Diff: main.cpp

Revision:

87:471334725012

Parent:

86:b8ed7abddeb2

Child:

88:d6e591bece22

diff -r b8ed7abddeb2 -r 471334725012 main.cpp
--- a/main.cpp	Mon Jul 13 00:43:25 2020 +0000
+++ b/main.cpp	Thu Jul 16 03:37:10 2020 +0000
@@ -1,4 +1,4 @@
-//200713-1
+//200716-1
 #include "mbed.h"
 #include "FastPWM.h"
 #include "INIT_HW.h"
@@ -192,106 +192,77 @@
 
 float input_NN[num_input] = { 0.0f };
 
-const float h1[num_input][32] = { 
-   {-1.7173271179199219f,1.9272761344909668f,0.10589459538459778f,-1.9551751613616943f,-3.8357114791870117f,-0.29917842149734497f,-0.48302900791168213f,-0.6505731344223022f,0.29983001947402954f,0.15260091423988342f,-0.22155041992664337f,1.0087947845458984f,-0.19318288564682007f,0.2118169665336609f,-0.21103838086128235f,-0.09650886058807373f,0.3179604113101959f,0.24935457110404968f,1.4815877676010132f,1.0487595796585083f,-0.33476194739341736f,0.10696089267730713f,-0.3326931595802307f,-0.0792258083820343f,-0.7916494011878967f,0.18374285101890564f,-0.1767144799232483f,-0.4138437807559967f,-0.15036900341510773f,-0.18794111907482147f,-2.7250051498413086f,0.5172664523124695f},
-{-1.2524315118789673f,0.941848635673523f,0.29864487051963806f,-1.584148645401001f,-2.2177202701568604f,-0.17978821694850922f,-0.012527896091341972f,-0.144596666097641f,0.14071500301361084f,0.6399505138397217f,-0.31240519881248474f,0.5600001215934753f,0.021212786436080933f,0.13825878500938416f,0.045876264572143555f,-0.09028167277574539f,0.07870176434516907f,0.06295260787010193f,1.1944940090179443f,0.7594378590583801f,-0.03096979856491089f,-0.12077532708644867f,-0.09506890177726746f,0.27714261412620544f,-0.9661630988121033f,0.2936786115169525f,0.12686115503311157f,0.03534860163927078f,-0.3554855287075043f,0.09809011220932007f,-1.8105827569961548f,0.32793962955474854f},
-{-0.48733365535736084f,0.6765395998954773f,-0.0042223334312438965f,-1.1163684129714966f,-1.3729448318481445f,-0.19619950652122498f,-0.05927915871143341f,-0.2911379635334015f,0.16023236513137817f,0.408161997795105f,0.2585596740245819f,0.5770053267478943f,-0.03282937407493591f,0.1537180244922638f,-0.31718650460243225f,-0.10159887373447418f,0.5034856796264648f,-0.2658354640007019f,0.9114205837249756f,0.5554563403129578f,0.22159990668296814f,-0.15311938524246216f,0.13552400469779968f,-0.24659553170204163f,-0.7723011374473572f,0.14537742733955383f,-0.15514154732227325f,0.12487674504518509f,-0.3350704610347748f,0.302763432264328f,-1.7596312761306763f,-0.12863287329673767f},
-{-0.2709197998046875f,0.6088866591453552f,-0.20532599091529846f,-2.105774402618408f,-1.0578839778900146f,0.036226771771907806f,-0.03222697228193283f,-1.6291370391845703f,0.26261192560195923f,0.01654042862355709f,0.09624053537845612f,0.6282867789268494f,-0.11809042096138f,0.2912616729736328f,-0.12817290425300598f,0.07094799727201462f,0.020156018435955048f,-0.23756909370422363f,0.5113418102264404f,0.16509424149990082f,-0.24942269921302795f,-0.08793863654136658f,-0.14710915088653564f,-0.29148542881011963f,-0.4696958363056183f,0.14159366488456726f,0.13380053639411926f,0.02932538464665413f,0.295910120010376f,0.1323157548904419f,-1.4720128774642944f,0.07230854779481888f},
-{0.6661653518676758f,-0.07301590591669083f,0.08410122990608215f,-1.2277125120162964f,0.694151759147644f,0.09587140381336212f,-0.04204050451517105f,-2.474729299545288f,-0.6504687666893005f,0.6039865612983704f,-0.2716653645038605f,-0.35135138034820557f,0.211430162191391f,0.17204579710960388f,-0.25075238943099976f,0.28811436891555786f,-0.3890503942966461f,-0.18436601758003235f,-0.33490189909935f,-0.7503584623336792f,0.1375632882118225f,0.23587647080421448f,-0.24541926383972168f,-0.07457953691482544f,-0.8893887400627136f,-0.34256690740585327f,0.04057341814041138f,-0.09120805561542511f,0.44388294219970703f,-0.16320037841796875f,-0.14700335264205933f,-0.3236575722694397f},
-{2.7038960456848145f,-4.2455902099609375f,0.30513831973075867f,3.0863757133483887f,4.677725791931152f,0.2606070041656494f,-0.03161865100264549f,-0.08901429921388626f,-1.4746451377868652f,2.4349827766418457f,0.25819647312164307f,-3.1457977294921875f,-0.03144201636314392f,-0.005527359899133444f,0.21901831030845642f,-0.11974890530109406f,-1.0750433206558228f,-0.3195672333240509f,-4.672972202301025f,-2.3165717124938965f,0.13521116971969604f,-0.009676039218902588f,0.12587067484855652f,0.3309326469898224f,-2.980839729309082f,0.20814630389213562f,-0.2925715744495392f,0.6946446895599365f,0.4552701413631439f,-0.0013132691383361816f,3.4617044925689697f,-0.7443327307701111f},
-{0.053353261202573776f,-0.3158263862133026f,0.16288265585899353f,2.1040215492248535f,1.4133939743041992f,-0.0392598994076252f,-0.240433007478714f,-0.22583630681037903f,-0.2659626007080078f,-0.04336997866630554f,-0.11595829576253891f,-2.774592876434326f,0.098605215549469f,-0.08670175075531006f,-0.18274356424808502f,-0.46412888169288635f,-0.509023904800415f,-0.08166468143463135f,1.4031105041503906f,0.0587632991373539f,-0.16223669052124023f,-0.1771286129951477f,-0.2626192569732666f,-0.24521145224571228f,0.28011003136634827f,-0.15535086393356323f,-0.1126367449760437f,-0.2817431688308716f,-0.3592621684074402f,-0.03486502170562744f,1.4289454221725464f,-0.017852041870355606f},
-{0.6210769414901733f,-0.5490168929100037f,0.16644713282585144f,2.281311511993408f,1.210886836051941f,-0.20248198509216309f,0.03943008556962013f,-0.1206393837928772f,0.2586970925331116f,-0.4114479124546051f,-0.25573021173477173f,1.7027860879898071f,0.10806858539581299f,-0.12328503280878067f,0.054826945066452026f,0.09183579683303833f,0.05191424489021301f,-0.28619682788848877f,-0.21711719036102295f,0.02729770913720131f,-0.07430306077003479f,0.022674113512039185f,-0.12776102125644684f,-0.02844339609146118f,1.5868158340454102f,0.0177537202835083f,-0.341458797454834f,-0.21236279606819153f,-0.32845446467399597f,0.004316955804824829f,0.9823347926139832f,0.12272779643535614f},
-{0.271375834941864f,-1.2845408916473389f,0.13710039854049683f,2.082298517227173f,0.7812165021896362f,-0.2580096125602722f,-0.01317352894693613f,0.24639229476451874f,-0.05428266525268555f,0.04761303961277008f,-0.31649941205978394f,2.5336315631866455f,0.11499327421188354f,0.22336190938949585f,0.24149659276008606f,0.07626258581876755f,0.07528708130121231f,0.06021764874458313f,-0.29721686244010925f,-0.2243511974811554f,-0.30298954248428345f,-0.022329479455947876f,-0.2963099479675293f,0.08446213603019714f,0.6825646162033081f,-0.08218517899513245f,-0.08906334638595581f,0.1621612310409546f,0.15761741995811462f,-0.11924156546592712f,0.8460053205490112f,-0.025991566479206085f},
-{-0.5082711577415466f,-0.48148369789123535f,-0.24446426331996918f,1.0570698976516724f,0.35220712423324585f,-0.16325943171977997f,0.24722981452941895f,-0.2084919512271881f,-0.3960915207862854f,-0.18749573826789856f,-0.3748314678668976f,1.119239330291748f,0.08400186896324158f,0.10187669843435287f,-0.26784712076187134f,-0.5449401140213013f,0.1510961800813675f,0.3319900929927826f,-0.4567531943321228f,-0.5519561767578125f,-0.20100386440753937f,0.1638341248035431f,-0.11680193245410919f,-0.321638286113739f,0.8482062220573425f,0.05633258819580078f,0.13587942719459534f,0.18818747997283936f,0.07008782774209976f,0.30370619893074036f,0.7220067977905273f,0.13419514894485474f},
-{-0.6506638526916504f,-0.27080345153808594f,-0.06658771634101868f,0.8409618735313416f,-0.534980833530426f,-0.25742053985595703f,0.1363644152879715f,-0.4305042624473572f,-0.4650959372520447f,-0.32956910133361816f,-0.3635176718235016f,-0.8108978867530823f,-0.1789563000202179f,0.2531742751598358f,0.017138004302978516f,-0.0690113976597786f,-0.5680991411209106f,-0.24391496181488037f,-0.3262009024620056f,-0.7468659281730652f,0.16973629593849182f,-0.25340327620506287f,0.23975160717964172f,0.011333763599395752f,0.6142261624336243f,0.10268864035606384f,0.08055207133293152f,-0.4691053628921509f,-0.006952068768441677f,0.029612571001052856f,0.6139494180679321f,0.1642189621925354f},
-{-0.487315833568573f,0.4495343863964081f,-0.3080642819404602f,0.7150331139564514f,-0.7881894707679749f,-0.5316581130027771f,-0.14371272921562195f,-0.05865927040576935f,-0.2284361869096756f,0.547099769115448f,0.2747454345226288f,-0.9189876317977905f,-0.03757423162460327f,-0.18512161076068878f,-0.2992876172065735f,-0.02525782398879528f,-0.05888053774833679f,-0.1821068376302719f,-0.4728287160396576f,-0.38356640934944153f,0.29002442955970764f,0.2275833785533905f,-0.23374228179454803f,0.3280802071094513f,-0.01549439039081335f,0.2108195722103119f,0.33828380703926086f,-0.26290827989578247f,-0.025420013815164566f,0.1480078399181366f,0.8252019882202148f,0.022061198949813843f},
-{-0.42145416140556335f,-0.32817694544792175f,0.19288143515586853f,0.6556568145751953f,-0.49610650539398193f,-0.2140781581401825f,-0.2724672555923462f,1.5364238023757935f,0.012314929626882076f,1.0431996583938599f,-0.16546383500099182f,-0.29907405376434326f,-0.2720222473144531f,-0.37664857506752014f,0.06489166617393494f,-0.31254562735557556f,-0.0591534785926342f,0.21822473406791687f,0.04160457104444504f,-0.26140296459198f,-0.25171342492103577f,0.027203470468521118f,0.012447118759155273f,-0.0029686689376831055f,0.1829933077096939f,0.03022313117980957f,0.3424017131328583f,-0.460762619972229f,-0.2912348806858063f,-0.34525999426841736f,0.36401689052581787f,0.18966224789619446f},
-{-0.497624933719635f,-0.03684612363576889f,0.06283923983573914f,-0.1809375137090683f,-0.4831215441226959f,-0.08588290214538574f,0.263502299785614f,2.1750051975250244f,0.005951971281319857f,1.061228632926941f,0.27552711963653564f,-0.7091516256332397f,0.03354460000991821f,0.0158181544393301f,0.1072375476360321f,-0.34214287996292114f,-0.00028450076933950186f,0.08871319890022278f,-0.050333134829998016f,0.0513203926384449f,-0.2227887064218521f,-0.01532900333404541f,0.11891454458236694f,-0.33143535256385803f,0.023696811869740486f,-0.1485452950000763f,0.25882163643836975f,-0.5795165300369263f,-0.07981174439191818f,0.24182012677192688f,-0.08814141899347305f,0.2655392289161682f},
-{0.002737239934504032f,0.02176501415669918f,0.25620588660240173f,-0.5514960289001465f,-0.24924862384796143f,0.06575264781713486f,0.18139351904392242f,2.0172770023345947f,-0.032992683351039886f,0.7385754585266113f,-0.062326326966285706f,-0.9854000806808472f,0.18931713700294495f,-0.34806856513023376f,0.03958520293235779f,-0.05553334206342697f,-0.11130614578723907f,-0.07219305634498596f,0.08754456788301468f,0.07523036003112793f,0.31619134545326233f,0.26330670714378357f,0.026431173086166382f,0.237522691488266f,-0.21262700855731964f,0.19442179799079895f,0.1992029845714569f,-0.7913076281547546f,-0.40429288148880005f,-0.10433453321456909f,-0.4499031603336334f,-0.2245202511548996f},
-{-0.36545130610466003f,0.3189356327056885f,-0.13789941370487213f,-0.6045191287994385f,0.0023672033566981554f,0.10799064487218857f,-0.24793781340122223f,2.19549822807312f,-0.28907057642936707f,0.9180721044540405f,-0.3394242823123932f,-0.7255010008811951f,0.06288954615592957f,-0.24862933158874512f,0.28114965558052063f,-0.6722562909126282f,-0.05489439517259598f,-0.14027439057826996f,-0.43696144223213196f,-0.25249654054641724f,0.18525317311286926f,0.07025247812271118f,-0.12988737225532532f,0.04382038116455078f,0.07713350653648376f,-0.12333536148071289f,-0.12442702054977417f,-0.46850964426994324f,-0.3310098946094513f,0.27953919768333435f,-0.22783531248569489f,0.21733491122722626f},
-{-0.1677897423505783f,-0.2695007920265198f,0.23826703429222107f,-1.8076503276824951f,0.22223037481307983f,-0.20322440564632416f,0.29371458292007446f,2.6853017807006836f,0.3178054988384247f,1.1515147686004639f,-0.3639605641365051f,-0.8484248518943787f,0.012096136808395386f,-0.09091068059206009f,-0.03951779007911682f,-0.31418755650520325f,0.0484282560646534f,0.2508954107761383f,0.008388232439756393f,-0.010029105469584465f,0.22447606921195984f,0.30379387736320496f,-0.006355375051498413f,-0.11041811108589172f,-0.3858407139778137f,-0.28886765241622925f,-0.05783697962760925f,-0.3707982003688812f,-0.11206886917352676f,-0.1556464582681656f,-0.7998605370521545f,-0.08164318650960922f},
+const float h1[num_input][16] = { 
+   {-2.8398470878601074f,0.6193283796310425f,0.12903714179992676f,0.5167921781539917f,-2.9680557250976562f,1.2951633930206299f,-0.17472904920578003f,0.4641677439212799f,-2.412757396697998f,-0.3652467429637909f,-0.2333867847919464f,-2.022353172302246f,-0.26348453760147095f,-0.7644635438919067f,-0.2571594715118408f,-2.0745327472686768f},
+{-2.067868232727051f,0.1564812958240509f,-0.3927857577800751f,0.1317148059606552f,-2.017406702041626f,0.4895585775375366f,-0.4054011106491089f,-0.1517474502325058f,-1.380297064781189f,0.21619710326194763f,-0.2699335813522339f,-0.9855594038963318f,0.23649367690086365f,-0.7913738489151001f,-0.20967772603034973f,-1.2367783784866333f},
+{-1.810051679611206f,0.23925012350082397f,0.36391180753707886f,-0.28798815608024597f,-1.3201149702072144f,0.6065874099731445f,0.2872133255004883f,0.10069674253463745f,-1.121034860610962f,0.03665628656744957f,-0.34347283840179443f,-0.9276648759841919f,-0.0013653822243213654f,-0.3784019947052002f,0.05590221285820007f,-1.5249348878860474f},
+{-1.4985265731811523f,0.3095228374004364f,0.39742106199264526f,0.30592191219329834f,-0.9633183479309082f,0.3891645073890686f,-0.11584559082984924f,0.5953580737113953f,-0.43430089950561523f,-0.2335168570280075f,0.10071082413196564f,-1.4091436862945557f,-0.16311706602573395f,-0.7475653290748596f,-0.2961459457874298f,-1.5017070770263672f},
+{0.1639259159564972f,-0.19264478981494904f,-0.0051451027393341064f,0.18278539180755615f,0.29258835315704346f,-0.16537047922611237f,0.1294034719467163f,-0.48302626609802246f,1.0344970226287842f,0.003881702898070216f,0.35295185446739197f,-1.817507028579712f,-0.06637570261955261f,0.00020343283540569246f,-0.3865056037902832f,-1.2658499479293823f},
+{3.5226595401763916f,-3.8910415172576904f,0.21773302555084229f,0.12742145359516144f,3.8099546432495117f,-3.773838996887207f,0.16514194011688232f,-3.712245464324951f,4.016517639160156f,2.522937774658203f,-0.2422771006822586f,1.597900629043579f,-0.262627512216568f,2.9437081813812256f,-0.4132833778858185f,1.6044585704803467f},
+{0.5298309326171875f,0.645086944103241f,-0.2501986622810364f,-0.6320685744285583f,-0.21611358225345612f,0.5605753064155579f,0.06014183163642883f,0.15844355523586273f,1.091471552848816f,0.3617567718029022f,0.1512620896100998f,0.027080470696091652f,-0.16920821368694305f,0.38405799865722656f,-0.15618428587913513f,1.549833059310913f},
+{1.752773642539978f,0.24747805297374725f,-0.26619744300842285f,-0.22543148696422577f,0.8222247362136841f,-0.032656822353601456f,-0.17925891280174255f,0.3822891414165497f,0.9663873314857483f,-0.29047030210494995f,0.10626212507486343f,0.480464905500412f,0.37580054998397827f,-0.3655668795108795f,0.04303058981895447f,2.2091176509857178f},
+{1.5919779539108276f,0.23339682817459106f,0.10248100757598877f,-0.6890998482704163f,0.7124201059341431f,-0.1378057301044464f,-0.07246989011764526f,-0.1262863576412201f,0.12226836383342743f,0.7040022015571594f,-0.2960217297077179f,1.793251633644104f,0.2337968796491623f,0.3650861084461212f,-0.30555272102355957f,1.9488884210586548f},
+{0.7929409146308899f,-0.19633033871650696f,0.18462657928466797f,-0.41113781929016113f,0.49624335765838623f,0.27704986929893494f,-0.2990540862083435f,0.20519299805164337f,0.26225489377975464f,-0.0009923784527927637f,-0.006844776216894388f,-0.026139043271541595f,0.3769318759441376f,0.23515281081199646f,0.3484981060028076f,1.2790707349777222f},
+{1.0052663087844849f,0.21766312420368195f,0.37182438373565674f,0.03326691314578056f,0.10429742187261581f,0.12684360146522522f,-0.20339298248291016f,0.17294499278068542f,0.07091208547353745f,0.49463531374931335f,0.35001638531684875f,-1.0357372760772705f,-0.06227460876107216f,0.5203415751457214f,0.26688337326049805f,1.0582129955291748f},
+{-0.009967411868274212f,-0.20030762255191803f,-0.40320003032684326f,-0.17532263696193695f,0.07007589191198349f,0.0698668584227562f,0.1533789038658142f,0.5579044818878174f,0.05135143920779228f,0.5766482949256897f,-0.412638396024704f,-0.258128821849823f,0.14867377281188965f,0.5353510975837708f,0.10493969917297363f,1.0005464553833008f},
+{-0.20331288874149323f,-0.21851132810115814f,0.19847965240478516f,0.00805686879903078f,0.007025514263659716f,0.05012793838977814f,-0.2404318004846573f,0.1803596019744873f,-0.9538044929504395f,0.49284112453460693f,-0.10772302746772766f,1.2581406831741333f,0.09621597081422806f,0.9510980844497681f,-0.22268100082874298f,0.22397258877754211f},
+{-0.6508997082710266f,-0.005330599378794432f,0.4127817749977112f,-0.18556444346904755f,-0.6933119893074036f,-0.3204803168773651f,-0.32001304626464844f,-0.1965908706188202f,-1.1774673461914062f,0.3878006637096405f,-0.1934521198272705f,1.7537204027175903f,-0.3080941140651703f,0.6027981638908386f,0.0479682981967926f,-0.4101039469242096f},
+{-0.30106139183044434f,0.007497094571590424f,0.20282304286956787f,0.010503530502319336f,0.032386597245931625f,-0.3577798306941986f,0.04202890396118164f,0.21007822453975677f,-0.5572863817214966f,0.7413191795349121f,-0.2778761684894562f,1.2456766366958618f,0.10794247686862946f,0.47872665524482727f,0.0668090283870697f,-0.8287897109985352f},
+{-0.2796498239040375f,-0.3129813075065613f,-0.40439701080322266f,-0.1320924609899521f,-0.15521378815174103f,-0.3492761254310608f,-0.15568238496780396f,-0.112495556473732f,-0.6156744956970215f,0.48157981038093567f,-0.47240906953811646f,1.4889256954193115f,-0.2668617367744446f,0.2596912980079651f,-0.08245879411697388f,-1.1128588914871216f},
+{-0.37335193157196045f,-0.12954241037368774f,0.16706281900405884f,0.042002953588962555f,0.029660088941454887f,-0.728316605091095f,-0.041414469480514526f,-0.08492930978536606f,-1.3732367753982544f,0.5850858688354492f,-0.3521037995815277f,2.2308602333068848f,0.1164640337228775f,0.3607781231403351f,0.29427415132522583f,-2.0208303928375244f},
 };
 
