tuc-proaut / librsf Goto Github PK

View Code? Open in Web Editor NEW

303.0 14.0 65.0 182.51 MB

A robust sensor fusion library for online localization.

Home Page: https://mytuc.org/libRSF

License: GNU General Public License v3.0

CMake 2.89% C++ 86.52% Shell 0.41% C 1.73% MATLAB 8.45%

sensorfusion estimation-algorithm gnss ranging localization robotics

librsf's People

Contributors

Stargazers

Watchers

Forkers

doctorwk007 whigg liuxinren456852 weisongwen calm-wy bratekai yxw027 amostfa will1991 mfkiwl tipf hz658832 jwijffels bhsphd linuxcumt moler1234 bpoebiapl zhuhaijun753 yanrihuo russ76 yangfuyuan zeta1999 infocusgames oygx210 gaoqiangwu maebex 47liu kinggreat24 lijian8 navrobot yuhuangying williamwenda gatsby23 arslan-z evanmey metaselina metavai atlas-schulter hunkyu yuancaimaiyi liyang-whu palfu zwl995 6nevergiveup fwdmyr d123456ddq wolf943134497 densalzmann qian5683 chengwei920412 robprom flyaudio alexandrebarral lihu577 fenix0817 irudhaya thanhpham1987 masonmax aabin fbh16 arenas7307979

librsf's Issues

How the DCS loss function is derived.

According to the dynamic covariance scaling paper, DCS can be applied by scaling the residuals with the scale parameter or scaling the information matrix with its square.
In the code on the g2o library, which is written by the authors (https://github.com/RainerKuemmerle/g2o/blob/master/g2o/core/robust_kernel_impl.cpp), it is implemented in the form of multiplying the square of the scale parameter with the squared error.
However, the DCS loss function of libRSF has a very different form.
Can you explain how this is derived?

How do you go about visualizing the results of your experiments?

Thanks for your work. I'm curious about how you visualize the experimental results, like the GIF animations you showed. Is the software you use available?

IMU and Pose sensor fusion

Hi, and thank you for making this code available.

I need to add IMU data into existing pose data (xyz / xyzw) from a SLAM system.

The goal is to smooth and predict data when tracking is lost.

Is this code suitable for that purpose? Is there an example that might help me get started?

Thanks!

Request for App_Robust_Models_2D

Dear Tim,
Thank you very much for your contribution. Perhaps I didn't quite understand when I followed your example:
./App_Robust_Models_2D empty empty Data_2D_Output.txt 10 8 MaxSumMix 0 0 1 2 0.5 0 0 1 2 0 0 5 0.35 0.65
I have obtained the following data:

