   ros::Rate loop_rate_(50);
314 |   while (ros::ok()) {        assigned_goal_vis = Visual_point("map", 1, 1.0, 0.0, 0.0, pps, 0.08);
315 |         Assigned_visual_pub.publish(assigned_goal_vis);
316 |     // PID controller
317 |     // get local target position
318 |     getTarget(pose_des_);
319 | 
320 |     // calculate desired velocity
321 |     geometry_msgs::Twist cmd_vel;
322 |     controller(pose_des_, cmd_vel);
323 | 
324 |     // publish velocity
325 |     cmd_velPub_.publish(cmd_vel);
326 | 
327 |     ros::spinOnce();
328 |     loop_rate_.sleep();
329 |   }
330 | 
331 |   return 0;
332 | }
333 | 
334 | 
335 | 


--------------------------------------------------------------------------------
/include/followingpath(复件).txt:
--------------------------------------------------------------------------------
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139 | 0.014063 , 0.006249
140 | 0.014063 , 0.006249
141 | 0.014063 , 0.004687
142 | 0.014063 , 0.004687
143 | 0.014063 , 0.004687
144 | 0.014063 , 0.003124
145 | 0.012500 , 0.003124
146 | 0.012500 , 0.003124
147 | 0.014063 , 0.003124
148 | 0.014063 , 0.003124
149 | 0.012500 , 0.007811
150 | 0.012500 , 0.007811
151 | 0.014063 , 0.004686
152 | 0.013438 , 0.004061
153 | 0.012500 , 0.003124
154 | 0.012500 , 0.003124
155 | 0.014063 , 0.004687
156 | 0.012500 , 0.004687
157 | 0.012500 , 0.004062
158 | 0.012500 , 0.003124
159 | 0.013125 , 0.003749
160 | 0.014063 , 0.004686
161 | 0.012500 , 0.004686
162 | 0.013125 , 0.003436
163 | 0.014063 , 0.001561
164 | 0.014063 , 0.004686
165 | 0.012500 , 0.004686
166 | 0.012500 , 0.004061
167 | 0.012500 , 0.003124
168 | 0.012500 , 0.003124
169 | 0.013125 , 0.003749
170 | 0.013438 , 0.004062
171 | 0.012500 , 0.003124
172 | 0.012500 , 0.003124
173 | 0.014063 , 0.003124
174 | 0.014063 , 0.004374
175 | 0.014063 , 0.006249
176 | 0.014063 , 0.004687
177 | 0.013438 , 0.003437
178 | 0.012500 , 0.001562
179 | 0.012500 , 0.009374
180 | 0.012500 , 0.009374
181 | 0.014063 , 0.004687
182 | 0.014063 , 0.004687
183 | 0.013438 , 0.004062
184 | 0.012500 , 0.003124
185 | 0.012500 , 0.004687
186 | 0.012500 , 0.005312
187 | 0.012500 , 0.006249
188 | 0.013125 , 0.005624
189 | 0.014063 , 0.004687
190 | 0.014063 , 0.004687
191 | 0.010937 , 0.003124
192 | 0.014062 , 0.003124
193 | 0.014062 , 0.003124
194 | 0.012500 , 0.004687
195 | 0.012500 , 0.004687
196 | 0.012500 , 0.005312
197 | 0.012500 , 0.006249
198 | 0.013125 , 0.005624
199 | 0.014063 , 0.004687
200 | 0.012500 , 0.001562
201 | 0.011875 , 0.002187
202 | 0.010937 , 0.003124
203 | 0.012500 , 0.001562
204 | 0.012500 , 0.003437
205 | 0.012500 , 0.006249
206 | 0.014062 , 0.004687
207 | 0.013437 , 0.005312
208 | 0.012500 , 0.006249
209 | 0.012500 , 0.004687
210 | 0.012500 , 0.004687
211 | 0.012500 , 0.003437
212 | 0.012500 , 0.001562
213 | 0.014063 , 0.006249
214 | 0.014063 , 0.004374
215 | 0.014063 , 0.001562
