Nathaniel Honka
Corrected header file include guards.
Dependencies: FiniteStateMachine HipControl Knee LinearBlend1 LocalFileSystem_Read dataComm hapticFeedback initExoVars mbed Blend_Generator Brad_poly_gait Gait_Generator MM_gait Encoders IMUdriver
Fork of
Motion Control
by 
HEL's Angels
gaitGenerator/gaitGenerator.cpp
- Committer:
- nathanhonka
- Date:
- 2015-07-02
- Revision:
- 54:9d0e871dd00a
- Parent:
- 26:c4372c518ac3
File content as of revision 54:9d0e871dd00a:
#include "mbed.h"
#include "gaitGenerator.h"
// timing variables:
// gait generation times
const float tStandingUp = 3;
const float tFirstStep = 1;
const float tStep = 0.9;//1.0;//1.2;
const float tNextStep=1;
const float tStepMod=1;
const float tFeetTogether = .5;
// blending times:
const float t_blend_home2bent = 2;
const float t_blend_home2stand = 3;
const float t_blend_home2sit = 2;
const float t_blend_step = .1;
const float t_blend_FS = .1;
const float t_blend_FTG = .1;
const float t_blend_standUp = .5;
const float t_blend_sitDown = .5;
const float backBias=0;
const float ref_stance_step[] = {
10.0000, 9.9644, 9.9288, 9.8932, 9.8576, 9.8220, 9.7864, 9.7508, 9.7152, 9.6796,
9.6440, 9.6085, 9.5729, 9.5373, 9.5017, 9.4661, 9.4305, 9.3949, 9.3593, 9.3237,
9.2881, 9.2525, 9.2169, 9.1813, 9.1457, 9.1101, 9.0745, 9.0389, 9.0033, 8.9677,
8.9321, 8.8966, 8.8610, 8.8254, 8.7898, 8.7542, 8.7186, 8.6830, 8.6474, 8.6118,
8.5762, 8.5406, 8.5050, 8.4694, 8.4338, 8.3982, 8.3626, 8.3270, 8.2914, 8.2558,
8.2202, 8.1846, 8.1491, 8.1135, 8.0779, 8.0423, 8.0067, 7.9711, 7.9355, 7.8999,
7.8643, 7.8287, 7.7931, 7.7575, 7.7219, 7.6863, 7.6507, 7.6151, 7.5795, 7.5439,
7.5083, 7.4727, 7.4372, 7.4016, 7.3660, 7.3304, 7.2948, 7.2592, 7.2236, 7.1880,
7.1524, 7.1168, 7.0812, 7.0456, 7.0100, 6.9744, 6.9388, 6.9032, 6.8676, 6.8320,
6.7964, 6.7608, 6.7253, 6.6897, 6.6541, 6.6185, 6.5829, 6.5473, 6.5117, 6.4761,
6.4405, 6.4049, 6.3693, 6.3337, 6.2981, 6.2625, 6.2269, 6.1913, 6.1557, 6.1201,
6.0845, 6.0489, 6.0133, 5.9778, 5.9422, 5.9066, 5.8710, 5.8354, 5.7998, 5.7642,
5.7286, 5.6930, 5.6574, 5.6218, 5.5862, 5.5506, 5.5150, 5.4794, 5.4438, 5.4082,
5.3726, 5.3370, 5.3014, 5.2659, 5.2303, 5.1947, 5.1591, 5.1235, 5.0879, 5.0523,
5.0167, 4.9811, 4.9455, 4.9099, 4.8743, 4.8387, 4.8031, 4.7675, 4.7319, 4.6963,
4.6607, 4.6251, 4.5895, 4.5539, 4.5184, 4.4828, 4.4472, 4.4116, 4.3760, 4.3404,
4.3048, 4.2692, 4.2336, 4.1980, 4.1624, 4.1268, 4.0912, 4.0556, 4.0200, 3.9844,
3.9488, 3.9132, 3.8776, 3.8420, 3.8065, 3.7709, 3.7353, 3.6997, 3.6641, 3.6285,
3.5929, 3.5573, 3.5217, 3.4861, 3.4505, 3.4149, 3.3793, 3.3437, 3.3081, 3.2725,
3.2369, 3.2013, 3.1657, 3.1301, 3.0945, 3.0590, 3.0234, 2.9878, 2.9522, 2.9166,
2.8810, 2.8454, 2.8098, 2.7742, 2.7386, 2.7030, 2.6674, 2.6318, 2.5962, 2.5606,
2.5250, 2.4894, 2.4538, 2.4182, 2.3826, 2.3471, 2.3115, 2.2759, 2.2403, 2.2047,
2.1691, 2.1335, 2.0979, 2.0623, 2.0267, 1.9911, 1.9555, 1.9199, 1.8843, 1.8487,
1.8131, 1.7775, 1.7419, 1.7063, 1.6707, 1.6352, 1.5996, 1.5640, 1.5284, 1.4928,
1.4572, 1.4216, 1.3860, 1.3504, 1.3148, 1.2792, 1.2436, 1.2080, 1.1724, 1.1368,
1.1012, 1.0656, 1.0300, 0.9944, 0.9588, 0.9232, 0.8877, 0.8521, 0.8165, 0.7809,
0.7453, 0.7097, 0.6741, 0.6385, 0.6029, 0.5673, 0.5317, 0.4961, 0.4605, 0.4249,
0.3893, 0.3537, 0.3181, 0.2825, 0.2469, 0.2113, 0.1758, 0.1402, 0.1046, 0.0690,
0.0334, -0.0022, -0.0378, -0.0734, -0.1090, -0.1446, -0.1802, -0.2158, -0.2514, -0.2870,
-0.3226, -0.3582, -0.3938, -0.4294, -0.4650, -0.5006, -0.5362, -0.5717, -0.6073, -0.6429,
-0.6785, -0.7141, -0.7497, -0.7853, -0.8209, -0.8565, -0.8921, -0.9277, -0.9633, -0.9989,
-1.0345, -1.0701, -1.1057, -1.1413, -1.1769, -1.2125, -1.2481, -1.2836, -1.3192, -1.3548,
-1.3904, -1.4260, -1.4616, -1.4972, -1.5328, -1.5684, -1.6040, -1.6396, -1.6752, -1.7108,
-1.7464, -1.7820, -1.8176, -1.8532, -1.8888, -1.9244, -1.9600, -1.9956, -2.0311, -2.0667,
-2.1023, -2.1379, -2.1735, -2.2091, -2.2447, -2.2803, -2.3159, -2.3515, -2.3871, -2.4227,
-2.4583, -2.4939, -2.5295, -2.5651, -2.6007, -2.6363, -2.6719, -2.7075, -2.7430, -2.7786,
-2.8142, -2.8498, -2.8854, -2.9210, -2.9566, -2.9922, -3.0278, -3.0634, -3.0990, -3.1346,
-3.1702, -3.2058, -3.2414, -3.2770, -3.3126, -3.3482, -3.3838, -3.4194, -3.4549, -3.4905,
-3.5261, -3.5617, -3.5973, -3.6329, -3.6685, -3.7041, -3.7397, -3.7753, -3.8109, -3.8465,
-3.8821, -3.9177, -3.9533, -3.9889, -4.0245, -4.0601, -4.0957, -4.1313, -4.1669, -4.2024,
-4.2380, -4.2736, -4.3092, -4.3448, -4.3804, -4.4160, -4.4516, -4.4872, -4.5228, -4.5584,
-4.5940, -4.6296, -4.6652, -4.7008, -4.7364, -4.7720, -4.8076, -4.8432, -4.8788, -4.9143,
-4.9499, -4.9855, -5.0211, -5.0567, -5.0923, -5.1279, -5.1635, -5.1991, -5.2347, -5.2703,
-5.3059, -5.3415, -5.3771, -5.4127, -5.4483, -5.4839, -5.5195, -5.5551, -5.5907, -5.6263,
-5.6618, -5.6974, -5.7330, -5.7686, -5.8042, -5.8398, -5.8754, -5.9110, -5.9466, -5.9822,
-6.0178, -6.0534, -6.0890, -6.1246, -6.1602, -6.1958, -6.2314, -6.2670, -6.3026, -6.3382,
-6.3737, -6.4093, -6.4449, -6.4805, -6.5161, -6.5517, -6.5873, -6.6229, -6.6585, -6.6941,
-6.7297, -6.7653, -6.8009, -6.8365, -6.8721, -6.9077, -6.9433, -6.9789, -7.0145, -7.0501,
-7.0857, -7.1212, -7.1568, -7.1924, -7.2280, -7.2636, -7.2992, -7.3348, -7.3704, -7.4060,
-7.4416, -7.4772, -7.5128, -7.5484, -7.5840, -7.6196, -7.6552, -7.6908, -7.7264, -7.7620,
-7.7976, -7.8331, -7.8687, -7.9043, -7.9399, -7.9755, -8.0111, -8.0467, -8.0823, -8.1179,
-8.1535, -8.1891, -8.2247, -8.2603, -8.2959, -8.3315, -8.3671, -8.4027, -8.4383, -8.4739,
-8.5095, -8.5451, -8.5806, -8.6162, -8.6518, -8.6874, -8.7230, -8.7586, -8.7942, -8.8298,
-8.8654, -8.9010, -8.9366, -8.9722, -9.0078, -9.0434, -9.0790, -9.1146, -9.1502, -9.1858,
-9.2214, -9.2570, -9.2925, -9.3281, -9.3637, -9.3993, -9.4349, -9.4705, -9.5061, -9.5417,
-9.5773, -9.6129, -9.6485, -9.6841, -9.7197, -9.7553, -9.7909, -9.8265, -9.8621, -9.8977,
-9.9333, -9.9689,-10.0044,-10.0400,-10.0756,-10.1112,-10.1468,-10.1824,-10.2180,-10.2536,
-10.2892,-10.3248,-10.3604,-10.3960,-10.4316,-10.4672,-10.5028,-10.5384,-10.5740,-10.6096,
-10.6452,-10.6808,-10.7164,-10.7519,-10.7875,-10.8231,-10.8587,-10.8943,-10.9299,-10.9655,
-11.0011,-11.0367,-11.0723,-11.1079,-11.1435,-11.1791,-11.2147,-11.2503,-11.2859,-11.3215,
-11.3571,-11.3927,-11.4283,-11.4638,-11.4994,-11.5350,-11.5706,-11.6062,-11.6418,-11.6774,
-11.7130,-11.7486,-11.7842,-11.8198,-11.8554,-11.8910,-11.9266,-11.9622,-11.9978,-12.0334,
-12.0690,-12.1046,-12.1402,-12.1758,-12.2113,-12.2469,-12.2825,-12.3181,-12.3537,-12.3893,
-12.4249,-12.4605,-12.4961,-12.5317,-12.5673,-12.6029,-12.6385,-12.6741,-12.7097,-12.7453,
-12.7809,-12.8165,-12.8521,-12.8877,-12.9232,-12.9588,-12.9944,-13.0300,-13.0656,-13.1012,
-13.1368,-13.1724,-13.2080,-13.2436,-13.2792,-13.3148,-13.3504,-13.3860,-13.4216,-13.4572,
-13.4928,-13.5284,-13.5640,-13.5996,-13.6352,-13.6707,-13.7063,-13.7419,-13.7775,-13.8131,
-13.8487,-13.8843,-13.9199,-13.9555,-13.9911,-14.0267,-14.0623,-14.0979,-14.1335,-14.1691,
-14.2047,-14.2403,-14.2759,-14.3115,-14.3471,-14.3826,-14.4182,-14.4538,-14.4894,-14.5250,
-14.5606,-14.5962,-14.6318,-14.6674,-14.7030,-14.7386,-14.7742,-14.8098,-14.8454,-14.8810,
-14.9166,-14.9522,-14.9878,-15.0234,-15.0590,-15.0945,-15.1301,-15.1657,-15.2013,-15.2369,
-15.2725,-15.3081,-15.3437,-15.3793,-15.4149,-15.4505,-15.4861,-15.5217,-15.5573,-15.5929,
-15.6285,-15.6641,-15.6997,-15.7353,-15.7709,-15.8065,-15.8420,-15.8776,-15.9132,-15.9488,
-15.9844,-16.0200,-16.0556,-16.0912,-16.1268,-16.1624,-16.1980,-16.2336,-16.2692,-16.3048,
-16.3404,-16.3760,-16.4116,-16.4472,-16.4828,-16.5184,-16.5539,-16.5895,-16.6251,-16.6607,
-16.6963,-16.7319,-16.7675,-16.8031,-16.8387,-16.8743,-16.9099,-16.9455,-16.9811,-17.0167,
-17.0523,-17.0879,-17.1235,-17.1591,-17.1947,-17.2303,-17.2659,-17.3014,-17.3370,-17.3726,
-17.4082,-17.4438,-17.4794,-17.5150,-17.5506,-17.5862,-17.6218,-17.6574,-17.6930,-17.7286,
-17.7642,-17.7998,-17.8354,-17.8710,-17.9066,-17.9422,-17.9778,-18.0133,-18.0489,-18.0845,
-18.1201,-18.1557,-18.1913,-18.2269,-18.2625,-18.2981,-18.3337,-18.3693,-18.4049,-18.4405,
-18.4761,-18.5117,-18.5473,-18.5829,-18.6185,-18.6541,-18.6897,-18.7253,-18.7608,-18.7964,
-18.8320,-18.8676,-18.9032,-18.9388,-18.9744,-19.0100,-19.0456,-19.0812,-19.1168,-19.1524,
-19.1880,-19.2236,-19.2592,-19.2948,-19.3304,-19.3660,-19.4016,-19.4372,-19.4727,-19.5083,
-19.5439,-19.5795,-19.6151,-19.6507,-19.6863,-19.7219,-19.7575,-19.7931,-19.8287,-19.8643,
-19.8999,-19.9355,-19.9711,-20.0067,-20.0423,-20.0779,-20.1135,-20.1491,-20.1846,-20.2202,
-20.2558,-20.2914,-20.3270,-20.3626,-20.3982,-20.4338,-20.4694,-20.5050,-20.5406,-20.5762,
-20.6118,-20.6474,-20.6830,-20.7186,-20.7542,-20.7898,-20.8254,-20.8610,-20.8966,-20.9321,
-20.9677,-21.0033,-21.0389,-21.0745,-21.1101,-21.1457,-21.1813,-21.2169,-21.2525,-21.2881,
-21.3237,-21.3593,-21.3949,-21.4305,-21.4661,-21.5017,-21.5373,-21.5729,-21.6085,-21.6440,