cost_gradient2 0.00000000e+00 -4.00000000e+00 -4.00000000e+00 6.37198136e+00 -7.50000000e-01 -8.00000000e-02 2.50000000e-01 1.34818514e-31 1.34818514e-31 4.00000000e-02 
cost_gradient2 0.00000000e+00 -3.11111111e+00 -4.00000000e+00 5.80408013e+00 -5.27777778e-01 -8.00000001e-02 2.50000000e-01 3.23624932e-21 3.23624932e-21 4.00000000e-02 
cost_gradient2 0.00000000e+00 -2.22222222e+00 -4.00000000e+00 5.43370952e+00 -3.05557635e-01 -8.00009498e-02 2.50000000e-01 1.91140857e-13 1.91140857e-13 4.00000000e-02 
cost_gradient2 0.00000000e+00 -1.33333333e+00 -4.00000000e+00 5.26075690e+00 -8.39283871e-02 -8.04443068e-02 2.50000034e-01 2.55847835e-08 2.55847835e-08 4.00000191e-02 
cost_gradient2 0.00000000e+00 -4.44444444e-01 -4.00000000e+00 5.28282533e+00 1.33651526e-01 -9.07115461e-02 2.50002656e-01 5.43160286e-06 5.43160286e-06 4.00111088e-02 
cost_gradient2 0.00000000e+00 4.44444444e-01 -4.00000000e+00 5.50436780e+00 3.65942238e-01 -9.33680122e-02 2.50002260e-01 -6.25367925e-06 -6.25367925e-06 4.00173043e-02 
cost_gradient2 0.00000000e+00 1.33333333e+00 -4.00000000e+00 5.92731616e+00 5.84381846e-01 -8.08652985e-02 2.50000106e-01 -8.77993077e-08 -8.77993077e-08 4.00000725e-02 
cost_gradient2 0.00000000e+00 2.22222222e+00 -4.00000000e+00 6.54482013e+00 8.05561505e-01 -8.00028852e-02 2.50000000e-01 -1.66106451e-12 -1.66106451e-12 4.00000000e-02 
cost_gradient2 0.00000000e+00 3.11111111e+00 -4.00000000e+00 7.35963569e+00 1.02777778e+00 -8.00000005e-02 2.50000000e-01 -6.95928929e-20 -6.95928929e-20 4.00000000e-02 
cost_gradient2 0.00000000e+00 4.00000000e+00 -4.00000000e+00 8.37198136e+00 1.25000000e+00 -8.00000000e-02 2.50000000e-01 -7.11950239e-30 -7.11950239e-30 4.00000000e-02 
cost_gradient2 0.00000000e+00 -4.00000000e+00 -3.11111111e+00 6.31667272e+00 -7.50000000e-01 -4.44444444e-02 2.50000000e-01 5.25121287e-29 5.25121287e-29 4.00000000e-02 
cost_gradient2 0.00000000e+00 -3.11111111e+00 -3.11111111e+00 5.74877149e+00 -5.27777785e-01 -4.44444463e-02 2.50000000e-01 1.26052673e-18 1.26052673e-18 4.00000000e-02 
cost_gradient2 0.00000000e+00 -2.22222222e+00 -3.11111111e+00 5.37839571e+00 -3.05601960e-01 -4.44610238e-02 2.50000000e-01 7.44491194e-11 7.44491194e-11 4.00000000e-02 
cost_gradient2 0.00000000e+00 -1.33333333e+00 -3.11111111e+00 5.20303544e+00 -9.65789777e-02 -5.21815827e-02 2.50016986e-01 9.92199355e-06 9.92199355e-06 4.00057957e-02 
cost_gradient2 0.00000000e+00 -4.44444444e-01 -3.11111111e+00 5.17090999e+00 2.84572547e-02 -2.21135059e-01 2.51193815e-01 1.91010325e-03 1.91010325e-03 4.30561652e-02 
cost_gradient2 0.00000000e+00 4.44444444e-01 -3.11111111e+00 5.37889622e+00 4.61605510e-01 -2.61985262e-01 2.50991393e-01 -2.14607369e-03 -2.14607369e-03 4.46456183e-02 
cost_gradient2 0.00000000e+00 1.33333333e+00 -3.11111111e+00 5.86731385e+00 6.06619599e-01 -5.94783842e-02 2.50052523e-01 -3.39093154e-05 -3.39093154e-05 4.00218923e-02 
cost_gradient2 0.00000000e+00 2.22222222e+00 -3.11111111e+00 6.48949581e+00 8.05688306e-01 -4.44948076e-02 2.50000002e-01 -6.46970205e-10 -6.46970205e-10 4.00000002e-02 
cost_gradient2 0.00000000e+00 3.11111111e+00 -3.11111111e+00 7.30432704e+00 1.02777781e+00 -4.44444531e-02 2.50000000e-01 -2.71065956e-17 -2.71065956e-17 4.00000000e-02 
cost_gradient2 0.00000000e+00 4.00000000e+00 -3.11111111e+00 8.31667272e+00 1.25000000e+00 -4.44444444e-02 2.50000000e-01 -2.77306295e-27 -2.77306295e-27 4.00000000e-02 
cost_gradient2 0.00000000e+00 -4.00000000e+00 -2.22222222e+00 6.29296902e+00 -7.50000000e-01 -8.88888889e-03 2.50000000e-01 4.13931659e-27 4.13931659e-27 4.00000000e-02 
cost_gradient2 0.00000000e+00 -3.11111111e+00 -2.22222222e+00 5.72506778e+00 -5.27777852e-01 -8.88890270e-03 2.50000000e-01 9.93621719e-17 9.93621719e-17 4.00000000e-02 
cost_gradient2 0.00000000e+00 -2.22222222e+00 -2.22222222e+00 5.35464092e+00 -3.06040487e-01 -9.01393516e-03 2.50000023e-01 5.86797834e-09 5.86797834e-09 4.00000015e-02 
cost_gradient2 0.00000000e+00 -1.33333333e+00 -2.22222222e+00 5.15576770e+00 -2.18535528e-01 -6.58884174e-02 2.51777866e-01 7.49525825e-04 7.49525825e-04 4.03159906e-02 
cost_gradient2 0.00000000e+00 -4.44444444e-01 -2.22222222e+00 4.71249639e+00 -6.08326444e-01 -8.71760161e-01 3.09740991e-01 6.89878570e-02 6.89878570e-02 1.19665977e-01 
cost_gradient2 0.00000000e+00 4.44444444e-01 -2.22222222e+00 4.84212658e+00 9.89841622e-01 -9.91187851e-01 2.93152076e-01 -6.74187731e-02 -6.74187731e-02 1.45331918e-01 
cost_gradient2 0.00000000e+00 1.33333333e+00 -2.22222222e+00 5.79832065e+00 8.15914877e-01 -1.17263727e-01 2.55285961e-01 -2.46307247e-03 -2.46307247e-03 4.11477053e-02 
cost_gradient2 0.00000000e+00 2.22222222e+00 -2.22222222e+00 6.46563691e+00 8.06942675e-01 -9.26870219e-03 2.50000186e-01 -5.09837230e-08 -5.09837230e-08 4.00000140e-02 
cost_gradient2 0.00000000e+00 3.11111111e+00 -2.22222222e+00 7.28062331e+00 1.02777812e+00 -8.88895432e-03 2.50000000e-01 -2.13670209e-15 -2.13670209e-15 4.00000000e-02 
cost_gradient2 0.00000000e+00 4.00000000e+00 -2.22222222e+00 8.29296902e+00 1.25000000e+00 -8.88888889e-03 2.50000000e-01 -2.18589224e-25 -2.18589224e-25 4.00000000e-02 
cost_gradient2 0.00000000e+00 -4.00000000e+00 -1.33333333e+00 6.30087025e+00 -7.50000000e-01 2.66666667e-02 2.50000000e-01 6.09352619e-26 6.09352619e-26 4.00000000e-02 
cost_gradient2 0.00000000e+00 -3.11111111e+00 -1.33333333e+00 5.73296899e+00 -5.27778142e-01 2.66666251e-02 2.50000000e-01 1.46271965e-15 1.46271965e-15 4.00000000e-02 
cost_gradient2 0.00000000e+00 -2.22222222e+00 -1.33333333e+00 5.36232214e+00 -3.07928613e-01 2.62906637e-02 2.50000545e-01 8.63487257e-08 8.63487257e-08 4.00000137e-02 
cost_gradient2 0.00000000e+00 -1.33333333e+00 -1.33333333e+00 5.06808714e+00 -6.84779933e-01 -1.29136643e-01 2.85848943e-01 9.28658323e-03 9.28658323e-03 4.24056673e-02 
cost_gradient2 0.00000000e+00 -4.44444444e-01 -1.33333333e+00 3.79679556e+00 -1.31340487e+00 -1.00383047e+00 4.04290798e+00 3.04460094e-02 3.04460094e-02 1.02160343e+00 
cost_gradient2 0.00000000e+00 4.44444444e-01 -1.33333333e+00 3.84627749e+00 1.48899732e+00 -1.05610409e+00 4.01627313e+00 -1.56222042e-02 -1.56222042e-02 1.01499732e+00 
cost_gradient2 0.00000000e+00 1.33333333e+00 -1.33333333e+00 5.63167966e+00 1.53941833e+00 -2.47075563e-01 3.42478249e-01 -2.64779827e-02 -2.64779827e-02 4.75810645e-02 
cost_gradient2 0.00000000e+00 2.22222222e+00 -1.33333333e+00 6.47287003e+00 8.12340521e-01 2.55251137e-02 2.50004456e-01 -7.49630814e-07 -7.49630814e-07 4.00001261e-02 
cost_gradient2 0.00000000e+00 3.11111111e+00 -1.33333333e+00 7.28852443e+00 1.02777943e+00 2.66664699e-02 2.50000000e-01 -3.14545824e-14 -3.14545824e-14 4.00000000e-02 
cost_gradient2 0.00000000e+00 4.00000000e+00 -1.33333333e+00 8.30087025e+00 1.25000000e+00 2.66666667e-02 2.50000000e-01 -3.21787216e-24 -3.21787216e-24 4.00000000e-02 
cost_gradient2 0.00000000e+00 -4.00000000e+00 -4.44444444e-01 6.34037643e+00 -7.50000000e-01 6.22222222e-02 2.50000000e-01 1.19305165e-25 1.19305165e-25 4.00000000e-02 
cost_gradient2 0.00000000e+00 -3.11111111e+00 -4.44444444e-01 5.77247512e+00 -5.27778612e-01 6.22221867e-02 2.50000000e-01 2.86385898e-15 2.86385898e-15 4.00000000e-02 
cost_gradient2 0.00000000e+00 -2.22222222e+00 -4.44444444e-01 5.40147104e+00 -3.10993775e-01 6.19012089e-02 2.50002862e-01 1.68953118e-07 1.68953118e-07 4.00000100e-02 