-const float h2[32][32] = { 
-    {-0.13137859106063843f,-0.10295046865940094f,-0.04925942420959473f,0.03056607022881508f,-0.15490937232971191f,0.16330604255199432f,-1.2990971803665161f,0.06396704912185669f,-0.30411389470100403f,-0.10008957982063293f,-0.1590038388967514f,-5.922062397003174f,0.0007147788419388235f,-1.36534583568573f,1.183240294456482f,-1.1726893186569214f,0.07803884148597717f,-0.21483641862869263f,1.1221225261688232f,-0.0041795168071985245f,-0.5558278560638428f,-0.3899480700492859f,-0.23983746767044067f,-0.23265153169631958f,-0.836520791053772f,1.5812766551971436f,-0.7488188743591309f,-0.47962477803230286f,-0.9190705418586731f,0.011141382157802582f,-0.24613501131534576f,-0.19129112362861633f},
-{-0.22986026108264923f,0.002147972583770752f,-0.04321768879890442f,0.22967493534088135f,-0.09845665842294693f,-0.13700100779533386f,-1.1055527925491333f,-0.05986310541629791f,3.813115119934082f,0.048597872257232666f,-0.1841898411512375f,3.226252555847168f,0.1293780505657196f,-1.3700990676879883f,1.5355180501937866f,-0.8177396655082703f,0.056778669357299805f,-0.29813459515571594f,-3.519124746322632f,0.20640216767787933f,-0.05744555965065956f,-0.15230192244052887f,-0.16832955181598663f,0.12905128300189972f,-0.5481383204460144f,-0.7468918561935425f,-0.112486332654953f,0.2076956331729889f,-0.541940450668335f,-0.15495578944683075f,0.18297800421714783f,0.035263847559690475f},
-{-0.1579037755727768f,0.28447648882865906f,-0.1789936125278473f,0.20799604058265686f,0.025723248720169067f,0.17740526795387268f,-0.1666354387998581f,-0.06060470640659332f,-0.017253071069717407f,-0.2790656089782715f,-0.16800916194915771f,-0.2990717589855194f,0.07126197218894958f,-0.08032660186290741f,-0.1799015998840332f,-0.1891922950744629f,0.2556300461292267f,0.2080206573009491f,-0.24888339638710022f,0.27691522240638733f,-0.21319638192653656f,-0.14012537896633148f,-0.30466505885124207f,-0.013728171586990356f,-0.1629670113325119f,0.2530798614025116f,0.0633285641670227f,0.0011726915836334229f,-0.14820529520511627f,0.2823629677295685f,0.10884168744087219f,-0.2637729346752167f},
-{-0.6485359072685242f,-0.01806354522705078f,-0.23058539628982544f,0.038259103894233704f,-0.4108532965183258f,-0.3346051871776581f,-0.627473771572113f,0.08759373426437378f,-5.716217517852783f,0.09271347522735596f,-0.6312711834907532f,-1.4391802549362183f,-0.24267897009849548f,-1.4038288593292236f,-2.9891679286956787f,-3.6349809169769287f,0.10996055603027344f,0.110774464905262f,2.282869815826416f,-0.21493284404277802f,-0.4046284854412079f,-0.49804940819740295f,-0.06394433975219727f,-0.3556584119796753f,-0.39743170142173767f,-3.299213409423828f,-0.6942228674888611f,-0.41060662269592285f,-0.8261421918869019f,0.17458562552928925f,-0.0867234393954277f,0.024900102987885475f},
-{-1.6365861892700195f,0.2506926953792572f,-0.0804666131734848f,0.06818875670433044f,-0.12568525969982147f,-0.385815292596817f,-3.3343920707702637f,0.0013494789600372314f,-0.13689401745796204f,-0.2690317630767822f,-1.1727187633514404f,-2.5000505447387695f,-0.3217202425003052f,-1.7180784940719604f,-5.643918514251709f,5.577916145324707f,-0.10307048261165619f,0.024827085435390472f,1.3011410236358643f,0.00593941006809473f,-0.19676615297794342f,-0.1379304975271225f,0.19172045588493347f,-0.4065704047679901f,-0.7127699851989746f,1.494978904724121f,-1.6767559051513672f,0.044073354452848434f,-1.1123781204223633f,-0.3055749535560608f,-0.12780427932739258f,-0.3228360712528229f},
-{-0.34096378087997437f,-0.004258692264556885f,0.032371193170547485f,-0.2913452088832855f,-0.023485273122787476f,-0.29336631298065186f,-0.03892550244927406f,-0.14440131187438965f,-0.03548547625541687f,0.08825305104255676f,-0.28264519572257996f,0.35219189524650574f,-0.2578849494457245f,0.04145967587828636f,-0.12706536054611206f,-0.06649906933307648f,0.2371552288532257f,0.24713221192359924f,0.10025432705879211f,0.1586090624332428f,-0.05768062546849251f,0.054371774196624756f,-0.1307595670223236f,-0.07665363699197769f,-0.04606470838189125f,-0.15164676308631897f,0.09770971536636353f,-0.14926470816135406f,0.05800282955169678f,-0.3603157699108124f,0.17187702655792236f,0.14563854038715363f},
-{-0.21433322131633759f,-0.1279313862323761f,-0.11171227693557739f,0.25899314880371094f,-0.26441383361816406f,0.2845393121242523f,0.01586281880736351f,-0.20844537019729614f,-0.26620519161224365f,0.17144301533699036f,-0.13500888645648956f,-0.2672002613544464f,0.29584869742393494f,-0.04337330535054207f,-0.1619131863117218f,0.04655686393380165f,-0.16153597831726074f,0.18742787837982178f,-0.08948136121034622f,0.05917368829250336f,-0.017830487340688705f,-0.00526548782363534f,-0.07988794147968292f,-0.17033252120018005f,-0.20761150121688843f,0.06610221415758133f,0.09947504103183746f,-0.19676190614700317f,-0.11822041869163513f,0.19546762108802795f,-0.16657039523124695f,-0.00021095582633279264f},
-{-0.9104134440422058f,0.11346611380577087f,0.04012581706047058f,0.011996117420494556f,0.07278300821781158f,-0.19670961797237396f,-1.925018072128296f,0.004197537899017334f,-7.640780448913574f,0.01006925106048584f,-1.4993314743041992f,0.4773991107940674f,-0.165308877825737f,-1.3372852802276611f,3.7671117782592773f,-1.9458394050598145f,-0.2721019387245178f,0.12607337534427643f,0.7672913670539856f,-0.14725707471370697f,0.012217276729643345f,-0.09640329331159592f,-0.07979777455329895f,0.0896715298295021f,-0.977038562297821f,-0.06487955898046494f,-0.9505375027656555f,-0.30658459663391113f,-1.1566622257232666f,-0.06056435406208038f,0.03948964923620224f,-0.11370246112346649f},
-{-0.534869909286499f,0.2890130579471588f,-0.021617114543914795f,0.10920049250125885f,0.29321715235710144f,-0.07389599084854126f,-1.2600456476211548f,-0.23997274041175842f,0.29470762610435486f,-0.06864601373672485f,-0.8814173340797424f,0.3975186347961426f,0.1440577507019043f,-1.0519700050354004f,1.473692536354065f,0.5586662292480469f,0.046292245388031006f,0.06025278568267822f,0.5181095004081726f,0.2231176197528839f,0.10361833870410919f,-0.10668601840734482f,0.28743305802345276f,-0.022132450714707375f,-0.7482275366783142f,-0.21913741528987885f,-1.0199875831604004f,-0.1265142410993576f,0.2501918375492096f,-0.213126540184021f,-0.3454297184944153f,-0.24383841454982758f},
-{0.10220559686422348f,0.08643358945846558f,-0.29237738251686096f,-0.24161572754383087f,0.01118081621825695f,-0.22395426034927368f,0.13729232549667358f,-0.15540927648544312f,0.2260703295469284f,-0.07031691074371338f,-0.03131846338510513f,-0.4036670923233032f,0.03968853875994682f,-0.4556078314781189f,-0.9261653423309326f,-0.660520076751709f,-0.015168905258178711f,-0.3219098150730133f,1.0290690660476685f,-0.2342473417520523f,-0.12659317255020142f,-0.1729167252779007f,-0.2307620644569397f,-0.1900360882282257f,-0.3321600556373596f,-0.9627776741981506f,-0.17012643814086914f,-0.11581755429506302f,0.26994064450263977f,0.008148099295794964f,-0.007324356585741043f,-0.14567801356315613f},
-{0.19981321692466736f,0.1956864297389984f,-0.033508092164993286f,-0.22838544845581055f,-0.12505969405174255f,0.026693344116210938f,0.07755803316831589f,0.14285165071487427f,-0.17670965194702148f,0.17403557896614075f,-0.1892869919538498f,0.10917198657989502f,-0.1060299277305603f,-0.004281271249055862f,-0.16194114089012146f,0.060334522277116776f,0.03990337252616882f,0.0716913640499115f,0.1535496562719345f,-0.09219866991043091f,0.25587984919548035f,0.09463605284690857f,0.07470300793647766f,0.30149874091148376f,0.057510726153850555f,0.061460915952920914f,-0.0002612679672893137f,-0.2523749768733978f,0.13817378878593445f,0.17853263020515442f,-0.009185433387756348f,-0.020889628678560257f},
-{-1.2534677982330322f,-0.09556084871292114f,0.12328919768333435f,0.07324434816837311f,-0.412251740694046f,0.09688419848680496f,-1.211110234260559f,-0.10312946140766144f,0.6294963359832764f,0.009893029928207397f,-0.8751223683357239f,0.7490782737731934f,-0.17668363451957703f,-2.650881052017212f,-1.7021610736846924f,-0.8544144034385681f,0.009990394115447998f,-0.02465972863137722f,0.24774594604969025f,0.1711040884256363f,-0.3499271869659424f,-0.31871533393859863f,0.09996896982192993f,-0.07133360952138901f,-0.7218606472015381f,-0.1518828123807907f,-1.2406471967697144f,0.040592119097709656f,-1.4271221160888672f,-0.33270272612571716f,0.049988601356744766f,0.14892533421516418f},
-{-0.08816954493522644f,0.2728963792324066f,-0.07170480489730835f,0.1482785940170288f,0.07727676630020142f,0.20119628310203552f,0.03849402070045471f,0.02873826026916504f,-0.15294449031352997f,-0.038666754961013794f,-0.1574239432811737f,0.27019134163856506f,0.1312139928340912f,-0.26498496532440186f,0.1620480716228485f,0.12264445424079895f,0.023397088050842285f,0.21900424361228943f,0.25839516520500183f,0.2068612277507782f,-0.29656288027763367f,0.045920878648757935f,-0.19714993238449097f,0.22523340582847595f,0.07844719290733337f,0.22350957989692688f,-0.04062908887863159f,-0.26378923654556274f,0.18573936820030212f,0.15478622913360596f,0.013760745525360107f,0.010002970695495605f},
-{0.14700931310653687f,0.1833711564540863f,-0.0858893096446991f,0.06477848440408707f,-0.25116482377052307f,0.2733006179332733f,0.169891357421875f,-0.16134384274482727f,0.000652611255645752f,-0.22920364141464233f,0.2181621491909027f,-0.36598706245422363f,0.26723334193229675f,0.4086347222328186f,-0.18677623569965363f,-0.4878250062465668f,-0.07963520288467407f,0.14483880996704102f,-0.2810210883617401f,-0.21282139420509338f,-0.09440580010414124f,0.20116007328033447f,-0.2228696048259735f,0.22910691797733307f,0.06766201555728912f,-0.0871562659740448f,0.05672140792012215f,0.10383789241313934f,-0.011228948831558228f,0.26896968483924866f,-0.28556761145591736f,0.020505515858530998f},
-{-0.23982827365398407f,0.03880670666694641f,-0.013682037591934204f,-0.11685100197792053f,-0.020662933588027954f,0.30190005898475647f,-0.14934301376342773f,-0.15993990004062653f,0.1152651309967041f,-0.11991468071937561f,-0.15497799217700958f,0.11116543412208557f,-0.2045515924692154f,0.2403949797153473f,-0.21275603771209717f,0.05732181668281555f,-0.2770107090473175f,0.088544100522995f,0.19012078642845154f,-0.07119561731815338f,-0.18914666771888733f,-0.10413256287574768f,-0.16050675511360168f,0.11598068475723267f,-0.03151249885559082f,-0.1937510371208191f,0.18474078178405762f,0.19502457976341248f,0.22045472264289856f,-0.29474368691444397f,0.09864541888237f,0.06054645776748657f},
-{-0.18084125220775604f,0.1317739188671112f,0.03260180354118347f,-0.189693883061409f,-0.05160003900527954f,-0.3177117705345154f,-0.12786081433296204f,0.11372503638267517f,0.05445769429206848f,0.07657262682914734f,-0.12631160020828247f,-0.11137209087610245f,0.22289374470710754f,-0.224675253033638f,0.01952843926846981f,-0.22403544187545776f,-0.25386664271354675f,-0.18997573852539062f,-0.18263889849185944f,-0.2691788673400879f,-0.25918254256248474f,-0.19266310334205627f,-0.3044300675392151f,0.25040265917778015f,-0.27626940608024597f,0.16472280025482178f,0.0758262425661087f,-0.3469090163707733f,-0.0006675124168395996f,-0.3524838387966156f,-0.035532981157302856f,0.2737947404384613f},
-{-0.11370162665843964f,-0.062024205923080444f,0.10704237222671509f,-0.1559026688337326f,-0.04875987768173218f,0.0018744691042229533f,-0.5390238165855408f,0.27597710490226746f,-0.23304778337478638f,-0.035415440797805786f,-0.6869471669197083f,0.09945104271173477f,0.0911187082529068f,-0.5795508027076721f,0.05797859653830528f,0.18359974026679993f,-0.027234435081481934f,0.19620582461357117f,0.22670695185661316f,-0.27145102620124817f,-0.18713872134685516f,-0.26365548372268677f,-0.19671492278575897f,-0.2899109423160553f,-0.8612310290336609f,-0.15312938392162323f,-0.7887294888496399f,0.022899312898516655f,-0.2531542181968689f,0.1648719757795334f,-0.21812304854393005f,-0.20413991808891296f},
-{0.1379433274269104f,-0.16078773140907288f,0.11784148216247559f,0.2671110928058624f,0.2693568766117096f,0.19759181141853333f,0.08533552289009094f,0.17868870496749878f,0.040603965520858765f,-0.2119520902633667f,0.1136421263217926f,-0.24326792359352112f,-0.07898660004138947f,0.2795462906360626f,-0.22247430682182312f,-0.0708579272031784f,0.18204066157341003f,0.2297056019306183f,0.034212857484817505f,0.05284380912780762f,-0.15357805788516998f,-0.2940097451210022f,0.26029130816459656f,0.2647087275981903f,0.1594548225402832f,0.04613301157951355f,-0.22981436550617218f,0.10197556018829346f,-0.08671019971370697f,-0.019541800022125244f,0.30332449078559875f,0.15016543865203857f},
-{-0.002804771764203906f,0.2841971218585968f,-0.0814327746629715f,-0.013670862652361393f,-0.15212534368038177f,-0.022382404655218124f,-2.626189947128296f,0.20642486214637756f,1.2582547664642334f,0.022429823875427246f,-0.7952395677566528f,7.365582466125488f,-0.3668726086616516f,-1.6797113418579102f,7.281360149383545f,-1.0288194417953491f,0.1296386420726776f,-0.03407808020710945f,-4.512337684631348f,-0.03871297836303711f,-0.00808145571500063f,-0.4713849127292633f,0.06231796741485596f,0.0019151520682498813f,-0.7019249200820923f,-0.35997381806373596f,-1.0139293670654297f,-0.2560400664806366f,-0.7318679690361023f,-0.22046388685703278f,-0.22197212278842926f,0.06654692441225052f},
-{-0.5939236283302307f,0.29651907086372375f,0.02990397810935974f,-0.05245913565158844f,0.1826970875263214f,-0.3728591203689575f,-1.027631163597107f,0.26979032158851624f,-0.2325194776058197f,-0.2458522766828537f,-0.3106943666934967f,3.77958083152771f,-0.24261555075645447f,-1.8389643430709839f,3.545215606689453f,2.986215829849243f,0.2577105462551117f,0.11064860224723816f,-1.399102807044983f,-0.023296836763620377f,0.18481822311878204f,-0.6809296607971191f,-0.07374785840511322f,-0.0706876665353775f,-0.7183931469917297f,-0.4389989674091339f,-0.10935307294130325f,0.20853689312934875f,-0.20442616939544678f,0.18037636578083038f,-0.16988523304462433f,0.05407894775271416f},