-21.6796,-21.7152,-21.7508,-21.7864,-21.8220,-21.8576,-21.8932,-21.9288,-21.9644,-22.0000
};
const float ref_swing_step[] = {
-22.0000,-21.7311,-21.4622,-21.1934,-20.9245,-20.6556,-20.3867,-20.1178,-19.8490,-19.5801,
-19.3112,-19.0423,-18.7734,-18.5046,-18.2357,-17.9668,-17.6979,-17.4290,-17.1604,-16.9047,
-16.6489,-16.3931,-16.1374,-15.8816,-15.6258,-15.3701,-15.1143,-14.8585,-14.6028,-14.3470,
-14.0912,-13.8355,-13.5797,-13.3240,-13.0682,-12.8124,-12.5572,-12.3145,-12.0719,-11.8292,
-11.5866,-11.3439,-11.1013,-10.8587,-10.6160,-10.3734,-10.1307, -9.8881, -9.6454, -9.4028,
-9.1601, -8.9175, -8.6748, -8.4322, -8.1903, -7.9608, -7.7312, -7.5017, -7.2722, -7.0427,
-6.8131, -6.5836, -6.3541, -6.1245, -5.8950, -5.6655, -5.4359, -5.2064, -4.9769, -4.7473,
-4.5178, -4.2883, -4.0598, -3.8434, -3.6270, -3.4105, -3.1941, -2.9777, -2.7613, -2.5449,
-2.3285, -2.1120, -1.8956, -1.6792, -1.4628, -1.2464, -1.0300, -0.8135, -0.5971, -0.3807,
-0.1656, 0.0377, 0.2410, 0.4443, 0.6476, 0.8509, 1.0542, 1.2575, 1.4608, 1.6641,
1.8674, 2.0707, 2.2740, 2.4773, 2.6806, 2.8839, 3.0872, 3.2905, 3.4922, 3.6824,
3.8726, 4.0628, 4.2529, 4.4431, 4.6333, 4.8235, 5.0137, 5.2039, 5.3940, 5.5842,
5.7744, 5.9646, 6.1548, 6.3450, 6.5351, 6.7253, 6.9137, 7.0907, 7.2678, 7.4449,
7.6219, 7.7990, 7.9761, 8.1532, 8.3302, 8.5073, 8.6844, 8.8614, 9.0385, 9.2156,
9.3926, 9.5697, 9.7468, 9.9238, 10.0988, 10.2627, 10.4267, 10.5906, 10.7546, 10.9186,
11.0825, 11.2465, 11.4104, 11.5744, 11.7383, 11.9023, 12.0662, 12.2302, 12.3941, 12.5581,
12.7220, 12.8860, 13.0476, 13.1984, 13.3492, 13.5001, 13.6509, 13.8017, 13.9526, 14.1034,
14.2542, 14.4051, 14.5559, 14.7067, 14.8576, 15.0084, 15.1593, 15.3101, 15.4609, 15.6118,
15.7600, 15.8977, 16.0354, 16.1731, 16.3108, 16.4486, 16.5863, 16.7240, 16.8617, 16.9994,
17.1372, 17.2749, 17.4126, 17.5503, 17.6880, 17.8258, 17.9635, 18.1012, 18.2360, 18.3606,
18.4852, 18.6098, 18.7344, 18.8590, 18.9836, 19.1083, 19.2329, 19.3575, 19.4821, 19.6067,
19.7313, 19.8559, 19.9805, 20.1051, 20.2297, 20.3543, 20.4757, 20.5872, 20.6987, 20.8102,
20.9217, 21.0332, 21.1447, 21.2561, 21.3676, 21.4791, 21.5906, 21.7021, 21.8136, 21.9251,
22.0366, 22.1480, 22.2595, 22.3710, 22.4791, 22.5775, 22.6758, 22.7742, 22.8726, 22.9709,
23.0693, 23.1677, 23.2661, 23.3644, 23.4628, 23.5612, 23.6595, 23.7579, 23.8563, 23.9547,
24.0530, 24.1514, 24.2461, 24.3313, 24.4166, 24.5019, 24.5871, 24.6724, 24.7576, 24.8429,
24.9281, 25.0134, 25.0986, 25.1839, 25.2692, 25.3544, 25.4397, 25.5249, 25.6102, 25.6954,
25.7767, 25.8489, 25.9210, 25.9932, 26.0653, 26.1374, 26.2096, 26.2817, 26.3539, 26.4260,
26.4981, 26.5703, 26.6424, 26.7145, 26.7867, 26.8588, 26.9310, 27.0031, 27.0710, 27.1301,
27.1891, 27.2481, 27.3071, 27.3662, 27.4252, 27.4842, 27.5432, 27.6022, 27.6613, 27.7203,
27.7793, 27.8383, 27.8974, 27.9564, 28.0154, 28.0744, 28.1290, 28.1749, 28.2208, 28.2667,
28.3126, 28.3585, 28.4044, 28.4503, 28.4962, 28.5421, 28.5881, 28.6340, 28.6799, 28.7258,
28.7717, 28.8176, 28.8635, 28.9094, 28.9506, 28.9834, 29.0162, 29.0490, 29.0817, 29.1145,
29.1473, 29.1801, 29.2129, 29.2457, 29.2785, 29.3113, 29.3441, 29.3769, 29.4096, 29.4424,
29.4752, 29.5080, 29.5358, 29.5555, 29.5752, 29.5948, 29.6145, 29.6342, 29.6539, 29.6735,
29.6932, 29.7129, 29.7326, 29.7522, 29.7719, 29.7916, 29.8113, 29.8309, 29.8506, 29.8703,
29.8847, 29.8913, 29.8978, 29.9044, 29.9109, 29.9175, 29.9241, 29.9306, 29.9372, 29.9437,
29.9503, 29.9568, 29.9634, 29.9700, 29.9765, 29.9831, 29.9896, 29.9962, 29.9994, 29.9981,
29.9968, 29.9955, 29.9942, 29.9928, 29.9915, 29.9902, 29.9889, 29.9875, 29.9862, 29.9849,
29.9836, 29.9823, 29.9809, 29.9796, 29.9783, 29.9770, 29.9745, 29.9705, 29.9665, 29.9626,
29.9586, 29.9546, 29.9507, 29.9467, 29.9427, 29.9388, 29.9348, 29.9308, 29.9269, 29.9229,
29.9189, 29.9150, 29.9110, 29.9070, 29.9018, 29.8952, 29.8886, 29.8820, 29.8754, 29.8688,
29.8622, 29.8555, 29.8489, 29.8423, 29.8357, 29.8291, 29.8225, 29.8159, 29.8092, 29.8026,
29.7960, 29.7894, 29.7815, 29.7723, 29.7630, 29.7537, 29.7445, 29.7352, 29.7260, 29.7167,
29.7075, 29.6982, 29.6889, 29.6797, 29.6704, 29.6612, 29.6519, 29.6426, 29.6334, 29.6241,
29.6135, 29.6016, 29.5897, 29.5778, 29.5659, 29.5540, 29.5421, 29.5302, 29.5183, 29.5064,
29.4945, 29.4826, 29.4707, 29.4588, 29.4469, 29.4350, 29.4231, 29.4112, 29.3979, 29.3834,
29.3688, 29.3543, 29.3397, 29.3252, 29.3106, 29.2961, 29.2815, 29.2670, 29.2524, 29.2379,
29.2233, 29.2088, 29.1942, 29.1797, 29.1651, 29.1506, 29.1346, 29.1174, 29.1002, 29.0830,
29.0658, 29.0486, 29.0314, 29.0142, 28.9970, 28.9798, 28.9626, 28.9455, 28.9283, 28.9111,
28.8939, 28.8767, 28.8595, 28.8423, 28.8236, 28.8038, 28.7839, 28.7641, 28.7443, 28.7244,
28.7046, 28.6847, 28.6649, 28.6451, 28.6252, 28.6054, 28.5855, 28.5657, 28.5459, 28.5260,
28.5062, 28.4863, 28.4650, 28.4425, 28.4200, 28.3975, 28.3750, 28.3525, 28.3301, 28.3076,
28.2851, 28.2626, 28.2401, 28.2176, 28.1951, 28.1727, 28.1502, 28.1277, 28.1052, 28.0827,
28.0586, 28.0335, 28.0084, 27.9833, 27.9581, 27.9330, 27.9079, 27.8827, 27.8576, 27.8325,
27.8073, 27.7822, 27.7571, 27.7319, 27.7068, 27.6817, 27.6566, 27.6314, 27.6047, 27.5769,
27.5491, 27.5213, 27.4936, 27.4658, 27.4380, 27.4102, 27.3825, 27.3547, 27.3269, 27.2991,
27.2714, 27.2436, 27.2158, 27.1880, 27.1602, 27.1325, 27.1030, 27.0726, 27.0422, 27.0117,
26.9813, 26.9509, 26.9205, 26.8901, 26.8596, 26.8292, 26.7988, 26.7684, 26.7380, 26.7075,
26.6771, 26.6467, 26.6163, 26.5858, 26.5537, 26.5206, 26.4875, 26.4545, 26.4214, 26.3884,
26.3553, 26.3222, 26.2892, 26.2561, 26.2230, 26.1900, 26.1569, 26.1238, 26.0908, 26.0577,
26.0246, 25.9916, 25.9567, 25.9210, 25.8853, 25.8496, 25.8138, 25.7781, 25.7424, 25.7067,
25.6710, 25.6353, 25.5996, 25.5639, 25.5282, 25.4924, 25.4567, 25.4210, 25.3853, 25.3496,
25.3120, 25.2737, 25.2353, 25.1970, 25.1586, 25.1202, 25.0819, 25.0435, 25.0052, 24.9668,
24.9285, 24.8901, 24.8518, 24.8134, 24.7750, 24.7367, 24.6983, 24.6600, 24.6197, 24.5787,
24.5377, 24.4967, 24.4557, 24.4147, 24.3737, 24.3327, 24.2917, 24.2507, 24.2097, 24.1687,
24.1277, 24.0867, 24.0457, 24.0047, 23.9637, 23.9227, 23.8797, 23.8361, 23.7924, 23.7488,
23.7051, 23.6615, 23.6178, 23.5742, 23.5305, 23.4869, 23.4432, 23.3996, 23.3559, 23.3123,
23.2686, 23.2250, 23.1814, 23.1377, 23.0920, 23.0458, 22.9995, 22.9532, 22.9069, 22.8606,
22.8143, 22.7680, 22.7217, 22.6754, 22.6291, 22.5828, 22.5365, 22.4902, 22.4439, 22.3977,
22.3514, 22.3051, 22.2567, 22.2078, 22.1588, 22.1099, 22.0610, 22.0120, 21.9631, 21.9141,
21.8652, 21.8163, 21.7673, 21.7184, 21.6695, 21.6205, 21.5716, 21.5226, 21.4737, 21.4248,
21.3737, 21.3221, 21.2705, 21.2190, 21.1674, 21.1158, 21.0642, 21.0126, 20.9610, 20.9095,
20.8579, 20.8063, 20.7547, 20.7031, 20.6515, 20.6000, 20.5484, 20.4968, 20.4430, 20.3888,
20.3346, 20.2804, 20.2261, 20.1719, 20.1177, 20.0634, 20.0092, 19.9550, 19.9008, 19.8465,
19.7923, 19.7381, 19.6838, 19.6296, 19.5754, 19.5212, 19.4647, 19.4078, 19.3510, 19.2941,
19.2372, 19.1803, 19.1235, 19.0666, 19.0097, 18.9528, 18.8960, 18.8391, 18.7822, 18.7254,
18.6685, 18.6116, 18.5547, 18.4979, 18.4387, 18.3792, 18.3197, 18.2601, 18.2006, 18.1411,
18.0816, 18.0221, 17.9626, 17.9030, 17.8435, 17.7840, 17.7245, 17.6650, 17.6054, 17.5459,
17.4864, 17.4269, 17.3650, 17.3029, 17.2407, 17.1785, 17.1164, 17.0542, 16.9920, 16.9299,
16.8677, 16.8056, 16.7434, 16.6812, 16.6191, 16.5569, 16.4947, 16.4326, 16.3704, 16.3082,
16.2437, 16.1789, 16.1141, 16.0493, 15.9845, 15.9196, 15.8548, 15.7900, 15.7252, 15.6604,
15.5956, 15.5308, 15.4660, 15.4012, 15.3364, 15.2715, 15.2067, 15.1419, 15.0747, 15.0072,
14.9398, 14.8723, 14.8049, 14.7374, 14.6700, 14.6025, 14.5350, 14.4676, 14.4001, 14.3327,
14.2652, 14.1978, 14.1303, 14.0629, 13.9954, 13.9279, 13.8580, 13.7879, 13.7178, 13.6477,
13.5776, 13.5075, 13.4374, 13.3673, 13.2972, 13.2271, 13.1570, 13.0869, 13.0168, 12.9467,
12.8766, 12.8065, 12.7364, 12.6663, 12.5937, 12.5209, 12.4482, 12.3754, 12.3027, 12.2299,
12.1572, 12.0844, 12.0117, 11.9389, 11.8662, 11.7935, 11.7207, 11.6480, 11.5752, 11.5025,
11.4297, 11.3570, 11.2816, 11.2063, 11.1309, 11.0555, 10.9801, 10.9047, 10.8293, 10.7539,
10.6785, 10.6031, 10.5277, 10.4523, 10.3770, 10.3016, 10.2262, 10.1508, 10.0754, 10.0000
};
const float ref_stance_step095[]= {
7.75,7.155,6.56,5.965,5.37,4.775,4.18,3.585,2.99,2.395,1.8,1.205,0.61,0.015,-0.58,-1.175,-1.77,-2.365,-2.96,-3.555,-4.15,-4.745,-5.34,-5.935,-6.53,-7.125,-7.72,-8.315,-8.91,-9.505,-10.1,-10.695,-11.29,-11.885,-12.48,-13.075,-13.67,-14.265,-14.86,-15.455,-16.05,-16.645,-17.24,-17.835,-18.43,-19.025,-19.62,-20.215,-20.81,-21.405,-22,
};
const float ref_stance_step100[]= {
7,6.42,5.84,5.26,4.68,4.1,3.52,2.94,2.36,1.78,1.2,0.62,0.04,-0.54,-1.12,-1.7,-2.28,-2.86,-3.44,-4.02,-4.6,-5.18,-5.76,-6.34,-6.92,-7.5,-8.08,-8.66,-9.24,-9.82,-10.4,-10.98,-11.56,-12.14,-12.72,-13.3,-13.88,-14.46,-15.04,-15.62,-16.2,-16.78,-17.36,-17.94,-18.52,-19.1,-19.68,-20.26,-20.84,-21.42,-22,