cost_gradient2 0.00000000e+00 -1.33333333e+00 -4.44444444e-01 4.96951371e+00 -1.28430686e+00 -5.36812549e-02 3.96960453e-01 1.41828501e-02 1.41828501e-02 4.13687576e-02 
cost_gradient2 0.00000000e+00 -4.44444444e-01 -4.44444444e-01 3.15354432e+00 -1.54316639e+00 -3.82425433e-01 4.01034744e+00 2.73532214e-03 2.73532214e-03 1.00072308e+00 
cost_gradient2 0.00000000e+00 4.44444444e-01 -4.44444444e-01 3.17823763e+00 1.63545171e+00 -3.93541943e-01 4.00377303e+00 -1.34941231e-03 -1.34941231e-03 1.00048261e+00 
cost_gradient2 0.00000000e+00 1.33333333e+00 -4.44444444e-01 5.43995537e+00 2.32264719e+00 -1.23304589e-01 5.71079351e-01 -3.42484641e-02 -3.42484641e-02 4.36531695e-02 
cost_gradient2 0.00000000e+00 2.22222222e+00 -4.44444444e-01 6.51129192e+00 8.21093027e-01 6.12483271e-02 2.50023370e-01 -1.46483046e-06 -1.46483046e-06 4.00000918e-02 
cost_gradient2 0.00000000e+00 3.11111111e+00 -4.44444444e-01 7.32803042e+00 1.02778156e+00 6.22220542e-02 2.50000000e-01 -6.15849143e-14 -6.15849143e-14 4.00000000e-02 
cost_gradient2 0.00000000e+00 4.00000000e+00 -4.44444444e-01 8.34037643e+00 1.25000000e+00 6.22222222e-02 2.50000000e-01 -6.30027276e-24 -6.30027276e-24 4.00000000e-02 
cost_gradient2 0.00000000e+00 -4.00000000e+00 4.44444444e-01 6.41148754e+00 -7.50000000e-01 9.77777778e-02 2.50000000e-01 -9.41055690e-26 -9.41055690e-26 4.00000000e-02 
cost_gradient2 0.00000000e+00 -3.11111111e+00 4.44444444e-01 5.84358623e+00 -5.27778674e-01 9.77778038e-02 2.50000000e-01 -2.25895564e-15 -2.25895564e-15 4.00000000e-02 
cost_gradient2 0.00000000e+00 -2.22222222e+00 4.44444444e-01 5.47253546e+00 -3.11394302e-01 9.80135951e-02 2.50003299e-01 -1.33255657e-07 -1.33255657e-07 4.00000054e-02 
cost_gradient2 0.00000000e+00 -1.33333333e+00 4.44444444e-01 5.02390587e+00 -1.35143960e+00 1.81513049e-01 4.14409564e-01 -1.08562506e-02 -1.08562506e-02 4.07168572e-02 
cost_gradient2 0.00000000e+00 -4.44444444e-01 4.44444444e-01 3.16198195e+00 -1.55741900e+00 4.04588249e-01 4.00909955e+00 -1.64583077e-03 -1.64583077e-03 1.00029768e+00 
cost_gradient2 0.00000000e+00 4.44444444e-01 4.44444444e-01 3.18515763e+00 1.64430072e+00 4.11781824e-01 4.00330991e+00 8.09954497e-04 8.09954497e-04 1.00019820e+00 
cost_gradient2 0.00000000e+00 1.33333333e+00 4.44444444e-01 5.48443719e+00 2.40176157e+00 2.30491137e-01 6.02947931e-01 2.57590069e-02 2.57590069e-02 4.18799556e-02 
cost_gradient2 0.00000000e+00 2.22222222e+00 4.44444444e-01 6.58226138e+00 8.22235783e-01 9.84931360e-02 2.50026935e-01 1.15513385e-06 1.15513385e-06 4.00000495e-02 
cost_gradient2 0.00000000e+00 3.11111111e+00 4.44444444e-01 7.39914150e+00 1.02778184e+00 9.77779012e-02 2.50000000e-01 4.85769676e-14 4.85769676e-14 4.00000000e-02 
cost_gradient2 0.00000000e+00 4.00000000e+00 4.44444444e-01 8.41148754e+00 1.25000000e+00 9.77777778e-02 2.50000000e-01 4.96953129e-24 4.96953129e-24 4.00000000e-02 
cost_gradient2 0.00000000e+00 -4.00000000e+00 1.33333333e+00 6.51420359e+00 -7.50000000e-01 1.33333333e-01 2.50000000e-01 -8.23777639e-26 -8.23777639e-26 4.00000000e-02 
cost_gradient2 0.00000000e+00 -3.11111111e+00 1.33333333e+00 5.94630231e+00 -5.27778228e-01 1.33333379e-01 2.50000000e-01 -1.97743586e-15 -1.97743586e-15 4.00000000e-02 
cost_gradient2 0.00000000e+00 -2.22222222e+00 1.33333333e+00 5.57558973e+00 -3.08492727e-01 1.33743967e-01 2.50000835e-01 -1.16720106e-07 -1.16720106e-07 4.00000163e-02 
cost_gradient2 0.00000000e+00 -1.33333333e+00 1.33333333e+00 5.25454260e+00 -8.08059012e-01 2.98984917e-01 3.02329828e-01 -1.19611035e-02 -1.19611035e-02 4.27339665e-02 
cost_gradient2 0.00000000e+00 -4.44444444e-01 1.33333333e+00 3.84445911e+00 -1.38430255e+00 1.08698362e+00 4.03023281e+00 -1.89283710e-02 -1.89283710e-02 1.01185081e+00 
cost_gradient2 0.00000000e+00 4.44444444e-01 1.33333333e+00 3.88622624e+00 1.53496707e+00 1.12765838e+00 4.01132798e+00 9.59546337e-03 9.59546337e-03 1.00812792e+00 
cost_gradient2 0.00000000e+00 1.33333333e+00 1.33333333e+00 5.79825912e+00 1.71271580e+00 4.18651010e-01 3.80273683e-01 3.29112461e-02 3.29112461e-02 4.83144201e-02 
cost_gradient2 0.00000000e+00 2.22222222e+00 1.33333333e+00 6.68600378e+00 8.13952291e-01 1.34579859e-01 2.50006824e-01 1.01305301e-06 1.01305301e-06 4.00001504e-02 
cost_gradient2 0.00000000e+00 3.11111111e+00 1.33333333e+00 7.50185773e+00 1.02777982e+00 1.33333548e-01 2.50000000e-01 4.25231289e-14 4.25231289e-14 4.00000000e-02 
cost_gradient2 0.00000000e+00 4.00000000e+00 1.33333333e+00 8.51420359e+00 1.25000000e+00 1.33333333e-01 2.50000000e-01 4.35020881e-24 4.35020881e-24 4.00000000e-02 
cost_gradient2 0.00000000e+00 -4.00000000e+00 2.22222222e+00 6.64852457e+00 -7.50000000e-01 1.68888889e-01 2.50000000e-01 -7.81939061e-27 -7.81939061e-27 4.00000000e-02 
cost_gradient2 0.00000000e+00 -3.11111111e+00 2.22222222e+00 6.08062333e+00 -5.27777884e-01 1.68888907e-01 2.50000000e-01 -1.87700461e-16 -1.87700461e-16 4.00000000e-02 
cost_gradient2 0.00000000e+00 -2.22222222e+00 2.22222222e+00 5.71017235e+00 -3.06247522e-01 1.69054423e-01 2.50000046e-01 -1.10844422e-08 -1.10844422e-08 4.00000027e-02 
cost_gradient2 0.00000000e+00 -1.33333333e+00 2.22222222e+00 5.50038751e+00 -2.74164904e-01 2.43525237e-01 2.53549416e-01 -1.38821592e-03 -1.38821592e-03 4.05429467e-02 
cost_gradient2 0.00000000e+00 -4.44444444e-01 2.22222222e+00 4.91408174e+00 -7.75209999e-01 1.14816700e+00 3.42452367e-01 -9.90446223e-02 -9.90446223e-02 1.46106935e-01 
cost_gradient2 0.00000000e+00 4.44444444e-01 2.22222222e+00 5.02415339e+00 1.11536538e+00 1.26211390e+00 4.10157388e+00 1.47222374e-01 1.47222374e-01 1.21338584e+00 
cost_gradient2 0.00000000e+00 1.33333333e+00 2.22222222e+00 6.13318520e+00 9.08424431e-01 3.09419497e-01 2.60369155e-01 4.48238565e-03 4.48238565e-03 4.19376488e-02 
cost_gradient2 0.00000000e+00 2.22222222e+00 2.22222222e+00 6.82111920e+00 8.07534793e-01 1.69391656e-01 2.50000379e-01 9.62982355e-08 9.62982355e-08 4.00000245e-02 
cost_gradient2 0.00000000e+00 3.11111111e+00 2.22222222e+00 7.63617885e+00 1.02777826e+00 1.68888976e-01 2.50000000e-01 4.03634454e-15 4.03634454e-15 4.00000000e-02 
cost_gradient2 0.00000000e+00 4.00000000e+00 2.22222222e+00 8.64852457e+00 1.25000000e+00 1.68888889e-01 2.50000000e-01 4.12926745e-25 4.12926745e-25 4.00000000e-02 
cost_gradient2 0.00000000e+00 -4.00000000e+00 3.11111111e+00 6.81445050e+00 -7.50000000e-01 2.04444444e-01 2.50000000e-01 -1.34695338e-28 -1.34695338e-28 4.00000000e-02 
cost_gradient2 0.00000000e+00 -3.11111111e+00 3.11111111e+00 6.24654926e+00 -5.27777789e-01 2.04444447e-01 2.50000000e-01 -3.23329255e-18 -3.23329255e-18 4.00000000e-02 
cost_gradient2 0.00000000e+00 -2.22222222e+00 3.11111111e+00 5.87617000e+00 -3.05631893e-01 2.04470295e-01 2.50000001e-01 -1.90963238e-10 -1.90963238e-10 4.00000001e-02 
cost_gradient2 0.00000000e+00 -1.33333333e+00 3.11111111e+00 5.69918707e+00 -1.05087828e-01 2.16488838e-01 2.50045833e-01 -2.53755925e-05 -2.53755925e-05 4.00140492e-02 
cost_gradient2 0.00000000e+00 -4.44444444e-01 3.11111111e+00 5.63219559e+00 -3.62680272e-02 4.70073715e-01 2.53024952e-01 -4.58740510e-03 -4.58740510e-03 4.69568996e-02 
cost_gradient2 0.00000000e+00 4.44444444e-01 3.11111111e+00 5.83193119e+00 5.19196759e-01 5.28798996e-01 2.52475021e-01 5.07815971e-03 5.07815971e-03 5.04191889e-02 