-{0.2703488767147064f,-0.16041381657123566f,0.12738299369812012f,-0.03611093759536743f,0.1169431209564209f,0.1861400008201599f,-0.1765512377023697f,0.28177282214164734f,0.1474648416042328f,-0.23766008019447327f,-0.005803406238555908f,0.08728843927383423f,0.09594401717185974f,-0.17028304934501648f,-0.16805587708950043f,-0.058941617608070374f,-0.22846683859825134f,0.08700510859489441f,-0.2656046748161316f,0.07154610753059387f,-0.1559111475944519f,0.22832396626472473f,-0.18301571905612946f,-0.17816279828548431f,-0.04200500249862671f,0.2835671007633209f,0.1830621361732483f,-0.26011598110198975f,0.08541131019592285f,0.08213254809379578f,-0.29332536458969116f,0.08477649092674255f},
-{-0.06283275783061981f,-0.26753589510917664f,-0.10381917655467987f,-0.13344663381576538f,0.2644997537136078f,0.2204643189907074f,0.2924788296222687f,-0.17931663990020752f,-0.09078609943389893f,-0.17306232452392578f,0.02247890830039978f,-0.26996222138404846f,0.22075030207633972f,-0.3029964864253998f,0.21873190999031067f,-0.0030784308910369873f,0.18228653073310852f,0.09971508383750916f,-0.242676243185997f,-0.1424383968114853f,0.19031599164009094f,0.3004438579082489f,-0.23650792241096497f,-0.2683113217353821f,0.29957786202430725f,0.08561205863952637f,-0.1366746425628662f,-0.15950153768062592f,-0.07675467431545258f,-0.2218506634235382f,-0.2795913517475128f,0.1869203746318817f},
-{0.2003176510334015f,-0.27792131900787354f,0.055196613073349f,-0.27959588170051575f,0.18430876731872559f,-0.05316638946533203f,0.16156336665153503f,-0.18850930035114288f,0.09482413530349731f,0.021483391523361206f,0.009039878845214844f,0.1586727499961853f,0.11457142233848572f,0.2876913249492645f,-0.24802550673484802f,0.14089101552963257f,-0.06842575967311859f,-0.10107968747615814f,0.06239110231399536f,-0.2528536915779114f,-0.27538973093032837f,0.15457189083099365f,-0.15549622476100922f,0.20245882868766785f,0.08544808626174927f,0.22650876641273499f,-0.05268847942352295f,0.20387354493141174f,0.24724552035331726f,0.21444126963615417f,0.05186706781387329f,-0.11084021627902985f},
-{-0.19810965657234192f,0.2745245397090912f,0.1767616868019104f,0.19752147793769836f,0.0650932788848877f,0.29138168692588806f,-0.29061684012413025f,0.010446667671203613f,0.025284886360168457f,-0.10202452540397644f,-0.10358673334121704f,0.14746251702308655f,0.15136101841926575f,0.04500553011894226f,-0.2497977316379547f,-0.29277902841567993f,0.02556520700454712f,-0.09509801864624023f,0.16731274127960205f,-0.25266408920288086f,-0.3004688322544098f,-0.19769597053527832f,-0.14847496151924133f,0.3053832948207855f,0.07563886046409607f,-0.10258816182613373f,-0.060128673911094666f,0.0016401112079620361f,-0.29647189378738403f,-0.18869297206401825f,0.05497395992279053f,0.16092956066131592f},
-{-1.8046960830688477f,-0.25281068682670593f,-0.10565309226512909f,-0.0771031454205513f,0.11466006189584732f,-0.13893330097198486f,-2.448183298110962f,-0.19997140765190125f,-1.3977367877960205f,-0.24531681835651398f,-1.1296708583831787f,1.0530779361724854f,-0.11003032326698303f,-2.6200270652770996f,1.3962185382843018f,0.777534008026123f,0.2015441358089447f,-0.09931416809558868f,-1.2635363340377808f,0.09070197492837906f,-0.03567874804139137f,-0.22757841646671295f,-0.2520882785320282f,0.13413365185260773f,-0.39297598600387573f,2.8102877140045166f,-1.6054766178131104f,-0.22134266793727875f,-2.507554531097412f,-0.3014184534549713f,0.07199835032224655f,0.13497939705848694f},
-{-0.10580866038799286f,-0.17215237021446228f,-0.01352420449256897f,-0.13443149626255035f,-0.10265451669692993f,-0.2169143706560135f,0.30098411440849304f,-0.2986297905445099f,0.07908004522323608f,-0.30061498284339905f,0.10424068570137024f,-0.018799901008605957f,-0.18665757775306702f,0.005998075008392334f,-0.2969498336315155f,0.18525955080986023f,0.2379322350025177f,0.15184926986694336f,0.215760737657547f,-0.19088758528232574f,0.08620095252990723f,0.019999295473098755f,-0.0752219706773758f,0.11181813478469849f,0.1881926953792572f,0.2210972011089325f,0.13236162066459656f,-0.06690356135368347f,-0.18345263600349426f,-0.14861416816711426f,0.08577704429626465f,-0.09683996438980103f},
-{0.03951254487037659f,0.23604217171669006f,0.012746036052703857f,-0.12561996281147003f,-0.1283164620399475f,0.25823846459388733f,0.10610169172286987f,0.22718152403831482f,0.1749366819858551f,0.007794857025146484f,0.11289489269256592f,0.2725127637386322f,-0.13616766035556793f,-0.03546282649040222f,-0.1685536652803421f,-0.24492129683494568f,0.15760570764541626f,0.017505377531051636f,-0.273531436920166f,-0.005667984485626221f,0.18370777368545532f,-0.023328542709350586f,0.2379932701587677f,-0.048420339822769165f,0.10376441478729248f,-0.295401930809021f,-0.20498433709144592f,0.22346952557563782f,-0.26649031043052673f,-0.08466874063014984f,0.23347875475883484f,-0.03380200266838074f},
-{0.20124590396881104f,-0.11652402579784393f,0.24921879172325134f,0.1895708590745926f,-0.2817712128162384f,-0.2917989492416382f,-0.14177459478378296f,-0.11968852579593658f,0.23963233828544617f,0.21321198344230652f,-0.1365956962108612f,-0.07098843902349472f,-0.16443446278572083f,-0.10797544568777084f,-0.1404687613248825f,-0.23719100654125214f,-0.19791248440742493f,0.2487291395664215f,-0.054470546543598175f,-0.30096960067749023f,-0.2520124912261963f,-0.0033437502570450306f,-0.09928475320339203f,-0.23108112812042236f,-0.3733688294887543f,0.20262952148914337f,-0.0021994111593812704f,-0.15036596357822418f,-0.03476092219352722f,0.18156595528125763f,0.004408210515975952f,-0.04168035835027695f},
-{-0.19114845991134644f,0.009595632553100586f,0.2466227114200592f,0.055947232991456985f,-0.29828932881355286f,-0.2819134294986725f,-0.06226036697626114f,-0.15331926941871643f,-0.2516406178474426f,0.012286126613616943f,0.19681154191493988f,-0.21513022482395172f,-0.09437626600265503f,-0.01502271182835102f,-0.023038199171423912f,-0.060623422265052795f,-0.24087269604206085f,-0.048499464988708496f,-0.3189714252948761f,0.00832032784819603f,-0.3219168186187744f,-0.25389641523361206f,-0.031352698802948f,0.2829354703426361f,-0.24429625272750854f,-0.26506564021110535f,-0.23125341534614563f,0.2653900682926178f,-0.07090267539024353f,-0.3292027413845062f,-0.2543276250362396f,0.01698158122599125f},
-{-0.01348048448562622f,0.08233943581581116f,0.18838337063789368f,0.21852442622184753f,-0.04740855097770691f,0.19177213311195374f,-0.0060100555419921875f,0.20933791995048523f,0.06356173753738403f,0.063028484582901f,0.09440034627914429f,0.29559019207954407f,-0.2545689642429352f,-0.09652335941791534f,-0.2841038703918457f,-0.03553757071495056f,0.02329021692276001f,-0.08720272779464722f,-0.0750999003648758f,-0.10468094050884247f,-0.03761094808578491f,-0.030853450298309326f,0.2112145721912384f,0.2599640190601349f,-0.2969062626361847f,-0.13667742908000946f,0.24173608422279358f,0.09566575288772583f,0.021116197109222412f,-0.005982398986816406f,-0.26417285203933716f,0.1879688799381256f},
-{-2.6174967288970947f,-0.17203155159950256f,0.0620841383934021f,-0.023400938138365746f,-0.22964656352996826f,-0.3363294005393982f,-1.0403361320495605f,0.17422041296958923f,-2.0363495349884033f,0.2210421860218048f,-0.2922200858592987f,-0.9033129215240479f,-0.2320997267961502f,0.8316505551338196f,0.05220022425055504f,-0.22139473259449005f,0.10771593451499939f,-0.4340587258338928f,0.24175135791301727f,-0.18875643610954285f,-0.14234186708927155f,-0.3408077657222748f,-0.22302524745464325f,0.025637473911046982f,-0.30855870246887207f,0.4760025143623352f,-0.7012357115745544f,-0.09129323810338974f,-1.1739534139633179f,-0.22928372025489807f,0.15235042572021484f,-0.04002072289586067f},
-{-0.027682196348905563f,-0.22750279307365417f,-0.22503364086151123f,-0.024396603927016258f,-0.012498408555984497f,-0.2887764871120453f,0.14812691509723663f,0.08175003528594971f,-0.016126900911331177f,0.06972584128379822f,-0.03908216580748558f,0.19079743325710297f,-0.031845152378082275f,-0.4225393533706665f,0.6486763954162598f,0.0036958197597414255f,-0.09216172993183136f,0.04617339372634888f,-0.056485723704099655f,-0.13333511352539062f,-0.1711816042661667f,-0.4495088756084442f,-0.06047184765338898f,-0.3041808307170868f,-0.13072262704372406f,-0.744982123374939f,-0.20787908136844635f,-0.3318275511264801f,-0.16326025128364563f,0.050311826169490814f,-0.02675291895866394f,0.17512398958206177f},
+const float h2[16][16] = { 
+    {-2.6471354961395264f,-2.679286479949951f,-0.21649284660816193f,-1.7232879400253296f,-0.21907491981983185f,-2.729369640350342f,-0.284547358751297f,0.0904630720615387f,-0.43008196353912354f,-0.1415480375289917f,-4.236062049865723f,-4.173418998718262f,-0.23334987461566925f,-0.9168315529823303f,3.094501256942749f,0.9049396514892578f},
+{3.518364667892456f,-4.636336803436279f,-0.0792427808046341f,-2.1648776531219482f,-0.35503754019737244f,-1.789704442024231f,-0.6473678350448608f,-0.2990124225616455f,-0.33757925033569336f,0.2895788848400116f,-3.1890182495117188f,-1.316067099571228f,0.05698845908045769f,2.936434745788574f,1.0156790018081665f,-2.7771856784820557f},
+{-0.22745239734649658f,0.003037691116333008f,-0.061119019985198975f,0.35696902871131897f,0.05568113923072815f,0.011741191148757935f,-0.20225946605205536f,-0.08465918898582458f,0.3489862382411957f,0.0687277615070343f,0.31964078545570374f,0.3004753887653351f,0.36063823103904724f,-0.42892736196517944f,0.08652284741401672f,0.027493387460708618f},
+{0.035982225090265274f,-0.3313581943511963f,-0.2894435524940491f,0.3545926511287689f,0.08946844935417175f,0.2831231355667114f,-0.23805393278598785f,0.4122363030910492f,0.26211628317832947f,0.2953031361103058f,0.2838204801082611f,0.28033801913261414f,-0.4285939037799835f,-0.15804921090602875f,0.24909892678260803f,-0.06571611762046814f},
+{-1.3361948728561401f,-0.9798497557640076f,-0.39768946170806885f,-0.4999014437198639f,0.036378175020217896f,-1.0754427909851074f,-0.44910115003585815f,-0.08570799231529236f,-0.024399548768997192f,-0.39465832710266113f,-1.3597677946090698f,-0.884815514087677f,-0.15269401669502258f,-0.39067545533180237f,1.1105893850326538f,0.2311859279870987f},
+{1.95911705493927f,-0.6747143864631653f,-0.49011531472206116f,-2.0458433628082275f,-0.3015052080154419f,-1.1922862529754639f,-0.7310768365859985f,-0.019414573907852173f,-0.23047015070915222f,0.3579089343547821f,-2.5488033294677734f,1.7947808504104614f,-0.5091095566749573f,1.4733959436416626f,0.379915714263916f,-2.2026352882385254f},
+{-0.1828227937221527f,-0.02554568648338318f,-0.3260969817638397f,0.08422836661338806f,-0.38453540205955505f,-0.25432005524635315f,0.285016268491745f,0.12387624382972717f,-0.0982072651386261f,0.13111665844917297f,-0.03692615032196045f,-0.32796353101730347f,-0.21546880900859833f,0.049302369356155396f,-0.27088475227355957f,-0.4124959409236908f},
+{2.4917449951171875f,-2.8453586101531982f,0.18713310360908508f,-1.6128438711166382f,-0.14358049631118774f,-1.4727948904037476f,-0.24004870653152466f,-0.3003333508968353f,0.2600560486316681f,-0.37898191809654236f,-2.8529953956604004f,-3.938023567199707f,-0.6344656348228455f,1.6513631343841553f,0.7034623622894287f,-1.5733808279037476f},
+{-0.6641551852226257f,-0.12082239240407944f,-0.2573299705982208f,-0.7453504204750061f,0.041274964809417725f,-1.1943076848983765f,-0.591788113117218f,0.0019084513187408447f,0.06103590130805969f,-0.38046833872795105f,-3.445509433746338f,0.5281965732574463f,-0.5933701395988464f,0.0359068363904953f,0.5833016633987427f,-0.2251288890838623f},
+{-0.5226826071739197f,1.5946403741836548f,-0.21562400460243225f,0.5621151328086853f,0.12987366318702698f,0.19068573415279388f,-0.045690249651670456f,-0.3632148504257202f,-0.13619378209114075f,0.16938945651054382f,0.4805721342563629f,-0.1503297984600067f,0.16193372011184692f,-0.9004831910133362f,-0.9160167574882507f,-0.7731848359107971f},
+{-0.2912669777870178f,0.015835795551538467f,0.0457797646522522f,-0.3523545265197754f,-0.03321319818496704f,-0.4002332091331482f,0.17873415350914001f,-0.20421427488327026f,-0.050184011459350586f,0.12480869889259338f,-0.19006967544555664f,0.3545852601528168f,-0.3647043704986572f,0.3974943459033966f,-0.41870367527008057f,-0.26338401436805725f},
+{0.3733121156692505f,-1.5026254653930664f,0.24167154729366302f,-5.510858535766602f,0.0033026933670043945f,-1.5894434452056885f,-0.14932051301002502f,-0.11795541644096375f,0.3487861454486847f,-0.32520344853401184f,-5.323966979980469f,-3.9015135765075684f,-0.4391670525074005f,-0.6654871106147766f,-0.565035343170166f,0.0247567817568779f},
+{-0.26980137825012207f,-0.20259903371334076f,-0.15798500180244446f,0.39488306641578674f,-0.37393757700920105f,0.3695334494113922f,0.11292675137519836f,-0.2947862446308136f,-0.3764709532260895f,0.2424570620059967f,-0.1016426756978035f,-0.2837170362472534f,0.41839322447776794f,-0.02783525362610817f,-0.13728779554367065f,0.11949998885393143f},
+{-0.4874493479728699f,0.8317313194274902f,-0.24085062742233276f,0.3516998291015625f,0.07545611262321472f,0.16741907596588135f,-0.42260366678237915f,-0.21416273713111877f,-0.24509364366531372f,0.19522181153297424f,0.40794217586517334f,-1.5309667587280273f,-0.3829731047153473f,-1.0989971160888672f,-0.34208887815475464f,-0.3001635670661926f},
+{0.4138670265674591f,0.1604653298854828f,0.056746453046798706f,0.036025404930114746f,0.3228367865085602f,-0.07083973288536072f,0.018455177545547485f,0.0059362053871154785f,0.40515169501304626f,0.014240056276321411f,-0.07738298177719116f,0.1407785713672638f,-0.13024571537971497f,-0.29546058177948f,-0.11976784467697144f,-0.35825538635253906f},
+{-1.076820969581604f,4.704056262969971f,-0.023804863914847374f,-3.6752617359161377f,0.29976895451545715f,-1.2358992099761963f,-0.7081507444381714f,0.31089308857917786f,-0.3893685042858124f,-0.02222958207130432f,-3.34683895111084f,-7.507437229156494f,-0.5566414594650269f,-1.4245333671569824f,-3.6681931018829346f,-0.4027198255062103f},
 };
 
