diff --git a/armor/include/armor_finder/armor_finder.h b/armor/include/armor_finder/armor_finder.h index b5d31af..5f4f042 100644 --- a/armor/include/armor_finder/armor_finder.h +++ b/armor/include/armor_finder/armor_finder.h @@ -6,6 +6,7 @@ #define _ARMOR_FINDER_H_ #include +#include #include #include #include @@ -13,14 +14,37 @@ #include #include -#define BLOB_RED ENEMY_RED -#define BLOB_BLUE ENEMY_BLUE +#define BLOB_RED ENEMY_RED +#define BLOB_BLUE ENEMY_BLUE -#define DISTANCE_HEIGHT_5MM (113.0) // 单位: m*pixel +#define BOX_RED ENEMY_RED +#define BOX_BLUE ENEMY_BLUE + +#define IMAGE_CENTER_X (320) +#define IMAGE_CENTER_Y (240-20) + +#define DISTANCE_HEIGHT_5MM (107.0) // 单位: m*pixel #define DISTANCE_HEIGHT DISTANCE_HEIGHT_5MM +#define B1 1 +#define B2 2 +#define B3 3 +#define B4 4 +#define B5 5 +#define B7 6 +#define B8 7 +#define R1 8 +#define R2 9 +#define R3 10 +#define R4 11 +#define R5 12 +#define R7 13 +#define R8 14 + extern std::map id2name; //装甲板id到名称的map extern std::map name2id; //装甲板名称到id的map +extern std::map prior_blue; +extern std::map prior_red; /******************* 灯条类定义 ***********************/ @@ -28,15 +52,43 @@ class LightBlob { public: cv::RotatedRect rect; //灯条位置 double length; //灯条长度 - uint8_t BlobColor; //灯条颜色 + uint8_t blob_color; //灯条颜色 - LightBlob(cv::RotatedRect &r) : rect(r) { + LightBlob(cv::RotatedRect &r, uint8_t color) : rect(r), blob_color(color) { length = max(rect.size.height, rect.size.width); }; + LightBlob() = default; }; typedef std::vector LightBlobs; + + +/******************* 装甲板类定义　**********************/ +class ArmorBox{ +public: + typedef enum{ + FRONT, SIDE, UNKNOWN + } BoxOrientation; + + cv::Rect2d rect; + LightBlobs light_blobs; + uint8_t box_color; + int id; + + explicit ArmorBox(const cv::Rect &pos=cv::Rect2d(), const LightBlobs &blobs=LightBlobs(), uint8_t color=0, int i=0); + + double getBlobsDistance() const; + double lengthDistanceRatio() const; + double getBoxDistance() const; + BoxOrientation getOrientation() const; +// double + + bool operator<(const ArmorBox &box) const; +}; + +typedef std::vector ArmorBoxes; + /********************* 自瞄类定义 **********************/ class ArmorFinder{ public: @@ -50,30 +102,36 @@ private: SEARCHING_STATE, TRACKING_STATE, STANDBY_STATE } State; // 自瞄状态枚举定义 - cv::Mat src_raw; // 当前原图 + typedef enum{ + NORMAL, ANTI_TOP + } AntiTopState; + const uint8_t &enemy_color; // 敌方颜色，引用外部变量，自动变化 State state; // 自瞄状态对象实例 - cv::Rect2d armor_box; // 当前目标位置 - int boxid; // 当前目标id + ArmorBox armor_box; // 当前目标装甲板 cv::Ptr tracker; // tracker对象实例 Classifier classifier; // CNN分类器对象实例，用于数字识别 int contour_area; // 装甲区域亮点个数，用于数字识别未启用时判断是否跟丢（已弃用） int tracking_cnt; // 记录追踪帧数，用于定时退出追踪 Serial &serial; // 串口对象，引用外部变量，用于和能量机关共享同一个变量 const uint8_t &use_classifier; // 标记是否启用CNN分类器，引用外部变量，自动变化 + ArmorBox::BoxOrientation last_orient; // 上一帧目标装甲板方向，用于反陀螺 + timeval last_front_time; // 上一次发生装甲板方向切换的时间 + int anti_top_cnt; // 满足条件的装甲板方向切换持续次数，用于反陀螺 + AntiTopState anti_top_state; // 当前是否识别到陀螺 + bool findLightBlobs(const cv::Mat &src, LightBlobs &light_blobs); + bool findArmorBox(const cv::Mat &src, ArmorBox &box); bool stateSearchingTarget(cv::Mat &src); // searching state主函数 bool stateTrackingTarget(cv::Mat &src); // tracking state主函数 bool stateStandBy(); // stand by state主函数（已弃用） - bool findLightBlobs(const cv::Mat &src_bin, // 在二值图上寻找灯条 - LightBlobs &light_blobs); - bool findArmorBoxes(const LightBlobs &light_blobs, // 根据灯条匹配装甲板候选区 - std::vector &armor_boxes); + void antiTop(); // 反小陀螺 + public: void run(cv::Mat &src); // 自瞄主函数 - bool sendBoxPosition(); // 和主控板通讯 + bool sendBoxPosition(uint16_t shoot); // 和主控板通讯 }; #endif /* _ARMOR_FINDER_H_ */ diff --git a/armor/include/show_images/show_images.h b/armor/include/show_images/show_images.h index 5ba8f87..37e8ab1 100644 --- a/armor/include/show_images/show_images.h +++ b/armor/include/show_images/show_images.h @@ -9,9 +9,10 @@ #include // -void showArmorBoxVector(std::string windows_name, const cv::Mat &src, const std::vector &armor_box); -void showArmorBox(std::string windows_name, const cv::Mat &src, cv::Rect2d armor_box, int boxid); -void showContours(std::string windows_name, const cv::Mat &src, const std::vector &light_blobs); -void showArmorBoxClass(std::string window_names, const cv::Mat &src, vector boxes[10]); +void showArmorBoxes(std::string windows_name, const cv::Mat &src, const ArmorBoxes &armor_boxes); +void showArmorBox(std::string windows_name, const cv::Mat &src, const ArmorBox &armor_box); +void showLightBlobs(std::string windows_name, const cv::Mat &src, const LightBlobs &light_blobs); +void showArmorBoxesClass(std::string window_names, const cv::Mat &src, const ArmorBoxes &boxes); +void showTrackSearchingPos(std::string window_names, const cv::Mat &src, const cv::Rect2d pos); #endif /* _SHOW_IMAGES_H_ */ diff --git a/armor/src/armor_finder/anti_top/anti_top.cpp b/armor/src/armor_finder/anti_top/anti_top.cpp index b1edf27..feb044a 100644 --- a/armor/src/armor_finder/anti_top/anti_top.cpp +++ b/armor/src/armor_finder/anti_top/anti_top.cpp @@ -11,8 +11,7 @@ static double getTimeIntervalms(const timeval& now, const timeval &last){ void ArmorFinder::antiTop() { static double top_periodms = 0; - static double last1_top_periodms = 0; - static double last2_top_periodms = 0; + static double last_top_periodms = 0; uint16_t shoot_delay = 0; timeval curr_time; // if(anti_top_state == ANTI_TOP){ @@ -40,11 +39,10 @@ void ArmorFinder::antiTop() { last_front_time = curr_time; if(150 +#include + +ArmorBox::ArmorBox(const cv::Rect &pos, const LightBlobs &blobs, uint8_t color, int i) : + rect(pos), light_blobs(blobs), box_color(color), id(i) {}; + +double ArmorBox::getBlobsDistance() const { + if (light_blobs.size() == 2) { + auto &x = light_blobs[0].rect.center; + auto &y = light_blobs[1].rect.center; + return sqrt((x.x - y.x) * (x.x - y.x) + (x.y - y.y) * (x.y - y.y)); + } else { + return 0; + } +} + +double ArmorBox::lengthDistanceRatio() const { + if (light_blobs.size() == 2) { + return max(light_blobs[0].length, light_blobs[1].length) + / getBlobsDistance(); + } else { + return 100; + } +} + +double ArmorBox::getBoxDistance() const { + if (light_blobs.size() == 2) { + return DISTANCE_HEIGHT / 2 / max(light_blobs[0].length, light_blobs[1].length); + } else { + return DISTANCE_HEIGHT / rect.height; + } +} + +ArmorBox::BoxOrientation ArmorBox::getOrientation() const { +// cout << lengthDistanceRatio() << endl; + if (light_blobs.size() != 2) { + return UNKNOWN; + } + switch (id) { + case R1: + case R7: + case R8: + case B1: + case B7: + case B8: + if (lengthDistanceRatio() < 0.24) { + return FRONT; + } else { + return SIDE; + } + case R2: + case R3: + case R4: + case R5: + case B2: + case B3: + case B4: + case B5: + if (lengthDistanceRatio() < 0.48) { + return FRONT; + } else { + return SIDE; + } + default: + return UNKNOWN; + } +} + +bool ArmorBox::operator<(const ArmorBox &box) const { + if (id != box.id) { + if (box_color == BOX_BLUE) { + return prior_blue[id2name[id]] < prior_blue[id2name[box.id]]; + } else { + return prior_red[id2name[id]] < prior_red[id2name[box.id]]; + } + } else { + auto d1 = (rect.x-IMAGE_CENTER_X)*(rect.x-IMAGE_CENTER_X) + + (rect.y-IMAGE_CENTER_Y)*(rect.y-IMAGE_CENTER_Y); + auto d2 = (box.rect.x-IMAGE_CENTER_X)*(box.rect.x-IMAGE_CENTER_X) + + (box.rect.y-IMAGE_CENTER_Y)*(box.rect.y-IMAGE_CENTER_Y); + return d1 < d2; + } +} + diff --git a/armor/src/armor_finder/armor_finder.cpp b/armor/src/armor_finder/armor_finder.cpp index 1777d7b..06c23fc 100644 --- a/armor/src/armor_finder/armor_finder.cpp +++ b/armor/src/armor_finder/armor_finder.cpp @@ -35,6 +35,18 @@ std::map name2id = { //装甲板名 {"R1", 8},{"R2", 9},{"R3", 10},{"R4", 11},{"R5", 12},{"R7", 13},{"R8", 14}, }; +std::map prior_blue = { + {"B8", 0}, {"B1", 1}, {"B3", 2}, {"B4", 2}, {"B5", 2}, {"B7", 3}, {"B2", 4}, + {"R8", 5}, {"R1", 6}, {"R3", 7}, {"R4", 7}, {"R5", 7}, {"R7", 8}, {"R2", 9}, + {"NO", 10}, +}; + +std::map prior_red = { + {"R8", 0}, {"R1", 1}, {"R3", 2}, {"R4", 2}, {"R5", 2}, {"R7", 3}, {"R2", 4}, + {"B8", 5}, {"B1", 6}, {"B3", 7}, {"B4", 7}, {"B5", 7}, {"B7", 8}, {"B2", 9}, + {"NO", 10}, +}; + ArmorFinder::ArmorFinder(uint8_t &color, Serial &u, const string ¶s_folder, const uint8_t &use) : serial(u), enemy_color(color), @@ -42,32 +54,25 @@ ArmorFinder::ArmorFinder(uint8_t &color, Serial &u, const string ¶s_folder, classifier(paras_folder), contour_area(0), use_classifier(use), - boxid(-1), tracking_cnt(0) { } void ArmorFinder::run(cv::Mat &src) { - src_raw = src; - cv::Mat src_use = src.clone(); // 实际参与计算的图像对象 - - if (show_armor_box) { // 根据条件显示当前目标装甲板 - showArmorBox("box", src, armor_box, boxid); - cv::waitKey(1); - } -// stateSearchingTarget(src_use); // for debug -// return; +// stateSearchingTarget(src); // for debug +// goto end; switch (state) { case SEARCHING_STATE: - if (stateSearchingTarget(src_use)) { - if ((armor_box & cv::Rect2d(0, 0, 640, 480)) == armor_box) { // 判断装甲板区域是否脱离图像区域 + if (stateSearchingTarget(src)) { +// cout << armor_box.rect << endl; + if ((armor_box.rect & cv::Rect2d(0, 0, 640, 480)) == armor_box.rect) { // 判断装甲板区域是否脱离图像区域 if (!classifier || !use_classifier) { /* 如果分类器不可用或者不使用分类器 */ - cv::Mat roi = src_use.clone()(armor_box), roi_gray; /* 就使用装甲区域亮点数判断是否跟丢 */ + cv::Mat roi = src(armor_box.rect).clone(), roi_gray; /* 就使用装甲区域亮点数判断是否跟丢 */ cv::cvtColor(roi, roi_gray, CV_RGB2GRAY); cv::threshold(roi_gray, roi_gray, 180, 255, cv::THRESH_BINARY); contour_area = cv::countNonZero(roi_gray); } tracker = TrackerToUse::create(); // 成功搜寻到装甲板，创建tracker对象 - tracker->init(src_use, armor_box); + tracker->init(src, armor_box.rect); state = TRACKING_STATE; tracking_cnt = 0; LOGM(STR_CTR(WORD_LIGHT_CYAN, "into track")); @@ -75,7 +80,7 @@ void ArmorFinder::run(cv::Mat &src) { } break; case TRACKING_STATE: - if (!stateTrackingTarget(src_use) || ++tracking_cnt > 100) { // 最多追踪100帧图像 + if (!stateTrackingTarget(src) || ++tracking_cnt > 100) { // 最多追踪100帧图像 state = SEARCHING_STATE; LOGM(STR_CTR(WORD_LIGHT_YELLOW, "into search!")); } @@ -84,5 +89,12 @@ void ArmorFinder::run(cv::Mat &src) { default: stateStandBy(); } +end: + antiTop(); + + if (show_armor_box) { // 根据条件显示当前目标装甲板 + showArmorBox("box", src, armor_box); + cv::waitKey(1); + } } diff --git a/armor/src/armor_finder/searching_state/find_armor_boxes.cpp b/armor/src/armor_finder/find/find_armor_box.cpp similarity index 58% rename from armor/src/armor_finder/searching_state/find_armor_boxes.cpp rename to armor/src/armor_finder/find/find_armor_box.cpp index be92840..8a13d41 100644 --- a/armor/src/armor_finder/searching_state/find_armor_boxes.cpp +++ b/armor/src/armor_finder/find/find_armor_box.cpp @@ -1,15 +1,21 @@ // -// Created by xinyang on 19-7-10. +// Created by xinyang on 19-7-18. // #include +#include +#include +#include +#include + + static bool angelJudge(const LightBlob &light_blob_i, const LightBlob &light_blob_j) { float angle_i = light_blob_i.rect.size.width > light_blob_i.rect.size.height ? light_blob_i.rect.angle : light_blob_i.rect.angle - 90; float angle_j = light_blob_j.rect.size.width > light_blob_j.rect.size.height ? light_blob_j.rect.angle : light_blob_j.rect.angle - 90; - return abs(angle_i - angle_j) < 10; + return abs(angle_i - angle_j) < 20; } static bool heightJudge(const LightBlob &light_blob_i, const LightBlob &light_blob_j) { @@ -21,12 +27,12 @@ static bool lengthJudge(const LightBlob &light_blob_i, const LightBlob &light_bl double side_length; cv::Point2f centers = light_blob_i.rect.center - light_blob_j.rect.center; side_length = sqrt(centers.ddot(centers)); - return (side_length / light_blob_i.length < 6 && side_length / light_blob_i.length > 0.5); + return (side_length / light_blob_i.length < 8 && side_length / light_blob_i.length > 0.5); } static bool lengthRatioJudge(const LightBlob &light_blob_i, const LightBlob &light_blob_j) { - return (light_blob_i.length / light_blob_j.length < 2 - && light_blob_i.length / light_blob_j.length > 0.5); + return (light_blob_i.length / light_blob_j.length < 2.5 + && light_blob_i.length / light_blob_j.length > 0.4); } /* 判断两个灯条的错位度，不知道英文是什么！！！ */ @@ -42,7 +48,7 @@ static bool CuoWeiDuJudge(const LightBlob &light_blob_i, const LightBlob &light_ Vector2f orientation(cos(angle), sin(angle)); Vector2f p2p(light_blob_j.rect.center.x - light_blob_i.rect.center.x, light_blob_j.rect.center.y - light_blob_i.rect.center.y); - return abs(orientation.dot(p2p)) < 20; + return abs(orientation.dot(p2p)) < 25; } static bool boxAngleJudge(const LightBlob &light_blob_i, const LightBlob &light_blob_j) { @@ -58,8 +64,8 @@ static bool boxAngleJudge(const LightBlob &light_blob_i, const LightBlob &light_ } static bool isCoupleLight(const LightBlob &light_blob_i, const LightBlob &light_blob_j, uint8_t enemy_color) { - return light_blob_i.BlobColor == enemy_color && - light_blob_j.BlobColor == enemy_color && + return light_blob_i.blob_color == enemy_color && + light_blob_j.blob_color == enemy_color && lengthRatioJudge(light_blob_i, light_blob_j) && lengthJudge(light_blob_i, light_blob_j) && // heightJudge(light_blob_i, light_blob_j) && @@ -75,10 +81,11 @@ static double centerDistance(const cv::Rect2d &box) { return dx * dx + dy * dy; } -bool ArmorFinder::findArmorBoxes(const LightBlobs &light_blobs, std::vector &armor_boxes) { +bool matchArmorBoxes(const cv::Mat &src, const LightBlobs &light_blobs, ArmorBoxes &armor_boxes, uint8_t color) { + armor_boxes.clear(); for (int i = 0; i < light_blobs.size() - 1; ++i) { for (int j = i + 1; j < light_blobs.size(); ++j) { - if (!isCoupleLight(light_blobs.at(i), light_blobs.at(j), enemy_color)) { + if (!isCoupleLight(light_blobs.at(i), light_blobs.at(j), color)) { continue; } cv::Rect2d rect_left = light_blobs.at(static_cast(i)).rect.boundingRect(); @@ -89,17 +96,73 @@ bool ArmorFinder::findArmorBoxes(const LightBlobs &light_blobs, std::vector 640 || min_y < 0 || max_y > 480) { + if (min_x < 0 || max_x > src.cols || min_y < 0 || max_y > src.rows) { continue; } - armor_boxes.emplace_back(cv::Rect2d(min_x, min_y, max_x - min_x, max_y - min_y)); + LightBlobs pair_blobs = {light_blobs.at(i), light_blobs.at(j)}; + armor_boxes.emplace_back( + cv::Rect2d(min_x, min_y, max_x - min_x, max_y - min_y), + pair_blobs, + color + ); } } - if (armor_boxes.empty()) { + return !armor_boxes.empty(); +} + +bool ArmorFinder::findArmorBox(const cv::Mat &src, ArmorBox &box) { + LightBlobs light_blobs; // 存储所有可能的灯条 + ArmorBoxes armor_boxes; // 装甲板候选区 + + box.rect = cv::Rect2d(0, 0, 0, 0); + box.id = -1; + + if (!findLightBlobs(src, light_blobs)) { return false; } - sort(armor_boxes.begin(), armor_boxes.end(), [](cv::Rect2d box1, cv::Rect2d box2) -> bool { - return centerDistance(box1) < centerDistance(box2); - }); + if (show_light_blobs && src.size() == cv::Size(640, 480)) { + showLightBlobs("light_blobs", src, light_blobs); + cv::waitKey(1); + } + + if (!matchArmorBoxes(src, light_blobs, armor_boxes, enemy_color)) { +// cout << "Box fail!" << endl; + return false; + } + if (show_armor_boxes && src.size() == cv::Size(640, 480)) { + showArmorBoxes("boxes", src, armor_boxes); + cv::waitKey(1); + } + + if (classifier && use_classifier) { + for (auto &armor_box : armor_boxes) { + cv::Mat roi = src(armor_box.rect).clone(); + cv::resize(roi, roi, cv::Size(48, 36)); + int c = classifier(roi); + armor_box.id = c; + } + sort(armor_boxes.begin(), armor_boxes.end()); + if(armor_boxes[0].id != 0){ + box = armor_boxes[0]; + } + if (save_labelled_boxes) { + for (const auto &one_box : armor_boxes) { + char filename[100]; + sprintf(filename, PROJECT_DIR"/armor_box_photo/%s_%d.jpg", id2name[one_box.id].data(), + time(nullptr) + clock()); + cv::imwrite(filename, src(armor_box.rect & cv::Rect(0, 0, src.rows, src.cols))); + } + } + if (box.rect == cv::Rect2d(0, 0, 0, 0)) { + return false; + } + if (show_armor_boxes && src.size() == cv::Size(640, 480)) { + showArmorBoxesClass("class", src, armor_boxes); + } + } else { + box = armor_boxes[0]; + } return true; -} \ No newline at end of file +} + + diff --git a/armor/src/armor_finder/find/find_light_blobs.cpp b/armor/src/armor_finder/find/find_light_blobs.cpp index c0bf173..94e7a66 100644 --- a/armor/src/armor_finder/find/find_light_blobs.cpp +++ b/armor/src/armor_finder/find/find_light_blobs.cpp @@ -128,9 +128,11 @@ bool ArmorFinder::findLightBlobs(const cv::Mat &src, LightBlobs &light_blobs) { cv::threshold(color_channel, src_bin_light, 200, 255, CV_THRESH_BINARY); // 二值化对应通道 + if(src_bin_light.empty()) return false; imagePreProcess(src_bin_light); // 开闭运算 cv::threshold(color_channel, src_bin_dim, 160, 255, CV_THRESH_BINARY); // 二值化对应通道 + if(src_bin_dim.empty()) return false; imagePreProcess(src_bin_dim); // 开闭运算 if(src_bin_light.size() == cv::Size(640, 480) && show_light_blobs) { @@ -154,4 +156,4 @@ bool ArmorFinder::findLightBlobs(const cv::Mat &src, LightBlobs &light_blobs) { } } return light_blobs.size() >= 2; -} \ No newline at end of file +} diff --git a/armor/src/armor_finder/searching_state/find_light_blobs.cpp b/armor/src/armor_finder/searching_state/find_light_blobs.cpp deleted file mode 100644 index 12f1e54..0000000 --- a/armor/src/armor_finder/searching_state/find_light_blobs.cpp +++ /dev/null @@ -1,133 +0,0 @@ -// -// Created by xinyang on 19-7-10. -// - -#include - -static double lw_rate(const cv::RotatedRect &rect) { - return rect.size.height > rect.size.width ? - rect.size.height / rect.size.width : - rect.size.width / rect.size.height; -} - -bool rectangleContainPoint(cv::RotatedRect rectangle, cv::Point2f point) { - //转化为轮廓 - cv::Point2f corners[4]; - rectangle.points(corners); - cv::Point2f *lastItemPointer = (corners + sizeof corners / sizeof corners[0]); - vector contour(corners, lastItemPointer); - //判断 - double indicator = pointPolygonTest(contour, point, true); - return indicator >= 0; -} - -// 下面的函数可以有性能优化，暂时未做。 -static double nonZeroRateOfRotateRect(const cv::Mat &bin, const cv::RotatedRect &rotrect) { - auto rect = rotrect.boundingRect(); - if (rect.x < 0 || rect.y < 0 || rect.x + rect.width > bin.cols || rect.y + rect.height > bin.rows) { - return 0; - } - auto roi = bin(rect); - int cnt = 0; - for (int r = 0; r < roi.rows; r++) { - for (int c = 0; c < roi.cols; c++) { - if (rectangleContainPoint(rotrect, cv::Point(c + rect.x, r + rect.y))) { - if (roi.at(r, c)) { - cnt++; - } - } - } - } - return double(cnt) / rotrect.size.area(); -} - -int linePointX(const cv::Point2f &p1, const cv::Point2f &p2, int y) { - return (p2.x - p1.x) / (p2.y - p1.y) * (y - p1.y) + p1.x; -} - -// 性能优化后的函数 -static double nonZeroRateOfRotateRect_opt(const cv::Mat &bin, const cv::RotatedRect &rotrect) { - int cnt = 0; - cv::Point2f corners[4]; - rotrect.points(corners); - sort(corners, &corners[4], [](cv::Point2f p1, cv::Point2f p2) { - return p1.y < p2.y; - }); - for (int r = corners[0].y; r < corners[1].y; r++) { - auto start = min(linePointX(corners[0], corners[1], r), linePointX(corners[0], corners[2], r)) - 1; - auto end = max(linePointX(corners[0], corners[1], r), linePointX(corners[0], corners[2], r)) + 1; - if (start < 0 || end > 640) return 0; - for (int c = start; c < end; c++) { - if (bin.at(r, c)) { - cnt++; - } - } - } - for (int r = corners[1].y; r < corners[2].y; r++) { - auto start = min(linePointX(corners[0], corners[2], r), linePointX(corners[1], corners[3], r)) - 1; - auto end = max(linePointX(corners[0], corners[2], r), linePointX(corners[1], corners[3], r)) + 1; - if (start < 0 || end > 640) return 0; - for (int c = start; c < end; c++) { - if (bin.at(r, c)) { - cnt++; - } - } - } - for (int r = corners[2].y; r < corners[3].y; r++) { - auto start = min(linePointX(corners[1], corners[3], r), linePointX(corners[2], corners[3], r)) - 1; - auto end = max(linePointX(corners[1], corners[3], r), linePointX(corners[2], corners[3], r)) + 1; - if (start < 0 || end > 640) return 0; - for (int c = start; c < end; c++) { - if (bin.at(r, c)) { - cnt++; - } - } - } - return double(cnt) / rotrect.size.area(); -} - -static bool isValidLightBlob(const cv::Mat &bin, const cv::RotatedRect &rect) { - return (lw_rate(rect) > 1.5) && - // (rect.size.width*rect.size.height < 3000) && - (rect.size.width * rect.size.height > 1) && - (nonZeroRateOfRotateRect_opt(bin, rect) > 0.8); -// (nonZeroRateOfRotateRect(bin, rect) > 0.8); -} - -void get_blob_color(const cv::Mat &src, std::vector &blobs) { - for (auto &blob : blobs) { - auto region = blob.rect.boundingRect(); - region.x -= fmax(2, region.width * 0.1); - region.y -= fmax(2, region.height * 0.05); - region.width += 2 * fmax(2, region.width * 0.1); - region.height += 2 * fmax(2, region.height * 0.05); - region &= cv::Rect(0, 0, 640, 480); - cv::Mat roi = src(region); - long long int red_cnt = 0, blue_cnt = 0; - for (int row = 0; row < roi.rows; row++) { - for (int col = 0; col < roi.cols; col++) { - red_cnt += roi.at(row, col)[2]; - blue_cnt += roi.at(row, col)[0]; - } - } - if (red_cnt > blue_cnt) { - blob.BlobColor = BLOB_RED; - } else { - blob.BlobColor = BLOB_BLUE; - } - } -} - -bool ArmorFinder::findLightBlobs(const cv::Mat &src_bin, LightBlobs &light_blobs) { - std::vector > light_contours; - cv::findContours(src_bin, light_contours, CV_RETR_LIST, CV_CHAIN_APPROX_NONE); - - for (auto &light_contour : light_contours) { - cv::RotatedRect rect = cv::minAreaRect(light_contour); - if (isValidLightBlob(src_bin, rect)) { - light_blobs.emplace_back(rect); - } - } - get_blob_color(src_raw, light_blobs); - return light_blobs.size() >= 2; -} \ No newline at end of file diff --git a/armor/src/armor_finder/searching_state/searching_state.cpp b/armor/src/armor_finder/searching_state/searching_state.cpp index 96b5c2a..2920293 100644 --- a/armor/src/armor_finder/searching_state/searching_state.cpp +++ b/armor/src/armor_finder/searching_state/searching_state.cpp @@ -3,118 +3,15 @@ // #include -#include #include #include #include - -static string prior_blue[] = { - "B8", "B1", "B3", "B4", "B5", "B7", "B2", - "R8", "R1", "R3", "R4", "R5", "R7", "R2", -}; - -static string prior_red[] = { - "R8", "R1", "R3", "R4", "R5", "R7", "R2", - "B8", "B1", "B3", "B4", "B5", "B7", "B2", -}; - -void imagePreProcess(cv::Mat &src) { - static cv::Mat kernel_erode = getStructuringElement(cv::MORPH_RECT, cv::Size(3, 5)); - erode(src, src, kernel_erode); - - static cv::Mat kernel_dilate = getStructuringElement(cv::MORPH_RECT, cv::Size(3, 5)); - dilate(src, src, kernel_dilate); - - static cv::Mat kernel_dilate2 = getStructuringElement(cv::MORPH_RECT, cv::Size(3, 5)); - dilate(src, src, kernel_dilate2); - - static cv::Mat kernel_erode2 = getStructuringElement(cv::MORPH_RECT, cv::Size(3, 5)); - erode(src, src, kernel_erode2); - - float alpha = 1.5; - int beta = 0; - src.convertTo(src, -1, alpha, beta); -} - bool ArmorFinder::stateSearchingTarget(cv::Mat &src) { - std::vector channels; // 通道拆分 - cv::Mat src_bin, color; // 二值图和颜色通道图 - LightBlobs light_blobs; // 存储所有可能的灯条 - std::vector armor_boxes; // 装甲板候选区 - std::vector boxes_number[15]; // 装甲板候选区放置在对应id位置 - - armor_box = cv::Rect2d(0, 0, 0, 0); // 重置目标装甲板位置 - boxid = -1; // 重置目标装甲板id - - cv::split(src, channels); /************************/ - if (enemy_color == ENEMY_BLUE) /* */ - color = channels[0]; /* 根据目标颜色进行通道提取 */ - else if (enemy_color == ENEMY_RED) /* */ - color = channels[2]; /************************/ - cv::threshold(color, src_bin, 170, 255, CV_THRESH_BINARY); // 二值化对应通道 - imagePreProcess(src_bin); // 开闭运算 - if (!findLightBlobs(src_bin, light_blobs)) { + if(findArmorBox(src, armor_box)){ + return true; + }else{ + armor_box = ArmorBox(); return false; } - if (show_light_blobs) { - showContours("light_blobs", src, light_blobs); - cv::waitKey(1); - } - - if (!findArmorBoxes(light_blobs, armor_boxes)) { - return false; - } - if (show_armor_boxes) { - showArmorBoxVector("boxes", src, armor_boxes); - cv::waitKey(1); - } - - if (classifier && use_classifier) { - for (auto box : armor_boxes) { - cv::Mat roi = src(box).clone(); - cv::resize(roi, roi, cv::Size(48, 36)); - int c = classifier(roi); - boxes_number[c].emplace_back(box); - } - if (enemy_color == ENEMY_BLUE) { - for (auto name : prior_blue) { - if (!boxes_number[name2id[name]].empty()) { - armor_box = boxes_number[name2id[name]][0]; - boxid = name2id[name]; - break; - } - } - } else if (enemy_color == ENEMY_RED) { - for (auto name : prior_red) { - if (!boxes_number[name2id[name]].empty()) { - armor_box = boxes_number[name2id[name]][0]; - boxid = name2id[name]; - break; - } - } - } else { - LOGE_INFO("enemy_color ERROR!"); - } - if (armor_box == cv::Rect2d(0, 0, 0, 0)) { - return false; - } - if (show_armor_boxes) { - showArmorBoxClass("class", src, boxes_number); - } - if (save_labelled_boxes) { - for (int i = 0; i < sizeof(boxes_number) / sizeof(boxes_number[0]); i++) { - for (auto &box : boxes_number[i]) { - char filename[100]; - sprintf(filename, PROJECT_DIR"/armor_box_photo/%s_%d.jpg", id2name[i].data(), - time(nullptr) + clock()); - cv::imwrite(filename, src(box)); - } - } - } - } else { - armor_box = armor_boxes[0]; - boxid = -1; - } - return sendBoxPosition(); } diff --git a/armor/src/armor_finder/send_target/send_target.cpp b/armor/src/armor_finder/send_target/send_target.cpp index b380241..e2c8729 100644 --- a/armor/src/armor_finder/send_target/send_target.cpp +++ b/armor/src/armor_finder/send_target/send_target.cpp @@ -3,13 +3,16 @@ // #include +#include +#include -static bool sendTarget(Serial &serial, double x, double y, double z) { +static bool sendTarget(Serial &serial, double x, double y, double z, uint16_t shoot_delay) { static short x_tmp, y_tmp, z_tmp; + uint8_t buff[10]; + +#ifdef WITH_COUNT_FPS static time_t last_time = time(nullptr); static int fps; - uint8_t buff[8]; - time_t t = time(nullptr); if (last_time != t) { last_time = t; @@ -17,6 +20,7 @@ static bool sendTarget(Serial &serial, double x, double y, double z) { fps = 0; } fps += 1; +#endif x_tmp = static_cast(x * (32768 - 1) / 100); y_tmp = static_cast(y * (32768 - 1) / 100); @@ -29,18 +33,25 @@ static bool sendTarget(Serial &serial, double x, double y, double z) { buff[4] = static_cast((y_tmp >> 0) & 0xFF); buff[5] = static_cast((z_tmp >> 8) & 0xFF); buff[6] = static_cast((z_tmp >> 0) & 0xFF); - buff[7] = 'e'; - + buff[7] = static_cast((shoot_delay >> 8) & 0xFF); + buff[8] = static_cast((shoot_delay >> 0) & 0xFF); + buff[9] = 'e'; +// if(buff[7]<<8 | buff[8]) +// cout << (buff[7]<<8 | buff[8]) << endl; return serial.WriteData(buff, sizeof(buff)); } -bool ArmorFinder::sendBoxPosition() { - auto rect = armor_box; - double dx = rect.x + rect.width / 2 - 320; - double dy = rect.y + rect.height / 2 - 240 - 20; +bool ArmorFinder::sendBoxPosition(uint16_t shoot_delay) { + if (armor_box.rect == cv::Rect2d()) return false; + if (shoot_delay) { + LOGM(STR_CTR(WORD_BLUE, "shoot after %dms"), shoot_delay); + } + auto rect = armor_box.rect; + double dx = rect.x + rect.width / 2 - IMAGE_CENTER_X; + double dy = rect.y + rect.height / 2 - IMAGE_CENTER_Y; double yaw = atan(dx / FOCUS_PIXAL) * 180 / PI; double pitch = atan(dy / FOCUS_PIXAL) * 180 / PI; double dist = DISTANCE_HEIGHT / rect.height; // cout << yaw << endl; - return sendTarget(serial, yaw, -pitch, dist); + return sendTarget(serial, yaw, -pitch, dist, shoot_delay); } diff --git a/armor/src/armor_finder/tracking_state/tracking_state.cpp b/armor/src/armor_finder/tracking_state/tracking_state.cpp index 638e759..6d84769 100644 --- a/armor/src/armor_finder/tracking_state/tracking_state.cpp +++ b/armor/src/armor_finder/tracking_state/tracking_state.cpp @@ -2,30 +2,76 @@ // Created by xinyang on 19-3-27. // #include +#include #include +#include bool ArmorFinder::stateTrackingTarget(cv::Mat &src) { - if(!tracker->update(src, armor_box)){ + auto pos = armor_box.rect; + if(!tracker->update(src, pos)){ + armor_box = ArmorBox(); return false; } - if((armor_box & cv::Rect2d(0, 0, 640, 480)) != armor_box){ + if((pos & cv::Rect2d(0, 0, 640, 480)) != pos){ + armor_box = ArmorBox(); return false; } - cv::Mat roi = src.clone()(armor_box); - if(classifier){ - cv::resize(roi, roi, cv::Size(48, 36)); - if(classifier(roi) == 0){ - return false; + cv::Rect2d bigger_rect; + + bigger_rect.x = pos.x - pos.width / 2.0; + bigger_rect.y = pos.y - pos.height / 2.0; + bigger_rect.height = pos.height * 2; + bigger_rect.width = pos.width * 2; + bigger_rect &= cv::Rect2d(0, 0, 640, 480); + + if(show_armor_box) + showTrackSearchingPos("track", src, bigger_rect); + + cv::Mat roi = src(bigger_rect).clone(); + + ArmorBox box; + if(findArmorBox(roi, box)) { + armor_box = box; + armor_box.rect.x += bigger_rect.x; + armor_box.rect.y += bigger_rect.y; + for(auto &blob : armor_box.light_blobs){ + blob.rect.center.x += bigger_rect.x; + blob.rect.center.y += bigger_rect.y; } }else{ - cv::Mat roi_gray; - cv::cvtColor(roi, roi_gray, CV_RGB2GRAY); - cv::threshold(roi_gray, roi_gray, 180, 255, cv::THRESH_BINARY); - contour_area = cv::countNonZero(roi_gray); - if(abs(cv::countNonZero(roi_gray) - contour_area) > contour_area * 0.3){ - return false; + roi = src(pos).clone(); + if(classifier){ + cv::resize(roi, roi, cv::Size(48, 36)); + if(classifier(roi) == 0){ + armor_box = ArmorBox(); + return false; + } + }else{ + cv::Mat roi_gray; + cv::cvtColor(roi, roi_gray, CV_RGB2GRAY); + cv::threshold(roi_gray, roi_gray, 180, 255, cv::THRESH_BINARY); + contour_area = cv::countNonZero(roi_gray); + if(abs(cv::countNonZero(roi_gray) - contour_area) > contour_area * 0.3){ + armor_box = ArmorBox(); + return false; + } } + armor_box.rect = pos; + armor_box.light_blobs.clear(); } - return sendBoxPosition(); + + +// armor_box.x -= armor_box.width / 4.0; +// armor_box.y -= armor_box.height / 4.0; +// armor_box.height *= 1.5; +// armor_box.width *= 1.5; + +// roi = src(armor_box); +// if(findSearchingTarget(roi)){ +// +// } + +// sendBoxPosition(); + return true; } diff --git