-
Notifications
You must be signed in to change notification settings - Fork 3
/
Better Kinect Script (2nd kinect).nb
996 lines (987 loc) · 42.9 KB
/
Better Kinect Script (2nd kinect).nb
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
(* Content-type: application/vnd.wolfram.mathematica *)
(*** Wolfram Notebook File ***)
(* http://www.wolfram.com/nb *)
(* CreatedBy='Mathematica 8.0' *)
(*CacheID: 234*)
(* Internal cache information:
NotebookFileLineBreakTest
NotebookFileLineBreakTest
NotebookDataPosition[ 157, 7]
NotebookDataLength[ 43751, 987]
NotebookOptionsPosition[ 43390, 970]
NotebookOutlinePosition[ 43734, 985]
CellTagsIndexPosition[ 43691, 982]
WindowFrame->Normal*)
(* Beginning of Notebook Content *)
Notebook[{
Cell[CellGroupData[{
Cell[BoxData[{
RowBox[{
RowBox[{"tipPoseMeasuresBase0", " ", "=", " ",
RowBox[{"{", "\[IndentingNewLine]",
RowBox[{
RowBox[{"{",
RowBox[{
RowBox[{"-", "0.103466268692"}], ",", "0.69386764908", ",",
"0.333751014209", ",",
RowBox[{"-", "0.25561822229"}], ",",
RowBox[{"-", "0.723454031909"}], ",",
RowBox[{"-", "0.0576743683089"}], ",", "0.638707488126"}], "}"}], ",",
RowBox[{"{",
RowBox[{
RowBox[{"-", "0.151971655884"}], ",", "0.807135753587", ",",
"0.156459740386", ",", "0.800804112111", ",",
RowBox[{"-", "0.169557562659"}], ",",
RowBox[{"-", "0.574227403941"}], ",",
RowBox[{"-", "0.0150298215104"}]}], "}"}], ",",
RowBox[{"{",
RowBox[{
RowBox[{"-", "0.19234260043"}], ",", "0.814998268931", ",",
RowBox[{"-", "0.1730368968"}], ",", "0.689333678719", ",",
RowBox[{"-", "0.40080377822"}], ",",
RowBox[{"-", "0.389098831056"}], ",", "0.461278126967"}], "}"}], ",",
RowBox[{"{",
RowBox[{
RowBox[{"-", "0.147307359776"}], ",", "0.775795545069", ",",
"0.194522855868", ",", "0.795222971798", ",",
RowBox[{"-", "0.130381447927"}], ",",
RowBox[{"-", "0.58590672743"}], ",",
RowBox[{"-", "0.0856411695049"}]}], "}"}], ",",
RowBox[{"{",
RowBox[{
RowBox[{"-", "0.186526375641"}], ",", "0.784946941641", ",",
RowBox[{"-", "0.12556695648"}], ",", "0.786937914049", ",",
RowBox[{"-", "0.27530138064"}], ",",
RowBox[{"-", "0.519422459577"}], ",", "0.187451801104"}], "}"}], ",",
RowBox[{"{",
RowBox[{
RowBox[{"-", "0.205309001088"}], ",", "0.709048214751", ",",
RowBox[{"-", "0.278873916329"}], ",", "0.750517343847", ",",
RowBox[{"-", "0.341408918197"}], ",",
RowBox[{"-", "0.462833949052"}], ",", "0.325497162454"}], "}"}], ",",
RowBox[{"{",
RowBox[{
RowBox[{"-", "0.334278679707"}], ",", "0.709055243884", ",",
RowBox[{"-", "0.090377225755"}], ",",
RowBox[{"-", "0.555907589433"}], ",", "0.214973866359", ",",
"0.684452504243", ",",
RowBox[{"-", "0.419854448863"}]}], "}"}], ",",
RowBox[{"{",
RowBox[{
RowBox[{"-", "0.0899081035076"}], ",", "0.804778588538", ",",
"0.14982161557", ",",
RowBox[{"-", "0.570448617623"}], ",", "0.173115507905", ",",
"0.797618643803", ",",
RowBox[{"-", "0.0917817772325"}]}], "}"}], ",",
RowBox[{"{",
RowBox[{
RowBox[{"-", "0.286971308996"}], ",", "0.812195289374", ",",
RowBox[{"-", "0.0438782044182"}], ",", "0.534605227683", ",",
RowBox[{"-", "0.223523188995"}], ",",
RowBox[{"-", "0.624568182209"}], ",", "0.523592609084"}], "}"}], ",",
RowBox[{"{",
RowBox[{
"0.021178410744", ",", "0.572255056134", ",", "0.25901010815", ",",
RowBox[{"-", "0.478655941954"}], ",", "0.0832183283789", ",",
"0.79372571382", ",", "0.366009139607"}], "}"}]}], "}"}]}],
";"}], "\[IndentingNewLine]",
RowBox[{
RowBox[{"tipPoseMeasuresBase1", " ", "=", " ",
RowBox[{"{", "\[IndentingNewLine]",
RowBox[{
RowBox[{"{",
RowBox[{
"0.136349542494", ",", "0.715762366955", ",", "0.174120551579", ",",
RowBox[{"-", "0.207144656301"}], ",", "0.171429958242", ",",
"0.96080567732", ",", "0.0674930456599"}], "}"}], ",",
RowBox[{"{",
RowBox[{
RowBox[{"-", "0.00526867997382"}], ",", "0.823425631122", ",",
"0.169792521343", ",",
RowBox[{"-", "0.248931888815"}], ",", "0.111681523781", ",",
"0.936715717246", ",",
RowBox[{"-", "0.219371413454"}]}], "}"}], ",",
RowBox[{"{",
RowBox[{
RowBox[{"-", "0.191238312249"}], ",", "0.830747057084", ",",
"0.164109074336", ",",
RowBox[{"-", "0.269130597434"}], ",", "0.0386047572382", ",",
"0.822965172064", ",",
RowBox[{"-", "0.498805292487"}]}], "}"}], ",",
RowBox[{"{",
RowBox[{
RowBox[{"-", "0.12858127434"}], ",", "0.807127484433", ",",
"0.239253813557", ",", "0.106438580528", ",",
RowBox[{
RowBox[{
RowBox[{"-", "2.97322726811"}], "e"}], "-", "05"}], ",",
"0.271307782696", ",", "0.956589208982"}], "}"}], ",",
RowBox[{"{",
RowBox[{
RowBox[{"-", "0.149191637637"}], ",", "0.761311063077", ",",
RowBox[{"-", "0.27547968055"}], ",",
RowBox[{"-", "0.308183573892"}], ",",
RowBox[{"-", "0.683799307818"}], ",",
RowBox[{"-", "0.146026046514"}], ",", "0.645071922464"}], "}"}], ",",
RowBox[{"{",
RowBox[{
RowBox[{"-", "0.149885877506"}], ",", "0.79776090757", ",",
"0.0648669553906", ",",