-const float h3[32][32] = { 
-    {-0.2551194727420807f,-0.09101890027523041f,-0.026477575302124023f,-0.09569111466407776f,0.4043631851673126f,0.14169669151306152f,0.2400905340909958f,0.21467849612236023f,-0.0501583032310009f,0.034586966037750244f,-0.024247562512755394f,0.28293344378471375f,0.9104848504066467f,0.5572169423103333f,-0.2476848065853119f,0.13452908396720886f,0.033751994371414185f,0.2061004936695099f,0.4215589761734009f,-0.2074853479862213f,-0.08924052864313126f,0.24943740665912628f,-0.22618433833122253f,0.044178664684295654f,0.39010173082351685f,-0.1258748173713684f,0.2930828630924225f,-0.21813111007213593f,0.1151900440454483f,0.2922307550907135f,-0.21407078206539154f,-0.29030242562294006f},
-{0.05588451027870178f,0.19731858372688293f,-0.055143773555755615f,0.030042022466659546f,-0.13887283205986023f,-0.1361943781375885f,-0.2855546772480011f,0.011247634887695312f,0.1085631251335144f,0.021339505910873413f,0.17599248886108398f,0.09762296080589294f,-0.05771490931510925f,-0.14660483598709106f,-0.21469902992248535f,0.03876742720603943f,-0.21865856647491455f,-0.12651903927326202f,0.22753819823265076f,-0.23926785588264465f,-0.14443452656269073f,0.06739777326583862f,0.14157342910766602f,0.049514561891555786f,-0.1251431256532669f,-0.25851932168006897f,0.0932874083518982f,0.2900666892528534f,-0.023782014846801758f,0.050485759973526f,0.09447437524795532f,0.0058679282665252686f},
-{-0.2800689935684204f,-0.038760632276535034f,0.13974270224571228f,0.01585569977760315f,0.11945047974586487f,-0.19458696246147156f,0.11322265863418579f,0.25643888115882874f,-0.061097174882888794f,-0.07816044986248016f,-0.07445238530635834f,-0.22145158052444458f,-0.1081896424293518f,-0.09452249109745026f,0.16234496235847473f,0.1413259506225586f,-0.2648085951805115f,-0.054869145154953f,-0.05491623282432556f,0.17325228452682495f,0.23639705777168274f,0.0748760998249054f,-0.1324603259563446f,0.15828460454940796f,-0.22871175408363342f,-0.027338534593582153f,-0.06307074427604675f,0.13438841700553894f,0.13834497332572937f,0.1633671224117279f,0.259930282831192f,-0.21565306186676025f},
-{0.2906629145145416f,0.19203472137451172f,-0.2048129439353943f,0.2633720338344574f,0.10390545427799225f,-0.061942458152770996f,-0.061309605836868286f,-0.17915479838848114f,-0.019983433187007904f,-0.044261813163757324f,-0.09506386518478394f,0.24970653653144836f,0.1514393389225006f,0.0688309296965599f,0.22106656432151794f,-0.23978039622306824f,-0.28915077447891235f,0.030949801206588745f,-0.27304592728614807f,0.1836264431476593f,0.24304717779159546f,-0.03770962357521057f,-0.16248641908168793f,-0.27595841884613037f,0.1962321698665619f,-0.11024686694145203f,-0.09994620084762573f,0.002966243075206876f,-0.19608499109745026f,-0.25852420926094055f,0.05653107166290283f,0.0037463903427124023f},
-{0.07563930749893188f,-0.0864691436290741f,-0.2677825689315796f,0.1497999131679535f,-0.2632053792476654f,-0.12118913233280182f,-0.09772239625453949f,0.2470131814479828f,-0.2551872134208679f,-0.2740214169025421f,0.2979947626590729f,-0.24627932906150818f,-0.15745189785957336f,-0.1546318233013153f,0.06802645325660706f,-0.048776447772979736f,0.20131775736808777f,0.013118326663970947f,0.0808630883693695f,0.2585393488407135f,-0.03326711058616638f,0.21529874205589294f,0.1718432903289795f,0.20571765303611755f,-0.19813477993011475f,0.12758469581604004f,0.2959180772304535f,-0.20305807888507843f,0.17249789834022522f,-0.09959287941455841f,-0.07189898192882538f,0.007399916648864746f},
-{0.10931676626205444f,0.2396949827671051f,0.12925085425376892f,-0.01787710189819336f,-0.10998686403036118f,0.07948040962219238f,-0.061815500259399414f,0.04091137647628784f,0.024564281105995178f,-0.15699732303619385f,0.08972057700157166f,-0.21529507637023926f,-0.003787398338317871f,-0.1505761295557022f,0.2971965968608856f,0.25175121426582336f,-0.2889891266822815f,-0.13035915791988373f,0.16491714119911194f,0.06524023413658142f,0.09622954577207565f,-0.25372910499572754f,0.023232191801071167f,0.27409639954566956f,-0.14640875160694122f,-0.18302330374717712f,0.09057381749153137f,0.02451498992741108f,-0.2718355357646942f,-0.29547566175460815f,-0.25800079107284546f,0.24402263760566711f},
-{-0.21155381202697754f,0.24310845136642456f,-0.2013673037290573f,-0.736132025718689f,-0.648792028427124f,0.5802898406982422f,-2.0749001502990723f,0.2444917857646942f,0.16276085376739502f,-0.32582178711891174f,1.58766508102417f,-0.4036972224712372f,0.716469407081604f,0.5731150507926941f,0.25543639063835144f,-0.1192857176065445f,-0.18917083740234375f,0.011466026306152344f,-0.2660670876502991f,0.04170297831296921f,-0.5862948298454285f,0.5315242409706116f,-0.26724812388420105f,-0.2255190908908844f,0.9894055128097534f,-0.2910519242286682f,-0.30971068143844604f,-1.6016900539398193f,0.22471675276756287f,-0.09532724320888519f,0.09492611140012741f,-0.3536216616630554f},
-{-0.01093912124633789f,-0.23583689332008362f,0.28153905272483826f,0.2877257764339447f,0.08201509714126587f,-0.2699383497238159f,0.036741942167282104f,-0.0059101879596710205f,-0.24633634090423584f,-0.27182313799858093f,0.09319102764129639f,-0.08139897882938385f,0.19774547219276428f,-0.020215511322021484f,0.0685860812664032f,-0.29903873801231384f,0.1317853033542633f,0.20550194382667542f,-0.12251400947570801f,-0.28424710035324097f,0.24172750115394592f,0.11755815148353577f,0.0343703031539917f,0.12564969062805176f,0.03227102756500244f,0.23886635899543762f,-0.2778390347957611f,0.13853725790977478f,0.28547611832618713f,0.17161712050437927f,-0.017215043306350708f,-0.05991865694522858f},
-{-0.20420776307582855f,0.1970202624797821f,0.1894116997718811f,-0.282694011926651f,-0.8300905823707581f,0.20012763142585754f,0.028453975915908813f,0.23323127627372742f,0.18225432932376862f,-0.1270071268081665f,0.16340045630931854f,0.13077861070632935f,1.738160490989685f,-0.20709244906902313f,-0.15613220632076263f,-0.16448761522769928f,0.28163614869117737f,0.1971360743045807f,0.30405697226524353f,-0.28959211707115173f,-0.2255709171295166f,0.15360668301582336f,0.24163606762886047f,0.19554737210273743f,-0.1804599016904831f,0.07604315876960754f,-0.1459394246339798f,-0.14081311225891113f,-0.29656586050987244f,0.19529584050178528f,-0.05168652534484863f,-0.03415781259536743f},
-{0.27550336718559265f,-0.14170598983764648f,-0.21542268991470337f,-0.2159879207611084f,0.06500789523124695f,-0.21155211329460144f,-0.01575431227684021f,0.0617731511592865f,0.13126209378242493f,-0.04922589659690857f,-0.23877641558647156f,-0.06292802095413208f,0.01433342695236206f,0.14592674374580383f,-0.23886999487876892f,0.08878573775291443f,0.1853090226650238f,-0.05102238059043884f,-0.13667166233062744f,-0.24401302635669708f,0.25155118107795715f,-0.20339438319206238f,0.03535670042037964f,0.048473477363586426f,-0.13871997594833374f,-0.15382859110832214f,-0.13837768137454987f,0.26085415482521057f,0.2491457164287567f,0.157204270362854f,0.14108964800834656f,0.12518465518951416f},
-{-0.023678362369537354f,0.2562159299850464f,-0.1949400156736374f,-0.3781323730945587f,-0.3327532410621643f,0.6227866411209106f,0.9921557903289795f,0.196751207113266f,-0.3439832031726837f,0.11626701802015305f,0.8563590049743652f,-0.20737174153327942f,-0.2653930187225342f,0.38280171155929565f,0.080221027135849f,-0.2471318244934082f,0.026521950960159302f,0.28880444169044495f,0.16644376516342163f,-0.2890075445175171f,-0.4190390110015869f,0.5478110909461975f,0.04887961968779564f,0.2614522874355316f,0.7830110192298889f,-0.25962090492248535f,-0.037512265145778656f,-0.41226398944854736f,0.9945930242538452f,-0.2912617325782776f,-0.3285263776779175f,-0.2374248057603836f},
-{0.19576364755630493f,-0.15865294635295868f,-0.4783979058265686f,-0.1767597645521164f,0.9804927110671997f,-0.4704623520374298f,-0.36415162682533264f,-0.17794576287269592f,-2.4858970642089844f,-0.44404473900794983f,-0.8308697938919067f,-0.03345588594675064f,0.401203453540802f,-0.3577149510383606f,0.07367046922445297f,-0.07731422781944275f,0.0890120416879654f,-0.15284278988838196f,-0.4977101683616638f,-0.08187898248434067f,-1.8383318185806274f,-0.9011064171791077f,-0.08135320991277695f,-0.01962297223508358f,-0.8390857577323914f,0.030914725735783577f,-0.28698185086250305f,-0.20015116035938263f,-0.9447900652885437f,-0.3318950831890106f,-0.3425302505493164f,-0.6909160614013672f},
-{0.10771462321281433f,0.1270637810230255f,-0.1647956818342209f,0.2013734132051468f,-0.021822882816195488f,0.14908835291862488f,-0.09857086092233658f,-0.05063694715499878f,-0.28954532742500305f,-0.11501708626747131f,0.22037728130817413f,0.11519002914428711f,-0.11276716738939285f,0.04318426921963692f,-0.0055807530879974365f,0.05870962142944336f,-0.0561012327671051f,-0.1419317126274109f,-0.30922752618789673f,-0.05947013199329376f,-0.1821173131465912f,-0.2919299602508545f,0.2986377775669098f,-0.2888573110103607f,-0.1702377051115036f,-0.03866580128669739f,0.09892630577087402f,0.21032646298408508f,-0.12352125346660614f,0.024399906396865845f,-0.264041006565094f,-0.037910252809524536f},
-{0.07240793108940125f,-0.12943290174007416f,-0.19816701114177704f,0.2295622080564499f,-0.4164218008518219f,0.038300011307001114f,0.8536421656608582f,-0.09019742906093597f,0.5829219818115234f,-0.35978132486343384f,0.47675615549087524f,-0.11049283295869827f,0.350241482257843f,-0.09537672251462936f,0.13272255659103394f,-0.2202855944633484f,-0.13351139426231384f,0.2471931278705597f,-0.5232447981834412f,-0.3329259753227234f,0.37882936000823975f,-0.03589284420013428f,-0.3160198926925659f,0.28785380721092224f,0.0599624328315258f,-0.1976800560951233f,-0.2801966667175293f,-0.26524531841278076f,0.3909579813480377f,-0.29330405592918396f,-0.3252187967300415f,-0.48170483112335205f},
-{-0.3241661787033081f,0.06876713037490845f,-0.03038245253264904f,-0.4097246825695038f,-0.14177069067955017f,-0.6304097175598145f,-0.69410640001297f,-0.2674597501754761f,-0.05907707288861275f,0.033801235258579254f,0.3514251112937927f,-0.08215935528278351f,-0.6801342964172363f,-1.4014289379119873f,-0.02410009503364563f,0.08342397212982178f,0.1060803085565567f,-0.30486053228378296f,1.3053505420684814f,-0.020607002079486847f,-3.182220697402954f,-0.7363662719726562f,-0.13132931292057037f,-0.03139691427350044f,-0.32591256499290466f,-0.1615496128797531f,-0.19968537986278534f,-1.3784141540527344f,1.6213366985321045f,0.1643131673336029f,-0.04397870600223541f,-0.6780785918235779f},
-{0.1663857400417328f,-0.1776995211839676f,-0.5155016183853149f,-1.3976482152938843f,1.8154975175857544f,-0.8149989247322083f,-0.9385441541671753f,-0.30172163248062134f,-1.4255707263946533f,-0.15031291544437408f,-0.9907659888267517f,-0.2441919893026352f,0.8764127492904663f,-1.1440434455871582f,-0.09533043205738068f,-0.3912292718887329f,-0.1045113131403923f,-0.0016761720180511475f,0.1586415320634842f,-0.8732228875160217f,-1.2427364587783813f,-0.9112241268157959f,0.12403466552495956f,-0.2647725045681f,-1.3626328706741333f,-0.1827477663755417f,-0.23351867496967316f,-0.0801374614238739f,-0.30898699164390564f,-0.07888046652078629f,-0.49175480008125305f,-0.5444669723510742f},
-{-0.06136500835418701f,-0.11579577624797821f,-0.23311558365821838f,-0.020844489336013794f,0.161813884973526f,0.22929790616035461f,0.11958792805671692f,-0.0384809672832489f,-0.10647237300872803f,-0.09010881185531616f,0.22322741150856018f,-0.1071339100599289f,0.05349445343017578f,-0.23458370566368103f,0.040097206830978394f,0.08616101741790771f,-0.15468145906925201f,-0.21275553107261658f,-0.21210846304893494f,-0.23840199410915375f,0.12352427840232849f,0.282552570104599f,0.14114680886268616f,0.09007054567337036f,-0.05948364734649658f,0.12031787633895874f,-0.184563547372818f,0.07786750793457031f,-0.2169322669506073f,-0.24735762178897858f,-0.0892629474401474f,-0.11765947937965393f},
-{0.1169951856136322f,0.06741076707839966f,0.014288008213043213f,-0.1894388198852539f,0.2306886613368988f,0.08970087766647339f,0.29362860321998596f,0.2666439712047577f,-0.1488228738307953f,0.22382596135139465f,-0.13030989468097687f,0.02602824568748474f,0.029441386461257935f,-0.1546926349401474f,0.10762849450111389f,0.06951633095741272f,0.0639207661151886f,0.27696695923805237f,-0.2749756872653961f,0.2684275209903717f,-0.240950807929039f,-0.08405844867229462f,0.26762983202934265f,0.09600964188575745f,-0.20394444465637207f,0.012219250202178955f,-0.09225042164325714f,-0.12637756764888763f,-0.21354423463344574f,-0.29393887519836426f,-0.056166648864746094f,0.002250969409942627f},
-{-0.32502132654190063f,-0.2037474662065506f,-0.08174074441194534f,-1.208707332611084f,-15.729704856872559f,-1.024046778678894f,-1.787028193473816f,-0.310126930475235f,0.5253123641014099f,-0.502322793006897f,0.8708741068840027f,-0.3255992531776428f,-1.3715431690216064f,-0.7790833711624146f,-0.2592318058013916f,0.008184458129107952f,0.032381005585193634f,0.13403137028217316f,-0.23054872453212738f,-0.26550132036209106f,-1.0861793756484985f,-1.1776721477508545f,0.07837659865617752f,-0.12165451794862747f,-1.0148988962173462f,-0.2944401502609253f,-0.25550374388694763f,-0.42094337940216064f,-1.2241748571395874f,0.09213655441999435f,0.014374630525708199f,-0.4375530481338501f},
-{0.261911004781723f,-0.28497835993766785f,-0.2993849217891693f,-0.020902831107378006f,0.08032050728797913f,0.04672039672732353f,-0.06670857965946198f,-0.030254334211349487f,-0.270412415266037f,0.1197996437549591f,0.01667046546936035f,-0.2924177646636963f,0.20024193823337555f,-0.13790419697761536f,-0.20773646235466003f,-0.10781967639923096f,-0.15712574124336243f,0.16112294793128967f,0.23740868270397186f,0.1899622231721878f,0.2066194862127304f,0.11905673146247864f,-0.2746024429798126f,0.14906415343284607f,0.14468273520469666f,0.0025720298290252686f,-0.08664168417453766f,-0.20825210213661194f,0.07920579612255096f,0.21125611662864685f,-0.05751854181289673f,-0.22727590799331665f},
-{0.14277681708335876f,-0.21736162900924683f,0.14885470271110535f,-0.15626248717308044f,-0.027196528390049934f,-0.13987448811531067f,0.1624150574207306f,-0.27022814750671387f,0.020349089056253433f,-0.32561764121055603f,0.3906245827674866f,0.18551066517829895f,0.3153047561645508f,-0.03805544599890709f,-0.03100520372390747f,-0.2484396994113922f,0.06366744637489319f,-0.2764144539833069f,0.312002569437027f,0.19810143113136292f,-0.1693296581506729f,0.118461973965168f,0.2205439656972885f,-0.0716068297624588f,-0.2723652422428131f,-0.19159743189811707f,0.17270348966121674f,-0.15148542821407318f,-0.40611082315444946f,-0.10488687455654144f,-0.21563708782196045f,0.12977148592472076f},
-{0.29069945216178894f,-0.23835359513759613f,0.019009560346603394f,-0.3508252501487732f,0.2295755296945572f,-0.15265671908855438f,0.045349299907684326f,-0.17138783633708954f,-0.21239377558231354f,0.028545528650283813f,-0.17950725555419922f,-0.15074089169502258f,-0.012408856302499771f,-0.21152688562870026f,0.09875330328941345f,0.08164769411087036f,0.2294725477695465f,0.10683679580688477f,-0.2652530074119568f,-0.11483882367610931f,0.16828653216362f,0.3031145930290222f,0.16651621460914612f,-0.15362010896205902f,0.21359355747699738f,0.023651927709579468f,-0.1729920208454132f,0.2764638662338257f,0.12841083109378815f,0.19045329093933105f,0.02994692325592041f,-0.18855193257331848f},
-{0.1991647183895111f,0.12534403800964355f,-0.04112154245376587f,0.23123982548713684f,-0.17588619887828827f,-0.302817702293396f,-0.1610087752342224f,-0.031804412603378296f,0.10274738073348999f,-0.25018924474716187f,0.15975651144981384f,-0.057292819023132324f,0.1464652419090271f,0.08016204833984375f,0.2151305377483368f,0.2952744662761688f,-0.21319252252578735f,0.04970458149909973f,0.10210192203521729f,0.3050673305988312f,0.21167120337486267f,-0.15151944756507874f,0.13887640833854675f,0.25299301743507385f,-0.11117732524871826f,-0.07015113532543182f,-0.287551611661911f,-0.025779157876968384f,-0.07337476313114166f,-0.24420931935310364f,0.015819430351257324f,-0.10595546662807465f},
-{0.12202468514442444f,0.15162138640880585f,-0.10034829378128052f,-0.32564082741737366f,0.19687119126319885f,0.05181124433875084f,-0.06113804876804352f,-0.11568751931190491f,0.32053595781326294f,-0.3154204487800598f,0.06257013976573944f,-0.11160935461521149f,-0.1251833736896515f,-0.21361380815505981f,-0.06735922396183014f,0.05864924192428589f,-0.25733181834220886f,-0.17565661668777466f,0.08770500123500824f,-0.11798032373189926f,-0.22401615977287292f,0.1542765498161316f,0.1449800729751587f,-0.05681343376636505f,0.2106601595878601f,0.1795230209827423f,0.19069638848304749f,0.0439084954559803f,-0.2000730186700821f,0.2425754964351654f,-0.22172409296035767f,-0.009572982788085938f},
-{-0.3055141270160675f,-0.25100094079971313f,-0.042494036257267f,-0.09800136089324951f,-0.23906663060188293f,-0.2459760159254074f,-0.14330914616584778f,0.21086838841438293f,0.111941859126091f,-0.08717077225446701f,-0.3571506142616272f,-0.14543557167053223f,0.14192532002925873f,-0.014786701649427414f,-0.023131370544433594f,0.036719828844070435f,0.16260939836502075f,0.05286213755607605f,-0.17732658982276917f,-0.1845850944519043f,0.012657895684242249f,-0.25612255930900574f,0.1040070429444313f,0.19191309809684753f,-0.06192035228013992f,-0.02825927734375f,-0.20535966753959656f,-0.04384424537420273f,-0.46086585521698f,0.1865309774875641f,0.13453395664691925f,-0.43843552470207214f},
-{0.026374761015176773f,-0.17528532445430756f,-0.5579909086227417f,-1.2730792760849f,-0.3358721435070038f,-0.6008124351501465f,-1.1845779418945312f,0.0006725912680849433f,-5.123662948608398f,-0.3245490491390228f,-0.17039598524570465f,-0.48568934202194214f,0.2491609752178192f,-0.5254827737808228f,-0.4019209146499634f,-0.45205947756767273f,-0.11511838436126709f,-0.25376296043395996f,-1.0519155263900757f,-0.30351927876472473f,-4.4755048751831055f,-0.9668168425559998f,-0.0748697966337204f,-0.23682299256324768f,-1.5599819421768188f,-0.04858483374118805f,-0.06531502306461334f,-0.1996605396270752f,-1.9289538860321045f,0.06930094957351685f,-0.4023730158805847f,-0.5252596735954285f},
-{-0.17396044731140137f,-0.13319158554077148f,-0.29632729291915894f,-0.08253633230924606f,0.24469541013240814f,-0.4006723463535309f,1.681721568107605f,-0.1761629432439804f,-0.6584062576293945f,-0.46532317996025085f,0.5183865427970886f,-0.2549247741699219f,0.652218222618103f,0.4208870232105255f,-0.19851773977279663f,-0.10762731730937958f,0.14198419451713562f,0.10370296239852905f,0.05107264220714569f,-0.3374244272708893f,-0.4275210201740265f,-0.08409949392080307f,0.144077330827713f,-0.19857197999954224f,0.365215003490448f,-0.2665709853172302f,0.19561566412448883f,-0.0672026053071022f,0.05259058624505997f,-0.1200934648513794f,-0.18380235135555267f,-0.13450540602207184f},
-{-0.12546227872371674f,-0.04642973095178604f,-0.08090300858020782f,0.12772545218467712f,-0.12954935431480408f,-0.02696622721850872f,-0.28310835361480713f,-0.020981580018997192f,0.17591875791549683f,-0.1450529396533966f,0.29896336793899536f,0.046816736459732056f,-0.04298720881342888f,0.14219975471496582f,-0.0649729073047638f,0.2468220293521881f,0.060016900300979614f,-0.16779978573322296f,0.04668818414211273f,0.08197735995054245f,-0.39826700091362f,0.34313735365867615f,-0.3017738461494446f,0.22389158606529236f,0.14340516924858093f,0.020356476306915283f,-0.2721497118473053f,0.0035998604726046324f,0.209790900349617f,-0.000007510185241699219f,0.094448983669281f,-0.08219978213310242f},
-{0.07555973529815674f,-0.0029259920120239258f,-0.08789914846420288f,0.06678077578544617f,0.7068386077880859f,0.11010000109672546f,-0.14982634782791138f,0.12075316905975342f,0.40995338559150696f,0.013024389743804932f,0.9262421727180481f,-0.20200279355049133f,1.5229910612106323f,-0.1856893002986908f,0.2882818281650543f,0.05304515361785889f,-0.15297894179821014f,0.07341468334197998f,0.05268138647079468f,0.1067940890789032f,0.5197668671607971f,-0.2009473443031311f,0.1843600869178772f,0.2517976462841034f,0.6196404099464417f,-0.051110416650772095f,-0.23432010412216187f,0.16746872663497925f,-0.2205146849155426f,-0.017525076866149902f,0.20926335453987122f,-0.2141496241092682f},
-{0.06582912802696228f,0.2796666920185089f,-0.2556927502155304f,0.1281055063009262f,0.3382647633552551f,0.021357093006372452f,0.06556430459022522f,0.29767414927482605f,0.36356815695762634f,-0.16670267283916473f,-0.24076372385025024f,-0.06570860743522644f,-0.015925198793411255f,0.07069825381040573f,-0.014884740114212036f,-0.05300724506378174f,0.26490333676338196f,0.15243005752563477f,0.05369039997458458f,0.2353842556476593f,0.3308057188987732f,0.05352851003408432f,-0.04174882173538208f,-0.11559568345546722f,-0.17723068594932556f,0.21069613099098206f,-0.19532959163188934f,-0.13108225166797638f,0.032513976097106934f,-0.2712400257587433f,-0.19435247778892517f,-0.23200613260269165f},
-{-0.1299392580986023f,-0.06208275258541107f,-0.18067686259746552f,0.062329649925231934f,-0.22588664293289185f,-0.06877543032169342f,-0.19175797700881958f,0.02903696894645691f,-0.2614779472351074f,0.016345679759979248f,-0.17219038307666779f,0.2033931314945221f,-0.30105409026145935f,0.08271035552024841f,0.13206014037132263f,0.15829482674598694f,-0.21012049913406372f,0.2088232934474945f,0.07014858722686768f,-0.19175665080547333f,0.28649166226387024f,0.05041047930717468f,-0.27260470390319824f,-0.025072306394577026f,0.3421594202518463f,-0.007939159870147705f,-0.22979341447353363f,0.06509524583816528f,0.1298319399356842f,0.18135693669319153f,-0.008151531219482422f,0.15906798839569092f},
-{0.07638216018676758f,0.05407004430890083f,-0.3668886423110962f,-0.2752448618412018f,0.1415041983127594f,0.0022521421778947115f,0.2795381247997284f,-0.25668495893478394f,-0.068914495408535f,0.10158132016658783f,0.06494732201099396f,0.02524423599243164f,0.12282950431108475f,0.24383525550365448f,-0.029521822929382324f,-0.19500072300434113f,0.06506577134132385f,-0.011876672506332397f,0.1364271640777588f,0.24141009151935577f,0.1474008858203888f,-0.013429519720375538f,-0.19389307498931885f,-0.17324526607990265f,0.20270048081874847f,0.1901901364326477f,-0.27945125102996826f,-0.050236884504556656f,-0.11887363344430923f,0.22636333107948303f,-0.3317737579345703f,0.18050488829612732f},
+const float h3[16][16] = { 
+    {-0.36079341173171997f,-1.8617219924926758f,-1.2575057744979858f,-0.9306641817092896f,0.3558339774608612f,-2.0424766540527344f,0.11611730605363846f,1.256561040878296f,-0.435831755399704f,0.38453155755996704f,-2.9874141216278076f,0.10927560925483704f,-1.1128313541412354f,-2.5368101596832275f,-1.1479690074920654f,-0.39199838042259216f},
+{0.047732532024383545f,-1.2678391933441162f,-2.529970169067383f,2.9182093143463135f,-0.27740737795829773f,-0.7743249535560608f,-0.4142161011695862f,0.22686052322387695f,-0.351260244846344f,-1.1779210567474365f,0.9747219681739807f,-0.40117883682250977f,1.327101707458496f,0.6030343770980835f,-0.22775816917419434f,-3.164977788925171f},
+{0.07903262972831726f,0.22941854596138f,-0.07798504829406738f,0.04248586297035217f,-0.1963958442211151f,-0.19260792434215546f,-0.4038352966308594f,-0.05057113990187645f,0.15353140234947205f,0.030178606510162354f,0.2488909661769867f,0.13805970549583435f,-0.0816211998462677f,-0.20733052492141724f,-0.3036302626132965f,0.054825395345687866f},
+{-0.30922991037368774f,1.0314021110534668f,0.1642177850008011f,-0.4614163041114807f,-0.13128569722175598f,0.8268561959266663f,0.20021501183509827f,-1.2866121530532837f,-0.5409347414970398f,-0.9091742038726807f,-0.2354840338230133f,0.41021624207496643f,0.35516393184661865f,0.8673098087310791f,1.322227120399475f,1.4147356748580933f},
+{-0.39607733488082886f,-0.05481579899787903f,0.1976260244846344f,0.022423356771469116f,0.16892847418785095f,-0.27518749237060547f,0.16012099385261536f,0.3626593053340912f,-0.08640444278717041f,-0.11053556203842163f,-0.10529157519340515f,-0.31317979097366333f,-0.1530032455921173f,-0.1336749792098999f,0.22959044575691223f,0.19986507296562195f},
+{-0.37449589371681213f,1.8969228267669678f,0.26356711983680725f,0.1305214911699295f,0.4255841374397278f,1.1492807865142822f,-0.18732719123363495f,0.22384825348854065f,-0.9112855792045593f,-0.06272096186876297f,-0.194618821144104f,0.5028096437454224f,-0.5430096983909607f,1.8543678522109985f,1.0055639743804932f,0.5463916659355164f},
+{0.4110594093799591f,-0.10662679374217987f,-0.26057958602905273f,0.37246426939964294f,0.4791482985019684f,-0.2845681607723236f,-0.08670487999916077f,-0.25336313247680664f,-0.030661463737487793f,-0.06259563565254211f,-0.039170607924461365f,0.35313835740089417f,0.35766708850860596f,-0.12171289324760437f,0.19238731265068054f,0.04569069296121597f},
+{-0.40892091393470764f,0.043769627809524536f,-0.3867315948009491f,0.25968697667121887f,0.3424709737300873f,-0.051169753074645996f,-0.23312048614025116f,-0.390264093875885f,0.28059282898902893f,-0.1559126079082489f,-0.14134526252746582f,-0.0003446042537689209f,-0.2742875814437866f,-0.36560842394828796f,0.07994696497917175f,0.005298197269439697f},
+{0.10697010159492493f,-0.12228584289550781f,-0.37870171666145325f,0.21184906363487244f,-0.37222859263420105f,-0.17138728499412537f,-0.1382003128528595f,0.3493293821811676f,-0.360889196395874f,-0.3875247836112976f,0.42142823338508606f,-0.3482915461063385f,-0.3289247751235962f,-0.2186824083328247f,0.09620395302772522f,-0.06898030638694763f},
+{0.2847062647342682f,0.018552124500274658f,0.11435768008232117f,0.36562982201576233f,-0.047046810388565063f,0.30447837710380554f,0.2430230677127838f,0.2909286320209503f,-0.2802048921585083f,0.18043199181556702f,0.41849127411842346f,-0.287167489528656f,0.24394884705543518f,-0.14084559679031372f,-0.10168051719665527f,0.010465055704116821f},
+{0.15459725260734558f,2.152371644973755f,0.005577231291681528f,-0.15224629640579224f,-0.4193795323371887f,0.9709478616714478f,-0.08742031455039978f,-0.3372936546802521f,-0.15335285663604736f,-0.4697112739086151f,0.37293538451194763f,-0.2729160487651825f,0.29973986744880676f,0.8407669067382812f,0.6116405725479126f,0.041041117161512375f},
+{-0.408692330121994f,-1.024823784828186f,0.07979505509138107f,0.9620193243026733f,0.40785548090934753f,-0.19494971632957458f,0.03285527229309082f,0.38763079047203064f,-0.20705322921276093f,-0.25883403420448303f,-0.39687445759773254f,0.03996849060058594f,0.11638089269399643f,-2.3363451957702637f,-0.1602039635181427f,0.8980573415756226f},
+{-0.2991822361946106f,0.1481817066669464f,-0.004251172766089439f,-0.05932474136352539f,0.3329566717147827f,0.009607115760445595f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,0.028703585267066956f,-0.36229726672172546f,0.35251477360725403f,-0.18715228140354156f,0.2748355269432068f,0.3479139804840088f},
+{-0.2675279378890991f,-0.8848872780799866f,0.2171228677034378f,0.15358519554138184f,0.7216522693634033f,-1.1589571237564087f,-0.5819693803787231f,-7.12623405456543f,-0.5964111685752869f,-2.346191644668579f,0.9024726748466492f,-0.7827144861221313f,0.5923935174942017f,-0.09883228689432144f,-0.274576336145401f,0.9632737040519714f},
+{-0.015470266342163086f,-4.066640853881836f,-0.35172760486602783f,-0.1611492931842804f,0.011647416278719902f,-1.6305570602416992f,-0.16005642712116241f,-1.9158589839935303f,-0.5295083522796631f,-3.62418794631958f,-2.0960512161254883f,-0.5138456225395203f,-1.9036948680877686f,-2.3704395294189453f,-1.1995127201080322f,-0.005027666687965393f},
+{0.1863725483417511f,0.1643422544002533f,-3.06244158744812f,-0.7068259716033936f,-0.37519770860671997f,-0.8317462205886841f,-0.06685321033000946f,-0.9036019444465637f,-0.2971649169921875f,-0.7144879102706909f,-2.9270541667938232f,-0.05449836328625679f,-2.543490171432495f,-2.367345094680786f,-1.3904540538787842f,-0.02221091091632843f},
 };
 
