diff --git a/CMakeLists.txt b/CMakeLists.txt
index 5278ccc51458b4bff955bfbefbbec214872f7089..d86b09e409cf573e99173fa6d3034aa0d87089f0 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -132,6 +132,7 @@ add_executable(catch-tests-boardcore
src/tests/catch/xbee/test-xbee-parser.cpp
src/tests/catch/test-modulemanager.cpp
src/tests/catch/test-MEA.cpp
+ src/tests/catch/test-airbrakesInterp.cpp
)
target_compile_definitions(catch-tests-boardcore PRIVATE USE_MOCK_PERIPHERALS)
sbs_target(catch-tests-boardcore stm32f429zi_stm32f4discovery)
diff --git a/cmake/boardcore-host.cmake b/cmake/boardcore-host.cmake
index 04fa5eef900162973d6f61c38850f4837aa3a80d..977102ebbfb21ae52befaac414cea42d649da0d5 100644
--- a/cmake/boardcore-host.cmake
+++ b/cmake/boardcore-host.cmake
@@ -36,6 +36,8 @@ add_library(boardcore-host STATIC EXCLUDE_FROM_ALL
# Algorithms
${SBS_BASE}/src/shared/algorithms/MEA/MEA.cpp
+ ${SBS_BASE}/src/shared/algorithms/AirBrakes/AirBrakesInterp.cpp
+ ${SBS_BASE}/src/shared/algorithms/AirBrakes/AirBrakes.cpp
# Logger
${SBS_BASE}/src/shared/logger/Logger.cpp
diff --git a/src/shared/algorithms/AirBrakes/AirBrakesInterp.cpp b/src/shared/algorithms/AirBrakes/AirBrakesInterp.cpp
index 26b5923b69eaa94de2bb4c10eedbacf720fff36a..334c2ac34dbac815cebb29fa2983c03c868a34e1 100644
--- a/src/shared/algorithms/AirBrakes/AirBrakesInterp.cpp
+++ b/src/shared/algorithms/AirBrakes/AirBrakesInterp.cpp
@@ -91,29 +91,26 @@ void AirBrakesInterp::step()
// Interpolation
float percentage = controlInterp(currentPosition);
- // The maximum altitude is the one which is registered at the last point in
- // the trajectory
- float maxAltitude =
- choosenOpenTrajectory->points[choosenOpenTrajectory->size() - 1].z;
-
// Filtering
float filterCoeff = 0;
// If the altitude is lower than the minimum one, the filter is kept at the
// same value, to avoid misleading filtering actions
- if (currentPosition.z < configInterp.MINIMUM_ALTITUDE)
+ if (currentPosition.z < configInterp.FILTER_MINIMUM_ALTITUDE)
{
filterCoeff = configInterp.STARTING_FILTER_VALUE;
}
else
{
- filterCoeff = configInterp.STARTING_FILTER_VALUE -
- (currentPosition.z - configInterp.MINIMUM_ALTITUDE) *
- ((configInterp.STARTING_FILTER_VALUE) /
- (maxAltitude - configInterp.MINIMUM_ALTITUDE));
+ filterCoeff =
+ configInterp.STARTING_FILTER_VALUE -
+ (currentPosition.z - configInterp.FILTER_MINIMUM_ALTITUDE) *
+ ((configInterp.STARTING_FILTER_VALUE) /
+ (configInterp.FILTER_MAXIMUM_ALTITUDE -
+ configInterp.FILTER_MINIMUM_ALTITUDE));
}
- if (currentPosition.z < maxAltitude)
+ if (currentPosition.z < configInterp.ABK_CRITICAL_ALTITUDE)
{
// Compute the actual value filtered
percentage =
@@ -133,8 +130,11 @@ void AirBrakesInterp::step()
float AirBrakesInterp::controlInterp(TrajectoryPoint currentPosition)
{
// we take the index of the current point of the trajectory and we look
- // ahead of 2 points
- int index_z = floor(currentPosition.z / configInterp.DZ) + 2;
+ // ahead of N points
+ int index_z =
+ floor((currentPosition.z / configInterp.DZ)) + configInterp.N_FORWARD;
+
+ index_z = std::max(index_z, 0);
// for safety we check whether the index exceeds the maximum index of the
// trajectory sets
diff --git a/src/shared/algorithms/AirBrakes/AirBrakesInterpConfig.h b/src/shared/algorithms/AirBrakes/AirBrakesInterpConfig.h
index df77a38e311e5e251005fa735912fdbcc6cf8024..ec05294b7e7ad1b6439e526d8241dcbaa82cb26a 100644
--- a/src/shared/algorithms/AirBrakes/AirBrakesInterpConfig.h
+++ b/src/shared/algorithms/AirBrakes/AirBrakesInterpConfig.h
@@ -28,13 +28,19 @@ namespace Boardcore
struct AirBrakesInterpConfig
{
- // Minimum altitude for the algorithm to start acting
- float MINIMUM_ALTITUDE;
+ // Minimum altitude for the filter to consider
+ float FILTER_MINIMUM_ALTITUDE;
+
+ // Maximum altitude for the filter to consider
+ float FILTER_MAXIMUM_ALTITUDE;
// Normalized value [0-1] that represents the minimum filtering action that
// the applied filter can do.
float STARTING_FILTER_VALUE;
+ // Altitude after which the output should be the maximum extension
+ float ABK_CRITICAL_ALTITUDE;
+
// The delta in altitude between consequent trajectory points
float DZ;
@@ -43,6 +49,9 @@ struct AirBrakesInterpConfig
// The delta in mass between consequent trajectory sets
float DM;
+
+ // Number of steps to look forward into the reference trajectories
+ uint16_t N_FORWARD;
};
} // namespace Boardcore
diff --git a/src/tests/algorithms/Airbrakes/test-airbrakesInterp-data.h b/src/tests/algorithms/Airbrakes/test-airbrakesInterp-data.h
new file mode 100644
index 0000000000000000000000000000000000000000..4da18d85d0b62a522b463a3c350f3456610b20dd
--- /dev/null
+++ b/src/tests/algorithms/Airbrakes/test-airbrakesInterp-data.h
@@ -0,0 +1,11747 @@
+/* Copyright (c) 2023 Skyward Experimental Rocketry
+ * Author: Matteo Pignataro
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#pragma once
+
+#include <algorithms/AirBrakes/TrajectorySet.h>
+
+namespace Boardcore
+{
+static const std::vector<float> Z = {
+ 0,
+ 0.00229583764956942,
+ 0.00140099814791483,
+ 0,
+ 0.00302588293442341,
+ 0.00227860249694345,
+ 0,
+ 0.00144981504189445,
+ 0.00610658430696276,
+ 0.00610658430696276,
+ 0.0132358465088203,
+ 0.0220918286805443,
+ 0.0220918286805443,
+ 0.0255984959881914,
+ 0.0354616506923549,
+ 0.0354616506923549,
+ 0.0542063382948754,
+ 0.0627618863030648,
+ 0.0627618863030648,
+ 0.0826906217971839,
+ 0.114684539217308,
+ 0.114684539217308,
+ 0.137679151752735,
+ 0.181618463017742,
+ 0.181618463017742,
+ 0.221652560648891,
+ 0.268410776347366,
+ 0.268410776347366,
+ 0.303737523863475,
+ 0.356649155915449,
+ 0.356649155915449,
+ 0.430446488979072,
+ 0.491568499867924,
+ 0.491568499867924,
+ 0.571402732314141,
+ 0.650563977966584,
+ 0.650563977966584,
+ 0.745254107300383,
+ 0.805550322680318,
+ 0.805550322680318,
+ 0.873203539645289,
+ 0.969105510629845,
+ 0.969105510629845,
+ 1.09406962591385,
+ 1.19939780264187,
+ 1.19939780264187,
+ 1.33268904681265,
+ 1.42135070003064,
+ 1.42135070003064,
+ 1.51401453916625,
+ 1.6164651995002,
+ 1.6164651995002,
+ 1.73661566937321,
+ 1.8797939471973,
+ 1.8797939471973,
+ 2.05495445257742,
+ 2.21479312734184,
+ 2.21479312734184,
+ 2.37486220807241,
+ 2.55276013735406,
+ 2.55276013735406,
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+ 1,
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+ 1,
+ 1,
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+ 1,
+ 1,
+ 1,
+ 1,
+ 1,
+ 1,
+ 1,
+ 1,
+ 1,
+ 1,
+ 1,
+ 1,
+ 1,
+ 1,
+ 1,
+ 1,
+ 1,
+ 1,
+ 1,
+ 1,
+ 1,
+ 1,
+ 1,
+ 1,
+ 1,
+ 1,
+ 1,
+ 1,
+ 1,
+ 1,
+ 1,
+ 1,
+ 1,
+ 1,
+ 1,
+ 1,
+ 1,
+ 1,
+ 1,
+ 1,
+ 1,
+ 1,
+ 1,
+ 1,
+ 1,
+ 1,
+ 1,
+ 1,
+ 1,
+ 1,
+ 1,
+ 1,
+ 1,
+};
+
+} // namespace Boardcore
\ No newline at end of file
diff --git a/src/tests/algorithms/Airbrakes/test-airbrakesInterp-references.h b/src/tests/algorithms/Airbrakes/test-airbrakesInterp-references.h
new file mode 100644
index 0000000000000000000000000000000000000000..325e1e9840ea35aceeed669b9eb59f963069fab9
--- /dev/null
+++ b/src/tests/algorithms/Airbrakes/test-airbrakesInterp-references.h
@@ -0,0 +1,6731 @@
+/* Copyright (c) 2023 Skyward Experimental Rocketry
+ * Author: Matteo Pignataro
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#pragma once
+
+#include <algorithms/AirBrakes/TrajectorySet.h>
+
+namespace Boardcore
+{
+
+//['Heights ', 'Vz_closed_m28 ', 'Vz_closed_m28_2 ', 'Vz_closed_m28_4 ',
+//'Vz_closed_m28_6 ', 'Vz_closed_m28_8 ', 'Vz_closed_m29 ', 'Vz_closed_m29_2 ',
+//'Vz_closed_m29_4 ', 'Vz_closed_m29_6 ', 'Vz_closed_m29_8 ', 'Vz_closed_m30 ',
+//'Vz_open_m28 ', 'Vz_open_m28_2 ', 'Vz_open_m28_4 ', 'Vz_open_m28_6 ',
+//'Vz_open_m28_8 ', 'Vz_open_m29 ', 'Vz_open_m29_2 ', 'Vz_open_m29_4 ',
+//'Vz_open_m29_6 ', 'Vz_open_m29_8 ', 'Vz_open_m30 ']
+Boardcore::TrajectoryPoint t0_closed[] = {
+ Boardcore::TrajectoryPoint(0, 284.315896277823),
+ Boardcore::TrajectoryPoint(10, 283.657136638085),
+ Boardcore::TrajectoryPoint(20, 282.998894420936),
+ Boardcore::TrajectoryPoint(30, 282.341059367907),
+ Boardcore::TrajectoryPoint(40, 281.683846961779),
+ Boardcore::TrajectoryPoint(50, 281.027042895289),
+ Boardcore::TrajectoryPoint(60, 280.370603929448),
+ Boardcore::TrajectoryPoint(70, 279.714612785827),
+ Boardcore::TrajectoryPoint(80, 279.059095851672),
+ Boardcore::TrajectoryPoint(90, 278.403903618511),
+ Boardcore::TrajectoryPoint(100, 277.749031812961),
+ Boardcore::TrajectoryPoint(110, 277.094629517671),
+ Boardcore::TrajectoryPoint(120, 276.440542182417),
+ Boardcore::TrajectoryPoint(130, 275.786736231823),
+ Boardcore::TrajectoryPoint(140, 275.13324296661),
+ Boardcore::TrajectoryPoint(150, 274.480125618842),
+ Boardcore::TrajectoryPoint(160, 273.827252100818),
+ Boardcore::TrajectoryPoint(170, 273.174617286284),
+ Boardcore::TrajectoryPoint(180, 272.522280322407),
+ Boardcore::TrajectoryPoint(190, 271.870212071205),
+ Boardcore::TrajectoryPoint(200, 271.218346244894),
+ Boardcore::TrajectoryPoint(210, 270.566677219977),
+ Boardcore::TrajectoryPoint(220, 269.915266957568),
+ Boardcore::TrajectoryPoint(230, 269.264049974269),
+ Boardcore::TrajectoryPoint(240, 268.612994744106),
+ Boardcore::TrajectoryPoint(250, 267.962095260541),
+ Boardcore::TrajectoryPoint(260, 267.311401041706),
+ Boardcore::TrajectoryPoint(270, 266.660845782434),
+ Boardcore::TrajectoryPoint(280, 266.01041237918),
+ Boardcore::TrajectoryPoint(290, 265.360094526619),
+ Boardcore::TrajectoryPoint(300, 264.709922207644),
+ Boardcore::TrajectoryPoint(310, 264.059846713863),
+ Boardcore::TrajectoryPoint(320, 263.409853946844),
+ Boardcore::TrajectoryPoint(330, 262.759937363144),
+ Boardcore::TrajectoryPoint(340, 262.110107200449),
+ Boardcore::TrajectoryPoint(350, 261.460336367228),
+ Boardcore::TrajectoryPoint(360, 260.810609856933),
+ Boardcore::TrajectoryPoint(370, 260.160920930105),
+ Boardcore::TrajectoryPoint(380, 259.511265734895),
+ Boardcore::TrajectoryPoint(390, 258.861630567632),
+ Boardcore::TrajectoryPoint(400, 258.212001976562),
+ Boardcore::TrajectoryPoint(410, 257.562373053717),
+ Boardcore::TrajectoryPoint(420, 256.912736577593),
+ Boardcore::TrajectoryPoint(430, 256.263073452362),
+ Boardcore::TrajectoryPoint(440, 255.613379727048),
+ Boardcore::TrajectoryPoint(450, 254.963648341273),
+ Boardcore::TrajectoryPoint(460, 254.313872088462),
+ Boardcore::TrajectoryPoint(470, 253.664033799485),
+ Boardcore::TrajectoryPoint(480, 253.014116432877),
+ Boardcore::TrajectoryPoint(490, 252.364124555678),
+ Boardcore::TrajectoryPoint(500, 251.714050829791),
+ Boardcore::TrajectoryPoint(510, 251.063887792338),
+ Boardcore::TrajectoryPoint(520, 250.413605917498),
+ Boardcore::TrajectoryPoint(530, 249.763199241924),
+ Boardcore::TrajectoryPoint(540, 249.1126740975),
+ Boardcore::TrajectoryPoint(550, 248.462022895477),
+ Boardcore::TrajectoryPoint(560, 247.811237936783),
+ Boardcore::TrajectoryPoint(570, 247.160286595277),
+ Boardcore::TrajectoryPoint(580, 246.509159003947),
+ Boardcore::TrajectoryPoint(590, 245.857868838726),
+ Boardcore::TrajectoryPoint(600, 245.20640826949),
+ Boardcore::TrajectoryPoint(610, 244.55476936501),
+ Boardcore::TrajectoryPoint(620, 243.902935762905),
+ Boardcore::TrajectoryPoint(630, 243.250857982253),
+ Boardcore::TrajectoryPoint(640, 242.598573240974),
+ Boardcore::TrajectoryPoint(650, 241.94607346404),
+ Boardcore::TrajectoryPoint(660, 241.293350480597),
+ Boardcore::TrajectoryPoint(670, 240.640396026529),
+ Boardcore::TrajectoryPoint(680, 239.987176476231),
+ Boardcore::TrajectoryPoint(690, 239.333668632239),
+ Boardcore::TrajectoryPoint(700, 238.679900669253),
+ Boardcore::TrajectoryPoint(710, 238.025864161211),
+ Boardcore::TrajectoryPoint(720, 237.371550590239),
+ Boardcore::TrajectoryPoint(730, 236.716951348107),
+ Boardcore::TrajectoryPoint(740, 236.062046510818),
+ Boardcore::TrajectoryPoint(750, 235.406781086565),
+ Boardcore::TrajectoryPoint(760, 234.75120112924),
+ Boardcore::TrajectoryPoint(770, 234.095297844018),
+ Boardcore::TrajectoryPoint(780, 233.43906234454),
+ Boardcore::TrajectoryPoint(790, 232.782485653564),
+ Boardcore::TrajectoryPoint(800, 232.125558703452),
+ Boardcore::TrajectoryPoint(810, 231.468253785197),
+ Boardcore::TrajectoryPoint(820, 230.81052840441),
+ Boardcore::TrajectoryPoint(830, 230.152423378115),
+ Boardcore::TrajectoryPoint(840, 229.493929420176),
+ Boardcore::TrajectoryPoint(850, 228.835037150675),
+ Boardcore::TrajectoryPoint(860, 228.175737095877),
+ Boardcore::TrajectoryPoint(870, 227.516019688064),
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+ Boardcore::TrajectoryPoint(900, 225.534172176346),
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+ Boardcore::TrajectoryPoint(920, 224.210598026187),
+ Boardcore::TrajectoryPoint(930, 223.548100066883),
+ Boardcore::TrajectoryPoint(940, 222.885114725275),
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+ Boardcore::TrajectoryPoint(970, 220.893131698556),
+ Boardcore::TrajectoryPoint(980, 220.228093610079),
+ Boardcore::TrajectoryPoint(990, 219.562468926014),
+ Boardcore::TrajectoryPoint(1000, 218.896280825373),
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+ Boardcore::TrajectoryPoint(1030, 216.89430827531),
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+ Boardcore::TrajectoryPoint(1060, 214.886992294019),
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+ Boardcore::TrajectoryPoint(1890, 155.707421583945),
+ Boardcore::TrajectoryPoint(1900, 154.92737665108),
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+ Boardcore::TrajectoryPoint(1920, 153.360059310648),
+ Boardcore::TrajectoryPoint(1930, 152.572642814368),
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+ Boardcore::TrajectoryPoint(1950, 150.990334704067),
+ Boardcore::TrajectoryPoint(1960, 150.195178826866),
+ Boardcore::TrajectoryPoint(1970, 149.397526378543),
+ Boardcore::TrajectoryPoint(1980, 148.597036169432),
+ Boardcore::TrajectoryPoint(1990, 147.793753368498),
+ Boardcore::TrajectoryPoint(2000, 146.987854999535),
+ Boardcore::TrajectoryPoint(2010, 146.178881719645),
+ Boardcore::TrajectoryPoint(2020, 145.367063392798),
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+ Boardcore::TrajectoryPoint(2250, 125.748679454573),
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+ Boardcore::TrajectoryPoint(2980, 19.820548908405),
+ Boardcore::TrajectoryPoint(2990, 14.0063840180364),
+ Boardcore::TrajectoryPoint(3000, 0),
+};
+Boardcore::TrajectoryPoint t1_closed[] = {