RowBox[{"-", "0.622740053435"}], ",", "0.0195103637415", ",",
"0.631393405542", ",", "0.461688790195"}], "}"}], ",",
RowBox[{"{",
RowBox[{
RowBox[{"-", "0.165356359123"}], ",", "1.00470569231", ",",
"0.07277293105", ",",
RowBox[{"-", "0.449549741204"}], ",", "0.4545216645", ",",
"0.684363655552", ",", "0.350658628359"}], "}"}], ",",
RowBox[{"{",
RowBox[{
"0.0842766093445", ",", "1.01789728376", ",", "0.0727708334418", ",",
RowBox[{"-", "0.365403568258"}], ",", "0.524564580935", ",",
"0.614504703936", ",", "0.462272864846"}], "}"}], ",",
RowBox[{"{",
RowBox[{
"0.190914157842", ",", "0.970515544043", ",", "0.0897730905675", ",",
RowBox[{"-", "0.403878127665"}], ",", "0.441034500061", ",",
"0.656279131577", ",", "0.460074699595"}], "}"}], ",",
RowBox[{"{",
RowBox[{"0.0648886336461", ",", "0.866974451359", ",",
RowBox[{"-", "0.130364261797"}], ",", "0.80287422591", ",",
RowBox[{"-", "0.490590328531"}], ",",
RowBox[{"-", "0.0608673494169"}], ",",
RowBox[{"-", "0.333180540692"}]}], "}"}]}], "}"}]}],
";"}], "\[IndentingNewLine]",
RowBox[{
RowBox[{"tipPoseMeasuresBase2", "=",
RowBox[{"{", "\[IndentingNewLine]",
RowBox[{
RowBox[{"{",
RowBox[{
RowBox[{"-", "0.146016946335"}], ",", "0.8539682181", ",",
RowBox[{"-", "0.0811616781148"}], ",",
RowBox[{"-", "0.531888337003"}], ",", "0.570808386769", ",",
"0.605959460001", ",",
RowBox[{"-", "0.155195732511"}]}], "}"}], ",",
RowBox[{"{",
RowBox[{
RowBox[{"-", "0.103552442886"}], ",", "0.861768612902", ",",
"0.387871955585", ",",
RowBox[{"-", "0.496395300017"}], ",", "0.154557689603", ",",
"0.829519372434", ",", "0.2039638141"}], "}"}], ",",
RowBox[{"{",
RowBox[{
RowBox[{"-", "0.162084060949"}], ",", "0.534148020315", ",",
RowBox[{"-", "0.257330317305"}], ",",
RowBox[{"-", "0.431895145168"}], ",", "0.757178358768", ",",
"0.287179010957", ",",
RowBox[{"-", "0.397084036772"}]}], "}"}], ",",
RowBox[{"{",
RowBox[{
RowBox[{"-", "0.0536023288024"}], ",", "0.741490455134", ",",
RowBox[{"-", "0.242420074605"}], ",",
RowBox[{"-", "0.600022989726"}], ",", "0.708927324412", ",",
"0.355788965922", ",",
RowBox[{"-", "0.103964764374"}]}], "}"}], ",",
RowBox[{"{",
RowBox[{
RowBox[{"-", "0.224482431883"}], ",", "0.915920513413", ",",
"0.195264200907", ",", "0.692387361361", ",",
RowBox[{"-", "0.232598665664"}], ",",
RowBox[{"-", "0.659733414286"}], ",",
RowBox[{"-", "0.176775067903"}]}], "}"}], ",",
RowBox[{"{",
RowBox[{
RowBox[{"-", "0.181395428299"}], ",", "0.769882566545", ",",
"0.0848812132602", ",", "0.687029990317", ",",
RowBox[{"-", "0.466504011077"}], ",",
RowBox[{"-", "0.554286883128"}], ",",
RowBox[{"-", "0.0559450734783"}]}], "}"}], ",",
RowBox[{"{",
RowBox[{
RowBox[{"-", "0.22725621384"}], ",", "0.785255344035", ",",
"0.2023413782", ",", "0.696925366588", ",",
RowBox[{"-", "0.343700494631"}], ",",
RowBox[{"-", "0.617400886577"}], ",",
RowBox[{"-", "0.122397502636"}]}], "}"}], ",",
RowBox[{"{",
RowBox[{
RowBox[{"-", "0.121960858971"}], ",", "0.829597498533", ",",
RowBox[{"-", "0.419596675932"}], ",",
RowBox[{"-", "0.559839982449"}], ",", "0.615834329394", ",",
"0.533029170667", ",",
RowBox[{"-", "0.152339016702"}]}], "}"}], ",",
RowBox[{"{",
RowBox[{
RowBox[{"-", "0.145909783373"}], ",", "0.938913256159", ",",
"0.19930158796", ",",
RowBox[{"-", "0.577820604464"}], ",", "0.289982635387", ",",
"0.754360383489", ",", "0.113902730665"}], "}"}], ",",
RowBox[{"{",
RowBox[{
RowBox[{"-", "0.128123830977"}], ",", "0.717649105504", ",",
RowBox[{"-", "0.26033780449"}], ",",
RowBox[{"-", "0.518664768991"}], ",", "0.706084941213", ",",
"0.413759354285", ",",
RowBox[{"-", "0.247455268565"}]}], "}"}]}], "\[IndentingNewLine]",
"}"}]}], ";"}], "\[IndentingNewLine]",
RowBox[{
RowBox[{"tipPoseMeasuresBase3", " ", "=",
RowBox[{"{", "\[IndentingNewLine]",
RowBox[{
RowBox[{"{",
RowBox[{
RowBox[{"-", "0.272806629142"}], ",", "0.715795894558", ",",
RowBox[{"-", "0.106558449693"}], ",",
RowBox[{"-", "0.332183948542"}], ",", "0.568125902778", ",",
"0.571625857287", ",",
RowBox[{"-", "0.490031286965"}]}], "}"}], ",",
RowBox[{"{",
RowBox[{
RowBox[{"-", "0.0813219777147"}], ",", "0.942443092639", ",",
"0.117384870004", ",",
RowBox[{"-", "0.298321291148"}], ",", "0.409670940469", ",",
"0.84747382177", ",",
RowBox[{"-", "0.157994459391"}]}], "}"}], ",",
RowBox[{"{",
RowBox[{
RowBox[{"-", "0.269270697143"}], ",", "0.892557634599", ",",
RowBox[{"-", "0.102421704934"}], ",",
RowBox[{"-", "0.323517287177"}], ",", "0.500315442813", ",",
"0.732852276235", ",",
RowBox[{"-", "0.328555267494"}]}], "}"}], ",",
RowBox[{"{",
RowBox[{
RowBox[{"-", "0.377592599776"}], ",", "0.573267157507", ",",
RowBox[{"-", "0.229102580687"}], ",", "0.32419640791", ",",
RowBox[{"-", "0.601233518995"}], ",",
RowBox[{"-", "0.402454443511"}], ",", "0.609463178242"}], "}"}], ",",
RowBox[{"{",
RowBox[{
RowBox[{"-", "0.293847634683"}], ",", "0.573285007596", ",",