};
const float ref_stance_step105[]= {
6.25,5.685,5.12,4.555,3.99,3.425,2.86,2.295,1.73,1.165,0.6,0.035,-0.53,-1.095,-1.66,-2.225,-2.79,-3.355,-3.92,-4.485,-5.05,-5.615,-6.18,-6.745,-7.31,-7.875,-8.44,-9.005,-9.57,-10.135,-10.7,-11.265,-11.83,-12.395,-12.96,-13.525,-14.09,-14.655,-15.22,-15.785,-16.35,-16.915,-17.48,-18.045,-18.61,-19.175,-19.74,-20.305,-20.87,-21.435,-22,
};
const float ref_stance_step110[]= {
5.5,4.95,4.4,3.85,3.3,2.75,2.2,1.65,1.1,0.55,0,-0.55,-1.1,-1.65,-2.2,-2.75,-3.3,-3.85,-4.4,-4.95,-5.5,-6.05,-6.6,-7.15,-7.7,-8.25,-8.8,-9.35,-9.9,-10.45,-11,-11.55,-12.1,-12.65,-13.2,-13.75,-14.3,-14.85,-15.4,-15.95,-16.5,-17.05,-17.6,-18.15,-18.7,-19.25,-19.8,-20.35,-20.9,-21.45,-22,
};
const float ref_stance_step115[]= {
4.75,4.215,3.68,3.145,2.61,2.075,1.54,1.005,0.47,-0.065,-0.6,-1.135,-1.67,-2.205,-2.74,-3.275,-3.81,-4.345,-4.88,-5.415,-5.95,-6.485,-7.02,-7.555,-8.09,-8.625,-9.16,-9.695,-10.23,-10.765,-11.3,-11.835,-12.37,-12.905,-13.44,-13.975,-14.51,-15.045,-15.58,-16.115,-16.65,-17.185,-17.72,-18.255,-18.79,-19.325,-19.86,-20.395,-20.93,-21.465,-22,
};
const float ref_stance_step120[]= {
4,3.48,2.96,2.44,1.92,1.4,0.88,0.36,-0.16,-0.68,-1.2,-1.72,-2.24,-2.76,-3.28,-3.8,-4.32,-4.84,-5.36,-5.88,-6.4,-6.92,-7.44,-7.96,-8.48,-9,-9.52,-10.04,-10.56,-11.08,-11.6,-12.12,-12.64,-13.16,-13.68,-14.2,-14.72,-15.24,-15.76,-16.28,-16.8,-17.32,-17.84,-18.36,-18.88,-19.4,-19.92,-20.44,-20.96,-21.48,-22,
};
const float ref_stance_step125[]= {
3.25,2.745,2.24,1.735,1.23,0.725,0.22,-0.285,-0.79,-1.295,-1.8,-2.305,-2.81,-3.315,-3.82,-4.325,-4.83,-5.335,-5.84,-6.345,-6.85,-7.355,-7.86,-8.365,-8.87,-9.375,-9.88,-10.385,-10.89,-11.395,-11.9,-12.405,-12.91,-13.415,-13.92,-14.425,-14.93,-15.435,-15.94,-16.445,-16.95,-17.455,-17.96,-18.465,-18.97,-19.475,-19.98,-20.485,-20.99,-21.495,-22,
};
const float ref_stance_step130[]= {
2.5,2.01,1.52,1.03,0.54,0.05,-0.44,-0.93,-1.42,-1.91,-2.4,-2.89,-3.38,-3.87,-4.36,-4.85,-5.34,-5.83,-6.32,-6.81,-7.3,-7.79,-8.28,-8.77,-9.26,-9.75,-10.24,-10.73,-11.22,-11.71,-12.2,-12.69,-13.18,-13.67,-14.16,-14.65,-15.14,-15.63,-16.12,-16.61,-17.1,-17.59,-18.08,-18.57,-19.06,-19.55,-20.04,-20.53,-21.02,-21.51,-22,
};
const float ref_swing_step095[]= {
-22,-18.75081885,-15.60644999,-12.56689342,-9.632149156,-6.802217183,-4.077097506,-1.456790123,1.058704963,3.469387755,5.775258251,7.976316453,10.07256236,12.06399597,13.95061728,15.7324263,17.40942303,18.98160746,20.44897959,21.81153943,23.06928697,24.22222222,25.27034518,26.21365583,27.0521542,27.78584026,28.41471403,28.93877551,29.35802469,29.67246158,29.88208617,29.98689846,29.98374726,29.85372535,29.59368152,29.20361578,28.68352812,28.03341855,27.25328707,26.34313367,25.30295836,24.13276114,22.832542,21.40230095,19.84203798,18.1517531,16.33144631,14.3811176,12.30076698,10.09039445,7.75,
};
const float ref_swing_step100[]= {
-22,-18.73270053,-15.57182774,-12.51738166,-9.569362262,-6.72776956,-3.99260355,-1.363864234,1.158448389,3.57433432,5.883793557,8.086826101,10.18343195,12.17361111,14.05736358,15.83468935,17.50558843,19.07006082,20.52810651,21.87972551,23.12491782,24.26368343,25.29602235,26.22193458,27.04142012,27.75447896,28.36111111,28.86131657,29.25509533,29.5424474,29.72337278,29.79787147,29.75871435,29.5909914,29.29425079,28.86849253,28.31371661,27.62992304,26.81711182,25.87528293,24.8044364,23.6045722,22.27569036,20.81779086,19.2308737,17.51493889,15.66998642,13.6960163,11.59302852,9.361023087,7,
};
const float ref_swing_step105[]= {
-22,-18.71423634,-15.53655701,-12.46696201,-9.505451346,-6.65202501,-3.906683005,-1.269425331,1.259748013,3.680837025,5.993841707,8.198762057,10.29559808,12.28434977,14.16501712,15.93760015,17.60209885,19.15851321,20.60684325,21.94708895,23.17925032,24.30332736,25.31932007,26.22722845,27.0270525,27.71879222,28.30244761,28.77801866,29.14550539,29.40490778,29.55622585,29.59935994,29.52255284,29.31773389,28.9849031,28.52406047,27.935206,27.21833968,26.37346153,25.40057153,24.29966969,23.07075601,21.71383049,20.22889312,18.61594392,16.87498287,15.00600998,13.00902525,10.88402867,8.631020257,6.25,
};
const float ref_swing_step110[]= {
-22,-18.69541629,-15.50061942,-12.41560938,-9.440386176,-6.574949806,-3.819300269,-1.173437567,1.362638302,3.788927336,6.105429536,8.312144902,10.40907343,12.39621513,14.27356999,16.04113802,17.69891922,19.24691358,20.68512111,22.0135418,23.23217566,24.34102268,25.34008287,26.22935623,27.00884275,27.67854244,28.23845529,28.68858131,29.0289205,29.25947285,29.38023837,29.38983952,29.27553406,29.03422255,28.66590498,28.17058136,27.54825167,26.79891593,25.92257413,24.91922627,23.78887236,22.53151238,21.14714635,19.63577426,17.99739611,16.2320119,14.33962164,12.32022532,10.17382294,7.900414497,5.5,
};
const float ref_swing_step115[]= {
-22,-18.67623,-15.4639959,-12.36329772,-9.374135433,-6.496509057,-3.730418586,-1.075864022,1.467154636,3.898637388,6.218584235,8.426995175,10.52387021,12.50920934,14.38301256,16.14527987,17.79601128,19.33520679,20.76286639,22.07899008,23.28357786,24.37662974,25.35814572,26.22812578,26.98656994,27.6334782,28.16885055,28.59268699,28.90498753,29.10575216,29.19498088,29.16912958,29.01792754,28.7407238,28.33751836,27.80831122,27.15310237,26.37189183,25.46467958,24.43146564,23.27224999,21.98703265,20.5758136,19.03859285,17.3753704,15.58614625,13.67092041,11.62969285,9.462463604,7.169232652,4.75,
};
const float ref_swing_step120[]= {
-22,-18.65666667,-15.42666667,-12.31,-9.306666667,-6.416666667,-3.64,-0.976666667,1.573333333,4.01,6.333333333,8.543333333,10.64,12.62333333,14.49333333,16.25,17.89333333,19.42333333,20.84,22.14333333,23.33333333,24.41,25.37333333,26.22333333,26.96,27.58333333,28.09333333,28.49,28.77333333,28.94333333,29,28.9375,28.75,28.4375,28,27.4375,26.75,25.9375,25,23.9375,22.75,21.4375,20,18.4375,16.75,14.9375,13,10.9375,8.75,6.4375,4,
};
const float ref_swing_step125[]= {
-22,-18.63671507,-15.38861114,-12.2556882,-9.237946241,-6.335385278,-3.548005306,-0.875806324,1.681211668,4.123048669,6.449704679,8.661179698,10.75747373,12.73858677,14.60451881,16.35526987,17.99083994,19.51122901,20.9164371,22.20646419,23.3813103,24.44097541,25.38545953,26.21476267,26.92888481,27.52782596,28.01158612,28.38016529,28.63356347,28.77178066,28.79441991,28.69521828,28.47201461,28.1248089,27.65360116,27.05839137,26.33917955,25.49596569,24.52874979,23.43753185,22.22231187,20.88308986,19.41986581,17.83263971,16.12141158,14.28618142,12.32694921,10.24371497,8.036478682,5.70524036,3.25,
};
const float ref_swing_step130[]= {
-22,-18.61636355,-15.34980795,-12.20033319,-9.167939285,-6.252626221,-3.454394002,-0.77324263,1.790827896,4.237817576,6.56772641,8.780554399,10.87630154,12.85496784,14.71655329,16.46105789,18.08848165,19.59882456,20.99208663,22.26826785,23.42736823,24.46938776,25.39432644,26.20218428,26.89296127,27.46665741,27.92327271,28.26280716,28.48526077,28.59063353,28.57785842,28.44254878,28.18423037,27.8029032,27.29856725,26.67122255,25.92086907,25.04750683,24.05113583,22.93175606,21.68936752,20.32397021,18.83556414,17.22414931,15.4897257,13.63229334,11.6518522,9.5484023,7.321943633,4.972476199,2.5,
};
const float ref_stance_FS[] = {
0.0000, -0.0175, -0.0350, -0.0526, -0.0701, -0.0876, -0.1051, -0.1226, -0.1401, -0.1577,
-0.1752, -0.1927, -0.2102, -0.2277, -0.2452, -0.2628, -0.2803, -0.2978, -0.3153, -0.3328,
-0.3504, -0.3679, -0.3854, -0.4029, -0.4204, -0.4379, -0.4555, -0.4730, -0.4905, -0.5080,
-0.5255, -0.5430, -0.5606, -0.5781, -0.5956, -0.6131, -0.6306, -0.6481, -0.6657, -0.6832,
-0.7007, -0.7182, -0.7357, -0.7533, -0.7708, -0.7883, -0.8058, -0.8233, -0.8408, -0.8584,
-0.8759, -0.8934, -0.9109, -0.9284, -0.9459, -0.9635, -0.9810, -0.9985, -1.0160, -1.0335,
-1.0511, -1.0686, -1.0861, -1.1036, -1.1211, -1.1386, -1.1562, -1.1737, -1.1912, -1.2087,
-1.2262, -1.2437, -1.2613, -1.2788, -1.2963, -1.3138, -1.3313, -1.3488, -1.3664, -1.3839,
-1.4014, -1.4189, -1.4364, -1.4540, -1.4715, -1.4890, -1.5065, -1.5240, -1.5415, -1.5591,
-1.5766, -1.5941, -1.6116, -1.6291, -1.6466, -1.6642, -1.6817, -1.6992, -1.7167, -1.7342,
-1.7518, -1.7693, -1.7869, -1.8045, -1.8220, -1.8396, -1.8572, -1.8747, -1.8923, -1.9099,
-1.9274, -1.9450, -1.9626, -1.9801, -1.9977, -2.0153, -2.0328, -2.0504, -2.0680, -2.0855,
-2.1031, -2.1206, -2.1381, -2.1557, -2.1732, -2.1907, -2.2082, -2.2257, -2.2432, -2.2608,
-2.2783, -2.2958, -2.3133, -2.3308, -2.3483, -2.3659, -2.3834, -2.4009, -2.4184, -2.4359,
-2.4535, -2.4710, -2.4885, -2.5060, -2.5235, -2.5410, -2.5586, -2.5761, -2.5936, -2.6111,
-2.6286, -2.6461, -2.6637, -2.6812, -2.6987, -2.7162, -2.7337, -2.7513, -2.7688, -2.7863,
-2.8038, -2.8213, -2.8388, -2.8564, -2.8739, -2.8914, -2.9089, -2.9264, -2.9439, -2.9615,
-2.9790, -2.9965, -3.0140, -3.0315, -3.0490, -3.0666, -3.0841, -3.1016, -3.1191, -3.1366,
-3.1542, -3.1717, -3.1892, -3.2067, -3.2242, -3.2417, -3.2593, -3.2768, -3.2943, -3.3118,