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+ Boardcore::TrajectoryPoint(1560, 180.236785461927),
+ Boardcore::TrajectoryPoint(1570, 179.518484663873),
+ Boardcore::TrajectoryPoint(1580, 178.798774623333),
+ Boardcore::TrajectoryPoint(1590, 178.077635509369),
+ Boardcore::TrajectoryPoint(1600, 177.355047267178),
+ Boardcore::TrajectoryPoint(1610, 176.630989614891),
+ Boardcore::TrajectoryPoint(1620, 175.905442040298),
+ Boardcore::TrajectoryPoint(1630, 175.178383797516),
+ Boardcore::TrajectoryPoint(1640, 174.449763950264),
+ Boardcore::TrajectoryPoint(1650, 173.71944071251),
+ Boardcore::TrajectoryPoint(1660, 172.987535118261),
+ Boardcore::TrajectoryPoint(1670, 172.254025292992),
+ Boardcore::TrajectoryPoint(1680, 171.518889108541),
+ Boardcore::TrajectoryPoint(1690, 170.782104179302),
+ Boardcore::TrajectoryPoint(1700, 170.043647858342),
+ Boardcore::TrajectoryPoint(1710, 169.303281807751),
+ Boardcore::TrajectoryPoint(1720, 168.561178898615),
+ Boardcore::TrajectoryPoint(1730, 167.817325795918),
+ Boardcore::TrajectoryPoint(1740, 167.071698589387),
+ Boardcore::TrajectoryPoint(1750, 166.324273084035),
+ Boardcore::TrajectoryPoint(1760, 165.574837788051),
+ Boardcore::TrajectoryPoint(1770, 164.823463919881),
+ Boardcore::TrajectoryPoint(1780, 164.070207166241),
+ Boardcore::TrajectoryPoint(1790, 163.315041954496),
+ Boardcore::TrajectoryPoint(1800, 162.557916699708),
+ Boardcore::TrajectoryPoint(1810, 161.798540977602),
+ Boardcore::TrajectoryPoint(1820, 161.037167067354),
+ Boardcore::TrajectoryPoint(1830, 160.273767913655),
+ Boardcore::TrajectoryPoint(1840, 159.508316125945),
+ Boardcore::TrajectoryPoint(1850, 158.740444712451),
+ Boardcore::TrajectoryPoint(1860, 157.970434904033),
+ Boardcore::TrajectoryPoint(1870, 157.198275928269),
+ Boardcore::TrajectoryPoint(1880, 156.42386552803),
+ Boardcore::TrajectoryPoint(1890, 155.646917932632),
+ Boardcore::TrajectoryPoint(1900, 154.867719920544),
+ Boardcore::TrajectoryPoint(1910, 154.086241109456),
+ Boardcore::TrajectoryPoint(1920, 153.302133333267),
+ Boardcore::TrajectoryPoint(1930, 152.515547057091),
+ Boardcore::TrajectoryPoint(1940, 151.726572263282),
+ Boardcore::TrajectoryPoint(1950, 150.934935525983),
+ Boardcore::TrajectoryPoint(1960, 150.140593258269),
+ Boardcore::TrajectoryPoint(1970, 149.343749317507),
+ Boardcore::TrajectoryPoint(1980, 148.544112980687),
+ Boardcore::TrajectoryPoint(1990, 147.741627271745),
+ Boardcore::TrajectoryPoint(2000, 146.936520934375),
+ Boardcore::TrajectoryPoint(2010, 146.128383797904),
+ Boardcore::TrajectoryPoint(2020, 145.31734614102),
+ Boardcore::TrajectoryPoint(2030, 144.503562704621),
+ Boardcore::TrajectoryPoint(2040, 143.686390869216),
+ Boardcore::TrajectoryPoint(2050, 142.866370242708),
+ Boardcore::TrajectoryPoint(2060, 142.04317958661),
+ Boardcore::TrajectoryPoint(2070, 141.216696575636),
+ Boardcore::TrajectoryPoint(2080, 140.387214766293),
+ Boardcore::TrajectoryPoint(2090, 139.554034750198),
+ Boardcore::TrajectoryPoint(2100, 138.717776977277),
+ Boardcore::TrajectoryPoint(2110, 137.877854155022),
+ Boardcore::TrajectoryPoint(2120, 137.034548700806),
+ Boardcore::TrajectoryPoint(2130, 136.187599234431),
+ Boardcore::TrajectoryPoint(2140, 135.336986787808),
+ Boardcore::TrajectoryPoint(2150, 134.482688107372),
+ Boardcore::TrajectoryPoint(2160, 133.624498094645),
+ Boardcore::TrajectoryPoint(2170, 132.762511083891),
+ Boardcore::TrajectoryPoint(2180, 131.896461040971),
+ Boardcore::TrajectoryPoint(2190, 131.026429070939),
+ Boardcore::TrajectoryPoint(2200, 130.152223970377),
+ Boardcore::TrajectoryPoint(2210, 129.27377185851),
+ Boardcore::TrajectoryPoint(2220, 128.391103387724),
+ Boardcore::TrajectoryPoint(2230, 127.50383627625),
+ Boardcore::TrajectoryPoint(2240, 126.612382062968),
+ Boardcore::TrajectoryPoint(2250, 125.715884209715),
+ Boardcore::TrajectoryPoint(2260, 124.814983797781),
+ Boardcore::TrajectoryPoint(2270, 123.909140464379),
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+ Boardcore::TrajectoryPoint(2300, 121.161583483872),
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+ Boardcore::TrajectoryPoint(2330, 118.36643998519),
+ Boardcore::TrajectoryPoint(2340, 117.423509564287),
+ Boardcore::TrajectoryPoint(2350, 116.474924585601),
+ Boardcore::TrajectoryPoint(2360, 115.520144171044),
+ Boardcore::TrajectoryPoint(2370, 114.559195404559),
+ Boardcore::TrajectoryPoint(2380, 113.592089009915),
+ Boardcore::TrajectoryPoint(2390, 112.618639396301),
+ Boardcore::TrajectoryPoint(2400, 111.638359518615),
+ Boardcore::TrajectoryPoint(2410, 110.65120409129),
+ Boardcore::TrajectoryPoint(2420, 109.657130697347),
+ Boardcore::TrajectoryPoint(2430, 108.655925557365),
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+ Boardcore::TrajectoryPoint(2450, 106.631223008668),
+ Boardcore::TrajectoryPoint(2460, 105.607050775231),
+ Boardcore::TrajectoryPoint(2470, 104.574785672384),
+ Boardcore::TrajectoryPoint(2480, 103.534225883056),
+ Boardcore::TrajectoryPoint(2490, 102.485104103102),
+ Boardcore::TrajectoryPoint(2500, 101.427142162367),
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+ Boardcore::TrajectoryPoint(2570, 93.7479691218307),
+ Boardcore::TrajectoryPoint(2580, 92.6074329562977),
+ Boardcore::TrajectoryPoint(2590, 91.454845961716),
+ Boardcore::TrajectoryPoint(2600, 90.2898180349653),
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+ Boardcore::TrajectoryPoint(2640, 85.4943334905549),
+ Boardcore::TrajectoryPoint(2650, 84.2589320939856),
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+ Boardcore::TrajectoryPoint(2680, 80.4523744579834),
+ Boardcore::TrajectoryPoint(2690, 79.1478413316971),
+ Boardcore::TrajectoryPoint(2700, 77.823883184504),
+ Boardcore::TrajectoryPoint(2710, 76.4797673820869),
+ Boardcore::TrajectoryPoint(2720, 75.1137295697727),
+ Boardcore::TrajectoryPoint(2730, 73.7253727326438),
+ Boardcore::TrajectoryPoint(2740, 72.3131241444873),
+ Boardcore::TrajectoryPoint(2750, 70.8749633536065),
+ Boardcore::TrajectoryPoint(2760, 69.409930094528),
+ Boardcore::TrajectoryPoint(2770, 67.9161901964296),
+ Boardcore::TrajectoryPoint(2780, 66.3917432670327),
+ Boardcore::TrajectoryPoint(2790, 64.834403639181),
+ Boardcore::TrajectoryPoint(2800, 63.2417786271057),
+ Boardcore::TrajectoryPoint(2810, 61.6112436384967),
+ Boardcore::TrajectoryPoint(2820, 59.9392586764256),
+ Boardcore::TrajectoryPoint(2830, 58.2223585409897),
+ Boardcore::TrajectoryPoint(2840, 56.4573091608129),
+ Boardcore::TrajectoryPoint(2850, 54.637835090152),
+ Boardcore::TrajectoryPoint(2860, 52.7596792683806),
+ Boardcore::TrajectoryPoint(2870, 50.8160093694044),
+ Boardcore::TrajectoryPoint(2880, 48.7986964994659),
+ Boardcore::TrajectoryPoint(2890, 46.698230183666),
+ Boardcore::TrajectoryPoint(2900, 44.5034132810185),
+ Boardcore::TrajectoryPoint(2910, 42.198556643488),
+ Boardcore::TrajectoryPoint(2920, 39.7654903158481),
+ Boardcore::TrajectoryPoint(2930, 37.1784470751827),
+ Boardcore::TrajectoryPoint(2940, 34.4036800563088),
+ Boardcore::TrajectoryPoint(2950, 31.3898669960311),
+ Boardcore::TrajectoryPoint(2960, 28.0616015816888),
+ Boardcore::TrajectoryPoint(2970, 24.2884379061087),
+ Boardcore::TrajectoryPoint(2980, 19.8203902608101),
+ Boardcore::TrajectoryPoint(2990, 14.0063271188388),
+ Boardcore::TrajectoryPoint(3000, 0),
+};
+Boardcore::TrajectoryPoint t2_closed[] = {
+ Boardcore::TrajectoryPoint(0, 283.649384988986),
+ Boardcore::TrajectoryPoint(10, 282.994911393542),
+ Boardcore::TrajectoryPoint(20, 282.341195240687),
+ Boardcore::TrajectoryPoint(30, 281.688104072036),
+ Boardcore::TrajectoryPoint(40, 281.035377580461),
+ Boardcore::TrajectoryPoint(50, 280.383002174478),
+ Boardcore::TrajectoryPoint(60, 279.731080239009),
+ Boardcore::TrajectoryPoint(70, 279.079588074558),
+ Boardcore::TrajectoryPoint(80, 278.428407377806),
+ Boardcore::TrajectoryPoint(90, 277.7775338719),
+ Boardcore::TrajectoryPoint(100, 277.127128812364),
+ Boardcore::TrajectoryPoint(110, 276.477004039529),
+ Boardcore::TrajectoryPoint(120, 275.827148149359),
+ Boardcore::TrajectoryPoint(130, 275.177607765335),
+ Boardcore::TrajectoryPoint(140, 274.528406812309),
+ Boardcore::TrajectoryPoint(150, 273.879437869674),
+ Boardcore::TrajectoryPoint(160, 273.230695836887),
+ Boardcore::TrajectoryPoint(170, 272.582250035291),
+ Boardcore::TrajectoryPoint(180, 271.934043411965),
+ Boardcore::TrajectoryPoint(190, 271.286028057158),
+ Boardcore::TrajectoryPoint(200, 270.638198388327),
+ Boardcore::TrajectoryPoint(210, 269.990622697733),
+ Boardcore::TrajectoryPoint(220, 269.343216172314),
+ Boardcore::TrajectoryPoint(230, 268.695960877714),
+ Boardcore::TrajectoryPoint(240, 268.048850858818),
+ Boardcore::TrajectoryPoint(250, 267.401939123318),
+ Boardcore::TrajectoryPoint(260, 266.755146461372),
+ Boardcore::TrajectoryPoint(270, 266.108465735888),
+ Boardcore::TrajectoryPoint(280, 265.461890700038),
+ Boardcore::TrajectoryPoint(290, 264.815452745957),
+ Boardcore::TrajectoryPoint(300, 264.16909503595),
+ Boardcore::TrajectoryPoint(310, 263.522810704384),
+ Boardcore::TrajectoryPoint(320, 262.876593271018),
+ Boardcore::TrajectoryPoint(330, 262.230452872799),
+ Boardcore::TrajectoryPoint(340, 261.584357820466),
+ Boardcore::TrajectoryPoint(350, 260.938298283693),
+ Boardcore::TrajectoryPoint(360, 260.292267589333),
+ Boardcore::TrajectoryPoint(370, 259.64626069192),
+ Boardcore::TrajectoryPoint(380, 259.000261903186),
+ Boardcore::TrajectoryPoint(390, 258.354261396179),
+ Boardcore::TrajectoryPoint(400, 257.70825233135),
+ Boardcore::TrajectoryPoint(410, 257.062225493345),
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+ Boardcore::TrajectoryPoint(2010, 146.078623620156),
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+ Boardcore::TrajectoryPoint(2260, 124.78334091899),
+ Boardcore::TrajectoryPoint(2270, 123.878130315052),
+ Boardcore::TrajectoryPoint(2280, 122.96797992116),
+ Boardcore::TrajectoryPoint(2290, 122.053042096542),
+ Boardcore::TrajectoryPoint(2300, 121.132513952084),
+ Boardcore::TrajectoryPoint(2310, 120.20690300092),
+ Boardcore::TrajectoryPoint(2320, 119.276060500771),
+ Boardcore::TrajectoryPoint(2330, 118.339258283789),
+ Boardcore::TrajectoryPoint(2340, 117.396957049993),
+ Boardcore::TrajectoryPoint(2350, 116.448995175353),
+ Boardcore::TrajectoryPoint(2360, 115.494797317737),
+ Boardcore::TrajectoryPoint(2370, 114.534459490111),
+ Boardcore::TrajectoryPoint(2380, 113.567957887416),
+ Boardcore::TrajectoryPoint(2390, 112.595106887315),
+ Boardcore::TrajectoryPoint(2400, 111.615386955552),
+ Boardcore::TrajectoryPoint(2410, 110.628817909275),
+ Boardcore::TrajectoryPoint(2420, 109.635324663162),
+ Boardcore::TrajectoryPoint(2430, 108.634693410106),
+ Boardcore::TrajectoryPoint(2440, 107.626702039588),
+ Boardcore::TrajectoryPoint(2450, 106.611119747233),
+ Boardcore::TrajectoryPoint(2460, 105.587472979094),
+ Boardcore::TrajectoryPoint(2470, 104.555756838639),
+ Boardcore::TrajectoryPoint(2480, 103.515739656493),
+ Boardcore::TrajectoryPoint(2490, 102.467154106181),
+ Boardcore::TrajectoryPoint(2500, 101.40972199614),
+ Boardcore::TrajectoryPoint(2510, 100.343153727295),
+ Boardcore::TrajectoryPoint(2520, 99.267147717322),
+ Boardcore::TrajectoryPoint(2530, 98.1813897892136),
+ Boardcore::TrajectoryPoint(2540, 97.0855525215816),
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+ Boardcore::TrajectoryPoint(2560, 94.862259871597),
+ Boardcore::TrajectoryPoint(2570, 93.7340769838915),
+ Boardcore::TrajectoryPoint(2580, 92.5940420479439),
+ Boardcore::TrajectoryPoint(2590, 91.4419257970673),
+ Boardcore::TrajectoryPoint(2600, 90.2773620253158),
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+ Boardcore::TrajectoryPoint(2620, 87.9090807682223),
+ Boardcore::TrajectoryPoint(2630, 86.703639582049),
+ Boardcore::TrajectoryPoint(2640, 85.4836877589105),
+ Boardcore::TrajectoryPoint(2650, 84.2487165934542),
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+ Boardcore::TrajectoryPoint(2730, 73.718428396807),
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+ Boardcore::TrajectoryPoint(2750, 70.8687561269087),
+ Boardcore::TrajectoryPoint(2760, 69.404086729303),
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+ Boardcore::TrajectoryPoint(2800, 63.2373060846146),
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+ Boardcore::TrajectoryPoint(2870, 50.8136268064579),
+ Boardcore::TrajectoryPoint(2880, 48.7965756332132),
+ Boardcore::TrajectoryPoint(2890, 46.6963599599857),
+ Boardcore::TrajectoryPoint(2900, 44.5017824251479),
+ Boardcore::TrajectoryPoint(2910, 42.1971590671598),
+ Boardcore::TrajectoryPoint(2920, 39.7643128994952),
+ Boardcore::TrajectoryPoint(2930, 37.1774762153787),
+ Boardcore::TrajectoryPoint(2940, 34.4029053974381),
+ Boardcore::TrajectoryPoint(2950, 31.3892724260696),
+ Boardcore::TrajectoryPoint(2960, 28.0611700533797),
+ Boardcore::TrajectoryPoint(2970, 24.2881548232795),
+ Boardcore::TrajectoryPoint(2980, 19.8202338495918),
+ Boardcore::TrajectoryPoint(2990, 14.0062710213803),
+ Boardcore::TrajectoryPoint(3000, 0),
+};
+Boardcore::TrajectoryPoint t3_closed[] = {
+ Boardcore::TrajectoryPoint(0, 283.323943384102),
+ Boardcore::TrajectoryPoint(10, 282.671680179665),
+ Boardcore::TrajectoryPoint(20, 282.02029630144),
+ Boardcore::TrajectoryPoint(30, 281.369392109533),
+ Boardcore::TrajectoryPoint(40, 280.718833956169),
+ Boardcore::TrajectoryPoint(50, 280.068627373899),
+ Boardcore::TrajectoryPoint(60, 279.418951581266),
+ Boardcore::TrajectoryPoint(70, 278.769582733232),
+ Boardcore::TrajectoryPoint(80, 278.120516856145),
+ Boardcore::TrajectoryPoint(90, 277.471838277135),
+ Boardcore::TrajectoryPoint(100, 276.823520672995),
+ Boardcore::TrajectoryPoint(110, 276.17546817989),
+ Boardcore::TrajectoryPoint(120, 275.527676074667),
+ Boardcore::TrajectoryPoint(130, 274.880263306644),
+ Boardcore::TrajectoryPoint(140, 274.233094147641),
+ Boardcore::TrajectoryPoint(150, 273.586148774706),
+ Boardcore::TrajectoryPoint(160, 272.93944577566),
+ Boardcore::TrajectoryPoint(170, 272.293035889894),
+ Boardcore::TrajectoryPoint(180, 271.646814504047),
+ Boardcore::TrajectoryPoint(190, 271.00077624342),
+ Boardcore::TrajectoryPoint(200, 270.354952028172),
+ Boardcore::TrajectoryPoint(210, 269.709337278581),
+ Boardcore::TrajectoryPoint(220, 269.063871510877),
+ Boardcore::TrajectoryPoint(230, 268.418548952147),