"0.32970918453", ",",
RowBox[{"-", "0.00827585198571"}], ",",
RowBox[{"-", "0.0722540988671"}], ",",
RowBox[{"-", "0.516742624314"}], ",", "0.853046256476"}], "}"}], ",",
RowBox[{"{",
RowBox[{
RowBox[{"-", "0.0677336531008"}], ",", "0.857888196345", ",",
"0.338874003251", ",",
RowBox[{"-", "0.214957063998"}], ",",
RowBox[{"-", "0.173380652339"}], ",", "0.176482363447", ",",
"0.944768006139"}], "}"}], ",",
RowBox[{"{",
RowBox[{
RowBox[{"-", "0.0485810653919"}], ",", "0.521004445665", ",",
"0.453515782365", ",", "0.173691373197", ",",
RowBox[{"-", "0.214935355682"}], ",", "0.0272619231224", ",",
"0.960672101866"}], "}"}], ",",
RowBox[{"{",
RowBox[{
RowBox[{"-", "0.213432600791"}], ",", "0.682461726005", ",",
"0.24868089187", ",",
RowBox[{"-", "0.0487721745517"}], ",",
RowBox[{"-", "0.429162805242"}], ",", "0.0962479435216", ",",
"0.896759106424"}], "}"}], ",",
RowBox[{"{",
RowBox[{
RowBox[{"-", "0.142090949356"}], ",", "0.930753642288", ",",
"0.0374674400855", ",",
RowBox[{"-", "0.423379459967"}], ",",
RowBox[{"-", "0.355428335294"}], ",", "0.134739378079", ",",
"0.822353835853"}], "}"}], ",",
RowBox[{"{",
RowBox[{"0.0124693036244", ",", "0.795475140707", ",",
RowBox[{"-", "0.420124101458"}], ",",
RowBox[{"-", "0.736861730505"}], ",",
RowBox[{"-", "0.225357586303"}], ",", "0.152724182556", ",",
"0.618808591145"}], "}"}]}], "\[IndentingNewLine]", "}"}]}],
";"}], "\[IndentingNewLine]",
RowBox[{
RowBox[{"tipPoseMeasuresBase4", "=",
RowBox[{"{", "\[IndentingNewLine]",
RowBox[{
RowBox[{"{",
RowBox[{
RowBox[{"-", "0.221898128145"}], ",", "0.590966268275", ",",
"0.329776241829", ",", "0.161301528265", ",",
RowBox[{"-", "0.721093966139"}], ",", "0.238101845238", ",",
"0.630327549986"}], "}"}], ",",
RowBox[{"{",
RowBox[{
RowBox[{"-", "0.145772041127"}], ",", "0.590887586479", ",",
RowBox[{"-", "0.0709959805934"}], ",",
RowBox[{"-", "0.0374611822115"}], ",",
RowBox[{"-", "0.64470025566"}], ",", "0.381679955853", ",",
"0.661270482843"}], "}"}], ",",
RowBox[{"{",
RowBox[{
RowBox[{"-", "0.198559547571"}], ",", "0.523524888944", ",",
"0.29544388629", ",", "0.173243269385", ",",
RowBox[{"-", "0.488105989989"}], ",", "0.184870468374", ",",
"0.835201904974"}], "}"}], ",",
RowBox[{"{",
RowBox[{
RowBox[{"-", "0.128754171204"}], ",", "0.453996884758", ",",
"0.303607893696", ",", "0.262034254319", ",",
RowBox[{"-", "0.417719023334"}], ",", "0.466090961075", ",",
"0.734580208767"}], "}"}], ",",
RowBox[{"{",
RowBox[{
RowBox[{"-", "0.0394147921184"}], ",", "0.616054264092", ",",
RowBox[{"-", "0.166688659687"}], ",",
RowBox[{"-", "0.371319175262"}], ",",
RowBox[{"-", "0.013012537646"}], ",", "0.524385462895", ",",
"0.766141390509"}], "}"}]}], "\[IndentingNewLine]", "}"}]}],
";"}], "\[IndentingNewLine]",
RowBox[{
RowBox[{"tipPoseMeasuresBase", " ", "=", " ",
RowBox[{"Join", "[",
RowBox[{
"tipPoseMeasuresBase0", ",", "tipPoseMeasuresBase1", ",", " ",
"tipPoseMeasuresBase2", ",", " ", "tipPoseMeasuresBase3", ",", " ",
"tipPoseMeasuresBase4"}], "]"}]}], ";"}], "\[IndentingNewLine]",
RowBox[{
RowBox[{"tipPositionMeasuresCamera0", " ", "=", " ",
RowBox[{"{", "\[IndentingNewLine]",
RowBox[{
RowBox[{"{",
RowBox[{".293494", ",", " ",
RowBox[{"-", ".0623571"}], ",", " ", ".873"}], "}"}], ",",
"\[IndentingNewLine]",
RowBox[{"{",
RowBox[{".0863791", ",", " ",
RowBox[{"-", ".165061"}], ",", " ", ".898"}], "}"}], ",",
"\[IndentingNewLine]",
RowBox[{"{",
RowBox[{
RowBox[{"-", ".235498"}], ",", " ",
RowBox[{"-", ".111054"}], ",", " ", ".827"}], "}"}], ",",
"\[IndentingNewLine]",
RowBox[{"{",
RowBox[{"0.129249", ",", " ",
RowBox[{"-", ".141075"}], ",", " ", ".887"}], "}"}], ",",
"\[IndentingNewLine]",
RowBox[{"{",
RowBox[{
RowBox[{"-", ".188923"}], ",", " ",
RowBox[{"-", ".149066"}], ",", " ", ".837"}], "}"}], ",",
"\[IndentingNewLine]",
RowBox[{"{",
RowBox[{
RowBox[{"-", ".341577"}], ",", " ",
RowBox[{"-", ".0826514"}], ",", ".768"}], "}"}], ",",
"\[IndentingNewLine]",
RowBox[{"{",
RowBox[{
RowBox[{"-", ".129815"}], ",", " ",
RowBox[{"-", ".19503"}], ",", " ", ".646"}], "}"}], ",",
"\[IndentingNewLine]",
RowBox[{"{",
RowBox[{".0996667", ",", " ",
RowBox[{"-", ".134333"}], ",", " ", ".91"}], "}"}], ",",
"\[IndentingNewLine]",
RowBox[{"{",
RowBox[{
RowBox[{"-", ".0804991"}], ",", " ",
RowBox[{"-", ".241497"}], ",", ".748"}], "}"}], ",",
"\[IndentingNewLine]",
RowBox[{"{",
RowBox[{".23497", ",", " ", ".111213", ",", ".878"}], "}"}]}], "}"}]}],
";"}], "\[IndentingNewLine]",
RowBox[{
RowBox[{"tipPositionMeasuresCamera1", "=",
RowBox[{"{", "\[IndentingNewLine]",
RowBox[{
RowBox[{"{",
RowBox[{".163819", ",", " ", ".0716095", ",", " ", "1.03"}], "}"}], ",",
"\[IndentingNewLine]",
RowBox[{"{",
RowBox[{".162333", ",",
RowBox[{"-", ".0955448"}], ",", " ", ".974"}], "}"}], ",",
"\[IndentingNewLine]",
RowBox[{"{",
RowBox[{".15522", ",", " ",
RowBox[{"-", ".20358"}], ",", ".819"}], "}"}], ",",