-3.3293, -3.3468, -3.3644, -3.3819, -3.3994, -3.4169, -3.4344, -3.4520, -3.4695, -3.4870,
-3.5045, -3.5220, -3.5395, -3.5571, -3.5746, -3.5921, -3.6096, -3.6271, -3.6446, -3.6622,
-3.6797, -3.6972, -3.7147, -3.7322, -3.7497, -3.7673, -3.7848, -3.8023, -3.8198, -3.8373,
-3.8549, -3.8724, -3.8899, -3.9074, -3.9249, -3.9424, -3.9600, -3.9775, -3.9950, -4.0125,
-4.0300, -4.0475, -4.0651, -4.0826, -4.1001, -4.1176, -4.1351, -4.1527, -4.1702, -4.1877,
-4.2052, -4.2227, -4.2402, -4.2578, -4.2753, -4.2928, -4.3103, -4.3278, -4.3453, -4.3629,
-4.3804, -4.3979, -4.4154, -4.4329, -4.4504, -4.4680, -4.4855, -4.5030, -4.5205, -4.5380,
-4.5556, -4.5731, -4.5906, -4.6081, -4.6256, -4.6431, -4.6607, -4.6782, -4.6957, -4.7132,
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-9.8128, -9.8303, -9.8478, -9.8654, -9.8829, -9.9004, -9.9179, -9.9354, -9.9529, -9.9705,
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-14.3684,-14.3859,-14.4034,-14.4209,-14.4384,-14.4560,-14.4735,-14.4910,-14.5085,-14.5260,
-14.5435,-14.5611,-14.5786,-14.5961,-14.6136,-14.6311,-14.6486,-14.6662,-14.6837,-14.7012,
-14.7187,-14.7362,-14.7537,-14.7713,-14.7888,-14.8063,-14.8238,-14.8413,-14.8589,-14.8764,
-14.8939,-14.9114,-14.9289,-14.9464,-14.9640,-14.9815,-14.9990,-15.0165,-15.0340,-15.0515,
-15.0691,-15.0866,-15.1041,-15.1216,-15.1391,-15.1567,-15.1742,-15.1917,-15.2092,-15.2267,
-15.2442,-15.2618,-15.2793,-15.2968,-15.3143,-15.3318,-15.3493,-15.3669,-15.3844,-15.4019,
-15.4194,-15.4369,-15.4545,-15.4720,-15.4895,-15.5070,-15.5245,-15.5420,-15.5596,-15.5771,
-15.5946,-15.6121,-15.6296,-15.6471,-15.6647,-15.6822,-15.6997,-15.7172,-15.7347,-15.7522,
-15.7698,-15.7873,-15.8048,-15.8223,-15.8398,-15.8574,-15.8749,-15.8924,-15.9099,-15.9274,
-15.9449,-15.9625,-15.9800,-15.9975,-16.0150,-16.0325,-16.0500,-16.0676,-16.0851,-16.1026,
-16.1202,-16.1377,-16.1553,-16.1729,-16.1904,-16.2080,-16.2256,-16.2431,-16.2607,-16.2783,
-16.2958,-16.3134,-16.3310,-16.3485,-16.3661,-16.3837,-16.4012,-16.4188,-16.4364,-16.4539,
-16.4715,-16.4890,-16.5065,-16.5240,-16.5415,-16.5591,-16.5766,-16.5941,-16.6116,-16.6291,
-16.6466,-16.6642,-16.6817,-16.6992,-16.7167,-16.7342,-16.7517,-16.7693,-16.7868,-16.8043,
-16.8218,-16.8393,-16.8569,-16.8744,-16.8919,-16.9094,-16.9269,-16.9444,-16.9620,-16.9795,
-16.9970,-17.0145,-17.0320,-17.0495,-17.0671,-17.0846,-17.1021,-17.1196,-17.1371,-17.1546,
-17.1722,-17.1897,-17.2072,-17.2247,-17.2422,-17.2598,-17.2773,-17.2948,-17.3123,-17.3298,
-17.3473,-17.3649,-17.3824,-17.3999,-17.4174,-17.4349,-17.4524,-17.4700,-17.4875,-17.5050
};
const float ref_swing_FS[] = {
0.0000, 0.0880, 0.1760, 0.2640, 0.3520, 0.4399, 0.5279, 0.6159, 0.7039, 0.7919,
0.8799, 0.9679, 1.0559, 1.1438, 1.2318, 1.3198, 1.4078, 1.4958, 1.5838, 1.6718,
1.7598, 1.8474, 1.9350, 2.0227, 2.1103, 2.1979, 2.2856, 2.3732, 2.4609, 2.5485,
2.6361, 2.7238, 2.8114, 2.8990, 2.9867, 3.0743, 3.1620, 3.2496, 3.3372, 3.4249,
3.5125, 3.5995, 3.6865, 3.7734, 3.8604, 3.9474, 4.0344, 4.1214, 4.2084, 4.2954,
4.3823, 4.4693, 4.5563, 4.6433, 4.7303, 4.8173, 4.9043, 4.9913, 5.0782, 5.1652,
5.2522, 5.3380, 5.4239, 5.5098, 5.5957, 5.6816, 5.7675, 5.8534, 5.9392, 6.0251,
6.1110, 6.1969, 6.2828, 6.3687, 6.4546, 6.5404, 6.6263, 6.7122, 6.7981, 6.8840,
6.9698, 7.0543, 7.1388, 7.2234, 7.3079, 7.3924, 7.4770, 7.5615, 7.6460, 7.7306,
7.8151, 7.8996, 7.9842, 8.0687, 8.1532, 8.2378, 8.3223, 8.4068, 8.4914, 8.5759,
8.6603, 8.7431, 8.8259, 8.9088, 8.9916, 9.0744, 9.1573, 9.2401, 9.3229, 9.4058,
9.4886, 9.5714, 9.6543, 9.7371, 9.8199, 9.9028, 9.9856, 10.0684, 10.1513, 10.2341,
10.3167, 10.3975, 10.4784, 10.5592, 10.6400, 10.7209, 10.8017, 10.8825, 10.9633, 11.0442,
11.1250, 11.2058, 11.2867, 11.3675, 11.4483, 11.5292, 11.6100, 11.6908, 11.7717, 11.8525,
11.9330, 12.0114, 12.0898, 12.1683, 12.2467, 12.3251, 12.4036, 12.4820, 12.5604, 12.6388,
12.7173, 12.7957, 12.8741, 12.9525, 13.0310, 13.1094, 13.1878, 13.2663, 13.3447, 13.4231,
13.5011, 13.5769, 13.6527, 13.7285, 13.8042, 13.8800, 13.9558, 14.0316, 14.1073, 14.1831,
14.2589, 14.3347, 14.4104, 14.4862, 14.5620, 14.6378, 14.7135, 14.7893, 14.8651, 14.9409,
15.0161, 15.0889, 15.1618, 15.2346, 15.3074, 15.3802, 15.4530, 15.5259, 15.5987, 15.6715,
15.7443, 15.8172, 15.8900, 15.9628, 16.0356, 16.1085, 16.1813, 16.2541, 16.3269, 16.3997,
16.4719, 16.5415, 16.6111, 16.6806, 16.7502, 16.8198, 16.8893, 16.9589, 17.0285, 17.0980,
17.1676, 17.2372, 17.3067, 17.3763, 17.4459, 17.5155, 17.5850, 17.6546, 17.7242, 17.7937,
17.8625, 17.9285, 17.9946, 18.0606, 18.1266, 18.1926, 18.2586, 18.3246, 18.3907, 18.4567,
18.5227, 18.5887, 18.6547, 18.7207, 18.7867, 18.8528, 18.9188, 18.9848, 19.0508, 19.1168,
19.1819, 19.2442, 19.3065, 19.3687, 19.4310, 19.4933, 19.5555, 19.6178, 19.6800, 19.7423,
19.8046, 19.8668, 19.9291, 19.9914, 20.0536, 20.1159, 20.1781, 20.2404, 20.3027, 20.3649,
20.4261, 20.4843, 20.5426, 20.6008, 20.6590, 20.7172, 20.7754, 20.8336, 20.8918, 20.9500,
21.0082, 21.0664, 21.1246, 21.1828, 21.2410, 21.2993, 21.3575, 21.4157, 21.4739, 21.5321,
21.5891, 21.6431, 21.6970, 21.7510, 21.8049, 21.8589, 21.9128, 21.9668, 22.0207, 22.0747,
22.1286, 22.1826, 22.2366, 22.2905, 22.3445, 22.3984, 22.4524, 22.5063, 22.5603, 22.6142,
22.6668, 22.7163, 22.7658, 22.8153, 22.8648, 22.9143, 22.9638, 23.0133, 23.0628, 23.1123,
23.1618, 23.2113, 23.2608, 23.3103, 23.3598, 23.4093, 23.4588, 23.5083, 23.5578, 23.6073,
23.6554, 23.7002, 23.7450, 23.7899, 23.8347, 23.8796, 23.9244, 23.9693, 24.0141, 24.0590,
24.1038, 24.1486, 24.1935, 24.2383, 24.2832, 24.3280, 24.3729, 24.4177, 24.4626, 24.5074,
24.5506, 24.5905, 24.6305, 24.6704, 24.7103, 24.7503, 24.7902, 24.8302, 24.8701, 24.9100,
24.9500, 24.9899, 25.0299, 25.0698, 25.1097, 25.1497, 25.1896, 25.2296, 25.2695, 25.3094,
25.3476, 25.3826, 25.4176, 25.4525, 25.4875, 25.5225, 25.5575, 25.5925, 25.6275, 25.6625,
25.6974, 25.7324, 25.7674, 25.8024, 25.8374, 25.8724, 25.9074, 25.9423, 25.9773, 26.0123,
26.0453, 26.0752, 26.1050, 26.1348, 26.1647, 26.1945, 26.2243, 26.2541, 26.2840, 26.3138,
26.3436, 26.3735, 26.4033, 26.4331, 26.4630, 26.4928, 26.5226, 26.5524, 26.5823, 26.6121,
26.6398, 26.6643, 26.6889, 26.7134, 26.7379, 26.7624, 26.7870, 26.8115, 26.8360, 26.8605,
26.8851, 26.9096, 26.9341, 26.9586, 26.9832, 27.0077, 27.0322, 27.0567, 27.0813, 27.1058,
27.1281, 27.1473, 27.1665, 27.1857, 27.2049, 27.2242, 27.2434, 27.2626, 27.2818, 27.3010,
27.3203, 27.3395, 27.3587, 27.3779, 27.3971, 27.4164, 27.4356, 27.4548, 27.4740, 27.4932,
27.5101, 27.5238, 27.5376, 27.5513, 27.5651, 27.5789, 27.5926, 27.6064, 27.6202, 27.6339,
27.6477, 27.6615, 27.6752, 27.6890, 27.7027, 27.7165, 27.7303, 27.7440, 27.7578, 27.7716,
27.7828, 27.7911, 27.7994, 27.8077, 27.8161, 27.8244, 27.8327, 27.8410, 27.8493, 27.8576,
27.8659, 27.8742, 27.8825, 27.8908, 27.8991, 27.9074, 27.9158, 27.9241, 27.9324, 27.9407,
27.9463, 27.9491, 27.9518, 27.9546, 27.9573, 27.9601, 27.9628, 27.9656, 27.9683, 27.9711,
27.9738, 27.9766, 27.9794, 27.9821, 27.9849, 27.9876, 27.9904, 27.9931, 27.9959, 27.9986,
27.9986, 27.9959, 27.9931, 27.9904, 27.9876, 27.9849, 27.9821, 27.9794, 27.9766, 27.9738,
27.9711, 27.9683, 27.9656, 27.9628, 27.9601, 27.9573, 27.9546, 27.9518, 27.9491, 27.9463,
27.9407, 27.9324, 27.9241, 27.9158, 27.9074, 27.8991, 27.8908, 27.8825, 27.8742, 27.8659,
27.8576, 27.8493, 27.8410, 27.8327, 27.8244, 27.8161, 27.8077, 27.7994, 27.7911, 27.7828,
27.7716, 27.7578, 27.7440, 27.7303, 27.7165, 27.7027, 27.6890, 27.6752, 27.6615, 27.6477,
27.6339, 27.6202, 27.6064, 27.5926, 27.5789, 27.5651, 27.5513, 27.5376, 27.5238, 27.5101,
27.4932, 27.4740, 27.4548, 27.4356, 27.4164, 27.3971, 27.3779, 27.3587, 27.3395, 27.3203,
27.3010, 27.2818, 27.2626, 27.2434, 27.2242, 27.2049, 27.1857, 27.1665, 27.1473, 27.1281,
27.1058, 27.0813, 27.0567, 27.0322, 27.0077, 26.9832, 26.9586, 26.9341, 26.9096, 26.8851,
26.8605, 26.8360, 26.8115, 26.7870, 26.7624, 26.7379, 26.7134, 26.6889, 26.6643, 26.6398,
26.6121, 26.5823, 26.5524, 26.5226, 26.4928, 26.4630, 26.4331, 26.4033, 26.3735, 26.3436,
26.3138, 26.2840, 26.2541, 26.2243, 26.1945, 26.1647, 26.1348, 26.1050, 26.0752, 26.0453,
26.0123, 25.9773, 25.9423, 25.9074, 25.8724, 25.8374, 25.8024, 25.7674, 25.7324, 25.6974,
25.6625, 25.6275, 25.5925, 25.5575, 25.5225, 25.4875, 25.4525, 25.4176, 25.3826, 25.3476,
25.3094, 25.2695, 25.2296, 25.1896, 25.1497, 25.1097, 25.0698, 25.0299, 24.9899, 24.9500,
24.9100, 24.8701, 24.8302, 24.7902, 24.7503, 24.7103, 24.6704, 24.6305, 24.5905, 24.5506,
24.5074, 24.4626, 24.4177, 24.3729, 24.3280, 24.2832, 24.2383, 24.1935, 24.1486, 24.1038,
24.0590, 24.0141, 23.9693, 23.9244, 23.8796, 23.8347, 23.7899, 23.7450, 23.7002, 23.6554,
23.6073, 23.5578, 23.5083, 23.4588, 23.4093, 23.3598, 23.3103, 23.2608, 23.2113, 23.1618,
23.1123, 23.0628, 23.0133, 22.9638, 22.9143, 22.8648, 22.8153, 22.7658, 22.7163, 22.6668,
22.6142, 22.5603, 22.5063, 22.4524, 22.3984, 22.3445, 22.2905, 22.2366, 22.1826, 22.1286,