+ Boardcore::TrajectoryPoint(240, 267.77339667026),
+ Boardcore::TrajectoryPoint(250, 267.128392099267),
+ Boardcore::TrajectoryPoint(260, 266.483497675319),
+ Boardcore::TrajectoryPoint(270, 265.838707312672),
+ Boardcore::TrajectoryPoint(280, 265.194036204775),
+ Boardcore::TrajectoryPoint(290, 264.549464045037),
+ Boardcore::TrajectoryPoint(300, 263.904963885677),
+ Boardcore::TrajectoryPoint(310, 263.260529390275),
+ Boardcore::TrajectoryPoint(320, 262.616162745962),
+ Boardcore::TrajectoryPoint(330, 261.971851746245),
+ Boardcore::TrajectoryPoint(340, 261.327575257385),
+ Boardcore::TrajectoryPoint(350, 260.683326736079),
+ Boardcore::TrajectoryPoint(360, 260.03910010902),
+ Boardcore::TrajectoryPoint(370, 259.394884843666),
+ Boardcore::TrajectoryPoint(380, 258.75066719933),
+ Boardcore::TrajectoryPoint(390, 258.106440455141),
+ Boardcore::TrajectoryPoint(400, 257.462197725739),
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+ Boardcore::TrajectoryPoint(420, 256.173601708375),
+ Boardcore::TrajectoryPoint(430, 255.529237513881),
+ Boardcore::TrajectoryPoint(440, 254.884820666396),
+ Boardcore::TrajectoryPoint(450, 254.24033879215),
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+ Boardcore::TrajectoryPoint(650, 241.322341911507),
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+ Boardcore::TrajectoryPoint(1000, 218.425756693098),
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+ Boardcore::TrajectoryPoint(1990, 147.639644549623),
+ Boardcore::TrajectoryPoint(2000, 146.83608684188),
+ Boardcore::TrajectoryPoint(2010, 146.029585151894),
+ Boardcore::TrajectoryPoint(2020, 145.220073945163),
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+ Boardcore::TrajectoryPoint(2980, 19.8200796277919),
+ Boardcore::TrajectoryPoint(2990, 14.006215708834),
+ Boardcore::TrajectoryPoint(3000, 0),
+};
+Boardcore::TrajectoryPoint t4_closed[] = {
+ Boardcore::TrajectoryPoint(0, 283.003553469561),
+ Boardcore::TrajectoryPoint(10, 282.353555591389),
+ Boardcore::TrajectoryPoint(20, 281.70444652695),
+ Boardcore::TrajectoryPoint(30, 281.055683689494),
+ Boardcore::TrajectoryPoint(40, 280.407258429892),
+ Boardcore::TrajectoryPoint(50, 279.759285956937),
+ Boardcore::TrajectoryPoint(60, 279.111707190549),
+ Boardcore::TrajectoryPoint(70, 278.464427144128),
+ Boardcore::TrajectoryPoint(80, 277.817450410364),
+ Boardcore::TrajectoryPoint(90, 277.170918378452),
+ Boardcore::TrajectoryPoint(100, 276.524647661508),
+ Boardcore::TrajectoryPoint(110, 275.87863380368),
+ Boardcore::TrajectoryPoint(120, 275.232933636971),
+ Boardcore::TrajectoryPoint(130, 274.587542817388),
+ Boardcore::TrajectoryPoint(140, 273.942372646977),
+ Boardcore::TrajectoryPoint(150, 273.297418060898),
+ Boardcore::TrajectoryPoint(160, 272.652754467729),
+ Boardcore::TrajectoryPoint(170, 272.008305773643),
+ Boardcore::TrajectoryPoint(180, 271.36403764009),
+ Boardcore::TrajectoryPoint(190, 270.719944533063),
+ Boardcore::TrajectoryPoint(200, 270.076097835558),
+ Boardcore::TrajectoryPoint(210, 269.432400494937),
+ Boardcore::TrajectoryPoint(220, 268.788844299988),
+ Boardcore::TrajectoryPoint(230, 268.145429010288),
+ Boardcore::TrajectoryPoint(240, 267.502191608432),
+ Boardcore::TrajectoryPoint(250, 266.859062570212),
+ Boardcore::TrajectoryPoint(260, 266.216035974174),
+ Boardcore::TrajectoryPoint(270, 265.573109740895),
+ Boardcore::TrajectoryPoint(280, 264.930302392008),
+ Boardcore::TrajectoryPoint(290, 264.287565676426),
+ Boardcore::TrajectoryPoint(300, 263.644893404195),
+ Boardcore::TrajectoryPoint(310, 263.002279161585),
+ Boardcore::TrajectoryPoint(320, 262.359731493167),
+ Boardcore::TrajectoryPoint(330, 261.717217511716),
+ Boardcore::TrajectoryPoint(340, 261.074730639827),
+ Boardcore::TrajectoryPoint(350, 260.432264273169),
+ Boardcore::TrajectoryPoint(360, 259.789811070763),
+ Boardcore::TrajectoryPoint(370, 259.147355934579),
+ Boardcore::TrajectoryPoint(380, 258.504891175559),
+ Boardcore::TrajectoryPoint(390, 257.862410024444),
+ Boardcore::TrajectoryPoint(400, 257.219900488715),
+ Boardcore::TrajectoryPoint(410, 256.577345319221),
+ Boardcore::TrajectoryPoint(420, 255.934744315076),
+ Boardcore::TrajectoryPoint(430, 255.292090557166),
+ Boardcore::TrajectoryPoint(440, 254.649376986224),
+ Boardcore::TrajectoryPoint(450, 254.006573130353),
+ Boardcore::TrajectoryPoint(460, 253.363681763672),
+ Boardcore::TrajectoryPoint(470, 252.720701716302),
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+ Boardcore::TrajectoryPoint(490, 251.434446701433),
+ Boardcore::TrajectoryPoint(500, 250.791114444396),
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+ Boardcore::TrajectoryPoint(550, 247.572389089514),
+ Boardcore::TrajectoryPoint(560, 246.928141524884),
+ Boardcore::TrajectoryPoint(570, 246.28371926802),
+ Boardcore::TrajectoryPoint(580, 245.63911464834),
+ Boardcore::TrajectoryPoint(590, 244.99431989753),
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+ Boardcore::TrajectoryPoint(610, 243.704023830753),
+ Boardcore::TrajectoryPoint(620, 243.05854344275),
+ Boardcore::TrajectoryPoint(630, 242.412837066885),
+ Boardcore::TrajectoryPoint(640, 241.76689670034),
+ Boardcore::TrajectoryPoint(650, 241.120712419571),
+ Boardcore::TrajectoryPoint(660, 240.474212646564),
+ Boardcore::TrajectoryPoint(670, 239.827450965802),
+ Boardcore::TrajectoryPoint(680, 239.180419215729),
+ Boardcore::TrajectoryPoint(690, 238.533109144221),
+ Boardcore::TrajectoryPoint(700, 237.885512410192),
+ Boardcore::TrajectoryPoint(710, 237.23762058497),
+ Boardcore::TrajectoryPoint(720, 236.589359764525),
+ Boardcore::TrajectoryPoint(730, 235.940778632156),
+ Boardcore::TrajectoryPoint(740, 235.291874203266),
+ Boardcore::TrajectoryPoint(750, 234.642637866695),
+ Boardcore::TrajectoryPoint(760, 233.993060922544),
+ Boardcore::TrajectoryPoint(770, 233.343134582795),
+ Boardcore::TrajectoryPoint(780, 232.692835079068),
+ Boardcore::TrajectoryPoint(790, 232.04211001394),
+ Boardcore::TrajectoryPoint(800, 231.391006950357),
+ Boardcore::TrajectoryPoint(810, 230.739516890557),
+ Boardcore::TrajectoryPoint(820, 230.087630745773),
+ Boardcore::TrajectoryPoint(830, 229.435339336306),
+ Boardcore::TrajectoryPoint(840, 228.782633391468),
+ Boardcore::TrajectoryPoint(850, 228.129503549421),
+ Boardcore::TrajectoryPoint(860, 227.475896523684),
+ Boardcore::TrajectoryPoint(870, 226.821818499148),
+ Boardcore::TrajectoryPoint(880, 226.167287105672),
+ Boardcore::TrajectoryPoint(890, 225.512292734126),
+ Boardcore::TrajectoryPoint(900, 224.856825679618),
+ Boardcore::TrajectoryPoint(910, 224.200876140985),
+ Boardcore::TrajectoryPoint(920, 223.544434220207),
+ Boardcore::TrajectoryPoint(930, 222.887489921754),
+ Boardcore::TrajectoryPoint(940, 222.230033151859),
+ Boardcore::TrajectoryPoint(950, 221.572015583163),
+ Boardcore::TrajectoryPoint(960, 220.913438155265),
+ Boardcore::TrajectoryPoint(970, 220.254317443184),
+ Boardcore::TrajectoryPoint(980, 219.594643060165),
+ Boardcore::TrajectoryPoint(990, 218.934404515419),
+ Boardcore::TrajectoryPoint(1000, 218.273591213188),
+ Boardcore::TrajectoryPoint(1010, 217.61219245177),
+ Boardcore::TrajectoryPoint(1020, 216.950197422478),
+ Boardcore::TrajectoryPoint(1030, 216.287595208578),
+ Boardcore::TrajectoryPoint(1040, 215.624374784165),
+ Boardcore::TrajectoryPoint(1050, 214.960525013013),
+ Boardcore::TrajectoryPoint(1060, 214.296034647379),
+ Boardcore::TrajectoryPoint(1070, 213.630871517951),
+ Boardcore::TrajectoryPoint(1080, 212.965017611917),
+ Boardcore::TrajectoryPoint(1090, 212.298489906365),
+ Boardcore::TrajectoryPoint(1100, 211.631276796187),
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+ Boardcore::TrajectoryPoint(1170, 206.940593679572),
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+ Boardcore::TrajectoryPoint(1190, 205.593541110354),
+ Boardcore::TrajectoryPoint(1200, 204.918808964566),
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+ Boardcore::TrajectoryPoint(1250, 201.53256617934),
+ Boardcore::TrajectoryPoint(1260, 200.852707453908),
+ Boardcore::TrajectoryPoint(1270, 200.171946765919),
+ Boardcore::TrajectoryPoint(1280, 199.490270154636),
+ Boardcore::TrajectoryPoint(1290, 198.807663512838),
+ Boardcore::TrajectoryPoint(1300, 198.124112584987),
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+ Boardcore::TrajectoryPoint(1330, 196.067649265834),
+ Boardcore::TrajectoryPoint(1340, 195.380175606492),
+ Boardcore::TrajectoryPoint(1350, 194.691684092639),
+ Boardcore::TrajectoryPoint(1360, 194.002159538789),
+ Boardcore::TrajectoryPoint(1370, 193.311586597493),
+ Boardcore::TrajectoryPoint(1380, 192.619949757266),
+ Boardcore::TrajectoryPoint(1390, 191.927233340475),
+ Boardcore::TrajectoryPoint(1400, 191.233421501191),
+ Boardcore::TrajectoryPoint(1410, 190.538498223009),
+ Boardcore::TrajectoryPoint(1420, 189.842447316826),
+ Boardcore::TrajectoryPoint(1430, 189.145252418589),
+ Boardcore::TrajectoryPoint(1440, 188.446896986995),
+ Boardcore::TrajectoryPoint(1450, 187.747364301159),
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+ Boardcore::TrajectoryPoint(1500, 184.23116922782),
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+ Boardcore::TrajectoryPoint(1800, 162.35827921585),
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+ Boardcore::TrajectoryPoint(1880, 156.245036806494),
+ Boardcore::TrajectoryPoint(1890, 155.47065566823),
+ Boardcore::TrajectoryPoint(1900, 154.69392281474),
+ Boardcore::TrajectoryPoint(1910, 153.914894110974),
+ Boardcore::TrajectoryPoint(1920, 153.133375453359),
+ Boardcore::TrajectoryPoint(1930, 152.349205835247),
+ Boardcore::TrajectoryPoint(1940, 151.562632767703),
+ Boardcore::TrajectoryPoint(1950, 150.773534185399),
+ Boardcore::TrajectoryPoint(1960, 149.981560334631),
+ Boardcore::TrajectoryPoint(1970, 149.187069998669),
+ Boardcore::TrajectoryPoint(1980, 148.38992052277),
+ Boardcore::TrajectoryPoint(1990, 147.589755257652),
+ Boardcore::TrajectoryPoint(2000, 146.786954671346),
+ Boardcore::TrajectoryPoint(2010, 145.981252819485),
+ Boardcore::TrajectoryPoint(2020, 145.172487907851),
+ Boardcore::TrajectoryPoint(2030, 144.360962642657),
+ Boardcore::TrajectoryPoint(2040, 143.546174276512),
+ Boardcore::TrajectoryPoint(2050, 142.728378975948),
+ Boardcore::TrajectoryPoint(2060, 141.907538073647),
+ Boardcore::TrajectoryPoint(2070, 141.083247631909),
+ Boardcore::TrajectoryPoint(2080, 140.255967094805),
+ Boardcore::TrajectoryPoint(2090, 139.425061515319),
+ Boardcore::TrajectoryPoint(2100, 138.590949343057),
+ Boardcore::TrajectoryPoint(2110, 137.753289895611),
+ Boardcore::TrajectoryPoint(2120, 136.912097549172),
+ Boardcore::TrajectoryPoint(2130, 136.067377118832),
+ Boardcore::TrajectoryPoint(2140, 135.218845385306),
+ Boardcore::TrajectoryPoint(2150, 134.366741224796),
+ Boardcore::TrajectoryPoint(2160, 133.510599631),
+ Boardcore::TrajectoryPoint(2170, 132.650772461928),
+ Boardcore::TrajectoryPoint(2180, 131.78673864621),
+ Boardcore::TrajectoryPoint(2190, 130.918831691563),
+ Boardcore::TrajectoryPoint(2200, 130.046610730485),
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+ Boardcore::TrajectoryPoint(2220, 128.289532358958),
+ Boardcore::TrajectoryPoint(2230, 127.404320217336),
+ Boardcore::TrajectoryPoint(2240, 126.514786284946),
+ Boardcore::TrajectoryPoint(2250, 125.620308205614),
+ Boardcore::TrajectoryPoint(2260, 124.721410287016),
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+ Boardcore::TrajectoryPoint(2490, 102.432016514637),
+ Boardcore::TrajectoryPoint(2500, 101.375621298234),
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+ Boardcore::TrajectoryPoint(2750, 70.8566028065025),
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+ Boardcore::TrajectoryPoint(2800, 63.2285488049668),
+ Boardcore::TrajectoryPoint(2810, 61.5989637281851),
+ Boardcore::TrajectoryPoint(2820, 59.9279340518673),
+ Boardcore::TrajectoryPoint(2830, 58.211929556346),
+ Boardcore::TrajectoryPoint(2840, 56.4477775502365),
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+ Boardcore::TrajectoryPoint(2860, 52.7518252261055),
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+ Boardcore::TrajectoryPoint(2890, 46.6926977792784),
+ Boardcore::TrajectoryPoint(2900, 44.4985889356846),
+ Boardcore::TrajectoryPoint(2910, 42.1944223568009),
+ Boardcore::TrajectoryPoint(2920, 39.7620072840045),
+ Boardcore::TrajectoryPoint(2930, 37.1755750627816),
+ Boardcore::TrajectoryPoint(2940, 34.4013884363771),
+ Boardcore::TrajectoryPoint(2950, 31.3881081109143),
+ Boardcore::TrajectoryPoint(2960, 28.060325006648),
+ Boardcore::TrajectoryPoint(2970, 24.2876004674963),
+ Boardcore::TrajectoryPoint(2980, 19.8199275497618),
+ Boardcore::TrajectoryPoint(2990, 14.0061611648416),
+ Boardcore::TrajectoryPoint(3000, 0),
+};
+Boardcore::TrajectoryPoint t5_closed[] = {
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+ Boardcore::TrajectoryPoint(700, 237.694345506931),
+ Boardcore::TrajectoryPoint(710, 237.047888723573),
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+ Boardcore::TrajectoryPoint(730, 235.753970621492),
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+ Boardcore::TrajectoryPoint(750, 234.458734168877),
+ Boardcore::TrajectoryPoint(760, 233.810599981501),
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+ Boardcore::TrajectoryPoint(780, 232.513188786418),
+ Boardcore::TrajectoryPoint(790, 231.863885743308),
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+ Boardcore::TrajectoryPoint(810, 230.564118176969),
+ Boardcore::TrajectoryPoint(820, 229.913635573288),
+ Boardcore::TrajectoryPoint(830, 229.262741551834),
+ Boardcore::TrajectoryPoint(840, 228.61142684658),
+ Boardcore::TrajectoryPoint(850, 227.959654340088),
+ Boardcore::TrajectoryPoint(860, 227.307397564079),
+ Boardcore::TrajectoryPoint(870, 226.654690872682),
+ Boardcore::TrajectoryPoint(880, 226.001524756313),
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+ Boardcore::TrajectoryPoint(900, 224.693775735714),
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+ Boardcore::TrajectoryPoint(920, 223.384072520111),
+ Boardcore::TrajectoryPoint(930, 222.728463298212),
+ Boardcore::TrajectoryPoint(940, 222.072304012881),
+ Boardcore::TrajectoryPoint(950, 221.415581504805),
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+ Boardcore::TrajectoryPoint(980, 219.442139059013),
+ Boardcore::TrajectoryPoint(990, 218.783198667372),