a/armor/src/show_images/show_images.cpp b/armor/src/show_images/show_images.cpp index 44593ab..8392e15 100644 --- a/armor/src/show_images/show_images.cpp +++ b/armor/src/show_images/show_images.cpp @@ -1,13 +1,30 @@ #include #include +#include #include using namespace cv; + +void drawLightBlobs(cv::Mat &src, const LightBlobs &blobs){ + for (const auto &blob:blobs) { + Scalar color(0,255,0); + if (blob.blob_color == BLOB_RED) + color = Scalar(0, 0, 255); + else if (blob.blob_color == BLOB_BLUE) + color = Scalar(255, 0, 0); + cv::Point2f vertices[4]; + blob.rect.points(vertices); + for (int j = 0; j < 4; j++) { + cv::line(src, vertices[j], vertices[(j + 1) % 4], color, 2); + } + } +} + /************************** * 显示多个装甲板区域 * **************************/ -void showArmorBoxVector(std::string windows_name, const cv::Mat &src, const std::vector &armor_box) { +void showArmorBoxes(std::string windows_name, const cv::Mat &src, const ArmorBoxes &armor_boxes) { static Mat image2show; if (src.type() == CV_8UC1) {// 黑白图像 cvtColor(src, image2show, COLOR_GRAY2RGB); @@ -15,8 +32,15 @@ void showArmorBoxVector(std::string windows_name, const cv::Mat &src, const std: image2show = src.clone(); } - for (auto &box:armor_box) { - rectangle(image2show, box, Scalar(0, 255, 0), 1); + for (auto &box:armor_boxes) { + if(box.box_color == BOX_BLUE) { + rectangle(image2show, box.rect, Scalar(0, 255, 0), 1); + drawLightBlobs(image2show, box.light_blobs); + }else if(box.box_color == BOX_RED){ + rectangle(image2show, box.rect, Scalar(0, 255, 0), 1); + drawLightBlobs(image2show, box.light_blobs); + } + } imshow(windows_name, image2show); } @@ -24,65 +48,79 @@ void showArmorBoxVector(std::string windows_name, const cv::Mat &src, const std: /************************** * 显示多个装甲板区域及其类别 * **************************/ -void showArmorBoxClass(std::string window_names, const cv::Mat &src, vector boxes[10]) { +void showArmorBoxesClass(std::string window_names, const cv::Mat &src, const ArmorBoxes &boxes) { static Mat image2show; if (src.type() == CV_8UC1) { // 黑白图像 cvtColor(src, image2show, COLOR_GRAY2RGB); } else if (src.type() == CV_8UC3) { //RGB 彩色 image2show = src.clone(); } - for (int i = 0; i < 14; i++) { - if (!boxes[i].empty()) { - for (auto box : boxes[i]) { - rectangle(image2show, box, Scalar(0, 255, 0), 1); - if (i == -1) - putText(image2show, id2name[i], Point(box.x + 2, box.y + 2), cv::FONT_HERSHEY_TRIPLEX, 1, - Scalar(0, 255, 0)); - else if (1 <= i && i < 8) - putText(image2show, id2name[i], Point(box.x + 2, box.y + 2), cv::FONT_HERSHEY_TRIPLEX, 1, - Scalar(255, 0, 0)); - else if (8 <= i && i < 15) - putText(image2show, id2name[i], Point(box.x + 2, box.y + 2), cv::FONT_HERSHEY_TRIPLEX, 1, - Scalar(0, 0, 255)); - else if (i != 0) - LOGE_INFO("Invalid box id:%d!", i); - } + for (const auto &box : boxes) { + if(box.id != 0) { + rectangle(image2show, box.rect, Scalar(0, 255, 0), 1); + drawLightBlobs(image2show, box.light_blobs); + if (box.id == -1) + putText(image2show, id2name[box.id], Point(box.rect.x + 2, box.rect.y + 2), cv::FONT_HERSHEY_TRIPLEX, 1, + Scalar(0, 255, 0)); + else if (1 <= box.id && box.id < 8) + putText(image2show, id2name[box.id], Point(box.rect.x + 2, box.rect.y + 2), cv::FONT_HERSHEY_TRIPLEX, 1, + Scalar(255, 0, 0)); + else if (8 <= box.id && box.id < 15) + putText(image2show, id2name[box.id], Point(box.rect.x + 2, box.rect.y + 2), cv::FONT_HERSHEY_TRIPLEX, 1, + Scalar(0, 0, 255)); + else if (box.id != 0) + LOGE_INFO("Invalid box id:%d!", box.id); } } imshow(window_names, image2show); + } /************************** * 显示单个装甲板区域及其类别 * **************************/ -void showArmorBox(std::string windows_name, const cv::Mat &src, cv::Rect2d armor_box, int boxid) { +void showArmorBox(std::string windows_name, const cv::Mat &src, const ArmorBox &box) { static Mat image2show; + if(box.rect == cv::Rect2d()){ + imshow(windows_name, src); + } if (src.type() == CV_8UC1) { // 黑白图像 cvtColor(src, image2show, COLOR_GRAY2RGB); } else if (src.type() == CV_8UC3) { //RGB 彩色 image2show = src.clone(); } - rectangle(image2show, armor_box, Scalar(0, 255, 0), 1); + drawLightBlobs(image2show, box.light_blobs); +// static FILE *fp = fopen(PROJECT_DIR"/ratio.txt", "w"); +// if(box.light_blobs.size() == 2) +// fprintf(fp, "%lf %lf %lf\n", box.light_blobs[0].length, box.light_blobs[1].length, box.getBlobsDistance()) +// cout << box.lengthDistanceRatio() << endl; + + if(box.getOrientation() == ArmorBox::FRONT){ + rectangle(image2show, box.rect, Scalar(0, 255, 0), 3); + }else{ + rectangle(image2show, box.rect, Scalar(0, 255, 0), 1); + }; + char dist[5]; -// sprintf(dist, "%.1f", distance); - if (boxid == -1) - putText(image2show, id2name[boxid]+" "+dist, Point(armor_box.x + 2, armor_box.y + 2), cv::FONT_HERSHEY_TRIPLEX, 1, + sprintf(dist, "%.1f", box.getBoxDistance()); + if (box.id == -1) + putText(image2show, id2name[box.id]+" "+dist, Point(box.rect.x + 2, box.rect.y + 2), cv::FONT_HERSHEY_TRIPLEX, 1, Scalar(0, 255, 0)); - else if (1 <= boxid && boxid < 8) - putText(image2show, id2name[boxid]+" "+dist, Point(armor_box.x + 2, armor_box.y + 2), cv::FONT_HERSHEY_TRIPLEX, 1, + else if (1 <= box.id && box.id < 8) + putText(image2show, id2name[box.id]+" "+dist, Point(box.rect.x + 2, box.rect.y + 2), cv::FONT_HERSHEY_TRIPLEX, 1, Scalar(255, 0, 0)); - else if (8 <= boxid && boxid < 15) - putText(image2show, id2name[boxid]+" "+dist, Point(armor_box.x + 2, armor_box.y + 2), cv::FONT_HERSHEY_TRIPLEX, 1, + else if (8 <= box.id && box.id < 15) + putText(image2show, id2name[box.id]+" "+dist, Point(box.rect.x + 2, box.rect.y + 2), cv::FONT_HERSHEY_TRIPLEX, 1, Scalar(0, 0, 255)); - else if (boxid != 0) - LOGE_INFO("Invalid box id:%d!", boxid); + else if (box.id != 0) + LOGE_INFO("Invalid box id:%d!", box.id); imshow(windows_name, image2show); } /************************** * 显示多个灯条区域 * **************************/ -void showContours(std::string windows_name, const cv::Mat &src, const std::vector &light_blobs) { +void showLightBlobs(std::string windows_name, const cv::Mat &src, const LightBlobs &light_blobs) { static Mat image2show; if (src.type() == CV_8UC1) { // 黑白图像 @@ -92,13 +130,11 @@ void showContours(std::string windows_name, const cv::Mat &src, const std::vecto } for (const auto &light_blob:light_blobs) { - Scalar color; - if (light_blob.BlobColor == BLOB_RED) + Scalar color(0, 255, 0); + if (light_blob.blob_color == BLOB_RED) color = Scalar(0, 0, 255); - else if (light_blob.BlobColor == BLOB_BLUE) + else if (light_blob.blob_color == BLOB_BLUE) color = Scalar(255, 0, 0); - else - color = Scalar(0, 255, 0); cv::Point2f vertices[4]; light_blob.rect.points(vertices); for (int j = 0; j < 4; j++) { @@ -107,3 +143,15 @@ void showContours(std::string windows_name, const cv::Mat &src, const std::vecto } imshow(windows_name, image2show); } + + +void showTrackSearchingPos(std::string window_names, const cv::Mat &src, const cv::Rect2d pos){ + static Mat image2show; + if (src.type() == CV_8UC1) { // 黑白图像 + cvtColor(src, image2show, COLOR_GRAY2RGB); + } else if (src.type() == CV_8UC3) { //RGB 彩色 + image2show = src.clone(); + } + rectangle(image2show, pos, Scalar(0, 255, 0), 1); + imshow(window_names, image2show); +} \ No newline at end of file diff --git a/energy/include/energy/constant.h b/energy/include/energy/constant.h index 3deabeb..bdb82cf 100644 --- a/energy/include/energy/constant.h +++ b/energy/include/energy/constant.h @@ -11,7 +11,8 @@ const int SRC_WIDTH = 320; const int SRC_HEIGHT = 240; const int CLOCKWISE = 1; const int ANTICLOCKWISE = -1; -const float ATTACK_DISTANCE = 718.0;//cm +//const float ATTACK_DISTANCE = 718.0;//cm +const float ATTACK_DISTANCE = 750.0;//cm const double ARMOR_CENTER_TO_CYCLE_CENTER = 75.0;//cm diff --git a/energy/include/energy/energy.h b/energy/include/energy/energy.h index 5761530..5a3c6ec 100644 --- a/energy/include/energy/energy.h +++ b/energy/include/energy/energy.h @@ -27,12 +27,16 @@ public: Energy(Serial &u, uint8_t &color);//构造函数，参数为串口和敌方颜色 ~Energy();//默认析构函数 - void run(cv::Mat &gimbal_src, cv::Mat &chassis_src); - void run(cv::Mat &gimbal_src); + void runBig(cv::Mat &gimbal_src, cv::Mat &chassis_src); + void runBig(cv::Mat &gimbal_src); + void runSmall(cv::Mat &gimbal_src); Serial &serial;//串口 void setEnergyInit();//设置能量机关初始化 - void sendTarget(Serial &serial, float x, float y, float z); + void setBigEnergyInit();//设置大能量机关初始化 + void setSmallEnergyInit();//设置小能量机关初始化 + void sendTarget(Serial& serial, float x, float y, float z);//发送数据 + void sendTarget(Serial& serial, float x, float y, float z, uint16_t u);//发送数据 private: @@ -51,7 +55,6 @@ private: bool energy_rotation_init;//若仍在判断风车旋转方向，则为true bool manual_mark;//若操作手进行过手动标定，则为true bool auto_mark;//云台完成自动对心，则置为true - bool shoot;//若为true，则要求主控板发弹 bool start_guess;//进入猜测状态的标志 bool change_target;//目标切换的标志 @@ -77,6 +80,8 @@ private: float center_delta_yaw, center_delta_pitch;//对心时相差的角度 float yaw_rotation, pitch_rotation;//云台yaw轴和pitch轴应该转到的角度 float origin_yaw, origin_pitch;//初始的云台角度设定值 + float shoot;//若为2，则要求主控板发弹 + float sum_yaw, sum_pitch;//yaw和pitch的累计误差，即PID中积分项 timeval time_start_guess; @@ -158,8 +163,9 @@ private: void getAllTargetArmorCenters();//记录所有目标装甲板中心坐标 void getRecentTargetArmorCenters();//记录近30帧目标装甲板中心坐标 - void judgeShoot();//判断是否可以发弹 - void JudgeMode();//判断大符还是小符 + void judgeMode();//判断大符还是小符 + void judgeShootInGimbal();//在云台坐标系中判断是否可以发弹 + void judgeShootInWorld();//在世界坐标系中判断是否可以发弹 bool isGuessingTimeout();//判断猜测模式是否超时（没打中） void splitBayerBG(cv::Mat src, cv::Mat &blue, cv::Mat &red);//拜耳阵列分离 diff --git a/energy/src/energy/calculate/circle_calculate.cpp b/energy/src/energy/calculate/circle_calculate.cpp index 52688e6..2217a3f 100644 --- a/energy/src/energy/calculate/circle_calculate.cpp +++ b/energy/src/energy/calculate/circle_calculate.cpp @@ -61,3 +61,4 @@ void Energy::circleLeastFit() // cout << "The cycle center is: " << cycle_center << endl; // cout << "The radius is: " << radius << endl; } + diff --git a/energy/src/energy/calibrate/structing.cpp b/energy/src/energy/calibrate/structing.cpp index 721a282..96facbb 100644 --- a/energy/src/energy/calibrate/structing.cpp +++ b/energy/src/energy/calibrate/structing.cpp @@ -125,7 +125,7 @@ void Energy::FlowStripStruct(cv::Mat &src) { // 此函数对图像进行腐蚀与膨胀操作 // --------------------------------------------------------------------------------------------------------------------- void Energy::CenterRStruct(cv::Mat &src) { - Mat element_dilate_1 = getStructuringElement(MORPH_RECT, Size(8, 6)); + Mat element_dilate_1 = getStructuringElement(MORPH_RECT, Size(4, 4)); Mat element_erode_1 = getStructuringElement(MORPH_RECT, Size(2, 1)); Mat element_dilate_2 = getStructuringElement(MORPH_RECT, Size(3, 3)); Mat element_erode_2 = getStructuringElement(MORPH_RECT, Size(4 , 4)); @@ -134,8 +134,8 @@ void Energy::CenterRStruct(cv::Mat &src) { // imshow("erode_1", src); dilate(src, src, element_dilate_1); // imshow("dilate_1", src); - dilate(src, src, element_dilate_2); +// dilate(src, src, element_dilate_2); // imshow("dilate_2", src); - erode(src,src, element_erode_2); +// erode(src,src, element_erode_2); // imshow("erode_2", src); } \ No newline at end of file diff --git a/energy/src/energy/clear/clear.cpp b/energy/src/energy/clear/clear.cpp index 5aefa1b..a40bd6a 100644 --- a/energy/src/energy/clear/clear.cpp +++ b/energy/src/energy/clear/clear.cpp @@ -18,7 +18,6 @@ void Energy::clearAll(){ } - //---------------------------------------------------------------------------------------------------------------------- // 此函数用于图像预处理 // --------------------------------------------------------------------------------------------------------------------- diff --git a/energy/src/energy/clear/energy_init.cpp b/energy/src/energy/clear/energy_init.cpp index 728014b..0d1f34d 100644 --- a/energy/src/energy/clear/energy_init.cpp +++ b/energy/src/energy/clear/energy_init.cpp @@ -21,7 +21,6 @@ void Energy::initEnergy() { energy_rotation_init = true; manual_mark = false; auto_mark = false; - shoot = false; start_guess = false; change_target = false; @@ -41,14 +40,15 @@ void Energy::initEnergy() { last_target_polar_angle = -1000; guess_polar_angle = -1000; last_base_angle = -1000; - predict_rad = 20; + predict_rad = 25; attack_distance = ATTACK_DISTANCE; center_delta_yaw = 1000; center_delta_pitch = 1000; yaw_rotation = 0; pitch_rotation = 0; - origin_yaw = 0; - origin_pitch = 0; + shoot = 0; + sum_yaw = 0; + sum_pitch = 0; circle_center_point = Point(0, 0); target_point = Point(0, 0); @@ -69,7 +69,7 @@ void Energy::initEnergy() { // 此函数对能量机关参数进行初始化 // --------------------------------------------------------------------------------------------------------------------- void Energy::initEnergyPartParam() { - gimbal_energy_part_param_.GRAY_THRESH = 120;//home + gimbal_energy_part_param_.GRAY_THRESH = 140;//home // gimbal_energy_part_param_.GRAY_THRESH = 200;//official // gimbal_energy_part_param_.GRAY_THRESH = 225; gimbal_energy_part_param_.SPLIT_GRAY_THRESH = 230; @@ -81,7 +81,7 @@ void Energy::initEnergyPartParam() { gimbal_energy_part_param_.FAN_CONTOUR_LENGTH_MIN = 80; gimbal_energy_part_param_.FAN_CONTOUR_LENGTH_MAX = 100; gimbal_energy_part_param_.FAN_CONTOUR_WIDTH_MIN = 20; - gimbal_energy_part_param_.FAN_CONTOUR_WIDTH_MAX = 50; + gimbal_energy_part_param_.FAN_CONTOUR_WIDTH_MAX = 52; gimbal_energy_part_param_.FAN_CONTOUR_HW_RATIO_MAX = 4; gimbal_energy_part_param_.FAN_CONTOUR_HW_RATIO_MIN = 1; gimbal_energy_part_param_.FAN_CONTOUR_AREA_RATIO_MIN = 0.65; @@ -107,42 +107,42 @@ void Energy::initEnergyPartParam() { gimbal_energy_part_param_.CENTER_R_CONTOUR_WIDTH_MAX = 25; gimbal_energy_part_param_.CENTER_R_CONTOUR_HW_RATIO_MAX = 3; gimbal_energy_part_param_.CENTER_R_CONTOUR_HW_RATIO_MIN = 1; - gimbal_energy_part_param_.CENTER_R_CONTOUR_AREA_RATIO_MIN = 0.7; + gimbal_energy_part_param_.CENTER_R_CONTOUR_AREA_RATIO_MIN = 0.5; gimbal_energy_part_param_.CENTER_R_CONTOUR_INTERSETION_AREA_MIN = 10; - gimbal_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_AREA_MAX = 17000; - gimbal_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_AREA_MIN = 0; + gimbal_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_AREA_MAX = 3000; + gimbal_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_AREA_MIN = 1000; gimbal_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_LENGTH_MIN = 60; gimbal_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_LENGTH_MAX = 100; gimbal_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_WIDTH_MIN = 20; - gimbal_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_WIDTH_MAX = 50; + gimbal_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_WIDTH_MAX = 52; gimbal_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_HW_RATIO_MAX = 3; gimbal_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_HW_RATIO_MIN = 1; - gimbal_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_AREA_RATIO_MAX = 0.58; + gimbal_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_AREA_RATIO_MAX = 0.65; gimbal_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_AREA_RATIO_MIN = 0.34; - gimbal_energy_part_param_.FLOW_STRIP_FAN_NON_ZERO_RATE_MAX = 0.58; + gimbal_energy_part_param_.FLOW_STRIP_FAN_NON_ZERO_RATE_MAX = 0.65; gimbal_energy_part_param_.FLOW_STRIP_FAN_NON_ZERO_RATE_MIN = 0.34; // gimbal_energy_part_param_.FLOW_STRIP_FAN_NON_ZERO_RATE_MAX = 0.2; // gimbal_energy_part_param_.FLOW_STRIP_FAN_NON_ZERO_RATE_MIN = 0.08; gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_AREA_MAX = 100000; gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_AREA_MIN = 0; - gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_LENGTH_MIN = 40; - gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_LENGTH_MAX = 65; + gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_LENGTH_MIN = 38; + gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_LENGTH_MAX = 60; gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_WIDTH_MIN = 8; - gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_WIDTH_MAX = 20; + gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_WIDTH_MAX = 32; gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_HW_RATIO_MAX = 12; // gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_HW_RATIO_MIN = 4; - gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_HW_RATIO_MIN = 3; + gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_HW_RATIO_MIN = 1.8; gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_AREA_RATIO_MIN = 0.5; - gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_INTERSETION_AREA_MIN = 117; + gimbal_energy_part_param_.FLOW_STRIP_CONTOUR_INTERSETION_AREA_MIN = 100; gimbal_energy_part_param_.TWIN_ANGEL_MAX = 10; gimbal_energy_part_param_.TARGET_INTERSETION_CONTOUR_AREA_MIN = 40; - chassis_energy_part_param_.GRAY_THRESH = 120;//home_small - chassis_energy_part_param_.GRAY_THRESH = 230;//home_big + + chassis_energy_part_param_.GRAY_THRESH = 120;//home // chassis_energy_part_param_.GRAY_THRESH = 200;//official // chassis_energy_part_param_.GRAY_THRESH = 225; chassis_energy_part_param_.SPLIT_GRAY_THRESH = 230; @@ -189,7 +189,7 @@ void Energy::initEnergyPartParam() { chassis_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_LENGTH_MIN = 90; chassis_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_LENGTH_MAX = 140; chassis_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_WIDTH_MIN = 35; - chassis_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_WIDTH_MAX = 60; + chassis_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_WIDTH_MAX = 65; chassis_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_HW_RATIO_MAX = 3; chassis_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_HW_RATIO_MIN = 1; chassis_energy_part_param_.FLOW_STRIP_FAN_CONTOUR_AREA_RATIO_MAX = 0.55; @@ -231,11 +231,11 @@ void Energy::initRotation() { else if (target_polar_angle > last_target_polar_angle) anticlockwise_rotation_init_cnt++; } //由于刚开始圆心判断不准，角度变化可能计算有误，因此需要在角度正向或逆向变化足够大时才可确定是否为顺逆时针 - if (clockwise_rotation_init_cnt == 30) { + if (clockwise_rotation_init_cnt == 15) { energy_rotation_direction = CLOCKWISE;//顺时针变化30次，确定为顺时针 cout << "rotation: " << energy_rotation_direction << endl; energy_rotation_init = false; - } else if (anticlockwise_rotation_init_cnt == 30) { + } else if (anticlockwise_rotation_init_cnt == 15) { energy_rotation_direction = ANTICLOCKWISE;//逆时针变化30次，确定为顺时针 cout << "rotation: " << energy_rotation_direction << endl; energy_rotation_init = false; diff --git a/energy/src/energy/energy.cpp b/energy/src/energy/energy.cpp index f5319f1..6537d04 100644 --- a/energy/src/energy/energy.cpp +++ b/energy/src/energy/energy.cpp @@ -44,4 +44,33 @@ void Energy::setEnergyInit() { is_small = false; is_gimbal = true; is_chassis = false; +} + + +//---------------------------------------------------------------------------------------------------------------------- +// 此函数为大能量机关再初始化函数 +// --------------------------------------------------------------------------------------------------------------------- +void Energy::setBigEnergyInit() { + initEnergy(); + initEnergyPartParam(); + + is_big = true; + is_small = false; + is_gimbal = true; + is_chassis = false; +} + + + +//---------------------------------------------------------------------------------------------------------------------- +// 此函数为大能量机关再初始化函数 +// --------------------------------------------------------------------------------------------------------------------- +void Energy::setSmallEnergyInit() { + initEnergy(); + initEnergyPartParam(); + + is_big = false; + is_small = true; + is_gimbal = true; + is_chassis = false; } \ No newline at end of file diff --git a/energy/src/energy/find/energy_finder.cpp b/energy/src/energy/find/energy_finder.cpp index faa542d..8767ff4 100644 --- a/energy/src/energy/find/energy_finder.cpp +++ b/energy/src/energy/find/energy_finder.cpp @@ -69,6 +69,7 @@ int Energy::findArmors(const cv::Mat src) { ArmorStruct(src_bin);//图像膨胀，防止图像断开并更方便寻找 findContours(src_bin, armor_contours, CV_RETR_LIST, CV_CHAIN_APPROX_NONE); + imshow("armor struct", src_bin); // findContours(src_bin, armor_contours_external, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_NONE); // for (int i = 0; i < armor_contours_external.size(); i++)//去除外轮廓 @@ -132,7 +133,7 @@ bool Energy::findCenterR(const cv::Mat src) { circle_center_point = centerR.center; circle_center_point.y += target_length / 7.5;//实际最小二乘得到的中心在R的下方 -// RotatedRect cur_rect = minAreaRect(center_R_contour); + RotatedRect cur_rect = minAreaRect(center_R_contour); // Size2f cur_size = cur_rect.size; // float length = cur_size.height > cur_size.width ? cur_size.height : cur_size.width; // float width = cur_size.height < cur_size.width ? cur_size.height : cur_size.width; @@ -147,10 +148,11 @@ bool Energy::findCenterR(const cv::Mat src) { // cout << "R intersection: " << contourArea(intersection) << endl; // return true; // } - +// cout << cur_rect.center << endl; return true; } cout << "find center R false!" << endl; +// cv::waitKey(0); return false; } @@ -159,7 +161,7 @@ bool Energy::findCenterR(const cv::Mat src) { //---------------------------------------------------------------------------------------------------------------------- // 此函数用于判断找到的矩形候选区是否为含流动条的扇叶 // --------------------------------------------------------------------------------------------------------------------- -bool Energy:: findFlowStripFan(const cv::Mat src) { +bool Energy::findFlowStripFan(const cv::Mat src) { if (src.empty())return false; static Mat src_bin; static Mat src_copy; @@ -170,7 +172,7 @@ bool Energy:: findFlowStripFan(const cv::Mat src) { } std::vector > flow_strip_fan_contours; FlowStripFanStruct(src_bin);//图像膨胀，防止图像断开并更方便寻找 -// imshow("flow strip fan struct", src_bin); + imshow("flow strip fan struct", src_bin); findContours(src_bin, flow_strip_fan_contours, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_NONE); @@ -193,11 +195,12 @@ bool Energy:: findFlowStripFan(const cv::Mat src) { // cout << "non zero: " << non_zero_rate << endl; // cout< cur_size.width ? cur_size.height : cur_size.width; // float width = cur_size.height < cur_size.width ? cur_size.height : cur_size.width; -// if (length / width > 4 && width > 7 && width<30) { +// if (length / width > 2.5 && width > 7 && width<40) { // cout << cur_rect.center << endl; // flow_strip = cv::minAreaRect(flow_strip_contour); // cout << "flow strip area: " << length << '\t' << width << endl; // } +// cout << cur_rect.center << endl; return true; } -// waitKey(); cout << "flow strip false!" << endl; +// waitKey(0); return false; } @@ -252,7 +256,7 @@ bool Energy::findCenterROI(const cv::Mat src) { vector mask_rect; target_armor.points(vertices); //计算矩形的4个顶点 for (int i = 0; i < 4; i++) - line(src_mask, vertices[i], vertices[(i + 1) % 4], Scalar(0, 0, 0), 15); + line(src_mask, vertices[i], vertices[(i + 1) % 4], Scalar(0, 0, 0), 20); // imshow("fill", src_mask); if (!findFlowStrip(src_mask))return false; float length = target_armor.size.height > target_armor.size.width ? diff --git a/energy/src/energy/get/aim_point_get.cpp b/energy/src/energy/get/aim_point_get.cpp index 65aa004..749c9e1 100644 --- a/energy/src/energy/get/aim_point_get.cpp +++ b/energy/src/energy/get/aim_point_get.cpp @@ -4,6 +4,7 @@ #include "energy/energy.h" #include "energy/constant.h" +#include "config/setconfig.h" using namespace std; using namespace cv; @@ -12,8 +13,13 @@ using namespace cv; // 此函数通过自瞄逻辑击打目标点，用于大符的自动对心和小符直接打击 // --------------------------------------------------------------------------------------------------------------------- void Energy::getAimPoint(cv::Point target_point) { - double dx = -(target_point.x - 320 - 10); - double dy = -(target_point.y - 240 - 22); +//五号车 +// double dx = -(target_point.x - 320 - 10); +// double dy = -(target_point.y - 240 - 22); +//四号车 + double dx = -(target_point.x - 320 - COMPENSATE_YAW); + double dy = -(target_point.y - 240 - COMPENSATE_PITCH); yaw_rotation = atan(dx / FOCUS_PIXAL) * 180 / PI; pitch_rotation = atan(dy / FOCUS_PIXAL) * 180 / PI; +// cout << "yaw: " << yaw_rotation << '\t' << "pitch: " << pitch_rotation << endl; } diff --git a/energy/src/energy/get/origin_get.cpp b/energy/src/energy/get/origin_get.cpp index 83ddcff..415fbc9 100644 --- a/energy/src/energy/get/origin_get.cpp +++ b/energy/src/energy/get/origin_get.cpp @@ -13,18 +13,24 @@ using namespace cv; // --------------------------------------------------------------------------------------------------------------------- bool Energy::getOrigin() { if (!auto_mark && !manual_mark) { - double dx = -(circle_center_point.x - 320); - double dy = -(circle_center_point.y - 240); - center_delta_yaw = atan(dx / FOCUS_PIXAL) * 180 / PI; - center_delta_pitch = atan(dy / FOCUS_PIXAL) * 180 / PI; - if (abs(center_delta_pitch) > 0.3 || abs(center_delta_pitch) > 0.3) { - sendTarget(serial, center_delta_yaw, center_delta_pitch, false); +//五号车 +// double dx = -(circle_center_point.x - 320 - 10); +// double dy = -(circle_center_point.y - 240 - 22); +//四号车 + double dx = -(circle_center_point.x - 320 - 7); + double dy = -(circle_center_point.y - 240 - 64); + center_delta_yaw = static_cast(atan(dx / FOCUS_PIXAL) * 180 / PI); + center_delta_pitch = static_cast(atan(dy / FOCUS_PIXAL) * 180 / PI); + if (abs(center_delta_yaw) > 0.3 || abs(center_delta_pitch) > 0.3) { +// cout << "origin not get!" << endl; +// cout << center_delta_yaw << '\t' << center_delta_pitch << endl; + sendTarget(serial, center_delta_yaw, center_delta_pitch, 0); return false; } else { origin_yaw = mcuData.curr_yaw; origin_pitch = mcuData.curr_pitch; auto_mark = true; - sendTarget(serial, center_delta_yaw, center_delta_pitch, true); + sendTarget(serial, center_delta_yaw, center_delta_pitch, 1); LOGM(STR_CTR(WORD_BLUE_CODE, "auto mark success!")); return true; } diff --git a/energy/src/energy/judge/judge_contour.cpp b/energy/src/energy/judge/judge_contour.cpp index 2fa35ec..2edfcdd 100644 --- a/energy/src/energy/judge/judge_contour.cpp +++ b/energy/src/energy/judge/judge_contour.cpp @@ -27,6 +27,7 @@ bool Energy::isValidFanContour(cv::Mat &src, const vector &fan_contou if (length < energy_part_param_.FAN_CONTOUR_LENGTH_MIN || width < energy_part_param_.FAN_CONTOUR_WIDTH_MIN || length > energy_part_param_.FAN_CONTOUR_LENGTH_MAX || width > energy_part_param_.FAN_CONTOUR_WIDTH_MAX) { //cout<<"length width fail."< &fan_contou if (length_width_ratio > energy_part_param_.FAN_CONTOUR_HW_RATIO_MAX || length_width_ratio < energy_part_param_.FAN_CONTOUR_HW_RATIO_MIN) { //cout<<"length width ratio fail."< &armor_contour) { if (length < energy_part_param_.ARMOR_CONTOUR_LENGTH_MIN || width < energy_part_param_.ARMOR_CONTOUR_WIDTH_MIN || length > energy_part_param_.ARMOR_CONTOUR_LENGTH_MAX || width > energy_part_param_.ARMOR_CONTOUR_WIDTH_MAX) { //cout<<"length width fail."< &armor_contour) { if (length_width_ratio > energy_part_param_.ARMOR_CONTOUR_HW_RATIO_MAX || length_width_ratio < energy_part_param_.ARMOR_CONTOUR_HW_RATIO_MIN) { //cout<<"length width ratio fail."< ¢er_R_contour) { || length > energy_part_param_.CENTER_R_CONTOUR_LENGTH_MAX || width > energy_part_param_.CENTER_R_CONTOUR_WIDTH_MAX) { //cout<<"length width fail."< ¢er_R_contour) { if (length_width_ratio > energy_part_param_.CENTER_R_CONTOUR_HW_RATIO_MAX || length_width_ratio < energy_part_param_.CENTER_R_CONTOUR_HW_RATIO_MIN) { //cout<<"length width ratio fail."< intersection; if (rotatedRectangleIntersection(cur_rect, center_ROI, intersection) == 0) { return false; } else if (contourArea(intersection) < energy_part_param_.CENTER_R_CONTOUR_INTERSETION_AREA_MIN) { - cout << "R intersection: " << contourArea(intersection) << endl; +// cout << "R intersection: " << contourArea(intersection) << '\t' << cur_rect.center << endl; return false; } return true; @@ -138,11 +149,12 @@ bool Energy::isValidFlowStripFanContour(cv::Mat &src, const vector &f double cur_contour_area = contourArea(flow_strip_fan_contour); if (cur_contour_area > energy_part_param_.FLOW_STRIP_FAN_CONTOUR_AREA_MAX || cur_contour_area < energy_part_param_.FLOW_STRIP_FAN_CONTOUR_AREA_MIN) { - //cout< cur_size.width ? cur_size.height : cur_size.width;//将矩形的长边设置为长 @@ -151,21 +163,23 @@ bool Energy::isValidFlowStripFanContour(cv::Mat &src, const vector &f || width < energy_part_param_.FLOW_STRIP_FAN_CONTOUR_WIDTH_MIN || length > energy_part_param_.FLOW_STRIP_FAN_CONTOUR_LENGTH_MAX || width > energy_part_param_.FLOW_STRIP_FAN_CONTOUR_WIDTH_MAX) { - //cout<<"length width fail."< energy_part_param_.FLOW_STRIP_FAN_CONTOUR_HW_RATIO_MAX || length_width_ratio < energy_part_param_.FLOW_STRIP_FAN_CONTOUR_HW_RATIO_MIN) { //cout<<"length width ratio fail."< energy_part_param_.FLOW_STRIP_FAN_CONTOUR_AREA_RATIO_MAX) { +// cout << "area ratio: " << cur_contour_area / cur_size.area() << '\t' << cur_rect.center << endl; return false; } // 轮廓对矩形的面积占有率不合适 @@ -202,21 +216,28 @@ bool Energy::isValidFlowStripContour(const vector &flow_strip_contour length > energy_part_param_.FLOW_STRIP_CONTOUR_LENGTH_MAX || width > energy_part_param_.FLOW_STRIP_CONTOUR_WIDTH_MAX) { // cout<<"length width fail."< energy_part_param_.FLOW_STRIP_CONTOUR_HW_RATIO_MAX || length_width_ratio < energy_part_param_.FLOW_STRIP_CONTOUR_HW_RATIO_MIN) { // cout<<"hw fail."