22.0747, 22.0207, 21.9668, 21.9128, 21.8589, 21.8049, 21.7510, 21.6970, 21.6431, 21.5891,
21.5321, 21.4739, 21.4157, 21.3575, 21.2993, 21.2410, 21.1828, 21.1246, 21.0664, 21.0082,
20.9500, 20.8918, 20.8336, 20.7754, 20.7172, 20.6590, 20.6008, 20.5426, 20.4843, 20.4261,
20.3649, 20.3027, 20.2404, 20.1781, 20.1159, 20.0536, 19.9914, 19.9291, 19.8668, 19.8046,
19.7423, 19.6800, 19.6178, 19.5555, 19.4933, 19.4310, 19.3687, 19.3065, 19.2442, 19.1819,
19.1168, 19.0508, 18.9848, 18.9188, 18.8528, 18.7867, 18.7207, 18.6547, 18.5887, 18.5227,
18.4567, 18.3907, 18.3246, 18.2586, 18.1926, 18.1266, 18.0606, 17.9946, 17.9285, 17.8625,
17.7937, 17.7242, 17.6546, 17.5850, 17.5155, 17.4459, 17.3763, 17.3067, 17.2372, 17.1676,
17.0980, 17.0285, 16.9589, 16.8893, 16.8198, 16.7502, 16.6806, 16.6111, 16.5415, 16.4719,
16.3997, 16.3269, 16.2541, 16.1813, 16.1085, 16.0356, 15.9628, 15.8900, 15.8172, 15.7443,
15.6715, 15.5987, 15.5259, 15.4530, 15.3802, 15.3074, 15.2346, 15.1618, 15.0889, 15.0161,
14.9409, 14.8651, 14.7893, 14.7135, 14.6378, 14.5620, 14.4862, 14.4104, 14.3347, 14.2589,
14.1831, 14.1073, 14.0316, 13.9558, 13.8800, 13.8042, 13.7285, 13.6527, 13.5769, 13.5011,
13.4231, 13.3447, 13.2663, 13.1878, 13.1094, 13.0310, 12.9525, 12.8741, 12.7957, 12.7173,
12.6388, 12.5604, 12.4820, 12.4036, 12.3251, 12.2467, 12.1683, 12.0898, 12.0114, 11.9330,
11.8525, 11.7717, 11.6908, 11.6100, 11.5292, 11.4483, 11.3675, 11.2867, 11.2058, 11.1250,
11.0442, 10.9633, 10.8825, 10.8017, 10.7209, 10.6400, 10.5592, 10.4784, 10.3975, 10.3167,
10.2341, 10.1513, 10.0684, 9.9856, 9.9028, 9.8199, 9.7371, 9.6543, 9.5714, 9.4886,
9.4058, 9.3229, 9.2401, 9.1573, 9.0744, 8.9916, 8.9088, 8.8259, 8.7431, 8.6603,
8.5759, 8.4914, 8.4068, 8.3223, 8.2378, 8.1532, 8.0687, 7.9842, 7.8996, 7.8151,
7.7306, 7.6460, 7.5615, 7.4770, 7.3924, 7.3079, 7.2234, 7.1388, 7.0543, 6.9698,
6.8840, 6.7981, 6.7122, 6.6263, 6.5404, 6.4546, 6.3687, 6.2828, 6.1969, 6.1110,
6.0251, 5.9392, 5.8534, 5.7675, 5.6816, 5.5957, 5.5098, 5.4239, 5.3380, 5.2522,
5.1652, 5.0782, 4.9913, 4.9043, 4.8173, 4.7303, 4.6433, 4.5563, 4.4693, 4.3823,
4.2954, 4.2084, 4.1214, 4.0344, 3.9474, 3.8604, 3.7734, 3.6865, 3.5995, 3.5125,
3.4249, 3.3372, 3.2496, 3.1620, 3.0743, 2.9867, 2.8990, 2.8114, 2.7238, 2.6361,
2.5485, 2.4609, 2.3732, 2.2856, 2.1979, 2.1103, 2.0227, 1.9350, 1.8474, 1.7598,
1.6718, 1.5838, 1.4958, 1.4078, 1.3198, 1.2318, 1.1438, 1.0559, 0.9679, 0.8799,
0.7919, 0.7039, 0.6159, 0.5279, 0.4399, 0.3520, 0.2640, 0.1760, 0.0880, 0.0000
};
const float ref_stance_FTG[] = {
0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000,
0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000,
0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000,
0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000,
0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000,
0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000,
0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000,
0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000,
0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000,
0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000,
0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000,
0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000,
0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000,
0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000,
0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000,
0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000,
0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000,
0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000,
0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000,
0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000,
0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000,
0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000,
0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000,
0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000,
0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000,
0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000,
0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000,
0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000,
0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000,
0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000,
0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000,
0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000,
0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000,
0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000,
0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000,
0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000,
0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000,
0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000,
0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000,
0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000,
0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000,
0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000,
0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000,
0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000,
0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000,
0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000,
0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000,
0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000,
0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000,
0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000
};
const float ref_swing_FTG[] = {
-17.5050,-17.4699,-17.4349,-17.3998,-17.3647,-17.3296,-17.2946,-17.2595,-17.2244,-17.1894,
-17.1543,-17.1192,-17.0842,-17.0491,-17.0140,-16.9789,-16.9439,-16.9088,-16.8737,-16.8387,
-16.8036,-16.7685,-16.7335,-16.6984,-16.6633,-16.6282,-16.5932,-16.5581,-16.5230,-16.4880,
-16.4529,-16.4177,-16.3825,-16.3474,-16.3122,-16.2770,-16.2419,-16.2067,-16.1715,-16.1364,
-16.1012,-16.0661,-16.0311,-15.9960,-15.9609,-15.9258,-15.8908,-15.8557,-15.8206,-15.7856,
-15.7505,-15.7154,-15.6804,-15.6453,-15.6102,-15.5751,-15.5401,-15.5050,-15.4699,-15.4349,
-15.3998,-15.3647,-15.3297,-15.2946,-15.2595,-15.2244,-15.1894,-15.1543,-15.1192,-15.0842,
-15.0491,-15.0140,-14.9789,-14.9439,-14.9088,-14.8737,-14.8387,-14.8036,-14.7685,-14.7335,
-14.6984,-14.6633,-14.6282,-14.5932,-14.5581,-14.5230,-14.4880,-14.4529,-14.4178,-14.3828,
-14.3477,-14.3126,-14.2775,-14.2425,-14.2074,-14.1723,-14.1373,-14.1022,-14.0671,-14.0321,
-13.9970,-13.9619,-13.9268,-13.8918,-13.8567,-13.8216,-13.7866,-13.7515,-13.7164,-13.6814,
-13.6463,-13.6112,-13.5761,-13.5411,-13.5060,-13.4709,-13.4359,-13.4008,-13.3657,-13.3307,
-13.2956,-13.2605,-13.2254,-13.1904,-13.1553,-13.1202,-13.0852,-13.0501,-13.0150,-12.9800,
-12.9449,-12.9097,-12.8745,-12.8393,-12.8042,-12.7690,-12.7338,-12.6987,-12.6635,-12.6283,
-12.5932,-12.5581,-12.5230,-12.4880,-12.4529,-12.4178,-12.3828,-12.3477,-12.3126,-12.2775,
-12.2425,-12.2074,-12.1723,-12.1373,-12.1022,-12.0671,-12.0321,-11.9970,-11.9619,-11.9268,
-11.8918,-11.8567,-11.8216,-11.7866,-11.7515,-11.7164,-11.6814,-11.6463,-11.6112,-11.5761,
-11.5411,-11.5060,-11.4709,-11.4359,-11.4008,-11.3657,-11.3307,-11.2956,-11.2605,-11.2254,
-11.1904,-11.1553,-11.1202,-11.0852,-11.0501,-11.0150,-10.9800,-10.9449,-10.9098,-10.8747,
-10.8397,-10.8046,-10.7695,-10.7345,-10.6994,-10.6643,-10.6293,-10.5942,-10.5591,-10.5240,
-10.4890,-10.4539,-10.4188,-10.3838,-10.3487,-10.3136,-10.2786,-10.2435,-10.2084,-10.1733,
-10.1383,-10.1032,-10.0681,-10.0331, -9.9980, -9.9629, -9.9278, -9.8928, -9.8577, -9.8226,
-9.7876, -9.7525, -9.7174, -9.6824, -9.6473, -9.6122, -9.5771, -9.5421, -9.5070, -9.4719,
-9.4368, -9.4017, -9.3665, -9.3313, -9.2961, -9.2610, -9.2258, -9.1906, -9.1555, -9.1203,
-9.0852, -9.0501, -9.0150, -8.9800, -8.9449, -8.9098, -8.8747, -8.8397, -8.8046, -8.7695,
-8.7345, -8.6994, -8.6643, -8.6293, -8.5942, -8.5591, -8.5240, -8.4890, -8.4539, -8.4188,
-8.3838, -8.3487, -8.3136, -8.2786, -8.2435, -8.2084, -8.1733, -8.1383, -8.1032, -8.0681,
-8.0331, -7.9980, -7.9629, -7.9279, -7.8928, -7.8577, -7.8226, -7.7876, -7.7525, -7.7174,
-7.6824, -7.6473, -7.6122, -7.5772, -7.5421, -7.5070, -7.4719, -7.4369, -7.4018, -7.3667,
-7.3317, -7.2966, -7.2615, -7.2264, -7.1914, -7.1563, -7.1212, -7.0862, -7.0511, -7.0160,
-6.9810, -6.9459, -6.9108, -6.8757, -6.8407, -6.8056, -6.7705, -6.7355, -6.7004, -6.6653,
-6.6303, -6.5952, -6.5601, -6.5250, -6.4900, -6.4549, -6.4198, -6.3848, -6.3497, -6.3146,
-6.2796, -6.2445, -6.2094, -6.1743, -6.1393, -6.1042, -6.0691, -6.0341, -5.9990, -5.9639,
-5.9289, -5.8938, -5.8587, -5.8236, -5.7886, -5.7535, -5.7184, -5.6834, -5.6483, -5.6132,
-5.5781, -5.5429, -5.5077, -5.4726, -5.4374, -5.4022, -5.3671, -5.3319, -5.2967, -5.2616,
-5.2265, -5.1914, -5.1563, -5.1212, -5.0862, -5.0511, -5.0160, -4.9810, -4.9459, -4.9108,
-4.8757, -4.8407, -4.8056, -4.7705, -4.7355, -4.7004, -4.6653, -4.6303, -4.5952, -4.5601,