+ Boardcore::TrajectoryPoint(1000, 218.12367759314),
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+ Boardcore::TrajectoryPoint(1800, 162.293641137946),
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+ Boardcore::TrajectoryPoint(1890, 155.413588431841),
+ Boardcore::TrajectoryPoint(1900, 154.637653024706),
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+ Boardcore::TrajectoryPoint(1920, 153.078736252996),
+ Boardcore::TrajectoryPoint(1930, 152.295348427377),
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+ Boardcore::TrajectoryPoint(1950, 150.721275271418),
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+ Boardcore::TrajectoryPoint(1970, 149.136338748685),
+ Boardcore::TrajectoryPoint(1980, 148.339994206518),
+ Boardcore::TrajectoryPoint(1990, 147.540579677946),
+ Boardcore::TrajectoryPoint(2000, 146.738525086994),
+ Boardcore::TrajectoryPoint(2010, 145.933611493748),
+ Boardcore::TrajectoryPoint(2020, 145.125581921281),
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+ Boardcore::TrajectoryPoint(2060, 141.863614864037),
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+ Boardcore::TrajectoryPoint(2080, 140.213458152458),
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+ Boardcore::TrajectoryPoint(2100, 138.549878408347),
+ Boardcore::TrajectoryPoint(2110, 137.712951636674),
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+ Boardcore::TrajectoryPoint(2160, 133.473713395554),
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+ Boardcore::TrajectoryPoint(2750, 70.8506530766122),
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+ Boardcore::TrajectoryPoint(2800, 63.2242614574802),
+ Boardcore::TrajectoryPoint(2810, 61.5949841717916),
+ Boardcore::TrajectoryPoint(2820, 59.92426404059),
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+ Boardcore::TrajectoryPoint(2890, 46.6909047380368),
+ Boardcore::TrajectoryPoint(2900, 44.4970253573919),
+ Boardcore::TrajectoryPoint(2910, 42.1930824137896),
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+ Boardcore::TrajectoryPoint(2930, 37.1746442088724),
+ Boardcore::TrajectoryPoint(2940, 34.4006456868008),
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+ Boardcore::TrajectoryPoint(2980, 19.8197775711084),
+ Boardcore::TrajectoryPoint(2990, 14.0061073734936),
+ Boardcore::TrajectoryPoint(3000, 0),
+};
+Boardcore::TrajectoryPoint t6_closed[] = {
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+ Boardcore::TrajectoryPoint(130, 274.015553061824),
+ Boardcore::TrajectoryPoint(140, 273.374285246271),
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+ Boardcore::TrajectoryPoint(1420, 189.642040735477),
+ Boardcore::TrajectoryPoint(1430, 188.9469240252),
+ Boardcore::TrajectoryPoint(1440, 188.250635987094),
+ Boardcore::TrajectoryPoint(1450, 187.55315992525),
+ Boardcore::TrajectoryPoint(1460, 186.854478961952),
+ Boardcore::TrajectoryPoint(1470, 186.154576035257),
+ Boardcore::TrajectoryPoint(1480, 185.453433896533),
+ Boardcore::TrajectoryPoint(1490, 184.750974236521),
+ Boardcore::TrajectoryPoint(1500, 184.047207447442),
+ Boardcore::TrajectoryPoint(1510, 183.34214273172),
+ Boardcore::TrajectoryPoint(1520, 182.635761939682),
+ Boardcore::TrajectoryPoint(1530, 181.928046720425),
+ Boardcore::TrajectoryPoint(1540, 181.218978519023),
+ Boardcore::TrajectoryPoint(1550, 180.508538573699),
+ Boardcore::TrajectoryPoint(1560, 179.796707912927),
+ Boardcore::TrajectoryPoint(1570, 179.083467352492),
+ Boardcore::TrajectoryPoint(1580, 178.368797492488),
+ Boardcore::TrajectoryPoint(1590, 177.652568566211),
+ Boardcore::TrajectoryPoint(1600, 176.934828868062),
+ Boardcore::TrajectoryPoint(1610, 176.215593098412),
+ Boardcore::TrajectoryPoint(1620, 175.494840816753),
+ Boardcore::TrajectoryPoint(1630, 174.772551348991),
+ Boardcore::TrajectoryPoint(1640, 174.04870378403),
+ Boardcore::TrajectoryPoint(1650, 173.323276970286),
+ Boardcore::TrajectoryPoint(1660, 172.59614061578),
+ Boardcore::TrajectoryPoint(1670, 171.867290177862),
+ Boardcore::TrajectoryPoint(1680, 171.13678717253),
+ Boardcore::TrajectoryPoint(1690, 170.404609287296),
+ Boardcore::TrajectoryPoint(1700, 169.670733948302),
+ Boardcore::TrajectoryPoint(1710, 168.935138316339),
+ Boardcore::TrajectoryPoint(1720, 168.197631221289),
+ Boardcore::TrajectoryPoint(1730, 167.458276875386),
+ Boardcore::TrajectoryPoint(1740, 166.71712261378),
+ Boardcore::TrajectoryPoint(1750, 165.974144315084),
+ Boardcore::TrajectoryPoint(1760, 165.229317568602),
+ Boardcore::TrajectoryPoint(1770, 164.482428077796),
+ Boardcore::TrajectoryPoint(1780, 163.733536936318),
+ Boardcore::TrajectoryPoint(1790, 162.98271185635),
+ Boardcore::TrajectoryPoint(1800, 162.229927027745),
+ Boardcore::TrajectoryPoint(1810, 161.475086193017),
+ Boardcore::TrajectoryPoint(1820, 160.717971324171),
+ Boardcore::TrajectoryPoint(1830, 159.958805994262),
+ Boardcore::TrajectoryPoint(1840, 159.197562885988),
+ Boardcore::TrajectoryPoint(1850, 158.434140231948),
+ Boardcore::TrajectoryPoint(1860, 157.668283702024),
+ Boardcore::TrajectoryPoint(1870, 156.90025305277),
+ Boardcore::TrajectoryPoint(1880, 156.130019340481),
+ Boardcore::TrajectoryPoint(1890, 155.357334603062),
+ Boardcore::TrajectoryPoint(1900, 154.582184949424),
+ Boardcore::TrajectoryPoint(1910, 153.804729811455),
+ Boardcore::TrajectoryPoint(1920, 153.024875080484),
+ Boardcore::TrajectoryPoint(1930, 152.242257601043),
+ Boardcore::TrajectoryPoint(1940, 151.457227113734),
+ Boardcore::TrajectoryPoint(1950, 150.669751436109),
+ Boardcore::TrajectoryPoint(1960, 149.879307133657),
+ Boardcore::TrajectoryPoint(1970, 149.086328556871),
+ Boardcore::TrajectoryPoint(1980, 148.290777368625),
+ Boardcore::TrajectoryPoint(1990, 147.492102618348),
+ Boardcore::TrajectoryPoint(2000, 146.69078313964),
+ Boardcore::TrajectoryPoint(2010, 145.886646474227),
+ Boardcore::TrajectoryPoint(2020, 145.079341524037),
+ Boardcore::TrajectoryPoint(2030, 144.269266888089),
+ Boardcore::TrajectoryPoint(2040, 143.456010456344),
+ Boardcore::TrajectoryPoint(2050, 142.639644740355),
+ Boardcore::TrajectoryPoint(2060, 141.820314124543),
+ Boardcore::TrajectoryPoint(2070, 140.997432278622),
+ Boardcore::TrajectoryPoint(2080, 140.171551127594),
+ Boardcore::TrajectoryPoint(2090, 139.342122317608),
+ Boardcore::TrajectoryPoint(2100, 138.509388648927),
+ Boardcore::TrajectoryPoint(2110, 137.67318405093),
+ Boardcore::TrajectoryPoint(2120, 136.833349385745),
+ Boardcore::TrajectoryPoint(2130, 135.990061761876),
+ Boardcore::TrajectoryPoint(2140, 135.142866949135),
+ Boardcore::TrajectoryPoint(2150, 134.292173439453),
+ Boardcore::TrajectoryPoint(2160, 133.437348069251),
+ Boardcore::TrajectoryPoint(2170, 132.578909292209),
+ Boardcore::TrajectoryPoint(2180, 131.716171067356),
+ Boardcore::TrajectoryPoint(2190, 130.849630151594),
+ Boardcore::TrajectoryPoint(2200, 129.978684214076),
+ Boardcore::TrajectoryPoint(2210, 129.103665755846),
+ Boardcore::TrajectoryPoint(2220, 128.22420396456),
+ Boardcore::TrajectoryPoint(2230, 127.340312904556),
+ Boardcore::TrajectoryPoint(2240, 126.452013060314),
+ Boardcore::TrajectoryPoint(2250, 125.558833473067),
+ Boardcore::TrajectoryPoint(2260, 124.661222945621),
+ Boardcore::TrajectoryPoint(2270, 123.758452274799),
+ Boardcore::TrajectoryPoint(2280, 122.850868293351),
+ Boardcore::TrajectoryPoint(2290, 121.93835475843),
+ Boardcore::TrajectoryPoint(2300, 121.020321194971),
+ Boardcore::TrajectoryPoint(2310, 120.09720735367),
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+ Boardcore::TrajectoryPoint(2330, 118.234347550413),
+ Boardcore::TrajectoryPoint(2340, 117.294473599272),
+ Boardcore::TrajectoryPoint(2350, 116.348915566553),
+ Boardcore::TrajectoryPoint(2360, 115.396964591081),
+ Boardcore::TrajectoryPoint(2370, 114.438983756115),
+ Boardcore::TrajectoryPoint(2380, 113.474815459909),
+ Boardcore::TrajectoryPoint(2390, 112.504273959156),
+ Boardcore::TrajectoryPoint(2400, 111.526713885517),
+ Boardcore::TrajectoryPoint(2410, 110.542407227548),
+ Boardcore::TrajectoryPoint(2420, 109.551152351413),
+ Boardcore::TrajectoryPoint(2430, 108.552735343528),
+ Boardcore::TrajectoryPoint(2440, 107.546933991046),
+ Boardcore::TrajectoryPoint(2450, 106.533427194834),
+ Boardcore::TrajectoryPoint(2460, 105.511897745933),
+ Boardcore::TrajectoryPoint(2470, 104.482299828864),
+ Boardcore::TrajectoryPoint(2480, 103.444376381108),
+ Boardcore::TrajectoryPoint(2490, 102.397859989983),
+ Boardcore::TrajectoryPoint(2500, 101.342472381222),
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+ Boardcore::TrajectoryPoint(2540, 97.0262327955751),
+ Boardcore::TrajectoryPoint(2550, 95.9218949187366),
+ Boardcore::TrajectoryPoint(2560, 94.8067552333213),
+ Boardcore::TrajectoryPoint(2570, 93.6804421997382),
+ Boardcore::TrajectoryPoint(2580, 92.5423419042986),
+ Boardcore::TrajectoryPoint(2590, 91.3920424375281),
+ Boardcore::TrajectoryPoint(2600, 90.2292700561331),
+ Boardcore::TrajectoryPoint(2610, 89.053577067376),
+ Boardcore::TrajectoryPoint(2620, 87.864495208734),
+ Boardcore::TrajectoryPoint(2630, 86.6608485294924),
+ Boardcore::TrajectoryPoint(2640, 85.4425830100526),
+ Boardcore::TrajectoryPoint(2650, 84.2092724673295),
+ Boardcore::TrajectoryPoint(2660, 82.9594138936855),
+ Boardcore::TrajectoryPoint(2670, 81.6930096727817),
+ Boardcore::TrajectoryPoint(2680, 80.4089645200063),
+ Boardcore::TrajectoryPoint(2690, 79.1063837064905),
+ Boardcore::TrajectoryPoint(2700, 77.7844275979076),
+ Boardcore::TrajectoryPoint(2710, 76.4421940640638),
+ Boardcore::TrajectoryPoint(2720, 75.0780822143066),
+ Boardcore::TrajectoryPoint(2730, 73.6916121415514),
+ Boardcore::TrajectoryPoint(2740, 72.2811374207778),
+ Boardcore::TrajectoryPoint(2750, 70.8447856266089),
+ Boardcore::TrajectoryPoint(2760, 69.381521066633),
+ Boardcore::TrajectoryPoint(2770, 67.8895091534803),
+ Boardcore::TrajectoryPoint(2780, 66.3667490923357),
+ Boardcore::TrajectoryPoint(2790, 64.8110548263072),
+ Boardcore::TrajectoryPoint(2800, 63.2200332913812),
+ Boardcore::TrajectoryPoint(2810, 61.5910595270727),
+ Boardcore::TrajectoryPoint(2820, 59.9206446530573),
+ Boardcore::TrajectoryPoint(2830, 58.2052165659607),
+ Boardcore::TrajectoryPoint(2840, 56.4416421112737),
+ Boardcore::TrajectoryPoint(2850, 54.6235487350757),
+ Boardcore::TrajectoryPoint(2860, 52.7467694900015),
+ Boardcore::TrajectoryPoint(2870, 50.804424589089),
+ Boardcore::TrajectoryPoint(2880, 48.7883840623235),
+ Boardcore::TrajectoryPoint(2890, 46.689136364921),
+ Boardcore::TrajectoryPoint(2900, 44.4954832819116),
+ Boardcore::TrajectoryPoint(2910, 42.191760891439),
+ Boardcore::TrajectoryPoint(2920, 39.7597650369709),
+ Boardcore::TrajectoryPoint(2930, 37.1737261419933),
+ Boardcore::TrajectoryPoint(2940, 34.3999131365101),
+ Boardcore::TrajectoryPoint(2950, 31.3869757595977),
+ Boardcore::TrajectoryPoint(2960, 28.059503149398),
+ Boardcore::TrajectoryPoint(2970, 24.2870613182854),
+ Boardcore::TrajectoryPoint(2980, 19.8196296486587),
+ Boardcore::TrajectoryPoint(2990, 14.0060543193188),
+ Boardcore::TrajectoryPoint(3000, 0),
+};
+Boardcore::TrajectoryPoint t7_closed[] = {
+ Boardcore::TrajectoryPoint(0, 282.072241236148),
+ Boardcore::TrajectoryPoint(10, 281.428843762445),
+ Boardcore::TrajectoryPoint(20, 280.785983514998),
+ Boardcore::TrajectoryPoint(30, 280.143472282807),
+ Boardcore::TrajectoryPoint(40, 279.50142396704),
+ Boardcore::TrajectoryPoint(50, 278.859658019611),
+ Boardcore::TrajectoryPoint(60, 278.218170497137),
+ Boardcore::TrajectoryPoint(70, 277.577058195089),
+ Boardcore::TrajectoryPoint(80, 276.936254067678),
+ Boardcore::TrajectoryPoint(90, 276.295691884726),
+ Boardcore::TrajectoryPoint(100, 275.655371515757),
+ Boardcore::TrajectoryPoint(110, 275.015402905057),
+ Boardcore::TrajectoryPoint(120, 274.37564105859),
+ Boardcore::TrajectoryPoint(130, 273.736081190695),
+ Boardcore::TrajectoryPoint(140, 273.096754117379),
+ Boardcore::TrajectoryPoint(150, 272.457673202883),
+ Boardcore::TrajectoryPoint(160, 271.818760177855),
+ Boardcore::TrajectoryPoint(170, 271.180009767853),
+ Boardcore::TrajectoryPoint(180, 270.541459881593),
+ Boardcore::TrajectoryPoint(190, 269.903080568752),
+ Boardcore::TrajectoryPoint(200, 269.264830841622),
+ Boardcore::TrajectoryPoint(210, 268.626705043751),
+ Boardcore::TrajectoryPoint(220, 267.988733562545),
+ Boardcore::TrajectoryPoint(230, 267.350877054233),
+ Boardcore::TrajectoryPoint(240, 266.713112449189),
+ Boardcore::TrajectoryPoint(250, 266.075433788687),
+ Boardcore::TrajectoryPoint(260, 265.437857081135),
+ Boardcore::TrajectoryPoint(270, 264.800351287738),
+ Boardcore::TrajectoryPoint(280, 264.162900342017),
+ Boardcore::TrajectoryPoint(290, 263.525498041248),
+ Boardcore::TrajectoryPoint(300, 262.888145725147),
+ Boardcore::TrajectoryPoint(310, 262.250824639182),
+ Boardcore::TrajectoryPoint(320, 261.613521944157),
+ Boardcore::TrajectoryPoint(330, 260.976231234593),
+ Boardcore::TrajectoryPoint(340, 260.338944511493),
+ Boardcore::TrajectoryPoint(350, 259.7016475657),
+ Boardcore::TrajectoryPoint(360, 259.064333100185),
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+ Boardcore::TrajectoryPoint(390, 257.152196150674),
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+ Boardcore::TrajectoryPoint(500, 250.134889262179),
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+ Boardcore::TrajectoryPoint(570, 245.660398235265),
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+ Boardcore::TrajectoryPoint(630, 241.816846459236),
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+ Boardcore::TrajectoryPoint(650, 240.533576451602),
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+ Boardcore::TrajectoryPoint(670, 239.249209175501),
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+ Boardcore::TrajectoryPoint(730, 235.388607696368),
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+ Boardcore::TrajectoryPoint(920, 223.07037300956),
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+ Boardcore::TrajectoryPoint(1900, 154.527501595479),
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+ Boardcore::TrajectoryPoint(1990, 147.444309314419),
+ Boardcore::TrajectoryPoint(2000, 146.643714300804),
+ Boardcore::TrajectoryPoint(2010, 145.840343474125),
+ Boardcore::TrajectoryPoint(2020, 145.033752661472),
+ Boardcore::TrajectoryPoint(2030, 144.224387606756),
+ Boardcore::TrajectoryPoint(2040, 143.411880758213),
+ Boardcore::TrajectoryPoint(2050, 142.596214345065),