216 | 0.012500 , 0.004687
217 | 0.012500 , 0.004687
218 | 0.012500 , 0.004687
219 | 0.013125 , 0.004687
220 | 0.013438 , 0.004062
221 | 0.012500 , 0.003124
222 | 0.012500 , 0.003124
223 | 0.012500 , 0.003124
224 | 0.013125 , 0.003749
225 | 0.014063 , 0.004687
226 | 0.014063 , 0.003124
227 | 0.014063 , 0.003749
228 | 0.014063 , 0.004687
229 | 0.012500 , 0.006249
230 | 0.012500 , 0.006249
231 | 0.013125 , 0.005624
232 | 0.014063 , 0.004687
233 | 0.014063 , 0.004687
234 | 0.014063 , 0.003124
235 | 0.013438 , 0.003124
236 | 0.012500 , 0.003124
237 | 0.012500 , 0.009374
238 | 0.012500 , 0.009374
239 | 0.014063 , -0.000001
240 | 0.013438 , 0.002499
241 | 0.012500 , 0.006249
242 | 0.012500 , 0.006249
243 | 0.012500 , 0.006249
244 | 0.012500 , 0.003124
245 | 0.012500 , 0.004374
246 | 0.012500 , 0.006249
247 | 0.014063 , 0.006249
248 | 0.014063 , 0.006249
249 | 0.012500 , 0.001562
250 | 0.012500 , 0.002187
251 | 0.012500 , 0.003125
252 | 0.012500 , 0.003125
253 | 0.012500 , 0.004687
254 | 0.012500 , 0.005312
255 | 0.012500 , 0.006249
256 | 0.012500 , 0.006249
257 | 0.014063 , 0.003124
258 | 0.014063 , 0.003124
259 | 0.012500 , 0.004687
260 | 0.012500 , 0.003437
261 | 0.012500 , 0.002187
262 | 0.012500 , 0.003124
263 | 0.014063 , 0.006249
264 | 0.014063 , 0.006249
265 | 0.014063 , 0.006250
266 | 0.012500 , 0.003124
267 | 0.012500 , 0.003750
268 | 0.012500 , 0.004687
269 | 0.012500 , 0.005312
270 | 0.012500 , 0.006250
271 | 0.012500 , 0.006250
272 | 0.012500 , 0.006249
273 | 0.012500 , 0.006249
274 | 0.013125 , 0.004999
275 | 0.014063 , 0.003125
276 | 0.012500 , 0.004687
277 | 0.012500 , 0.004062
278 | 0.012500 , 0.003125
279 | 0.012500 , 0.006249
280 | 0.012500 , 0.005624
281 | 0.012500 , 0.004687
282 | 0.013125 , 0.004062
283 | 0.014063 , 0.003125
284 | 0.012500 , 0.003125
285 | 0.014063 , 0.004687
286 | 0.013438 , 0.004687
287 | 0.012501 , 0.004687
288 | 0.014063 , 0.004687
289 | 0.014063 , 0.004687
290 | 0.014063 , 0.004062
291 | 0.014063 , 0.003124
292 | 0.012501 , 0.003124
293 | 0.012500 , 0.004374
294 | 0.012500 , 0.006249
295 | 0.012500 , 0.006249
296 | 0.013125 , 0.006874
297 | 0.014063 , 0.007187
298 | 0.014063 , 0.006249
299 | 0.012501 , 0.003124
300 | 0.012501 , 0.003749
301 | 0.012501 , 0.004687
302 | 0.012501 , 0.004687
303 | 0.017189 , 0.002945
304 | 0.016564 , 0.003570
305 | 0.015626 , 0.004507
306 | 0.017189 , 0.004507
307 | 0.017189 , 0.004507
308 | 0.015626 , 0.001382
309 | 0.015626 , 0.001382
310 | 0.015626 , 0.001382
311 | 0.017188 , -0.000180
312 | 0.017188 , 0.002945
313 | 0.017188 , 0.003570
314 | 0.017188 , 0.004507
315 | 0.017188 , 0.004507
316 | 0.016563 , 0.004507
317 | 0.015626 , 0.004507
318 | 0.017188 , -0.000180
319 | 0.017188 , -0.000180
320 | 0.015626 , 0.002945
321 | 0.016251 , 0.004195
322 | 0.017188 , 0.006070
323 | 0.017188 , 0.002945
324 | 0.017188 , 0.003570
325 | 0.017187 , 0.004507