"\[IndentingNewLine]",
RowBox[{"{",
RowBox[{".260237", ",", " ",
RowBox[{"-", ".135523"}], ",", " ", ".873"}], "}"}], ",",
"\[IndentingNewLine]",
RowBox[{"{",
RowBox[{
RowBox[{"-", ".330024"}], ",", " ",
RowBox[{"-", ".105767"}], ",", " ", ".835"}], "}"}], ",",
"\[IndentingNewLine]",
RowBox[{"{",
RowBox[{".00085", ",",
RowBox[{"-", ".16218"}], ",", ".901"}], "}"}], ",",
"\[IndentingNewLine]",
RowBox[{"{",
RowBox[{".0647791", ",", " ",
RowBox[{"-", ".334844"}], ",", " ", ".958"}], "}"}], ",",
"\[IndentingNewLine]",
RowBox[{"{",
RowBox[{".0523267", ",", " ",
RowBox[{"-", ".201513"}], ",", " ", "1.169"}], "}"}], ",",
"\[IndentingNewLine]",
RowBox[{"{",
RowBox[{".0679905", ",", " ",
RowBox[{"-", ".0910381"}], ",", " ", "1.21"}], "}"}], ",",
"\[IndentingNewLine]",
RowBox[{"{",
RowBox[{
RowBox[{"-", ".158645"}], ",", " ", "0.0798276", ",", " ", "1.061"}],
"}"}]}], "}"}]}], ";"}], "\[IndentingNewLine]",
RowBox[{
RowBox[{"tipPositionMeasuresCamera2", "=",
RowBox[{"{", "\[IndentingNewLine]",
RowBox[{
RowBox[{"{",
RowBox[{
RowBox[{"-", ".0469429"}], ",", " ",
RowBox[{"-", ".1922"}], ",", " ", ".93"}], "}"}], ",",
"\[IndentingNewLine]",
RowBox[{"{",
RowBox[{".426143", ",", " ",
RowBox[{"-", ".13481"}], ",", " ", ".95"}], "}"}], ",",
"\[IndentingNewLine]",
RowBox[{"{",
RowBox[{
RowBox[{"-", ".255494"}], ",", " ", ".07582", ",", " ", ".669"}],
"}"}], ",", "\[IndentingNewLine]",
RowBox[{"{",
RowBox[{
RowBox[{"-", ".222314"}], ",", " ",
RowBox[{"-", ".0646571"}], ",", " ", ".93"}], "}"}], ",",
"\[IndentingNewLine]",
RowBox[{"{",
RowBox[{".232152", ",", " ",
RowBox[{"-", ".279086"}], ",", " ", ".88"}], "}"}], ",",
"\[IndentingNewLine]",
RowBox[{"{",
RowBox[{".1155", ",", " ",
RowBox[{"-", ".154786"}], ",", " ", ".825"}], "}"}], ",",
"\[IndentingNewLine]",
RowBox[{"{",
RowBox[{".232443", ",", " ",
RowBox[{"-", ".188529"}], ",", " ", ".795"}], "}"}], ",",
"\[IndentingNewLine]",
RowBox[{"{",
RowBox[{
RowBox[{"-", ".383714"}], ",", " ",
RowBox[{"-", ".167029"}], ",", " ", ".948"}], "}"}], ",",
"\[IndentingNewLine]",
RowBox[{"{",
RowBox[{".243463", ",", " ",
RowBox[{"-", ".234206"}], ",", " ", ".972"}], "}"}], ",",
"\[IndentingNewLine]",
RowBox[{"{",
RowBox[{
RowBox[{"-", ".237527"}], ",", " ",
RowBox[{"-", ".0902105"}], ",", " ", ".869"}], "}"}]}],
"\[IndentingNewLine]", "}"}]}], ";"}], "\[IndentingNewLine]",
RowBox[{
RowBox[{"tipPositionMeasuresCamera3", "=",
RowBox[{"{", "\[IndentingNewLine]",
RowBox[{
RowBox[{"{",
RowBox[{
RowBox[{"-", ".0858"}], ",", " ",
RowBox[{"-", ".170867"}], ",", " ", ".77"}], "}"}], ",",
"\[IndentingNewLine]",
RowBox[{"{",
RowBox[{".1477", ",", " ",
RowBox[{"-", ".175833"}], ",", " ", "1.055"}], "}"}], ",",
"\[IndentingNewLine]",
RowBox[{"{",
RowBox[{
RowBox[{"-", ".0753533"}], ",", " ",
RowBox[{"-", ".2921"}], ",", " ", ".889"}], "}"}], ",",
"\[IndentingNewLine]",
RowBox[{"{",
RowBox[{
RowBox[{"-", ".2159"}], ",", " ",
RowBox[{"-", ".155833"}], ",", " ", ".595"}], "}"}], ",",
"\[IndentingNewLine]",
RowBox[{"{",
RowBox[{".319027", ",", " ",
RowBox[{"-", ".0828057"}], ",", " ", ".674"}], "}"}], ",",
"\[IndentingNewLine]",
RowBox[{"{",
RowBox[{".278266", ",", " ",
RowBox[{"-", ".158871"}], ",", "1.011"}], "}"}], ",",
"\[IndentingNewLine]",
RowBox[{"{",
RowBox[{".42666", ",", " ", ".09906", ",", " ", ".819"}], "}"}], ",",
"\[IndentingNewLine]",
RowBox[{"{",
RowBox[{".221714", ",", " ",
RowBox[{"-", ".121143"}], ",", " ", ".8"}], "}"}], ",",
"\[IndentingNewLine]",
RowBox[{"{",
RowBox[{
RowBox[{"-", ".0257143"}], ",", " ",
RowBox[{"-", ".235238"}], ",", "1"}], "}"}], ",",
"\[IndentingNewLine]",
RowBox[{"{",
RowBox[{
RowBox[{"-", ".486216"}], ",", ".000859714", ",", " ", "1.003"}],
"}"}]}], "\[IndentingNewLine]", "}"}]}], ";"}], "\[IndentingNewLine]",
RowBox[{
RowBox[{"tipPositionMeasuresCamera4", "=",
RowBox[{"{", "\[IndentingNewLine]",
RowBox[{
RowBox[{"{",
RowBox[{".307366", ",",
RowBox[{"-", ".0611981"}], ",", ".722"}], "}"}], ",",
"\[IndentingNewLine]",
RowBox[{"{",
RowBox[{
RowBox[{"-", ".101386"}], ",", " ", ".00790952", ",", " ", ".755"}],
"}"}], ",", "\[IndentingNewLine]",
RowBox[{"{",
RowBox[{".286293", ",", ".000670476", ",", ".704"}], "}"}], ",",
"\[IndentingNewLine]",
RowBox[{"{",
RowBox[{".305391", ",", " ", ".113083", ",", " ", ".711"}], "}"}], ",",
"\[IndentingNewLine]",
RowBox[{"{",
RowBox[{".210985", ",", " ", ".0779905", ",", ".862"}], "}"}]}],
"\[IndentingNewLine]", "}"}]}], ";"}], "\[IndentingNewLine]",
RowBox[{
RowBox[{"tipPositionMeasuresCamera", " ", "=", " ",
RowBox[{"Join", "[",
RowBox[{
"tipPositionMeasuresCamera0", ",", "tipPositionMeasuresCamera1", ",",
"tipPositionMeasuresCamera2", ",", "tipPositionMeasuresCamera3", ",",
"tipPositionMeasuresCamera4"}], "]"}]}], ";"}], "\[IndentingNewLine]",
RowBox[{
RowBox[{"qx", ":=",
RowBox[{
RowBox[{"tipPoseBase", "[",