-const float hout[32] = { 0.016861308366060257f,0.02745733968913555f,0.07825727015733719f,0.8766828179359436f,-0.05232406407594681f,0.35792431235313416f,1.570347547531128f,0.10329969972372055f,0.4806658923625946f,-0.062165163457393646f,0.15290232002735138f,0.09420708566904068f,-0.11127324402332306f,0.13416433334350586f,0.10202100872993469f,0.006314356345683336f,-0.003878760151565075f,-0.18621718883514404f,0.1323828548192978f,-0.10361719876527786f,-0.09726173430681229f,0.010512445122003555f,0.0036775292828679085f,-0.028018292039632797f,0.5220573544502258f,0.21163398027420044f,-0.3082039952278137f,0.26232731342315674f,0.8687447309494019f,-0.16385973989963531f,-0.09068699926137924f,0.10824593156576157f };
+const float hout[16] = { 0.45773375034332275f,0.3510032594203949f,-0.09271220117807388f,0.23885536193847656f,-0.13681545853614807f,0.8108619451522827f,-0.013286924920976162f,0.7315025329589844f,-0.037878382951021194f,0.07188846170902252f,-0.21298690140247345f,0.053339168429374695f,0.7597355246543884f,0.32502415776252747f,1.824535846710205f,-0.24919147789478302f };
 