326 | 0.015625 , 0.001382
327 | 0.015625 , 0.001382
328 | 0.015625 , 0.001382
329 | 0.018750 , -0.001743
330 | 0.018125 , -0.000493
331 | 0.017187 , 0.001382
332 | 0.015625 , 0.001382
333 | 0.015625 , -0.000181
334 | 0.015625 , -0.000181
335 | 0.017187 , 0.001382
336 | 0.017187 , 0.001382
337 | 0.016562 , 0.001382
338 | 0.015625 , 0.001382
339 | 0.017187 , 0.002944
340 | 0.018125 , 0.002944
341 | 0.018750 , 0.002944
342 | 0.017187 , 0.006069
343 | 0.016562 , 0.005444
344 | 0.015625 , 0.004507
345 | 0.015625 , 0.001382
346 | 0.015625 , 0.001382
347 | 0.018750 , 0.001382
348 | 0.016875 , 0.002632
349 | 0.014062 , 0.004507
350 | 0.014687 , 0.003882
351 | 0.015625 , 0.002945
352 | 0.015624 , 0.001382
353 | 0.015624 , 0.002007
354 | 0.016249 , 0.002945
355 | 0.017187 , 0.002945
356 | 0.017187 , 0.002945
357 | 0.017187 , 0.004195
358 | 0.017187 , 0.006070
359 | 0.017187 , 0.001382
360 | 0.017187 , 0.001382
361 | 0.015624 , 0.002945
362 | 0.015625 , 0.002945
363 | 0.015625 , 0.002945
364 | 0.017187 , 0.001382
365 | 0.016562 , 0.002632
366 | 0.015624 , 0.004507
367 | 0.015624 , 0.001382
368 | 0.015624 , 0.002007
369 | 0.015624 , 0.002945
370 | 0.015624 , 0.002945
371 | 0.017187 , 0.006070
372 | 0.017187 , 0.003570
373 | 0.017187 , -0.000180
374 | 0.015624 , -0.000180
375 | 0.015624 , 0.000445
376 | 0.015624 , 0.001382
377 | 0.015624 , 0.001382
378 | 0.016249 , 0.000757
379 | 0.017187 , -0.000180
380 | 0.016562 , 0.000445
381 | 0.015624 , 0.001382
382 | 0.015624 , 0.002945
383 | 0.018749 , 0.002945
384 | 0.017499 , 0.002945
385 | 0.015624 , 0.002945
386 | 0.017187 , 0.002945
387 | 0.017187 , 0.002320
388 | 0.017187 , 0.001382
389 | 0.017187 , 0.002945
390 | 0.017187 , 0.003570
391 | 0.017187 , 0.004507
392 | 0.017186 , 0.006070
393 | 0.016561 , 0.003570
394 | 0.015624 , -0.000180
395 | 0.014999 , 0.000445
396 | 0.014686 , 0.001382
397 | 0.015624 , 0.001382
398 | 0.015624 , 0.001382
399 | 0.015624 , 0.001382
400 | 0.015624 , 0.002945
401 | 0.016249 , 0.002945
402 | 0.017186 , 0.002945
403 | 0.015624 , -0.000180
404 | 0.016249 , 0.001070
405 | 0.017186 , 0.002945
406 | 0.017186 , 0.004507
407 | 0.016561 , 0.003882
408 | 0.015624 , 0.002945
409 | 0.017186 , 0.004507
410 | 0.017186 , 0.003882
411 | 0.017186 , 0.002945
412 | 0.015624 , 0.006070
413 | 0.015624 , 0.002945
414 | 0.015624 , -0.001743
415 | 0.016249 , 0.000132
416 | 0.017186 , 0.002945
417 | 0.017186 , 0.002945
418 | 0.016561 , 0.003570
419 | 0.015624 , 0.004507
420 | 0.015624 , 0.004507
421 | 0.015624 , 0.003257
422 | 0.015624 , 0.001382
423 | 0.017186 , 0.004507
424 | 0.016561 , 0.003882
425 | 0.015624 , 0.002944
426 | 0.015624 , 0.004507
427 | 0.015624 , 0.003257
428 | 0.015624 , 0.001382
429 | 0.017186 , 0.002944
430 | 0.016561 , 0.004194
431 | 0.015624 , 0.006069
432 | 0.015624 , 0.004194
433 | 0.015624 , 0.001382
434 | 0.015624 , 0.002944
435 | 0.015624 , 0.003569