RowBox[{"[", "4", "]"}], "]"}], "/",
RowBox[{"Norm", "[",
RowBox[{"tipPoseBase", "[",
RowBox[{"[",
RowBox[{"4", ";;", "7"}], "]"}], "]"}], "]"}]}]}], ";"}], "\n",
RowBox[{
RowBox[{"qy", ":=",
RowBox[{
RowBox[{"tipPoseBase", "[",
RowBox[{"[", "5", "]"}], "]"}], "/",
RowBox[{"Norm", "[",
RowBox[{"tipPoseBase", "[",
RowBox[{"[",
RowBox[{"4", ";;", "7"}], "]"}], "]"}], "]"}]}]}], ";"}], "\n",
RowBox[{
RowBox[{"qz", ":=",
RowBox[{
RowBox[{"tipPoseBase", "[",
RowBox[{"[", "6", "]"}], "]"}], "/",
RowBox[{"Norm", "[",
RowBox[{"tipPoseBase", "[",
RowBox[{"[",
RowBox[{"4", ";;", "7"}], "]"}], "]"}], "]"}]}]}], ";"}], "\n",
RowBox[{
RowBox[{"qw", ":=",
RowBox[{
RowBox[{"tipPoseBase", "[",
RowBox[{"[", "7", "]"}], "]"}], "/",
RowBox[{"Norm", "[",
RowBox[{"tipPoseBase", "[",
RowBox[{"[",
RowBox[{"4", ";;", "7"}], "]"}], "]"}], "]"}]}]}], ";"}], "\n",
RowBox[{
RowBox[{"tipTFBase", ":=",
RowBox[{"{",
RowBox[{
RowBox[{"{",
RowBox[{
RowBox[{"1", "-",
RowBox[{"2", "*",
RowBox[{"qy", "^", "2"}]}], "-",
RowBox[{"2", "*",
RowBox[{"qz", "^", "2"}]}]}], ",",
RowBox[{
RowBox[{"2", " ", "qx", "*", "qy"}], "+",
RowBox[{"2", " ", "qw", "*", "qz"}]}], ",",
RowBox[{
RowBox[{"2", " ", "qx", "*", "qz"}], "-",
RowBox[{"2", " ", "qw", "*", "qy"}]}], ",",
RowBox[{"tipPoseBase", "[",
RowBox[{"[", "1", "]"}], "]"}]}], "}"}], ",",
RowBox[{"{",
RowBox[{
RowBox[{
RowBox[{"2", "*", "qx", "*", "qy"}], "-",
RowBox[{"2", " ", "qw", "*", "qz"}]}], ",",
RowBox[{"1", "-",
RowBox[{"2", " ",
RowBox[{"qx", "^", "2"}]}], "-",
RowBox[{"2", " ",
RowBox[{"qz", "^", "2"}]}]}], ",",
RowBox[{
RowBox[{"2", " ", "qy", "*", "qz"}], "+",
RowBox[{"2", " ", "qw", "*", "qx"}]}], ",",
RowBox[{"tipPoseBase", "[",
RowBox[{"[", "2", "]"}], "]"}]}], "}"}], ",",
RowBox[{"{",
RowBox[{
RowBox[{
RowBox[{"2", " ", "qx", "*", "qz"}], "+",
RowBox[{"2", " ", "qw", "*", "qy"}]}], ",",
RowBox[{
RowBox[{"2", "*", "qy", "*", "qz"}], "-",
RowBox[{"2", " ", "qw", "*", "qx"}]}], ",",
RowBox[{"1", "-",
RowBox[{"2", " ",
RowBox[{"qx", "^", "2"}]}], "-",
RowBox[{"2", " ",
RowBox[{"qy", "^", "2"}]}]}], ",",
RowBox[{"tipPoseBase", "[",
RowBox[{"[", "3", "]"}], "]"}]}], "}"}], ",",
RowBox[{"{",
RowBox[{"0", ",", "0", ",", "0", ",", "1"}], "}"}]}], "}"}]}],
";"}], "\n",
RowBox[{
RowBox[{"baseTFCamera", ":=",
RowBox[{"{",
RowBox[{
RowBox[{"{",
RowBox[{
RowBox[{"1", "-",
RowBox[{"2", "*",
RowBox[{"baseQYCamera", "^", "2"}]}], "-",
RowBox[{"2", "*",
RowBox[{"baseQZCamera", "^", "2"}]}]}], ",",
RowBox[{
RowBox[{"2", " ", "baseQXCamera", "*", "baseQYCamera"}], "+",
RowBox[{"2", " ", "baseQWCamera", "*", "baseQZCamera"}]}], ",",
RowBox[{
RowBox[{"2", " ", "baseQXCamera", "*", "baseQZCamera"}], "-",
RowBox[{"2", " ", "baseQWCamera", "*", "baseQYCamera"}]}], ",",
"baseXCamera"}], "}"}], ",",
RowBox[{"{",
RowBox[{
RowBox[{
RowBox[{"2", "*", "baseQXCamera", "*", "baseQYCamera"}], "-",
RowBox[{"2", " ", "baseQWCamera", "*", "baseQZCamera"}]}], ",",
RowBox[{"1", "-",
RowBox[{"2", " ",
RowBox[{"baseQXCamera", "^", "2"}]}], "-",
RowBox[{"2", " ",
RowBox[{"baseQZCamera", "^", "2"}]}]}], ",",
RowBox[{
RowBox[{"2", " ", "baseQYCamera", "*", "baseQZCamera"}], "+",
RowBox[{"2", " ", "baseQWCamera", "*", "baseQXCamera"}]}], ",",
"baseYCamera"}], "}"}], ",",
RowBox[{"{",
RowBox[{
RowBox[{
RowBox[{"2", " ", "baseQXCamera", "*", "baseQZCamera"}], "+",
RowBox[{"2", " ", "baseQWCamera", "*", "baseQYCamera"}]}], ",",
RowBox[{
RowBox[{"2", "*", "baseQYCamera", "*", "baseQZCamera"}], "-",
RowBox[{"2", " ", "baseQWCamera", "*", "baseQXCamera"}]}], ",",
RowBox[{"1", "-",
RowBox[{"2", " ",
RowBox[{"baseQXCamera", "^", "2"}]}], "-",
RowBox[{"2", " ",
RowBox[{"baseQYCamera", "^", "2"}]}]}], ",", "baseZCamera"}], "}"}],
",", "\[IndentingNewLine]",
RowBox[{"{",
RowBox[{"0", ",", "0", ",", "0", ",", "1"}], "}"}]}], "}"}]}],
";"}], "\n",
RowBox[{
RowBox[{"tipTFCamera", ":=",
RowBox[{"baseTFCamera", ".", "tipTFBase"}]}], ";"}], "\n",
RowBox[{"tipPositionsCamera", ":=",
RowBox[{"Table", "[",
RowBox[{
RowBox[{"tipTFCamera", "[",
RowBox[{"[",
RowBox[{
RowBox[{"1", ";;", "3"}], ",", "4"}], "]"}], "]"}], ",",
RowBox[{"{",
RowBox[{"tipPoseBase", ",", "tipPoseMeasuresBase"}], "}"}]}],
"]"}]}], "\n",
RowBox[{
RowBox[{"test", " ", "=", " ",
RowBox[{"Minimize", "[",
RowBox[{
RowBox[{"{",
RowBox[{
RowBox[{"RootMeanSquare", "[",
RowBox[{"Flatten", "[",
RowBox[{"tipPositionMeasuresCamera", "-", "tipPositionsCamera"}],
"]"}], "]"}], ",",
RowBox[{
RowBox[{"Norm", "[",
RowBox[{"{",
RowBox[{
"baseQXCamera", ",", "baseQYCamera", ",", "baseQZCamera", ",",
"baseQWCamera"}], "}"}], "]"}], "\[Equal]", "1"}]}], "}"}], ",",
RowBox[{"{",
RowBox[{
"baseQXCamera", ",", "baseQYCamera", ",", "baseQZCamera", ",",
"baseQWCamera", ",", "baseXCamera", ",", "baseYCamera", ",",
"baseZCamera"}], "}"}], ",", " ", "Reals"}], "]"}]}],
";"}], "\[IndentingNewLine]",
RowBox[{"rms", " ", "=", " ",