cost_gradient2 0.00000000e+00 1.33333333e+00 3.11111111e+00 6.36193429e+00 6.21519914e-01 2.27811952e-01 2.50141330e-01 8.64838961e-05 8.64838961e-05 4.00529221e-02 
cost_gradient2 0.00000000e+00 2.22222222e+00 3.11111111e+00 6.98726299e+00 8.05773936e-01 2.04522971e-01 2.50000005e-01 1.65946811e-09 1.65946811e-09 4.00000006e-02 
cost_gradient2 0.00000000e+00 3.11111111e+00 3.11111111e+00 7.80210482e+00 1.02777783e+00 2.04444458e-01 2.50000000e-01 6.95293095e-17 6.95293095e-17 4.00000000e-02 
cost_gradient2 0.00000000e+00 4.00000000e+00 3.11111111e+00 8.81445050e+00 1.25000000e+00 2.04444444e-01 2.50000000e-01 7.11299772e-27 7.11299772e-27 4.00000000e-02 
cost_gradient2 0.00000000e+00 -4.00000000e+00 4.00000000e+00 7.01198136e+00 -7.50000000e-01 2.40000000e-01 2.50000000e-01 -4.65102046e-31 -4.65102046e-31 4.00000000e-02 
cost_gradient2 0.00000000e+00 -3.11111111e+00 4.00000000e+00 6.44408013e+00 -5.27777778e-01 2.40000000e-01 2.50000000e-01 -1.11645362e-20 -1.11645362e-20 4.00000000e-02 
cost_gradient2 0.00000000e+00 -2.22222222e+00 4.00000000e+00 6.07370930e+00 -3.05559500e-01 2.40001728e-01 2.50000000e-01 -6.59404753e-13 -6.59404753e-13 4.00000000e-02 
cost_gradient2 0.00000000e+00 -1.33333333e+00 4.00000000e+00 5.90065530e+00 -8.44617267e-02 2.40808145e-01 2.50000123e-01 -8.82471620e-08 -8.82471620e-08 4.00000632e-02 
cost_gradient2 0.00000000e+00 -4.44444444e-01 4.00000000e+00 5.92037866e+00 1.28980602e-01 2.59437474e-01 2.50009510e-01 -1.86555207e-05 -1.86555207e-05 4.00365973e-02 
cost_gradient2 0.00000000e+00 4.44444444e-01 4.00000000e+00 6.14131528e+00 3.70245326e-01 2.64243280e-01 2.50008084e-01 2.14555547e-05 2.14555547e-05 4.00569456e-02 
cost_gradient2 0.00000000e+00 1.33333333e+00 4.00000000e+00 6.56711829e+00 5.85321423e-01 2.41573730e-01 2.50000383e-01 3.02785150e-07 3.02785150e-07 4.00002397e-02 
cost_gradient2 0.00000000e+00 2.22222222e+00 4.00000000e+00 7.18481947e+00 8.05566839e-01 2.40005248e-01 2.50000000e-01 5.73039681e-12 5.73039681e-12 4.00000000e-02 
cost_gradient2 0.00000000e+00 3.11111111e+00 4.00000000e+00 7.99963569e+00 1.02777778e+00 2.40000001e-01 2.50000000e-01 2.40084214e-19 2.40084214e-19 4.00000000e-02 
cost_gradient2 0.00000000e+00 4.00000000e+00 4.00000000e+00 9.01198136e+00 1.25000000e+00 2.40000000e-01 2.50000000e-01 2.45611306e-29 2.45611306e-29 4.00000000e-02 
point2 0.00000000e+00 -4.00000000e+00 -4.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 -4.00000000e+00 -3.11111111e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 -4.00000000e+00 -2.22222222e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 -4.00000000e+00 -1.33333333e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 -4.00000000e+00 -4.44444444e-01 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 -4.00000000e+00 4.44444444e-01 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 -4.00000000e+00 1.33333333e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 -4.00000000e+00 2.22222222e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 -4.00000000e+00 3.11111111e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 -4.00000000e+00 4.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 -3.11111111e+00 -4.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 -3.11111111e+00 -3.11111111e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 -3.11111111e+00 -2.22222222e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 -3.11111111e+00 -1.33333333e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 -3.11111111e+00 -4.44444444e-01 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 -3.11111111e+00 4.44444444e-01 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 -3.11111111e+00 1.33333333e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 -3.11111111e+00 2.22222222e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 -3.11111111e+00 3.11111111e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 -3.11111111e+00 4.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 -2.22222222e+00 -4.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 -2.22222222e+00 -3.11111111e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 -2.22222222e+00 -2.22222222e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 -2.22222222e+00 -1.33333333e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 -2.22222222e+00 -4.44444444e-01 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 -2.22222222e+00 4.44444444e-01 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 -2.22222222e+00 1.33333333e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 -2.22222222e+00 2.22222222e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 -2.22222222e+00 3.11111111e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 -2.22222222e+00 4.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 -1.33333333e+00 -4.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 -1.33333333e+00 -3.11111111e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 -1.33333333e+00 -2.22222222e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 -1.33333333e+00 -1.33333333e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 -1.33333333e+00 -4.44444444e-01 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 -1.33333333e+00 4.44444444e-01 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 -1.33333333e+00 1.33333333e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 -1.33333333e+00 2.22222222e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 -1.33333333e+00 3.11111111e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 -1.33333333e+00 4.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 -4.44444444e-01 -4.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 -4.44444444e-01 -3.11111111e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 -4.44444444e-01 -2.22222222e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 -4.44444444e-01 -1.33333333e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 -4.44444444e-01 -4.44444444e-01 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 -4.44444444e-01 4.44444444e-01 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 -4.44444444e-01 1.33333333e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 -4.44444444e-01 2.22222222e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 -4.44444444e-01 3.11111111e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 -4.44444444e-01 4.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 4.44444444e-01 -4.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 4.44444444e-01 -3.11111111e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 4.44444444e-01 -2.22222222e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 4.44444444e-01 -1.33333333e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 4.44444444e-01 -4.44444444e-01 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 4.44444444e-01 4.44444444e-01 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 4.44444444e-01 1.33333333e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 4.44444444e-01 2.22222222e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 4.44444444e-01 3.11111111e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 4.44444444e-01 4.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 1.33333333e+00 -4.