436 | 0.015624 , 0.003257
437 | 0.015624 , 0.001382
438 | 0.015624 , 0.002007
439 | 0.016249 , 0.002944
440 | 0.017186 , 0.002944
441 | 0.017186 , 0.002944
442 | 0.017186 , 0.002944
443 | 0.017186 , 0.007631
444 | 0.017186 , 0.007631
445 | 0.017186 , 0.002944
446 | 0.017186 , 0.001694
447 | 0.017186 , -0.000181
448 | 0.015936 , 0.001069
449 | 0.014061 , 0.002944
450 | 0.015624 , 0.001382
451 | 0.015624 , 0.002632
452 | 0.015624 , 0.004507
453 | 0.015624 , 0.001382
454 | 0.016249 , 0.002632
455 | 0.017186 , 0.004507
456 | 0.017187 , 0.001381
457 | 0.017186 , 0.001381
458 | 0.017186 , 0.001381
459 | 0.015624 , -0.000181
460 | 0.015624 , 0.001382
461 | 0.015624 , 0.001382
462 | 0.015624 , 0.001382
463 | 0.015624 , 0.002007
464 | 0.015624 , 0.002944
465 | 0.017187 , 0.001382
466 | 0.016562 , 0.001382
467 | 0.015624 , 0.001382
468 | 0.015626 , 0.002947
469 | 0.014064 , 0.002947
470 | 0.014064 , 0.003572
471 | 0.014064 , 0.004510
472 | 0.014689 , 0.003885
473 | 0.015626 , 0.002947
474 | 0.015626 , 0.004510
475 | 0.016251 , 0.003885
476 | 0.017189 , 0.002947
477 | 0.015626 , -0.000178
478 | 0.015626 , 0.001697
479 | 0.015626 , 0.004510
480 | 0.015626 , 0.004510
481 | 0.016251 , 0.003260
482 | 0.017189 , 0.001385
483 | 0.017189 , 0.001385
484 | 0.017189 , 0.001385
485 | 0.017189 , 0.002947
486 | 0.016564 , 0.003572
487 | 0.015626 , 0.004510
488 | 0.014064 , 0.001385
489 | 0.014064 , 0.001385
490 | 0.017189 , 0.004510
491 | 0.016564 , 0.003260
492 | 0.015626 , 0.002010
493 | 0.015626 , 0.002947
494 | 0.015626 , 0.006072
495 | 0.015626 , 0.006072
496 | 0.015626 , 0.001385
497 | 0.015626 , 0.001385
498 | 0.015626 , 0.006072
499 | 0.015626 , 0.006072
500 | 0.015626 , 0.001385
501 | 0.015626 , 0.002010
502 | 0.015626 , 0.002947
503 | 0.015626 , 0.002947
504 | 0.015626 , 0.002947
505 | 0.015626 , 0.006072
506 | 0.015626 , 0.005447
507 | 0.015626 , 0.004510
508 | 0.014064 , 0.004510
509 | 0.014689 , 0.003885
510 | 0.015626 , 0.002947
511 | 0.014064 , 0.001385
512 | 0.014064 , 0.001385
513 | 0.015626 , 0.004510
514 | 0.017189 , 0.004510
515 | 0.017189 , 0.004510
516 | 0.015626 , 0.006072
517 | 0.015626 , 0.004197
518 | 0.015626 , 0.001385
519 | 0.016251 , 0.002635
520 | 0.016564 , 0.004509
521 | 0.015626 , 0.004509
522 | 0.015626 , 0.002947
523 | 0.015626 , 0.002947
524 | 0.015626 , 0.002947
525 | 0.015626 , 0.002947
526 | 0.014063 , 0.007634
527 | 0.014063 , 0.007634
528 | 0.015626 , 0.004510
529 | 0.015001 , 0.005135
530 | 0.014063 , 0.006072
531 | 0.015313 , 0.005447
532 | 0.017188 , 0.004509
533 | 0.016563 , 0.005135
534 | 0.015626 , 0.006072
535 | 0.015626 , 0.009197
536 | 0.015626 , 0.009197
537 | 0.015626 , 0.009197
538 | 0.016876 , 0.007322
539 | 0.018751 , 0.004510
540 | 0.017188 , 0.007635
541 | 0.017188 , 0.007635
542 | 0.018751 , 0.002947
543 | 0.018126 , 0.001697
544 | 0.017188 , -0.000178
545 | 0.017188 , -0.000178
546 | 0.017188 , -0.000178