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+ Boardcore::TrajectoryPoint(2070, 140.955429932081),
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+ Boardcore::TrajectoryPoint(2100, 138.469467824746),
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+ Boardcore::TrajectoryPoint(2140, 135.105677364355),
+ Boardcore::TrajectoryPoint(2150, 134.255674139599),
+ Boardcore::TrajectoryPoint(2160, 133.401492702061),
+ Boardcore::TrajectoryPoint(2170, 132.543733327262),
+ Boardcore::TrajectoryPoint(2180, 131.681628955914),
+ Boardcore::TrajectoryPoint(2190, 130.815756513773),
+ Boardcore::TrajectoryPoint(2200, 129.945434382206),
+ Boardcore::TrajectoryPoint(2210, 129.071073426964),
+ Boardcore::TrajectoryPoint(2220, 128.192225426046),
+ Boardcore::TrajectoryPoint(2230, 127.308980860037),
+ Boardcore::TrajectoryPoint(2240, 126.421284822836),
+ Boardcore::TrajectoryPoint(2250, 125.528740685608),
+ Boardcore::TrajectoryPoint(2260, 124.631760178159),
+ Boardcore::TrajectoryPoint(2270, 123.729577717736),
+ Boardcore::TrajectoryPoint(2280, 122.822612640028),
+ Boardcore::TrajectoryPoint(2290, 121.910677408815),
+ Boardcore::TrajectoryPoint(2300, 120.993251606328),
+ Boardcore::TrajectoryPoint(2310, 120.070739980154),
+ Boardcore::TrajectoryPoint(2320, 119.142794617113),
+ Boardcore::TrajectoryPoint(2330, 118.209034000539),
+ Boardcore::TrajectoryPoint(2340, 117.269745449757),
+ Boardcore::TrajectoryPoint(2350, 116.3247562134),
+ Boardcore::TrajectoryPoint(2360, 115.37335796642),
+ Boardcore::TrajectoryPoint(2370, 114.415945605464),
+ Boardcore::TrajectoryPoint(2380, 113.452340077321),
+ Boardcore::TrajectoryPoint(2390, 112.482329342192),
+ Boardcore::TrajectoryPoint(2400, 111.505316368198),
+ Boardcore::TrajectoryPoint(2410, 110.521555400252),
+ Boardcore::TrajectoryPoint(2420, 109.53084042826),
+ Boardcore::TrajectoryPoint(2430, 108.532957513041),
+ Boardcore::TrajectoryPoint(2440, 107.527684417128),
+ Boardcore::TrajectoryPoint(2450, 106.514672061172),
+ Boardcore::TrajectoryPoint(2460, 105.493659456168),
+ Boardcore::TrajectoryPoint(2470, 104.464572505244),
+ Boardcore::TrajectoryPoint(2480, 103.427154124222),
+ Boardcore::TrajectoryPoint(2490, 102.381136879615),
+ Boardcore::TrajectoryPoint(2500, 101.326242477178),
+ Boardcore::TrajectoryPoint(2510, 100.262181219358),
+ Boardcore::TrajectoryPoint(2520, 99.188651429437),
+ Boardcore::TrajectoryPoint(2530, 98.1053388399875),
+ Boardcore::TrajectoryPoint(2540, 97.011915943065),
+ Boardcore::TrajectoryPoint(2550, 95.90804129934),
+ Boardcore::TrajectoryPoint(2560, 94.7933588031366),
+ Boardcore::TrajectoryPoint(2570, 93.667496900084),
+ Boardcore::TrajectoryPoint(2580, 92.5298634287462),
+ Boardcore::TrajectoryPoint(2590, 91.3800023031899),
+ Boardcore::TrajectoryPoint(2600, 90.2176621444341),
+ Boardcore::TrajectoryPoint(2610, 89.0423952479819),
+ Boardcore::TrajectoryPoint(2620, 87.8537333401396),
+ Boardcore::TrajectoryPoint(2630, 86.6505197027341),
+ Boardcore::TrajectoryPoint(2640, 85.4326610815574),
+ Boardcore::TrajectoryPoint(2650, 84.1997512483907),
+ Boardcore::TrajectoryPoint(2660, 82.9503049285517),
+ Boardcore::TrajectoryPoint(2670, 81.6842882121695),
+ Boardcore::TrajectoryPoint(2680, 80.4006411828351),
+ Boardcore::TrajectoryPoint(2690, 79.0984345629604),
+ Boardcore::TrajectoryPoint(2700, 77.7768622213095),
+ Boardcore::TrajectoryPoint(2710, 76.4349894735997),
+ Boardcore::TrajectoryPoint(2720, 75.0712468234658),
+ Boardcore::TrajectoryPoint(2730, 73.6851384429187),
+ Boardcore::TrajectoryPoint(2740, 72.2750037557723),
+ Boardcore::TrajectoryPoint(2750, 70.838998761511),
+ Boardcore::TrajectoryPoint(2760, 69.3760732830648),
+ Boardcore::TrajectoryPoint(2770, 67.8843926531344),
+ Boardcore::TrajectoryPoint(2780, 66.3619559996121),
+ Boardcore::TrajectoryPoint(2790, 64.8065771907215),
+ Boardcore::TrajectoryPoint(2800, 63.2158630897261),
+ Boardcore::TrajectoryPoint(2810, 61.5871886653091),
+ Boardcore::TrajectoryPoint(2820, 59.9170748490247),
+ Boardcore::TrajectoryPoint(2830, 58.2019290168584),
+ Boardcore::TrajectoryPoint(2840, 56.4386373844991),
+ Boardcore::TrajectoryPoint(2850, 54.6208087596807),
+ Boardcore::TrajectoryPoint(2860, 52.7442934900191),
+ Boardcore::TrajectoryPoint(2870, 50.8022026792441),
+ Boardcore::TrajectoryPoint(2880, 48.7864061507648),
+ Boardcore::TrajectoryPoint(2890, 46.6873921543481),
+ Boardcore::TrajectoryPoint(2900, 44.4939622687062),
+ Boardcore::TrajectoryPoint(2910, 42.1904574124914),
+ Boardcore::TrajectoryPoint(2920, 39.7586668658056),
+ Boardcore::TrajectoryPoint(2930, 37.1728206004607),
+ Boardcore::TrajectoryPoint(2940, 34.3991905768554),
+ Boardcore::TrajectoryPoint(2950, 31.3864211618553),
+ Boardcore::TrajectoryPoint(2960, 28.0591006205685),
+ Boardcore::TrajectoryPoint(2970, 24.2867972519451),
+ Boardcore::TrajectoryPoint(2980, 19.8194837404145),
+ Boardcore::TrajectoryPoint(2990, 14.0060019872665),
+ Boardcore::TrajectoryPoint(3000, 0),
+};
+Boardcore::TrajectoryPoint t8_closed[] = {
+ Boardcore::TrajectoryPoint(0, 281.771482344826),
+ Boardcore::TrajectoryPoint(10, 281.13000405443),
+ Boardcore::TrajectoryPoint(20, 280.489158984282),
+ Boardcore::TrajectoryPoint(30, 279.848750029463),
+ Boardcore::TrajectoryPoint(40, 279.20868357843),
+ Boardcore::TrajectoryPoint(50, 278.568891734737),
+ Boardcore::TrajectoryPoint(60, 277.929395125752),
+ Boardcore::TrajectoryPoint(70, 277.290287465707),
+ Boardcore::TrajectoryPoint(80, 276.65141836336),
+ Boardcore::TrajectoryPoint(90, 276.01278343011),
+ Boardcore::TrajectoryPoint(100, 275.374447607376),
+ Boardcore::TrajectoryPoint(110, 274.736376790422),
+ Boardcore::TrajectoryPoint(120, 274.098505199061),
+ Boardcore::TrajectoryPoint(130, 273.460827864932),
+ Boardcore::TrajectoryPoint(140, 272.823422744764),
+ Boardcore::TrajectoryPoint(150, 272.186196788848),
+ Boardcore::TrajectoryPoint(160, 271.549131245321),
+ Boardcore::TrajectoryPoint(170, 270.912228300694),
+ Boardcore::TrajectoryPoint(180, 270.275535289173),
+ Boardcore::TrajectoryPoint(190, 269.638969959909),
+ Boardcore::TrajectoryPoint(200, 269.002526839688),
+ Boardcore::TrajectoryPoint(210, 268.366212359948),
+ Boardcore::TrajectoryPoint(220, 267.730040173731),
+ Boardcore::TrajectoryPoint(230, 267.093958436273),
+ Boardcore::TrajectoryPoint(240, 266.457961350731),
+ Boardcore::TrajectoryPoint(250, 265.822050997709),
+ Boardcore::TrajectoryPoint(260, 265.186228621258),
+ Boardcore::TrajectoryPoint(270, 264.550460039313),
+ Boardcore::TrajectoryPoint(280, 263.914739193518),
+ Boardcore::TrajectoryPoint(290, 263.279061990578),
+ Boardcore::TrajectoryPoint(300, 262.643424394383),
+ Boardcore::TrajectoryPoint(310, 262.007804499629),
+ Boardcore::TrajectoryPoint(320, 261.372196030975),
+ Boardcore::TrajectoryPoint(330, 260.736592527782),
+ Boardcore::TrajectoryPoint(340, 260.100980212596),
+ Boardcore::TrajectoryPoint(350, 259.465349861851),
+ Boardcore::TrajectoryPoint(360, 258.82969517455),
+ Boardcore::TrajectoryPoint(370, 258.194009526492),
+ Boardcore::TrajectoryPoint(380, 257.558274350792),
+ Boardcore::TrajectoryPoint(390, 256.922479083705),
+ Boardcore::TrajectoryPoint(400, 256.28662419016),
+ Boardcore::TrajectoryPoint(410, 255.65070289692),
+ Boardcore::TrajectoryPoint(420, 255.014707426468),
+ Boardcore::TrajectoryPoint(430, 254.378596833104),
+ Boardcore::TrajectoryPoint(440, 253.742391710102),
+ Boardcore::TrajectoryPoint(450, 253.106085141893),
+ Boardcore::TrajectoryPoint(460, 252.469670089778),
+ Boardcore::TrajectoryPoint(470, 251.833126482457),
+ Boardcore::TrajectoryPoint(480, 251.196424447798),
+ Boardcore::TrajectoryPoint(490, 250.559586216157),
+ Boardcore::TrajectoryPoint(500, 249.922604616255),
+ Boardcore::TrajectoryPoint(510, 249.285472368451),
+ Boardcore::TrajectoryPoint(520, 248.648164409519),
+ Boardcore::TrajectoryPoint(530, 248.010650764962),
+ Boardcore::TrajectoryPoint(540, 247.372959052008),
+ Boardcore::TrajectoryPoint(550, 246.735081857406),
+ Boardcore::TrajectoryPoint(560, 246.097011669272),
+ Boardcore::TrajectoryPoint(570, 245.458735553656),
+ Boardcore::TrajectoryPoint(580, 244.820192120395),
+ Boardcore::TrajectoryPoint(590, 244.181428437042),
+ Boardcore::TrajectoryPoint(600, 243.542436849363),
+ Boardcore::TrajectoryPoint(610, 242.903209610373),
+ Boardcore::TrajectoryPoint(620, 242.263738882953),
+ Boardcore::TrajectoryPoint(630, 241.623981324956),
+ Boardcore::TrajectoryPoint(640, 240.983928044527),
+ Boardcore::TrajectoryPoint(650, 240.343603987541),
+ Boardcore::TrajectoryPoint(660, 239.703001160721),
+ Boardcore::TrajectoryPoint(670, 239.062111482778),
+ Boardcore::TrajectoryPoint(680, 238.42092678595),
+ Boardcore::TrajectoryPoint(690, 237.779400990896),
+ Boardcore::TrajectoryPoint(700, 237.137526079163),
+ Boardcore::TrajectoryPoint(710, 236.495328659281),
+ Boardcore::TrajectoryPoint(720, 235.852800386641),
+ Boardcore::TrajectoryPoint(730, 235.209932829655),
+ Boardcore::TrajectoryPoint(740, 234.566717470503),
+ Boardcore::TrajectoryPoint(750, 233.923145705732),
+ Boardcore::TrajectoryPoint(760, 233.279136201375),
+ Boardcore::TrajectoryPoint(770, 232.634748044385),
+ Boardcore::TrajectoryPoint(780, 231.989975506711),
+ Boardcore::TrajectoryPoint(790, 231.344809780167),
+ Boardcore::TrajectoryPoint(800, 230.699241968176),
+ Boardcore::TrajectoryPoint(810, 230.053263085831),
+ Boardcore::TrajectoryPoint(820, 229.406864059841),
+ Boardcore::TrajectoryPoint(830, 228.759990021499),
+ Boardcore::TrajectoryPoint(840, 228.112647993824),
+ Boardcore::TrajectoryPoint(850, 227.464857144561),
+ Boardcore::TrajectoryPoint(860, 226.816608163622),
+ Boardcore::TrajectoryPoint(870, 226.167891648342),
+ Boardcore::TrajectoryPoint(880, 225.518698103064),
+ Boardcore::TrajectoryPoint(890, 224.869017938647),
+ Boardcore::TrajectoryPoint(900, 224.218841471899),
+ Boardcore::TrajectoryPoint(910, 223.568156920375),
+ Boardcore::TrajectoryPoint(920, 222.916889340309),
+ Boardcore::TrajectoryPoint(930, 222.265095689332),
+ Boardcore::TrajectoryPoint(940, 221.612766008645),
+ Boardcore::TrajectoryPoint(950, 220.959890240091),
+ Boardcore::TrajectoryPoint(960, 220.306458225347),
+ Boardcore::TrajectoryPoint(970, 219.65245970507),
+ Boardcore::TrajectoryPoint(980, 218.99788431799),
+ Boardcore::TrajectoryPoint(990, 218.342721599949),
+ Boardcore::TrajectoryPoint(1000, 217.686960982897),
+ Boardcore::TrajectoryPoint(1010, 217.030591793855),
+ Boardcore::TrajectoryPoint(1020, 216.373602421929),
+ Boardcore::TrajectoryPoint(1030, 215.715927882356),
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+ Boardcore::TrajectoryPoint(1050, 214.398646757285),
+ Boardcore::TrajectoryPoint(1060, 213.739018051165),
+ Boardcore::TrajectoryPoint(1070, 213.078715648913),
+ Boardcore::TrajectoryPoint(1080, 212.417728208411),
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+ Boardcore::TrajectoryPoint(1200, 204.42815648845),
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+ Boardcore::TrajectoryPoint(1240, 201.739047479573),
+ Boardcore::TrajectoryPoint(1250, 201.064562329195),
+ Boardcore::TrajectoryPoint(1260, 200.389166966418),
+ Boardcore::TrajectoryPoint(1270, 199.712847617261),
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+ Boardcore::TrajectoryPoint(1300, 197.678205737694),
+ Boardcore::TrajectoryPoint(1310, 196.998049791718),
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+ Boardcore::TrajectoryPoint(1330, 195.634738064643),
+ Boardcore::TrajectoryPoint(1340, 194.951552794099),
+ Boardcore::TrajectoryPoint(1350, 194.267327998083),
+ Boardcore::TrajectoryPoint(1360, 193.5820485371),
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+ Boardcore::TrajectoryPoint(1390, 191.519728333246),
+ Boardcore::TrajectoryPoint(1400, 190.83007555447),
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+ Boardcore::TrajectoryPoint(1420, 189.44735537108),
+ Boardcore::TrajectoryPoint(1430, 188.754255509964),
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+ Boardcore::TrajectoryPoint(1500, 183.868484178741),
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+ Boardcore::TrajectoryPoint(1900, 154.473586445791),
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+ Boardcore::TrajectoryPoint(1920, 152.91938689556),
+ Boardcore::TrajectoryPoint(1930, 152.138311212409),
+ Boardcore::TrajectoryPoint(1940, 151.354778808553),
+ Boardcore::TrajectoryPoint(1950, 150.568791982041),
+ Boardcore::TrajectoryPoint(1960, 149.779921137515),
+ Boardcore::TrajectoryPoint(1970, 148.98841077722),
+ Boardcore::TrajectoryPoint(1980, 148.194331528394),
+ Boardcore::TrajectoryPoint(1990, 147.397185414501),
+ Boardcore::TrajectoryPoint(2000, 146.597304448029),
+ Boardcore::TrajectoryPoint(2010, 145.794688605869),
+ Boardcore::TrajectoryPoint(2020, 144.988801671518),
+ Boardcore::TrajectoryPoint(2030, 144.180136009744),
+ Boardcore::TrajectoryPoint(2040, 143.368368130016),
+ Boardcore::TrajectoryPoint(2050, 142.553390989117),
+ Boardcore::TrajectoryPoint(2060, 141.735503605907),
+ Boardcore::TrajectoryPoint(2070, 140.914014291154),
+ Boardcore::TrajectoryPoint(2080, 140.089492445434),
+ Boardcore::TrajectoryPoint(2090, 139.261498643923),
+ Boardcore::TrajectoryPoint(2100, 138.430104036809),
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+ Boardcore::TrajectoryPoint(2850, 54.6181060230206),
+ Boardcore::TrajectoryPoint(2860, 52.7418511291891),
+ Boardcore::TrajectoryPoint(2870, 50.800010945519),
+ Boardcore::TrajectoryPoint(2880, 48.7844550915996),
+ Boardcore::TrajectoryPoint(2890, 46.6856716144605),
+ Boardcore::TrajectoryPoint(2900, 44.4924618891928),
+ Boardcore::TrajectoryPoint(2910, 42.1891716099233),
+ Boardcore::TrajectoryPoint(2920, 39.7575835813583),
+ Boardcore::TrajectoryPoint(2930, 37.1719273296862),
+ Boardcore::TrajectoryPoint(2940, 34.3984778048424),
+ Boardcore::TrajectoryPoint(2950, 31.385874073696),
+ Boardcore::TrajectoryPoint(2960, 28.0587035400146),
+ Boardcore::TrajectoryPoint(2970, 24.286536758414),
+ Boardcore::TrajectoryPoint(2980, 19.819339805515),
+ Boardcore::TrajectoryPoint(2990, 14.0059503626941),
+ Boardcore::TrajectoryPoint(3000, 0),
+};
+Boardcore::TrajectoryPoint t9_closed[] = {
+ Boardcore::TrajectoryPoint(0, 281.47521101612),
+ Boardcore::TrajectoryPoint(10, 280.835686314498),
+ Boardcore::TrajectoryPoint(20, 280.196860974699),
+ Boardcore::TrajectoryPoint(30, 279.558474608994),
+ Boardcore::TrajectoryPoint(40, 278.92035898225),