RowBox[{"test", "[",
RowBox[{"[", "1", "]"}], "]"}]}], "\[IndentingNewLine]",
RowBox[{"StringJoin", "[",
RowBox[{
RowBox[{"ToString", "[",
RowBox[{
RowBox[{
RowBox[{"test", "[",
RowBox[{"[", "2", "]"}], "]"}], "[",
RowBox[{"[", "5", "]"}], "]"}], "[",
RowBox[{"[", "2", "]"}], "]"}], "]"}], ",", "\"\< \>\"", ",",
RowBox[{"ToString", "[",
RowBox[{
RowBox[{
RowBox[{"test", "[",
RowBox[{"[", "2", "]"}], "]"}], "[",
RowBox[{"[", "6", "]"}], "]"}], "[",
RowBox[{"[", "2", "]"}], "]"}], "]"}], ",", "\"\< \>\"", ",",
RowBox[{"ToString", "[",
RowBox[{
RowBox[{
RowBox[{"test", "[",
RowBox[{"[", "2", "]"}], "]"}], "[",
RowBox[{"[", "7", "]"}], "]"}], "[",
RowBox[{"[", "2", "]"}], "]"}], "]"}], ",", "\"\< \>\"", ",",
RowBox[{"ToString", "[", " ",
RowBox[{
RowBox[{
RowBox[{"test", "[",
RowBox[{"[", "2", "]"}], "]"}], "[",
RowBox[{"[", "1", "]"}], "]"}], "[",
RowBox[{"[", "2", "]"}], "]"}], "]"}], ",", "\"\< \>\"", ",",
RowBox[{"ToString", "[", " ",
RowBox[{
RowBox[{
RowBox[{"test", "[",
RowBox[{"[", "2", "]"}], "]"}], "[",
RowBox[{"[", "2", "]"}], "]"}], "[",
RowBox[{"[", "2", "]"}], "]"}], "]"}], ",", "\"\< \>\"", ",",
RowBox[{"ToString", "[",
RowBox[{
RowBox[{
RowBox[{"test", "[",
RowBox[{"[", "2", "]"}], "]"}], "[",
RowBox[{"[", "3", "]"}], "]"}], "[",
RowBox[{"[", "2", "]"}], "]"}], "]"}], ",", "\"\< \>\"", ",",
RowBox[{"ToString", "[", " ",
RowBox[{"-",
RowBox[{
RowBox[{
RowBox[{"test", "[",
RowBox[{"[", "2", "]"}], "]"}], "[",
RowBox[{"[", "4", "]"}], "]"}], "[",
RowBox[{"[", "2", "]"}], "]"}]}], "]"}]}], "]"}]}], "Input",
CellChangeTimes->{{3.572866232978609*^9, 3.572866264217396*^9}, {
3.572866664265277*^9, 3.5728666643872843`*^9}, {3.572866781540985*^9,
3.572866863908696*^9}, {3.572866935449788*^9, 3.572866939629027*^9}, {
3.572867027136032*^9, 3.572867086425423*^9}, {3.5728671574134836`*^9,
3.5728674479270997`*^9}, {3.5728674885094213`*^9, 3.57286766507152*^9}, {
3.572867700266533*^9, 3.572867704148755*^9}, {3.5728677353985424`*^9,
3.5728678024593782`*^9}, {3.5728679202761164`*^9, 3.572867921173168*^9}, {
3.572867986409899*^9, 3.5728680152625494`*^9}, 3.5728684991702275`*^9, {
3.5728687828774548`*^9, 3.5728688223187103`*^9}, {3.5728688556126146`*^9,
3.572868857503723*^9}, {3.5728690669197006`*^9, 3.572869071720976*^9}, {
3.572869216508257*^9, 3.5728692898284507`*^9}, {3.572869368091927*^9,
3.57286939227131*^9}, 3.572869428057357*^9, {3.572869512837206*^9,
3.572869547303177*^9}, {3.572870278314989*^9, 3.5728704126136703`*^9}, {
3.572870450454835*^9, 3.5728706323062363`*^9}, {3.572870682574111*^9,
3.5728708013459044`*^9}, 3.5728709636971903`*^9, 3.5728710377384253`*^9, {
3.5728710685321865`*^9, 3.5728711511729136`*^9}, {3.5728714795150304`*^9,
3.572871555476375*^9}, 3.572871659379318*^9, {3.572871718631707*^9,
3.57287178372343*^9}, {3.572871817625369*^9, 3.572871819968503*^9}, {
3.5728718717004623`*^9, 3.5728718766877475`*^9}, {3.5728719201622343`*^9,
3.5728719442896137`*^9}, {3.5728720135675764`*^9,
3.5728720285054307`*^9}, {3.5728783666538014`*^9, 3.572878371057053*^9}, {
3.5728784602051525`*^9, 3.5728784808413324`*^9}, {3.572878536025489*^9,
3.5728785481501827`*^9}, {3.5728786515430965`*^9,
3.5728786725562983`*^9}, {3.5728787030200405`*^9, 3.572878720937065*^9},
3.5728787542619715`*^9, {3.572878802750745*^9, 3.5728788214578147`*^9}, {
3.572878887233577*^9, 3.5728789072777233`*^9}, {3.5728789876983232`*^9,
3.5728790051893234`*^9}, {3.572879045763644*^9, 3.5728790739532566`*^9}, {
3.5728792495052977`*^9, 3.5728792564086924`*^9}, {3.5728793293838663`*^9,
3.5728793457058*^9}, {3.5728793783706684`*^9, 3.57287939169143*^9}, {
3.572879432818783*^9, 3.5728795028347874`*^9}, {3.5728795413879924`*^9,
3.572879555647808*^9}, {3.572879595035061*^9, 3.5728796147321873`*^9}, {
3.572879652079324*^9, 3.5728796662751355`*^9}, {3.572879703871286*^9,
3.572879715258937*^9}, {3.5728797571013308`*^9, 3.572879773385262*^9}, {
3.572879884258603*^9, 3.5728798868807535`*^9}, {3.572879960447961*^9,
3.5728799720496244`*^9}, {3.572880009045741*^9, 3.5728800145450554`*^9}, {
3.572880067728097*^9, 3.572880073355419*^9}, {3.572880191886199*^9,
3.572880193968318*^9}, {3.572880245823284*^9, 3.572880255616844*^9}, {
3.572880328872034*^9, 3.5728803339613247`*^9}, {3.5728808072423954`*^9,
3.57288083513599*^9}, {3.5728808703930073`*^9, 3.5728809111963406`*^9}, {
3.572881474339551*^9, 3.5728815500058784`*^9}, {3.572882730198986*^9,
3.5728827899224024`*^9}, {3.5728828261744757`*^9,
3.5728828285906143`*^9}, {3.5728901988010798`*^9, 3.572890223749507*^9}, {
3.5728904475123053`*^9, 3.5728904643332677`*^9}, {3.572890708819251*^9,
3.5728907343147097`*^9}, {3.5728907812593946`*^9,
3.5728908009385204`*^9}, {3.5728908387186813`*^9, 3.572890853222511*^9}, {
3.572890894961898*^9, 3.5728909158700943`*^9}, {3.5728909723473244`*^9,
3.5728909910243926`*^9}, {3.5728910700139103`*^9,