547 | 0.017813 , 0.001072
548 | 0.018751 , 0.002947
549 | 0.018751 , 0.006072
550 | 0.018751 , 0.006072
551 | 0.023438 , 0.002947
552 | 0.020938 , 0.002947
553 | 0.017188 , 0.002947
554 | 0.017188 , 0.001385
555 | 0.017188 , 0.003885
556 | 0.017188 , 0.007635
557 | 0.015626 , 0.002947
558 | 0.015626 , 0.002947
559 | 0.015626 , 0.002947
560 | 0.016251 , 0.003572
561 | 0.016563 , 0.004510
562 | 0.015626 , 0.004510
563 | 0.015626 , 0.006072
564 | 0.015626 , 0.005447
565 | 0.015626 , 0.004510
566 | 0.015626 , 0.004510
567 | 0.015626 , 0.004510
568 | 0.019922 , 0.001957
569 | 0.030324 , -0.004042
570 | 0.039891 , -0.008594
571 | 0.039891 , -0.008594
572 | 0.035520 , -0.012130
573 | 0.038216 , -0.016770
574 | 0.038216 , -0.016770
575 | 0.040304 , -0.028454
576 | 0.041885 , -0.035297
577 | 0.042778 , -0.042264
578 | 0.037256 , -0.042537
579 | 0.036899 , -0.047522
580 | 0.036046 , -0.052447
581 | 0.026691 , -0.060806
582 | 0.026532 , -0.061280
583 | 0.020064 , -0.076506
584 | 0.020064 , -0.076506
585 | 0.012880 , -0.084523
586 | 0.012880 , -0.084523
587 | 0.014140 , -0.084723
588 | 0.016030 , -0.085025
589 | 0.016030 , -0.085025
590 | 0.016030 , -0.085025
591 | 0.016030 , -0.085025
592 | 0.014777 , -0.088559
593 | 0.014777 , -0.088559
594 | 0.001746 , -0.083409
595 | -0.004151 , -0.082899
596 | -0.010788 , -0.079898
597 | -0.016532 , -0.078202
598 | -0.024586 , -0.069936
599 | -0.029889 , -0.067153
600 | -0.041678 , -0.063079
601 | -0.052924 , -0.059577
602 | -0.066199 , -0.046377
603 | -0.080504 , -0.040966
604 | -0.095705 , -0.017692
605 | -0.104260 , 0.004447
606 | -0.117180 , 0.036588
607 | -0.126438 , 0.069908
608 | -0.132573 , 0.106771
609 | -0.136093 , 0.145909
610 | -0.129263 , 0.178459
611 | -0.125034 , 0.217733
612 | -0.116956 , 0.256409
613 | -0.105115 , 0.294104
614 | -0.089468 , 0.330848
615 | -0.068333 , 0.358461
616 | -0.043469 , 0.380731
617 | -0.019450 , 0.412705
618 | 0.006345 , 0.448545
619 | 0.032900 , 0.486971
620 | 0.058225 , 0.517745
621 | 0.087764 , 0.553211
622 | 0.107302 , 0.588103
623 | 0.124367 , 0.624273
624 | 0.134818 , 0.672029
625 | 0.147282 , 0.709564
626 | 0.157781 , 0.744488
627 | 0.166931 , 0.778026
628 | 0.176638 , 0.816830
629 | 0.186691 , 0.856223
630 | 0.197085 , 0.895863
631 | 0.207170 , 0.934148
632 | 0.217402 , 0.972173
633 | 0.225869 , 1.011266
634 | 0.234512 , 1.050321
635 | 0.243451 , 1.089310
636 | 0.252096 , 1.128972
637 | 0.261197 , 1.168815
638 | 0.274172 , 1.207116
639 | 0.289229 , 1.245010
640 | 0.302253 , 1.282403
641 | 0.316168 , 1.320166
642 | 0.331481 , 1.357069
643 | 0.350289 , 1.394870
644 | 0.371008 , 1.433011
645 | 0.388314 , 1.469072
646 | 0.408056 , 1.506178
647 | 0.426533 , 1.541655
648 | 0.450908 , 1.579034
649 | 0.470321 , 1.614007
650 | 0.485852 , 1.645907
651 | 0.505471 , 1.675747
652 | 0.524764 , 1.703197
653 | 0.544720 , 1.737864
654 | 0.564885 , 1.772409