+ Boardcore::TrajectoryPoint(50, 278.282510184423),
+ Boardcore::TrajectoryPoint(60, 277.64502498524),
+ Boardcore::TrajectoryPoint(70, 277.007829624695),
+ Boardcore::TrajectoryPoint(80, 276.370865272555),
+ Boardcore::TrajectoryPoint(90, 275.734135735882),
+ Boardcore::TrajectoryPoint(100, 275.097736734976),
+ Boardcore::TrajectoryPoint(110, 274.461534176356),
+ Boardcore::TrajectoryPoint(120, 273.825523324589),
+ Boardcore::TrajectoryPoint(130, 273.189736567435),
+ Boardcore::TrajectoryPoint(140, 272.554178569102),
+ Boardcore::TrajectoryPoint(150, 271.918778760552),
+ Boardcore::TrajectoryPoint(160, 271.283531926715),
+ Boardcore::TrajectoryPoint(170, 270.648475997908),
+ Boardcore::TrajectoryPoint(180, 270.01357607152),
+ Boardcore::TrajectoryPoint(190, 269.378796622392),
+ Boardcore::TrajectoryPoint(200, 268.744132059298),
+ Boardcore::TrajectoryPoint(210, 268.109611839466),
+ Boardcore::TrajectoryPoint(220, 267.475194101503),
+ Boardcore::TrajectoryPoint(230, 266.84085971797),
+ Boardcore::TrajectoryPoint(240, 266.20660279894),
+ Boardcore::TrajectoryPoint(250, 265.572437898527),
+ Boardcore::TrajectoryPoint(260, 264.938332945851),
+ Boardcore::TrajectoryPoint(270, 264.304274820915),
+ Boardcore::TrajectoryPoint(280, 263.670257391823),
+ Boardcore::TrajectoryPoint(290, 263.036280312455),
+ Boardcore::TrajectoryPoint(300, 262.402324620561),
+ Boardcore::TrajectoryPoint(310, 261.768379799769),
+ Boardcore::TrajectoryPoint(320, 261.134439516488),
+ Boardcore::TrajectoryPoint(330, 260.500494038894),
+ Boardcore::TrajectoryPoint(340, 259.866529343324),
+ Boardcore::TrajectoryPoint(350, 259.232540082065),
+ Boardcore::TrajectoryPoint(360, 258.598519747029),
+ Boardcore::TrajectoryPoint(370, 257.964459514576),
+ Boardcore::TrajectoryPoint(380, 257.330332189033),
+ Boardcore::TrajectoryPoint(390, 256.696145313094),
+ Boardcore::TrajectoryPoint(400, 256.061892221021),
+ Boardcore::TrajectoryPoint(410, 255.427566108346),
+ Boardcore::TrajectoryPoint(420, 254.793139933809),
+ Boardcore::TrajectoryPoint(430, 254.158606211703),
+ Boardcore::TrajectoryPoint(440, 253.523971511687),
+ Boardcore::TrajectoryPoint(450, 252.8892288932),
+ Boardcore::TrajectoryPoint(460, 252.254371296934),
+ Boardcore::TrajectoryPoint(470, 251.61935162136),
+ Boardcore::TrajectoryPoint(480, 250.984189700364),
+ Boardcore::TrajectoryPoint(490, 250.34888524774),
+ Boardcore::TrajectoryPoint(500, 249.713431075671),
+ Boardcore::TrajectoryPoint(510, 249.077819891306),
+ Boardcore::TrajectoryPoint(520, 248.441993642934),
+ Boardcore::TrajectoryPoint(530, 247.805984570652),
+ Boardcore::TrajectoryPoint(540, 247.16979121101),
+ Boardcore::TrajectoryPoint(550, 246.533406140108),
+ Boardcore::TrajectoryPoint(560, 245.896821837948),
+ Boardcore::TrajectoryPoint(570, 245.25998792187),
+ Boardcore::TrajectoryPoint(580, 244.622914633017),
+ Boardcore::TrajectoryPoint(590, 243.985614988326),
+ Boardcore::TrajectoryPoint(600, 243.348081326973),
+ Boardcore::TrajectoryPoint(610, 242.710305897331),
+ Boardcore::TrajectoryPoint(620, 242.07227305645),
+ Boardcore::TrajectoryPoint(630, 241.433919378391),
+ Boardcore::TrajectoryPoint(640, 240.795296829625),
+ Boardcore::TrajectoryPoint(650, 240.156397502848),
+ Boardcore::TrajectoryPoint(660, 239.517213402482),
+ Boardcore::TrajectoryPoint(670, 238.877736446316),
+ Boardcore::TrajectoryPoint(680, 238.23794804595),
+ Boardcore::TrajectoryPoint(690, 237.597785721558),
+ Boardcore::TrajectoryPoint(700, 236.957303247812),
+ Boardcore::TrajectoryPoint(710, 236.316492367293),
+ Boardcore::TrajectoryPoint(720, 235.675344735752),
+ Boardcore::TrajectoryPoint(730, 235.033851922942),
+ Boardcore::TrajectoryPoint(740, 234.392005413292),
+ Boardcore::TrajectoryPoint(750, 233.749749294065),
+ Boardcore::TrajectoryPoint(760, 233.107091958542),
+ Boardcore::TrajectoryPoint(770, 232.46405316169),
+ Boardcore::TrajectoryPoint(780, 231.820624185904),
+ Boardcore::TrajectoryPoint(790, 231.176796225727),
+ Boardcore::TrajectoryPoint(800, 230.53256038797),
+ Boardcore::TrajectoryPoint(810, 229.887907691725),
+ Boardcore::TrajectoryPoint(820, 229.242804185279),
+ Boardcore::TrajectoryPoint(830, 228.597214856366),
+ Boardcore::TrajectoryPoint(840, 227.951180219284),
+ Boardcore::TrajectoryPoint(850, 227.304691059799),
+ Boardcore::TrajectoryPoint(860, 226.65773807193),
+ Boardcore::TrajectoryPoint(870, 226.010311857583),
+ Boardcore::TrajectoryPoint(880, 225.362402926104),
+ Boardcore::TrajectoryPoint(890, 224.714001693747),
+ Boardcore::TrajectoryPoint(900, 224.065098483082),
+ Boardcore::TrajectoryPoint(910, 223.415624578203),
+ Boardcore::TrajectoryPoint(920, 222.7656178201),
+ Boardcore::TrajectoryPoint(930, 222.115079388397),
+ Boardcore::TrajectoryPoint(940, 221.463999329625),
+ Boardcore::TrajectoryPoint(950, 220.812367591276),
+ Boardcore::TrajectoryPoint(960, 220.160174020983),
+ Boardcore::TrajectoryPoint(970, 219.50740836564),
+ Boardcore::TrajectoryPoint(980, 218.854060270478),
+ Boardcore::TrajectoryPoint(990, 218.20011927809),
+ Boardcore::TrajectoryPoint(1000, 217.545574827415),
+ Boardcore::TrajectoryPoint(1010, 216.89041320096),
+ Boardcore::TrajectoryPoint(1020, 216.234572465808),
+ Boardcore::TrajectoryPoint(1030, 215.578096783635),
+ Boardcore::TrajectoryPoint(1040, 214.920975266562),
+ Boardcore::TrajectoryPoint(1050, 214.263196916795),
+ Boardcore::TrajectoryPoint(1060, 213.60475062547),
+ Boardcore::TrajectoryPoint(1070, 212.945625171455),
+ Boardcore::TrajectoryPoint(1080, 212.285809220118),
+ Boardcore::TrajectoryPoint(1090, 211.625291322066),
+ Boardcore::TrajectoryPoint(1100, 210.964059911847),
+ Boardcore::TrajectoryPoint(1110, 210.30210330663),
+ Boardcore::TrajectoryPoint(1120, 209.639409704846),
+ Boardcore::TrajectoryPoint(1130, 208.975967184804),
+ Boardcore::TrajectoryPoint(1140, 208.311763703284),
+ Boardcore::TrajectoryPoint(1150, 207.646787094091),
+ Boardcore::TrajectoryPoint(1160, 206.981025066593),
+ Boardcore::TrajectoryPoint(1170, 206.314465204226),
+ Boardcore::TrajectoryPoint(1180, 205.647094962973),
+ Boardcore::TrajectoryPoint(1190, 204.978901669818),
+ Boardcore::TrajectoryPoint(1200, 204.309872521174),
+ Boardcore::TrajectoryPoint(1210, 203.639994581285),
+ Boardcore::TrajectoryPoint(1220, 202.969254780599),
+ Boardcore::TrajectoryPoint(1230, 202.297634715273),
+ Boardcore::TrajectoryPoint(1240, 201.625122508407),
+ Boardcore::TrajectoryPoint(1250, 200.951711320722),
+ Boardcore::TrajectoryPoint(1260, 200.277387631586),
+ Boardcore::TrajectoryPoint(1270, 199.602137778614),
+ Boardcore::TrajectoryPoint(1280, 198.92594795592),
+ Boardcore::TrajectoryPoint(1290, 198.248804212344),
+ Boardcore::TrajectoryPoint(1300, 197.570692449648),
+ Boardcore::TrajectoryPoint(1310, 196.89158796383),
+ Boardcore::TrajectoryPoint(1320, 196.211480080246),
+ Boardcore::TrajectoryPoint(1330, 195.530357248992),
+ Boardcore::TrajectoryPoint(1340, 194.848204658463),
+ Boardcore::TrajectoryPoint(1350, 194.165007339647),
+ Boardcore::TrajectoryPoint(1360, 193.480750164102),
+ Boardcore::TrajectoryPoint(1370, 192.795417841903),
+ Boardcore::TrajectoryPoint(1380, 192.108994919551),
+ Boardcore::TrajectoryPoint(1390, 191.421465777846),
+ Boardcore::TrajectoryPoint(1400, 190.732814629736),
+ Boardcore::TrajectoryPoint(1410, 190.043025518113),
+ Boardcore::TrajectoryPoint(1420, 189.352082313591),
+ Boardcore::TrajectoryPoint(1430, 188.659968712228),
+ Boardcore::TrajectoryPoint(1440, 187.966668233226),
+ Boardcore::TrajectoryPoint(1450, 187.272164216576),
+ Boardcore::TrajectoryPoint(1460, 186.576439820675),
+ Boardcore::TrajectoryPoint(1470, 185.879478019896),
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+ Boardcore::TrajectoryPoint(1490, 184.481773166175),
+ Boardcore::TrajectoryPoint(1500, 183.780995119373),
+ Boardcore::TrajectoryPoint(1510, 183.078831152376),
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+ Boardcore::TrajectoryPoint(1600, 176.696907629367),
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+ Boardcore::TrajectoryPoint(1680, 170.920411970978),
+ Boardcore::TrajectoryPoint(1690, 170.190838110942),
+ Boardcore::TrajectoryPoint(1700, 169.459552146218),
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+ Boardcore::TrajectoryPoint(1730, 167.254936352316),
+ Boardcore::TrajectoryPoint(1740, 166.516310668945),
+ Boardcore::TrajectoryPoint(1750, 165.77584647747),
+ Boardcore::TrajectoryPoint(1760, 165.033519407865),
+ Boardcore::TrajectoryPoint(1770, 164.28927427164),
+ Boardcore::TrajectoryPoint(1780, 163.542851306886),
+ Boardcore::TrajectoryPoint(1790, 162.794480075756),
+ Boardcore::TrajectoryPoint(1800, 162.044134808791),
+ Boardcore::TrajectoryPoint(1810, 161.291789420101),
+ Boardcore::TrajectoryPoint(1820, 160.537169011928),
+ Boardcore::TrajectoryPoint(1830, 159.780397700069),
+ Boardcore::TrajectoryPoint(1840, 159.021534468085),
+ Boardcore::TrajectoryPoint(1850, 158.260551697929),
+ Boardcore::TrajectoryPoint(1860, 157.497122457347),
+ Boardcore::TrajectoryPoint(1870, 156.731426446039),
+ Boardcore::TrajectoryPoint(1880, 155.96351337659),
+ Boardcore::TrajectoryPoint(1890, 155.193283483006),
+ Boardcore::TrajectoryPoint(1900, 154.420423443057),
+ Boardcore::TrajectoryPoint(1910, 153.645244030978),
+ Boardcore::TrajectoryPoint(1920, 152.867714584109),
+ Boardcore::TrajectoryPoint(1930, 152.087424530683),
+ Boardcore::TrajectoryPoint(1940, 151.304625078287),
+ Boardcore::TrajectoryPoint(1950, 150.519366694747),
+ Boardcore::TrajectoryPoint(1960, 149.731265953781),
+ Boardcore::TrajectoryPoint(1970, 148.940473955692),
+ Boardcore::TrajectoryPoint(1980, 148.147108595644),
+ Boardcore::TrajectoryPoint(1990, 147.350716965407),
+ Boardcore::TrajectoryPoint(2000, 146.551539850812),
+ Boardcore::TrajectoryPoint(2010, 145.749668367277),
+ Boardcore::TrajectoryPoint(2020, 144.94447527109),
+ Boardcore::TrajectoryPoint(2030, 144.136499031437),
+ Boardcore::TrajectoryPoint(2040, 143.325459729275),
+ Boardcore::TrajectoryPoint(2050, 142.511162043943),
+ Boardcore::TrajectoryPoint(2060, 141.693949734819),
+ Boardcore::TrajectoryPoint(2070, 140.873173157493),
+ Boardcore::TrajectoryPoint(2080, 140.049316467575),
+ Boardcore::TrajectoryPoint(2090, 139.222025058033),
+ Boardcore::TrajectoryPoint(2100, 138.39128571539),
+ Boardcore::TrajectoryPoint(2110, 137.557186830447),
+ Boardcore::TrajectoryPoint(2120, 136.719316441639),
+ Boardcore::TrajectoryPoint(2130, 135.878102667658),
+ Boardcore::TrajectoryPoint(2140, 135.032842169397),
+ Boardcore::TrajectoryPoint(2150, 134.184190485131),
+ Boardcore::TrajectoryPoint(2160, 133.331269557242),
+ Boardcore::TrajectoryPoint(2170, 132.474840433249),
+ Boardcore::TrajectoryPoint(2180, 131.613976869906),
+ Boardcore::TrajectoryPoint(2190, 130.749413299353),
+ Boardcore::TrajectoryPoint(2200, 129.880312335239),
+ Boardcore::TrajectoryPoint(2210, 129.00723879042),
+ Boardcore::TrajectoryPoint(2220, 128.12959237819),
+ Boardcore::TrajectoryPoint(2230, 127.247613686517),
+ Boardcore::TrajectoryPoint(2240, 126.361099721568),
+ Boardcore::TrajectoryPoint(2250, 125.469799854195),
+ Boardcore::TrajectoryPoint(2260, 124.574052988945),
+ Boardcore::TrajectoryPoint(2270, 123.673022107916),
+ Boardcore::TrajectoryPoint(2280, 122.767268926716),
+ Boardcore::TrajectoryPoint(2290, 121.856465906411),
+ Boardcore::TrajectoryPoint(2300, 120.940230202682),
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+ Boardcore::TrajectoryPoint(2350, 116.277391386465),
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+ Boardcore::TrajectoryPoint(2440, 107.489976366295),
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+ Boardcore::TrajectoryPoint(2470, 104.429845576987),
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+ Boardcore::TrajectoryPoint(2500, 101.294448233746),
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+ Boardcore::TrajectoryPoint(2690, 79.0828600642874),
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+ Boardcore::TrajectoryPoint(2730, 73.6724543664024),
+ Boardcore::TrajectoryPoint(2740, 72.2629858119263),
+ Boardcore::TrajectoryPoint(2750, 70.8276602357244),
+ Boardcore::TrajectoryPoint(2760, 69.3653990607663),
+ Boardcore::TrajectoryPoint(2770, 67.8743674630907),
+ Boardcore::TrajectoryPoint(2780, 66.3525644190495),
+ Boardcore::TrajectoryPoint(2790, 64.7978036500023),
+ Boardcore::TrajectoryPoint(2800, 63.2076918765425),
+ Boardcore::TrajectoryPoint(2810, 61.5796039283536),
+ Boardcore::TrajectoryPoint(2820, 59.9100799710594),
+ Boardcore::TrajectoryPoint(2830, 58.195487153966),
+ Boardcore::TrajectoryPoint(2840, 56.4327496630326),
+ Boardcore::TrajectoryPoint(2850, 54.6154397710727),
+ Boardcore::TrajectoryPoint(2860, 52.7394417266114),
+ Boardcore::TrajectoryPoint(2870, 50.797848777328),
+ Boardcore::TrajectoryPoint(2880, 48.7825303416937),
+ Boardcore::TrajectoryPoint(2890, 46.6839742666583),
+ Boardcore::TrajectoryPoint(2900, 44.4909817263366),
+ Boardcore::TrajectoryPoint(2910, 42.1879031265964),
+ Boardcore::TrajectoryPoint(2920, 39.7565148829631),
+ Boardcore::TrajectoryPoint(2930, 37.1710460819314),
+ Boardcore::TrajectoryPoint(2940, 34.3977746229365),
+ Boardcore::TrajectoryPoint(2950, 31.3853343436182),
+ Boardcore::TrajectoryPoint(2960, 28.0583117978639),
+ Boardcore::TrajectoryPoint(2970, 24.2862797656681),
+ Boardcore::TrajectoryPoint(2980, 19.8191978041954),
+ Boardcore::TrajectoryPoint(2990, 14.0058994313509),
+ Boardcore::TrajectoryPoint(3000, 0),
+};
+Boardcore::TrajectoryPoint t10_closed[] = {
+ Boardcore::TrajectoryPoint(0, 281.183329704889),
+ Boardcore::TrajectoryPoint(10, 280.545789563713),
+ Boardcore::TrajectoryPoint(20, 279.90900554376),
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+ Boardcore::TrajectoryPoint(140, 272.288931420691),
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+ Boardcore::TrajectoryPoint(560, 245.699522238057),
+ Boardcore::TrajectoryPoint(570, 245.064121844332),
+ Boardcore::TrajectoryPoint(580, 244.428496650832),
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+ Boardcore::TrajectoryPoint(2990, 14.0058491793658),
+ Boardcore::TrajectoryPoint(3000, 0),
+};
+Boardcore::TrajectoryPoint t0_open[] = {
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+ Boardcore::TrajectoryPoint(1330, 229.704132881822),
+ Boardcore::TrajectoryPoint(1340, 228.551359923759),
+ Boardcore::TrajectoryPoint(1350, 227.403420432847),
+ Boardcore::TrajectoryPoint(1360, 226.260838391399),