-const float b1[32] = { 0.6189494729042053f,1.717569351196289f,-1.7145336866378784f,1.2212576866149902f,2.3427574634552f,0.7081863880157471f,-0.09428720921278f,0.3455063998699188f,0.6096851825714111f,-3.0868020057678223f,0.5562145113945007f,2.118533134460449f,-0.3425353467464447f,-0.940459668636322f,-1.087764859199524f,0.8448495864868164f,0.49272775650024414f,-0.26377663016319275f,1.244008183479309f,0.8255248665809631f,-0.284685879945755f,-1.1118980646133423f,-1.6770726442337036f,-1.2263047695159912f,4.908173561096191f,-2.0880801677703857f,-1.0489267110824585f,0.42044439911842346f,0.12164653092622757f,-1.0887231826782227f,2.485891342163086f,-0.4767896831035614f };
+const float b1[16] = { 2.6026535034179688f,2.6166093349456787f,-1.7145336866378784f,0.05604401230812073f,2.5074756145477295f,1.8178743124008179f,-0.058932315558195114f,2.566000461578369f,2.066876173019409f,-2.594883441925049f,0.573148787021637f,0.8882091641426086f,-0.367378294467926f,-2.1727375984191895f,-1.087764859199524f,3.129455089569092f };
+
+const float b2[16] = { 0.854680061340332f,-1.5880934000015259f,-1.5945011377334595f,-1.1204560995101929f,-0.6939148902893066f,-0.8427667021751404f,0.11775382608175278f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,-1.1466102600097656f,2.1076982021331787f,-0.33285725116729736f,3.093627452850342f,1.846516489982605f,0.7689627408981323f };
 