655 | 0.585179 , 1.806878
656 | 0.605308 , 1.840978
657 | 0.633086 , 1.878477
658 | 0.652872 , 1.912701
659 | 0.666465 , 1.943395
660 | 0.686203 , 1.978132
661 | 0.707163 , 2.014158
662 | 0.728437 , 2.050507
663 | 0.747513 , 2.083986
664 | 0.766723 , 2.117263
665 | 0.788856 , 2.153158
666 | 0.812365 , 2.189505
667 | 0.831175 , 2.224514
668 | 0.849712 , 2.259525
669 | 0.868375 , 2.294605
670 | 0.886649 , 2.329746
671 | 0.905994 , 2.365995
672 | 0.925205 , 2.402938
673 | 0.944924 , 2.437740
674 | 0.974617 , 2.481168
675 | 0.994607 , 2.515815
676 | 1.014466 , 2.550537
677 | 1.034165 , 2.585350
678 | 1.054347 , 2.621557
679 | 1.074687 , 2.658506
680 | 1.094364 , 2.689782
681 | 1.114928 , 2.720580
682 | 1.127618 , 2.745893
683 | 1.139208 , 2.770262
684 | 1.152880 , 2.795465
685 | 1.168271 , 2.830148
686 | 1.179011 , 2.850019
687 | 1.185650 , 2.865522
688 | 1.196274 , 2.884691
689 | 1.213780 , 2.905456
690 | 1.227248 , 2.929032
691 | 1.241076 , 2.955014
692 | 1.259802 , 2.983115
693 | 1.277895 , 3.011197
694 | 1.299377 , 3.041331
695 | 1.327240 , 3.068976
696 | 1.360170 , 3.092473
697 | 1.396542 , 3.112657
698 | 1.430433 , 3.133705
699 | 1.465746 , 3.152478
700 | 1.501866 , 3.168687
701 | 1.538843 , 3.182714
702 | 1.568243 , 3.188957
703 | 1.593934 , 3.190838
704 | 1.632737 , 3.200345
705 | 1.670989 , 3.212667
706 | 1.710432 , 3.219306
707 | 1.751134 , 3.225794
708 | 1.792088 , 3.231598
709 | 1.832593 , 3.237345
710 | 1.874066 , 3.243833
711 | 1.914044 , 3.245134
712 | 1.954933 , 3.240591
713 | 1.993590 , 3.240635
714 | 2.033683 , 3.238939
715 | 2.074013 , 3.236361
716 | 2.116302 , 3.234991
717 | 2.159738 , 3.233395
718 | 2.199707 , 3.231804
719 | 2.239665 , 3.229969
720 | 2.279610 , 3.227885
721 | 2.319542 , 3.225553
722 | 2.363960 , 3.221592
723 | 2.403863 , 3.218799
724 | 2.445840 , 3.210207
725 | 2.485717 , 3.207075
726 | 2.515765 , 3.209346
727 | 2.553783 , 3.205516
728 | 2.593456 , 3.198365
729 | 2.634212 , 3.189114
730 | 2.667652 , 3.183619
731 | 2.697601 , 3.185147
732 | 2.722816 , 3.179405
733 | 2.752309 , 3.175874
734 | 2.776671 , 3.174696
735 | 2.792280 , 3.169312
736 | 2.809119 , 3.159927
737 | 2.830652 , 3.151244
738 | 2.856784 , 3.138102
739 | 2.894377 , 3.120967
740 | 2.921018 , 3.100207
741 | 2.948796 , 3.074970
742 | 2.974774 , 3.047883
743 | 2.998907 , 3.019140
744 | 3.022378 , 2.987063
745 | 3.031261 , 2.954307
746 | 3.032134 , 2.920964
747 | 3.051423 , 2.885923
748 | 3.073844 , 2.849295
749 | 3.097279 , 2.811612
750 | 3.113288 , 2.774958
751 | 3.128234 , 2.737856
752 | 3.148672 , 2.702838
753 | 3.162379 , 2.665261
754 | 3.178563 , 2.629399
755 | 3.195620 , 2.594110
756 | 3.207222 , 2.555877
757 | 3.212731 , 2.515631
758 | 3.224403 , 2.477371
759 | 3.237275 , 2.438811
760 | 3.248722 , 2.400483
761 | 3.259916 , 2.362082
762 | 3.270859 , 2.323608
763 | 3.281561 , 2.285066
764 | 3.292077 , 2.243622