+ Boardcore::TrajectoryPoint(1370, 225.122783960178),
+ Boardcore::TrajectoryPoint(1380, 223.989167311015),
+ Boardcore::TrajectoryPoint(1390, 222.859898002946),
+ Boardcore::TrajectoryPoint(1400, 221.734885128033),
+ Boardcore::TrajectoryPoint(1410, 220.614037444278),
+ Boardcore::TrajectoryPoint(1420, 219.497263496593),
+ Boardcore::TrajectoryPoint(1430, 218.384471726666),
+ Boardcore::TrajectoryPoint(1440, 217.275570572567),
+ Boardcore::TrajectoryPoint(1450, 216.170468558837),
+ Boardcore::TrajectoryPoint(1460, 215.069315969275),
+ Boardcore::TrajectoryPoint(1470, 213.971800607032),
+ Boardcore::TrajectoryPoint(1480, 212.877772008125),
+ Boardcore::TrajectoryPoint(1490, 211.787142828208),
+ Boardcore::TrajectoryPoint(1500, 210.69982596659),
+ Boardcore::TrajectoryPoint(1510, 209.615734623055),
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+ Boardcore::TrajectoryPoint(1550, 205.309901625107),
+ Boardcore::TrajectoryPoint(1560, 204.240649627898),
+ Boardcore::TrajectoryPoint(1570, 203.174111122621),
+ Boardcore::TrajectoryPoint(1580, 202.110202542883),
+ Boardcore::TrajectoryPoint(1590, 201.048840891714),
+ Boardcore::TrajectoryPoint(1600, 199.989943757391),
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+ Boardcore::TrajectoryPoint(1640, 195.777373281532),
+ Boardcore::TrajectoryPoint(1650, 194.729583789978),
+ Boardcore::TrajectoryPoint(1660, 193.683777173313),
+ Boardcore::TrajectoryPoint(1670, 192.639875336311),
+ Boardcore::TrajectoryPoint(1680, 191.597800805742),
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+ Boardcore::TrajectoryPoint(1700, 189.51882685593),
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+ Boardcore::TrajectoryPoint(1740, 185.379465652277),
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+ Boardcore::TrajectoryPoint(1760, 183.318043204865),
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+ Boardcore::TrajectoryPoint(1890, 170.005998123584),
+ Boardcore::TrajectoryPoint(1900, 168.985619869414),
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+ Boardcore::TrajectoryPoint(1990, 159.800962871495),
+ Boardcore::TrajectoryPoint(2000, 158.778933719157),
+ Boardcore::TrajectoryPoint(2010, 157.756356882669),
+ Boardcore::TrajectoryPoint(2020, 156.733166659827),
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+ Boardcore::TrajectoryPoint(2050, 153.658897808863),
+ Boardcore::TrajectoryPoint(2060, 152.632403459007),
+ Boardcore::TrajectoryPoint(2070, 151.604762689688),
+ Boardcore::TrajectoryPoint(2080, 150.576052755115),
+ Boardcore::TrajectoryPoint(2090, 149.546222874254),
+ Boardcore::TrajectoryPoint(2100, 148.514992946422),
+ Boardcore::TrajectoryPoint(2110, 147.482445853488),
+ Boardcore::TrajectoryPoint(2120, 146.448553622285),
+ Boardcore::TrajectoryPoint(2130, 145.412934980101),
+ Boardcore::TrajectoryPoint(2140, 144.375809594596),
+ Boardcore::TrajectoryPoint(2150, 143.336979599798),
+ Boardcore::TrajectoryPoint(2160, 142.296254361155),
+ Boardcore::TrajectoryPoint(2170, 141.253789379336),
+ Boardcore::TrajectoryPoint(2180, 140.209135465344),
+ Boardcore::TrajectoryPoint(2190, 139.162525361947),
+ Boardcore::TrajectoryPoint(2200, 138.113667536734),
+ Boardcore::TrajectoryPoint(2210, 137.062521233607),
+ Boardcore::TrajectoryPoint(2220, 136.009031316137),
+ Boardcore::TrajectoryPoint(2230, 134.952945980071),
+ Boardcore::TrajectoryPoint(2240, 133.89437235337),
+ Boardcore::TrajectoryPoint(2250, 132.832932547981),
+ Boardcore::TrajectoryPoint(2260, 131.768799390937),
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+ Boardcore::TrajectoryPoint(2800, 64.0474432888295),
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+ Boardcore::TrajectoryPoint(2980, 19.8429353728919),
+ Boardcore::TrajectoryPoint(2990, 14.0141201654314),
+ Boardcore::TrajectoryPoint(3000, 0),
+};
+Boardcore::TrajectoryPoint t1_open[] = {
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+ Boardcore::TrajectoryPoint(2010, 157.611472893085),
+ Boardcore::TrajectoryPoint(2020, 156.590954675719),
+ Boardcore::TrajectoryPoint(2030, 155.569722004218),
+ Boardcore::TrajectoryPoint(2040, 154.54756474443),
+ Boardcore::TrajectoryPoint(2050, 153.524545196868),
+ Boardcore::TrajectoryPoint(2060, 152.500597947565),
+ Boardcore::TrajectoryPoint(2070, 151.475514613892),
+ Boardcore::TrajectoryPoint(2080, 150.449289614955),
+ Boardcore::TrajectoryPoint(2090, 149.421916401541),
+ Boardcore::TrajectoryPoint(2100, 148.393160260744),
+ Boardcore::TrajectoryPoint(2110, 147.363009861555),
+ Boardcore::TrajectoryPoint(2120, 146.331487254866),
+ Boardcore::TrajectoryPoint(2130, 145.298259638056),
+ Boardcore::TrajectoryPoint(2140, 144.2634460019),
+ Boardcore::TrajectoryPoint(2150, 143.22695603144),
+ Boardcore::TrajectoryPoint(2160, 142.188485948456),
+ Boardcore::TrajectoryPoint(2170, 141.148250884009),
+ Boardcore::TrajectoryPoint(2180, 140.10585572565),
+ Boardcore::TrajectoryPoint(2190, 139.06142088331),
+ Boardcore::TrajectoryPoint(2200, 138.014771163557),
+ Boardcore::TrajectoryPoint(2210, 136.965746656728),
+ Boardcore::TrajectoryPoint(2220, 135.914414284298),
+ Boardcore::TrajectoryPoint(2230, 134.860398436028),
+ Boardcore::TrajectoryPoint(2240, 133.80393197379),
+ Boardcore::TrajectoryPoint(2250, 132.744510466136),
+ Boardcore::TrajectoryPoint(2260, 131.682434344422),
+ Boardcore::TrajectoryPoint(2270, 130.61717927286),
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+ Boardcore::TrajectoryPoint(2300, 127.402637780356),
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+ Boardcore::TrajectoryPoint(2320, 125.242356262705),
+ Boardcore::TrajectoryPoint(2330, 124.156822296769),
+ Boardcore::TrajectoryPoint(2340, 123.067088885405),
+ Boardcore::TrajectoryPoint(2350, 121.973459491655),
+ Boardcore::TrajectoryPoint(2360, 120.875726815272),
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+ Boardcore::TrajectoryPoint(2380, 118.666652661406),
+ Boardcore::TrajectoryPoint(2390, 117.555347902624),
+ Boardcore::TrajectoryPoint(2400, 116.438859408875),
+ Boardcore::TrajectoryPoint(2410, 115.317443478506),
+ Boardcore::TrajectoryPoint(2420, 114.190892150313),
+ Boardcore::TrajectoryPoint(2430, 113.058821845377),
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+ Boardcore::TrajectoryPoint(2590, 93.9995177401334),
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+ Boardcore::TrajectoryPoint(2750, 72.012114738935),
+ Boardcore::TrajectoryPoint(2760, 70.4749475424458),
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+ Boardcore::TrajectoryPoint(2780, 67.318179644812),
+ Boardcore::TrajectoryPoint(2790, 65.6943557275696),
+ Boardcore::TrajectoryPoint(2800, 64.0370823182519),
+ Boardcore::TrajectoryPoint(2810, 62.3436999803528),
+ Boardcore::TrajectoryPoint(2820, 60.6112808705457),
+ Boardcore::TrajectoryPoint(2830, 58.8365947719023),
+ Boardcore::TrajectoryPoint(2840, 57.0144298976883),
+ Boardcore::TrajectoryPoint(2850, 55.1416491527541),
+ Boardcore::TrajectoryPoint(2860, 53.211093880032),
+ Boardcore::TrajectoryPoint(2870, 51.2174546939379),
+ Boardcore::TrajectoryPoint(2880, 49.152637257559),
+ Boardcore::TrajectoryPoint(2890, 47.0071612852901),
+ Boardcore::TrajectoryPoint(2900, 44.7698557013905),
+ Boardcore::TrajectoryPoint(2910, 42.4242573825965),
+ Boardcore::TrajectoryPoint(2920, 39.9532525180878),
+ Boardcore::TrajectoryPoint(2930, 37.3311420054061),
+ Boardcore::TrajectoryPoint(2940, 34.5236940327285),
+ Boardcore::TrajectoryPoint(2950, 31.4804322670134),
+ Boardcore::TrajectoryPoint(2960, 28.1260653004882),
+ Boardcore::TrajectoryPoint(2970, 24.3297904406767),
+ Boardcore::TrajectoryPoint(2980, 19.8426175242942),
+ Boardcore::TrajectoryPoint(2990, 14.0140083271597),
+ Boardcore::TrajectoryPoint(3000, 0),
+};
+Boardcore::TrajectoryPoint t2_open[] = {
+ Boardcore::TrajectoryPoint(0, 473.576902505924),
+ Boardcore::TrajectoryPoint(10, 471.403156513521),
+ Boardcore::TrajectoryPoint(20, 469.218515885813),
+ Boardcore::TrajectoryPoint(30, 467.030818880971),
+ Boardcore::TrajectoryPoint(40, 464.834299300421),
+ Boardcore::TrajectoryPoint(50, 462.626509619678),
+ Boardcore::TrajectoryPoint(60, 460.416195287316),
+ Boardcore::TrajectoryPoint(70, 458.187856573562),
+ Boardcore::TrajectoryPoint(80, 455.959517859808),
+ Boardcore::TrajectoryPoint(90, 453.71368707362),
+ Boardcore::TrajectoryPoint(100, 451.464328557231),
+ Boardcore::TrajectoryPoint(110, 449.202776759906),
+ Boardcore::TrajectoryPoint(120, 446.931912636239),
+ Boardcore::TrajectoryPoint(130, 444.653846792708),
+ Boardcore::TrajectoryPoint(140, 442.360975565775),
+ Boardcore::TrajectoryPoint(150, 440.06556087913),
+ Boardcore::TrajectoryPoint(160, 437.750164669209),
+ Boardcore::TrajectoryPoint(170, 435.434768459289),
+ Boardcore::TrajectoryPoint(180, 433.098065913499),
+ Boardcore::TrajectoryPoint(190, 430.759609726283),
+ Boardcore::TrajectoryPoint(200, 428.40320048115),
+ Boardcore::TrajectoryPoint(210, 426.041131435832),
+ Boardcore::TrajectoryPoint(220, 423.664021107702),
+ Boardcore::TrajectoryPoint(230, 421.27776762121),
+ Boardcore::TrajectoryPoint(240, 418.878908165881),
+ Boardcore::TrajectoryPoint(250, 416.467879090217),
+ Boardcore::TrajectoryPoint(260, 414.046165475788),
+ Boardcore::TrajectoryPoint(270, 411.60974918521),
+ Boardcore::TrajectoryPoint(280, 409.16401581857),
+ Boardcore::TrajectoryPoint(290, 406.701579243071),
+ Boardcore::TrajectoryPoint(300, 404.230596128855),
+ Boardcore::TrajectoryPoint(310, 401.741483730096),
+ Boardcore::TrajectoryPoint(320, 399.243952338846),
+ Boardcore::TrajectoryPoint(330, 396.727485024392),
+ Boardcore::TrajectoryPoint(340, 394.202033844353),
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+ Boardcore::TrajectoryPoint(370, 386.529373089425),
+ Boardcore::TrajectoryPoint(380, 383.943651528057),
+ Boardcore::TrajectoryPoint(390, 381.34079165894),
+ Boardcore::TrajectoryPoint(400, 378.72254804015),
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+ Boardcore::TrajectoryPoint(450, 365.387672729278),
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+ Boardcore::TrajectoryPoint(1000, 269.842534745364),
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+ Boardcore::TrajectoryPoint(2730, 74.9968307817797),
+ Boardcore::TrajectoryPoint(2740, 73.5089103104229),
+ Boardcore::TrajectoryPoint(2750, 71.9976331587529),
+ Boardcore::TrajectoryPoint(2760, 70.4613700452898),
+ Boardcore::TrajectoryPoint(2770, 68.898276168656),
+ Boardcore::TrajectoryPoint(2780, 67.3063352740002),
+ Boardcore::TrajectoryPoint(2790, 65.6833401101246),
+ Boardcore::TrajectoryPoint(2800, 64.0268700909025),
+ Boardcore::TrajectoryPoint(2810, 62.3342656873004),
+ Boardcore::TrajectoryPoint(2820, 60.6025989816356),
+ Boardcore::TrajectoryPoint(2830, 58.8286396992956),
+ Boardcore::TrajectoryPoint(2840, 57.0071952585478),
+ Boardcore::TrajectoryPoint(2850, 55.1350880401615),
+ Boardcore::TrajectoryPoint(2860, 53.2051970780797),
+ Boardcore::TrajectoryPoint(2870, 51.2121932434966),
+ Boardcore::TrajectoryPoint(2880, 49.1479817575547),
+ Boardcore::TrajectoryPoint(2890, 47.0030819401451),
+ Boardcore::TrajectoryPoint(2900, 44.7663223620547),
+ Boardcore::TrajectoryPoint(2910, 42.4212503821809),
+ Boardcore::TrajectoryPoint(2920, 39.9507380627055),
+ Boardcore::TrajectoryPoint(2930, 37.3290853709413),
+ Boardcore::TrajectoryPoint(2940, 34.5220671351363),
+ Boardcore::TrajectoryPoint(2950, 31.4791954843358),
+ Boardcore::TrajectoryPoint(2960, 28.1251773225894),
+ Boardcore::TrajectoryPoint(2970, 24.3292149483238),
+ Boardcore::TrajectoryPoint(2980, 19.842304160382),
+ Boardcore::TrajectoryPoint(2990, 14.0138980654347),
+ Boardcore::TrajectoryPoint(3000, 0),
+};
+Boardcore::TrajectoryPoint t3_open[] = {
+ Boardcore::TrajectoryPoint(0, 471.298349939231),
+ Boardcore::TrajectoryPoint(10, 469.119867407005),
+ Boardcore::TrajectoryPoint(20, 466.941384874778),
+ Boardcore::TrajectoryPoint(30, 464.749419530194),
+ Boardcore::TrajectoryPoint(40, 462.551166888978),
+ Boardcore::TrajectoryPoint(50, 460.345517081592),
+ Boardcore::TrajectoryPoint(60, 458.126913391846),
+ Boardcore::TrajectoryPoint(70, 455.906843532282),
+ Boardcore::TrajectoryPoint(80, 453.667424535482),
+ Boardcore::TrajectoryPoint(90, 451.428005538681),
+ Boardcore::TrajectoryPoint(100, 449.171491256958),
+ Boardcore::TrajectoryPoint(110, 446.910777939907),
+ Boardcore::TrajectoryPoint(120, 444.637850944092),
+ Boardcore::TrajectoryPoint(130, 442.355348897901),
+ Boardcore::TrajectoryPoint(140, 440.065184527305),
+ Boardcore::TrajectoryPoint(150, 437.760383271321),
+ Boardcore::TrajectoryPoint(160, 435.452113377835),
+ Boardcore::TrajectoryPoint(170, 433.124485646202),
+ Boardcore::TrajectoryPoint(180, 430.79685791457),
+ Boardcore::TrajectoryPoint(190, 428.446196985498),
+ Boardcore::TrajectoryPoint(200, 426.095197973836),
+ Boardcore::TrajectoryPoint(210, 423.723991050601),
+ Boardcore::TrajectoryPoint(220, 421.34905762009),
+ Boardcore::TrajectoryPoint(230, 418.95627057658),
+ Boardcore::TrajectoryPoint(240, 416.556820412546),
+ Boardcore::TrajectoryPoint(250, 414.141363181215),
+ Boardcore::TrajectoryPoint(260, 411.716793903024),
+ Boardcore::TrajectoryPoint(270, 409.27751698598),
+ Boardcore::TrajectoryPoint(280, 406.827205204855),
+ Boardcore::TrajectoryPoint(290, 404.362895925138),
+ Boardcore::TrajectoryPoint(300, 401.886196246167),
+ Boardcore::TrajectoryPoint(310, 399.395574716742),
+ Boardcore::TrajectoryPoint(320, 396.891818681079),
+ Boardcore::TrajectoryPoint(330, 394.373533466854),
+ Boardcore::TrajectoryPoint(340, 391.842028429754),
+ Boardcore::TrajectoryPoint(350, 389.294651875436),
+ Boardcore::TrajectoryPoint(360, 386.734679815384),
+ Boardcore::TrajectoryPoint(370, 384.156703009248),
+ Boardcore::TrajectoryPoint(380, 381.567519263058),
+ Boardcore::TrajectoryPoint(390, 378.95734660359),
+ Boardcore::TrajectoryPoint(400, 376.338178521861),
+ Boardcore::TrajectoryPoint(410, 373.694121850819),
+ Boardcore::TrajectoryPoint(420, 371.044167367662),
+ Boardcore::TrajectoryPoint(430, 368.364439629247),
+ Boardcore::TrajectoryPoint(440, 365.679632983659),
+ Boardcore::TrajectoryPoint(450, 362.96557412114),
+ Boardcore::TrajectoryPoint(460, 360.428951235645),
+ Boardcore::TrajectoryPoint(470, 358.343878818962),
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+ Boardcore::TrajectoryPoint(490, 354.216633011564),
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+ Boardcore::TrajectoryPoint(530, 346.160279701819),