-4.5250, -4.4900, -4.4549, -4.4198, -4.3848, -4.3497, -4.3146, -4.2796, -4.2445, -4.2094,
-4.1743, -4.1393, -4.1042, -4.0691, -4.0341, -3.9990, -3.9639, -3.9289, -3.8938, -3.8587,
-3.8236, -3.7886, -3.7535, -3.7184, -3.6834, -3.6483, -3.6132, -3.5782, -3.5431, -3.5080,
-3.4729, -3.4379, -3.4028, -3.3677, -3.3327, -3.2976, -3.2625, -3.2275, -3.1924, -3.1573,
-3.1222, -3.0872, -3.0521, -3.0170, -2.9820, -2.9469, -2.9118, -2.8768, -2.8417, -2.8066,
-2.7715, -2.7365, -2.7014, -2.6663, -2.6313, -2.5962, -2.5611, -2.5261, -2.4910, -2.4559,
-2.4208, -2.3858, -2.3507, -2.3156, -2.2806, -2.2455, -2.2104, -2.1753, -2.1403, -2.1052,
-2.0701, -2.0349, -1.9997, -1.9645, -1.9294, -1.8942, -1.8590, -1.8239, -1.7887, -1.7535,
-1.7184, -1.6834, -1.6483, -1.6132, -1.5782, -1.5431, -1.5080, -1.4729, -1.4379, -1.4028,
-1.3677, -1.3327, -1.2976, -1.2625, -1.2275, -1.1924, -1.1573, -1.1222, -1.0872, -1.0521,
-1.0170, -0.9820, -0.9469, -0.9118, -0.8768, -0.8417, -0.8066, -0.7715, -0.7365, -0.7014,
-0.6663, -0.6313, -0.5962, -0.5611, -0.5261, -0.4910, -0.4559, -0.4208, -0.3858, -0.3507,
-0.3156, -0.2806, -0.2455, -0.2104, -0.1754, -0.1403, -0.1052, -0.0701, -0.0351, 0.0000
};
/*const float ref_sit2stand[] = {
115.0000,114.9990,114.9981,114.9971,114.9962,114.9952,114.9943,114.9933,114.9924,114.9914,
114.9905,114.9895,114.9886,114.9876,114.9867,114.9857,114.9848,114.9838,114.9829,114.9819,
114.9810,114.9800,114.9791,114.9781,114.9772,114.9762,114.9753,114.9743,114.9734,114.9724,
114.9715,114.9705,114.9696,114.9686,114.9677,114.9667,114.9658,114.9648,114.9639,114.9629,
114.9620,114.9610,114.9601,114.9591,114.9582,114.9572,114.9563,114.9553,114.9544,114.9534,
114.9525,114.9515,114.9506,114.9496,114.9487,114.9477,114.9468,114.9458,114.9449,114.9439,
114.9429,114.9401,114.9373,114.9344,114.9316,114.9288,114.9259,114.9231,114.9203,114.9174,
114.9146,114.9118,114.9089,114.9061,114.9033,114.9004,114.8976,114.8948,114.8919,114.8891,
114.8863,114.8834,114.8806,114.8778,114.8749,114.8721,114.8693,114.8664,114.8636,114.8607,
114.8579,114.8551,114.8522,114.8494,114.8466,114.8437,114.8409,114.8381,114.8352,114.8324,
114.8296,114.8267,114.8239,114.8211,114.8182,114.8154,114.8126,114.8097,114.8069,114.8041,
114.8012,114.7984,114.7956,114.7927,114.7899,114.7871,114.7842,114.7814,114.7786,114.7757,
114.7728,114.7681,114.7634,114.7587,114.7539,114.7492,114.7445,114.7398,114.7351,114.7303,
114.7256,114.7209,114.7162,114.7115,114.7068,114.7020,114.6973,114.6926,114.6879,114.6832,
114.6784,114.6737,114.6690,114.6643,114.6596,114.6549,114.6501,114.6454,114.6407,114.6360,
114.6313,114.6265,114.6218,114.6171,114.6124,114.6077,114.6030,114.5982,114.5935,114.5888,
114.5841,114.5794,114.5746,114.5699,114.5652,114.5605,114.5558,114.5511,114.5463,114.5416,
114.5369,114.5322,114.5275,114.5227,114.5180,114.5133,114.5086,114.5039,114.4992,114.4944,
114.4896,114.4830,114.4764,114.4698,114.4632,114.4566,114.4500,114.4434,114.4368,114.4302,
114.4236,114.4170,114.4104,114.4038,114.3972,114.3906,114.3840,114.3774,114.3708,114.3642,
114.3576,114.3510,114.3444,114.3378,114.3312,114.3245,114.3179,114.3113,114.3047,114.2981,
114.2915,114.2849,114.2783,114.2717,114.2651,114.2585,114.2519,114.2453,114.2387,114.2321,
114.2255,114.2189,114.2123,114.2057,114.1991,114.1925,114.1859,114.1793,114.1727,114.1661,
114.1595,114.1529,114.1463,114.1397,114.1331,114.1265,114.1199,114.1133,114.1067,114.1001,
114.0933,114.0849,114.0764,114.0679,114.0594,114.0510,114.0425,114.0340,114.0256,114.0171,
114.0086,114.0002,113.9917,113.9832,113.9747,113.9663,113.9578,113.9493,113.9409,113.9324,
113.9239,113.9155,113.9070,113.8985,113.8901,113.8816,113.8731,113.8646,113.8562,113.8477,
113.8392,113.8308,113.8223,113.8138,113.8054,113.7969,113.7884,113.7800,113.7715,113.7630,
113.7545,113.7461,113.7376,113.7291,113.7207,113.7122,113.7037,113.6953,113.6868,113.6783,
113.6698,113.6614,113.6529,113.6444,113.6360,113.6275,113.6190,113.6106,113.6021,113.5936,
113.5850,113.5746,113.5643,113.5539,113.5436,113.5332,113.5228,113.5125,113.5021,113.4918,
113.4814,113.4711,113.4607,113.4504,113.4400,113.4297,113.4193,113.4090,113.3986,113.3882,
113.3779,113.3675,113.3572,113.3468,113.3365,113.3261,113.3158,113.3054,113.2951,113.2847,
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64.1528, 64.1025, 64.0522, 64.0019, 63.9516, 63.9013, 63.8510, 63.8007, 63.7504, 63.7001,
63.6498, 63.5995, 63.5492, 63.4989, 63.4486, 63.3983, 63.3480, 63.2977, 63.2474, 63.1971,
63.1468, 63.0965, 63.0462, 62.9959, 62.9456, 62.8953, 62.8450, 62.7947, 62.7444, 62.6941,
62.6438, 62.5935, 62.5432, 62.4929, 62.4426, 62.3923, 62.3420, 62.2917, 62.2414, 62.1911,
62.1408, 62.0905, 62.0402, 61.9899, 61.9396, 61.8893, 61.8390, 61.7887, 61.7384, 61.6881,
61.6372, 61.5858, 61.5345, 61.4832, 61.4319, 61.3806, 61.3293, 61.2779, 61.2266, 61.1753,
61.1240, 61.0727, 61.0214, 60.9700, 60.9187, 60.8674, 60.8161, 60.7648, 60.7134, 60.6621,
60.6108, 60.5595, 60.5082, 60.4569, 60.4055, 60.3542, 60.3029, 60.2516, 60.2003, 60.1490,
60.0976, 60.0463, 59.9950, 59.9437, 59.8924, 59.8411, 59.7897, 59.7384, 59.6871, 59.6358,
59.5845, 59.5332, 59.4818, 59.4305, 59.3792, 59.3279, 59.2766, 59.2253, 59.1739, 59.1226,
59.0713, 59.0200, 58.9687, 58.9174, 58.8660, 58.8147, 58.7634, 58.7121, 58.6608, 58.6094,
58.5575, 58.5052, 58.4529, 58.4006, 58.3484, 58.2961, 58.2438, 58.1915, 58.1392, 58.0869,
58.0347, 57.9824, 57.9301, 57.8778, 57.8255, 57.7732, 57.7209, 57.6687, 57.6164, 57.5641,
57.5118, 57.4595, 57.4072, 57.3550, 57.3027, 57.2504, 57.1981, 57.1458, 57.0935, 57.0413,
56.9890, 56.9367, 56.8844, 56.8321, 56.7798, 56.7275, 56.6753, 56.6230, 56.5707, 56.5184,
56.4661, 56.4138, 56.3616, 56.3093, 56.2570, 56.2047, 56.1524, 56.1001, 56.0479, 55.9956,
55.9433, 55.8910, 55.8387, 55.7864, 55.7342, 55.6819, 55.6296, 55.5773, 55.5250, 55.4727,
55.4198, 55.3667, 55.3135, 55.2603, 55.2071, 55.1539, 55.1007, 55.0475, 54.9944, 54.9412,
54.8880, 54.8348, 54.7816, 54.7284, 54.6753, 54.6221, 54.5689, 54.5157, 54.4625, 54.4093,
54.3561, 54.3030, 54.2498, 54.1966, 54.1434, 54.0902, 54.0370, 53.9839, 53.9307, 53.8775,
53.8243, 53.7711, 53.7179, 53.6647, 53.6116, 53.5584, 53.5052, 53.4520, 53.3988, 53.3456,
53.2925, 53.2393, 53.1861, 53.1329, 53.0797, 53.0265, 52.9734, 52.9202, 52.8670, 52.8138,
52.7606, 52.7074, 52.6542, 52.6011, 52.5479, 52.4947, 52.4415, 52.3883, 52.3351, 52.2820,
52.2282, 52.1741, 52.1201, 52.0660, 52.0120, 51.9579, 51.9039, 51.8498, 51.7958, 51.7417,
51.6877, 51.6336, 51.5795, 51.5255, 51.4714, 51.4174, 51.3633, 51.3093, 51.2552, 51.2012,
51.1471, 51.0931, 51.0390, 50.9850, 50.9309, 50.8769, 50.8228, 50.7688, 50.7147, 50.6607,
50.6066, 50.5526, 50.4985, 50.4445, 50.3904, 50.3364, 50.2823, 50.2283, 50.1742, 50.1202,
50.0661, 50.0121, 49.9580, 49.9040, 49.8499, 49.7959, 49.7418, 49.6878, 49.6337, 49.5796,
49.5256, 49.4715, 49.4175, 49.3634, 49.3094, 49.2553, 49.2013, 49.1472, 49.0932, 49.0391,
48.9845, 48.9297, 48.8748, 48.8200, 48.7651, 48.7102, 48.6554, 48.6005, 48.5457, 48.4908,
48.4360, 48.3811, 48.3263, 48.2714, 48.2166, 48.1617, 48.1069, 48.0520, 47.9972, 47.9423,
47.8875, 47.8326, 47.7778, 47.7229, 47.6681, 47.6132, 47.5584, 47.5035, 47.4487, 47.3938,
47.3390, 47.2841, 47.2293, 47.1744, 47.1196, 47.0647, 47.0098, 46.9550, 46.9001, 46.8453,
46.7904, 46.7356, 46.6807, 46.6259, 46.5710, 46.5162, 46.4613, 46.4065, 46.3516, 46.2968,
46.2419, 46.1871, 46.1322, 46.0774, 46.0225, 45.9677, 45.9128, 45.8580, 45.8031, 45.7483,
45.6929, 45.6373, 45.5817, 45.5260, 45.4704, 45.4148, 45.3592, 45.3036, 45.2480, 45.1924,
45.1368, 45.0812, 45.0256, 44.9700, 44.9144, 44.8588, 44.8032, 44.7476, 44.6920, 44.6364,
44.5808, 44.5252, 44.4696, 44.4140, 44.3584, 44.3028, 44.2472, 44.1916, 44.1360, 44.0804,
44.0248, 43.9692, 43.9136, 43.8580, 43.8024, 43.7468, 43.6912, 43.6356, 43.5800, 43.5244,
43.4688, 43.4132, 43.3576, 43.3020, 43.2464, 43.1908, 43.1352, 43.0796, 43.0240, 42.9684,
42.9128, 42.8572, 42.8016, 42.7460, 42.6904, 42.6348, 42.5792, 42.5235, 42.4679, 42.4123,
42.3562, 42.2999, 42.2436, 42.1873, 42.1310, 42.0747, 42.0184, 41.9621, 41.9058, 41.8495,
41.7932, 41.7369, 41.6806, 41.6243, 41.5680, 41.5117, 41.4554, 41.3991, 41.3428, 41.2865,
41.2302, 41.1739, 41.1176, 41.0613, 41.0050, 40.9487, 40.8924, 40.8361, 40.7798, 40.7234,
40.6671, 40.6108, 40.5545, 40.4982, 40.4419, 40.3856, 40.3293, 40.2730, 40.2167, 40.1604,
40.1041, 40.0478, 39.9915, 39.9352, 39.8789, 39.8226, 39.7663, 39.7100, 39.6537, 39.5974,
39.5411, 39.4848, 39.4285, 39.3722, 39.3159, 39.2596, 39.2033, 39.1470, 39.0907, 39.0344,
38.9776, 38.9207, 38.8637, 38.8068, 38.7498, 38.6929, 38.6360, 38.5790, 38.5221, 38.4652,
38.4082, 38.3513, 38.2944, 38.2374, 38.1805, 38.1236, 38.0666, 38.0097, 37.9527, 37.8958,
37.8389, 37.7819, 37.7250, 37.6681, 37.6111, 37.5542, 37.4973, 37.4403, 37.3834, 37.3265,
37.2695, 37.2126, 37.1556, 37.0987, 37.0418, 36.9848, 36.9279, 36.8710, 36.8140, 36.7571,