3.5728910875709147`*^9}, {3.572891136953739*^9, 3.572891152542631*^9}, {
3.572891202599494*^9, 3.5728912199444857`*^9}, 3.5728913022261925`*^9, {
3.572891965561133*^9, 3.572891989404497*^9}, {3.572892061283608*^9,
3.572892064781808*^9}, 3.5728921485395985`*^9, {3.5728924006480184`*^9,
3.572892443144449*^9}, {3.5728925318255215`*^9, 3.5728925778441534`*^9}, {
3.5728926157623224`*^9, 3.5728926407697525`*^9}, 3.572892765788903*^9, {
3.572892839369112*^9, 3.572892846275507*^9}, {3.5728931014961047`*^9,
3.5728931194771333`*^9}, 3.572893376029807*^9, 3.572893619722746*^9,
3.5728937700803456`*^9, 3.572893813182811*^9, {3.5728938684579725`*^9,
3.572893872296192*^9}, {3.5728941482839775`*^9, 3.57289415321826*^9}, {
3.5728943388128753`*^9, 3.5728943819143405`*^9}, 3.5728947592049203`*^9, {
3.5728949793215103`*^9, 3.572894984352798*^9}, {3.572895407271988*^9,
3.5728954121832685`*^9}, {3.572896237491473*^9, 3.572896240249631*^9}, {
3.5728962925306215`*^9, 3.5728963162899804`*^9}, {3.572896380990681*^9,
3.5728963949604797`*^9}, {3.57289642730333*^9, 3.5728964483795357`*^9}, {
3.572896554302594*^9, 3.572896569057438*^9}, {3.5728966452237945`*^9,
3.5728966799947834`*^9}, {3.5728967259644127`*^9,
3.5728967452185135`*^9}, {3.5728968172756352`*^9,
3.5728968371357713`*^9}, {3.5728969184774237`*^9,
3.5728969435978603`*^9}, {3.5728970322639318`*^9, 3.572897046083722*^9},
3.5728970947275047`*^9, 3.572898071193355*^9, {3.573048352537252*^9,
3.57304844393748*^9}, {3.5730485906018686`*^9, 3.573048626102899*^9}, {
3.5730487165680733`*^9, 3.5730487345781035`*^9}, {3.573048807755289*^9,
3.573048827774434*^9}, {3.573048898318469*^9, 3.573048921431791*^9}, {
3.5730490465579476`*^9, 3.5730490661290674`*^9}, {3.5730497717154245`*^9,
3.5730497752196245`*^9}, {3.573049920731948*^9, 3.5730499429722195`*^9}, {
3.5730501958846855`*^9, 3.5730502501937914`*^9}, {3.5730502849647803`*^9,
3.5730502856058173`*^9}, {3.573050322391921*^9, 3.57305033809682*^9}, {
3.573050374000873*^9, 3.5730503766580253`*^9}, {3.5730527895740356`*^9,
3.5730528049889174`*^9}, {3.573052865026352*^9, 3.573052888274681*^9}, {
3.573052974608619*^9, 3.5730530170610476`*^9}, {3.5730531403140974`*^9,
3.573053141202148*^9}, {3.5730536258628693`*^9, 3.5730536332542915`*^9}, {
3.573053922823854*^9, 3.573053928684189*^9}, {3.5730539649852657`*^9,
3.5730539867605114`*^9}, {3.573054034682252*^9, 3.573054074694541*^9}, {
3.57305467593993*^9, 3.573054677792036*^9}, {3.573056228223716*^9,
3.573056228530733*^9}, {3.573056395542286*^9, 3.5730564057518697`*^9}, {
3.5730564572958174`*^9, 3.5730564732887325`*^9}, {3.573056511117896*^9,
3.5730565173142505`*^9}, {3.573056573150444*^9, 3.5730565930135803`*^9}, {
3.573056633496896*^9, 3.5730566764333515`*^9}, {3.5730576330780687`*^9,
3.573057641157531*^9}, {3.5730577276934805`*^9, 3.5730577557750864`*^9}, {
3.5730578332955203`*^9, 3.5730578354146414`*^9}, {3.573058012463768*^9,
3.5730580181180916`*^9}, {3.5730581487765646`*^9, 3.5730581625643535`*^9},
3.5730582476192183`*^9, {3.573060205683213*^9, 3.57306021506575*^9}, {
3.5730603720857306`*^9, 3.5730604163972654`*^9}, {3.5730609287705717`*^9,
3.573061029728346*^9}, {3.573061174769642*^9, 3.5730612308298483`*^9}, {
3.57306129659161*^9, 3.573061299341767*^9}, 3.5730613318376255`*^9,
3.5730613628033967`*^9, {3.573385064484269*^9, 3.573385133167197*^9}, {
3.5733888942793207`*^9, 3.5733889215848827`*^9}, {3.5733891588204517`*^9,
3.5733891610755806`*^9}, {3.5733893029516954`*^9,
3.5733893436150208`*^9}, {3.5733894132940063`*^9,
3.5733894250916815`*^9}, {3.573389466992078*^9, 3.573389478452733*^9}, {
3.573776147921092*^9, 3.5737761592711077`*^9}, {3.5737762541392903`*^9,
3.5737763095373745`*^9}, {3.5737766118058043`*^9, 3.573776717415983*^9}, {
3.57426295675231*^9, 3.574262981882747*^9}, {3.5742635267359114`*^9,
3.57426354472694*^9}, {3.574263629232774*^9, 3.5742636463957553`*^9}, {
3.574263690340269*^9, 3.5742637200399675`*^9}, {3.5742637595702286`*^9,
3.5742637634184484`*^9}, {3.5742638279701405`*^9,
3.5742638429960003`*^9}, {3.574263958404601*^9, 3.5742639752485647`*^9}, {
3.5742640332468815`*^9, 3.5742640464766383`*^9}, {3.5742641228800087`*^9,
3.5742641625332766`*^9}, {3.5742642816010866`*^9, 3.574264307983596*^9}, {
3.574264405894196*^9, 3.5742644187769327`*^9}, {3.5742645786450768`*^9,
3.574264602428437*^9}, {3.5742646725784492`*^9, 3.574264672772461*^9}, {
3.574264741580396*^9, 3.5742647579173307`*^9}, {3.5742648283393583`*^9,
3.574264841810129*^9}, 3.574264931328249*^9, {3.57426506491889*^9,
3.5742650870351553`*^9}, {3.5742651783583784`*^9, 3.574265196173397*^9}, {
3.574265252669629*^9, 3.5742652635752525`*^9}, {3.5742655998764877`*^9,
3.574265624336887*^9}, {3.5742656786519938`*^9, 3.574265707194626*^9}, {
3.574265756514447*^9, 3.574265766725031*^9}, 3.574265835614971*^9, {