-const float b2[32] = { -0.5226120352745056f,-0.7642630338668823f,-1.4564176797866821f,-0.4946267604827881f,-0.8452438116073608f,0.1087772473692894f,-0.6319846510887146f,-0.30969977378845215f,-0.8028555512428284f,-1.912178635597229f,-0.30677375197410583f,0.8741645812988281f,-0.17443345487117767f,0.93160480260849f,-4.624051570892334f,1.084857702255249f,-1.798204779624939f,-1.68979811668396f,-0.05761605501174927f,-0.3331492841243744f,-0.17662832140922546f,0.076245978474617f,0.09335066378116608f,-1.2434346675872803f,0.6772512793540955f,3.3463151454925537f,0.08881940692663193f,-0.19115522503852844f,-0.9640821814537048f,-0.5077025890350342f,-1.296404242515564f,-1.4682079553604126f };
+const float b3[16] = { -1.963319182395935f,1.6035748720169067f,-1.0893652439117432f,1.0509281158447266f,-1.7570738792419434f,-0.17915689945220947f,-0.6738864183425903f,0.7415692210197449f,-0.12905780971050262f,-0.6975569128990173f,-0.5690303444862366f,-0.27897197008132935f,-2.201923131942749f,1.7163525819778442f,-1.6757004261016846f,0.005519242025911808f };
+
+const float bout[1] = { 0.3794841468334198f };
 