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 1.33333333e+00 -3.11111111e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 1.33333333e+00 -2.22222222e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 1.33333333e+00 -1.33333333e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 1.33333333e+00 -4.44444444e-01 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 1.33333333e+00 4.44444444e-01 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 1.33333333e+00 1.33333333e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 1.33333333e+00 2.22222222e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 1.33333333e+00 3.11111111e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 1.33333333e+00 4.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 2.22222222e+00 -4.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 2.22222222e+00 -3.11111111e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 2.22222222e+00 -2.22222222e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 2.22222222e+00 -1.33333333e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 2.22222222e+00 -4.44444444e-01 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 2.22222222e+00 4.44444444e-01 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 2.22222222e+00 1.33333333e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 2.22222222e+00 2.22222222e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 2.22222222e+00 3.11111111e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 2.22222222e+00 4.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 3.11111111e+00 -4.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 3.11111111e+00 -3.11111111e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 3.11111111e+00 -2.22222222e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 3.11111111e+00 -1.33333333e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 3.11111111e+00 -4.44444444e-01 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 3.11111111e+00 4.44444444e-01 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 3.11111111e+00 1.33333333e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 3.11111111e+00 2.22222222e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 3.11111111e+00 3.11111111e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 3.11111111e+00 4.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 4.00000000e+00 -4.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 4.00000000e+00 -3.11111111e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 4.00000000e+00 -2.22222222e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 4.00000000e+00 -1.33333333e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 4.00000000e+00 -4.44444444e-01 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 4.00000000e+00 4.44444444e-01 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 4.00000000e+00 1.33333333e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 4.00000000e+00 2.22222222e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 4.00000000e+00 3.11111111e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 0.00000000e+00 4.00000000e+00 4.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.72488763e-03 -5.61968230e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.72484861e-03 -5.61958795e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.72480960e-03 -5.61949363e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.72477059e-03 -5.61939931e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.72473158e-03 -5.61930501e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.72469257e-03 -5.61921072e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.72465357e-03 -5.61911644e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.72461458e-03 -5.61902218e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.72457559e-03 -5.61892793e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.72453660e-03 -5.61883369e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.72482013e-03 -5.61945554e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.72478108e-03 -5.61936110e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.72474173e-03 -5.61926578e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.72470155e-03 -5.61916778e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.72466118e-03 -5.61906886e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.72462267e-03 -5.61897559e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.72458524e-03 -5.61888638e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.72454700e-03 -5.61879492e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.72450813e-03 -5.61870124e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.72446915e-03 -5.61860706e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.72473593e-03 -5.61918243e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.72439104e-03 -5.61822182e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.72184265e-03 -5.61080780e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.71351129e-03 -5.58528687e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.70532120e-03 -5.55679332e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.71004581e-03 -5.56698367e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.72023266e-03 -5.59989622e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.72420144e-03 -5.61591796e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.72449259e-03 -5.61838165e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.72440870e-03 -5.61838604e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.71806216e-03 -5.60131580e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.67162746e-03 -5.73530726e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -5.03778165e-03 -6.48849422e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.55266058e-03 -5.82650291e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.87841415e-03 -6.11199835e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.88589297e-03 -6.21976691e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.94462310e-03 -6.14491238e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.65767419e-03 -5.61699119e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.80310869e-03 -5.77034548e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.72983156e-03 -5.62830170e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.67012413e-03 -5.74219504e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.97477710e-03 -5.29230980e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.94408625e-03 -7.86641865e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -5.40609576e-03 -8.02009310e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.97563311e-03 -6.33195485e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.94958654e-03 -5.83690396e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -5.20179708e-03 -4.75630210e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.80178849e-03 -4.63359449e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.93428853e-03 -4.47793866e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.72055907e-03 -5.79763581e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.67919315e-03 -5.80901797e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.72554530e-03 -6.69011829e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.78547618e-03 -6.23789947e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.35366830e-03 -7.48385108e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.53317305e-03 -6.24833354e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.54027104e-03 -5.85744124e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.40182313e-03 -5.00764707e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.61164208e-03 -5.37424782e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -5.08922914e-03 -5.96531930e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.87003762e-03 -5.79625089e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.71825340e-03 -5.60635957e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.65400843e-03 -5.53735756e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.66086671e-03 -5.71547200e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -3.78361336e-03 -6.80535042e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -3.51263752e-03 -5.87583817e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -5.21175177e-03 -6.11967344e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -5.09079743e-03 -5.96713141e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.75272383e-03 -5.63252873e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -5.02732532e-03 -6.25221451e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.74804504e-03 -5.68123735e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.72440200e-03 -5.61808015e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.72422716e-03 -5.61802055e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.72440450e-03 -5.62204938e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.73297336e-03 -5.65808608e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.76493951e-03 -5.75751975e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.78963723e-03 -5.81797827e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.76569385e-03 -5.74088775e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.73582850e-03 -5.65135006e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.72562865e-03 -5.62165393e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.72415658e-03 -5.61750213e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.72434824e-03 -5.61786957e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.72430927e-03 -5.61777544e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.72427060e-03 -5.61768282e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.72423418e-03 -5.61759852e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.72420199e-03 -5.61752683e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.72416707e-03 -5.61744321e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.72412299e-03 -5.61733087e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.72407790e-03 -5.61721739e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.72403685e-03 -5.61711695e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.72399762e-03 -5.61702197e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.72428091e-03 -5.61764319e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.72424194e-03 -5.61754897e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.72420298e-03 -5.61745476e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.72416401e-03 -5.61736056e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.72412505e-03 -5.61726638e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.72408610e-03 -5.61717221e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.72404715e-03 -5.61707805e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.72400820e-03 -5.61698391e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.72396926e-03 -5.61688978e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
point2 1.00000000e+00 -4.72393032e-03 -5.61679566e-03 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 9.41753387e-05 0.00000000e+00 0.00000000e+00 1.20000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 4.19616699e-05 0.00000000e+00 0.00000000e+00 1.20000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 4.10079956e-05 0.00000000e+00 0.00000000e+00 1.20000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 3.88622284e-05 0.00000000e+00 0.00000000e+00 1.20000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 3.88622284e-05 0.00000000e+00 0.00000000e+00 1.20000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 3.88622284e-05 0.00000000e+00 0.00000000e+00 1.20000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 3.88622284e-05 0.00000000e+00 0.00000000e+00 1.20000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 3.88622284e-05 0.00000000e+00 0.00000000e+00 1.20000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 3.79085541e-05 0.00000000e+00 0.00000000e+00 1.20000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 3.79085541e-05 0.00000000e+00 0.00000000e+00 1.20000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 3.91006470e-05 0.00000000e+00 0.00000000e+00 1.20000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 4.41074371e-05 0.00000000e+00 0.00000000e+00 1.20000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 4.50611115e-05 0.00000000e+00 0.00000000e+00 1.20000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 3.91006470e-05 0.00000000e+00 0.00000000e+00 1.20000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 3.91006470e-05 0.00000000e+00 0.00000000e+00 1.20000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 3.81469727e-05 0.00000000e+00 0.00000000e+00 1.20000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 3.81469727e-05 0.00000000e+00 0.00000000e+00 1.20000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 4.00543213e-05 0.00000000e+00 0.00000000e+00 1.20000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 3.98159027e-05 0.00000000e+00 0.00000000e+00 1.20000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 3.88622284e-05 0.00000000e+00 0.00000000e+00 1.20000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 3.88622284e-05 0.00000000e+00 0.00000000e+00 1.20000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 4.19616699e-05 0.00000000e+00 0.00000000e+00 1.20000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 3.91006470e-05 0.00000000e+00 0.00000000e+00 1.20000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 4.10079956e-05 0.00000000e+00 0.00000000e+00 1.20000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 4.29153442e-05 0.00000000e+00 0.00000000e+00 1.20000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 4.00543213e-05 0.00000000e+00 0.00000000e+00 1.20000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 4.10079956e-05 0.00000000e+00 0.00000000e+00 1.20000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 4.00543213e-05 0.00000000e+00 0.00000000e+00 1.20000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 3.88622284e-05 0.00000000e+00 0.00000000e+00 1.20000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 3.88622284e-05 0.00000000e+00 0.00000000e+00 1.20000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 4.00543213e-05 0.00000000e+00 0.00000000e+00 1.20000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 4.57763672e-05 0.00000000e+00 0.00000000e+00 1.30000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 2.09808350e-05 0.00000000e+00 0.00000000e+00 