3.574266982068545*^9, 3.574266982827588*^9}, {3.574267043281046*^9,
3.5742670592529593`*^9}, {3.574268814538356*^9, 3.5742688266940513`*^9}, {
3.574268858696882*^9, 3.5742688750038147`*^9}, {3.5742689949736767`*^9,
3.5742690163168974`*^9}, {3.5742690534030185`*^9, 3.574269069415934*^9}, {
3.5742691939040546`*^9, 3.5742692550085497`*^9}, 3.574269290942605*^9,
3.574269323253453*^9, {3.5742708754212317`*^9, 3.5742708919541774`*^9}, {
3.574271162979679*^9, 3.5742711767704678`*^9}, {3.5742714832079954`*^9,
3.5742714954096932`*^9}, 3.5742715701579685`*^9, {3.574272195991764*^9,
3.57427224994085*^9}, {3.5742723134354815`*^9, 3.574272360841193*^9}, {
3.5742724520064073`*^9, 3.5742724640690975`*^9}, 3.5742725018452578`*^9, {
3.5742726483906403`*^9, 3.574272668249776*^9}, {3.5742727736868067`*^9,
3.5742727891586914`*^9}, 3.5742728303330464`*^9, {3.5742731667272873`*^9,
3.574273178017933*^9}, {3.5742732734823933`*^9, 3.574273288937277*^9}, {
3.5742738687264395`*^9, 3.574273884632349*^9}, {3.574284316979045*^9,
3.5742843997357783`*^9}, {3.5742844429592505`*^9, 3.574284494288186*^9}, {
3.5742845322303567`*^9, 3.574284555862708*^9}, {3.5742846467469063`*^9,
3.574284667200076*^9}, {3.574284717454951*^9, 3.5742847387441683`*^9}, {
3.574284787741971*^9, 3.5742848036608815`*^9}, 3.5742848710097337`*^9,
3.574284966563199*^9, {3.57428509997683*^9, 3.574285116220759*^9}, {
3.5742851948322554`*^9, 3.574285212943291*^9}, 3.574285245290141*^9,
3.5742852789790683`*^9, {3.574285583323476*^9, 3.5742855926390085`*^9}, {
3.5742856836252127`*^9, 3.574285694008806*^9}, {3.574285887227858*^9,
3.5742858961953707`*^9}, {3.5742859452331753`*^9, 3.574285961030079*^9}, {
3.5742860358653593`*^9, 3.5742860464099627`*^9}, {3.57428612661455*^9,
3.5742861419714284`*^9}, {3.574286196509548*^9, 3.574286237252878*^9}, {
3.5742866724627705`*^9, 3.5742867502952228`*^9}, {3.574286884240884*^9,
3.5742868974426394`*^9}, {3.5742869933001213`*^9, 3.574287006250862*^9}, {
3.574287058007823*^9, 3.574287075055798*^9}, {3.574287143359705*^9,
3.574287164889936*^9}, 3.5742872154008255`*^9, {3.5742887443632765`*^9,
3.5742887681716385`*^9}, {3.5742888346774426`*^9,
3.5742888504923472`*^9}, {3.574288942227594*^9, 3.5742889710352416`*^9}, {
3.574289067379752*^9, 3.5742890839046974`*^9}, {3.5742891746798897`*^9,
3.5742891880916567`*^9}, {3.574289244936908*^9, 3.5742892606988096`*^9}, {
3.5742893249514847`*^9, 3.5742893718131647`*^9}}],
Cell[BoxData["0.04535877358555444`"], "Output",
CellChangeTimes->{{3.5730610182566895`*^9, 3.5730610338465815`*^9}, {
3.573061337007921*^9, 3.5730613668286266`*^9}, {3.573388896788464*^9,
3.5733889331395435`*^9}, 3.5733889918269*^9, 3.573389059386764*^9,
3.573389133866024*^9, 3.5733891971466436`*^9, {3.57338930356173*^9,
3.573389344703083*^9}, 3.573389425660714*^9, 3.5733894791577735`*^9, {
3.573774904891737*^9, 3.573774919599777*^9}, 3.5737761599071093`*^9,
3.5737763101933765`*^9, 3.5737766433138485`*^9, 3.5737767183109846`*^9,
3.574264938577664*^9, 3.5742650906493616`*^9, 3.5742658403992453`*^9,
3.57426932792072*^9, 3.5742715837237444`*^9, 3.574272510670763*^9,
3.574272837009428*^9, 3.574284874928958*^9, 3.574285247339258*^9,
3.574285285010413*^9, {3.5742862264182587`*^9, 3.57428624375525*^9},
3.574287223335279*^9, {3.5742893536021233`*^9, 3.5742893802096453`*^9}}],
Cell[BoxData["\<\"0.0397568 0.560209 0.482243 0.664262 0.221048 0.663654 \
0.263547\"\>"], "Output",
CellChangeTimes->{{3.5730610182566895`*^9, 3.5730610338465815`*^9}, {
3.573061337007921*^9, 3.5730613668286266`*^9}, {3.573388896788464*^9,
3.5733889331395435`*^9}, 3.5733889918269*^9, 3.573389059386764*^9,
3.573389133866024*^9, 3.5733891971466436`*^9, {3.57338930356173*^9,
3.573389344703083*^9}, 3.573389425660714*^9, 3.5733894791577735`*^9, {
3.573774904891737*^9, 3.573774919599777*^9}, 3.5737761599071093`*^9,
3.5737763101933765`*^9, 3.5737766433138485`*^9, 3.5737767183109846`*^9,
3.574264938577664*^9, 3.5742650906493616`*^9, 3.5742658403992453`*^9,
3.57426932792072*^9, 3.5742715837237444`*^9, 3.574272510670763*^9,
3.574272837009428*^9, 3.574284874928958*^9, 3.574285247339258*^9,
3.574285285010413*^9, {3.5742862264182587`*^9, 3.57428624375525*^9},
3.574287223335279*^9, {3.5742893536021233`*^9, 3.574289380327652*^9}}]
}, Open ]]
},
WindowSize->{1664, 915},
WindowMargins->{{0, Automatic}, {Automatic, 0}},
FrontEndVersion->"8.0 for Microsoft Windows (64-bit) (February 23, 2011)",
StyleDefinitions->"Default.nb"
]
(* End of Notebook Content *)
(* Internal cache information *)
(*CellTagsOutline
CellTagsIndex->{}
*)
(*CellTagsIndex
CellTagsIndex->{}
*)
(*NotebookFileOutline
Notebook[{
Cell[CellGroupData[{
Cell[579, 22, 40894, 916, 2512, "Input"],
Cell[41476, 940, 922, 12, 30, "Output"],
Cell[42401, 954, 973, 13, 30, "Output"]
}, Open ]]
}
]
*)
(* End of internal cache information *)