< intersection; - if (rotatedRectangleIntersection(cur_rect, flow_strip_fan, intersection) == 0 || - contourArea(intersection) < energy_part_param_.FLOW_STRIP_CONTOUR_INTERSETION_AREA_MIN) { + if (rotatedRectangleIntersection(cur_rect, flow_strip_fan, intersection) == 0) { + return false; + } else if (contourArea(intersection) < energy_part_param_.FLOW_STRIP_CONTOUR_INTERSETION_AREA_MIN) { +// cout << "intersection: " << contourArea(intersection) << '\t' << cur_rect.center << endl; return false; } return true; diff --git a/energy/src/energy/judge/judge_mode.cpp b/energy/src/energy/judge/judge_mode.cpp index 1eb5ed4..87bfa12 100644 --- a/energy/src/energy/judge/judge_mode.cpp +++ b/energy/src/energy/judge/judge_mode.cpp @@ -12,7 +12,7 @@ using namespace cv; //---------------------------------------------------------------------------------------------------------------------- // 此函数用于判断大小符 // --------------------------------------------------------------------------------------------------------------------- -void Energy::JudgeMode() { +void Energy::judgeMode() { getRecentTargetArmorCenters(); if (recent_target_armor_centers.size() < 30) { return; diff --git a/energy/src/energy/judge/judge_shoot.cpp b/energy/src/energy/judge/judge_shoot.cpp index d456af4..5edd7c2 100644 --- a/energy/src/energy/judge/judge_shoot.cpp +++ b/energy/src/energy/judge/judge_shoot.cpp @@ -4,23 +4,44 @@ #include "energy/energy.h" #include "log.h" +#include "config/setconfig.h" using namespace std; using namespace cv; - //---------------------------------------------------------------------------------------------------------------------- -// 此函数用于判断是否可以发弹 +// 此函数用于判断世界坐标系下是否可以发弹 // --------------------------------------------------------------------------------------------------------------------- -void Energy::judgeShoot(){ - if (abs(yaw_rotation - mcuData.curr_yaw) < 0.3 && fabs(pitch_rotation - mcuData.curr_pitch) < 0.3) { - shoot = true; +void Energy::judgeShootInWorld(){ + if (abs(yaw_rotation - mcuData.curr_yaw) < 0.8 && fabs(pitch_rotation - mcuData.curr_pitch) < 0.8) { + shoot = 4; is_predicting = false; is_guessing = true; start_guess = true; gettimeofday(&time_start_guess, NULL); LOGM(STR_CTR(WORD_LIGHT_RED, "Start Guessing!")); } else - shoot = false; + shoot = 2; +} + + +//---------------------------------------------------------------------------------------------------------------------- +// 此函数用于判断云台坐标系下是否可以发弹 +// --------------------------------------------------------------------------------------------------------------------- +void Energy::judgeShootInGimbal(){ + if (abs(yaw_rotation) < 0.5 && fabs(pitch_rotation) < 0.5) { + shoot = 4; + is_predicting = false; + is_guessing = true; + start_guess = true; + gettimeofday(&time_start_guess, NULL); +// LOGM(STR_CTR(WORD_LIGHT_RED, "Start Guessing!")); + } else + shoot = 2; + + sum_yaw += yaw_rotation; + sum_pitch += pitch_rotation; + yaw_rotation = AIM_KP * yaw_rotation + AIM_KI * sum_yaw; + pitch_rotation = AIM_KP * pitch_rotation + AIM_KI * sum_pitch; } diff --git a/energy/src/energy/judge/judge_time.cpp b/energy/src/energy/judge/judge_time.cpp index dea7bfc..2fde1ce 100644 --- a/energy/src/energy/judge/judge_time.cpp +++ b/energy/src/energy/judge/judge_time.cpp @@ -17,5 +17,5 @@ bool Energy::isGuessingTimeout() { timeval cur_time; gettimeofday(&cur_time, NULL); return (cur_time.tv_sec - time_start_guess.tv_sec) * 1000.0 + - (cur_time.tv_usec - time_start_guess.tv_usec) / 1000.0 > 500; + (cur_time.tv_usec - time_start_guess.tv_usec) / 1000.0 > 1000; }; \ No newline at end of file diff --git a/energy/src/energy/run.cpp b/energy/src/energy/run.cpp index 70ee6b4..10a5a2d 100644 --- a/energy/src/energy/run.cpp +++ b/energy/src/energy/run.cpp @@ -12,16 +12,15 @@ using namespace cv; //---------------------------------------------------------------------------------------------------------------------- // 此函数为能量机关模式主控制流函数，且步兵需要同时拥有云台摄像头和底盘摄像头 // --------------------------------------------------------------------------------------------------------------------- -void Energy::run(cv::Mat &gimbal_src, cv::Mat &chassis_src) { +void Energy::runBig(cv::Mat &gimbal_src, cv::Mat &chassis_src) { if (chassis_src.empty()) - run(gimbal_src);//仅拥有云台摄像头则调用单摄像头的run函数 + runBig(gimbal_src);//仅拥有云台摄像头则调用单摄像头的run函数 else if (is_gimbal) { -// energy_part_param_ = chassis_energy_part_param_; energy_part_param_ = gimbal_energy_part_param_; clearAll(); initImage(gimbal_src); - findFans(gimbal_src); - showFans("fan",gimbal_src); +// findFans(gimbal_src); +// showFans("fan",gimbal_src); if (findArmors(gimbal_src) < 1)return; if (show_energy)showArmors("armor", gimbal_src); @@ -37,7 +36,6 @@ void Energy::run(cv::Mat &gimbal_src, cv::Mat &chassis_src) { initEnergy(); destroyAllWindows(); } else if (is_chassis) { -// energy_part_param_ = chassis_energy_part_param_; energy_part_param_ = chassis_energy_part_param_; clearAll(); initImage(chassis_src); @@ -47,7 +45,8 @@ void Energy::run(cv::Mat &gimbal_src, cv::Mat &chassis_src) { if (findArmors(chassis_src) < 1)return; if (show_energy)showArmors("armor", chassis_src); - if (!findFlowStripFan(chassis_src)) return; + if (!findFlowStripFan(chassis_src))return; + showFlowStripFan("flow strip fan", chassis_src); if (!findTargetInFlowStripFan()) return; if (!findCenterROI(chassis_src))return; if (show_energy)showFlowStripFan("strip", chassis_src); @@ -55,27 +54,14 @@ void Energy::run(cv::Mat &gimbal_src, cv::Mat &chassis_src) { if (show_energy)showCenterR("R", chassis_src); getTargetPolarAngle(); changeTarget(); - JudgeMode(); - if (energy_mode_init)return; if (is_big && energy_rotation_init) { initRotation(); return; } - if (is_predicting) { - getPredictPoint(target_point); - gimbalRotation(); - judgeShoot(); - sendTarget(serial, yaw_rotation, pitch_rotation, shoot); - } else if (is_guessing && stayGuessing()) { - findFans(chassis_src); - if (show_energy)showFans("fans", chassis_src); - if (save_mark)writeDownMark(); - if (!guessTarget()) return; - if (show_energy)showGuessTarget("guess", chassis_src); - getPredictPoint(guess_point); - gimbalRotation(); - sendTarget(serial, yaw_rotation, pitch_rotation, false); - } + getPredictPoint(target_point); + gimbalRotation(); + judgeShootInWorld(); + sendTarget(serial, yaw_rotation, pitch_rotation, change_target); } } @@ -83,7 +69,7 @@ void Energy::run(cv::Mat &gimbal_src, cv::Mat &chassis_src) { //---------------------------------------------------------------------------------------------------------------------- // 此函数为能量机关模式主控制流函数，且步兵仅拥有云台摄像头 // --------------------------------------------------------------------------------------------------------------------- -void Energy::run(cv::Mat &gimbal_src) { +void Energy::runBig(cv::Mat &gimbal_src) { energy_part_param_ = gimbal_energy_part_param_; clearAll(); initImage(gimbal_src); @@ -102,26 +88,57 @@ void Energy::run(cv::Mat &gimbal_src) { if (show_energy)showCenterR("R", gimbal_src); changeTarget(); getTargetPolarAngle(); - JudgeMode(); - if (energy_mode_init)return; - if (!getOrigin())return; - if (is_big && energy_rotation_init) { +// if (!getOrigin())return; + if (energy_rotation_init) { initRotation(); return; } - if (is_predicting) { - getPredictPoint(target_point); - gimbalRotation(); - judgeShoot(); - sendTarget(serial, yaw_rotation, pitch_rotation, shoot); - } else if (is_guessing && stayGuessing()) { - findFans(gimbal_src); - if (show_energy)showFans("fans", gimbal_src); - if (save_mark)writeDownMark(); - guessTarget(); - if (show_energy)showGuessTarget("guess", gimbal_src); - getPredictPoint(guess_point); - gimbalRotation(); - sendTarget(serial, yaw_rotation, pitch_rotation, false); - } + getPredictPoint(target_point); + getAimPoint(predict_point); + judgeShootInGimbal(); + sendTarget(serial, yaw_rotation, pitch_rotation, change_target); } + + +//---------------------------------------------------------------------------------------------------------------------- +// 此函数为小能量机关模式主控制流函数，击打小符只需要拥有云台摄像头 +// --------------------------------------------------------------------------------------------------------------------- +void Energy::runSmall(cv::Mat &gimbal_src) { + energy_part_param_ = gimbal_energy_part_param_; + clearAll(); + initImage(gimbal_src); + + if (show_process)imshow("bin", gimbal_src); + if (findArmors(gimbal_src) < 1)return; + if (show_energy)showArmors("armor", gimbal_src); + if (!findFlowStripFan(gimbal_src))return; + if (!findTargetInFlowStripFan()) return; + +// if (!findCenterROI(gimbal_src))return; +// if (show_energy)showFlowStripFan("strip", gimbal_src); +// if (!findCenterR(gimbal_src))return; +// if (show_energy)showCenterR("R", gimbal_src); + + changeTarget(); + getAimPoint(target_point); + judgeShootInGimbal(); + sendTarget(serial, yaw_rotation, pitch_rotation, change_target); +} + + +//if (is_predicting) { +//getPredictPoint(target_point); +//getAimPoint(predict_point); +//cout << yaw_rotation << '\t' << pitch_rotation << endl; +//judgeShootInGimbal(); +//sendTarget(serial, yaw_rotation, pitch_rotation, shoot); +//} else if (is_guessing && stayGuessing()) { +//findFans(gimbal_src); +//if (show_energy)showFans("fans", gimbal_src); +//if (save_mark)writeDownMark(); +//guessTarget(); +//if (show_energy)showGuessTarget("guess", gimbal_src); +//getPredictPoint(guess_point); +//getAimPoint(predict_point); +//sendTarget(serial, yaw_rotation, pitch_rotation, 5); +//} \ No newline at end of file diff --git a/energy/src/energy/send/send.cpp b/energy/src/energy/send/send.cpp index aa5952e..f50011a 100644 --- a/energy/src/energy/send/send.cpp +++ b/energy/src/energy/send/send.cpp @@ -7,14 +7,25 @@ using namespace std; - - //---------------------------------------------------------------------------------------------------------------------- // 此函数用于发送数据给主控板 // --------------------------------------------------------------------------------------------------------------------- void Energy::sendTarget(Serial& serial, float x, float y, float z){ - static short x_tmp, y_tmp, z_tmp; - uint8_t buff[8]; + short x_tmp, y_tmp, z_tmp; + uint8_t buff[10]; + +#ifdef WITH_COUNT_FPS + static auto last_time = time(nullptr); + static int fps = 0; + time_t t = time(nullptr); + if (last_time != t) { + last_time = t; + cout << "fps:" << fps << ", (" << x << "," << y << "," << z << ")" << endl; + fps = 0; + } + fps += 1; +#endif + x_tmp = static_cast(x * (32768 - 1) / 100); y_tmp = static_cast(y * (32768 - 1) / 100); z_tmp = static_cast(z * (32768 - 1) / 100); @@ -25,8 +36,48 @@ void Energy::sendTarget(Serial& serial, float x, float y, float z){ buff[4] = static_cast((y_tmp >> 0) & 0xFF); buff[5] = static_cast((z_tmp >> 8) & 0xFF); buff[6] = static_cast((z_tmp >> 0) & 0xFF); - buff[7] = 'e'; + buff[9] = 'e'; serial.WriteData(buff, sizeof(buff)); send_cnt+=1; // LOGM(STR_CTR(WORD_LIGHT_PURPLE, "send")); -} \ No newline at end of file +} + + + + +//---------------------------------------------------------------------------------------------------------------------- +// 此函数用于发送数据给主控板 +// --------------------------------------------------------------------------------------------------------------------- +void Energy::sendTarget(Serial& serial, float x, float y, float z, uint16_t u){ + short x_tmp, y_tmp, z_tmp; + uint8_t buff[10]; + +#ifdef WITH_COUNT_FPS + static auto last_time = time(nullptr); + static int fps = 0; + time_t t = time(nullptr); + if (last_time != t) { + last_time = t; + cout << "fps:" << fps << ", (" << x << "," << y << "," << z << ")" << endl; + fps = 0; + } + fps += 1; +#endif + + x_tmp = static_cast(x * (32768 - 1) / 100); + y_tmp = static_cast(y * (32768 - 1) / 100); + z_tmp = static_cast(z * (32768 - 1) / 100); + buff[0] = 's'; + buff[1] = static_cast((x_tmp >> 8) & 0xFF); + buff[2] = static_cast((x_tmp >> 0) & 0xFF); + buff[3] = static_cast((y_tmp >> 8) & 0xFF); + buff[4] = static_cast((y_tmp >> 0) & 0xFF); + buff[5] = static_cast((z_tmp >> 8) & 0xFF); + buff[6] = static_cast((z_tmp >> 0) & 0xFF); + buff[7] = static_cast((u >> 8) & 0xFF); + buff[8] = static_cast((u >> 0) & 0xFF);; + buff[9] = 'e'; + serial.WriteData(buff, sizeof(buff)); + send_cnt+=1; +// LOGM(STR_CTR(WORD_LIGHT_PURPLE, "send")); +} diff --git a/energy/src/energy/tool/tool.cpp b/energy/src/energy/tool/tool.cpp index bd6727b..447f5fb 100644 --- a/energy/src/energy/tool/tool.cpp +++ b/energy/src/energy/tool/tool.cpp @@ -43,7 +43,6 @@ void Energy::stretch(cv::Point point_1, cv::Point2f &point_2) { double x_0 = point_1.x - circle_center_point.x; double y_0 = point_1.y - circle_center_point.y; double r_0 = sqrt(pow(x_0, 2) + pow(y_0, 2)); - point_2.x = static_cast( ARMOR_CENTER_TO_CYCLE_CENTER * x_0 / r_0); point_2.y = static_cast( ARMOR_CENTER_TO_CYCLE_CENTER * y_0 / r_0); } diff --git a/main.cpp b/main.cpp index f3017a7..82b8de3 100644 --- a/main.cpp +++ b/main.cpp @@ -33,7 +33,7 @@ mcu_data mcuData = { // 单片机端回传结构体 ARMOR_STATE, // 当前状态，自瞄-大符-小符 0, // 云台角度标记位 1, // 是否启用数字识别 - ENEMY_BLUE, // 敌方颜色 + ENEMY_RED, // 敌方颜色 }; WrapperHead *video_gimbal = nullptr; // 云台摄像头视频源 @@ -61,11 +61,11 @@ int main(int argc, char *argv[]) { while (true) { // 打开视频源 if (from_camera) { - video_gimbal = new CameraWrapper(0/*, "armor"*/); - video_chassis = new CameraWrapper(1/*, "energy"*/); + video_gimbal = new CameraWrapper(ARMOR_CAMERA_GAIN, 0/*, "armor"*/); + video_chassis = new CameraWrapper(ENERGY_CAMERA_GAIN, 0/*, "energy"*/); } else { - video_gimbal = new VideoWrapper("/home/sun/项目/energy_video/gimble3.avi"); - video_chassis = new VideoWrapper("/home/sun/项目/energy_video/gimble3.avi"); + video_gimbal = new VideoWrapper("/home/sun/项目/energy_video/gimbal132.avi"); + video_chassis = new VideoWrapper("/home/sun/项目/energy_video/gimbal132.avi"); } if (video_gimbal->init()) { LOGM("video_gimbal source initialization successfully."); @@ -95,7 +95,13 @@ int main(int argc, char *argv[]) { if (mcuData.state == BIG_ENERGY_STATE) {//大能量机关模式 if (last_state != BIG_ENERGY_STATE) {//若上一帧不是大能量机关模式，即刚往完成切换，则需要初始化 destroyAllWindows(); - ((CameraWrapper *) video_gimbal)->changeBrightness(ENERGY_CAMERA_GAIN); + delete video_gimbal; + video_gimbal = new CameraWrapper(ENERGY_CAMERA_GAIN, 0/*, "armor"*/); + if (video_gimbal->init()) { + LOGM("video_gimbal source initialization successfully."); + } else { + LOGW("video_gimbal source unavailable!"); + } energy.setBigEnergyInit(); checkReconnect(video_chassis->read(chassis_src)); #ifdef CHASSIS_FLIP_MODE @@ -111,11 +117,18 @@ int main(int argc, char *argv[]) { if (save_video) saveVideos(gimbal_src, chassis_src);//保存视频 if (show_origin) showOrigin(gimbal_src, chassis_src);//显示原始图像 energy.runBig(gimbal_src, chassis_src); +// energy.runBig(gimbal_src); last_state = mcuData.state;//更新上一帧状态 } else if (mcuData.state == SMALL_ENERGY_STATE) { if (mcuData.state != SMALL_ENERGY_STATE) { destroyAllWindows(); - ((CameraWrapper *) video_gimbal)->changeBrightness(ENERGY_CAMERA_GAIN); + delete video_gimbal; + video_gimbal = new CameraWrapper(ENERGY_CAMERA_GAIN, 0/*, "armor"*/); + if (video_gimbal->init()) { + LOGM("video_gimbal source initialization successfully."); + } else { + LOGW("video_gimbal source unavailable!"); + } energy.setSmallEnergyInit(); } ok = checkReconnect(video_gimbal->read(gimbal_src)); @@ -130,7 +143,13 @@ int main(int argc, char *argv[]) { } else { // 自瞄模式 if (last_state != ARMOR_STATE) { destroyAllWindows(); - ((CameraWrapper *) video_gimbal)->changeBrightness(ARMOR_CAMERA_GAIN); + delete video_gimbal; + video_gimbal = new CameraWrapper(ARMOR_CAMERA_GAIN, 0/*, "armor"*/); + if (video_gimbal->init()) { + LOGM("video_gimbal source initialization successfully."); + } else { + LOGW("video_gimbal source unavailable!"); + } } last_state = mcuData.state; ok = checkReconnect(video_gimbal->read(gimbal_src)); @@ -138,13 +157,13 @@ int main(int argc, char *argv[]) { flip(gimbal_src, gimbal_src, GIMBAL_FLIP_MODE); #endif if (!from_camera) extract(gimbal_src); - if (save_video) saveVideos(gimbal_src); +// if (save_video) saveVideos(gimbal_src); if (show_origin) showOrigin(gimbal_src); CNT_TIME("Armor Time", { armorFinder.run(gimbal_src); }); } -// cv::waitKey(1); +// cv::waitKey(0); // }); } while (ok); delete video_gimbal; diff --git a/others/include/camera/camera_wrapper.h b/others/include/camera/camera_wrapper.h index 37c6fa7..4716120 100644 --- a/others/include/camera/camera_wrapper.h +++ b/others/include/camera/camera_wrapper.h @@ -38,9 +38,10 @@ private: IplImage* iplImage; int channel; - public: - CameraWrapper(int camera_mode=1, const std::string &n="NULL"); + int gain; + + CameraWrapper(int gain, int camera_mode=1, const std::string &n="NULL"); ~CameraWrapper() final; bool init() final; @@ -48,6 +49,7 @@ public: bool readRaw(cv::Mat& src); bool readProcessed(cv::Mat& src); bool changeBrightness(int brightness); +// bool once }; diff --git a/others/include/config/setconfig.h b/others/include/config/setconfig.h index 86412d7..5029e36 100644 --- a/others/include/config/setconfig.h +++ b/others/include/config/setconfig.h @@ -12,27 +12,41 @@ #define CAMERA_EXPOSURE (10) #endif -#ifndef CAMERA_BLUE_GAIN - #define CAMERA_BLUE_GAIN (100) +#ifndef CAMERA_RED_GAIN + #define CAMERA_RED_GAIN (100) #endif #ifndef CAMERA_GREEN_GAIN - #define CAMERA_GREEN_GAIN (100) + #define CAMERA_GREEN_GAIN (100) #endif -#ifndef CAMERA_RED_GAIN - #define CAMERA_RED_GAIN (100) +#ifndef CAMERA_BLUE_GAIN + #define CAMERA_BLUE_GAIN (100) #endif + #ifndef ARMOR_CAMERA_GAIN #define ARMOR_CAMERA_GAIN (30) #endif #ifndef ENERGY_CAMERA_GAIN #define ENERGY_CAMERA_GAIN (20) #endif +#ifndef AIM_KP + #define AIM_KP (6) +#endif +#ifndef AIM_KI + #define AIM_KI (0.1) +#endif +#ifndef COMPENSATE_YAW + #define COMPENSATE_YAW (5) +#endif +#ifndef COMPENSATE_PITCH + #define COMPENSATE_PITCH (74) +#endif //#define GIMBAL_FLIP_MODE (-1) //#define CHASSIS_FLIP_MODE (-1) - +//#define WITH_TIME_BASED_CAMERA_GAIN +#define WITH_COUNT_FPS #endif /* SETCONFIG_H */ diff --git a/others/src/additions/additions.cpp b/others/src/additions/additions.cpp index c2092b2..e8373ec 100644 --- a/others/src/additions/additions.cpp +++ b/others/src/additions/additions.cpp @@ -30,27 +30,27 @@ extern ArmorFinder armorFinder; extern Energy energy; void uartReceive(Serial *pSerial) { - char buffer[20]; - int cnt = 0; + char buffer[30]; LOGM(STR_CTR(WORD_LIGHT_WHITE, "data receive start!")); while (true) { - char byte = 0; memset(buffer, 0, sizeof(buffer)); - while (pSerial->ReadData((uint8_t *) &byte, 1) && byte != '\n') { - buffer[cnt++] = byte; - if (cnt >= sizeof(buffer)) { -// LOGE("data receive over flow!"); - cnt = 0; - } - } - if (cnt == 0 && byte == '\n') { -// LOGM("%d", cnt); - } - if (cnt == sizeof(mcuData)) { + pSerial->ReadData((uint8_t *) buffer, sizeof(mcuData)+1); + if (buffer[sizeof(mcuData)] == '\n') { memcpy(&mcuData, buffer, sizeof(mcuData)); // LOGM("Get, state:%c, mark:%d!", mcuData.state, (int) mcuData.mark); +// LOGM("Get yaw: %f, pitch: %f!", mcuData.curr_yaw, mcuData.curr_pitch); +// static int t = time(nullptr); +// static int cnt = 0; +// if(time(nullptr) > t){ +// t = time(nullptr); +// LOGM("fps:%d", cnt); +// cnt = 0; +// }else{ +// cnt++; +// } + }else{ +// LOGW("corrupt data!"); } - cnt = 0; } } @@ -75,13 +75,15 @@ cv::VideoWriter initVideoWriter(const std::string &filename_prefix) { bool checkReconnect(bool is_camera_0_connect, bool is_camera_1_connect) { if (!is_camera_0_connect) { + int curr_gain = ((CameraWrapper* )video_gimbal)->gain; delete video_gimbal; - video_gimbal = new CameraWrapper(0, "armor"); + video_gimbal = new CameraWrapper(curr_gain, 0/*, "armor"*/); is_camera_0_connect = video_gimbal->init(); } if (!is_camera_1_connect) { + int curr_gain = ((CameraWrapper* )video_gimbal)->gain; delete video_chassis; - video_chassis = new CameraWrapper(1, "energy"); + video_chassis = new CameraWrapper(curr_gain, 0/*, "energy"*/); is_camera_1_connect = video_chassis->init(); } return is_camera_0_connect && is_camera_1_connect; @@ -89,8 +91,9 @@ bool checkReconnect(bool is_camera_0_connect, bool is_camera_1_connect) { bool checkReconnect(bool is_camera_connect) { if (!is_camera_connect) { + int curr_gain = ((CameraWrapper* )video_gimbal)->gain; delete video_gimbal; - video_gimbal = new CameraWrapper(0, "armor"); + video_gimbal = new CameraWrapper(curr_gain, 0/*, "armor"*/); is_camera_connect = video_gimbal->init(); } return is_camera_connect; diff --git a/others/src/camera/camera_wrapper.cpp b/others/src/camera/camera_wrapper.cpp index 901e6a6..569f344 100644 --- a/others/src/camera/camera_wrapper.cpp +++ b/others/src/camera/camera_wrapper.cpp @@ -13,79 +13,107 @@ using std::cout; using std::endl; using namespace cv; -CameraWrapper::CameraWrapper(int camera_mode, const std::string &n): +CameraWrapper::CameraWrapper(int gain, int camera_mode, const std::string &n) : name(n), mode(camera_mode), camera_cnts(2), camera_status(-1), iplImage(nullptr), rgb_buffer(nullptr), - channel(3){ + channel(3), + gain(gain){ } bool CameraWrapper::init() { CameraSdkInit(1); - int camera_enumerate_device_status = CameraEnumerateDevice(camera_enum_list, &camera_cnts); - if(camera_enumerate_device_status != CAMERA_STATUS_SUCCESS){ + int camera_enumerate_device_status = CameraEnumerateDevice(camera_enum_list, &camera_cnts); + if (camera_enumerate_device_status != CAMERA_STATUS_SUCCESS) { LOGE("CameraEnumerateDevice fail with %d!", camera_enumerate_device_status); } if (camera_cnts == 0) { LOGE("No camera device detected!"); return false; - }else if(camera_cnts >= 1){ + } else if (camera_cnts >= 1) { LOGM("%d camera device detected!", camera_cnts); } int i; - for(i=0; i= camera_cnts){ + if (i >= camera_cnts) { LOGE("No device name %s or device open error!!", name.data()); return false; } - auto status = CameraGetCapability(h_camera, &tCapability); - if (status != CAMERA_STATUS_SUCCESS) { - cout << "CameraGetCapability return error code " << status << endl; - return false; - } + auto status = CameraGetCapability(h_camera, &tCapability); + if (status != CAMERA_STATUS_SUCCESS) { + cout << "CameraGetCapability return error code " << status << endl; + return false; + } - rgb_buffer = (unsigned char *)malloc(tCapability.sResolutionRange.iHeightMax * - tCapability.sResolutionRange.iWidthMax * 3); + rgb_buffer = (unsigned char *) malloc(tCapability.sResolutionRange.iHeightMax * + tCapability.sResolutionRange.iWidthMax * 3); #ifdef Windows - char filepath[200]; - sprintf(filepath, PROJECT_DIR"/others/%s.Config", name.data()); - if (CameraReadParameterFromFile(h_camera, filepath) != CAMERA_STATUS_SUCCESS) { - LOGE("Load parameter %s from file fail!", filepath); - return false; - } - if (CameraLoadParameter(h_camera, PARAMETER_TEAM_A) != CAMERA_STATUS_SUCCESS) { - LOGE("CameraLoadParameter %s fail!", filepath); - return false; - } - LOGM("successfully loaded %s!", filepath); + char filepath[200]; + sprintf(filepath, PROJECT_DIR"/others/%s.Config", name.data()); + if (CameraReadParameterFromFile(h_camera, filepath) != CAMERA_STATUS_SUCCESS) { + LOGE("Load parameter %s from file fail!", filepath); + return false; + } + if (CameraLoadParameter(h_camera, PARAMETER_TEAM_A) != CAMERA_STATUS_SUCCESS) { + LOGE("CameraLoadParameter %s fail!", filepath); + return false; + } + LOGM("successfully loaded %s!", filepath); #elif defined(Linux) CameraSetAeState(h_camera, false); - CameraSetExposureTime(h_camera, CAMERA_EXPOSURE*1000); - CameraSetAnalogGain(h_camera, ARMOR_CAMERA_GAIN); - if(mode == 0){ - CameraSetGain(h_camera, CAMERA_BLUE_GAIN, CAMERA_GREEN_GAIN, CAMERA_RED_GAIN); + CameraSetExposureTime(h_camera, CAMERA_EXPOSURE * 1000); +#ifndef WITH_TIME_BASED_CAMERA_GAIN + CameraSetAnalogGain(h_camera, gain); +#else + +#include + + timeval tv; + int gain; + gettimeofday(&tv, nullptr); + float hour = (tv.tv_sec % (3600 * 24)) / 3600.0; + if (6 <= hour && hour < 10) { + gain = 20; + LOGM("Set gain to morning 20"); + } else if (10 <= hour && hour < 16) { + gain = 10; + LOGM("Set gain to day 10"); + } else if (16 <= hour && hour < 17) { + gain = 20; + LOGM("Set gain to early evening 20"); + } else if (17 <= hour && hour < 18) { + gain = 40; + LOGM("Set gain to evening 40"); + } else { + gain = 50; + LOGM("Set gain to early night 50"); + } + CameraSetAnalogGain(h_camera, gain); +#endif + if (mode == 0) { + CameraSetGain(h_camera, CAMERA_RED_GAIN, CAMERA_GREEN_GAIN, CAMERA_BLUE_GAIN); CameraSetLutMode(h_camera, LUTMODE_PRESET); } #endif - double t; - CameraGetExposureTime(h_camera, &t); - LOGM("Exposure time: %lfms", t / 1000.0); + double t; + CameraGetExposureTime(h_camera, &t); + LOGM("Exposure time: %lfms", t / 1000.0); /*让SDK进入工作模式，开始接收来自相机发送的图像 数据。如果当前相机是触发模式，则需要接收到 触发帧以后才会更新图像。 */ @@ -97,7 +125,7 @@ bool CameraWrapper::init() { CameraSetGamma、CameraSetContrast、CameraSetGain等设置图像伽马、对比度、RGB数字增益等等。 CameraGetFriendlyName CameraSetFriendlyName 获取/设置相机名称（该名称可写入相机硬件） */ - cout << tCapability.sIspCapacity.bMonoSensor << endl; + cout << tCapability.sIspCapacity.bMonoSensor << endl; if (tCapability.sIspCapacity.bMonoSensor) { channel = 1; CameraSetIspOutFormat(h_camera, CAMERA_MEDIA_TYPE_MONO8); @@ -111,16 +139,17 @@ bool CameraWrapper::init() { } bool CameraWrapper::changeBrightness(int brightness) { + CameraUnInit(h_camera); CameraSetAnalogGain(h_camera, brightness); } -bool CameraWrapper::read(cv::Mat& src) { - if(mode==0)return readProcessed(src); - if(mode==1)return readRaw(src); +bool CameraWrapper::read(cv::Mat &src) { + if (mode == 0)return readProcessed(src); + if (mode == 1)return readRaw(src); } bool CameraWrapper::readRaw(cv::Mat &src) { - if (CameraGetImageBuffer(h_camera, &frame_info, &pby_buffer, 1000) == CAMERA_STATUS_SUCCESS){ + if (CameraGetImageBuffer(h_camera, &frame_info, &pby_buffer, 1000) == CAMERA_STATUS_SUCCESS) { if (iplImage) { cvReleaseImageHeader(&iplImage); } @@ -144,8 +173,9 @@ bool CameraWrapper::readRaw(cv::Mat &src) { bool CameraWrapper::readProcessed(cv::Mat &src) { // cerr << "Get-1" << endl; - if (CameraGetImageBuffer(h_camera, &frame_info, &pby_buffer, 1000) == CAMERA_STATUS_SUCCESS){ - CameraImageProcess(h_camera, pby_buffer, rgb_buffer, &frame_info); // this function is super slow, better not to use it. + if (CameraGetImageBuffer(h_camera, &frame_info, &pby_buffer, 1000) == CAMERA_STATUS_SUCCESS) { + CameraImageProcess(h_camera, pby_buffer, rgb_buffer, + &frame_info); // this function is super slow, better not to use it. if (iplImage) { cvReleaseImageHeader(&iplImage); } @@ -162,11 +192,9 @@ bool CameraWrapper::readProcessed(cv::Mat &src) { } } -CameraWrapper::~CameraWrapper() -{ +CameraWrapper::~CameraWrapper() { CameraUnInit(h_camera); //注意，先反初始化后再free - if(rgb_buffer != nullptr) + if (rgb_buffer != nullptr) free(rgb_buffer); } - diff --git a/others/src/serial/serial.cpp b/others/src/serial/serial.cpp index 5192001..46b9ff6 100644 --- a/others/src/serial/serial.cpp +++ b/others/src/serial/serial.cpp @@ -191,7 +191,7 @@ Serial::Serial(int nSpeed, char nEvent, int nBits, int nStop) : nSpeed(nSpeed), nEvent(nEvent), nBits(nBits), nStop(nStop) { if (wait_uart) { LOGM("Wait for serial be ready!"); - while (InitPort(nSpeed, nEvent, nBits, nStop) == false); + while (!InitPort(nSpeed, nEvent, nBits, nStop)); LOGM("Port set successfully!"); } else { if (InitPort(nSpeed, nEvent, nBits, nStop)) { @@ -234,7 +234,7 @@ bool Serial::WriteData(const unsigned char *pData, unsigned int length) { return false; } while ((curr = write(fd, pData + cnt, length - cnt)) > 0 && (cnt += curr) < length); - if (cnt < 0) { + if (curr < 0) { LOGE("Serial offline!"); close(fd); if (wait_uart) { @@ -248,7 +248,7 @@ bool Serial::WriteData(const unsigned char *pData, unsigned int length) { bool Serial::ReadData(unsigned char *buffer, unsigned int length) { int cnt = 0, curr = 0; while ((curr = read(fd, buffer + cnt, length - cnt)) > 0 && (cnt += curr) < length); - if (cnt < 0) { + if (curr < 0) { LOGE("Serial offline!"); close(fd); if (wait_uart) { diff --git a/tools/TrainCNN/backward.py b/tools/TrainCNN/backward.py index c408d5a..44e5f21 100755 --- a/tools/TrainCNN/backward.py +++ b/tools/TrainCNN/backward.py @@ -54,16 +54,14 @@ def save_para(folder, paras): save_bias(fp, paras[7]) -STEPS = 10000 -BATCH = 30 -LEARNING_RATE_BASE = 0.005 +STEPS = 100000 +BATCH = 50 +LEARNING_RATE_BASE = 0.001 LEARNING_RATE_DECAY = 0.99 MOVING_AVERAGE_DECAY = 0.99 def train(dataset, show_bar=False): - test_images, test_labels = dataset.all_test_sets() - x = tf.placeholder(tf.float32, [None, generate.SRC_ROWS, generate.SRC_COLS, generate.SRC_CHANNELS]) y_= tf.placeholder(tf.float32, [None, forward.OUTPUT_NODES]) keep_rate = tf.placeholder(tf.float32) @@ -103,11 +101,12 @@ def train(dataset, show_bar=False): _, loss_value, step = sess.run( [train_op, loss, global_step], - feed_dict={x: images_samples, y_: labels_samples, keep_rate:0.5} + feed_dict={x: images_samples, y_: labels_samples, keep_rate:0.3} ) if i % 100 == 0: - if i % 1000 == 0: + if i % 500 == 0: + test_images, test_labels = dataset.sample_test_sets(10000) acc = sess.run(accuracy, feed_dict={x: test_images, y_: test_labels, keep_rate:1.0}) bar.set_postfix({"loss": loss_value, "acc": acc}) @@ -116,6 +115,9 @@ def train(dataset, show_bar=False): vars_val = sess.run(vars) save_para("/home/xinyang/Workspace/RM_auto-aim/tools/para", vars_val) print("save done!") + + # pred = sess.run(y, feed_dict={x: test_images, keep_rate:1.0}) + # nodes_val = sess.run(nodes, feed_dict={x:test_images}) # return vars_val, nodes_val DevList = mvsdk.CameraEnumerateDevice() diff --git a/tools/TrainCNN/forward.py b/tools/TrainCNN/forward.py index e5835ac..57dfbc3 100644 --- a/tools/TrainCNN/forward.py +++ b/tools/TrainCNN/forward.py @@ -35,10 +35,10 @@ CONV1_OUTPUT_CHANNELS = 6 CONV2_KERNAL_SIZE = 3 # 第二层卷积输出通道数 -CONV2_OUTPUT_CHANNELS = 10 +CONV2_OUTPUT_CHANNELS = 12 # 第一层全连接宽度 -FC1_OUTPUT_NODES = 16 +FC1_OUTPUT_NODES = 30 # 第二层全连接宽度（输出标签类型数） FC2_OUTPUT_NODES = 15 diff --git a/tools/TrainCNN/generate.py b/tools/TrainCNN/generate.py index 99d725c..ffa2229 100644 --- a/tools/TrainCNN/generate.py +++ b/tools/TrainCNN/generate.py @@ -40,7 +40,7 @@ class DataSet: files = os.listdir(dir) for file in tqdm(files, postfix={"loading id": i}, dynamic_ncols=True): if file[-3:] == "jpg": - if random.random() > 0.2: + if random.random() > 0.7: self.train_samples.append(self.file2nparray("%s/%s" % (dir, file))) self.train_labels.append(self.id2label(i)) else: @@ -61,6 +61,15 @@ class DataSet: labels.append(self.train_labels[id]) return np.array(samples), np.array(labels) + def sample_test_sets(self, length): + samples = [] + labels = [] + for i in range(length): + id = random.randint(0, len(self.test_samples)-1) + samples.append(self.test_samples[id]) + labels.append(self.test_labels[id]) + return np.array(samples), np.array(labels) + def all_train_sets(self): return self.train_samples[:], self.train_labels[:] diff --git a/tools/create-startup.sh b/tools/create-startup.sh index 2681763..7bde43f 100755 --- a/tools/create-startup.sh +++ b/tools/create-startup.sh @@ -2,5 +2,5 @@ echo "#!