5.00000000e+00 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 2.38418579e-05 0.00000000e+00 0.00000000e+00 6.00000000e+00 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 3.88622284e-05 0.00000000e+00 0.00000000e+00 1.20000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 3.91006470e-05 0.00000000e+00 0.00000000e+00 1.20000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 4.00543213e-05 0.00000000e+00 0.00000000e+00 1.20000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 4.69684601e-05 0.00000000e+00 0.00000000e+00 1.40000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 4.00543213e-05 0.00000000e+00 0.00000000e+00 1.20000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 4.00543213e-05 0.00000000e+00 0.00000000e+00 1.20000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 4.41074371e-05 0.00000000e+00 0.00000000e+00 1.30000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 4.38690186e-05 0.00000000e+00 0.00000000e+00 1.20000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 3.69548798e-05 0.00000000e+00 0.00000000e+00 1.10000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 1.59740448e-05 0.00000000e+00 0.00000000e+00 4.00000000e+00 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 1.59740448e-05 0.00000000e+00 0.00000000e+00 4.00000000e+00 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 1.59740448e-05 0.00000000e+00 0.00000000e+00 4.00000000e+00 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 1.59740448e-05 0.00000000e+00 0.00000000e+00 4.00000000e+00 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 4.41074371e-05 0.00000000e+00 0.00000000e+00 1.10000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 4.50611115e-05 0.00000000e+00 0.00000000e+00 1.10000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 2.78949738e-05 0.00000000e+00 0.00000000e+00 7.00000000e+00 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 4.19616699e-05 0.00000000e+00 0.00000000e+00 1.30000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 4.29153442e-05 0.00000000e+00 0.00000000e+00 1.20000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 3.88622284e-05 0.00000000e+00 0.00000000e+00 1.20000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 1.59740448e-05 0.00000000e+00 0.00000000e+00 4.00000000e+00 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 1.69277191e-05 0.00000000e+00 0.00000000e+00 4.00000000e+00 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 1.59740448e-05 0.00000000e+00 0.00000000e+00 4.00000000e+00 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 1.62124634e-05 0.00000000e+00 0.00000000e+00 4.00000000e+00 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 2.00271606e-05 0.00000000e+00 0.00000000e+00 5.00000000e+00 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 4.48226929e-05 0.00000000e+00 0.00000000e+00 1.30000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 2.19345093e-05 0.00000000e+00 0.00000000e+00 6.00000000e+00 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 3.88622284e-05 0.00000000e+00 0.00000000e+00 1.20000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 4.10079956e-05 0.00000000e+00 0.00000000e+00 1.20000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 4.50611115e-05 0.00000000e+00 0.00000000e+00 1.40000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 3.50475311e-05 0.00000000e+00 0.00000000e+00 1.10000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 3.60012054e-05 0.00000000e+00 0.00000000e+00 1.10000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 4.29153442e-05 0.00000000e+00 0.00000000e+00 1.30000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 4.29153442e-05 0.00000000e+00 0.00000000e+00 1.30000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 4.31537628e-05 0.00000000e+00 0.00000000e+00 1.30000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 2.19345093e-05 0.00000000e+00 0.00000000e+00 6.00000000e+00 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 3.91006470e-05 0.00000000e+00 0.00000000e+00 1.20000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 3.88622284e-05 0.00000000e+00 0.00000000e+00 1.20000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 4.10079956e-05 0.00000000e+00 0.00000000e+00 1.20000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 4.00543213e-05 0.00000000e+00 0.00000000e+00 1.20000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 3.91006470e-05 0.00000000e+00 0.00000000e+00 1.20000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 4.00543213e-05 0.00000000e+00 0.00000000e+00 1.20000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 3.88622284e-05 0.00000000e+00 0.00000000e+00 1.20000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 3.91006470e-05 0.00000000e+00 0.00000000e+00 1.20000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 3.91006470e-05 0.00000000e+00 0.00000000e+00 1.20000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 3.91006470e-05 0.00000000e+00 0.00000000e+00 1.20000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 3.91006470e-05 0.00000000e+00 0.00000000e+00 1.20000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 3.79085541e-05 0.00000000e+00 0.00000000e+00 1.20000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 4.10079956e-05 0.00000000e+00 0.00000000e+00 1.20000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 3.81469727e-05 0.00000000e+00 0.00000000e+00 1.20000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 3.81469727e-05 0.00000000e+00 0.00000000e+00 1.20000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 3.88622284e-05 0.00000000e+00 0.00000000e+00 1.20000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 3.88622284e-05 0.00000000e+00 0.00000000e+00 1.20000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 3.88622284e-05 0.00000000e+00 0.00000000e+00 1.20000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 3.81469727e-05 0.00000000e+00 0.00000000e+00 1.20000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 5.91278076e-05 0.00000000e+00 0.00000000e+00 1.20000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 5.19752502e-05 0.00000000e+00 0.00000000e+00 1.20000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 5.10215759e-05 0.00000000e+00 0.00000000e+00 1.20000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 4.10079956e-05 0.00000000e+00 0.00000000e+00 1.20000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 3.81469727e-05 0.00000000e+00 0.00000000e+00 1.20000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 4.10079956e-05 0.00000000e+00 0.00000000e+00 1.20000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 3.81469727e-05 0.00000000e+00 0.00000000e+00 1.20000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 3.91006470e-05 0.00000000e+00 0.00000000e+00 1.20000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 3.91006470e-05 0.00000000e+00 0.00000000e+00 1.20000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 3.79085541e-05 0.00000000e+00 0.00000000e+00 1.20000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 4.10079956e-05 0.00000000e+00 0.00000000e+00 1.20000000e+01 0.00000000e+00 
solver_summary 0.00000000e+00 0.00000000e+00 4.10079956e-05 0.00000000e+00 0.00000000e+00 1.20000000e+01 0.00000000e+00