-const float b3[32] = { -2.1200947761535645f,-0.6417744755744934f,-0.20833487808704376f,-0.4100790023803711f,-2.229132890701294f,0.2740940451622009f,-0.2966175079345703f,-0.737217366695404f,1.8642381429672241f,0.08214375376701355f,-0.47954219579696655f,-0.2409215271472931f,2.223055839538574f,0.04726779833436012f,-1.2977863550186157f,-0.5223850607872009f,-1.4806815385818481f,-1.1570241451263428f,-0.461347371339798f,-0.14962559938430786f,0.9796155095100403f,0.42978283762931824f,-1.2275103330612183f,-1.0708273649215698f,0.8111138343811035f,-0.5128193497657776f,-0.31590235233306885f,0.1044965386390686f,-0.028853775933384895f,-2.4177253246307373f,-0.28963881731033325f,0.25216880440711975f };
 
-const float bout[1] = { -0.1287642866373062f };
-
+float VALVE_POS_RAW_NN = 0.0f;
+float DDV_JOINT_POS_FF(float REF_JOINT_VEL);
 
 int main()
 {
@@ -396,6 +367,8 @@
         
         timer_while ++;
         
+        //LED = 0;
+        
         if(NN_Control_Flag == 0) {
             LED = 0;
         }
@@ -453,6 +426,30 @@
             } else {
                 valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
             }
+
+            // torque feedback
+            torq.err = f_past[0] - torq.sen; //[N]
+//            torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
+            torq.err_sum += torq.err/(float) 1500.0f; //[N]
+    
+
+            valve_pos.ref = ((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) * 0.01f + DDV_JOINT_POS_FF(vel.sen) + valve_pos.ref * 0.01f;
+
+            if(I_GAIN_JOINT_TORQUE != 0) {
+                double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
+                if(valve_pos.ref>VALVE_MAX_POS) {
+                    double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
+                    valve_pos_rem = valve_pos_rem * Ka;
+                    valve_pos.ref = VALVE_MAX_POS;
+                    torq.err_sum = torq.err_sum - valve_pos_rem/(float) 1500.0f;
+                } else if(valve_pos.ref < VALVE_MIN_POS) {
+                    double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
+                    valve_pos_rem = valve_pos_rem * Ka;
+                    valve_pos.ref = VALVE_MIN_POS;
+                    torq.err_sum = torq.err_sum - valve_pos_rem/(float) 1500.0f;
+                }
+            }
+            
             
             if(LED==1) {
                 LED=0;
@@ -461,6 +458,7 @@
             
         }
         
+        //LED = 1;
         
 
     }