/bin/bash" > $2/startup-run echo "$1/tools/auto-pull.sh" >> $2/startup-run -echo "gnome-terminal -- bash -c \"echo sjturm | sudo -S $1/tools/monitor.sh \\\"$2/run --run-with-camera --save-video --wait-uart --save-labelled-boxes --show-armor-box\\\"\"" >> $2/startup-run +echo "gnome-terminal -- bash -c \"echo sjturm | sudo -S $1/tools/monitor.sh \\\"$2/run --run-with-camera --save-video --wait-uart --save-labelled-boxes\\\"\"" >> $2/startup-run chmod +x $2/startup-run diff --git a/tools/para/conv1_b b/tools/para/conv1_b index 1ccdfa1..4b2bb46 100644 --- a/tools/para/conv1_b +++ b/tools/para/conv1_b @@ -1,7 +1,7 @@ 6 --0.012731806 --0.68924344 -1.0428871 -0.09240551 -0.87806237 --0.51778877 +-0.20627302 +1.6024942 +1.7967451 +1.4466392 +-0.098023266 +-0.006771178 diff --git a/tools/para/conv1_w b/tools/para/conv1_w index a8b31bd..dc7791c 100644 --- a/tools/para/conv1_w +++ b/tools/para/conv1_w @@ -2,453 +2,453 @@ 6 5 5 --0.0705555 -0.086937346 -0.297247 -0.51908225 -0.41566578 -0.22415005 -0.21470949 -0.42054617 -0.57512695 -0.50255156 -0.2663179 -0.10764991 -0.32504323 -0.27210033 -0.32694185 -0.18968254 --0.03312495 --0.28554282 --0.27717206 -0.010500877 --0.16386741 --0.58856106 --1.0167654 --0.59654444 --0.07342564 -0.6650266 -0.6682501 -0.61575854 -0.20123789 -0.13246079 -0.9794644 -0.9181109 -0.75080305 -0.5678118 -0.17880438 -0.8291312 -0.9157011 -0.8058578 -0.6174977 -0.3349475 -0.93871576 -1.0840453 -0.9012157 -0.6562343 -0.28151926 -0.8399793 -0.9920022 -0.64904636 -0.6055482 -0.15666491 --0.8087083 --0.5565874 --0.8960519 --0.80074924 --0.74640626 --0.2773623 --0.20795147 --0.1870408 --0.15045224 --0.13983378 --0.10816965 -0.031628396 --0.116946414 --0.013991349 -0.21591163 --0.18964738 -0.0040286863 --0.30242768 --0.24229145 -0.23588136 --0.331128 --0.5470479 --0.7203085 --0.6601643 --0.05225026 -0.45265025 -0.75259274 -0.74857485 -0.7100708 -0.34476462 -0.46986035 -0.5765347 -0.6258838 -0.3804861 -0.3160558 -0.6183596 -0.59951615 -0.60037804 -0.6340707 -0.34009996 -0.7194144 -0.8571618 -0.94336456 -0.90685135 -0.41317853 -1.0044444 -1.0062212 -1.0895951 -0.92497915 -0.7468299 --1.2501324 --0.74794984 --0.047555014 -0.49243745 -0.8178278 --1.2034731 --0.49681732 -0.015281494 -0.60018766 -0.713024 --0.84448695 --0.0899703 -0.09781959 -0.4817282 -0.51024574 -0.010328657 -0.2768326 -0.6458937 -0.65859175 -0.39070535 -0.60249025 -1.1937758 -0.9160051 -0.8284883 -0.53566974 --0.4362068 --0.2836022 --0.32180697 -0.022249598 -0.29908466 --0.5530434 --0.4986115 --0.278484 --0.31018886 --0.24363342 --0.35979065 --0.43008342 --0.37437305 --0.30203703 --0.5734246 -0.02336341 --0.25258422 --0.3121478 --0.6288646 --0.4711073 -0.12114608 --0.061813425 --0.12937883 --0.6477893 --0.6810196 -1.8673725 -2.8808968 -3.1819828 -3.0621288 -2.5003161 -2.4616675 -3.2074707 -3.5739362 -3.1081522 -2.4229178 -2.4271266 -3.280304 -3.0261867 -2.3990371 -1.8921077 -2.005818 -2.4233122 -2.1124473 -1.5049059 -1.0315852 -1.0267158 -0.8723091 -0.44316038 -0.1576413 -0.22018914 -0.18436278 --0.04525133 --0.28330094 --0.50770444 --0.4281736 -0.26419267 -0.16408478 -0.19734842 --0.2016362 --0.32106283 -0.64052576 -0.45036018 -0.42224813 -0.106944986 --0.15083833 -0.9302013 -0.7691678 -0.6336322 -0.078011096 --0.031026825 -0.80035543 -0.60188663 -0.38603687 --0.03504348 --0.19659142 -0.61344516 -0.8947993 -0.97315925 -0.74691004 -0.49092364 -1.2537221 -1.9796665 -1.9934042 -1.6571536 -1.5510287 -1.7490395 -2.4188108 -2.487965 -2.0581145 -1.922978 -1.7984617 -2.3430247 -2.2450094 -1.9467311 -1.6972682 -1.2808937 -1.5145483 -1.4981558 -1.1744506 -1.2942766 --0.028776312 -0.08628688 -0.14530973 -0.060263254 --0.1992724 --0.3509845 --0.14943084 -0.05269242 --0.047488246 --0.32251114 --0.055337034 --0.0606678 -0.13780722 -0.025866544 --0.2515092 -0.36665168 -0.4256815 -0.44711438 -0.45632693 -0.18695426 -0.83469534 -0.73099476 -0.90957487 -0.7863896 -0.60097635 --2.77742 --1.898205 --0.51413226 -0.29049698 -0.93399036 --2.6324046 --1.413464 --0.11643134 -0.7600749 -1.0856903 --2.0343983 --0.7860615 -0.3931903 -1.0088302 -1.2542579 --1.0282527 -0.00558986 -0.7271341 -1.2017635 -0.9958149 -0.2970806 -1.2236876 -1.36118 -1.3418391 -0.8660408 --1.1435972 --0.83455884 --0.7378884 --0.20356347 -0.21133415 --0.84094524 --1.1279244 --0.6961366 --0.4854085 --0.026166996 --0.54931265 --0.4710362 --0.7298363 --0.64001644 --0.62205493 -0.03693532 --0.40307578 --0.4964193 --0.42969394 --0.5397872 -0.3220369 -0.14219745 --0.4169855 --0.48323318 --0.77415246 --0.4052389 -0.5951485 -0.4901534 -0.51781464 -0.026524775 -0.19928466 -0.8500332 -0.8974233 -0.75791407 -0.29939106 -0.1305985 -0.94468176 -0.8779284 -0.47177282 -0.018099217 --0.2669419 -0.14852984 -0.17997491 --0.40414903 --0.57394934 --0.8052322 --0.6834026 --0.9813351 --1.2330854 --1.1226501 --0.2375166 --0.25760472 --0.6702083 --0.83058023 --0.845694 --0.035079293 -0.15334488 --0.20645554 --0.6201716 --0.58026224 -0.23743017 -0.41283235 -0.2761712 --0.080429204 --0.5188592 -0.713986 -0.6536175 -0.46903017 -0.15473464 --0.28156337 -0.5111026 -0.42682606 -0.4112979 -0.07900778 --0.2720577 --0.4981358 --0.051663946 --0.023117686 --0.19846022 --0.19126081 -0.29513282 -0.93106616 -0.9072645 -0.5732627 -0.26237917 -0.39974377 -1.1159221 -1.0814219 -0.950581 -0.671661 -0.48101172 -1.0488389 -1.003414 -0.9169417 -0.5284077 --0.20465238 -0.40837994 -0.26445296 -0.16031574 -0.18525025 --1.1795493 --1.0623146 --1.3544596 --1.3211613 --1.4418778 --1.2897592 --1.3648815 --1.5633347 --1.4766223 --1.5375725 --1.0636053 --1.0550519 --1.2028064 --1.3285335 --1.4901532 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b/tools/para/conv2_b @@ -1,13 +1,13 @@ 12 -0.0336404 -0.81687707 --0.088157885 -1.072176 --0.019678842 --0.23005776 -2.6509802 -2.31109 -2.8000503 --0.044337805 --0.20568089 -2.5650184 +-0.6611704 +1.472362 +-0.059240177 +0.6448027 +-0.09498331 +0.07005496 +1.5227689 +1.6761788 +1.3155555 +3.944478 +0.41402242 +1.6400838 diff --git a/tools/para/conv2_w b/tools/para/conv2_w index c4dda48..139e481 100644 --- a/tools/para/conv2_w +++ b/tools/para/conv2_w @@ -2,651 +2,651 @@ 12 3 3 --0.31632552 --0.7239692 --0.65414405 -0.34357703 --0.08044287 --0.20476206 -0.50200045 -0.35577247 -0.33045784 --0.1524894 -0.49808568 -0.7840627 --0.3990185 -0.6440111 -0.7791737 --1.3144535 --0.17149241 -0.27750385 --0.17529267 --0.16072024 --0.028291611 -0.0033709055 --0.08444597 --0.3327057 --0.13270707 --0.22501901 --0.11140018 --1.1908817 --1.9596208 --1.1658804 --1.1249431 --0.16883872 -0.69176143 --1.5423008 -0.31821936 -0.7650364 --0.14571106 -0.012562339 --0.006500092 --0.046806034 -0.0028963017 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--0.047698755 -2.3251115e-34 -0.00027341297 --2.7853435e-34 -0.011349397 -0.022634374 --0.021991752 --6.23614e-19 --1.8296893e-34 --4.693055e-34 --2.5689208e-34 -0.016750742 --0.026694324 -0.025948707 --3.622672e-34 -4.4149777e-34 -0.021614837 -0.0176605 --6.824275e-35 --0.005987512 -0.003391501 --3.7913042e-35 -0.023976216 -9.2411213e-35 --0.0045311516 -0.0022807491 --0.0030165832 -4.631576e-27 --2.2245847e-34 -2.8109456e-34 -1.0248854e-34 --0.0008113781 --0.06760941 -0.039392676 --1.9758407e-34 -4.5811577e-11 -5.0990594e-34 -1.4364192e-23 -1.0487568e-35 --3.674037e-34 -3.3949746e-35 -2.2357138e-12 --6.2006666e-09 -1.86393e-34 -2.6335555e-34 -1.8934115e-11 -2.6516214e-35 -2.2918424e-05 -4.3982884e-34 -3.4456535e-14 -1.4738872e-34 -6.002618e-34 -2.6591168e-18 -1.9294564e-34 --1.7993252e-34 --5.2612514e-34 --0.019901775 --0.05657921 -1.9478107e-34 -0.0026905297 -0.05260151 -5.003885e-34 -0.010294574 --2.5510535e-34 -0.0006275552 --0.005014881 -0.03745119 -1.9284358e-28 --7.0451176e-35 --2.2415311e-35 -1.8172325e-34 -0.043215036 -0.034100004 --0.03369591 -2.6475953e-34 --6.0277766e-35 --4.9535883e-35 -4.533558e-35 -1.8785538e-34 -1.3647232e-34 --7.9570636e-36 -2.3499666e-34 -7.2696244e-35 --1.386378e-34 --1.7187408e-34 -1.3637206e-34 -1.9995097e-34 --1.7955718e-34 --1.9125256e-34 -3.2794088e-34 -6.413327e-35 -1.556009e-34 --9.466311e-35 -2.23472e-34 --1.074665e-35 -2.7889958e-34 --0.017789837 -0.008867266 --1.0076209e-34 --0.024455475 -0.026665043 -1.9588484e-34 -0.023942003 -2.4588635e-34 --0.015556847 --0.029997732 -0.026182389 -1.6611878e-27 -2.4597805e-34 --9.467268e-35 --2.4868038e-34 -0.05466218 -0.0012075846 --0.012355461 --9.258847e-35 --9.584297e-36 -0.036597658 --0.053090796 --1.1023749e-35 --0.018284133 -0.059077363 -2.8288914e-34 --0.01221481 -2.1817898e-34 -0.0125469025 -0.012249002 -0.025145005 -1.4266802e-27 -2.352465e-34 --4.995651e-34 --3.1923238e-35 --0.0066345604 --0.0029556532 -0.010302476 --2.5126e-34 --4.266432e-34 --0.004598917 --0.08960133 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-1.343754e-32 --3.5539088e-33 --2.3026382e-34 -4.2941455e-32 -7.9476835e-34 --2.3722725e-34 --1.4763474e-34 --5.0436146e-35 -3.796405e-11 -5.654157e-34 -4.0026933e-34 --2.6615837e-34 -3.385234e-05 -2.1629904e-34 --1.6172855e-34 --2.2814573e-14 -7.82692e-24 -7.6263116e-34 -1.1117598e-34 --1.615408e-34 -0.0148525555 --0.027796153 --3.3049545e-34 -2.8013394e-05 -0.021811083 -8.011701e-35 --0.0045643006 --3.2216843e-34 --0.0012341096 -0.00043303214 -0.012707151 --8.716511e-29 --9.724191e-35 --3.6114982e-34 --1.1358685e-34 -0.010964323 -0.021477148 --0.000949105 -1.709988e-34 --1.6183481e-34 -3.480501e-35 -1.4329754e-34 -4.843652e-35 -1.0258475e-34 -1.1862415e-34 --3.4166478e-35 --2.1570983e-34 --1.6991798e-34 -1.0933617e-34 --2.1510803e-34 -2.092265e-34 --1.5116784e-34 --2.319783e-35 --7.605104e-35 -2.2273083e-34 -5.8874635e-35 --2.466345e-34 --2.0507348e-35 --2.07577e-34 --3.2457458e-34 --0.012639205 --0.0015271567 --2.2795352e-34 -0.00056369486 -0.020169184 -1.4895874e-34 --0.020837262 --3.6599467e-34 --0.0030204386 --0.001149114 -0.015930984 -3.1284325e-31 --5.26854e-35 --2.7543591e-34 --1.1133643e-34 -0.023533205 -0.020366639 -0.0054769544 --9.940272e-35 --5.532049e-34 -0.02803553 --0.042756442 -1.0299862e-34 -0.011679455 -0.037423797 -6.2460958e-34 --0.0045324513 --2.5890956e-34 -0.008099939 -0.012851959 -0.022176875 -3.9889721e-28 -1.7466463e-34 -3.6479167e-34 -3.6932967e-34 -0.0057547176 --0.0057925563 -0.016122092 -1.9802063e-34 -1.7449333e-35 --0.043224484 --0.00097067485 --1.0593702e-34 -0.019283213 -0.082423545 -3.4687562e-34 -0.014782034 -1.4812019e-34 -0.016213402 --0.015889833 --0.011824513 --7.448707e-27 -3.4650676e-34 -1.3437684e-34 -1.335388e-34 -0.03417679 -0.0020924183 --0.06481922 --1.3124615e-35 --2.6747153e-34 -0.017455187 -0.025279846 -2.256837e-34 --0.054096006 --0.0035609182 -3.7769724e-34 -0.058969 --2.4745958e-34 -0.022155551 -0.004892253 --0.032704238 --4.9263e-13 --9.72644e-35 --2.3724341e-34 -1.6324547e-34 -0.04887729 --0.04895783 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-0.0009977042 -6.1204175e-34 -0.034558862 -1.0820342e-34 --0.00041379707 -0.005915478 -0.025231794 -3.6438834e-24 -2.7038827e-34 -2.4048925e-34 --2.8117767e-34 -0.02564594 --0.03301135 -0.0036127416 --9.875762e-35 -4.5448336e-34 -0.0290627 -0.018079856 --2.6275283e-34 --0.00012711616 --0.015044772 --3.7627735e-34 --0.012172555 --2.6951248e-34 --0.0034980725 --0.0035463828 -0.013938303 --1.7471847e-28 --9.878572e-35 -1.8644387e-34 -3.557977e-35 --0.024515323 --0.003251344 -0.018794794 -1.6947867e-34 --2.825815e-34 -2.1448063e-08 --1.303851e-12 --1.9426587e-34 -4.514551e-19 -1.1070716e-08 -4.5260206e-34 --6.3143095e-09 -3.9494865e-35 -3.3744433e-05 --5.868626e-34 -1.8376337e-08 -5.086845e-11 --2.9750726e-15 -6.0141745e-15 --7.759017e-10 --1.2527278e-05 -2.1084673e-10 --3.5531968e-09 -1.0054066e-34 -2.4063173e-34 --0.0041559245 --0.004659454 -8.43764e-35 --0.015713146 --0.00817952 -4.4979717e-34 -0.028785987 -2.0496771e-34 -0.0028533514 -0.012694233 --0.0151425665 --6.9242247e-28 --4.393339e-34 --3.575672e-34 -2.6078012e-34 -0.023702467 --0.0046382956 -0.029678635 --8.977471e-35 --5.8830554e-35 --5.7702814e-35 -6.953485e-36 -1.5984537e-34 --2.1731e-34 -1.7139958e-34 --9.162067e-35 --1.7648234e-34 --8.952868e-35 -4.855058e-35 -2.4078385e-34 -8.425576e-35 -5.1854913e-35 --1.0673562e-34 --7.893031e-36 --2.9925974e-35 --9.038027e-35 -2.811012e-34 -6.878677e-35 --2.0886186e-34 -4.5111713e-34 --0.0062293257 -0.01206651 -2.2335153e-34 -0.0057026157 -0.012354534 -2.7555962e-34 --0.021497503 -2.6869714e-34 --0.011498571 -0.01774772 -0.009237267 --4.305096e-28 --2.5551317e-34 -4.8823676e-35 -2.3131086e-34 -0.005990453 -0.008108175 -0.019648923 --1.193889e-35 -2.3805368e-36 -0.0041946406 --0.051570293 -1.7272722e-34 -0.036580235 -0.0025672272 -1.8441592e-34 -0.008566088 -9.100226e-36 -0.00883271 -0.0035693548 --0.011404557 --2.2048843e-26 --8.212321e-35 --4.1451453e-34 -1.1833364e-34 -0.020489978 --0.018460367 -0.044170234 -1.966429e-34 --4.241164e-34 -0.028117558 -0.02070712 --1.2093783e-34 --0.063825674 -0.032519117 --1.976976e-34 -0.02582821 -1.9526587e-34 --0.027281594 --0.007520099 -0.008642993 -1.1640667e-26 --2.4241722e-34 -1.6688105e-34 --3.5390521e-34 -0.05258712 --0.014294036 --0.003790906 -1.5154353e-34 -3.6001e-35 -0.0076887747 -0.028384648 --7.3698554e-35 --0.02197153 -0.05885104 -4.0485844e-34 -0.03328359 --1.1366409e-34 --0.011651673 --0.0013626431 -0.03293616 -6.2208293e-24 -1.3403136e-34 -1.4957642e-34 --1.8981986e-34 --0.0081452355 --0.011257412 -0.033991985 -7.5736734e-35 -1.4169515e-34 --1.4961913e-34 -3.0832115e-35 --2.0229454e-34 --7.620372e-35 -1.7033161e-34 --1.9605313e-34 -1.4287176e-34 --1.7630725e-34 -2.1896902e-09 -1.5751992e-35 -3.1690887e-34 --2.883765e-34 --1.6984957e-34 -4.9171105e-11 --9.854316e-35 --2.5315593e-34 --1.8692821e-34 --6.2157294e-35 --5.047833e-12 -7.9132213e-35 -1.6346971e-34 --2.5678573e-34 -8.3621087e-35 --5.98106e-35 -1.7488153e-34 -1.8755517e-34 -2.1862758e-34 -2.7378329e-34 -5.024233e-35 -2.6917236e-35 --6.4536706e-35 -2.919861e-34 -8.4410045e-35 --3.3084656e-34 --2.980613e-35 --9.4968694e-36 --1.6764069e-34 --8.6563037e-35 --9.974438e-35 --5.378472e-35 -0.02791327 --0.0026127924 --1.6549359e-35 -0.004752536 --0.016792685 -3.328167e-34 -0.009783493 --1.7738901e-35 -0.013468733 --0.0065961913 -0.004411337 -6.632904e-27 --6.225202e-35 --4.933717e-34 --2.032045e-35 --0.011036689 -0.00035512517 -0.0025960808 -2.8492043e-34 --1.0942254e-34 -0.027569 -0.00021877169 --1.0783939e-34 --0.026556348 --0.015901804 -3.4598034e-34 -0.037434757 --3.2385152e-34 --0.0033508467 -0.0063813785 -0.015595991 --7.031455e-14 -1.5178644e-34 --3.3811465e-34 -2.120396e-34 -0.012025498 --0.018030515 -0.03203187 --2.8927701e-34 -3.8993214e-34 -0.01050295 -0.008971313 -2.784565e-34 -0.02580762 --0.0033974943 --4.8675677e-35 --0.0077831666 -1.2732591e-34 --0.019034099 --0.002106999 -0.008680479 --8.182096e-28 -2.8581782e-34 --3.5751885e-34 --7.2021747e-35 --0.0030214898 --0.0016866012 --0.004187151 --1.4288318e-34 -1.1706675e-34 --3.0529326e-09 -3.894587e-09 --2.6614402e-34 --9.775416e-09 -1.1681202e-08 --6.524023e-34 --1.617059e-08 -2.9843356e-08 --3.7796655e-09 -1.1732028e-16 -9.1909875e-09 --8.683671e-34 --1.9683947e-34 --1.8667512e-34 -5.262633e-36 --1.0735276e-08 -1.07305516e-32 --1.4863957e-08 -2.831785e-35 -1.4574672e-34 --0.0064701354 -0.025419353 --2.677745e-34 --0.039353546 -0.0071773045 --2.298173e-34 -0.005744779 -5.955579e-35 --0.01600954 --0.016531397 -0.019495986 -4.5541553e-26 -2.6355424e-34 -2.692183e-34 -1.3835767e-34 -0.021452779 --0.0029443076 -0.008512447 -2.3555327e-34 -6.6580735e-35 --3.4051463e-34 --2.8834693e-34 --1.2537749e-35 -3.264098e-34 -1.2932002e-09 --2.8994803e-34 -8.871764e-08 --6.711724e-35 --1.7283367e-34 --1.6464433e-34 --2.134414e-34 -3.2170121e-34 --7.317048e-35 --6.0762864e-35 --8.472743e-35 -3.6840654e-34 --1.804663e-34 --2.1031939e-08 --5.515897e-35 --6.1188255e-34 -0.006031315 -0.02780088 --2.3797734e-35 --0.012383824 -0.015868323 -2.8355845e-35 --0.023874894 --2.591569e-34 --0.008823709 -0.019527782 -0.0114870975 -1.3803764e-27 --1.7367838e-34 -3.0690895e-34 -1.8995555e-34 --0.0008253378 --0.009459326 --0.01588366 --9.820922e-35 -2.486843e-34 -0.047767363 --0.047698278 --1.1448511e-34 -0.006373265 -0.025612637 -4.3253196e-34 -0.007571392 --1.7015249e-34 --0.011962916 -0.011884603 --0.05083444 --1.2691081e-22 -2.9567662e-34 -3.8058046e-34 --1.2590757e-34 -0.046444405 --0.017309144 -0.06812096 --1.9981808e-34 --6.004127e-34 -0.005818612 -0.029691193 -1.4088624e-34 --0.008059338 --0.011003077 --1.2440574e-34 -0.0073156543 --2.1136006e-34 --0.0048893304 --0.0033932305 --0.013575713 -5.4179977e-28 -3.660234e-34 -2.888797e-34 -1.9356353e-34 --0.004262229 --0.0090168705 -0.00484625 --2.093694e-34 -9.151655e-35 --0.051656906 -0.029663611 -2.2157887e-34 -0.015134249 -0.013268321 -3.7882514e-34 -0.00962124 -3.8745837e-34 -0.0019156602 -0.003375303 -0.017627914 --7.492554e-28 -1.570302e-35 -3.4230033e-34 -2.4896773e-34 --0.014409338 -0.009401912 -0.01369189 --3.4531157e-35 --3.2097355e-35 -2.1374103e-34 --1.3891625e-34 --8.338369e-35 --6.477364e-35 --4.8067066e-35 -9.846455e-35 --2.0120344e-34 -1.1279603e-34 --1.5860278e-34 -1.1089963e-35 --4.6831477e-35 --8.94534e-35 -1.6440427e-34 --1.1316413e-34 --1.0826174e-34 -1.8593616e-13 --2.153142e-34 -1.8328684e-34 -2.3194891e-35 --7.6152404e-35 --5.188212e-35 -2.3911047e-34 --5.7380446e-12 -1.2161961e-34 --3.6910362e-35 --1.7902412e-34 --1.5631588e-34 -2.3422827e-35 --1.5413578e-34 -1.5521782e-34 -2.8920097e-34 -4.1125588e-35 -1.5885938e-34 --8.827616e-35 -3.3006816e-34 --6.1675726e-35 --1.8380939e-34 --6.1612113e-35 --9.421907e-36 --3.537747e-34 -0.03229762 --0.034751907 -3.1276723e-34 -0.031076642 --0.0004373503 --5.8004273e-34 --0.0055161216 -2.0187543e-35 --0.009190145 -0.0017412218 -0.01263322 -8.1894216e-27 --6.5184307e-35 --2.2978107e-34 --2.7041483e-34 --0.003043089 --0.0052333595 -0.011868234 --2.1822733e-34 --2.300168e-34 --0.00713808 -0.018917887 --1.3379773e-34 --0.027790364 -0.0012627981 -6.2175363e-34 -0.034333777 -2.9010799e-34 -0.003935703 --0.012346579 -0.03934547 --4.0197877e-13 -3.051278e-34 --3.978765e-34 -2.2881767e-34 --0.0236352 -0.018562343 -0.03037029 --2.070332e-35 --2.611056e-34 -0.028234655 --0.0030609998 -1.1275916e-34 -0.036219716 -0.020558141 -2.4661082e-34 --0.018599544 --1.9231395e-34 --0.0066141305 -0.01691469 -0.0320534 -2.7065375e-27 -1.9724086e-34 --3.635931e-34 -7.4690716e-35 --0.016992256 --0.007235994 --0.012008006 --2.910377e-34 -1.4252118e-11 --1.4093393e-05 -8.246871e-06 -2.3419741e-34 --3.0194414e-08 -2.6502895e-09 -5.7539824e-34 -8.299145e-07 -4.0628056e-08 --5.6818723e-09 -3.792855e-10 -9.782958e-07 -5.3128914e-33 --2.287556e-34 --2.6122497e-34 --2.45286e-34 -4.941703e-08 --1.6509991e-06 -7.8923017e-07 -8.714623e-35 --1.3578965e-34 -0.036071595 --0.0023527457 --6.344793e-35 --0.006175399 --0.0074960818 --2.5986725e-34 -0.011549073 -4.87112e-35 --0.0041207806 -0.009005405 -0.009789317 -3.545075e-25 --4.220989e-36 -1.0567105e-34 --8.6262476e-35 --0.021561122 --0.021134878 -0.0051260693 -2.0403772e-34 -2.1571313e-34 --4.0406133e-12 --4.1264333e-34 -2.1487743e-34 -1.629676e-34 -1.1835259e-11 --7.925293e-35 --5.364333e-14 -3.1702128e-34 --1.0867312e-12 --1.67577e-34 -4.490987e-34 -1.8348365e-34 --3.328755e-08 --8.081377e-35 -3.7665153e-34 --3.6312784e-34 --4.038576e-34 -2.3615608e-34 --9.4870045e-35 -4.654771e-34 -0.0243933 -0.025349444 -2.6083568e-34 -0.016987296 -0.03456164 --6.0923687e-34 --0.004475944 --8.629315e-35 -0.0024553465 -0.03263664 -0.025653126 --6.5211896e-28 -2.3681266e-34 -1.8592526e-34 -3.5259293e-34 --0.012310768 --0.012291231 --0.05926715 -3.3409469e-34 -3.0450026e-34 --0.010498595 --0.090208724 --3.011918e-34 --0.024153175 -0.014898348 -1.4651032e-34 -0.0075912653 -3.0074022e-34 -0.020819489 --0.0006177296 --0.079798065 -2.081819e-23 -2.7690996e-34 -2.6126847e-34 --2.84495e-34 -0.022845162 --0.017961472 -0.05121133 --2.951406e-34 -4.5367176e-34 --0.015500581 -0.041159905 --9.526034e-35 -0.014985684 --0.031210184 --4.3776787e-34 -0.005638445 --6.829466e-35 --0.00075768016 -0.011191868 --0.004043455 --3.126285e-27 --2.286781e-34 -7.13543e-35 --1.6799152e-36 --0.002594072 --0.010003059 --0.021562608 -1.3655057e-34 -3.0958037e-34 --0.043653462 -0.018712033 -1.0038977e-34 -0.013116408 --0.0015029227 -2.1234738e-34 --0.0048117763 --1.927519e-34 -0.0045299525 -0.019800736 -0.020445416 -6.43103e-20 --2.3957183e-34 --3.1406922e-34 --1.34481e-34 -0.009213801 --0.0026253124 --0.0054474 --4.3624685e-35 --7.2246526e-35 -1.0204764e-34 --1.4526162e-34 --2.2698171e-34 -5.465103e-35 -1.7270062e-34 -2.8956783e-34 --1.4046492e-34 -2.3268952e-34 -2.5818852e-34 --2.5686407e-34 -1.3694491e-34 -2.539803e-34 --4.0184458e-35 -1.4491724e-34 -2.284378e-34 --1.8446445e-35 -2.5200542e-34 --2.6115788e-35 --3.1936597e-34 --4.9352786e-35 --1.1092702e-34 --1.7515347e-34 --1.6012804e-34 -7.481055e-35 --4.7368382e-35 -3.2625134e-35 -7.997043e-35 --4.4279678e-35 -3.847889e-35 --2.7001064e-34 --2.8299595e-34 --2.2444678e-34 -2.5914802e-34 -4.938325e-35 -1.2089913e-35 -1.4179416e-34 --1.0352032e-34 -1.0682342e-34 --5.9053926e-35 --5.473756e-34 --0.0084119635 --0.026918815 --9.93277e-35 -0.034597117 -0.011350097 -5.0737247e-34 --0.011479193 -2.8112246e-34 --0.013528495 -0.001444756 -0.017186686 --1.0317837e-21 --1.0548867e-34 -1.7786922e-34 -8.544414e-35 -0.021721214 --0.01487412 -0.04017235 -2.8389718e-34 -5.378859e-35 -0.008966376 --0.013967712 -5.4741957e-35 --0.0011788184 --0.017066011 --3.148863e-34 -0.107331045 --3.3222285e-34 --0.0010977893 --0.042928047 -0.013208507 --2.3234403e-17 -2.6493358e-34 --2.9660875e-34 --1.7872259e-34 --0.00079798716 -0.009626729 --0.010998125 -1.9924019e-34 -2.6069919e-34 --0.023879364 -0.033437632 --2.51587e-34 -0.022705171 --0.02896322 -1.7186484e-34 -0.007138555 --2.2376316e-34 --0.0011821233 -0.0010481816 --0.0074676964 -1.6433612e-27 -2.3363788e-34 -2.6682583e-34 -3.6897565e-34 --0.0067424397 --0.002201439 -0.0036867338 -2.036612e-34 -4.036108e-14 -4.8626037e-09 --3.6726973e-09 --2.7205003e-34 --1.7999735e-09 -1.3188486e-09 -8.224787e-35 -1.0148982e-08 --6.739729e-35 -9.2558805e-10 -2.3796813e-08 --7.013014e-34 --2.576334e-13 --3.7990655e-34 --2.5504462e-34 -4.254378e-35 --2.0287794e-09 -4.0167435e-33 --2.7452205e-17 --1.465711e-34 -4.171683e-34 -0.031852517 --0.030091353 -1.6885648e-34 -0.002395304 --0.002899774 --1.6827859e-34 -0.024781186 --1.9376094e-34 --0.00020165075 -0.005512697 --0.015889816 --3.497403e-12 --3.6462953e-34 -2.6250534e-35 -1.4363698e-34 -0.04932497 --0.009119069 -0.021636115 --1.1892201e-34 --2.9377992e-35 --4.0479103e-34 -3.4518392e-35 -4.399788e-35 --3.664207e-34 -1.5212991e-34 --1.2715175e-34 -7.6366837e-07 --3.5876822e-35 -2.0695643e-34 -1.869183e-35 --1.6031906e-34 --3.4795625e-34 -1.6300139e-34 -9.667298e-35 -1.7475009e-35 -3.025693e-34 -2.2510056e-34 --8.812346e-35 --3.26574e-34 -1.092e-34 -0.018325891 -0.033622563 -2.2408215e-34 --0.005377162 -0.010158083 --7.0963363e-34 --0.029064024 --2.0444317e-34 --0.004615978 -0.041400187 --0.026568813 -6.40175e-28 --1.5263245e-34 --1.1338063e-34 --3.7048538e-34 -0.022544641 --0.014003531 -0.019410912 --1.8170692e-35 --5.4473235e-34 -0.008583454 -0.016718464 -2.9094137e-34 -0.026458176 --0.006512071 -1.1473733e-34 --0.014765512 --1.4115824e-34 --0.026482385 --0.012313123 -0.009311404 -1.4273993e-15 --4.0666712e-35 -3.2696242e-34 --2.9418085e-34 --0.012404085 -0.025482424 -0.011899175 --1.2917185e-34 -4.525946e-34 -0.02386583 --0.02971071 -2.6340436e-34 -0.035708718 --0.0018346998 -2.1581851e-34 --0.00534887 --1.0965755e-35 --0.005804134 -0.03185864 -0.020194856 -4.3767817e-28 -7.5526494e-35 -3.9199596e-34 --1.7940112e-34 --0.01320541 -0.012927699 --0.02124198 -1.9030511e-34 --2.4090533e-34 -0.005156271 --0.002537671 -1.522601e-34 --0.013648815 --0.010036839 --2.5095748e-34 -0.005542048 -1.21811e-34 -0.01648644 --0.0047630537 -0.030581238 -8.9692754e-29 --2.926544e-34 --2.790671e-34 -7.916576e-35 -0.013885219 --0.010793801 -0.0001458155 -0.0002197692 --1.7780082e-34 -2.5967042e-34 -2.3062758e-34 --2.23379e-34 -7.589074e-35 --2.2058151e-35 -2.1075835e-34 -2.6963857e-34 -2.5171733e-34 -4.9397913e-05 --1.2991635e-34 --4.768907e-35 --1.5100609e-34 --1.4569701e-34 --3.1815903e-35 --1.8453682e-34 --4.4841344e-35 --1.041412e-34 --5.3320056e-35 --5.4161475e-08 -7.1749925e-35 --2.5012348e-34 --1.3119329e-34 --1.3595788e-34 --1.027104e-34 --2.1400531e-34 --2.577593e-34 -1.1872031e-34 --2.7936865e-34 -7.4764563e-35 -8.079019e-35 -2.4242652e-34 --2.103522e-34 --2.8096482e-34 -9.63054e-35 --2.700151e-34 --1.4427373e-34 -2.62232e-34 --2.4966628e-34 -6.1205167e-35 --1.6679333e-34 --0.016710982 -0.016172137 --7.0314135e-37 -0.016421955 --0.02550004 -1.7274684e-35 -0.005490353 --3.2056085e-34 -0.001994252 --0.0056716125 --0.003871442 -2.2422201e-28 --3.853089e-34 --4.093531e-34 --9.158646e-35 -0.0058281226 --0.029672677 -0.013184375 --6.085441e-35 --3.0915221e-34 -0.010356398 --0.024784757 -2.8371188e-35 -0.025004782 -0.017748296 --2.7976373e-34 -0.08228115 -4.07883e-35 --0.022322673 --0.0469151 -0.041971453 --4.942876e-10 -2.8269817e-34 --1.0482029e-34 --2.0268863e-34 -0.031926192 -0.014676835 --0.034632206 -3.662787e-36 -2.9538878e-34 --0.022908663 -0.046284 --6.0103348e-36 -0.004485434 --0.003437209 --3.5625032e-34 -0.0154418005 --1.1473944e-34 --0.006207578 --0.0054988577 -0.0001869398 -1.8332277e-28 --9.99093e-35 -1.2811982e-34 -8.5905707e-35 --0.011223869 -0.0034613712 --2.57844e-05 -6.236647e-35 --6.0034847e-34 --3.2268467e-06 -1.7684977e-07 -4.9661755e-35 -1.2350401e-06 --9.247e-08 --2.442839e-34 --1.8860217e-05 -1.0611477e-35 --1.2422506e-05 -1.9185852e-06 -1.2143157e-07 --1.621096e-32 --2.4041647e-34 -2.2528432e-34 --2.4694932e-35 -4.198079e-07 --2.5266136e-06 --9.131692e-06 -9.213154e-35 -5.722359e-34 -0.028431758 --0.045469303 --2.8950226e-34 -0.028606227 --0.0035177844 --3.1122965e-34 -0.022732325 -2.9547786e-34 -0.005793916 --3.831223e-05 --0.049700186 -3.2751124e-27 -2.7134262e-34 -4.6786966e-34 -2.0779402e-34 -0.03404453 -0.0067864186 --0.008305333 -1.0392692e-34 --7.7786135e-35 --2.573396e-34 --7.5678975e-07 --2.456638e-34 -4.355405e-34 --6.0774895e-36 -4.3169295e-35 -2.3878478e-34 -1.9653788e-34 --2.1250366e-34 --3.6341804e-34 -5.8062074e-36 -3.5186954e-35 -2.5315006e-34 --1.6151182e-34 -3.3721627e-34 -1.7531947e-34 -3.4805653e-34 --1.4543032e-34 -2.546874e-34 --1.6572349e-34 --0.011882366 -0.021375833 -2.4109295e-34 --0.028041983 -0.029838497 --1.821141e-35 --0.0003654183 -3.7152261e-34 --0.0053677745 -0.010516486 -0.0023740802 --2.2221945e-28 -3.9408104e-34 -6.070559e-35 -2.540476e-34 -0.017887305 -0.010775752 -0.004439935 -7.7538885e-35 -4.022912e-34 -0.00977515 -0.0019189769 --1.8020622e-34 --0.011650376 -0.0054820804 -1.9245784e-34 --0.001224785 -3.8565238e-35 --0.0044087693 -0.012318941 --0.00847998 -4.8651942e-23 --8.809792e-35 --5.4829476e-35 --2.0731941e-34 -0.030948972 -0.0076311748 -0.02777017 -1.5867561e-34 -1.6137856e-34 -0.007115312 --0.0026448797 -1.9684346e-34 --0.00094159675 -0.023786942 --1.8063606e-34 --0.020814922 -1.0714484e-34 -0.012962068 -0.031486023 -0.009511405 --1.02941225e-27 -4.8819997e-35 --1.0811644e-34 --3.5346702e-34 --0.015097844 --0.015785929 --0.009149186 --5.9320593e-35 --6.022744e-34 -0.021383941 --0.011447078 --2.0949412e-34 -0.0012709955 -0.024532817 --3.5232541e-34 --0.017854994 --3.7831178e-34 --0.0046499195 -0.010137377 -0.019817708 -3.760286e-27 --4.5445857e-36 --1.5827136e-34 -3.9012488e-35 -0.017498694 --0.0040746517 -0.008384751 --6.917022e-35 --2.5194497e-34 -2.3091237e-34 -8.1746586e-35 -1.2915702e-34 -2.038135e-34 -1.4043558e-34 --8.231528e-35 --1.215323e-34 -3.915507e-07 --2.1048843e-34 -4.8826637e-36 --1.6525012e-34 -1.4350591e-34 --2.7696337e-34 --1.9196345e-34 -7.8480204e-36 --1.5682146e-34 --1.4872226e-34 --1.4698179e-34 -2.7680027e-34 --2.6169803e-34 -1.8128784e-34 -2.7657598e-34 --4.5181595e-35 --2.250555e-34 -2.146422e-34 -1.9934465e-34 -1.6480477e-34 -1.9317762e-34 --7.14662e-35 --3.179428e-34 -7.357412e-35 -9.200436e-36 --8.1719495e-35 --1.9464386e-34 -8.4096335e-35 -2.5590103e-34 --2.0611279e-34 -7.658954e-35 -1.0808056e-34 --3.160964e-35 --0.0106225535 -0.012252112 --2.6586342e-34 -0.02500894 -0.00086244324 --8.9067775e-36 -0.0068347575 --1.2066564e-35 --0.0019061159 -0.0039287275 -0.009993534 -1.6983411e-28 --2.7402289e-34 --3.5083837e-34 -9.0047195e-35 --0.011408466 --0.014347154 --0.009114182 -2.5397361e-34 --3.9079872e-35 -0.008416111 -0.011786551 --2.234856e-34 -0.021703288 -0.01027106 --2.9251676e-34 -0.05709808 --5.243122e-35 --0.022131257 --0.009918627 -0.0021388638 --7.040859e-10 -2.4217996e-34 --2.2591415e-34 -3.1962403e-34 -0.026623584 --0.017226936 --0.005317553 --2.67089e-35 --9.4716674e-35 --0.0026974566 -0.007195652 --1.5515836e-34 --0.008124722 -0.008137062 --3.3232516e-34 -0.002982404 -1.7126976e-36 --0.0012255893 -0.007226414 -0.005252701 --2.3924217e-28 --1.288536e-34 -1.0091952e-34 --9.1927834e-36 -0.011231754 --0.0059600174 -0.006039756 -2.799105e-34 --4.099331e-34 -2.3531877e-05 --1.1254719e-05 -2.7819543e-34 --1.4923075e-06 -1.0652486e-08 -2.206885e-34 --1.002024e-06 --2.1477232e-34 --3.263982e-05 -1.3530896e-06 --2.8742508e-10 -2.947042e-32 --2.810979e-34 -3.4956998e-34 --1.2236263e-34 --1.3821589e-05 --1.4019082e-05 --7.0060923e-06 --1.977908e-34 -4.7333082e-35 --0.004190202 --0.00096840324 -1.5032155e-34 -0.0025277557 --0.02100329 --3.2238116e-34 -0.006675318 -3.4241668e-35 -0.01431612 --0.00010831724 --0.034120243 --1.243149e-27 -2.6327944e-34 -1.8564411e-34 --1.5502015e-34 -0.010534211 -0.0019343254 -0.0063351467 --1.0073426e-34 --7.679363e-15 --9.2886094e-36 -3.8454975e-34 --2.7698518e-34 -3.9001396e-34 -2.3670168e-11 -6.295066e-35 -8.435917e-35 --8.647817e-09 --2.8983356e-34 --4.9746774e-34 -8.4919105e-13 --2.427844e-34 --1.2916038e-34 --2.5294976e-34 --9.32167e-35 -2.9403118e-34 -4.4659377e-11 --8.038016e-06 --2.3648572e-34 --6.3908505e-35 --0.011853243 -0.017015569 --4.0640416e-35 --0.016184002 --0.01058529 --4.4246613e-34 -0.004214145 --2.168026e-34 -0.01580666 --0.00033504152 --0.032539885 --6.125537e-27 --1.6983007e-34 -3.2860862e-34 --3.687208e-34 --0.00507069 -0.029486239 -0.004912823 -9.017005e-35 -3.4652885e-34 -0.043234188 --0.0006931151 --2.8575634e-34 -0.0063072285 --0.012600637 --3.7333565e-34 -0.008477209 --2.9164247e-34 -0.008792815 -0.007776439 --0.012238155 --3.7145372e-27 --2.3087963e-34 --3.932664e-34 --2.4432105e-35 -0.011003575 -0.0017083428 -0.0112903295 -1.3192238e-34 --1.7918269e-34 -0.018585924 --0.0036262518 --6.9059116e-35 --0.031786725 -0.033716667 --3.8471721e-34 --0.00724644 --2.7675586e-34 -0.013644664 -0.015131063 -0.020808745 -1.914879e-28 --1.2291708e-34 --9.172514e-35 --3.1103498e-34 -0.00042860876 --0.023902489 --0.022422703 --3.0411554e-35 --5.532561e-34 -0.0037555667 -0.011303172 -1.4953992e-34 --0.0077429 -0.03672151 --8.949297e-35 -0.0072221896 --7.024076e-35 --0.017315185 --0.007271899 -0.013540641 --1.6013698e-27 -3.0797617e-34 --3.6858877e-34 --2.2907476e-34 --0.006625924 -0.0032018153 -0.008331306 --1.8763351e-34 --1.8204651e-34 -1.3373313e-34 --5.509478e-35 -8.9205887e-10 -2.7069284e-34 -1.3202087e-35 -7.2971085e-35 -2.5894285e-34 --2.5376278e-34 --7.1304385e-35 -1.7971931e-34 --2.7401857e-34 --5.583977e-35 --3.2960196e-35 --1.2726283e-34 -9.967164e-35 --1.4084737e-34 -1.6864264e-34 --1.8743e-34 --1.5609904e-34 -3.013927e-34 --2.6112165e-34 -1.1539066e-34 -1.4066522e-06 -1.8746095e-34 -7.592493e-35 -1.4531461e-34 -3.05675e-34 --1.3973652e-34 -2.4272517e-34 --3.1359292e-34 -2.4893676e-34 --1.6596003e-34 -2.3654032e-34 -1.5795448e-34 --2.9447236e-34 -1.0792007e-34 --2.733378e-34 --1.0088274e-34 --6.9610663e-35 --1.42031e-35 -0.029555028 --0.016270608 --9.2130317e-35 --0.0037728513 -0.03087271 -1.4291283e-34 -0.007996174 --2.1735942e-34 --0.010093028 -0.0029932717 -0.022538433 -6.181368e-27 --2.1722451e-34 -4.4730187e-34 -2.104579e-34 -0.0018796164 --0.0037893981 --0.03137886 --2.795996e-35 --3.1986071e-34 --0.0075489106 --0.009126521 --1.5380692e-34 -0.014885531 -0.028659672 --1.3979516e-34 -0.009693812 -2.8053944e-34 --0.0041234386 -0.0038053023 -0.011869926 --5.4933292e-27 -1.6416679e-34 -2.1564774e-34 --1.4737494e-34 -0.003084214 --0.022733493 --0.0041927136 -8.014958e-35 -5.401445e-34 --0.034486786 -0.012333477 -2.5712952e-34 -0.01930603 -0.02665711 --3.4985109e-34 --0.010419071 --1.9991954e-34 -0.038930148 -0.033366594 --0.04378823 -5.824127e-21 -3.7330874e-34 --3.986858e-34 -9.959021e-35 -0.0025024547 --0.0349988 -0.01712644 --9.8714434e-36 --2.6197076e-14 -8.550664e-09 -1.3437841e-14 -1.7580395e-34 -1.5709796e-14 -2.9914847e-08 -6.685604e-34 -1.6073738e-08 --2.512114e-36 --9.983379e-09 -5.036817e-34 -1.4338844e-08 --3.44335e-08 -5.244718e-34 --6.114356e-34 --8.9647515e-37 --6.733606e-08 -6.0550356e-09 --7.818271e-09 -6.605218e-35 --4.8662486e-34 --0.05644097 --0.028671587 --5.66567e-35 -0.011406937 -0.021170655 -2.8322014e-34 -0.036615685 --5.7480354e-36 -0.021345869 -0.012431014 --0.016583715 -3.0609707e-26 -1.7636982e-34 --3.3231397e-34 -2.031489e-34 -0.043485608 -0.02687816 --0.052767303 -8.0772074e-36 -8.1769224e-35 --2.8751839e-34 --2.7675251e-34 -4.1734458e-35 --5.569272e-36 --1.7328435e-34 --1.4164459e-34 --1.627596e-11 -1.6060228e-34 --3.0123586e-34 -2.0152244e-35 -3.0874111e-34 -1.7131838e-34 --2.623167e-34 --7.5172864e-35 -1.915918e-34 -1.248656e-34 -2.8377352e-34 -2.6580774e-35 -4.5966536e-36 --2.1865802e-34 --0.061495356 --0.034053646 -1.6453005e-34 -0.0043906434 -0.04955976 -4.1516454e-34 -0.0306966 -6.9172906e-35 -0.04072293 -0.0139507335 --0.055409282 --3.1699307e-24 --3.8300774e-34 -9.717473e-35 --3.9478982e-34 -0.04751047 -0.05520515 --0.02166648 -2.8983276e-34 -4.0603125e-35 -0.0068752943 --0.016562521 -2.8009643e-34 --0.0015044813 -0.045677755 -1.239146e-34 --0.006735484 --1.7032302e-34 -0.0009721754 -0.007915245 -0.03899892 -1.7079284e-28 -3.564165e-34 --2.9567017e-34 --6.0338934e-35 --0.022096196 -0.015186755 --0.028587766 --1.35862e-35 -4.559821e-34 --0.011297641 -0.010845496 --1.9909017e-35 --0.024103973 -0.027981956 --3.6828077e-34 -0.010298261 --2.5157124e-34 --0.010522296 --0.0068928474 -0.037191406 --3.3992962e-28 --6.6342284e-35 -2.073702e-34 --1.3102408e-34 -0.0021170208 -0.0130483555 -0.011142016 -9.4409484e-35 -5.0729285e-34 -0.010121209 -0.017217424 --1.0865261e-35 --0.020105565 -0.06854726 -1.4076779e-34 -0.025816586 -2.3645829e-34 --0.011230426 --0.0074888766 -0.043917794 -1.6332412e-27 -3.9703054e-35 --3.6389407e-34 --7.932044e-35 --0.029885199 -0.017275462 --0.014532305 --4.8164595e-35 -5.3460014e-35 --9.2102186e-35 --9.391254e-35 --1.6967919e-34 -5.321339e-36 -2.378252e-34 --1.166951e-09 --1.920721e-34 --5.2054196e-35 -7.356682e-35 --1.4211926e-34 --1.3006e-34 --4.001438e-35 --1.1362108e-34 -2.436381e-34 -6.7489677e-35 -2.0231768e-34 -2.776605e-35 -1.0557436e-34 --3.1337063e-34 --4.980572e-35 --3.0820596e-34 -1.4818159e-34 --2.10942e-34 -2.1740313e-34 -3.0740688e-34 --6.4510533e-35 --1.5142197e-34 -1.699794e-34 -1.6750721e-34 --8.18595e-35 --3.6648826e-35 --1.22922e-34 -3.3430986e-34 -3.8491195e-35 -2.2793772e-34 -1.067796e-34 -8.329524e-35 -1.394954e-34 -1.4268985e-34 --2.44559e-34 -0.077900596 -0.025160804 -9.439283e-35 --0.022229902 -0.03984724 -4.3710023e-34 -0.0055964035 -2.4614783e-37 --0.044731554 --0.0004493065 -0.010405079 --1.1938847e-14 -4.57202e-35 --1.6647135e-34 --1.1050961e-34 --0.022203611 --0.052260894 -0.049377907 -1.113802e-34 -2.3725025e-34 --0.0018897264 -0.0138742635 -3.2649776e-34 -0.011921686 -0.026884217 --5.245424e-35 -0.0022183363 --2.1785708e-34 --0.0026427615 --0.0031258224 -0.0037654566 --1.245628e-27 --3.146703e-34 --2.9339845e-34 -1.5858904e-34 --0.007648013 --0.022864247 --0.01090997 -2.1020752e-34 --5.932849e-34 -0.023781626 -0.0065021547 -3.037864e-34 -0.05864901 -0.069028005 -6.096652e-35 -0.006707627 --6.5782914e-35 --0.015253689 -0.017155504 --0.019989764 --3.122012e-27 -2.360216e-34 --8.5919735e-35 --2.8084714e-34 --0.025218416 --0.052953288 -0.028565051 --2.8487187e-35 --7.2147652e-12 -1.4491777e-15 -5.5302266e-14 --2.2535133e-08 -5.875705e-14 --6.405076e-14 --5.2631584e-34 -1.7057338e-15 --3.6491362e-35 -1.3615161e-06 --3.2571335e-32 --1.6138647e-14 -7.720055e-14 -4.4857085e-34 --4.207027e-14 -1.2559914e-34 --7.933086e-22 --3.671913e-14 -1.34732584e-14 --2.763843e-34 --1.9258205e-35 --0.05217689 --0.042181063 --9.935675e-35 --0.0018840632 -0.04549257 --5.363854e-34 -0.021492366 --8.89922e-35 --0.012594876 --0.0027881775 -0.0030404988 -2.0305972e-23 --3.1581033e-34 --2.9929455e-34 --2.395409e-34 -0.07360516 -0.040613685 --0.031065442 -3.3881053e-34 --2.7267157e-34 -5.731224e-35 -2.4905956e-34 -1.4339977e-34 -2.1827089e-34 --1.6491649e-34 -1.9517605e-34 --9.9558e-08 -1.7453703e-34 -1.3651278e-34 --7.8603195e-35 -2.1537922e-34 -1.9443788e-34 -2.3455828e-34 --2.1890037e-34 -9.4347105e-35 -7.3647843e-35 -8.282579e-35 -1.0413465e-34 -1.1439743e-34 --3.516164e-34 --0.012583239 --0.03603598 --2.1452703e-34 --0.03507168 -0.050811753 --1.1276242e-34 -0.033950884 -3.9278225e-34 -0.0044475156 -0.017824084 -0.019064622 -5.7998173e-25 --3.1639687e-35 --9.198798e-35 -2.1622693e-34 -0.07494299 -0.010377296 --0.032905255 --2.4631534e-34 --2.4597777e-34 --0.0056298487 --0.0036286316 --9.91375e-35 --0.037418094 -0.04256536 --3.7025633e-35 --0.007134415 --2.4249725e-34 --0.0017383294 --0.012633419 -0.05349306 --6.1791503e-28 -1.4026087e-34 --6.095542e-35 -2.0608253e-34 --0.027628759 -0.017148491 -0.021053161 --1.8739089e-35 --4.6218854e-34 --0.036610447 --0.031392474 --1.806354e-34 -0.019622784 -0.029878804 --1.5942848e-34 --0.0018961958 --2.9323795e-34 -0.02481523 --0.0008606819 --0.009473813 -8.440097e-28 --3.8628792e-34 --3.0167965e-34 --7.6359235e-35 --0.011056959 -0.037767943 --0.008687608 -1.9371846e-34 --1.6369209e-34 -0.027749475 -0.049850903 --3.1882114e-34 -0.02743451 -0.06291002 -3.5412224e-34 -0.020244634 --1.01372e-34 --0.024064422 -0.006814851 --0.02366177 --1.599883e-22 --3.9166166e-35 -5.643816e-35 -2.1970747e-34 --0.014142189 -0.015166137 --0.026540387 --1.1679896e-34 --8.3216976e-35 --2.6196553e-34 -1.8163552e-34 -2.0933107e-34 --9.2503266e-35 --1.1417978e-34 --2.5695439e-34 -2.22189e-34 -2.0767055e-34 --7.802665e-36 --5.5463606e-06 -2.5928825e-34 -5.322769e-35 -2.9003413e-34 -2.5643703e-34 --7.5669464e-35 --1.4268513e-34 -2.3748916e-34 --1.0289915e-34 --3.469894e-35 --2.152119e-34 -2.1899666e-34 --2.0265114e-34 -2.279111e-34 -1.7446175e-34 -3.585143e-35 -1.430538e-34 -2.2783285e-34 -2.2609284e-34 --1.1293415e-34 -1.5307844e-34 -1.0919348e-34 -1.404252e-34 -8.7193947e-35 --3.5794974e-35 -2.634384e-35 --2.8804862e-34 --6.584805e-35 -1.8942318e-34 -2.007589e-34 -7.805645e-35 -0.015905805 -0.08112511 -3.1828408e-34 -0.02904145 --0.018801711 -1.6557295e-34 -0.022707561 -2.0507408e-34 --0.027346546 --0.0132643925 --0.08141286 --2.3102137e-13 -6.9697184e-35 -2.5057074e-35 -2.885601e-34 --0.01134036 --0.05490702 -0.06139091 --2.110088e-34 -4.665674e-34 -0.009979407 -0.01118798 --3.2166932e-34 -0.019633899 -0.012910488 --2.098543e-34 -0.0070341164 --2.6056547e-34 --0.019752014 -0.0007590399 --0.013485252 -3.7379558e-27 --9.2701557e-35 --3.848702e-34 -1.6975736e-34 -0.02017182 --0.020850837 -0.010864247 --2.0022955e-34 -3.4779636e-34 -0.013875675 -0.02319729 --2.5919106e-34 -0.038100295 --0.030857254 --2.518746e-34 -0.0039671496 --1.2730156e-34 -0.0027696164 --0.003518249 --0.020539973 -5.6576185e-28 -2.3632492e-34 -9.207735e-35 -8.8537563e-35 --0.021118011 --0.07668059 -0.041161798 --9.4872037e-35 -6.796518e-10 --4.5179773e-22 -6.620531e-34 --1.5611582e-34 -2.2326752e-34 -1.179013e-31 --6.40496e-34 -3.90476e-23 --2.323218e-34 --3.8662624e-06 -3.9480678e-05 --1.0057318e-32 -1.4474359e-10 --7.1704053e-35 --3.0741528e-34 -3.346581e-34 --5.0801907e-19 --3.4744746e-20 -2.0331858e-05 --3.0336281e-34 --2.9122436e-34 --0.017832262 -0.014482692 --2.0924445e-34 --0.011243111 -0.009335549 --3.2191105e-35 -0.008625429 --3.1559213e-34 --0.019357365 --0.020602927 -0.024677837 -7.925479e-29 --1.9613092e-35 -1.2584752e-34 -2.3227557e-34 --0.0025274544 --0.009231177 -0.016981484 -1.9034339e-34 -2.728429e-34 --1.4166838e-34 -2.8003582e-34 -1.4732049e-34 --2.5871418e-34 --2.123751e-34 --1.8589976e-34 --2.482353e-34 -9.50704e-37 --1.6524092e-34 --1.2280725e-35 --1.2692033e-35 -2.3030212e-34 -1.3159072e-34 --2.299807e-34 -1.5197966e-34 -4.7118956e-35 --8.834235e-07 -9.3912815e-35 --2.1077656e-34 --4.4523355e-34 -0.03605313 -0.01860424 -1.5769541e-34 --0.032878105 -0.014071201 --6.9499984e-35 -0.015227109 -2.0501214e-34 --0.017097538 --0.029549401 -0.042579457 -2.7770882e-28 --3.227962e-34 -3.1093267e-34 --1.7073564e-34 -0.01148721 --0.014650299 -0.005361177 -1.5311634e-34 -1.004977e-34 --0.016209891 --0.0024279566 --1.7041673e-34 --0.029073555 -0.06844291 --9.1246084e-35 --0.0076359026 --1.7118952e-35 --0.0035592755 --0.015348484 -0.053035747 --2.112438e-28 --1.908709e-34 -1.6498926e-34 -2.3953358e-34 --0.017704956 -0.022663314 -0.014104288 -2.5679521e-34 -4.4114076e-34 -0.003912947 --0.07490778 -3.0113784e-34 -0.07765484 -0.09735422 -3.8100375e-34 -0.0062770178 --2.9878015e-34 --0.009921499 -0.017464759 --0.045553215 --2.1358076e-27 -2.156275e-35 -2.5663358e-34 --3.5295246e-34 -0.0222531 -0.023978403 --0.05337012 -1.7091633e-34 --4.3201686e-34 --0.00061737106 -0.02947463 --1.448846e-34 -0.030956555 -0.014161778 -2.1985016e-34 -0.04921384 --1.6761389e-35 --0.01589427 -0.03766193 --0.07109145 --6.554203e-12 --2.0364815e-34 -1.6400498e-34 -1.5390229e-34 -0.07156132 --0.060321502 -0.007028575 -2.335891e-34 -1.5213755e-34 --8.487377e-35 --7.561294e-35 --1.645642e-34 --2.3217483e-35 --1.3469696e-35 -2.1490796e-34 -1.9562297e-34 -3.130718e-35 -5.708219e-36 -2.2772234e-34 -1.6623786e-35 -8.1117835e-36 --2.24929e-34 --2.679546e-34 -3.0090598e-34 --6.441994e-35 --5.820148e-35 -1.7997259e-34 -1.9520992e-14 -2.2422509e-34 --1.7056312e-34 --2.0933513e-34 --1.1973214e-34 -4.610073e-35 --2.2058347e-34 -2.0711476e-34 --1.8368748e-34 --1.0720582e-34 --4.7347994e-35 --4.174557e-35 -1.7153181e-34 -2.5186395e-34 --2.5877002e-34 --2.1994151e-34 --5.663036e-35 --9.1596437e-35 -1.8174789e-34 -1.1422389e-34 -1.4995039e-34 -2.6847786e-34 -0.011850388 -0.0060045123 --2.1639735e-34 -0.04718281 -0.0026929106 -6.3579376e-34 -0.007105019 --1.3604989e-34 -0.03319422 -0.027096337 --0.096433796 --3.2298903e-13 --2.6752624e-34 --2.3378018e-34 -2.5075898e-34 --0.047368415 -0.100838974 --0.041561604 --2.7175954e-35 -1.0075273e-34 --0.0038213988 --0.021884967 --1.4795132e-34 --0.012092801 -0.018925652 -3.1675348e-34 -0.024169354 --2.5105416e-34 -0.022082642 -0.013340835 -0.027325481 --4.598249e-26 --2.2782024e-34 -1.600593e-34 --1.3141474e-34 -0.01440839 --0.035810374 -0.002471669 -2.8190673e-35 -4.1901763e-34 -0.016012104 --0.0071265027 --2.7686563e-34 -0.007459929 --0.019861184 -5.223399e-34 --0.0059778523 --1.2333222e-34 --0.0027388895 -0.0061373306 --0.005853108 --4.8863196e-29 -1.8171624e-34 --2.6808053e-34 --2.7220874e-34 --0.016935544 --0.0063233017 -0.02143933 --2.9511245e-34 -3.8286334e-13 -2.2652946e-09 --5.194857e-33 --1.499356e-08 --4.4473066e-34 -7.6443564e-34 --4.6304265e-34 --9.424504e-34 --1.7745777e-34 --6.5191055e-18 --6.083859e-34 -1.4292303e-34 -2.3455814e-34 -1.0514283e-34 -2.8818958e-11 --1.097853e-34 -8.7013885e-10 --5.137498e-34 -3.297152e-33 -1.6608006e-34 -2.5062384e-34 --0.0016676177 --0.029371709 -2.3323424e-34 -0.030976927 -0.029165471 --3.5382837e-34 -0.005545179 --2.775382e-34 --0.007381118 --0.0016729815 -0.009109862 --1.49240215e-27 --2.5698977e-34 --2.0655188e-34 --1.6533272e-34 -0.009709411 --0.0056555863 -0.018467296 -1.5939651e-34 -8.4008873e-35 -3.396816e-35 --2.8281292e-34 -5.7361186e-35 -7.7031614e-36 -1.0254914e-34 --1.6234537e-34 -3.6697951e-09 --1.5967268e-34 --3.255043e-34 --1.9444578e-34 --1.2471159e-34 -2.2482431e-34 --2.9527116e-12 -4.4510616e-06 -1.4624011e-34 --1.3927843e-34 -2.3546722e-34 --6.577079e-35 -1.287438e-34 --1.5965998e-34 --0.007509904 --0.0074454173 --1.57789e-34 -0.013870851 -0.012324379 --9.0949025e-35 --0.019863617 --1.2852359e-34 --0.008000782 -0.010342862 -0.00037355733 -3.1755268e-27 -2.4746151e-34 -3.3172744e-34 -5.7323097e-35 -0.040295064 --0.003628994 -0.023729615 -2.9622435e-34 -2.9544565e-34 --0.01908172 --0.019213624 --2.9872507e-34 -0.0005700595 -0.07487578 --3.4611361e-34 --0.0067447615 --7.987048e-36 --0.0036431674 --0.0068595307 -0.048053473 -9.823755e-28 -4.452389e-34 --3.86136e-34 --1.5984914e-34 --0.0057215053 -0.015278815 -0.010890613 --2.3737921e-34 -3.120156e-34 --0.012902601 -0.015211564 -1.4719875e-34 -0.017347334 -0.027044008 -3.7016551e-34 -0.015663335 -3.292106e-34 -0.045053247 -0.02093322 --0.06655768 --4.841098e-24 -2.1020902e-34 -3.5307764e-35 --5.152938e-35 -0.047245707 --0.055154298 --0.0780187 --1.1214905e-34 -3.4142387e-34 --0.000126536 -0.035738014 -2.9621668e-34 --0.010503271 --0.068658136 -5.161735e-34 -0.05646531 -7.15544e-35 -0.005963502 -0.01911587 --0.08497058 --4.7459356e-13 --1.8253562e-34 --1.2692209e-34 -1.8378792e-34 -0.07312692 --0.086046256 -0.042101312 --1.0044442e-34 --2.5816905e-34 --1.7318668e-34 -2.728607e-34 --2.7568155e-34 -2.7234404e-34 -1.8230447e-34 -3.8811506e-35 --1.6186948e-35 --1.7418404e-34 --4.4432584e-35 -1.7553878e-34 -9.978257e-35 -2.1515991e-34 -2.9289967e-34 -2.3899857e-34 --2.2654818e-35 --4.5032638e-35 --1.2316205e-34 --1.7054954e-34 --2.1013615e-35 -1.3069936e-34 --1.5664436e-34 -1.8930698e-34 -1.6438666e-34 --2.5660096e-34 --1.136974e-34 -2.0582493e-34 -2.5642766e-35 -1.2319259e-34 --2.1765178e-34 --3.0280395e-34 --4.2174992e-35 --1.8935487e-34 -1.9839883e-34 -2.5894377e-34 -3.5409637e-34 -1.1882537e-34 -3.2138238e-34 --1.5964572e-34 -1.2870318e-34 -6.1058708e-34 -0.001784612 -0.0664197 -2.337155e-34 -0.0017679089 -0.022081336 -2.2716451e-34 -0.009616854 --1.1997467e-35 -0.0102596115 -0.032587517 -0.005554212 --6.605182e-22 --7.9784544e-35 -3.3026405e-34 --2.4288298e-34 --0.06384654 -0.11424909 --0.07308758 --2.9921915e-34 -2.8713119e-34 --0.022669135 --0.012126564 -2.1049653e-34 --0.0043269056 -0.04855562 -4.110458e-34 -0.038813155 -9.5850395e-35 --0.004530255 --0.012079428 -0.04926914 -3.0351412e-27 -9.434053e-35 --4.798013e-34 --2.270943e-34 -0.0071498505 --0.029938417 -0.0061742533 -2.3334366e-34 -2.4266974e-34 --0.013529815 -0.010618899 -5.047608e-35 -0.010184672 -0.0065723853 --4.7608867e-34 -0.0032415236 -2.8366463e-34 --0.0060261325 --0.008037677 -0.00982634 --5.022325e-28 -1.4515548e-34 --4.8261826e-34 -1.1510842e-34 --0.014924539 -0.012440794 -0.025395896 -1.8269758e-34 --3.2344427e-09 --8.448445e-34 -7.617813e-34 --1.471786e-34 --5.166092e-34 --2.0237972e-34 --6.6474206e-35 -3.4495462e-33 -5.8729994e-35 -6.516118e-34 --1.0098745e-34 --4.6266383e-34 -2.2766534e-34 --2.4719544e-34 -5.163954e-34 -1.8325929e-34 -7.989152e-34 -4.743959e-34 -6.647075e-33 --1.8465666e-34 -1.2390523e-34 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-2.1295102e-34 --0.0057776426 -0.009884691 -0.010501415 -4.8318963e-28 -2.110616e-34 -1.0603765e-34 --1.22341e-34 --0.021414455 --5.7678353e-06 --0.01871424 -1.8218157e-34 -2.5565468e-34 -0.0111397905 -0.010789823 -6.4386796e-35 --0.016694762 -0.023327267 --1.5163258e-34 -0.012825893 -8.124241e-35 --0.014171771 --0.009079962 -0.025351593 -3.099028e-28 --3.0134183e-34 --4.722367e-34 -2.542862e-34 --0.010067935 -0.010590724 --0.0022485002 -4.4826696e-35 -5.0944933e-34 --0.0078066825 -0.015968282 -6.105899e-35 --0.01640188 -0.053859875 -4.273617e-34 -0.015659614 --1.0768164e-34 -0.0043435693 --0.0029675583 -0.048027556 -3.833411e-27 -1.6140101e-35 --8.649753e-35 --8.304438e-35 --0.051554505 -0.0444847 --0.01396644 --2.35022e-34 --1.5997923e-34 -6.1779575e-35 --2.155379e-34 -2.644366e-34 --1.3911195e-34 --3.0267216e-34 -1.3835394e-34 -2.5508925e-34 --1.6870768e-34 -2.3245874e-34 --1.7625037e-34 --8.733223e-35 --8.606392e-35 --1.7800897e-34 -1.9767751e-35 --1.9657418e-34 -7.6089015e-35 --9.981577e-36 -1.3011106e-34 -4.568428e-35 -8.3223324e-35 --3.3386795e-36 -2.1887983e-34 --2.0572547e-34 --1.473271e-37 -8.303193e-35 --2.7849922e-34 -6.64414e-35 --1.2279841e-35 -3.250466e-34 --2.230297e-34 -2.2947142e-35 --2.5709306e-34 --1.0304696e-34 --2.6331735e-34 -8.36001e-35 --1.9464706e-36 --1.8132218e-35 -3.7765924e-35 -2.6678864e-34 --3.123255e-34 -0.026524141 -0.06398827 -1.4281897e-34 --0.02317788 -0.007834377 --1.8917926e-35 -0.015634663 --3.0922825e-34 --0.015976463 --0.0065366183 --0.0051788515 --6.0770013e-28 -2.0652803e-35 -1.6853625e-34 -8.875227e-35 --0.02327681 --0.04008949 -0.03998599 -1.813491e-34 -1.4742862e-34 -0.0004671343 --0.04276459 --3.2411766e-34 --0.0063541895 -0.005905431 --3.5520526e-34 -0.009065315 --1.09551e-34 -0.03043025 --0.009898911 -0.029930623 -5.5262928e-28 -2.9768703e-34 -2.0705627e-35 --1.8564409e-34 --0.00838665 --0.002915627 --0.010100657 -8.9844485e-35 -1.8907653e-34 -0.01497769 --0.022311939 -1.1484098e-34 -0.101659365 -0.061698154 --1.9946215e-34 -0.013957939 --3.77174e-34 -0.028110245 -0.053202596 --0.04802805 -4.587724e-27 --2.4530818e-34 -2.8373203e-34 -2.1706288e-34 --0.028364148 --0.04738695 -0.00023506489 -2.9593254e-35 -2.4504381e-11 -3.102362e-13 -4.91146e-13 -2.2671819e-35 -1.1189438e-13 -1.0864609e-12 --5.1769947e-34 -2.4699486e-13 --1.5060516e-35 --1.2779284e-05 -2.399081e-34 -1.299525e-12 --0.00011622393 -4.4646377e-34 --2.1907436e-09 --2.7389165e-34 --3.71328e-21 --1.0468846e-12 -1.1099144e-13 --3.9136865e-35 -5.856217e-34 --0.038273048 -0.03914137 --2.2416416e-35 --0.008946542 --0.03831434 -1.8268087e-34 -0.028719928 -3.5895832e-34 --0.03009501 --0.045003064 --0.019541988 -1.5831972e-27 -6.4070914e-36 --1.8696513e-34 --2.2983415e-34 -0.0021450117 --0.026875932 -0.051500846 -7.603993e-35 -1.9330123e-34 -1.8879312e-34 -1.7961369e-10 --1.0665683e-35 --2.81338e-34 --1.0260156e-34 --1.7689059e-34 -2.1553235e-34 --1.1554848e-34 -2.190047e-36 -1.8156938e-34 -2.4022513e-35 --8.1678307e-35 --9.879275e-35 --2.1524514e-34 -6.098846e-35 --8.249546e-35 --2.6019012e-34 -6.5651337e-35 --7.175682e-35 --4.1726376e-34 -0.02539765 -0.02640673 -2.771325e-34 -0.013583178 -0.016159305 --1.0823183e-34 -0.020432945 -2.8230753e-34 --0.023161925 --0.010166234 --0.0047513694 --1.1439061e-27 -2.8795704e-34 -4.1727878e-34 --3.5482997e-35 -0.013627914 --0.045426633 -0.009053258 -2.0921917e-35 -1.7424752e-34 --0.006618444 -0.026307035 --7.699247e-36 --0.03721652 -0.027030721 --4.910163e-35 -0.0052449275 --2.3949793e-34 --0.012166242 --0.006396668 -0.034282573 -8.848956e-28 --1.1543345e-34 -3.796809e-34 -9.392241e-35 --0.014582997 -0.0014294486 -0.033906545 --1.0518017e-35 --6.7932415e-35 --0.020014446 --0.027605342 --3.3950114e-35 -0.036626954 -0.022940122 -2.3579356e-34 --0.0015600588 -1.2914514e-34 -0.010307077 -0.0023335938 --0.018212052 --7.4941237e-28 --3.7789756e-34 -2.1920841e-34 -2.9314364e-35 --0.01026788 -0.030475508 --0.012443871 --4.455273e-35 -3.3334313e-34 --0.010384159 --0.038375776 -3.1067586e-34 -0.012062939 --0.027157811 -2.9760985e-34 -0.024011089 --2.445123e-34 -0.078456424 -0.026720116 --0.082870975 --4.9535603e-22 --3.4098724e-34 -1.2510076e-34 -2.5558585e-34 --0.0411158 -0.12900473 --0.065942705 -1.1802563e-34 -9.4625573e-35 --1.4210372e-34 --2.463634e-35 -1.6886895e-35 -3.279982e-34 -2.5234601e-34 --2.557311e-35 -2.132118e-34 -1.9526346e-34 --1.8728063e-34 --1.8574096e-35 --1.7603875e-34 --3.1070726e-35 --2.0078568e-34 --2.0820204e-34 --1.0247315e-34 -1.0860833e-35 --1.3152037e-35 --6.0474556e-11 --1.1351708e-34 -1.5122625e-34 -2.057797e-35 -9.138511e-35 --2.0548376e-34 --2.8446892e-34 -1.8357493e-34 -2.753495e-34 --5.4514744e-35 -1.5994507e-34 --2.3561673e-34 -8.411493e-35 -2.2549506e-34 --1.6375672e-34 -3.243569e-34 -5.186869e-37 --2.2470539e-34 -1.7592437e-34 --3.0270215e-34 --2.942378e-34 --3.4853704e-34 -1.0037197e-34 --0.012269943 -0.074906185 --8.8762744e-35 -0.023551121 -0.027431797 --9.249024e-35 -0.035037283 -1.3977377e-34 --0.018339625 -0.03303218 --0.06529544 --3.1931903e-15 --2.0299473e-35 --3.4174114e-34 -1.966177e-34 -0.06549243 --0.017847093 -0.036618132 --2.2571535e-34 -5.2473925e-34 -0.007894373 --0.05006067 -1.6795587e-34 -0.020523991 -0.016043788 -4.6626264e-34 --0.00026613488 --7.4969345e-35 -0.02527701 --0.015680745 --0.0135960495 -3.504709e-27 -1.1152194e-35 -1.0684349e-34 -2.030835e-34 --0.016758151 -0.02834057 -0.001233742 --3.3338434e-34 --3.2663726e-34 --0.02401517 -0.05513015 -3.9320849e-35 -0.09286503 -0.025133569 -5.1923046e-34 -0.011414286 -3.417119e-35 --0.0058960775 -0.005724325 --0.0015274509 -9.280141e-28 --2.801967e-34 --4.713096e-34 -1.0832933e-34 --0.038781706 --0.025202218 -0.0075804912 --1.0384492e-34 --3.3249158e-08 --3.6825417e-31 -8.668022e-34 --1.5402255e-34 --3.0988823e-34 --6.622015e-34 --9.2268225e-35 --4.1085805e-19 --2.4462267e-34 -2.2024944e-34 -4.6586734e-11 --3.4840477e-34 --5.5204057e-11 -3.6431141e-34 -1.21336e-34 --3.650895e-11 -4.1847675e-13 -9.0848375e-34 --1.1471062e-34 --2.2373117e-34 -2.1475986e-34 --0.023321107 -0.02139977 -2.9018534e-34 --0.022789484 -0.005150852 -3.263862e-34 --0.00096949906 --1.5017199e-35 --0.011804547 --0.011702886 -0.0051437933 -3.498601e-28 --1.5351813e-35 --3.17897e-34 -1.6429199e-34 --0.016626017 --0.009586341 -0.06984296 --9.978978e-35 -4.9550324e-35 -1.6295336e-34 -2.4885785e-34 -1.3693407e-34 --1.6201214e-34 -9.1444e-35 -1.300572e-34 --7.243387e-35 --2.5972607e-12 --1.7154733e-35 --5.6552666e-35 -1.5522587e-34 --1.2119126e-34 --2.3302789e-34 --2.5764375e-34 --2.1311795e-34 --9.966282e-35 --2.555357e-34 -9.06451e-35 -1.919067e-34 -5.6352396e-34 -0.0014353213 -0.02664983 -4.3861724e-35 --0.006473071 --0.040518083 -2.936018e-34 --0.007935476 --2.3260354e-34 -0.009146651 --0.004493427 -0.0064242785 -5.1842447e-28 -2.473129e-34 -9.823023e-36 --2.6360344e-34 -0.002528331 --0.037211906 -0.055176634 -6.2858355e-36 --1.2512123e-34 --0.010123968 -0.0081639495 --1.7429128e-34 --0.036745243 -0.03687582 -2.2431724e-35 -0.0019661027 -1.6028115e-34 -9.9119774e-05 --0.0031370637 -0.038962707 --6.432765e-28 --4.4291824e-34 --4.0543103e-34 --2.6604436e-34 --0.006043498 -0.009703761 -0.025402216 -1.216577e-34 --5.185164e-34 --0.009964138 --0.0061493455 --2.2987612e-34 -0.10442879 -0.08305772 --4.040497e-34 -0.0038792181 -3.5797476e-34 --0.03632263 -0.031699732 --0.062409725 -4.939577e-28 --7.366965e-35 --1.3435815e-34 --1.5725183e-34 -0.017683303 --0.03731995 --0.014211107 -2.5570423e-34 --1.5060484e-34 -0.038010303 --0.068644546 -1.5671032e-34 -0.05655528 -0.029022772 -3.864472e-34 -0.0499118 -1.8994463e-35 --0.012336607 -0.021453638 --0.054683354 --8.8718824e-11 --1.9002204e-34 -3.8223926e-34 --1.8703562e-34 -0.0538491 -0.041454308 --0.043712042 --7.340836e-35 -4.8699847e-35 --3.0533466e-35 --2.6376463e-35 --2.3643554e-35 -3.4920677e-35 -2.9294945e-34 -2.1043406e-34 -3.2252626e-36 --2.7957847e-34 --4.1539514e-35 --4.6866535e-35 -1.4159375e-34 --2.4091862e-34 -2.6031616e-34 -9.494298e-37 --2.8656123e-34 -9.1396844e-35 -7.4846894e-35 --6.9089956e-35 --1.0281213e-34 --2.4321254e-34 -2.3787873e-34 --1.6170252e-34 -2.863203e-34 --2.0992906e-35 --2.031788e-34 -1.0714631e-34 -6.243893e-35 -6.2752205e-35 -2.4249346e-35 --5.3208247e-35 -2.6097403e-34 -1.4621552e-34 -2.542676e-34 -3.7442847e-35 --1.7722873e-34 --6.307637e-35 --3.421692e-35 -4.20551e-35 --1.3304042e-34 -3.5904402e-35 -0.013490111 -0.07437455 -2.0357573e-35 --0.025429951 -0.06901368 -2.5629322e-34 -0.026403276 --2.8165212e-34 --0.0048703514 -0.06190473 --0.02580655 --6.5191217e-18 --3.1970172e-34 -1.6602403e-34 -1.5766572e-34 -0.01440654 -0.03744021 --0.037172392 --2.6225084e-35 --2.0302225e-34 -0.020190917 --0.042027127 -5.733771e-35 -0.0113137085 -0.029303182 -7.198923e-35 -0.021349799 -9.67878e-35 --0.00025807187 --0.009611765 -0.016675478 -6.2814167e-28 -2.6191208e-34 -4.4815906e-34 --1.984435e-35 -0.007511338 -0.019946871 --0.0038789876 --4.77553e-35 -2.8784998e-34 --0.017870443 -0.012499404 -5.716976e-35 -0.02416659 -0.0051380224 -2.0025956e-34 -0.0072530536 -2.3516148e-34 -0.007871636 -0.011618181 -0.015191455 --9.526623e-28 -1.8301195e-34 --3.3405203e-34 -1.0050443e-34 --0.0124903945 --0.010568936 --0.010259605 --8.373935e-35 --5.5940036e-10 -3.960079e-34 --2.0632652e-33 --2.2613857e-34 --7.503234e-33 --5.044678e-34 --2.245848e-34 --5.0107063e-34 -1.2132351e-34 --6.943792e-34 --3.6245461e-13 -3.978476e-33 --1.72624e-22 -2.0723672e-34 --5.231317e-35 --1.7826234e-34 --6.8479525e-34 --4.6730602e-34 --4.03005e-34 --1.0227083e-34 -2.0232485e-34 --0.030050714 -0.007722227 --1.9107459e-34 -0.030439248 -0.03897753 --2.1482024e-34 -0.010549337 --3.3531555e-34 --0.008914079 --0.020154564 -0.00048529558 --2.1503277e-27 --1.6711456e-34 --2.2957393e-35 --2.8520687e-34 -0.0008842427 --0.019041248 -0.03382155 --1.2969642e-34 -1.9011376e-34 --2.5774624e-34 -9.2690255e-35 --1.2488537e-34 --1.8425204e-34 -5.697061e-35 -2.4626276e-34 -3.9857593e-35 --1.1332181e-34 -1.1914269e-34 --2.494928e-34 -2.2868389e-34 -7.7053196e-35 --4.907924e-35 -1.9547158e-34 -5.2212543e-35 -1.6026185e-34 -1.2205084e-34 -1.097591e-34 -1.6278682e-34 --1.3412089e-34 --0.0038521073 --0.00608672 --2.8844402e-34 -0.01564193 -0.003937118 -1.0889205e-34 --0.017960826 -1.0239771e-34 --0.010085683 -0.018675521 -0.0015444057 --9.608638e-28 --3.1680457e-34 --3.502786e-35 -3.5645952e-34 -0.035943568 --0.008530628 -0.031048551 -1.7770592e-34 --1.9458463e-34 --0.009689432 --0.023680005 --1.6206099e-34 --0.00794574 -0.04904542 -6.8587237e-35 --0.0057335026 --9.2830465e-35 -0.015441945 -0.00624247 -0.04545691 -1.4226239e-27 --3.3915537e-36 -3.775607e-34 -2.0945078e-34 -0.007606417 -0.030755794 --0.0025196774 -1.6308428e-34 -1.586966e-34 --0.007017967 -0.014810557 --9.686133e-35 -0.027541565 -0.008713894 -3.548315e-34 -0.0031842287 --1.424684e-35 -0.0061283754 -0.020809742 --0.06044707 -4.271352e-21 -2.0185095e-34 -3.217616e-34 -9.813768e-35 -0.029113524 --0.06707699 --0.025468409 --1.5569838e-34 --2.5145475e-34 --0.0017809587 -0.002350239 --3.1186173e-34 -0.02687386 --0.007006315 -3.6894692e-34 -0.024119612 -6.900486e-35 -0.0061897156 --0.010076966 --0.0055307904 --2.441853e-15 --1.8462296e-34 -1.3708033e-34 --2.226902e-34 -0.06744584 --0.019949807 --0.019630935 --2.047881e-34 --1.731347e-35 --1.1535741e-34 -3.3779483e-35 --2.4644643e-34 -1.5381424e-34 --1.5809846e-07 --1.9605733e-34 -1.3051594e-34 -2.1523017e-34 --1.8775115e-34 --3.337325e-36 --2.6769652e-34 --3.5046738e-10 -7.3959166e-35 --5.4218575e-35 -1.8191487e-34 --2.8625023e-34 --4.556742e-35 -1.5910316e-34 --3.152529e-35 --2.46373e-34 -6.771706e-35 --2.5764143e-34 -1.3650336e-14 --1.4580814e-35 -2.1831903e-34 -1.6637323e-34 --1.1472866e-34 -1.7622864e-35 --3.6264405e-34 --2.5715583e-34 --7.334977e-35 -9.012552e-35 -3.9393754e-35 --2.2353646e-34 --4.3718288e-36 --1.7300235e-34 -1.3120446e-35 --1.6985907e-34 -1.392071e-34 --4.6566364e-34 -0.0473281 -0.053095594 --1.0868299e-34 --0.043783892 -0.046137188 -3.5134378e-34 -0.020222556 --1.1002942e-34 -0.01780783 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-2.4995234e-34 -2.681039e-34 -3.3673075e-08 -5.766436e-10 -3.4212536e-07 --2.4172852e-34 --9.74646e-35 --0.05241467 -0.042068075 --5.1944826e-36 -0.0048104622 --0.030622631 -2.594699e-34 -0.028832665 --3.7581069e-34 -0.0064637815 --0.013571704 --0.028081406 -6.723626e-28 -2.1321606e-34 -1.1835103e-34 --2.7801918e-34 -0.022095291 --0.060230557 -0.041024078 -1.1684249e-34 -1.7620256e-34 -9.4480726e-35 -3.716848e-10 --4.6710472e-35 -3.834547e-34 -1.0913877e-34 --4.0038954e-34 --2.200114e-34 --2.5098494e-34 --1.3967959e-34 -2.3747006e-34 -4.8408327e-35 -8.096265e-14 --2.0694863e-34 -7.599075e-35 -1.4392507e-10 -4.136448e-09 -1.5508288e-34 --3.9325796e-34 -1.4188502e-34 --2.3715842e-34 --0.008185507 --0.030048095 --1.6955402e-34 -0.016487757 -0.025193028 -4.960699e-34 -0.011398548 -1.2433902e-34 -0.018010851 --0.0070196046 --0.0027880655 --4.4938632e-27 -1.9219265e-34 -9.943821e-35 -3.5095665e-34 -0.017474996 --0.01886551 --0.02410633 -2.0864437e-34 -4.128537e-35 --0.00868774 -0.023553759 --2.879467e-34 -0.009188353 -0.01672823 -2.781576e-34 -0.017233644 --3.3535573e-34 -0.000941082 -0.002863361 -0.001772191 --1.3641778e-28 -3.2533367e-34 --3.95137e-34 -4.8439413e-35 --0.0028632642 --0.026259221 --0.009900967 --1.7337844e-34 --1.8841753e-34 -0.020626888 -0.0067037097 -2.8044095e-34 --0.022319015 -0.020376215 -4.017653e-34 -0.01698501 --2.0924718e-35 --0.014652294 --0.009340677 -0.01830183 --2.0095053e-27 --2.2364728e-34 --6.148536e-36 -5.226162e-35 --0.0035196058 -0.0069803684 -0.0027088337 --9.3663505e-35 -1.8828786e-34 --0.017922875 -0.008488002 -1.8336144e-34 --0.0061029354 -0.008925596 -2.0250393e-34 --0.0076954574 --3.607566e-34 -0.0035268592 -0.0039246217 -0.060433418 --4.030299e-27 --2.0366345e-35 -5.508928e-35 --1.660938e-34 --0.01449089 -0.033937387 --0.015733922 -7.8449876e-35 -1.2916806e-07 --2.1258511e-05 --2.3693937e-34 -2.7749307e-34 -2.9398113e-34 --2.8220056e-34 --1.2959353e-34 --1.5119319e-34 -1.8370286e-34 -2.5696775e-34 -1.8392832e-34 -1.7818185e-34 --5.8063176e-35 --1.2044262e-34 --2.8368637e-34 --4.559657e-10 --2.1056993e-34 --2.6150819e-34 --1.2686348e-34 --7.680187e-12 --1.2979512e-34 -1.786889e-34 --7.3713563e-35 -2.0341746e-34 --1.5330503e-34 -2.5154764e-34 --3.5434543e-34 -2.793414e-34 -2.9480638e-34 -5.5454497e-35 --4.185638e-35 -7.263141e-35 -9.029717e-35 -2.2142603e-34 --3.941373e-35 -4.820877e-35 --3.0810832e-34 -6.899818e-35 --2.7560918e-34 --1.5931703e-34 --1.8320936e-34 --0.0006061785 --0.0135666225 -2.1879453e-34 --0.024495926 -0.012730449 --7.0939817e-34 -0.0013506641 --1.108005e-34 -0.011225925 -0.0117615415 --0.008053589 --1.795095e-25 -9.516025e-35 --4.8856117e-34 --1.1572894e-36 -0.008376064 -0.07578979 -0.00362627 --9.349834e-35 --2.8487768e-34 --0.012769232 -0.003275481 -2.418698e-34 --0.017179033 -6.851461e-05 --2.5672528e-34 --0.008432181 -1.9481146e-34 -0.0010269182 -0.0023615828 -0.061495055 --5.318767e-28 --1.0644313e-34 --1.5159074e-34 --4.3071026e-35 --0.0014949123 -0.03344968 --0.043838613 -2.4245526e-34 -2.352448e-34 -0.12772706 --0.10471465 -2.002852e-34 -0.056439456 -0.033683848 -3.7118404e-34 --0.03014004 -5.449175e-35 -0.033115722 -0.055245027 --0.06767353 --2.8896594e-26 -2.3764877e-34 --3.785449e-35 -3.0822692e-34 --0.0099034915 --0.017032683 --0.047681134 -7.024845e-09 --1.174814e-11 -2.4489777e-24 -5.2214394e-34 -1.3967114e-34 -8.640309e-22 --4.9423618e-21 -4.18008e-34 --2.7455122e-21 -6.704579e-35 -5.7059135e-22 -7.493286e-09 -7.685769e-21 -3.7678682e-09 --3.2002026e-34 --2.688745e-34 -1.0781673e-34 -5.114515e-21 --2.6648674e-21 -1.4027545e-21 -1.5593362e-34 -1.5855674e-34 --0.09231109 -0.09236729 --6.357829e-35 -0.014212666 --0.04359317 -4.4742864e-34 -0.026421271 --2.6887597e-34 --0.017977707 --0.01573347 --0.016897531 -4.7902283e-29 --2.2078064e-34 -3.129028e-35 -2.5596137e-34 --0.015174896 --0.043159254 -0.09701235 --5.5642576e-35 -2.4274574e-34 --1.6855487e-34 --7.3958064e-35 -2.3264282e-34 --2.6415599e-34 -2.6945673e-34 -1.1009974e-34 --1.2367303e-34 --5.98947e-35 --1.340154e-34 --1.4510247e-34 --1.1442152e-34 --1.4462125e-34 --2.0964905e-34 -1.8181968e-34 --1.5006143e-34 --8.896371e-35 --1.0954455e-34 -1.1768324e-34 -2.519836e-34 -3.12178e-34 --0.0038202084 -0.033740856 --1.7665541e-34 -0.059680603 --0.020817969 -2.389412e-34 -0.01635101 --1.8515875e-34 -0.003251411 -0.0031818775 --0.012682173 --7.0079776e-27 --1.9563298e-34 --3.051004e-34 --7.518657e-35 --0.002542809 --0.0746552 -0.017762458 --2.6709387e-34 -3.8262995e-34 --0.018303378 -0.02542768 --1.746184e-34 --0.03311587 -0.036889143 --3.0023023e-34 -0.0073892735 --4.7972154e-35 --0.005605946 --0.010488388 -0.041975252 -1.8626406e-27 --2.159679e-34 -3.5498212e-34 -7.111121e-36 --0.016626155 -0.0025780024 -0.020492587 -1.4585076e-34 -3.196331e-35 --0.01644478 --0.010954178 -2.2927166e-34 -0.059392873 -0.010641309 -1.230548e-35 -0.00253172 -1.0388455e-34 --0.0032276283 --0.0055765253 --0.015555263 -4.4307716e-29 -1.1646222e-34 --3.3598019e-34 -2.3906899e-34 -0.012887045 -0.0019817152 --0.020903898 -3.3362536e-35 --3.9591844e-34 -0.039187938 --0.041677978 -8.484576e-35 --0.021327805 --0.003862822 --5.801705e-35 --0.03262889 --2.137513e-34 -0.0416411 -0.008410873 --0.009965958 -2.0260424e-20 -5.8732617e-35 -1.679916e-34 -2.2107883e-34 --0.03552913 -0.09913387 --0.030776447 -2.3546584e-34 --2.3148535e-34 -7.622461e-36 -1.3288302e-34 -1.6872821e-35 -2.742442e-34 --1.4843087e-34 --1.4236531e-34 -1.749451e-34 --1.4148723e-34 -1.8728952e-34 -2.5131886e-34 --1.5170875e-34 -2.6370792e-34 -2.5123584e-34 -9.893466e-35 -1.2147384e-34 --1.7416602e-34 --2.7267759e-34 --2.2971118e-34 -3.7712577e-34 -3.9315557e-35 -2.307759e-34 --1.721843e-34 -2.228087e-34 --2.6738316e-34 -2.2282327e-34 -5.0798483e-35 -2.80285e-34 --6.869837e-35 -2.054463e-34 --1.1678637e-34 --1.1471641e-34 --1.8612346e-35 --3.7426418e-34 --1.0032601e-34 -3.012015e-34 -1.9752057e-34 -6.0510087e-35 -1.9030269e-34 -1.3074621e-34 -5.6990014e-34 -0.06566976 --0.044497233 --2.995519e-34 --0.07571323 --0.03050821 -6.50842e-34 -0.0032781393 -8.388416e-35 -0.016803535 -0.01514564 --0.059553694 --7.063634e-15 -7.972945e-35 --2.4822202e-34 -2.7156337e-34 -0.030328682 -0.0786473 -0.037898134 -1.7903231e-35 -5.492464e-34 --0.014833839 --0.024327906 --1.7151071e-34 -0.0018439025 -0.02762817 --4.2610844e-34 --0.012042146 -5.634721e-35 -0.040772866 --0.0051206555 -0.040870264 --2.38888e-27 -1.3573973e-34 -1.0646629e-34 -3.217214e-34 --0.011627471 -0.026974155 --0.03302496 -1.2334081e-35 -1.8784602e-34 -0.08062918 --0.058278468 --2.6314924e-34 -0.08730608 -0.048352778 --2.8806952e-34 --0.019461919 -9.936507e-35 --0.008643823 -0.013259311 --0.01101995 -1.6333192e-26 --5.7048296e-35 -6.058843e-35 --2.2390162e-34 -0.0042034546 --0.023594966 --0.061250612 --2.369343e-34 -8.984833e-06 -2.0416705e-06 --3.3880392e-34 --2.386327e-35 -1.7317348e-09 -5.2091885e-21 --2.713349e-11 --4.3109154e-08 --3.3577482e-34 --4.3456318e-08 -1.704754e-10 --9.427141e-21 -1.687772e-07 -1.2109135e-34 -6.660345e-07 --1.0365718e-34 -6.9813604e-09 --6.809235e-11 -5.6587094e-08 --2.6757615e-34 --9.083059e-35 --0.041193034 -0.04451116 --1.3185557e-34 -0.00011866902 -0.0048531285 -4.0962525e-34 -0.009079114 -2.675553e-34 --0.0034072085 --0.011189475 -0.009114215 -1.5684403e-28 -2.8307913e-34 -2.3183015e-34 -1.2490487e-35 --0.025149731 --0.008286108 -0.019599227 --1.7847163e-34 --1.6164379e-34 -2.7412896e-37 --2.0633687e-34 -3.3496492e-35 --1.975657e-34 --1.1436371e-34 --2.4416707e-34 --1.7608221e-05 --9.7697815e-36 --9.0504777e-35 -2.219888e-34 -6.333715e-35 -4.5167544e-35 --1.9852965e-34 -2.6752552e-35 -2.6825442e-34 -2.466595e-34 -1.0781377e-34 -6.0425484e-35 -6.958395e-35 --3.0992515e-34 --0.03748574 -0.024294954 -9.735862e-35 -0.0323476 --0.020693813 --4.7541615e-34 -0.0021351778 --1.0735509e-34 -0.019914407 -0.005145971 -0.005546019 --1.3621664e-28 --2.8738865e-34 -2.4340367e-35 --2.0067638e-34 -0.0070063393 --0.001462729 -0.021357816 --1.2357607e-34 --2.6722564e-34 -0.00022186064 -0.015292222 -2.5411793e-34 --0.040288076 -0.053562403 -2.0341824e-34 --0.0003335252 --2.011055e-34 --0.0031565249 --0.007853001 -0.06436356 --1.5370981e-27 -9.502306e-35 -5.1697456e-34 -2.9486225e-35 --0.013731173 -0.012662564 -0.0020699038 -1.8944874e-34 -3.7180498e-34 --0.060051344 -0.018219301 --1.6294503e-34 -0.13318962 -0.01897181 -1.8172041e-34 --0.00391051 --1.8012001e-34 -0.004497148 -0.023233315 --0.023039356 --3.2425172e-27 -1.9543268e-35 --2.8414518e-34 -2.624561e-35 --0.014124512 --0.052926466 --0.05121599 --7.178946e-35 --5.189991e-34 -0.11841258 --0.10296716 -2.1660436e-35 --0.02551897 --0.00084572844 --2.3928673e-34 --0.020410031 --1.199744e-34 -0.079867505 -0.03716201 --0.01000864 --1.4616695e-11 --1.3075024e-34 --8.7143603e-35 --1.440176e-34 --0.046616234 -0.035363097 --0.031411696 -2.0547972e-34 --1.956412e-34 -4.1235637e-10 -1.798286e-35 -1.5215515e-34 -1.2735664e-34 --1.6872752e-35 --9.4980357e-35 --1.9432382e-34 -2.3894173e-35 --1.3052983e-34 --3.3735678e-35 --4.4335158e-35 --2.430938e-34 --1.3115101e-34 --2.3935453e-34 -4.917938e-35 -2.7208653e-35 --1.2760035e-34 -9.301944e-35 -5.5134713e-08 --7.3909207e-37 --1.4109978e-34 -6.542534e-35 -2.1937383e-34 -2.4523604e-34 -6.9349185e-35 --1.5202825e-34 --3.2310891e-34 --1.3040934e-34 --2.2376233e-34 --2.228876e-34 --1.5988491e-35 --2.3683915e-36 --3.3607016e-34 -9.245424e-35 -3.0899081e-34 --1.0369378e-34 -2.023965e-34 --2.580727e-34 --1.3294366e-34 -8.2964044e-36 -0.0550893 -0.017385375 --2.4884331e-34 --0.09427978 --0.062359583 -4.5387136e-34 --0.011992723 -1.896449e-34 -0.032381073 -0.030202314 -0.0018201085 --1.3370888e-11 -3.403411e-35 --1.4508017e-34 -4.1412556e-34 --0.06552913 --0.011050763 -0.066226974 -3.173341e-35 --8.2583483e-35 --0.0059203445 --0.03020273 -2.3991392e-34 -0.0023661836 -0.043298982 -4.888624e-35 -0.007139265 --2.263179e-34 -0.021488063 --0.010824712 -0.05506447 --5.3779167e-27 -1.7667985e-34 -2.5375991e-34 --7.9775653e-35 -0.014640736 -0.009851015 --0.029414533 -1.1281697e-34 -2.7245397e-34 --0.0127488505 --0.015618843 -2.0275133e-34 -0.041860614 --0.015266669 --2.8660788e-34 -0.013488093 -7.3932315e-35 -0.009711131 --0.0072338413 --0.014959314 --1.2805158e-25 --3.957537e-35 --1.2953881e-34 --3.44326e-34 -0.0043344153 --0.00045764702 --0.0022285688 -1.2978009e-35 -1.554415e-34 --2.9280095e-35 --7.063252e-36 --4.130895e-06 -2.3192797e-34 -3.676344e-34 -1.37240446e-14 --7.937232e-35 -2.2178433e-35 --5.6397574e-34 --5.329985e-35 -7.656171e-34 --9.046061e-34 -4.10116e-34 --4.1881835e-34 -1.5556123e-34 -1.9123971e-34 --9.868275e-35 -8.667317e-34 --3.1422222e-34 -4.410136e-34 --0.023349097 -0.046137188 -2.6285762e-34 -0.016195767 -0.021499712 --5.9075304e-34 -0.017320918 -1.1949006e-34 --0.0082235355 --0.028411856 -0.034136515 -2.8339038e-28 --7.026484e-35 --4.0049887e-34 -1.448235e-34 --0.022878323 --0.012933513 --0.0062760697 --3.142358e-35 --1.3910132e-34 --3.1436245e-34 -1.3666031e-34 --8.844089e-35 -1.5205295e-34 --6.205164e-35 --3.5126735e-11 --2.3563592e-34 -1.7496503e-34 -1.9899356e-34 --2.267154e-34 --2.658988e-34 --2.1173702e-34 --1.6822077e-34 --3.2328643e-35 -1.5966e-34 --3.8469086e-35 -7.2684604e-35 --4.539796e-35 --2.86485e-34 -2.095465e-34 -0.0023667242 --0.0037882896 -1.3653373e-34 --0.0065491595 -0.011660296 --3.0505849e-34 --0.014784689 -2.6846314e-34 --0.0019605916 -0.014518816 -0.011064006 --5.9089486e-28 --1.8186196e-34 -4.336216e-34 -1.8277398e-34 -0.021088853 -0.0028898953 -0.025831778 --1.4041907e-34 --2.1461235e-34 --0.006147911 -0.009625974 --1.636542e-34 -7.651097e-05 -0.06362154 --6.4619285e-34 --0.0014713095 --2.7100457e-34 --0.012480454 --0.0072370106 -0.03318345 -1.0261434e-27 --8.592758e-35 --4.276126e-34 -1.2906023e-34 --0.003014907 -0.019477854 --0.0083613545 -1.6296344e-34 -2.285599e-34 -0.0018933599 --0.013508005 -1.888571e-34 -0.052429017 -0.01858113 -2.9127963e-34 --0.01236776 -3.3214734e-34 --0.0492574 --0.0031500554 --0.02414168 --3.3817022e-23 --1.1576993e-34 -4.5269344e-34 -3.5268297e-34 --0.008324647 -0.007188198 -0.00556912 -1.3240975e-34 --2.4992702e-34 -0.08117262 --0.08625826 -1.6676472e-34 -0.0024817428 --0.028235504 -4.752203e-34 --0.0008423227 -1.6356817e-34 -0.03487699 --0.0025766348 --0.007973588 --1.1206712e-11 --1.8075417e-34 -6.278564e-35 --1.9079123e-34 -0.033216275 -0.011842042 --0.06653231 -4.7163956e-35 -2.140286e-34 -2.6948897e-34 --1.5445665e-34 --1.4703221e-34 --1.7260739e-34 --2.4376256e-34 -4.8622487e-35 --2.3747856e-34 -1.3933355e-34 --1.2140597e-34 -1.3983319e-34 --1.9317987e-34 --1.3222677e-34 --2.2682084e-34 -2.186122e-34 -3.054625e-34 -1.4950125e-34 -1.7212103e-34 -2.3539734e-37 -2.0534311e-34 -2.5546982e-35 -1.2218093e-35 -1.2392102e-34 -2.491089e-34 --3.278798e-35 --2.98818e-34 -7.66235e-35 -2.5737777e-34 --2.5082386e-34 --2.8174763e-34 --1.1005736e-34 -2.5640234e-34 --1.7615344e-34 -2.485649e-34 -8.4050785e-35 -2.0784356e-34 -8.1639564e-35 --3.3095584e-35 --1.4023969e-34 --1.776771e-34 -4.218334e-34 --0.008930835 -0.027978674 --2.9662108e-34 --0.04261173 --0.04800365 -9.572953e-35 --0.017033298 --1.1311185e-34 -0.018715832 -0.014642518 -0.016741673 --2.690736e-15 -3.9280843e-34 --1.7844186e-34 --1.1538821e-34 --0.04318463 --0.016303847 -0.07785967 -1.6567475e-34 -1.6632887e-34 -0.070301756 --0.021786738 -4.4381438e-35 -0.0154995825 --0.012016543 --1.7750406e-34 -0.033124484 -3.7687233e-35 --0.0020124333 --0.03127061 --0.008435967 --5.759014e-28 --2.378714e-34 -4.426346e-34 --2.5362214e-34 -0.023957007 --0.008461394 -0.011473604 --1.9642823e-34 --4.3095287e-35 --0.010946546 -0.0062272567 -1.998471e-34 -0.022749541 -0.014909198 -5.352382e-34 -0.014989116 -5.732351e-35 --0.0044380743 --0.004786388 -0.008386639 --2.2230699e-28 -2.2193049e-34 --2.1881488e-34 --4.4155253e-35 -0.008871453 -0.014172273 -0.027385395 --1.2438631e-34 --1.0462045e-07 --7.2685224e-34 -2.4803665e-35 -2.676442e-34 --5.252522e-35 -4.612287e-34 --5.970997e-34 -1.3542283e-34 --2.2308385e-34 --2.949757e-06 --3.2042763e-08 -3.1411413e-34 -2.2051729e-13 -2.8959111e-34 --6.5164645e-12 --2.4307758e-34 --3.0315674e-16 --1.4832535e-34 --1.2020311e-34 -1.5435306e-34 --2.4910888e-34 -0.025373522 -0.0034283684 --4.1042546e-35 -0.050806396 --0.0069708815 -1.7373183e-34 -0.012933379 -2.0323547e-34 --0.004205728 -0.008758854 --0.015700428 -1.364259e-22 --1.3877021e-34 -4.9694896e-34 --3.2737228e-34 --0.013659933 -0.020412445 --0.00026170764 -1.198878e-34 -1.7803835e-34 -1.365524e-34 --3.201705e-34 -5.7042884e-35 -5.032624e-35 --7.462842e-05 -8.004423e-35 --1.9319897e-34 --2.7949509e-34 -1.1903386e-34 -1.4188951e-35 -8.0588036e-35 --2.8126226e-34 -1.3647632e-34 -1.7851351e-34 --1.1844942e-34 -2.4639464e-34 -2.3457844e-34 --2.00771e-34 --2.5599363e-34 -5.6416433e-34 -0.018096874 -0.038784463 --2.5646017e-34 -0.03380852 --0.027484428 -8.5501665e-35 --0.045482308 --4.639537e-35 --0.022077367 -0.056816805 -0.0035517903 -1.1163746e-22 --1.9763238e-34 -3.2645544e-34 -1.5610922e-34 -0.026512243 -0.010497179 -0.025248157 -1.9361499e-34 --4.7907194e-34 --0.01939067 -0.026846368 -1.6996914e-36 -0.036852185 --0.015056613 -5.745227e-34 -0.006713844 --3.3532228e-35 --0.004284582 -0.01635468 --0.023348076 -1.0555544e-27 --7.844967e-35 -7.9795943e-35 --1.443557e-34 --0.0003585826 --0.004306477 --0.010101273 -1.406976e-34 -3.5985716e-34 --0.02859685 -0.00017207493 --2.708e-34 -0.02435955 --0.031811457 --2.775654e-34 --0.0027522417 -1.5943417e-34 -0.019037573 -0.009283475 --0.02422708 --4.6001515e-27 -1.9240834e-34 --9.871077e-35 -1.3322827e-34 --0.013744101 --0.014451467 -0.013168164 -7.7347086e-35 -5.3667897e-34 -0.032761946 --0.0312375 --3.4365449e-34 --0.011857918 -0.037762377 --4.1410306e-34 -0.005811272 -5.150484e-35 -0.013281207 --0.01684033 -0.045862414 -1.2050269e-19 --1.9187865e-34 -2.1822972e-34 -1.9564687e-34 --0.013310998 -0.018731289 --0.03595486 -2.4374532e-34 -2.3158607e-34 --9.35474e-35 -2.1599796e-34 --6.56374e-35 --5.8864693e-35 --1.5829232e-34 -1.964431e-34 -2.822608e-34 -2.38085e-34 -3.1807904e-06 --3.3458047e-35 -3.2275103e-35 -2.202093e-34 -2.6711236e-34 -2.754444e-34 -1.5918508e-34 -2.6108832e-34 --1.7338673e-34 -2.2549375e-34 -2.4010207e-34 --3.1333341e-34 --1.7791692e-35 --2.117758e-34 -5.9753454e-35 -2.877494e-34 --7.795387e-35 --1.3515272e-34 -1.6032002e-34 -1.7685432e-34 -5.1261196e-36 -2.6757847e-34 --5.6953844e-35 --1.8257494e-34 --3.0770438e-34 --6.025777e-35 --6.771536e-36 --2.366319e-34 --1.9263786e-34 --7.807761e-35 --9.423109e-35 --4.0910454e-34 -0.008240357 -0.014342793 -1.6094124e-34 --0.020349318 -0.0139678335 --7.4186286e-35 -0.0037461123 -3.1953564e-34 --0.015164125 -0.01299996 -0.037338853 -2.8589518e-28 --1.5891054e-34 -4.0841197e-34 --1.2556399e-34 --0.021226851 --0.014053203 -0.041560054 -3.9399213e-35 --5.168769e-35 -0.05419853 -0.02169834 --1.5334319e-34 -0.016314846 --0.031992707 -2.2673532e-34 -0.03903974 --3.4504444e-35 --0.0155083975 --0.018398602 --0.0012110851 --3.8110987e-27 -4.7075294e-35 -2.0217277e-34 --1.0206752e-34 -0.009036361 --0.045345336 -0.026309138 -2.6359864e-34 -3.5236616e-34 --0.00045972381 --0.00826918 -3.02407e-34 -0.03957618 -0.01423256 --3.4031302e-35 -0.027015107 --3.5799607e-34 -0.0033422685 --0.009407297 -0.004763697 --2.5039145e-28 --2.4597378e-34 --3.9464927e-34 --4.5417603e-35 --0.016695356 -0.03676692 --0.021550965 --1.1382466e-34 -1.6241144e-34 -6.7811036e-34 -4.7976722e-33 --5.6456836e-35 -7.5885507e-34 --8.759793e-35 -6.7863493e-34 --1.8164305e-20 -7.961426e-35 -2.8642415e-18 -1.6951653e-09 -4.6967024e-34 -2.2342988e-34 -3.8145453e-34 --1.8636875e-34 -1.8905439e-34 -9.6364125e-11 --2.3342162e-12 -3.1903492e-06 --5.256941e-35 --5.742036e-35 -0.017266953 -0.006730425 --2.5728153e-34 -0.042564254 --0.01663621 --4.846911e-34 -0.021034975 -3.252329e-34 --0.0037216025 --0.011232896 -0.004398489 --8.7331824e-15 -1.8198006e-34 -3.8013455e-34 -5.235964e-35 -0.01590633 -0.0050053853 --0.0063371 --5.580788e-35 -4.56742e-35 --2.1148172e-34 --2.162522e-34 --2.5710123e-34 -2.932538e-34 -2.2042647e-34 -4.2743362e-35 --1.2807782e-34 --5.11099e-35 --1.6760474e-34 -2.057134e-05 -1.1367125e-34 -1.2015125e-34 -2.4772623e-34 -1.1151263e-34 -4.4358657e-35 -2.7353496e-34 --2.2135991e-34 -2.194013e-34 -1.775088e-34 --7.006315e-35 -0.018544123 -0.021856057 --1.0207388e-34 -0.009055799 --0.0051452825 -3.316449e-34 --0.06299087 --1.2897827e-34 --0.017327128 -0.043038726 -0.004532011 -3.7934742e-20 --3.7086443e-34 --1.8567999e-34 --5.984674e-35 -0.028686842 -0.018122341 --0.017893542 -1.5771407e-34 -2.2570743e-35 --0.0111874705 -0.026828913 -6.260445e-35 --0.0046452913 --0.008011244 --1.00414424e-35 -0.003984316 -1.9459354e-34 -0.014400784 -0.014260323 --0.012648695 --1.3087736e-27 --3.4196652e-35 --5.1972044e-34 --3.5673278e-34 --0.008424531 --0.011124215 --0.025444368 --2.7121899e-34 --3.7136438e-34 -0.0010179249 -0.007900282 --3.257318e-34 --0.01767564 --0.01626782 -1.5919024e-34 --0.0042934134 --1.944147e-34 -0.0038972942 -0.0062685423 -0.010511732 --6.9798807e-29 --1.7867553e-34 -6.0436286e-35 -3.6466858e-34 -0.019912569 -0.0004971995 -0.012613452 --1.4490954e-34 --1.7106241e-34 --0.015813038 -0.006199456 -1.7591737e-34 -0.02166963 --0.0013728106 --6.48406e-35 --0.02462769 --1.1567675e-34 --0.01470663 -0.037309226 -0.015978308 --6.360281e-23 --6.5321905e-35 -1.1276106e-34 --1.15168284e-35 --0.0143431965 --0.01555156 -0.055849206 -5.7217165e-35 --3.136487e-34 --2.0320918e-34 --1.9646437e-34 -2.5609504e-34 -9.869359e-35 -4.5266818e-35 -6.1441804e-35 -1.9522179e-34 -2.6489343e-34 -1.2179444e-34 -9.9579065e-36 -2.4377916e-35 -1.5471416e-34 -1.2396122e-34 --5.76587e-35 --1.4362796e-35 -2.860756e-34 --2.6297498e-34 --1.2305405e-34 -6.9722243e-35 --2.717966e-34 --7.349558e-35 --7.9623464e-35 -1.2207031e-34 --2.444474e-34 -1.8956366e-34 -2.3313552e-34 --2.4572194e-35 -1.8282576e-34 --7.1572453e-35 -2.5345463e-34 --2.4883177e-34 --1.8408348e-35 -5.344137e-35 --2.4852302e-34 -4.6482812e-35 --2.8443506e-34 -2.6643372e-34 --5.4603486e-35 -1.5374105e-34 -7.3113613e-35 -0.023479914 --0.005277272 -1.091477e-34 --0.017326983 -0.03126156 --2.0719511e-34 --0.015378347 -4.1195616e-35 -0.0034146607 -0.01099002 -0.07946349 -7.82116e-29 -1.8096793e-34 -3.556945e-34 --1.5513614e-34 --0.019095918 -0.014522742 --0.02396012 -1.9926002e-34 --3.8026368e-34 -0.049660828 --0.00035920748 --2.2715434e-34 -0.043378673 --0.02613791 -4.8519324e-34 -0.035257366 --1.7171427e-34 --0.01832583 --0.048617024 -0.005992364 --2.3901245e-15 -3.4220436e-34 -2.6192294e-34 -2.047578e-34 --0.025751846 --0.0039603994 -0.014013759 -1.5171914e-34 -5.43077e-35 -0.03483464 -0.029372137 -1.7029429e-35 --0.01936333 --0.009897596 --2.580027e-35 -0.048180208 --2.6671873e-34 --0.0070655197 --0.030057512 --0.017409284 --2.0312793e-17 --4.07161e-34 -3.014074e-34 --5.3508107e-35 --0.045149587 -0.05221171 --0.0067366906 --8.9595353e-35 --9.791427e-35 --1.8698935e-10 -1.5815307e-10 -1.9812438e-34 -2.9111939e-12 --5.758237e-10 -1.2425563e-34 -3.0732958e-10 --7.129286e-35 -1.580356e-11 -1.2176536e-10 --7.5387147e-10 -5.451447e-33 -4.359578e-35 -2.185682e-34 --1.1250767e-34 -3.956087e-10 -1.6210129e-16 --6.203995e-10 -1.981777e-34 --5.110536e-34 -0.016171584 --0.042695373 --7.197944e-36 -0.031752154 -0.054706562 --3.5746627e-34 -0.029532747 --1.0894533e-34 --0.016963175 --0.022799686 --0.018347848 -5.0378576e-22 --1.9471024e-34 -3.4255933e-34 -9.961583e-35 --0.0058952756 -0.03791699 --0.006692248 --6.971049e-35 -7.433225e-35 -8.67074e-35 -7.511962e-35 --6.3710393e-35 --3.8084065e-35 --1.2674217e-34 --2.671238e-34 -1.5782389e-34 --1.1819242e-34 -2.2907428e-34 --8.247342e-35 -2.2942925e-34 --2.8129653e-34 -2.8405913e-34 -1.1384736e-34 --2.931436e-34 --9.760754e-35 --1.2586266e-34 --3.567235e-36 -3.66705e-35 -5.9055633e-34 --0.0002824715 -0.034238894 --1.940667e-34 -0.007656022 --0.006103444 -3.2150808e-34 --0.073415644 --2.303107e-34 -0.00050855265 -0.07888054 -0.015455546 --2.1942496e-16 --9.442248e-35 -5.11771e-35 --1.1977837e-34 --0.025128415 --0.009221702 --0.024622804 --1.0774143e-34 -3.259778e-34 --0.03488278 -0.007671817 --1.275437e-34 --0.0072178203 -0.00046186786 --2.2295652e-35 --0.017890261 --3.4144265e-35 -0.043479934 -0.010594026 --0.0004191695 -4.6757823e-27 -2.6661126e-34 --4.3278727e-34 -2.1467325e-35 --0.020234749 --0.023543714 --0.02252636 --2.9073454e-34 --9.373008e-35 --0.038650103 -0.014093063 --2.7868675e-34 -0.019850561 --0.02750111 -5.610623e-34 --0.018542634 --3.514562e-35 -0.010371472 -0.045611616 --0.014630412 --1.9329166e-27 -3.473911e-34 --1.8444758e-34 -7.437106e-35 -0.0019020203 -0.00750066 --0.003913363 -1.3727363e-34 -5.0001953e-34 --0.00506221 --0.01896795 -2.5340127e-34 --0.00040565338 --0.0022462266 -6.947905e-35 --0.010465796 -2.2829097e-34 --0.024751484 -0.02294844 -0.016987769 -1.2510737e-27 --1.9862723e-34 --2.7289012e-34 -2.2454846e-34 --0.030930454 -0.035379954 -0.017371362 -4.7634842e-35 -4.842403e-35 --1.6982367e-34 -2.6736816e-13 -5.2245306e-35 -9.278062e-35 -6.577051e-07 --2.2619074e-34 --8.409233e-15 --2.943952e-35 -8.233284e-35 --1.906501e-34 -2.4490399e-14 --1.115034e-34 --1.0751595e-12 -3.277572e-35 -1.6388182e-35 -4.6177826e-35 --8.072113e-35 --3.730622e-35 -1.456415e-34 --2.5893608e-34 -1.1205506e-34 -7.570278e-35 -2.9432073e-34 --2.7189552e-34 --3.159172e-34 -1.8827948e-34 -2.984121e-34 -1.0662101e-34 -1.2818711e-34 -2.43674e-35 --1.8422049e-34 --1.6065114e-34 -2.7908917e-34 --0.00020269598 --2.2050286e-34 --3.5365012e-35 -3.1164373e-34 --8.5109464e-35 -2.7475918e-34 -3.4067198e-35 --0.01016198 -0.06355376 -1.5437059e-35 -0.048326995 --0.026644979 -4.40074e-34 --0.010755356 -8.33811e-35 --0.013541814 --0.022909602 -0.029929565 -1.3846273e-27 -4.4826335e-35 --9.909987e-35 -1.3315288e-34 -0.013240515 --0.02162332 --0.017510975 --2.6351463e-34 --3.2530587e-34 --0.04105946 -0.039467465 --1.0639363e-34 -0.028934484 --0.043779287 -3.787404e-34 -0.056866217 -1.9744055e-34 -0.015600592 --0.060196307 -0.010909525 -8.81197e-28 --4.1672236e-35 -4.5469307e-35 -1.6245508e-34 --0.006111283 --0.008120863 -0.024078192 -3.1425576e-34 -2.0898476e-34 -0.0005260246 -0.030421564 --1.6117287e-34 -0.030254856 --0.059767373 --2.9797558e-34 -0.004274299 --3.602137e-34 --0.015228954 --0.009002863 --0.036797035 -1.7322465e-27 -4.197585e-34 --4.312845e-34 --1.9934598e-34 --0.0022174406 -0.041187156 -0.013217259 -2.7250198e-34 --2.2430165e-06 -1.648406e-08 --3.8474873e-08 --1.7167957e-35 --1.4940818e-07 --3.2491405e-07 -5.9580592e-34 --1.0122337e-07 -2.0989595e-34 -1.1816465e-08 --9.9031176e-08 --1.6252372e-07 --5.223703e-33 --1.562941e-34 -3.5974609e-34 -2.3891493e-34 -4.270568e-08 -1.768637e-07 --8.93768e-08 --1.135646e-34 --3.8108248e-34 --0.029113708 -0.038065035 -2.4600955e-34 -0.0557583 --0.0058137807 --6.5743875e-34 -0.025226822 --8.4350915e-35 -0.009793741 --0.014467124 -0.032266613 -2.7667902e-28 --1.4031125e-34 --3.2573422e-35 -2.77597e-35 --0.018629197 -0.005556426 --0.017403208 --2.7389827e-34 --2.627959e-34 -1.9140717e-34 -6.203552e-35 -2.5719229e-34 --3.2050496e-35 --2.2332556e-34 --2.6072253e-34 --2.7287301e-34 -1.1066067e-34 -1.8483455e-34 --4.585744e-15 --3.346401e-34 --3.079516e-34 -2.1008449e-35 -1.0180167e-34 -2.8396123e-34 -1.2153041e-34 -2.824419e-34 -1.806474e-34 -2.2750118e-34 -1.1213061e-34 -0.0032849067 -0.044309083 --2.1540371e-34 -0.018913016 -0.0015831972 -3.8454645e-34 --0.028488243 --2.6806138e-34 --0.0075480924 -0.041226648 -0.033810962 --2.3710316e-26 --3.8422268e-34 -1.633483e-34 --9.294044e-35 -0.020000247 -0.010711779 -0.029080275 --3.0230888e-34 -1.9192367e-35 --0.008437233 -0.047889706 -2.4842505e-34 -0.0067330124 -0.0045038923 --3.6907653e-34 --0.0114830015 -7.035345e-36 --0.0015671479 -0.00088759314 -0.004715184 -7.137997e-29 -4.0761056e-34 --2.526767e-34 --2.607516e-34 --0.006241746 --0.016824525 -0.0031186957 --1.9591211e-34 --3.2072812e-34 --0.020339014 -0.0027480163 --2.0933095e-35 --0.024624359 -0.008874918 --1.0524468e-34 --0.041727643 -1.3083097e-34 -0.00539757 -0.05745783 -0.00043149007 --8.230465e-17 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-3.441191e-34 --0.0026964948 -0.010934453 -0.060413826 -1.6750494e-28 --1.6323813e-35 -3.9855325e-35 --2.447696e-34 -0.005709118 -0.008668616 --0.021584114 -2.065943e-34 --5.196674e-34 -0.07742033 --0.07803658 -8.38979e-35 -0.05168362 --0.014748685 -3.0064423e-34 -0.007618978 -3.6384666e-34 -0.010773309 --0.004144109 --0.02276973 --4.523116e-27 --2.1854295e-34 -3.870995e-34 --9.885026e-35 -0.04121395 --0.024752676 --0.03550192 --1.683205e-34 --2.156335e-06 -9.505726e-30 -3.578449e-34 -2.2367894e-34 -1.7068141e-34 -1.2780765e-31 --4.2350564e-34 --5.081244e-30 --5.423072e-35 --1.4677997e-29 --2.3921898e-34 --2.4249793e-29 --6.6902526e-35 -1.0258098e-34 -1.0674223e-34 -2.6204008e-35 -5.9784366e-34 -4.7459954e-30 --1.4587049e-29 --3.411594e-34 --3.047311e-34 --0.067272626 -0.037710782 --2.1274264e-34 -0.040567085 -0.019676566 -2.2230019e-35 -0.02361514 -6.1884933e-35 --0.0034427275 --0.0008995324 --0.004523863 -1.9194195e-27 --4.288134e-34 -6.285923e-35 -5.182625e-35 --0.029188763 --0.0061439234 -0.018724069 -2.8341718e-34 --1.0213797e-34 -1.6544054e-34 -1.1543869e-34 --1.8100776e-35 -2.6483447e-34 --6.1386634e-35 -7.25606e-36 --2.4901232e-34 -2.7838902e-34 --2.241991e-34 --5.5025625e-35 --6.744244e-35 -4.4756442e-35 -2.9482868e-36 --5.7082086e-35 -2.3989829e-34 -1.4337399e-34 --9.631633e-35 --2.9087718e-34 -2.2417937e-35 -5.7375154e-34 --0.021566663 -0.015728893 -3.226485e-34 -0.066935785 -0.014713967 -2.919918e-34 -0.014074921 -1.2592791e-34 -0.009678878 -0.0068084695 --0.01024177 -4.6691414e-27 --1.2543621e-34 -1.4755618e-34 -2.2384507e-34 --0.0076650046 --0.027293386 -0.010461526 --1.3823251e-34 --4.3579497e-34 -0.0015461355 --0.0023669545 --1.0882013e-35 --0.028946262 -0.043973014 --6.261955e-35 -0.002549244 --3.2972832e-34 -0.0011322777 --0.001860078 -0.0278959 --3.458682e-29 -2.3289638e-34 --2.2606777e-34 -1.380366e-34 --0.0048653646 -0.010926326 -0.0029502925 -1.9646262e-34 --3.224517e-34 --0.06142929 -0.015929466 -1.0504936e-35 -0.04788017 -0.010871214 --1.227924e-34 --0.008199117 -2.436335e-35 -0.023376701 --0.0012894865 --0.0037428853 --1.4518062e-27 -8.9209575e-37 --2.3525389e-34 --2.1133793e-34 -0.0020070442 --0.023292433 --0.007140143 --1.9361678e-34 -5.6087345e-34 -0.006229234 --0.018154936 --1.8208808e-34 --0.030522361 --0.030343354 --1.0193911e-34 --0.00813519 -2.759203e-34 --0.008992513 --0.01588608 -0.036631323 --9.7163285e-23 -1.711553e-34 -4.1792865e-34 -2.5524712e-34 --0.005742446 -0.0493741 --0.018946482 --3.5390186e-36 --3.2654498e-35 --2.388509e-34 --2.482396e-35 --3.2050147e-34 --1.1144357e-34 --5.4409225e-35 --1.3454121e-34 --4.7574437e-35 -2.6962094e-34 -4.1251288e-35 -2.5796882e-34 --7.644768e-35 -1.0929186e-34 -2.7156785e-34 --1.0229088e-34 -2.6697607e-34 -1.6375366e-34 -3.5470542e-36 --5.182456e-35 --4.452699e-35 --1.3337136e-34 --2.2838067e-34 -1.8956692e-34 --2.5372398e-34 -1.9207908e-34 -1.1233984e-34 --1.6508257e-35 --3.154258e-34 -1.4587573e-34 -3.145452e-34 --1.2228659e-34 -2.2328194e-34 --1.477755e-34 -4.088553e-34 --3.3284196e-34 --4.0990774e-36 --4.824276e-35 --3.169337e-34 -1.8948312e-34 -1.4852349e-34 --8.6498786e-35 -0.011550044 --0.018292466 --9.881184e-35 --0.060426988 --0.107416846 -5.1207174e-34 --0.016947422 --2.9251242e-34 -0.021166598 --0.008743141 -0.01454313 --3.1153202e-13 --2.2809038e-34 --3.5602126e-34 --9.836755e-35 -0.04132765 -0.02913932 -0.05679142 -2.7623938e-34 --1.268522e-34 --0.02626544 -0.0066057756 -8.1394765e-35 --0.0057640737 -0.007013684 -1.3085136e-34 --0.019610388 --3.582208e-34 -0.020951308 -0.0010292599 -0.043663327 --5.4323257e-28 --1.3398955e-34 --1.577946e-34 --3.0602664e-34 --0.030457461 -0.01377533 -0.01181901 -2.0841205e-34 -3.0925695e-34 -0.052311286 --0.09044443 -2.7239593e-34 -0.04484103 -0.045761928 -7.6377493e-34 --0.005264512 --7.767877e-36 -0.0076368935 --9.913393e-05 --0.0053381114 -2.4742205e-26 -1.9928417e-34 -4.3895746e-34 -2.2262332e-34 -0.031792965 --0.010804055 --0.058906853 -1.2725585e-34 -5.063973e-07 --1.5182538e-34 --7.593517e-34 --1.3993268e-34 -8.813923e-34 -2.662968e-32 -1.06385095e-10 -1.7938632e-34 -1.1502281e-34 -2.543924e-34 -3.0260614e-13 -3.3337314e-34 --5.345678e-34 -2.702535e-34 -5.810848e-07 -1.9733933e-34 -4.4089193e-34 --5.6521736e-34 -6.1662026e-35 -5.5382963e-35 -8.5858337e-35 -0.0015710734 -0.023249181 --1.6827052e-35 --0.0050951545 -0.026433868 -5.7983566e-35 -0.004266269 -3.8348405e-34 --0.0029468767 --0.007296143 --0.00399223 --2.2323851e-28 --1.5227551e-34 --8.6940366e-35 --7.192832e-35 --0.008318579 --0.003871929 --0.00051149016 --7.123321e-35 --1.5267798e-34 -2.9454592e-34 -5.950389e-35 -1.3726468e-34 --2.4044112e-34 --1.1958217e-34 -1.4433969e-34 -2.0968011e-34 -1.4609353e-34 --4.435838e-35 -2.7583416e-34 --2.4634426e-34 --7.436875e-35 -1.8968778e-34 -8.308867e-35 -1.915716e-34 -4.1221924e-35 --1.5241224e-34 -2.6245722e-34 --2.138793e-34 --3.874251e-34 -0.010221983 --0.004189083 -2.1082555e-34 -0.035288908 -0.007863721 -2.2703865e-34 -0.0035112614 --1.5542646e-34 -0.0160217 -0.008484712 -0.0033664582 -2.0774315e-27 -3.2517465e-35 -3.334631e-34 -1.6277954e-34 -0.00317271 -0.020510327 --0.02890529 --1.8141478e-34 -9.14274e-35 -0.002077161 -0.027639944 --2.6389963e-35 --0.04630737 -0.052468218 -5.6326516e-34 -0.0018373131 -2.5276347e-34 -0.0001638176 --0.00052761956 -0.030961359 --2.876746e-28 -1.992321e-34 -1.6244207e-34 -1.6237759e-34 --0.011847899 -0.008188245 -0.0029662305 -3.3162354e-35 --5.0224466e-34 --0.042961832 -0.011426986 --1.8029249e-34 -0.16309758 -0.0019900221 --3.6824686e-34 -0.013622578 --3.2553401e-34 --0.004056905 -0.0015583779 -0.010984698 -6.96387e-28 -4.6812232e-35 --2.3592367e-34 --3.477437e-34 --0.033293363 --0.05111177 --0.07821309 --8.0567017e-35 --1.1508312e-34 -0.088965215 --0.06621384 -2.722007e-34 --0.017997537 --0.019835781 -3.4732118e-34 --0.015986526 -1.4012222e-34 -0.035781313 -0.019937055 -0.022663942 --1.2778366e-16 --1.3745825e-34 --4.9758997e-34 --3.914969e-35 -0.0066085034 --0.022810249 -0.013438524 --2.6246438e-34 --2.8894076e-34 -3.9278225e-35 --7.750894e-35 --6.1309217e-35 -6.9789926e-35 --8.8010456e-35 --2.0169894e-34 -2.2641514e-35 -3.1777727e-34 -8.654825e-35 --1.3881709e-34 -1.6954449e-34 --2.82677e-34 --3.3633832e-35 -1.8402483e-34 -1.7907688e-34 -7.003747e-35 -1.4802275e-34 -1.8016159e-34 -3.1403148e-35 --1.8371691e-36 --3.1123302e-35 -1.3498107e-34 -2.580559e-34 --5.86945e-35 -2.1969117e-35 -1.6419062e-34 -3.1025102e-34 -1.7915866e-34 -6.6799303e-35 -1.0234359e-34 --5.820086e-35 --1.1482539e-34 --1.646008e-34 -2.0330404e-35 --5.4807424e-35 --2.6178039e-34 --2.483741e-34 -1.8193852e-35 --1.6112402e-34 -1.6515259e-34 --0.007199157 -0.004202138 --2.1765036e-34 --0.052659888 --0.08154021 --2.7407418e-34 --0.028415503 --1.7229937e-34 -0.005964972 -0.017777499 -0.03212887 --1.3755044e-08 --1.6829082e-34 -1.647531e-35 --1.1121871e-34 -0.024146987 -0.017809378 -0.046222184 --1.4860263e-34 -1.1927071e-34 --0.0076889093 --0.026986672 -3.6531064e-35 -0.010729268 -0.02589772 -3.8509408e-34 --0.00860604 --1.912975e-34 -0.041241426 --0.005511902 -0.042687178 -4.23799e-27 --1.3690854e-34 --2.6437924e-35 -3.6870712e-34 --0.021383451 --0.008131158 --0.001676701 -1.8946054e-34 --5.4360444e-35 -0.0044189524 --0.046064593 -1.9911832e-34 -0.06769339 --0.019878846 -2.4471765e-34 --0.00826878 --1.2589248e-34 -0.0031484659 --0.030105295 --0.017830571 --8.849155e-27 -2.2744856e-34 -3.7958692e-34 -3.9747528e-35 -0.0104707545 -0.0115879085 --0.032803573 --2.6143867e-35 --4.5569214e-34 -9.409609e-32 -4.9899735e-34 -2.6591774e-34 -4.348036e-34 --6.4407686e-34 -7.9272686e-05 --2.6665795e-34 -2.9109134e-34 --4.8020854e-34 -4.6524817e-34 -6.1680907e-34 --1.613754e-07 -2.4469058e-13 -4.6410574e-34 --1.2056862e-34 --6.773108e-07 -1.638764e-34 --8.321457e-34 --5.0928465e-35 -2.590931e-34 --0.005169045 -0.039159123 -2.1703258e-34 -0.01037433 -0.003142547 --4.5824696e-34 -0.012992654 -1.0383507e-34 --0.0049475306 --0.008626143 -0.0015234974 --2.382311e-27 --1.3328875e-34 --4.909308e-34 -1.4014253e-34 --0.013382751 --0.02168584 --0.0009624455 -1.7380896e-34 --2.935061e-34 -4.4402738e-35 -5.5284234e-35 --1.4858177e-34 -1.4549594e-34 --1.18788985e-35 -1.5081069e-34 --1.5443109e-34 -2.0441066e-35 -1.3248506e-34 -2.6823753e-34 --1.7239862e-34 -2.1686725e-34 -1.3289749e-34 --2.5413426e-34 -1.1961546e-34 -1.8811048e-34 --2.159369e-34 --6.291852e-35 -6.026821e-35 --4.2258365e-34 -0.013221005 --0.007340207 -1.2966807e-34 --0.030771548 --5.2823307e-06 -1.6921873e-34 --0.015096078 -1.5389427e-34 -0.00416168 -0.006755264 --0.007404226 --2.1205837e-28 -1.9217859e-34 --3.8682332e-34 -2.5254077e-34 --0.0005128359 -0.006405756 -0.03645553 --3.8372377e-35 --2.85516e-34 --0.029050073 -0.055163052 -2.6007358e-34 --0.016189536 -0.033448152 -5.459686e-34 -0.0038960236 -3.0524108e-34 --0.0149966795 -0.004654063 --0.0020677617 -2.9799223e-28 --3.6483618e-34 -2.126729e-34 --1.140183e-35 --0.002382261 -0.009473761 -0.0140513 --9.1029037e-35 --3.457189e-34 -0.04853204 --0.0209317 -3.9274942e-35 -0.033796985 -0.014741556 -3.5804894e-34 --0.010840635 --2.5139556e-34 --0.030123582 -0.012854485 --0.009527506 -5.6947086e-26 --6.610751e-35 --1.3410445e-35 -9.45269e-35 --0.01368899 -0.029968956 --0.007037613 -6.418121e-35 -2.3478337e-34 -0.040976852 --0.04876434 -3.0403296e-34 --0.0056337165 --0.0044210856 --1.2881424e-34 -0.022993062 --1.0658652e-34 -0.0042694123 --0.007718429 -0.00621389 --2.2034163e-11 --1.9183803e-34 -4.4820302e-35 --2.046531e-34 -0.05571764 -0.0050120666 --0.02883423 -2.7756728e-34 --4.7558251e-35 --1.0875789e-34 --1.9556002e-34 -9.1247106e-35 --1.657493e-34 -5.973835e-35 --5.6198732e-36 --2.0222365e-34 --1.6247724e-34 --7.331967e-35 -1.2913797e-34 --1.21372e-34 --2.7113418e-34 -2.6410966e-34 --2.6417066e-34 -1.0617402e-34 -2.081756e-34 -1.015494e-36 --2.3148276e-34 -3.1090527e-05 -2.991872e-34 -1.6935189e-35 -2.1425775e-34 -6.090461e-36 -2.9613e-35 --2.4493382e-35 --2.1890035e-34 --3.858473e-35 -6.973198e-35 --1.7761518e-34 -9.014499e-35 -1.2646958e-34 -2.6211983e-34 --3.3755514e-35 --1.0094116e-10 -3.1316474e-34 --6.0144186e-35 -1.6798893e-34 --7.8034e-35 --2.2724714e-34 --8.7891667e-35 --0.034231145 -0.009828988 -3.2726718e-34 --0.009965183 --0.04694385 --2.7809428e-34 --0.010853191 -2.2307983e-34 --0.015237 -0.025808124 -0.051275533 --1.3902925e-13 -1.7456693e-34 -1.3670305e-34 -2.226484e-34 -0.04484554 -0.007114557 -0.018313635 -1.1396569e-34 --8.069522e-35 -0.028302917 --0.0068232473 -1.823926e-34 -0.012658971 -0.007014453 -1.4495677e-34 -0.014220537 -2.55331e-34 --0.004513359 --0.019584708 -0.011580289 -5.4990084e-27 --2.5411038e-34 -1.5998705e-34 -2.207675e-34 --0.008609429 --0.012555336 -0.034088846 --1.0428545e-34 -4.563939e-34 --0.021565368 -0.021720298 -3.1568043e-34 -0.029571818 -0.02921357 -9.455277e-35 -0.015838549 --5.3166404e-35 --0.00609206 --0.016480723 -0.021425705 --2.005032e-27 --3.7218906e-34 -2.259614e-34 -4.586038e-36 --0.002006428 -0.01987292 --0.008317607 --8.183842e-35 --1.3488174e-09 -8.156373e-34 --9.937144e-34 -2.4458915e-34 -1.172282e-32 --1.6035359e-34 --3.4803493e-11 --1.4358545e-12 -1.1769784e-34 -2.6212936e-34 -1.5889764e-06 -1.8159771e-34 --4.9905907e-34 -2.349158e-34 -2.5897022e-34 --2.4663924e-34 --9.393322e-06 --7.8273965e-35 -4.3637937e-22 -1.6692779e-34 -3.130962e-35 --0.042275634 --0.0025311601 -1.909517e-34 -0.037109572 -0.019573854 -4.926798e-35 -0.01650353 -1.855372e-34 -0.010030287 --0.005270061 --0.016623508 -1.5142447e-26 --4.908436e-35 -3.106843e-34 --1.3402027e-34 --0.006082267 --0.01516206 --0.0011313839 -1.3250333e-34 -2.7423916e-34 -2.4230093e-34 --4.968374e-35 -1.5150653e-35 --2.5408049e-34 -1.2014667e-34 --9.737237e-35 --1.025383e-34 -1.1942628e-34 --1.798101e-09 --2.0428094e-34 --2.7291755e-34 -1.002678e-13 --6.7395775e-35 -2.944751e-35 -1.2591496e-34 --8.010794e-35 -1.6259073e-34 -4.3588685e-35 -2.9123154e-35 --3.4944837e-34 -0.03859975 -0.0030820402 -8.273298e-35 -0.020979539 -0.010434518 --4.6476135e-34 --0.044521987 -1.8282832e-34 --0.0062904707 -0.04299765 -0.016076185 -6.8860445e-23 --8.124069e-35 --2.1883738e-34 --1.932976e-34 -0.027048064 --0.0060427296 -0.023557449 -1.5281378e-34 --4.8759625e-34 --0.04172167 -0.064760804 -2.6239325e-34 -0.033793923 --0.014253677 -2.110318e-34 -0.005234444 --3.2109115e-34 --0.014183488 -0.020088116 --0.025695598 --1.2630578e-27 -1.4828815e-34 -4.406055e-34 -5.136358e-35 --0.009341034 --0.0002490097 --0.0056010084 --1.2486862e-34 --2.2440908e-34 --0.016737986 --0.014734042 --1.9801588e-34 -0.004553186 --0.0044339173 -3.2980347e-34 --0.039938923 -1.5726498e-34 -0.030017262 --0.0018048602 -0.024529284 -2.9244834e-27 --3.69387e-35 -4.5228495e-34 --1.5677812e-36 --0.01004874 -0.016371453 --0.026064675 -2.4524357e-34 -3.2362647e-34 -0.017676461 --0.036738794 --9.997568e-35 --0.0063104993 -0.042379547 --2.1188867e-34 -0.00013383603 --2.6055882e-34 -0.014983837 --0.014972767 -0.047691748 -1.8451928e-21 -1.9048216e-34 -2.4988707e-34 -4.30295e-34 --0.013043077 -0.01795157 --0.057612598 -5.646207e-35 -3.8957674e-35 --1.6136688e-34 --1.2173068e-34 -1.8361764e-34 --1.8193526e-34 --1.60546e-34 -8.733487e-36 --5.1387424e-35 --2.7846644e-34 -2.8588002e-34 -1.8521383e-36 --2.5580447e-34 --2.0245925e-34 --2.886548e-34 -1.9438163e-34 --1.6405643e-34 --2.2637055e-34 --2.125707e-34 -2.4646884e-34 -4.6655146e-06 -1.629828e-34 --1.8358483e-34 --1.7564055e-35 -1.5746619e-35 --6.591822e-35 --1.9785861e-34 -1.3690979e-34 -9.739003e-35 -2.056735e-34 -2.2224006e-34 --5.6384733e-35 -1.6630348e-34 -2.6995786e-34 -8.8069506e-35 --1.3187945e-35 -2.019672e-34 --1.2110698e-34 --1.8026895e-34 -4.9713797e-35 -1.6482422e-34 --1.1675522e-34 -0.006158906 -0.011421795 -2.3159232e-34 --0.0066823754 -0.0027486992 -5.997438e-34 --0.0024303608 -3.7206184e-35 -0.0007385047 -0.005491565 -0.088772126 -9.426801e-22 -1.9523496e-34 --1.7900368e-34 -1.6698089e-34 --0.004840051 -0.012166536 --0.012312945 -9.480611e-35 -4.5858317e-34 -0.004663115 --0.0023299109 -9.660129e-35 -0.0017080114 -0.005077962 -5.455718e-34 -0.016886277 -2.038838e-34 --0.009064514 --0.014747708 -0.00019447909 --3.866083e-27 -2.5799447e-34 -1.5393032e-34 --2.1742538e-34 -0.009019297 --0.023671899 -0.018353857 --6.251629e-35 -2.3515225e-36 --0.028175844 -0.002060673 --6.64195e-35 -0.06670261 -0.019772783 -3.5131008e-34 -0.017234795 -2.5665326e-34 -0.0076475404 --0.010453789 -0.0101458775 -5.3751507e-27 -2.9567962e-34 --3.0911334e-34 --1.6164959e-34 --0.018722713 -0.03053609 --0.011583681 -1.8324664e-34 --4.73808e-34 -1.6564387e-05 --1.0316918e-05 -1.2749159e-34 -6.6855975e-34 -1.5768228e-34 --4.633336e-34 --5.309287e-06 -2.6278268e-35 -8.06688e-06 -2.6484304e-07 -2.8202427e-05 --1.079309e-09 -4.2780097e-35 -1.9724134e-34 -5.777299e-35 --6.240754e-08 --8.541583e-34 -6.0097773e-06 --2.7063096e-34 -5.021135e-34 -0.00092164683 --0.029012017 -4.4009762e-35 -0.041168083 --0.016491583 --4.5359604e-34 -0.021520652 --9.264197e-35 --0.0019461806 --0.011168376 --0.032463007 --8.574679e-25 --3.6964804e-34 -2.5041864e-34 -1.8910802e-34 -0.024100048 --0.02140019 -0.012603516 -6.3830904e-35 --7.0308154e-35 --1.9853934e-34 --1.8929867e-34 -1.3316698e-34 --5.1559386e-35 -9.3621926e-36 -1.8864014e-34 --1.220452e-34 -1.5121826e-34 --5.2083216e-35 -2.0347807e-35 --1.17086125e-35 --2.4106448e-34 --7.513475e-36 --9.428888e-35 -8.711405e-35 --1.1094344e-34 --2.5419606e-35 -2.486299e-35 --2.2259988e-34 --5.4086405e-34 -0.018922197 -0.009874858 --2.131233e-35 --0.008133257 -0.008641059 -3.1909646e-34 --0.054876585 --3.4330574e-34 -0.0031985498 -0.05638468 -0.019818995 -5.0822187e-20 -2.3603084e-34 --3.7376292e-34 -9.605722e-35 -0.03012514 --0.007235213 --0.0066332826 --6.0118833e-35 -4.930215e-35 --0.01969912 -0.070519805 --1.2004371e-34 --0.036166694 -0.0011829684 --5.328982e-35 --0.005119416 --1.1031197e-34 --0.007863028 -0.014405234 --0.020897396 --5.0951093e-28 -3.771395e-34 -6.523034e-35 --2.4034348e-34 --0.017509444 -0.03276858 -0.0023748192 -6.5934477e-35 -4.76542e-34 -0.02439224 --0.020409543 --1.5083769e-34 --0.031296603 -0.0044221403 --2.3642908e-34 --0.009698774 -4.9274554e-35 --0.0029265976 --0.0012518145 -0.009263914 -5.475717e-28 --3.5505706e-34 --1.1496828e-34 --3.4375877e-34 -0.029605702 -0.00495674 -0.01009322 -3.514603e-34 --1.2494406e-34 -0.0038206577 -0.010621696 -2.3552933e-34 -0.0028473316 -0.025331382 --5.5188716e-34 --0.0075753517 --3.5124437e-36 --0.0057952614 -0.015899923 -0.02812796 --3.3640413e-24 --4.3023133e-35 --4.5222324e-35 -1.318813e-35 --0.016651016 --0.0026837138 -0.02109633 --2.586286e-34 -2.1050808e-34 -1.4680965e-34 --5.069115e-35 --1.0694896e-34 --2.6436868e-34 --1.0002727e-34 --1.4914195e-34 -1.4163463e-34 --3.9158495e-35 -6.269646e-35 --1.4245791e-34 -2.3287746e-34 -2.3958118e-34 -3.7180175e-35 -1.0346414e-34 -1.7755805e-34 --1.728941e-35 --5.760276e-35 -2.4185052e-34 --1.4887636e-34 -1.18213406e-35 --4.1100285e-35 -8.821766e-35 -1.1888961e-34 --3.014962e-34 --3.0642757e-34 --1.9891562e-34 -2.1691425e-34 -2.8541288e-34 --3.0322795e-34 --4.2469164e-35 -2.2297537e-34 --2.1467684e-34 -4.105539e-34 -2.5233345e-34 -1.6499578e-34 -3.0390322e-34 -1.8044208e-34 --5.77717e-35 --1.1399312e-34 --4.0811323e-34 --0.0006750719 --0.0010197194 -3.1454195e-34 -0.02306638 -0.0044573178 --5.4100957e-34 --0.020260898 --3.7690097e-35 --0.009206155 -0.024439594 -0.06134192 --1.9358742e-25 --1.6874875e-34 -3.3920924e-34 --1.2486284e-34 -0.0056565786 --0.0014373413 -0.0026824644 -8.669904e-35 -2.6755099e-34 -0.010183857 -0.0051358608 -3.3539283e-34 --0.004955946 -0.008580032 -3.9229364e-34 -0.018036263 -2.3856388e-35 --0.008351451 --0.04060726 -0.014528167 -2.941027e-27 -1.8081769e-34 --2.8145263e-34 -1.8372849e-34 --0.024042197 --3.4289777e-05 -0.01959954 -1.3472957e-34 -1.8604748e-34 -0.012669064 -0.0089124 -9.671552e-35 --0.026223637 -0.04501049 --3.5909e-34 -0.035747636 --1.5285525e-34 --0.008967049 --0.014314375 --0.007371285 --5.394458e-19 -1.8742143e-34 --2.3726487e-35 --1.9990595e-34 --0.051450558 -0.071107835 -0.011762463 -5.499771e-35 --5.2909148e-34 --1.2818766e-06 -4.5462807e-06 --3.311533e-35 --3.2674746e-17 --3.5413117e-17 -4.230808e-34 --1.4958499e-07 -1.4430777e-34 --6.552956e-07 -1.1418258e-08 -3.7021018e-06 -9.415758e-33 -3.272995e-34 -9.203813e-35 --1.3633856e-34 --2.6743585e-09 -5.325783e-34 -7.7728066e-07 --9.658647e-35 --3.4864517e-34 --0.003612688 -0.010955771 --4.052735e-35 --0.0032032884 --0.01256768 --1.8137367e-37 -0.015181403 --2.6340232e-34 -0.03570474 -0.010548235 --0.008748204 --5.2845312e-28 -2.7138934e-34 --2.6367854e-34 --1.8303569e-34 --0.018347891 --0.009337198 --0.0042516463 --2.0969056e-34 -1.3703959e-34 --1.7916178e-34 -1.17984e-34 -8.4080275e-35 -1.5576586e-34 --2.345836e-34 -2.03623e-34 --3.9004142e-35 --1.7927578e-13 --2.9444866e-34 -1.4640974e-13 --2.40753e-34 --1.1428009e-35 -7.439516e-15 --2.1612602e-34 --2.624699e-34 --1.7339292e-34 -1.8382844e-34 --2.810248e-34 -2.142914e-34 -3.0567252e-34 --0.013674262 -0.008578162 --1.0602183e-34 --0.002231046 -0.00443449 -6.693623e-34 --0.0630546 --8.4555777e-35 -0.029596059 -0.071186006 -0.016390696 --4.6018978e-24 --3.524684e-34 -3.3722958e-34 --2.39572e-34 --0.03750203 --0.009373083 --0.006894141 -1.9299216e-34 -1.8810546e-34 --0.024781587 -0.019171847 -6.854212e-35 --0.02345148 --0.0032590216 --5.420342e-34 --0.019945972 -3.618492e-34 -0.039716605 -0.021669796 --0.001296596 -3.5196683e-28 --1.3401701e-34 -2.0078812e-34 --4.132469e-35 -0.0020840766 --0.0024185155 --0.005916819 -1.1104964e-34 -4.7241093e-34 --0.020410351 --0.023859376 --2.248329e-34 --0.0064888615 --0.0015146936 --1.3871697e-34 --0.027801193 --2.8393997e-34 -0.026579954 -0.04796482 --0.029984057 --9.8350044e-26 -3.591872e-34 -1.0209078e-34 --1.5026264e-34 --0.0070131207 -0.008110993 -0.011619061 -2.004981e-34 --8.2379735e-35 -0.035149064 --0.025146006 --1.6866663e-34 --0.002078607 -0.0014240243 --2.6182387e-34 -0.010341059 --3.50136e-34 --0.017171778 -0.012510919 -0.051426075 -8.26559e-27 -3.1610313e-34 --3.0354366e-34 -2.187847e-34 --0.03178138 -0.014029833 --0.002897403 -1.1933766e-34 --3.7405975e-35 --1.659405e-34 -2.1160926e-34 -5.2476375e-35 --2.4057364e-34 -1.0745892e-34 -2.3573878e-34 -1.0726115e-34 --1.6568152e-34 --1.8317805e-34 -1.6840469e-09 --2.7899004e-35 --2.6504078e-34 --3.1285047e-34 -2.6411526e-34 -6.108948e-35 -1.5138071e-34 --2.6437924e-35 --3.2098122e-34 --1.810118e-34 -5.844342e-35 -2.3430906e-35 --2.056632e-34 --1.7364302e-35 --5.1320637e-35 -6.848354e-35 -9.381521e-35 --3.0585654e-34 -3.902384e-35 --1.7445264e-34 --1.8364115e-36 -2.1520218e-34 -2.2672244e-34 -2.714289e-34 -1.2837454e-35 -1.4981161e-34 -1.0012196e-35 -2.4905867e-34 -2.2747377e-34 -8.6057597e-35 --2.2246566e-34 --0.00673481 --0.011636157 -1.1582837e-34 -0.022490636 --0.009540774 -3.706301e-34 --0.017726377 --4.709439e-36 --0.0005839887 -0.018768962 --0.009034598 -3.573893e-27 -5.9285937e-35 -2.2577203e-34 --1.9447085e-34 --0.009068597 --0.018170772 -0.0022238116 -1.5390353e-34 -1.5454778e-34 --0.022101123 -0.02941558 -2.059552e-34 --0.019584222 --0.016417515 --1.8353253e-34 -0.026021514 --3.816654e-34 -0.02133897 --0.025488049 -0.045620456 --4.0020815e-28 --2.3380369e-35 --1.537619e-35 --1.4208105e-34 --0.0150421085 --0.0002465599 -0.027262507 --7.2927767e-35 -2.645009e-34 --0.012054822 -0.014891019 --7.099927e-35 -0.013955968 --0.034980044 --3.3754176e-34 --0.02438244 --3.6639608e-35 --0.007004601 -0.007288633 --0.049180366 -5.3381193e-28 --3.3380077e-34 --1.0204882e-34 --1.6331486e-34 -0.030787604 --0.008924503 -0.0067563434 -2.7427002e-34 --3.3299698e-34 -1.0285568e-09 --8.155372e-07 -1.897887e-34 --6.105556e-06 --2.8387967e-05 --6.9143165e-34 --5.653636e-06 -3.385747e-34 --1.5279375e-06 -1.4269517e-07 -2.2300957e-05 --8.644591e-33 -4.845013e-34 -4.8006308e-34 -1.6953574e-34 --3.8610093e-10 --1.1640057e-05 --1.0012092e-05 --3.8699656e-35 -5.5682956e-34 -0.005021929 -0.023255836 -2.0674673e-35 -0.0033600742 --0.010283731 -3.031293e-34 -0.007548546 --4.133003e-35 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--4.2566157e-35 --0.014738289 --0.007612158 --0.01791895 --1.3766593e-28 --1.2154008e-34 --9.2097956e-35 -2.6602482e-34 --0.028527873 --0.01231947 --0.059929766 --1.4882787e-34 -1.9828491e-34 --2.421195e-34 --3.574021e-14 --1.3683359e-34 --9.411963e-35 -1.8229984e-34 -9.0076617e-35 -2.462264e-34 --2.7466454e-34 --1.5854824e-34 --2.3529145e-34 --1.1164262e-34 --1.8083337e-34 -4.4911828e-35 --9.513044e-35 -1.6367386e-34 --1.3342081e-34 --7.6553806e-35 -5.918141e-35 -2.5070029e-36 -1.9632225e-34 -0.0023530307 -0.0016706673 -5.7776007e-35 -0.05133506 -0.019138563 -3.0145876e-34 -0.018949118 --2.3180083e-34 -0.0048445966 --0.012505185 --0.01827111 -1.3178501e-27 --6.556128e-35 --2.2044402e-35 --1.5188461e-34 -0.007921522 --0.03889156 --0.005480228 --1.5371448e-35 --3.4446246e-34 -0.027205119 --0.016123433 -1.9965457e-34 --0.016806629 -0.0399427 -1.2309028e-34 --0.0076818005 -1.5939887e-35 --0.0058274087 --0.0015910252 -0.015529591 --3.2844496e-28 -3.1064936e-34 --5.1385046e-34 -2.982372e-34 --0.009532742 -0.03169935 --0.022928603 -1.7339612e-34 --2.385923e-34 --0.04779019 -0.017876575 -2.1655145e-34 -0.029033417 -0.016171835 -2.2967458e-35 --0.006366702 --1.77653e-34 -0.024721893 -0.0019313524 -0.026231885 --1.8741401e-27 -3.8282768e-34 --1.7580564e-34 --1.8925021e-35 --0.027383875 --0.017199436 --0.007477841 --5.621862e-35 -9.992926e-35 --0.096789606 -0.0209901 --8.733502e-35 --0.06397101 --0.042654753 --2.7204218e-34 --0.012634248 -1.1576485e-34 -0.011843463 -0.0030731221 -0.010845228 -3.9020875e-20 --7.149953e-35 -4.6687505e-35 -1.4038269e-34 -0.024038315 -0.008547796 -0.07747662 --4.9669986e-35 --1.7806765e-35 --2.9070265e-34 --1.6739246e-34 --1.3839311e-35 -4.7789355e-35 -2.2212334e-34 -1.0347057e-34 --2.8375993e-34 -1.3022714e-34 --2.148947e-34 --2.876312e-34 -1.2683933e-34 --1.8959429e-34 --9.991064e-35 --1.5265525e-34 --1.7643233e-34 --1.9135402e-34 -1.6467943e-34 -1.8237795e-34 -3.0482442e-34 -2.959527e-34 -1.5708252e-34 -1.1947628e-34 -2.6891123e-34 --6.7571066e-35 --2.5596693e-34 --2.607042e-35 --3.1764477e-34 --1.440032e-34 --2.8636328e-34 -2.8307663e-34 -2.555768e-35 --1.6124022e-34 -3.706712e-34 --1.536474e-34 -6.306876e-35 --5.5246283e-36 --6.0169836e-35 --2.7544312e-35 -1.7857256e-34 --2.3734425e-34 -0.019415325 -0.01263181 -4.4933708e-35 --0.051227313 --0.14274174 -1.9377143e-34 -0.008838842 -9.39858e-35 --0.032321326 -0.023294738 -0.048788052 -4.5327797e-11 --2.3511563e-34 --8.404385e-35 -2.0409812e-34 -0.076758176 -0.029984573 -0.028747473 -1.0307186e-36 -5.389778e-35 --0.021460785 -0.0072948905 -1.1012154e-34 --0.017893266 -0.0064638485 -4.326467e-34 --0.011477102 -3.5830877e-34 -0.019709142 -0.013094106 --0.0028387392 -6.277827e-28 -2.1102493e-34 --1.0912558e-34 --1.8522353e-34 --0.017331403 -0.0014605144 -0.020657217 --4.9001504e-35 --1.4650819e-34 --0.05513264 --0.031564325 --3.0348546e-34 -0.0018587135 -0.024782471 -3.5128762e-34 -0.0038346357 -2.2752167e-35 -0.015912283 -0.0024427727 -0.023569804 --6.41505e-27 -3.4824118e-35 -1.0156567e-34 --1.6162533e-34 -0.035873566 -0.05039489 --0.009102948 --6.563933e-35 --6.9740836e-12 --4.221863e-33 --9.470488e-34 -1.0449559e-34 -8.07778e-34 -5.7736694e-33 --5.4469837e-35 -7.58426e-34 -1.0975567e-34 -7.505759e-34 --4.4803757e-15 --8.260833e-33 --6.3547156e-15 --1.05636955e-05 --1.9461109e-13 -2.0949073e-34 --4.270292e-34 --9.3828576e-33 --3.1796681e-34 --2.7748084e-34 -1.653337e-34 -0.06587976 -0.0021163807 -1.5796931e-34 --0.019088987 -0.008512808 -4.047684e-34 -0.003720107 -1.0805154e-34 --0.009790888 --0.004537929 --0.006166235 --4.0198207e-28 --1.9254607e-34 -3.711101e-37 --9.35737e-35 --0.0011076767 --0.007357366 --0.013220994 -2.136867e-34 -1.5719115e-34 --9.4265096e-35 --2.2825382e-34 --1.809398e-34 --1.8654801e-34 -2.1163343e-34 --2.4616835e-34 -2.52757e-34 --2.4139396e-35 -1.2962681e-34 -8.8805223e-35 -1.8730254e-34 --1.809173e-34 --6.426818e-35 --4.922578e-35 --1.4678607e-34 -1.2438622e-34 --3.105409e-14 --2.8438592e-34 --5.6411584e-35 --2.3355296e-34 -0.057177912 --0.027149431 -1.8100434e-34 --0.00072148436 -0.003863554 -2.3206754e-34 --0.003103899 -6.4442977e-35 -0.015066089 -0.006230397 --0.018960485 -2.8300098e-27 -9.637357e-35 -1.1299435e-34 --3.0617178e-34 --0.006420729 -0.0044624335 --0.0047943317 --9.478249e-35 --5.197682e-34 --0.004584438 -0.053742133 --1.902368e-34 --0.042249843 -0.011097173 --7.038526e-35 -0.004306878 -1.718157e-34 --0.0033714962 -0.0055988757 --0.004360346 -4.3478754e-28 -1.115193e-34 -5.1015766e-34 --2.0129728e-34 --0.009384088 -0.02073786 --0.0030456653 --2.8199735e-34 --2.0103286e-34 --0.0056304648 -0.006298002 --1.9987964e-34 -0.09815578 -0.007936099 -5.5649335e-34 -0.016892448 -3.5523606e-35 --0.01095632 --0.0088700075 -0.022458307 --4.7443786e-29 -3.38991e-34 -1.9833916e-34 --1.6018147e-34 --0.02222511 --0.017582966 --0.09619533 --2.5685302e-34 --5.324293e-34 --0.094043724 -0.040040318 -1.0712087e-34 --0.027311338 --6.16183e-05 --3.639197e-34 -0.011441309 -7.9099606e-36 -0.0042452295 --0.010622501 -0.05070712 --2.295646e-17 -1.7559136e-34 -2.787368e-34 -3.0219528e-34 -0.006012082 --0.012249199 -0.048340164 -9.0923753e-35 --2.2534493e-34 -2.9441652e-34 --5.2082435e-36 --2.175264e-34 --2.5095032e-34 -2.2794746e-34 --1.4879959e-34 -2.6052481e-34 --2.662796e-34 -1.4871556e-34 --1.1958851e-11 --6.3762487e-35 -6.230524e-35 --2.520271e-34 -5.151225e-35 --7.762301e-09 -1.1133955e-13 --1.414538e-34 --2.2397204e-34 --1.8862203e-34 -2.5591522e-35 -1.3382414e-34 -2.139245e-34 -2.7623089e-34 --7.780207e-35 --1.1018758e-34 -1.0993324e-34 -1.783652e-36 -1.8560802e-34 -9.416986e-35 -2.0045921e-35 --5.973761e-35 -1.5757405e-34 -9.664997e-35 -4.304449e-35 --3.892565e-34 -1.919475e-34 -3.5247125e-34 -2.6492566e-35 -1.7428079e-34 -1.5729607e-34 -0.023633791 -0.012710739 -3.5274094e-35 --0.038316976 --0.114002235 --1.2162941e-34 -0.011896726 -1.2324115e-34 --0.043394778 -0.05775756 -0.064034425 --1.113234e-12 -2.4664978e-34 -6.90499e-35 -1.8007749e-34 -0.06296947 -0.02719607 -0.050201572 -1.5204064e-34 --3.54757e-34 --0.016074553 --0.02804362 --2.562302e-34 -0.023461169 -0.008053686 --1.8683088e-34 -0.00074278476 --3.565812e-34 -0.034954872 -0.0018921006 -0.0022922445 -1.9174062e-27 -8.6750243e-35 --3.1619788e-34 -6.3607687e-35 --0.01389147 --0.017554257 --0.0016921959 --1.4288017e-34 -2.8064592e-34 --0.032886684 --0.027932033 -3.2979642e-34 -0.033673897 -0.0044331155 -3.7148067e-34 -0.0122906165 -2.9491895e-34 --0.0011335826 --0.022115573 -0.045037717 -3.8606177e-23 --8.022581e-36 -2.5218277e-34 -1.5775133e-34 -0.03234189 -0.025228567 --0.02021028 --1.6832197e-34 -2.492761e-06 --6.6437177e-34 --5.1942157e-35 -2.21251e-35 -8.762649e-34 --8.420257e-34 --1.08907675e-13 --2.803319e-34 -2.8650783e-34 -1.088058e-05 --6.3324175e-34 --1.3679044e-34 --8.7351914e-17 --5.011882e-34 -4.7720736e-34 --3.0957975e-35 --1.8662446e-07 --5.3429965e-34 --5.929267e-34 -5.992738e-35 --6.993871e-35 --0.013017461 -0.01184626 --1.3849757e-34 -0.016609233 --0.0056908443 --4.9188933e-34 -0.016936027 -1.6875035e-34 --0.004617741 --0.0075673074 --0.026786486 --5.6310806e-27 --2.5849426e-34 -4.4940775e-34 --9.004685e-35 --0.001476617 --0.024862334 -0.0052836486 -2.5631507e-34 -1.7541044e-34 -2.7124422e-34 --9.1606183e-35 --1.8062398e-34 --1.0055355e-34 --2.5806282e-34 -2.6140297e-34 --8.651923e-35 --1.4565844e-34 -1.2488273e-34 -1.0519714e-34 -1.986135e-34 -1.9074334e-34 -2.3694366e-34 --2.4172912e-34 --2.5268904e-34 --1.5727747e-34 -9.87305e-35 --1.262187e-35 --9.2675326e-35 --2.8067246e-34 -0.04366238 --0.018052854 -2.4925965e-34 --0.03246939 --0.0006936795 -1.4807946e-34 --0.014428132 -3.739529e-34 -0.020021385 -0.013032731 --0.010728207 --3.9782348e-27 -4.221058e-34 --4.12105e-34 -1.6987608e-34 --0.009648449 --0.0036345555 -0.012877499 -1.7333177e-34 --3.3751023e-34 --0.050521683 -0.08333373 --5.1908086e-35 --0.0006829797 -0.010191527 -1.8231834e-34 -0.006182725 --2.2667186e-34 --0.017686699 -0.0054119737 --0.021882003 --2.0678922e-28 --2.9275613e-34 -3.1953e-34 -1.9390112e-34 --0.0068801977 -0.017026808 -0.013731508 --2.4113276e-34 -5.4921702e-36 -0.032364983 --0.01915016 --2.741102e-35 -0.012753891 -0.02407135 -3.8004557e-34 --2.8369017e-05 --1.2624452e-34 -0.016307795 -0.00817002 --0.0026384888 --2.8495609e-27 --4.8008687e-35 --4.546342e-34 --2.090061e-34 --0.008220141 -0.0074718646 --0.033122852 --1.9170343e-34 --1.4052304e-34 --0.02687353 -0.009849723 -3.0527079e-34 --0.012713189 -0.029038647 --2.11405e-34 -0.017828166 -1.8220546e-34 --0.008103128 --0.01333978 -0.049433198 -2.7168934e-23 -3.7673694e-34 -4.025565e-34 --8.363328e-36 -0.025364367 -0.039392255 -0.011732087 -2.0368502e-34 -1.6154204e-34 --1.5322973e-34 --1.670326e-34 --7.252745e-35 --2.1477526e-34 -2.5479712e-34 -2.7061055e-34 -2.1004982e-34 --8.4946365e-35 -1.4288391e-34 -1.7863487e-34 --6.3815315e-35 --1.0555824e-34 --1.6370403e-34 -3.177398e-35 -2.4829033e-34 --2.0100255e-34 -8.6314346e-36 --4.3076978e-35 -2.7330023e-34 -1.8595297e-34 --2.1567036e-34 -1.6168253e-35 -3.2012532e-34 --9.2969205e-36 --2.478295e-35 --1.6497347e-34 -7.1520084e-35 --3.0466772e-13 -2.9841247e-34 --1.7698803e-34 -2.2848263e-34 -1.8541305e-34 -7.001171e-35 --8.071596e-35 -4.1150567e-34 --3.6731713e-35 -1.085446e-34 --3.2359915e-34 -3.8449782e-34 -5.182539e-34 --0.015615793 -0.007990282 -1.061096e-34 --0.023813311 --0.09060315 --4.0843933e-34 --0.004629114 -2.9122097e-34 --0.012629942 -0.019824306 -0.06727982 --1.7431337e-10 --1.6753746e-34 --9.262696e-35 --1.0664408e-34 -0.017519103 --0.009616303 -0.039212875 -5.176334e-35 -1.1772675e-34 -0.027470155 --0.008504877 -8.6336966e-35 --0.0070832353 --0.001371045 --4.4913265e-34 -0.01609905 -2.849286e-34 -0.005607336 --0.0049249013 -0.010123673 --6.5659333e-28 -2.1021378e-35 -4.620703e-34 --1.5709949e-34 --0.01009257 --0.014954096 -0.019598078 --2.9358906e-34 --5.037508e-34 --0.021409608 -0.033717945 --1.5215114e-34 -0.007487443 --0.02119078 -2.4024214e-34 -0.025159096 --2.9565777e-34 --0.0070004505 --0.0020910366 -0.020256693 --1.7455672e-26 --7.391448e-35 --1.5214094e-34 -3.6449938e-34 -0.006015949 --0.0033193016 --0.012208625 -1.6279072e-34 --2.3076864e-34 -9.254476e-34 --2.2966166e-34 --1.0044287e-34 --8.514477e-34 --8.048272e-34 --2.7570265e-34 -5.2546214e-34 -2.4063935e-34 -9.920461e-24 -2.7067148e-07 -5.317672e-34 --8.2497905e-08 --9.405176e-35 -4.874224e-34 --1.3416542e-34 -4.567589e-34 -6.6176365e-34 --2.4551816e-34 --3.0752771e-34 --2.4936095e-34 --0.026274849 -0.0051400852 -2.1235677e-34 -0.03632198 -0.017783146 --4.7141093e-34 -0.0055447165 --1.7777252e-34 --0.0085132485 --0.0010644301 --0.024421405 --1.0289091e-27 -2.1507593e-34 -6.933061e-35 --2.4888628e-35 -0.005678158 --0.015761428 --0.0060386253 -1.4001221e-34 -2.5111425e-34 --2.9409514e-34 --2.222885e-34 --2.7666215e-34 -1.9061968e-34 --2.7891359e-34 -2.3710812e-34 -1.4539377e-34 --1.8425984e-34 -2.3731155e-34 --1.1777939e-34 --1.8265226e-34 --1.112936e-35 --1.6057363e-34 -4.282886e-36 --2.0131695e-34 -5.0878334e-35 -8.676567e-35 --3.0736239e-35 --1.3760952e-34 -1.2203197e-34 -0.040467236 --0.0024598518 -2.6794631e-34 --0.005731918 -0.046582323 --1.4588311e-34 --0.037511025 --1.0055723e-34 --0.005266161 -0.020964794 -0.032760914 -2.298313e-27 -2.3144356e-34 -4.700878e-35 -4.0908036e-35 -0.014805166 -0.009536961 -0.008973234 -8.6764237e-35 --1.8897939e-34 --0.049647868 -0.07062685 -2.319997e-34 -0.044703264 --0.014214135 -2.8752606e-34 --0.00082851574 --6.828579e-35 --0.015017936 -0.023170888 --0.034948383 --2.1242285e-30 --2.1756885e-34 --4.138236e-34 -3.888751e-35 --0.014444786 -0.010538096 --0.0038446405 --2.0443495e-34 --1.959551e-34 -0.01715722 --0.029822377 --5.7097314e-35 --0.014985397 --0.0056031337 -5.705553e-34 --0.013205791 --2.8949097e-34 -0.023916068 --0.016105173 -0.013077575 --8.6026e-27 --8.871427e-35 --8.7776585e-35 --2.356466e-34 --0.0047827642 -0.035997197 --0.030058175 -2.0664688e-34 --3.7895004e-34 --0.03406848 -0.009347684 -1.0777153e-34 --0.01806699 -0.050267346 -8.4647165e-35 -0.010114871 -1.2563159e-34 -0.007771767 --0.021193534 -0.066409774 --2.0904644e-25 -1.338182e-34 --6.924454e-37 -3.0850927e-34 --0.015517135 -0.021193804 -0.0014366015 -1.7881935e-34 --1.8321586e-34 --5.5410485e-35 --1.8892398e-36 --1.3579306e-34 --2.3332433e-34 --5.1266466e-07 --1.3745409e-34 --2.342628e-34 --4.916503e-35 -5.776379e-35 -6.3238336e-35 -7.0034714e-35 -2.0459837e-34 --1.01611385e-35 -4.1058916e-35 --4.906302e-35 --7.1239825e-35 --2.6512981e-34 -8.38127e-35 --2.1596655e-11 --2.3131442e-34 --1.5152238e-34 --2.495156e-36 -1.4291844e-34 -2.8141498e-34 --9.2329686e-35 -4.239083e-35 --1.9208611e-34 -1.4508172e-34 -4.525984e-35 --6.518681e-35 -1.4604978e-34 --1.30477e-34 --1.14508566e-07 --1.3996987e-07 -2.6256136e-34 --6.9977684e-35 --1.0605957e-34 --1.169314e-34 -1.5808318e-34 -1.6349588e-35 -0.017603574 --0.03416256 --3.0216865e-34 --0.032971974 --0.06955749 --2.6996477e-34 -0.0019706073 -1.9153857e-35 --0.016092855 --0.009894721 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-2.3041067e-36 --9.802198e-35 -1.1898574e-34 --7.533229e-35 -1.0067301e-34 -2.6259258e-35 --4.0998786e-35 -2.3994816e-35 --4.997263e-35 -1.1652783e-34 --4.3834578e-35 --1.8816248e-34 --1.7390028e-34 --1.5346097e-34 --1.0108563e-35 -5.79298e-35 --1.4736373e-34 --7.063233e-35 --4.3935295e-35 --9.377139e-36 --3.090589e-34 -1.3908698e-34 --1.9285406e-34 --3.1733845e-34 -1.2997877e-34 --3.861078e-34 --0.015660347 --0.040745113 -1.6092899e-34 --0.031818572 --0.037433315 --2.6037014e-34 -0.0006329934 -1.6625018e-34 -0.011873217 -0.021183377 --0.0046175513 -1.450858e-09 --4.4254217e-34 --4.3601055e-34 -2.7106585e-34 -0.0035573363 -0.014242113 -0.050057363 -1.3233668e-34 --5.1795863e-34 -0.008513669 -0.009897494 --6.6792094e-35 --0.00613982 --0.004672495 -2.7030382e-34 -0.015090494 --4.070199e-35 --0.0061814073 --0.02339507 -0.01186445 --4.406784e-28 -4.344315e-34 -1.2086711e-34 -1.6057511e-35 -0.0022087768 -0.0023292927 -0.007991327 --1.2376881e-34 --2.0742957e-34 --0.027899971 -0.064341605 --5.904716e-35 --0.028084759 -0.004394602 -2.2961907e-34 -0.013228446 -1.6245008e-34 -0.0007506907 -0.016576985 -0.0061018653 --8.2547625e-26 -1.4937712e-34 --4.5152846e-34 --2.4192039e-34 --0.033493303 -0.035227247 -0.01537562 -9.345791e-35 --3.1385111e-34 --7.86497e-07 -2.7099468e-06 --2.798916e-34 --7.849077e-34 -4.2591264e-34 -5.56952e-34 -1.7548211e-07 --2.0655272e-34 -8.1083715e-07 -2.572499e-07 --5.298463e-06 --4.6722635e-06 --1.7913604e-34 --1.1723577e-34 --9.4281695e-35 -3.7527904e-08 --6.5357706e-34 -9.0537355e-07 --1.4698737e-34 --2.9177434e-35 --0.01883619 -0.021224407 -2.0385074e-34 --0.03702085 -0.0278079 --4.065618e-34 --0.0031923256 -3.4777308e-34 -0.029606184 -0.03538791 -0.004140862 --2.395181e-29 --5.742809e-35 -1.5656675e-35 --2.774542e-34 --0.005806517 -0.019086534 --0.010981421 --1.4324427e-34 -1.4457924e-34 --2.2204303e-34 --2.2489356e-34 --2.745727e-34 -2.6454702e-34 -5.519015e-36 --2.1839767e-35 --8.5361714e-35 -2.9177115e-34 --2.3361114e-35 -2.2847133e-35 -1.728586e-34 -1.748996e-34 --2.552182e-34 -1.0193786e-34 -6.709648e-35 -1.7372218e-34 --3.575482e-35 -4.7290574e-35 --2.0736214e-34 --6.090484e-34 -0.0034528428 --0.019894712 -9.0724585e-35 --0.016764406 -0.014420535 -2.7819327e-34 --0.035304446 -5.5723024e-35 -0.02831593 -0.03383518 -0.013115258 --3.2111812e-29 --5.4640777e-35 -6.379152e-35 --1.2643725e-34 --0.030170122 --0.0060539655 -0.0017859354 --2.5820464e-34 --4.2105473e-34 -0.009909821 -0.018159268 --1.3269512e-35 --0.03519949 --0.01478728 -2.2794236e-34 --0.0012667153 --3.3822437e-34 -0.01525336 --0.0113740545 --0.005588364 --2.5631662e-28 -1.9688587e-34 --2.074231e-34 -3.1627806e-35 -0.010784098 --0.025315471 -0.0014754633 --9.507248e-35 -5.8351076e-34 -0.010738004 --0.007650141 --1.6706208e-35 --0.021509228 -0.026292251 --3.6567317e-34 --0.02240884 --2.5726977e-35 -0.01905311 -0.026532317 -0.008837276 -1.5174224e-27 --7.124199e-35 -3.103377e-34 -7.345259e-35 -0.008094044 --0.02284237 -0.016706496 --2.5294258e-34 --5.2792714e-34 -0.03477052 -0.012620829 --3.0089037e-34 --0.035225254 -0.060288437 -5.099073e-34 -0.01634068 -2.5163808e-34 --0.008551166 --4.653666e-05 -0.05864554 -7.6090095e-17 -7.983442e-35 -1.1314925e-34 --1.4608904e-34 --0.014902272 -0.0058977106 -0.00096452486 --2.0411651e-34 -2.750799e-35 -1.2228913e-34 --2.1528137e-34 -1.4929476e-34 -4.4413804e-35 -2.7360292e-34 --2.6611135e-34 --1.2810877e-34 -7.0068716e-35 --2.5612344e-34 -1.0746643e-34 --1.930309e-34 --2.8957569e-36 --1.0364848e-34 --1.9694747e-34 --2.4262534e-34 -1.4355725e-36 -2.259448e-34 --1.2528552e-34 --1.4424638e-34 -1.420562e-35 -6.936055e-35 -2.2616865e-34 -1.5728583e-34 -8.243803e-35 -1.9915749e-34 --3.0647342e-35 --2.5953441e-34 --1.4135577e-34 --2.218549e-34 -3.0533443e-34 -2.361622e-34 -3.2724425e-35 --2.1325713e-34 --2.1290725e-10 -1.4432077e-34 --2.6035935e-34 -4.3341556e-35 -2.3558982e-34 -1.1619974e-34 -1.9807188e-34 --0.034477938 --0.016435025 -9.351103e-35 -0.008715872 --0.017723387 --2.1251831e-34 --0.002562147 -3.5477329e-34 -0.018036375 -0.023902075 --0.017340722 --1.0883296e-21 --1.1965553e-34 -3.952905e-34 -3.0770962e-34 --0.033054 --0.009725665 -0.053692523 -1.0290147e-34 -5.8029596e-34 --0.025087046 -0.002620165 -3.1070905e-34 --0.002397726 -0.010580106 -9.5653844e-35 -0.0055521224 -3.6954865e-34 -0.0122949 --0.0060249423 -0.031035779 --1.5137168e-27 --4.6598123e-35 -2.3016517e-34 --1.7444875e-34 --0.010283631 -0.0010417331 --0.0008719894 --9.6217955e-35 -2.3399976e-34 --0.008852158 -0.011751612 --9.5941565e-35 --0.025414508 --0.0040245336 --4.1028693e-34 --0.012580475 -2.9737555e-34 --0.00011534848 -0.030572388 --0.00352387 --4.609653e-28 --4.568692e-35 --9.976282e-35 --2.795045e-35 -0.015084822 --0.023689441 -0.010546271 -2.7011602e-34 -1.1227484e-06 -1.3019618e-07 --3.4834635e-12 -1.1552997e-35 --1.2840285e-11 --4.1494837e-12 -4.9130227e-34 -1.9566473e-06 --7.9770654e-35 -8.8874833e-07 --6.91594e-09 -8.467528e-12 -6.778106e-34 --1.1860458e-34 -1.2653738e-34 -2.65924e-34 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--0.029883493 -0.019093696 -4.2540057e-34 --0.00617148 -1.6764294e-34 --0.01619897 -0.01044122 --0.0018218763 -8.619116e-28 -1.4434248e-34 -2.634719e-34 --2.4940096e-34 -0.048507042 -0.022428509 -0.009223553 --4.826937e-35 -3.4215376e-34 --0.0018122789 -0.007792578 --1.1813063e-34 -0.0187691 -0.027528927 --2.8614926e-34 --0.019041298 --2.702824e-34 -0.004535427 -0.027106004 -0.017176408 -3.236349e-27 --1.9980865e-34 -4.4597934e-34 -1.5453731e-34 -0.0015650432 --0.007888587 --0.0401437 -7.5460757e-35 -5.746629e-34 -0.011091652 -0.012612579 -2.0158534e-35 -0.04556151 -0.01001897 --2.2147537e-34 --0.0014377302 -1.2605253e-34 --0.00090485957 -0.010737808 -0.0068782154 -3.6651483e-27 --3.3083783e-34 --1.1862327e-34 -1.1612416e-34 -0.011926269 --0.03796331 --0.06866462 -2.0541029e-35 -1.4379235e-35 --4.4783763e-35 --4.3609624e-35 -1.7973876e-34 -6.980414e-35 -6.868678e-10 -5.232481e-35 -1.8575779e-34 --1.1371181e-34 -1.0610085e-34 --1.6181552e-35 --2.4381406e-34 --2.4899321e-34 -1.3865509e-34 --2.8127302e-34 -2.7290277e-34 --3.136197e-34 -6.548344e-35 -2.0252057e-34 -1.2761718e-34 --2.051828e-34 --2.1462855e-34 -1.4526881e-34 -1.679899e-34 --2.1624569e-34 --1.1072108e-34 --1.5746835e-34 --1.2234973e-35 --2.674663e-35 -2.9008409e-34 --1.7794379e-34 -1.947639e-34 --6.503591e-35 --2.3237393e-34 -1.9655156e-34 -2.4408957e-35 --8.646624e-35 -2.8132046e-34 -6.451377e-35 -3.7881597e-35 -5.342592e-34 --0.04463902 -0.0015427489 -3.889758e-35 -0.0040766117 -0.007873689 --3.254679e-34 --0.010354507 -1.921804e-34 -0.011478749 -0.004031378 -0.027413955 -5.863699e-20 --1.8180149e-34 -3.8584757e-34 -2.4430878e-34 --0.014047076 -0.0035404519 --0.002005161 -3.080105e-34 --1.1801326e-34 -0.019570395 --0.0052919574 -8.9401224e-36 --0.019052822 -0.013273684 --2.478227e-34 -0.00882324 --4.2593676e-35 -0.012696145 --0.004747279 -0.020278005 --4.498029e-28 --9.412258e-35 -2.2944082e-34 --1.5518552e-34 --0.0014155329 -0.0044995444 --0.006556772 --8.957894e-35 -5.1496364e-34 --0.027588524 -0.027920783 --8.08324e-35 --0.0019924692 -0.0038120481 --6.6329955e-34 -0.0115966555 -1.4360865e-34 --0.015868394 -0.020348996 -0.014007906 -2.976396e-28 --1.613753e-34 --1.2401163e-34 -1.3427426e-34 -0.012220923 --0.00952938 --0.0030573045 -1.841926e-34 --3.8079258e-34 -7.209505e-11 --7.9382867e-10 --9.474432e-09 --1.697064e-09 --2.6048336e-19 --4.0413496e-35 -7.3453417e-09 -2.6686654e-34 --2.2368152e-09 --3.370829e-16 -6.397611e-20 --1.4021839e-32 -3.0667288e-34 -6.5194533e-34 -2.149333e-34 -5.7183696e-13 -2.6794216e-18 -8.062861e-09 -9.1347126e-35 -9.107132e-35 -0.0010004651 -0.017424345 -1.0805548e-35 -0.009153251 --0.0059953663 --1.2881193e-34 -0.0077977334 --2.7777933e-34 --0.01616402 -0.0075263665 -0.003121189 --9.998364e-28 --4.1187052e-35 -3.0409672e-34 --3.187183e-34 -0.007459389 --0.002046982 -0.014220573 --2.3335758e-34 -2.6641698e-34 -1.4365509e-11 -3.8129055e-11 --3.5242423e-34 -2.4102685e-35 --1.3448284e-34 -3.7798205e-35 -1.0894922e-34 -2.1330906e-35 -2.047954e-08 -1.5479644e-34 -5.4384246e-35 -2.5463559e-34 -2.8543466e-34 -5.1802567e-35 --2.5313625e-14 -2.704684e-34 --1.9050392e-34 --1.7215152e-34 --9.4221204e-35 --1.0589581e-34 -0.009222781 -0.018445823 --6.117155e-35 --0.0014783577 -0.014368398 --3.7155813e-34 -0.0060569104 -8.1700054e-35 --0.018178789 --0.0018967602 -0.031614795 -2.0350592e-29 --5.75818e-35 -6.0276664e-35 -4.142017e-35 --0.00026247685 --0.00028407967 -0.0060720625 -1.6953593e-35 -2.6886256e-34 -0.009711138 --0.009884818 --2.9401295e-34 --0.015219262 -0.032934256 --4.6949883e-34 -0.006439575 -3.1757325e-34 -0.0015535702 -0.0011007532 -0.0056288084 -1.2601733e-27 --1.8066935e-34 -3.825363e-34 -2.611651e-34 -0.030005876 -0.030311506 --0.0046846904 --4.8302096e-35 -1.8148152e-34 --0.02461442 -0.007384309 --2.1849026e-34 -0.007163081 -0.004638158 -4.165159e-34 -4.6077064e-05 -3.1630957e-35 -0.02541638 -0.0118888095 --0.0027895067 -1.470336e-27 -4.222362e-34 -1.8933526e-34 -2.6834465e-34 --0.019518431 --0.0036123907 --0.03176281 --7.3064786e-35 -2.9076707e-34 --0.0034535574 -0.013736634 --1.4018691e-34 --0.002919979 -0.05412101 -2.6929545e-34 -0.01486425 --3.243515e-34 -0.014378175 -0.005974408 -0.02905422 --3.55743e-27 -7.410333e-35 --5.871415e-35 --1.3688324e-34 --0.021232648 --0.009313012 --0.02902332 -4.4342134e-11 --2.357094e-34 -3.614232e-36 --9.379056e-36 -3.5001148e-11 --1.4717825e-34 -1.7419417e-34 -4.889129e-35 --2.200012e-34 -2.5020912e-34 -2.1835101e-34 -1.5703796e-34 -6.646502e-35 --2.351454e-34 -1.3506182e-34 -8.938886e-35 --1.0402335e-34 -9.581748e-36 --9.854243e-35 --1.5575002e-34 --2.7632272e-34 -1.0206602e-34 -2.808847e-34 --1.6279365e-34 --1.235305e-34 --2.9242295e-34 -1.2144225e-34 -1.4162742e-34 -1.8583464e-35 --2.831865e-34 --7.871294e-35 --1.2728989e-34 --7.002326e-35 --2.6668156e-34 -3.3635347e-35 --2.935136e-34 -2.752545e-34 -1.6569827e-35 -2.3622147e-34 -1.5606997e-34 -1.8143365e-34 -3.475674e-34 --0.029952722 --0.032202363 -1.2999071e-34 --0.0022822528 -0.0075702346 -7.1626287e-34 --0.022497557 -6.017443e-35 --0.023969114 -0.0035206734 -0.029452367 -1.2882874e-23 -8.211617e-35 -2.662826e-35 --4.3199268e-35 --0.018642126 -0.0062636016 -0.015699198 --3.2566942e-34 --1.3435895e-34 -0.028471645 -0.010371161 -2.4164004e-34 --0.021208981 -0.025149751 -3.561411e-34 -0.0075411857 -3.3412242e-34 -0.0011535349 --0.00043552488 -0.02266533 --5.6915255e-28 --1.0002614e-34 -4.606954e-34 -1.1692955e-34 --0.003405637 -0.0043085683 --0.013878612 --1.7106476e-34 --4.1604596e-35 -0.006127022 --0.0057481504 -9.652366e-35 --0.02243411 --0.018332511 --1.4353065e-34 -0.009879328 -1.8083968e-34 -0.017659865 -0.009967497 -0.003553733 --2.0541227e-27 --1.3686555e-34 -5.144519e-34 --1.011923e-34 --4.08343e-05 --0.015921047 -0.02451147 -2.941019e-34 -1.819988e-05 -1.1364616e-08 -6.587734e-08 --1.6565581e-34 -1.4079603e-07 -1.03636566e-07 --6.6451063e-34 --4.0494875e-08 -1.2365245e-34 -1.4970526e-08 -1.2056165e-07 --1.5410568e-07 --7.019683e-34 --4.795576e-35 -4.221303e-34 --2.009592e-34 --8.17981e-09 --2.0040738e-07 --2.8817391e-08 --2.0302094e-34 --3.997706e-35 -0.009367915 -0.042519417 --2.221097e-34 -0.009645487 --0.011807896 --6.9507573e-34 -0.027841093 --1.429478e-34 -0.0003022687 --0.006437485 --0.0005241777 --1.4348609e-27 -2.7697987e-34 --2.0375335e-34 -1.2146112e-34 --0.0041037844 --0.0039961543 --0.0004939068 --1.8079838e-34 --2.0529113e-35 -4.83119e-35 -2.0606503e-34 -2.391433e-34 -8.288043e-15 --8.906142e-35 --2.8787535e-34 -2.0205086e-34 -4.2418908e-35 -1.8210548e-14 -1.6782074e-34 -2.2773954e-34 --1.9778487e-34 --3.4653114e-35 --9.5634455e-35 -2.2242982e-34 -6.9150384e-35 --2.0946575e-34 --1.1927594e-35 -3.078018e-34 -2.4592598e-34 -0.014296635 --0.0017571298 --2.010482e-34 --0.028126376 -0.0045058625 -2.1408e-34 -0.017430713 -1.6223022e-35 -0.010143477 --0.0063936887 -0.010937379 -1.6711044e-27 -2.3790915e-34 -3.618237e-35 --2.1477903e-34 --0.0008946172 --0.007807262 -0.014390845 --8.160633e-35 --2.6906825e-35 -0.0129104415 -0.013410412 --2.068129e-34 --0.012081149 -0.013677225 -5.6865217e-35 -0.004575867 --1.6924521e-34 -0.014246718 -0.007868524 -0.0041133882 -3.2585025e-28 -3.8791713e-34 --7.297013e-35 --3.2815193e-35 -0.019214772 -0.03951892 --0.02381884 -9.910161e-35 --5.047561e-34 -0.00756489 -0.0043979352 -9.953059e-35 -0.008042638 -0.026304645 --2.238009e-34 --0.030317014 --1.7515349e-34 -0.0032145567 -0.015270809 -0.036725927 -9.976728e-28 -2.0160357e-34 --2.3924155e-34 -4.978074e-35 --0.024584567 --0.0068298173 --0.0032126433 --1.8709e-34 --1.983488e-34 --0.005989538 -0.0243795 -9.571434e-35 --0.0016429778 -0.08097336 --2.2719158e-34 -0.007154682 -3.1033586e-34 --0.003256233 -0.0103197135 -0.06774076 -1.9700651e-27 --3.4947289e-34 -2.4314694e-34 --9.56829e-35 --0.02247982 -0.0072216173 --0.00815725 --2.5071605e-34 -2.449488e-34 --1.4267416e-34 --3.45093e-35 --2.3687924e-34 --1.7272308e-34 -1.9547413e-34 --2.0634958e-34 --7.407164e-35 --1.6781112e-34 -1.5766837e-34 -2.131601e-34 --1.6468786e-34 -2.7150127e-34 -2.0357762e-34 -1.6912453e-34 -1.098642e-34 -1.7102717e-34 -0.00011765277 -1.6299453e-34 -3.460141e-35 -1.6114342e-34 --3.2085761e-34 -1.550722e-34 -7.3407785e-36 -1.37101e-34 -2.021798e-34 -1.4375782e-34 --6.714208e-35 --3.2757207e-34 --6.197491e-35 --2.7813436e-35 -2.3358037e-34 -1.965261e-34 -2.140072e-34 -1.303524e-34 -1.6373093e-34 -5.002673e-35 -2.5500075e-34 --5.846018e-36 --1.9533617e-34 --5.1247825e-34 -0.020115806 --0.013518511 --7.5522493e-35 -0.0107246945 --0.055751413 -4.9927093e-34 --0.006139898 -6.598005e-35 --0.018751435 -0.024090756 -0.0396998 -3.5074642e-20 -2.4446152e-34 --2.3261876e-34 -1.2417151e-34 --0.014790735 -0.013681948 --0.007239697 --2.0645076e-34 --5.2552197e-34 -0.03286875 -0.015447263 --1.8006855e-34 --0.02343006 -0.022239652 -6.176108e-34 -0.00030274954 --2.1539786e-34 -0.0004008596 -0.00760037 -0.02623892 --6.58381e-28 --5.628581e-35 -3.3466639e-34 --1.4167369e-34 -0.0012377936 --0.0059182914 --0.016184542 -2.426075e-34 -2.4788634e-34 --0.02045367 -0.0090479655 --1.3039421e-34 --0.027502952 --0.06037136 -4.9486016e-35 --0.0026035807 -1.2022676e-34 -0.06398258 -0.020794177 --0.046184897 -3.5562158e-27 -3.1848164e-34 -1.5174594e-34 -2.1377722e-34 -0.024544377 --0.049007747 -0.028757652 --8.1678123e-35 --3.9621464e-06 --2.5044655e-10 --1.8130582e-28 --2.1741294e-34 --8.6147056e-10 --5.4608387e-11 --5.114532e-34 -1.8534185e-10 -2.8604333e-34 --1.40195e-28 -1.06163e-09 --2.7302436e-33 -3.5103985e-29 --2.9197223e-34 --2.3701134e-09 --2.3264356e-34 --1.6565445e-10 -3.2544382e-29 -2.110537e-10 -1.3057582e-34 --4.446899e-34 -0.015018397 -0.04006241 -2.4468392e-34 -0.037796047 --0.0064381612 --6.4185077e-34 -0.011406015 -9.4450914e-36 --0.0002467077 --0.0009966941 --0.003941831 --1.0669256e-27 -2.5450206e-34 --1.5500971e-34 --1.7465923e-34 --0.013946896 -0.010705842 --0.04819915 --1.6759611e-34 -1.9732877e-34 -3.8937355e-35 -1.9071002e-34 --1.6250273e-34 --9.617369e-35 -7.1642386e-35 --5.450593e-35 -2.275016e-34 --1.7198825e-34 --2.0944593e-34 --1.9627881e-34 -2.6782675e-34 -2.4162865e-34 -1.4853306e-34 --1.7038561e-34 --1.8870587e-34 -2.0932634e-34 --1.1767286e-34 --1.4496793e-34 -1.7857869e-34 -1.1221477e-34 --8.1518905e-05 -0.012740549 --1.130624e-34 -0.0066969474 --0.012923429 -1.6998062e-36 -0.019724857 -1.8393075e-34 -0.015207292 --0.007789558 --0.013709247 -2.9398144e-27 -6.534146e-35 -2.2277767e-34 -1.1127358e-34 --0.0032333417 --0.028742278 --0.014799064 --3.3209141e-34 -5.902349e-34 --0.011107914 -0.0020852622 -7.0893433e-35 -0.012537448 -0.03460974 -6.1610345e-35 --0.012114201 -1.5450666e-34 -0.025489926 -0.007074285 -0.019833803 -1.2327062e-27 -3.958388e-34 --5.925971e-35 -2.384299e-34 -0.014388644 -0.027115075 --0.045911442 --1.0685195e-34 --4.4177723e-34 -0.00836303 -0.017595882 --3.081311e-34 --0.028423125 -0.03677344 --1.3559979e-34 -0.011475904 -2.835607e-34 --0.0013784423 --0.0074660075 -0.046441823 -1.5908338e-29 --3.9250105e-34 --3.6694872e-34 --4.98725e-35 --0.0134278145 --0.0008391158 -0.012008046 -1.4362835e-34 -4.8692686e-34 --0.0044443496 --0.005327309 --2.0205184e-34 --0.011489743 -0.018207142 --3.580107e-34 -0.00519389 -1.6551883e-34 -0.012522233 --0.00396276 -0.034080442 -2.7698585e-28 --4.0583084e-34 --5.0018864e-34 -3.1468464e-34 -0.0010805129 -0.0112440605 -0.009465481 --7.631346e-35 --2.5529533e-35 --2.333595e-34 -2.951905e-35 -2.2713774e-34 -1.580075e-12 -9.726449e-35 --1.5477082e-34 -9.687102e-35 -6.287274e-35 --6.8791204e-35 --1.5202668e-34 -2.3417574e-34 --1.6760483e-35 --1.3133032e-34 --2.8931193e-34 --1.3576041e-34 --2.0745983e-35 --5.6881116e-35 --1.6343366e-34 --3.380369e-34 -1.0917137e-34 --1.1344439e-36 --1.840815e-34 --4.777838e-35 --1.5421889e-34 -2.7939698e-34 -4.694208e-35 --2.9912033e-34 -1.6917797e-34 --1.1989197e-34 -2.339812e-34 -2.129167e-35 -8.370337e-35 -7.9179095e-35 -8.5230366e-35 --4.5223564e-35 --1.5570007e-34 -2.8046404e-34 -1.7437664e-34 --2.1945407e-34 -3.5465335e-34 -0.033353843 -0.013314514 -2.1278202e-34 --0.03320192 --0.037563547 -1.718434e-34 -0.0027336641 -1.2292581e-34 --0.03377823 -0.014527084 -0.068743184 --2.0241236e-13 --1.628307e-34 -1.6267119e-34 -2.0301653e-34 -0.01445784 -0.04131094 --0.0022866784 -4.2198299e-35 -1.8546812e-34 -0.02295939 -0.0067341747 -3.2921861e-34 -0.015002048 --0.018781131 --8.874896e-36 -0.010786857 -1.06099845e-35 -0.01547291 -0.0035011768 -0.0011021168 --8.181588e-29 --3.5711222e-34 --2.5269095e-34 -4.3479473e-36 -0.005233378 --0.034351435 --0.017130395 --1.9056123e-34 --5.1999944e-34 --0.034530666 -0.023473378 --2.3802174e-35 --0.014347814 --0.044916842 --3.0256697e-34 --0.008925575 -2.7422607e-34 -0.031014362 -0.013447958 --0.026108073 --7.092473e-27 -2.787008e-34 --1.9814502e-34 --5.4018006e-35 -0.049936373 --0.0058324775 --0.0019367283 -1.8136868e-34 -3.9972514e-09 -6.3993736e-33 -3.7133293e-33 --2.2485754e-34 -4.8101964e-35 --7.138467e-34 --1.8285696e-34 -3.9315474e-34 -2.2587087e-34 --8.095439e-34 --6.163245e-13 -1.676659e-34 --4.17277e-34 -4.592785e-34 --2.7117185e-36 --2.5626893e-34 -4.534412e-33 --1.838341e-33 -8.1398025e-33 -2.3653045e-34 -1.5291031e-34 -0.01920409 -0.021082595 -1.2204572e-34 -0.0020285896 -0.037170656 --2.436174e-34 --0.0030650336 --1.5077857e-34 --0.006728984 -0.0072035454 --0.005087449 --7.715645e-29 -1.5549122e-34 -5.1835513e-34 -3.01999e-34 --0.026177945 -0.019555539 --0.03131982 -1.2899521e-34 --4.6914714e-35 --1.7799992e-34 --2.05129e-34 -7.545475e-35 --2.309745e-34 -3.305791e-35 --3.4463267e-35 -7.0643904e-35 --2.4045841e-34 --2.2204133e-34 -9.3820176e-35 --2.4127545e-34 --9.085716e-35 --9.068036e-14 --2.414034e-34 --2.0162547e-34 --2.623854e-34 -1.5772985e-34 -4.813135e-35 -1.9754568e-34 --7.218715e-35 --0.0019657575 -0.025957828 --2.7287848e-34 --0.00011744467 -0.02403363 -2.1684308e-34 -0.012840287 --2.5854225e-34 --0.004917782 --0.0075977733 --0.005847681 --2.4111861e-27 --2.6674205e-34 --1.1997743e-34 --1.4653778e-34 -0.0025056556 --0.021583635 --0.014186224 -2.1903195e-34 --3.7476367e-35 --0.024267847 --0.01282844 --1.5651602e-34 -0.0058364095 -0.0332756 -1.2774885e-34 --0.016047692 --2.207184e-34 -0.015400583 -0.0008804232 -0.02220418 -6.0880615e-28 -7.2345593e-35 --4.52136e-35 --4.4964498e-35 -0.015303627 -0.03378021 --0.023445962 --2.1306827e-34 --4.5584335e-34 --0.015265133 -0.01945159 -2.3642284e-34 -0.015873095 -0.02920973 -5.4964365e-35 --0.0058590574 --3.1488835e-34 -0.0034289996 --0.008624995 -0.0300484 -1.7983043e-27 -2.2054354e-34 -4.9560697e-34 --1.9822462e-34 --0.023191005 -0.0033528828 --0.0004142169 -1.674608e-34 -1.9223578e-34 --0.05834662 -0.02955523 --4.518431e-35 --0.027380629 --0.034121882 -3.6155844e-34 -0.0068002837 --5.1582793e-36 -0.03170625 -0.006723971 --0.015227451 --3.5662145e-22 --2.7106515e-35 --2.6988257e-34 --2.2976451e-34 --0.006755468 --0.022276595 -0.045586377 --4.5385653e-35 -2.3707315e-34 --1.0559654e-34 -1.4725932e-34 --1.5358968e-34 -1.8766437e-34 --7.534671e-35 -2.1102337e-34 -2.323337e-34 -9.22038e-35 -2.918528e-34 -1.9026356e-34 --1.074108e-36 --2.1650732e-34 --2.1518228e-34 --1.4389431e-34 -1.1404485e-34 --8.3047666e-35 -2.1441825e-34 -2.3886812e-34 -2.5687362e-34 --2.1683284e-34 --1.493796e-34 -7.9568547e-35 --1.9041172e-35 --1.575378e-34 --1.927356e-34 -9.241622e-35 -2.85316e-34 --1.795822e-34 --3.6362301e-34 -1.1295043e-34 -2.3654138e-34 -2.6358622e-34 -2.7007093e-34 --9.081819e-35 -1.8798653e-34 -1.4988241e-34 --3.1649405e-35 -3.9707763e-35 -1.7603252e-34 --3.7440097e-34 -0.05692085 -0.030972231 --8.2602734e-35 --0.010262644 --0.09686597 -4.61172e-34 -0.0105759865 -1.9284504e-34 --0.026291076 -0.007961407 -0.019180024 --2.20386e-09 -1.4566129e-34 -6.484213e-35 -1.8963687e-35 -0.006491753 -0.02849268 -0.017836241 --1.800909e-35 -7.660532e-35 -0.015305239 -0.0096585015 -1.1464293e-34 -0.0032955862 --0.05717358 -1.3997103e-34 -0.020739121 -1.0408254e-34 -0.004675289 -0.009715966 --0.0343174 -5.9658405e-28 -3.8136448e-34 -2.7186898e-34 -1.6111755e-34 -0.0083798105 --0.03230711 -0.0059868945 --6.6999826e-35 --8.2428585e-35 --0.05880483 -0.0044901995 -2.9570346e-34 -0.004508577 -0.015135063 --6.3379896e-34 --0.003979634 --3.0274375e-34 -0.010876391 --0.0036066037 -0.00036801558 --3.8745635e-28 -1.4914019e-34 --3.4414546e-34 --1.04653364e-35 -0.044162784 -0.037540283 --0.021246038 --1.2524697e-35 --2.2097934e-06 -1.542749e-32 --7.255151e-34 --7.7538294e-35 --7.357184e-34 --8.542193e-34 -5.7530163e-34 --2.2267536e-34 -1.7101716e-34 -9.885538e-09 -9.744097e-10 -6.613625e-36 --8.896876e-35 --2.5117963e-34 --3.241007e-34 --2.4470743e-34 --8.187935e-34 -9.426745e-34 --2.4108654e-34 -1.4860926e-34 --1.5735165e-34 --0.00055361167 -0.009701957 -1.0874875e-34 --0.007260955 -0.04569881 --3.388164e-34 -0.0016860219 --1.0610742e-34 --0.007813812 --0.012932058 -0.0078550745 --4.029562e-28 --2.5958508e-34 -1.6165108e-35 -9.710848e-35 -0.0017954151 -0.011466898 -0.007858941 --1.926187e-34 --1.4817497e-34 --6.491402e-06 --4.4478892e-35 -1.9886403e-35 -2.7485035e-34 -1.6380693e-34 --2.578794e-34 --5.7402006e-35 -1.1501964e-34 -3.2275622e-34 --1.0009422e-34 --2.29271e-34 -2.6154214e-34 --1.543571e-35 --2.4272452e-34 -3.832038e-35 -2.6260039e-34 --2.4831074e-34 -2.3852218e-34 -1.100241e-34 -3.17321e-34 -0.038898088 -0.00034679403 --3.2679964e-34 --0.007027815 -0.02032657 -6.5085533e-34 -0.003291387 --1.0032087e-34 --8.982608e-05 --0.005555655 -0.0020715655 --5.9646594e-28 --1.8266799e-34 -1.9633747e-34 -2.622595e-34 --0.006554719 -0.01945617 --0.0070206523 -2.4858882e-34 -4.572781e-35 --0.026428683 -0.018748546 -2.714595e-34 --0.016614908 -0.022136385 --4.9376057e-34 --0.014908514 --2.2042604e-34 -0.0037184444 --0.0012059747 -0.004358043 -5.429314e-29 --3.0108297e-34 -1.7232219e-35 -4.6808748e-35 -0.008143064 -0.020797329 -0.005393635 -1.1633385e-34 --4.707999e-34 -0.018483644 -0.026726542 -3.2687782e-34 --0.017748155 --0.02854339 -2.564794e-35 -0.0070148795 --3.31202e-34 -0.008525922 -0.010529727 -0.010835141 --2.7118713e-27 --1.3535659e-34 -7.133495e-35 --3.9518766e-36 --0.007910683 --0.016689215 --0.06542261 --2.5280898e-34 --2.4327267e-34 --0.086731784 -0.05835514 -2.8430307e-34 --0.031181984 --0.014665517 --6.1700275e-34 --0.010174896 --1.8422807e-34 -0.017087594 -0.009243084 -0.019427465 --1.070467e-18 -2.6944574e-34 -2.003986e-34 -1.6299315e-34 --0.00738076 --0.01896893 -0.06484227 -1.452627e-34 -8.263002e-35 -7.274076e-35 -1.3962389e-34 -2.843407e-34 -4.4178958e-35 --2.9444784e-34 -2.2881468e-34 -8.094238e-35 --1.4112177e-34 --2.6369644e-34 --2.3324196e-35 -4.509536e-36 -3.2377982e-35 -2.5425502e-34 --3.5680053e-35 --5.510178e-35 -8.283562e-36 --9.707806e-35 -1.9808549e-35 -1.9937697e-34 -3.1696425e-35 --2.805429e-34 -9.724033e-35 -2.0839366e-34 --1.37531e-34 -2.2900168e-35 --2.961123e-34 --1.2586376e-34 -1.4235641e-34 --1.3756112e-34 -2.5570267e-34 -3.2264202e-34 -3.1529791e-34 --2.7532227e-34 -1.0548776e-34 -1.3817716e-34 -2.997596e-34 -8.320787e-35 --5.1919473e-35 -2.9701673e-34 -1.7220111e-34 -0.020148512 -0.050017152 -6.616361e-35 --0.01779984 --0.09690784 --2.7214028e-34 -0.017142026 -4.1547216e-35 -0.03574465 -0.028972296 --0.010797554 --1.0730108e-09 -3.2071263e-34 --2.5224026e-34 --8.6796924e-35 -0.02945505 --0.0023092723 --0.009201903 --9.5766274e-35 -4.8256187e-34 --0.0039141816 --0.013673676 -2.264578e-34 -0.013452874 --0.02402299 -3.1540453e-34 -0.012290612 --2.518697e-35 -0.01304609 -0.013462924 --0.021133145 -9.4104584e-29 -1.0725006e-34 --2.048311e-34 -2.572048e-34 -0.008650375 --0.033286706 -0.0056625125 -1.4909251e-34 -4.4565137e-35 --0.026699906 --0.028933376 --3.6518503e-35 --0.0018033069 -0.020978808 --1.1133031e-34 -0.0013113696 -1.5952256e-34 --0.004751065 --0.012451953 -0.048848175 --9.030665e-27 -1.6413855e-34 --3.2543754e-34 -1.7658416e-34 -0.009291077 -0.04394534 --0.008048619 --3.9555053e-14 --7.9400535e-11 --4.6259527e-33 --1.0317902e-33 --1.8566841e-36 -8.401794e-34 --2.1828802e-34 --2.454349e-07 -5.43751e-34 -1.3684885e-34 -8.586386e-21 --3.7385128e-34 --9.277883e-34 --9.430417e-13 --4.384682e-34 --1.1233757e-09 -2.1804585e-34 -5.899641e-34 --6.482686e-34 --5.8084864e-33 --2.8293795e-34 -4.005009e-34 --0.0059048147 --0.019810887 --1.9213655e-34 -0.037134945 -0.026516546 -9.995944e-35 -0.0077048475 --1.9493232e-34 --0.00595087 -0.00082677155 --0.0065289014 -3.313489e-27 -2.306667e-34 -1.1638317e-34 --1.6911148e-34 -0.006468418 --0.0011263443 --0.015010197 -2.3240097e-34 --1.721815e-34 -2.424558e-34 --9.363102e-35 -1.015994e-34 -2.4402528e-34 -1.1552015e-34 -1.8299141e-36 --2.5379437e-34 -1.0336103e-34 --1.95279e-36 --2.834211e-34 -7.813208e-35 --2.8415225e-34 -2.7522639e-36 -4.858442e-35 --1.4457552e-34 --8.962582e-36 --1.9555873e-34 -0.00017419027 -2.5323528e-34 -5.822332e-34 -0.0071307654 -0.0009264917 --4.7833e-35 --0.018899614 -0.023456708 --4.767329e-35 --0.0019325308 --5.229907e-35 -0.013439897 -0.008145342 -0.012015321 --1.4458286e-28 --3.910272e-34 --3.9189076e-34 -2.0267549e-35 -0.0039728465 --0.0033065882 --0.009396464 -2.7446765e-34 -6.556874e-35 --0.018223848 -0.025292424 -5.4204157e-35 -0.0124515025 -0.019280463 --1.4398088e-34 --0.0059856363 --1.2176009e-35 -0.00022798011 -0.010265746 --0.008120398 -4.4767096e-28 --8.485397e-35 -1.5681836e-34 --7.8725973e-35 -0.0022619453 -0.0046494287 --0.006385981 --1.3256921e-34 -6.162708e-35 -0.019629715 --0.0042164573 --1.3946657e-34 --0.010475383 -0.0016305106 --3.9934583e-34 -0.010591211 --1.4230066e-34 -0.005425899 --0.0008967643 --0.017447453 --3.802427e-28 -6.9031015e-35 --2.9384335e-34 -1.5715699e-34 -0.030609945 --0.022869444 --0.020073779 --1.9541262e-34 -2.002092e-34 --0.04922489 -0.054011576 -2.1877996e-34 --0.020831553 -0.054680653 --2.5790961e-34 -0.011462984 -2.044456e-34 --0.009543744 --0.009358658 -0.031339295 --1.743145e-21 --2.9231273e-34 --3.057278e-34 -2.3519915e-34 --0.0014604545 -0.009073579 -0.033311144 --1.3629542e-34 --1.8836475e-34 -2.2684102e-35 --6.3359146e-36 --1.5735884e-34 -2.8074772e-34 -3.3902726e-35 --2.4532494e-34 -1.3872707e-34 --2.6911364e-34 -2.5754493e-34 -1.4774495e-34 --2.913156e-34 --7.07216e-35 --2.8544676e-35 -5.462336e-35 -2.3967375e-34 --1.3612812e-34 -2.9512085e-34 --1.5127143e-34 --5.795692e-35 --2.7368998e-35 --2.733354e-34 -1.8872501e-34 -2.5507093e-34 --2.0079436e-34 -3.004615e-34 -1.7622993e-34 -6.80192e-35 --1.7806416e-34 --3.6833234e-34 -1.8306954e-34 -7.9677165e-35 --2.3707375e-34 -8.5765206e-10 --3.2201933e-34 --2.1470634e-34 --1.4375256e-34 --6.0898046e-35 -8.130495e-36 --1.4540636e-34 -1.3013442e-34 -0.009651752 -0.007943354 --3.2596364e-34 --0.043030538 --0.040604807 --2.5620189e-34 -0.019839482 --2.383918e-34 -0.027916001 -0.016329985 -0.013282882 --2.4173852e-09 -4.086566e-34 -1.8478635e-34 --8.9322934e-35 --0.008960655 -0.035142366 -0.03193643 -1.0167987e-34 --5.182485e-34 -0.010594969 --0.0022453936 --4.5058076e-35 -0.0037765815 --0.00037855946 -5.254867e-35 -0.013922741 --1.3048015e-34 -0.0060374653 -0.0074211527 -0.004800454 -3.738752e-28 --1.7043332e-34 -9.5007127e-35 -3.6386978e-34 -0.008173825 --0.018567473 --0.010344745 --2.9269116e-34 -4.893539e-34 -0.017842729 -0.008902775 --2.7059308e-34 --0.0009510681 --0.015443712 --2.4936735e-34 -0.019717002 --3.1547995e-34 --0.011024547 --0.012952495 -0.014874552 -2.155406e-27 -1.8461153e-35 -3.2932686e-34 --5.535201e-35 -0.0043245144 -0.00022289249 --0.0065530343 -1.980495e-34 --1.3757236e-07 -2.2899213e-18 -9.550633e-34 -2.8726924e-35 --5.620109e-17 -9.971652e-17 -3.3352883e-13 --2.5140366e-17 --2.8321626e-34 -7.4099674e-34 -3.21935e-33 -6.975916e-36 --1.1008505e-34 --4.3999488e-35 --3.9070347e-34 --1.5145841e-34 -5.3169085e-17 -9.8346845e-18 --5.1073556e-18 --3.538335e-35 -3.5878087e-34 --0.0015703836 -0.0017491329 --2.0789674e-34 -0.010542907 -0.03161386 -4.110554e-34 -0.00083349645 --3.2492971e-34 --0.004660303 -0.0056429924 -0.01401479 --2.2052906e-29 --4.162188e-34 --2.9297769e-34 --1.947986e-34 --0.0072398526 -0.0066079553 --0.014987444 --2.1246344e-34 -1.7338695e-34 --1.2172655e-09 -3.0262918e-34 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