My confusion is why all optimization points are negative and near (0,0), because according to the weighted ratio of 0.35 and 0.65 and covariance, (0,0) and (1,2) their Gaussian mixture models should not be within this range. Perhaps I didn't quite understand what you meant. Looking forward to your reply. Many thanks.

Hi, may I request the code for your paper on 2020 IROS? Factor Graph based 3D Multi-Object Tracking in Point Clouds

Hi, thanks for your wonderful work presented on the 2020 IROS (DOI: 10.48550/ARXIV.2008.05309). I was trying to implement your algorithm, but I'm not good at understanding all the detailed things in your paper. Can I maybe request a copy of your source code?

Typo? factor graph based multiple object tracking papers.

Hi.

I am very interested in your approach using GMM for resilience of object associations and thank you for your repository.

I would like to ask about the constant velocity factor in the paper
"Optimization based 3D Multi-Object Tracking using Camera and Radar Data" and "Factor Graph based 3D Multi-Object Tracking in Point Clouds".

How can get the X_pos at time t+1 while constructing and optimizing the factor graph at time t and t-1.

Other error models for rotation and dimension uses constant value factor and its time periods are t and t-1.

Can you help me understand the constant velocity factor?

Sincerely,
Hojun Son.

Issues about ICRA19_Ranging

Hi Tim,
many thanks for releasing this impressive work. The demo of ICRA19_GNSS runs smoothly, but I have some issues about the demo of ICRA19_Ranging.
When I use:
libRSF/build/applications/ICRA19_Ranging libRSF/datasets/Indoor UWB/Indoor_UWB_Input.txt Result_Indoor_UWB.txt error: stmm
It reports:
Error in ICRA19_Ranging.cpp | Line 257 | ParseErrorModel(): Wrong Error Model: error:
Then I use:
libRSF/build/applications/ICRA19_Ranging libRSF/datasets/Indoor UWB/Indoor_UWB_Input.txt Result_Indoor_UWB.txt stmm
It reports:
Error in DataSet.h | Line 174 | getElement(): Element doesn't exist at: 0 Type: 22 Number: 0
Error in Data.cpp | Line 98 | getStdDevDiagonal(): Data has no covariance element!

Regards,
Tao

matlab in windows X86

Hello, author. First of all, thank you very much for your work. I have encountered some problems in the process of using it. I hope you can give me some suggestions. When I tried to run the program in matlab file using windows x64, an error occurred. ”Did not find build directory for libRSF binary! “ How can I solve this problem? Thank you again!

Recommend Projects

React

A declarative, efficient, and flexible JavaScript library for building user interfaces.
Vue.js

🖖 Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.
Typescript

TypeScript is a superset of JavaScript that compiles to clean JavaScript output.
TensorFlow

An Open Source Machine Learning Framework for Everyone
Django

The Web framework for perfectionists with deadlines.
Laravel

A PHP framework for web artisans
D3

Bring data to life with SVG, Canvas and HTML. 📊📈🎉

Recommend Topics

javascript

JavaScript (JS) is a lightweight interpreted programming language with first-class functions.
web

Some thing interesting about web. New door for the world.
server

A server is a program made to process requests and deliver data to clients.
Machine learning

Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.
Visualization

Some thing interesting about visualization, use data art
Game

Some thing interesting about game, make everyone happy.

Recommend Org

Facebook

We are working to build community through open source technology. NB: members must have two-factor auth.
Microsoft

Open source projects and samples from Microsoft.
Google

Google ❤️ Open Source for everyone.
Alibaba

Alibaba Open Source for everyone
D3

Data-Driven Documents codes.
Tencent

China tencent open source team.