36.7002, 36.6432, 36.5863, 36.5294, 36.4724, 36.4155, 36.3586, 36.3016, 36.2447, 36.1877,
36.1308, 36.0739, 36.0169, 35.9600, 35.9031, 35.8461, 35.7892, 35.7323, 35.6753, 35.6184,
35.5610, 35.5034, 35.4459, 35.3884, 35.3308, 35.2733, 35.2158, 35.1582, 35.1007, 35.0431,
34.9856, 34.9281, 34.8705, 34.8130, 34.7555, 34.6979, 34.6404, 34.5829, 34.5253, 34.4678,
34.4103, 34.3527, 34.2952, 34.2376, 34.1801, 34.1226, 34.0650, 34.0075, 33.9500, 33.8924,
33.8349, 33.7774, 33.7198, 33.6623, 33.6048, 33.5472, 33.4897, 33.4321, 33.3746, 33.3171,
33.2595, 33.2020, 33.1445, 33.0869, 33.0294, 32.9719, 32.9143, 32.8568, 32.7993, 32.7417,
32.6842, 32.6266, 32.5691, 32.5116, 32.4540, 32.3965, 32.3390, 32.2814, 32.2239, 32.1664,
32.1084, 32.0503, 31.9923, 31.9342, 31.8762, 31.8181, 31.7601, 31.7020, 31.6440, 31.5859,
31.5279, 31.4698, 31.4118, 31.3537, 31.2957, 31.2376, 31.1796, 31.1215, 31.0634, 31.0054,
30.9473, 30.8893, 30.8312, 30.7732, 30.7151, 30.6571, 30.5990, 30.5410, 30.4829, 30.4249,
30.3668, 30.3088, 30.2507, 30.1927, 30.1346, 30.0766, 30.0185, 29.9604, 29.9024, 29.8443,
29.7863, 29.7282, 29.6702, 29.6121, 29.5541, 29.4960, 29.4380, 29.3799, 29.3219, 29.2638,
29.2058, 29.1477, 29.0897, 29.0316, 28.9736, 28.9155, 28.8574, 28.7994, 28.7413, 28.6833,
28.6248, 28.5663, 28.5078, 28.4492, 28.3907, 28.3321, 28.2736, 28.2151, 28.1565, 28.0980,
28.0395, 27.9809, 27.9224, 27.8639, 27.8053, 27.7468, 27.6883, 27.6297, 27.5712, 27.5126,
27.4541, 27.3956, 27.3370, 27.2785, 27.2200, 27.1614, 27.1029, 27.0444, 26.9858, 26.9273,
26.8687, 26.8102, 26.7517, 26.6931, 26.6346, 26.5761, 26.5175, 26.4590, 26.4005, 26.3419,
26.2834, 26.2248, 26.1663, 26.1078, 26.0492, 25.9907, 25.9322, 25.8736, 25.8151, 25.7566,
25.6980, 25.6395, 25.5809, 25.5224, 25.4639, 25.4053, 25.3468, 25.2883, 25.2297, 25.1712,
25.1123, 25.0534, 24.9944, 24.9355, 24.8766, 24.8176, 24.7587, 24.6998, 24.6408, 24.5819,
24.5230, 24.4640, 24.4051, 24.3461, 24.2872, 24.2283, 24.1693, 24.1104, 24.0515, 23.9925,
23.9336, 23.8747, 23.8157, 23.7568, 23.6978, 23.6389, 23.5800, 23.5210, 23.4621, 23.4032,
23.3442, 23.2853, 23.2264, 23.1674, 23.1085, 23.0495, 22.9906, 22.9317, 22.8727, 22.8138,
22.7549, 22.6959, 22.6370, 22.5781, 22.5191, 22.4602, 22.4012, 22.3423, 22.2834, 22.2244,
22.1655, 22.1066, 22.0476, 21.9887, 21.9298, 21.8708, 21.8119, 21.7529, 21.6940, 21.6351,
21.5758, 21.5165, 21.4572, 21.3979, 21.3386, 21.2793, 21.2200, 21.1607, 21.1014, 21.0421,
20.9828, 20.9235, 20.8642, 20.8049, 20.7456, 20.6863, 20.6270, 20.5677, 20.5084, 20.4491,
20.3898, 20.3304, 20.2711, 20.2118, 20.1525, 20.0932, 20.0339, 19.9746, 19.9153, 19.8560,
19.7967, 19.7374, 19.6781, 19.6188, 19.5595, 19.5002, 19.4409, 19.3816, 19.3223, 19.2630,
19.2037, 19.1444, 19.0851, 19.0258, 18.9665, 18.9072, 18.8479, 18.7886, 18.7293, 18.6700,
18.6107, 18.5514, 18.4921, 18.4327, 18.3734, 18.3141, 18.2548, 18.1955, 18.1362, 18.0769,
18.0174, 17.9578, 17.8982, 17.8386, 17.7790, 17.7194, 17.6599, 17.6003, 17.5407, 17.4811,
17.4215, 17.3619, 17.3023, 17.2427, 17.1832, 17.1236, 17.0640, 17.0044, 16.9448, 16.8852,
16.8256, 16.7661, 16.7065, 16.6469, 16.5873, 16.5277, 16.4681, 16.4085, 16.3489, 16.2894,
16.2298, 16.1702, 16.1106, 16.0510, 15.9914, 15.9318, 15.8723, 15.8127, 15.7531, 15.6935,
15.6339, 15.5743, 15.5147, 15.4552, 15.3956, 15.3360, 15.2764, 15.2168, 15.1572, 15.0976,
15.0380, 14.9785, 14.9189, 14.8593, 14.7997, 14.7401, 14.6805, 14.6209, 14.5614, 14.5018,
14.4420, 14.3821, 14.3223, 14.2624, 14.2026, 14.1428, 14.0829, 14.0231, 13.9633, 13.9034,
13.8436, 13.7837, 13.7239, 13.6641, 13.6042, 13.5444, 13.4846, 13.4247, 13.3649, 13.3051,
13.2452, 13.1854, 13.1255, 13.0657, 13.0059, 12.9460, 12.8862, 12.8264, 12.7665, 12.7067,
12.6469, 12.5870, 12.5272, 12.4673, 12.4075, 12.3477, 12.2878, 12.2280, 12.1682, 12.1083,
12.0485, 11.9886, 11.9288, 11.8690, 11.8091, 11.7493, 11.6895, 11.6296, 11.5698, 11.5100,
11.4501, 11.3903, 11.3304, 11.2706, 11.2108, 11.1509, 11.0911, 11.0313, 10.9714, 10.9116,
10.8516, 10.7916, 10.7316, 10.6716, 10.6116, 10.5516, 10.4916, 10.4316, 10.3716, 10.3116,
10.2516, 10.1916, 10.1316, 10.0716, 10.0116, 9.9515, 9.8915, 9.8315, 9.7715, 9.7115,
9.6515, 9.5915, 9.5315, 9.4715, 9.4115, 9.3515, 9.2915, 9.2315, 9.1715, 9.1115,
9.0515, 8.9915, 8.9315, 8.8715, 8.8115, 8.7515, 8.6915, 8.6315, 8.5715, 8.5115,
8.4515, 8.3915, 8.3315, 8.2715, 8.2115, 8.1514, 8.0914, 8.0314, 7.9714, 7.9114,
7.8514, 7.7914, 7.7314, 7.6714, 7.6114, 7.5514, 7.4914, 7.4314, 7.3714, 7.3114,
7.2513, 7.1911, 7.1310, 7.0709, 7.0107, 6.9506, 6.8904, 6.8303, 6.7702, 6.7100,
6.6499, 6.5898, 6.5296, 6.4695, 6.4094, 6.3492, 6.2891, 6.2289, 6.1688, 6.1087,
6.0485, 5.9884, 5.9283, 5.8681, 5.8080, 5.7479, 5.6877, 5.6276, 5.5674, 5.5073,
5.4472, 5.3870, 5.3269, 5.2668, 5.2066, 5.1465, 5.0863, 5.0262, 4.9661, 4.9059,
4.8458, 4.7857, 4.7255, 4.6654, 4.6053, 4.5451, 4.4850, 4.4248, 4.3647, 4.3046,
4.2444, 4.1843, 4.1242, 4.0640, 4.0039, 3.9437, 3.8836, 3.8235, 3.7633, 3.7032,
3.6430, 3.5828, 3.5226, 3.4625, 3.4023, 3.3421, 3.2819, 3.2217, 3.1615, 3.1013,
3.0411, 2.9810, 2.9208, 2.8606, 2.8004, 2.7402, 2.6800, 2.6198, 2.5597, 2.4995,
2.4393, 2.3791, 2.3189, 2.2587, 2.1985, 2.1383, 2.0782, 2.0180, 1.9578, 1.8976,
1.8374, 1.7772, 1.7170, 1.6569, 1.5967, 1.5365, 1.4763, 1.4161, 1.3559, 1.2957,
1.2355, 1.1754, 1.1152, 1.0550, 0.9948, 0.9346, 0.8744, 0.8142, 0.7541, 0.6939,
0.6337, 0.5735, 0.5133, 0.4531, 0.3929, 0.3327, 0.2726, 0.2124, 0.1522, 0.0920
};*/
const float ref_stand2sit[] = {
0.0000, 0.0225, 0.0450, 0.0675, 0.0900, 0.1125, 0.1350, 0.1575, 0.1800, 0.2026,
0.2251, 0.2476, 0.2701, 0.2926, 0.3151, 0.3376, 0.3601, 0.3826, 0.4051, 0.4276,
0.4501, 0.4726, 0.4951, 0.5176, 0.5401, 0.5626, 0.5851, 0.6077, 0.6302, 0.6527,
0.6752, 0.6977, 0.7202, 0.7427, 0.7652, 0.7877, 0.8102, 0.8327, 0.8552, 0.8777,
0.9002, 0.9227, 0.9452, 0.9677, 0.9902, 1.0128, 1.0353, 1.0578, 1.0803, 1.1028,
1.1253, 1.1478, 1.1703, 1.1928, 1.2153, 1.2378, 1.2603, 1.2828, 1.3053, 1.3278,
1.3503, 1.3728, 1.3953, 1.4179, 1.4404, 1.4629, 1.4854, 1.5079, 1.5304, 1.5529,
1.5754, 1.5979, 1.6204, 1.6429, 1.6654, 1.6879, 1.7104, 1.7329, 1.7554, 1.7779,
1.8005, 1.8230, 1.8455, 1.8680, 1.8905, 1.9130, 1.9355, 1.9580, 1.9805, 2.0030,
2.0255, 2.0480, 2.0705, 2.0930, 2.1155, 2.1380, 2.1605, 2.1830, 2.2056, 2.2281,
2.2506, 2.2731, 2.2956, 2.3181, 2.3406, 2.3631, 2.3856, 2.4081, 2.4306, 2.4531,
2.4756, 2.4981, 2.5206, 2.5431, 2.5656, 2.5881, 2.6107, 2.6332, 2.6557, 2.6782,
2.7007, 2.7232, 2.7457, 2.7682, 2.7907, 2.8132, 2.8357, 2.8582, 2.8807, 2.9032,
2.9257, 2.9482, 2.9707, 2.9932, 3.0158, 3.0383, 3.0608, 3.0833, 3.1058, 3.1283,
3.1508, 3.1733, 3.1958, 3.2183, 3.2408, 3.2633, 3.2858, 3.3083, 3.3308, 3.3533,
3.3758, 3.3983, 3.4209, 3.4434, 3.4659, 3.4884, 3.5109, 3.5334, 3.5559, 3.5784,
3.6009, 3.6234, 3.6459, 3.6684, 3.6909, 3.7134, 3.7359, 3.7584, 3.7809, 3.8035,
3.8260, 3.8485, 3.8710, 3.8935, 3.9160, 3.9385, 3.9610, 3.9835, 4.0060, 4.0285,
4.0510, 4.0735, 4.0960, 4.1185, 4.1410, 4.1635, 4.1860, 4.2086, 4.2311, 4.2536,
4.2761, 4.2986, 4.3211, 4.3436, 4.3661, 4.3886, 4.4111, 4.4336, 4.4561, 4.4786,
4.5011, 4.5236, 4.5461, 4.5686, 4.5911, 4.6137, 4.6362, 4.6587, 4.6812, 4.7037,
4.7262, 4.7487, 4.7712, 4.7937, 4.8162, 4.8387, 4.8612, 4.8837, 4.9062, 4.9287,
4.9512, 4.9737, 4.9962, 5.0188, 5.0413, 5.0638, 5.0863, 5.1088, 5.1313, 5.1538,
5.1763, 5.1988, 5.2213, 5.2438, 5.2663, 5.2888, 5.3113, 5.3338, 5.3563, 5.3788,
5.4014, 5.4239, 5.4464, 5.4689, 5.4914, 5.5139, 5.5364, 5.5589, 5.5814, 5.6039,
5.6264, 5.6489, 5.6714, 5.6939, 5.7164, 5.7389, 5.7614, 5.7839, 5.8065, 5.8290,
5.8515, 5.8740, 5.8965, 5.9190, 5.9415, 5.9640, 5.9865, 6.0090, 6.0315, 6.0540,
6.0765, 6.0990, 6.1215, 6.1440, 6.1665, 6.1890, 6.2116, 6.2341, 6.2566, 6.2791,
6.3016, 6.3241, 6.3466, 6.3691, 6.3916, 6.4141, 6.4366, 6.4591, 6.4816, 6.5041,
6.5266, 6.5491, 6.5716, 6.5941, 6.6167, 6.6392, 6.6617, 6.6842, 6.7067, 6.7292,
6.7517, 6.7742, 6.7967, 6.8192, 6.8417, 6.8642, 6.8867, 6.9092, 6.9317, 6.9542,
6.9767, 6.9992, 7.0218, 7.0443, 7.0668, 7.0893, 7.1118, 7.1343, 7.1568, 7.1793,
7.2018, 7.2243, 7.2468, 7.2693, 7.2918, 7.3143, 7.3368, 7.3593, 7.3818, 7.4044,
7.4269, 7.4494, 7.4719, 7.4944, 7.5169, 7.5394, 7.5619, 7.5844, 7.6069, 7.6294,
7.6519, 7.6744, 7.6969, 7.7194, 7.7419, 7.7644, 7.7869, 7.8095, 7.8320, 7.8545,
7.8770, 7.8995, 7.9220, 7.9445, 7.9670, 7.9895, 8.0120, 8.0345, 8.0570, 8.0795,
8.1020, 8.1245, 8.1470, 8.1695, 8.1920, 8.2146, 8.2371, 8.2596, 8.2821, 8.3046,
8.3271, 8.3496, 8.3721, 8.3946, 8.4171, 8.4396, 8.4621, 8.4846, 8.5071, 8.5296,
8.5521, 8.5746, 8.5971, 8.6197, 8.6422, 8.6647, 8.6872, 8.7097, 8.7322, 8.7547,
8.7772, 8.7997, 8.8222, 8.8447, 8.8672, 8.8897, 8.9122, 8.9347, 8.9572, 8.9797,
9.0023, 9.0248, 9.0473, 9.0698, 9.0923, 9.1148, 9.1373, 9.1598, 9.1823, 9.2048,
9.2273, 9.2498, 9.2723, 9.2948, 9.3173, 9.3398, 9.3623, 9.3848, 9.4074, 9.4299,
9.4524, 9.4749, 9.4974, 9.5199, 9.5424, 9.5649, 9.5874, 9.6099, 9.6324, 9.6549,