765 | 3.302391 , 2.204975
766 | 3.312203 , 2.166060
767 | 3.322041 , 2.127288
768 | 3.330647 , 2.086450
769 | 3.338569 , 2.044561
770 | 3.352544 , 2.009204
771 | 3.361502 , 1.970220
772 | 3.370192 , 1.932529
773 | 3.379086 , 1.893632
774 | 3.387922 , 1.854133
775 | 3.395864 , 1.813323
776 | 3.403138 , 1.771576
777 | 3.409928 , 1.733216
778 | 3.415981 , 1.695264
779 | 3.421494 , 1.655955
780 | 3.426250 , 1.616700
781 | 3.430321 , 1.576908
782 | 3.433697 , 1.537455
783 | 3.436407 , 1.497996
784 | 3.436906 , 1.461971
785 | 3.436167 , 1.426495
786 | 3.436977 , 1.388043
787 | 3.446185 , 1.346681
788 | 3.445937 , 1.307275
789 | 3.440611 , 1.263805
790 | 3.440647 , 1.228554
791 | 3.442764 , 1.192872
792 | 3.445471 , 1.161146
793 | 3.446028 , 1.128691
794 | 3.446011 , 1.088989
795 | 3.443946 , 1.052502
796 | 3.443651 , 1.015900
797 | 3.444296 , 0.979315
798 | 3.439880 , 0.948009
799 | 3.446208 , 0.909147
800 | 3.452584 , 0.870161
801 | 3.460442 , 0.841878
802 | 3.466288 , 0.802786
803 | 3.471840 , 0.763651
804 | 3.477233 , 0.724064
805 | 3.482499 , 0.684412
806 | 3.485836 , 0.643825
807 | 3.487660 , 0.602692
808 | 3.492256 , 0.564174
809 | 3.496873 , 0.530891
810 | 3.501248 , 0.493486
811 | 3.503746 , 0.452586
812 | 3.507810 , 0.415398
813 | 3.511633 , 0.379195
814 | 3.515156 , 0.341721
815 | 3.518618 , 0.302233
816 | 3.521268 , 0.263070
817 | 3.523399 , 0.228656
818 | 3.524158 , 0.190010
819 | 3.525758 , 0.148134
820 | 3.524897 , 0.109699
821 | 3.522699 , 0.075045
822 | 3.520690 , 0.041462
823 | 3.518155 , 0.008448
824 | 3.515562 , -0.019077
825 | 3.512551 , -0.045950
826 | 3.510049 , -0.071779
827 | 3.507251 , -0.098111
828 | 3.503447 , -0.118855
829 | 3.485277 , -0.146487
830 | 3.480825 , -0.166782
831 | 3.474613 , -0.193591
832 | 3.468335 , -0.218834
833 | 3.469763 , -0.246761
834 | 3.475762 , -0.277938
835 | 3.476809 , -0.313498
836 | 3.475458 , -0.342696
837 | 3.475769 , -0.371968
838 | 3.475847 , -0.387324
839 | 3.479983 , -0.417659
840 | 3.488917 , -0.445311
841 | 3.500876 , -0.471263
842 | 3.507785 , -0.493635
843 | 3.511570 , -0.511072
844 | 3.516907 , -0.531636
845 | 3.530399 , -0.557612
846 | 3.549315 , -0.587423
847 | 3.571013 , -0.616124
848 | 3.596698 , -0.645470
849 | 3.628422 , -0.673475
850 | 3.657965 , -0.699445
851 | 3.689163 , -0.723400
852 | 3.714523 , -0.742333
853 | 3.743902 , -0.761683
854 | 3.759507 , -0.781068
855 | 3.785167 , -0.803944
856 | 3.806673 , -0.830351
857 | 3.825149 , -0.860135
858 | 3.840961 , -0.887119
859 | 3.855736 , -0.916750
860 | 3.867699 , -0.947871
861 | 3.874400 , -0.977900
862 | 3.886983 , -1.006602
863 | 3.887502 , -1.035129
864 | 3.885138 , -1.039771
865 | 3.885138 , -1.039771
866 | 3.883504 , -1.046033
867 | 3.881375 , -1.052145
868 | 3.878776 , -1.058073
869 | 3.875721 , -1.063778
870 | 3.871200 , -1.092746
871 | 3.867017 , -1.131131
872 | 3.856958 , -1.146034
873 | 3.845810 , -1.163092