9.6774, 9.6999, 9.7224, 9.7449, 9.7674, 9.7899, 9.8125, 9.8350, 9.8575, 9.8800,
9.9025, 9.9250, 9.9475, 9.9700, 9.9925, 10.0150, 10.0375, 10.0600, 10.0825, 10.1050,
10.1275, 10.1500, 10.1725, 10.1950, 10.2176, 10.2401, 10.2626, 10.2851, 10.3076, 10.3301,
10.3526, 10.3751, 10.3976, 10.4201, 10.4426, 10.4651, 10.4876, 10.5101, 10.5326, 10.5551,
10.5776, 10.6002, 10.6227, 10.6452, 10.6677, 10.6902, 10.7127, 10.7352, 10.7577, 10.7802,
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12.8282, 12.8507, 12.8732, 12.8957, 12.9182, 12.9407, 12.9632, 12.9857, 13.0083, 13.0308,
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21.8305, 21.8530, 21.8755, 21.8980, 21.9205, 21.9430, 21.9655, 21.9880, 22.0105, 22.0330,
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22.9557, 22.9782, 23.0008, 23.0233, 23.0458, 23.0683, 23.0908, 23.1133, 23.1358, 23.1583,
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23.4059, 23.4284, 23.4509, 23.4734, 23.4959, 23.5184, 23.5409, 23.5634, 23.5859, 23.6084,
23.6309, 23.6534, 23.6759, 23.6984, 23.7209, 23.7434, 23.7659, 23.7884, 23.8110, 23.8335,
23.8560, 23.8785, 23.9010, 23.9235, 23.9460, 23.9685, 23.9910, 24.0135, 24.0360, 24.0585,
24.0810, 24.1035, 24.1260, 24.1485, 24.1710, 24.1935, 24.2161, 24.2386, 24.2611, 24.2836,
24.3061, 24.3286, 24.3511, 24.3736, 24.3961, 24.4186, 24.4411, 24.4636, 24.4861, 24.5086,
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24.7562, 24.7787, 24.8012, 24.8237, 24.8462, 24.8687, 24.8912, 24.9137, 24.9362, 24.9587,
24.9812, 25.0038, 25.0263, 25.0488, 25.0713, 25.0938, 25.1163, 25.1388, 25.1613, 25.1838,
25.2063, 25.2288, 25.2513, 25.2738, 25.2963, 25.3188, 25.3413, 25.3638, 25.3863, 25.4089,
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26.5566, 26.5791, 26.6017, 26.6242, 26.6467, 26.6692, 26.6917, 26.7142, 26.7367, 26.7592,
26.7817, 26.8042, 26.8267, 26.8492, 26.8717, 26.8942, 26.9167, 26.9392, 26.9617, 26.9842,
27.0068, 27.0293, 27.0518, 27.0743, 27.0968, 27.1193, 27.1418, 27.1643, 27.1868, 27.2093,
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27.6819, 27.7044, 27.7269, 27.7494, 27.7719, 27.7944, 27.8170, 27.8395, 27.8620, 27.8845,
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28.5821, 28.6047, 28.6272, 28.6497, 28.6722, 28.6947, 28.7172, 28.7397, 28.7622, 28.7847,
28.8072, 28.8297, 28.8522, 28.8747, 28.8972, 28.9197, 28.9422, 28.9647, 28.9872, 29.0098,
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29.2573, 29.2798, 29.3023, 29.3248, 29.3473, 29.3698, 29.3923, 29.4149, 29.4374, 29.4599,
29.4824, 29.5049, 29.5274, 29.5499, 29.5724, 29.5949, 29.6174, 29.6399, 29.6624, 29.6849,
29.7074, 29.7299, 29.7524, 29.7749, 29.7974, 29.8200, 29.8425, 29.8650, 29.8875, 29.9100,
29.9325, 29.9550, 29.9775, 30.0000, 30.0225, 30.0450, 30.0675, 30.0900, 30.1125, 30.1350,
30.1575, 30.1800, 30.2026, 30.2251, 30.2476, 30.2701, 30.2926, 30.3151, 30.3376, 30.3601,
30.3826, 30.4051, 30.4276, 30.4501, 30.4726, 30.4951, 30.5176, 30.5401, 30.5626, 30.5851,
30.6077, 30.6302, 30.6527, 30.6752, 30.6977, 30.7202, 30.7427, 30.7652, 30.7877, 30.8102,
30.8327, 30.8552, 30.8777, 30.9002, 30.9227, 30.9452, 30.9677, 30.9902, 31.0128, 31.0353,
31.0578, 31.0803, 31.1028, 31.1253, 31.1478, 31.1703, 31.1928, 31.2153, 31.2378, 31.2603,
31.2828, 31.3053, 31.3278, 31.3503, 31.3728, 31.3953, 31.4179, 31.4404, 31.4629, 31.4854,
31.5079, 31.5304, 31.5529, 31.5754, 31.5979, 31.6204, 31.6429, 31.6654, 31.6879, 31.7104,
31.7329, 31.7554, 31.7779, 31.8005, 31.8230, 31.8455, 31.8680, 31.8905, 31.9130, 31.9355,
31.9580, 31.9805, 32.0030, 32.0255, 32.0480, 32.0705, 32.0930, 32.1155, 32.1380, 32.1605,
32.1830, 32.2056, 32.2281, 32.2506, 32.2731, 32.2956, 32.3181, 32.3406, 32.3631, 32.3856,
32.4081, 32.4306, 32.4531, 32.4756, 32.4981, 32.5206, 32.5431, 32.5656, 32.5881, 32.6107,
32.6332, 32.6557, 32.6782, 32.7007, 32.7232, 32.7457, 32.7682, 32.7907, 32.8132, 32.8357,
32.8582, 32.8807, 32.9032, 32.9257, 32.9482, 32.9707, 32.9932, 33.0158, 33.0383, 33.0608,
33.0833, 33.1058, 33.1283, 33.1508, 33.1733, 33.1958, 33.2183, 33.2408, 33.2633, 33.2858,
33.3083, 33.3308, 33.3533, 33.3758, 33.3983, 33.4209, 33.4434, 33.4659, 33.4884, 33.5109,
33.5334, 33.5559, 33.5784, 33.6009, 33.6234, 33.6459, 33.6684, 33.6909, 33.7134, 33.7359,
33.7584, 33.7809, 33.8035, 33.8260, 33.8485, 33.8710, 33.8935, 33.9160, 33.9385, 33.9610,
33.9835, 34.0060, 34.0285, 34.0510, 34.0735, 34.0960, 34.1185, 34.1410, 34.1635, 34.1860,
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34.4336, 34.4561, 34.4786, 34.5011, 34.5236, 34.5461, 34.5686, 34.5911, 34.6137, 34.6362,
34.6587, 34.6812, 34.7037, 34.7262, 34.7487, 34.7712, 34.7937, 34.8162, 34.8387, 34.8612,
34.8837, 34.9062, 34.9287, 34.9512, 34.9737, 34.9962, 35.0188, 35.0413, 35.0638, 35.0863,
35.1088, 35.1313, 35.1538, 35.1763, 35.1988, 35.2213, 35.2438, 35.2663, 35.2888, 35.3113,
35.3338, 35.3563, 35.3788, 35.4014, 35.4239, 35.4464, 35.4689, 35.4914, 35.5139, 35.5364,
35.5589, 35.5814, 35.6039, 35.6264, 35.6489, 35.6714, 35.6939, 35.7164, 35.7389, 35.7614,
35.7839, 35.8065, 35.8290, 35.8515, 35.8740, 35.8965, 35.9190, 35.9415, 35.9640, 35.9865,
36.0090, 36.0315, 36.0540, 36.0765, 36.0990, 36.1215, 36.1440, 36.1665, 36.1890, 36.2116,
36.2341, 36.2566, 36.2791, 36.3016, 36.3241, 36.3466, 36.3691, 36.3916, 36.4141, 36.4366,
36.4591, 36.4816, 36.5041, 36.5266, 36.5491, 36.5716, 36.5941, 36.6167, 36.6392, 36.6617,
36.6842, 36.7067, 36.7292, 36.7517, 36.7742, 36.7967, 36.8192, 36.8417, 36.8642, 36.8867,
36.9092, 36.9317, 36.9542, 36.9767, 36.9992, 37.0218, 37.0443, 37.0668, 37.0893, 37.1118,
37.1343, 37.1568, 37.1793, 37.2018, 37.2243, 37.2468, 37.2693, 37.2918, 37.3143, 37.3368,
37.3593, 37.3818, 37.4044, 37.4269, 37.4494, 37.4719, 37.4944, 37.5169, 37.5394, 37.5619,
37.5844, 37.6069, 37.6294, 37.6519, 37.6744, 37.6969, 37.7194, 37.7419, 37.7644, 37.7869,
37.8095, 37.8320, 37.8545, 37.8770, 37.8995, 37.9220, 37.9445, 37.9670, 37.9895, 38.0120,
38.0345, 38.0570, 38.0795, 38.1020, 38.1245, 38.1470, 38.1695, 38.1920, 38.2146, 38.2371,
38.2596, 38.2821, 38.3046, 38.3271, 38.3496, 38.3721, 38.3946, 38.4171, 38.4396, 38.4621,
38.4846, 38.5071, 38.5296, 38.5521, 38.5746, 38.5971, 38.6197, 38.6422, 38.6647, 38.6872,
38.7097, 38.7322, 38.7547, 38.7772, 38.7997, 38.8222, 38.8447, 38.8672, 38.8897, 38.9122,
38.9347, 38.9572, 38.9797, 39.0023, 39.0248, 39.0473, 39.0698, 39.0923, 39.1148, 39.1373,
39.1598, 39.1823, 39.2048, 39.2273, 39.2498, 39.2723, 39.2948, 39.3173, 39.3398, 39.3623,
39.3848, 39.4074, 39.4299, 39.4524, 39.4749, 39.4974, 39.5199, 39.5424, 39.5649, 39.5874,
39.6099, 39.6324, 39.6549, 39.6774, 39.6999, 39.7224, 39.7449, 39.7674, 39.7899, 39.8125,
39.8350, 39.8575, 39.8800, 39.9025, 39.9250, 39.9475, 39.9700, 39.9925, 40.0150, 40.0375,
40.0600, 40.0825, 40.1050, 40.1275, 40.1500, 40.1725, 40.1950, 40.2176, 40.2401, 40.2626,
40.2851, 40.3076, 40.3301, 40.3526, 40.3751, 40.3976, 40.4201, 40.4426, 40.4651, 40.4876,
40.5101, 40.5326, 40.5551, 40.5776, 40.6002, 40.6227, 40.6452, 40.6677, 40.6902, 40.7127,
40.7352, 40.7577, 40.7802, 40.8027, 40.8252, 40.8477, 40.8702, 40.8927, 40.9152, 40.9377,
40.9602, 40.9827, 41.0053, 41.0278, 41.0503, 41.0728, 41.0953, 41.1178, 41.1403, 41.1628,
41.1853, 41.2078, 41.2303, 41.2528, 41.2753, 41.2978, 41.3203, 41.3428, 41.3653, 41.3878,
41.4104, 41.4329, 41.4554, 41.4779, 41.5004, 41.5229, 41.5454, 41.5679, 41.5904, 41.6129,
41.6354, 41.6579, 41.6804, 41.7029, 41.7254, 41.7479, 41.7704, 41.7929, 41.8155, 41.8380,
41.8605, 41.8830, 41.9055, 41.9280, 41.9505, 41.9730, 41.9955, 42.0180, 42.0405, 42.0630,
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42.3106, 42.3331, 42.3556, 42.3781, 42.4006, 42.4231, 42.4456, 42.4681, 42.4906, 42.5131,
42.5356, 42.5581, 42.5806, 42.6032, 42.6257, 42.6482, 42.6707, 42.6932, 42.7157, 42.7382,
42.7607, 42.7832, 42.8057, 42.8282, 42.8507, 42.8732, 42.8957, 42.9182, 42.9407, 42.9632,
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43.2108, 43.2333, 43.2558, 43.2783, 43.3008, 43.3233, 43.3458, 43.3683, 43.3908, 43.4134,
43.4359, 43.4584, 43.4809, 43.5034, 43.5259, 43.5484, 43.5709, 43.5934, 43.6159, 43.6384,
43.6609, 43.6834, 43.7059, 43.7284, 43.7509, 43.7734, 43.7959, 43.8185, 43.8410, 43.8635,
43.8860, 43.9085, 43.9310, 43.9535, 43.9760, 43.9985, 44.0210, 44.0435, 44.0660, 44.0885,
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44.3361, 44.3586, 44.3811, 44.4036, 44.4261, 44.4486, 44.4711, 44.4936, 44.5161, 44.5386,
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};
int step_time=sizeof(ref_stance_step)/sizeof(ref_stance_step[0]);
const int FTG_time=sizeof(ref_stance_FTG)/sizeof(ref_stance_FTG[0]);
const float standingAngle=ref_stance_FTG[FTG_time-1];
float sittingAngle = 79; //default 79
float tSittingDown = 4 ; //default 4
int trajectoryLength = 51;
float bentAngle = 115; //default 115
//bentAngle = 115;