874 | 3.840190 , -1.170466
875 | 3.833939 , -1.177711
876 | 3.825661 , -1.188176
877 | 3.820332 , -1.189693
878 | 3.812711 , -1.198249
879 | 3.804210 , -1.209664
880 | 3.795066 , -1.222430
881 | 3.786875 , -1.230061
882 | 3.779687 , -1.236475
883 | 3.772188 , -1.243734
884 | 3.764399 , -1.251263
885 | 3.757014 , -1.258876
886 | 3.751591 , -1.265003
887 | 3.746883 , -1.269314
888 | 3.742726 , -1.273076
889 | 3.738612 , -1.276756
890 | 3.734192 , -1.280674
891 | 3.728821 , -1.285320
892 | 3.718647 , -1.294283
893 | 3.710731 , -1.304434
894 | 3.702339 , -1.313763
895 | 3.694651 , -1.323566
896 | 3.684877 , -1.338417
897 | 3.677328 , -1.352707
898 | 3.668343 , -1.372649
899 | 3.657895 , -1.396243
900 | 3.646617 , -1.424995
901 | 3.635889 , -1.455083
902 | 3.624190 , -1.486335
903 | 3.613504 , -1.524878
904 | 3.605719 , -1.561858
905 | 3.600130 , -1.598164
906 | 3.594754 , -1.637797
907 | 3.592663 , -1.672885
908 | 3.592785 , -1.712874
909 | 3.596286 , -1.752708
910 | 3.603241 , -1.791677
911 | 3.613617 , -1.829831
912 | 3.627437 , -1.867307
913 | 3.638892 , -1.897394
914 | 3.658937 , -1.931998
915 | 3.681321 , -1.966429
916 | 3.705943 , -1.997944
917 | 3.730043 , -2.028680
918 | 3.758124 , -2.057159
919 | 3.783699 , -2.083606
920 | 3.814340 , -2.109313
921 | 3.832214 , -2.135922
922 | 3.865063 , -2.158740
923 | 3.903788 , -2.177549
924 | 3.907220 , -2.179604
925 | 3.895954 , -2.181460
926 | 3.895954 , -2.181460
927 | 3.900084 , -2.181091
928 | 3.900084 , -2.181091
929 | 3.900084 , -2.181091
930 | 3.900084 , -2.181091
931 | 3.900084 , -2.181091
932 | 3.900084 , -2.181091
933 | 3.924539 , -2.189300
934 | 3.961219 , -2.201612
935 | 3.962929 , -2.201395
936 | 3.965492 , -2.201066
937 | 3.965492 , -2.201066
938 | 3.955384 , -2.201705
939 | 3.959843 , -2.199443
940 | 3.964290 , -2.197157
941 | 3.991919 , -2.189473
942 | 3.996768 , -2.187090
943 | 3.995982 , -2.184814
944 | 3.998189 , -2.178420
945 | 4.008856 , -2.170193
946 | 4.010046 , -2.172879
947 | 4.010046 , -2.172879
948 | 4.009903 , -2.169433
949 | 4.007712 , -2.165608
950 | 4.011039 , -2.158805
951 | 4.013735 , -2.151727
952 | 4.015877 , -2.144111
953 | 4.017332 , -2.136333
954 | 4.018889 , -2.128620
955 | 4.018966 , -2.120619
956 | 4.021310 , -2.113867
957 | 4.024426 , -2.107813
958 | 4.022470 , -2.100030
959 | 4.017403 , -2.092990
960 | 4.014517 , -2.086149
961 | 4.014496 , -2.080986
962 | 4.015322 , -2.076492
963 | 4.008863 , -2.070486
964 | 4.003182 , -2.065808
965 | 3.997188 , -2.060523
966 | 3.986253 , -2.051839
967 | 3.974255 , -2.044491
968 | 3.985040 , -2.050014
969 | 3.994277 , -2.053840
970 | 3.994594 , -2.050126
971 | 3.994594 , -2.050126
972 | 3.994594 , -2.050126
973 | 3.994594 , -2.050126
974 | 3.994594 , -2.050126
975 | 3.994594 , -2.050126
976 | 3.981643 , -2.050329
977 | 3.981643 , -2.050329
978 | 


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