+ Boardcore::TrajectoryPoint(540, 344.189832121394),
+ Boardcore::TrajectoryPoint(550, 342.232951685253),
+ Boardcore::TrajectoryPoint(560, 340.29053248031),
+ Boardcore::TrajectoryPoint(570, 338.369571585879),
+ Boardcore::TrajectoryPoint(580, 336.457106954624),
+ Boardcore::TrajectoryPoint(590, 334.569513666981),
+ Boardcore::TrajectoryPoint(600, 332.692871115362),
+ Boardcore::TrajectoryPoint(610, 330.831980100764),
+ Boardcore::TrajectoryPoint(620, 328.990737760049),
+ Boardcore::TrajectoryPoint(630, 327.158748922048),
+ Boardcore::TrajectoryPoint(640, 325.349665521647),
+ Boardcore::TrajectoryPoint(650, 323.552530579037),
+ Boardcore::TrajectoryPoint(660, 321.768503547913),
+ Boardcore::TrajectoryPoint(670, 320.005569684015),
+ Boardcore::TrajectoryPoint(680, 318.25225280443),
+ Boardcore::TrajectoryPoint(690, 316.516564554168),
+ Boardcore::TrajectoryPoint(700, 314.796576338823),
+ Boardcore::TrajectoryPoint(710, 313.086459811897),
+ Boardcore::TrajectoryPoint(720, 311.396693844325),
+ Boardcore::TrajectoryPoint(730, 309.71888095619),
+ Boardcore::TrajectoryPoint(740, 308.051164500195),
+ Boardcore::TrajectoryPoint(750, 306.404794904757),
+ Boardcore::TrajectoryPoint(760, 304.768143859692),
+ Boardcore::TrajectoryPoint(770, 303.142717270556),
+ Boardcore::TrajectoryPoint(780, 301.536330507408),
+ Boardcore::TrajectoryPoint(790, 299.939632578811),
+ Boardcore::TrajectoryPoint(800, 298.354126980701),
+ Boardcore::TrajectoryPoint(810, 296.786451049129),
+ Boardcore::TrajectoryPoint(820, 295.228347903573),
+ Boardcore::TrajectoryPoint(830, 293.680467480357),
+ Boardcore::TrajectoryPoint(840, 292.150106609091),
+ Boardcore::TrajectoryPoint(850, 290.629131487969),
+ Boardcore::TrajectoryPoint(860, 289.117689846687),
+ Boardcore::TrajectoryPoint(870, 287.62214151145),
+ Boardcore::TrajectoryPoint(880, 286.13675499289),
+ Boardcore::TrajectoryPoint(890, 284.660621622282),
+ Boardcore::TrajectoryPoint(900, 283.197371866482),
+ Boardcore::TrajectoryPoint(910, 281.745992008375),
+ Boardcore::TrajectoryPoint(920, 280.303546612489),
+ Boardcore::TrajectoryPoint(930, 278.870647508428),
+ Boardcore::TrajectoryPoint(940, 277.451674627804),
+ Boardcore::TrajectoryPoint(950, 276.041289739244),
+ Boardcore::TrajectoryPoint(960, 274.639528978177),
+ Boardcore::TrajectoryPoint(970, 273.248736779458),
+ Boardcore::TrajectoryPoint(980, 271.8687959427),
+ Boardcore::TrajectoryPoint(990, 270.497094394928),
+ Boardcore::TrajectoryPoint(1000, 269.133634328904),
+ Boardcore::TrajectoryPoint(1010, 267.781158259423),
+ Boardcore::TrajectoryPoint(1020, 266.437916497461),
+ Boardcore::TrajectoryPoint(1030, 265.102509390847),
+ Boardcore::TrajectoryPoint(1040, 263.774913578425),
+ Boardcore::TrajectoryPoint(1050, 262.457296996896),
+ Boardcore::TrajectoryPoint(1060, 261.14838459131),
+ Boardcore::TrajectoryPoint(1070, 259.846867240454),
+ Boardcore::TrajectoryPoint(1080, 258.552702838796),
+ Boardcore::TrajectoryPoint(1090, 257.266799968447),
+ Boardcore::TrajectoryPoint(1100, 255.989860259758),
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+ Boardcore::TrajectoryPoint(1120, 253.456735247744),
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+ Boardcore::TrajectoryPoint(1140, 250.952410712813),
+ Boardcore::TrajectoryPoint(1150, 249.711607124789),
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+ Boardcore::TrajectoryPoint(1200, 243.60483165204),
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+ Boardcore::TrajectoryPoint(1270, 235.312323898127),
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+ Boardcore::TrajectoryPoint(1290, 232.9925772894),
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+ Boardcore::TrajectoryPoint(1330, 228.413734537409),
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+ Boardcore::TrajectoryPoint(1380, 222.794038602732),
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+ Boardcore::TrajectoryPoint(1400, 220.57560908154),
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+ Boardcore::TrajectoryPoint(1500, 209.706258653737),
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+ Boardcore::TrajectoryPoint(1700, 188.792276631278),
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+ Boardcore::TrajectoryPoint(1730, 185.719874457804),
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+ Boardcore::TrajectoryPoint(1750, 183.677878563622),
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+ Boardcore::TrajectoryPoint(1800, 178.590901172202),
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+ Boardcore::TrajectoryPoint(1890, 169.475582489074),
+ Boardcore::TrajectoryPoint(1900, 168.464310885922),
+ Boardcore::TrajectoryPoint(1910, 167.453097175265),
+ Boardcore::TrajectoryPoint(1920, 166.441866895329),
+ Boardcore::TrajectoryPoint(1930, 165.430548435468),
+ Boardcore::TrajectoryPoint(1940, 164.41907717367),
+ Boardcore::TrajectoryPoint(1950, 163.407388553359),
+ Boardcore::TrajectoryPoint(1960, 162.395405976952),
+ Boardcore::TrajectoryPoint(1970, 161.383022721616),
+ Boardcore::TrajectoryPoint(1980, 160.370210775864),
+ Boardcore::TrajectoryPoint(1990, 159.356905917927),
+ Boardcore::TrajectoryPoint(2000, 158.343027776145),
+ Boardcore::TrajectoryPoint(2010, 157.328424755415),
+ Boardcore::TrajectoryPoint(2020, 156.31311608424),
+ Boardcore::TrajectoryPoint(2030, 155.297037531927),
+ Boardcore::TrajectoryPoint(2040, 154.280035323701),
+ Boardcore::TrajectoryPoint(2050, 153.262040230623),
+ Boardcore::TrajectoryPoint(2060, 152.243060127982),
+ Boardcore::TrajectoryPoint(2070, 151.222971873088),
+ Boardcore::TrajectoryPoint(2080, 150.201593263821),
+ Boardcore::TrajectoryPoint(2090, 149.179011603537),
+ Boardcore::TrajectoryPoint(2100, 148.155087247232),
+ Boardcore::TrajectoryPoint(2110, 147.129611882424),
+ Boardcore::TrajectoryPoint(2120, 146.102711781643),
+ Boardcore::TrajectoryPoint(2130, 145.07415446885),
+ Boardcore::TrajectoryPoint(2140, 144.04385087546),
+ Boardcore::TrajectoryPoint(2150, 143.011896402002),
+ Boardcore::TrajectoryPoint(2160, 141.977861549188),
+ Boardcore::TrajectoryPoint(2170, 140.941977540445),
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+ Boardcore::TrajectoryPoint(2190, 138.863804555568),
+ Boardcore::TrajectoryPoint(2200, 137.821468175557),
+ Boardcore::TrajectoryPoint(2210, 136.776584539177),
+ Boardcore::TrajectoryPoint(2220, 135.729466847346),
+ Boardcore::TrajectoryPoint(2230, 134.679490161356),
+ Boardcore::TrajectoryPoint(2240, 133.627115595225),
+ Boardcore::TrajectoryPoint(2250, 132.5716582),
+ Boardcore::TrajectoryPoint(2260, 131.513597650322),
+ Boardcore::TrajectoryPoint(2270, 130.452187771183),
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+ Boardcore::TrajectoryPoint(2750, 71.9833589997412),
+ Boardcore::TrajectoryPoint(2760, 70.4479868373564),
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+ Boardcore::TrajectoryPoint(2800, 64.0168034271602),
+ Boardcore::TrajectoryPoint(2810, 62.3249657337154),
+ Boardcore::TrajectoryPoint(2820, 60.5940405921838),
+ Boardcore::TrajectoryPoint(2830, 58.8207976702572),
+ Boardcore::TrajectoryPoint(2840, 57.0000633352347),
+ Boardcore::TrajectoryPoint(2850, 55.1286199821587),
+ Boardcore::TrajectoryPoint(2860, 53.1993838323891),
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+ Boardcore::TrajectoryPoint(2880, 49.143392099741),
+ Boardcore::TrajectoryPoint(2890, 46.9990602323191),
+ Boardcore::TrajectoryPoint(2900, 44.7628388957542),
+ Boardcore::TrajectoryPoint(2910, 42.4182857873722),
+ Boardcore::TrajectoryPoint(2920, 39.9482590339176),
+ Boardcore::TrajectoryPoint(2930, 37.3270576850087),
+ Boardcore::TrajectoryPoint(2940, 34.5204631166138),
+ Boardcore::TrajectoryPoint(2950, 31.4779760782228),
+ Boardcore::TrajectoryPoint(2960, 28.1243018084368),
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+ Boardcore::TrajectoryPoint(2980, 19.8419951869066),
+ Boardcore::TrajectoryPoint(2990, 14.0137893471542),
+ Boardcore::TrajectoryPoint(3000, 0),
+};
+Boardcore::TrajectoryPoint t4_open[] = {
+ Boardcore::TrajectoryPoint(0, 469.040451230612),
+ Boardcore::TrajectoryPoint(10, 466.864918440385),
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+ Boardcore::TrajectoryPoint(450, 360.864016496465),
+ Boardcore::TrajectoryPoint(460, 358.783918217054),
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+ Boardcore::TrajectoryPoint(2990, 14.0136821401343),
+ Boardcore::TrajectoryPoint(3000, 0),
+};
+Boardcore::TrajectoryPoint t5_open[] = {
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+ Boardcore::TrajectoryPoint(1210, 241.413586966936),
+ Boardcore::TrajectoryPoint(1220, 240.231979679121),
+ Boardcore::TrajectoryPoint(1230, 239.057181069093),
+ Boardcore::TrajectoryPoint(1240, 237.887718485013),
+ Boardcore::TrajectoryPoint(1250, 236.723488821637),
+ Boardcore::TrajectoryPoint(1260, 235.564410840391),
+ Boardcore::TrajectoryPoint(1270, 234.410401368092),
+ Boardcore::TrajectoryPoint(1280, 233.261375549707),
+ Boardcore::TrajectoryPoint(1290, 232.117694342822),
+ Boardcore::TrajectoryPoint(1300, 230.979220939363),
+ Boardcore::TrajectoryPoint(1310, 229.845380543172),
+ Boardcore::TrajectoryPoint(1320, 228.716089624467),
+ Boardcore::TrajectoryPoint(1330, 227.591263617325),
+ Boardcore::TrajectoryPoint(1340, 226.470817091764),
+ Boardcore::TrajectoryPoint(1350, 225.354663911605),
+ Boardcore::TrajectoryPoint(1360, 224.242717379074),
+ Boardcore::TrajectoryPoint(1370, 223.135079242259),
+ Boardcore::TrajectoryPoint(1380, 222.031769599318),
+ Boardcore::TrajectoryPoint(1390, 220.932347020742),
+ Boardcore::TrajectoryPoint(1400, 219.836727793701),
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+ Boardcore::TrajectoryPoint(1570, 201.712473328983),
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+ Boardcore::TrajectoryPoint(1900, 168.130182467608),
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+ Boardcore::TrajectoryPoint(1950, 163.101329806411),
+ Boardcore::TrajectoryPoint(1960, 162.094774062811),
+ Boardcore::TrajectoryPoint(1970, 161.087766595461),
+ Boardcore::TrajectoryPoint(1980, 160.080238279998),
+ Boardcore::TrajectoryPoint(1990, 159.07215591558),
+ Boardcore::TrajectoryPoint(2000, 158.06345632395),
+ Boardcore::TrajectoryPoint(2010, 157.053997710268),
+ Boardcore::TrajectoryPoint(2020, 156.04372660691),
+ Boardcore::TrajectoryPoint(2030, 155.032628087665),
+ Boardcore::TrajectoryPoint(2040, 154.020626590328),
+ Boardcore::TrajectoryPoint(2050, 153.007491120021),
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+ Boardcore::TrajectoryPoint(2080, 149.961378420555),
+ Boardcore::TrajectoryPoint(2090, 148.94343247487),
+ Boardcore::TrajectoryPoint(2100, 147.924166272151),
+ Boardcore::TrajectoryPoint(2110, 146.903239467872),
+ Boardcore::TrajectoryPoint(2120, 145.880812449446),
+ Boardcore::TrajectoryPoint(2130, 144.856782009275),
+ Boardcore::TrajectoryPoint(2140, 143.830843223811),
+ Boardcore::TrajectoryPoint(2150, 142.803205120316),
+ Boardcore::TrajectoryPoint(2160, 141.773543095377),
+ Boardcore::TrajectoryPoint(2170, 140.741870863382),
+ Boardcore::TrajectoryPoint(2180, 139.708164964326),
+ Boardcore::TrajectoryPoint(2190, 138.672084378022),
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+ Boardcore::TrajectoryPoint(2240, 133.455451457358),
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+ Boardcore::TrajectoryPoint(2800, 63.9970945186851),
+ Boardcore::TrajectoryPoint(2810, 62.3067575304634),
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+ Boardcore::TrajectoryPoint(2900, 44.7560174175093),
+ Boardcore::TrajectoryPoint(2910, 42.412480276508),
+ Boardcore::TrajectoryPoint(2920, 39.9434043030311),
+ Boardcore::TrajectoryPoint(2930, 37.3230867479078),
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+ Boardcore::TrajectoryPoint(2950, 31.475587951172),
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+ Boardcore::TrajectoryPoint(2980, 19.8413900472862),
+ Boardcore::TrajectoryPoint(2990, 14.0135764130844),
+ Boardcore::TrajectoryPoint(3000, 0),
+};
+Boardcore::TrajectoryPoint t6_open[] = {
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+ Boardcore::TrajectoryPoint(90, 444.655874361964),
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+ Boardcore::TrajectoryPoint(120, 437.854423447746),
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+ Boardcore::TrajectoryPoint(140, 433.265208243507),
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+ Boardcore::TrajectoryPoint(1920, 165.961524386307),
+ Boardcore::TrajectoryPoint(1930, 164.958558013846),
+ Boardcore::TrajectoryPoint(1940, 163.955332934092),
+ Boardcore::TrajectoryPoint(1950, 162.951793923675),
+ Boardcore::TrajectoryPoint(1960, 161.947878141381),
+ Boardcore::TrajectoryPoint(1970, 160.943502945758),
+ Boardcore::TrajectoryPoint(1980, 159.938550963533),
+ Boardcore::TrajectoryPoint(1990, 158.933015290983),
+ Boardcore::TrajectoryPoint(2000, 157.926833200686),
+ Boardcore::TrajectoryPoint(2010, 156.919895753615),
+ Boardcore::TrajectoryPoint(2020, 155.912081551711),
+ Boardcore::TrajectoryPoint(2030, 154.903412027327),
+ Boardcore::TrajectoryPoint(2040, 153.893824224006),
+ Boardcore::TrajectoryPoint(2050, 152.883088516805),
+ Boardcore::TrajectoryPoint(2060, 151.871256799619),
+ Boardcore::TrajectoryPoint(2070, 150.858294897048),
+ Boardcore::TrajectoryPoint(2080, 149.843972020582),
+ Boardcore::TrajectoryPoint(2090, 148.828287827955),
+ Boardcore::TrajectoryPoint(2100, 147.811258163349),
+ Boardcore::TrajectoryPoint(2110, 146.7925899667),
+ Boardcore::TrajectoryPoint(2120, 145.772345682949),
+ Boardcore::TrajectoryPoint(2130, 144.750526889382),
+ Boardcore::TrajectoryPoint(2140, 143.726718202982),
+ Boardcore::TrajectoryPoint(2150, 142.70118667386),
+ Boardcore::TrajectoryPoint(2160, 141.673661151085),
+ Boardcore::TrajectoryPoint(2170, 140.64404463644),
+ Boardcore::TrajectoryPoint(2180, 139.61242847161),
+ Boardcore::TrajectoryPoint(2190, 138.578353838747),
+ Boardcore::TrajectoryPoint(2200, 137.542161723912),
+ Boardcore::TrajectoryPoint(2210, 136.503324714274),
+ Boardcore::TrajectoryPoint(2220, 135.462120178032),
+ Boardcore::TrajectoryPoint(2230, 134.418133457024),
+ Boardcore::TrajectoryPoint(2240, 133.371515809618),
+ Boardcore::TrajectoryPoint(2250, 132.321920488937),
+ Boardcore::TrajectoryPoint(2260, 131.269475808892),
+ Boardcore::TrajectoryPoint(2270, 130.213788640151),
+ Boardcore::TrajectoryPoint(2280, 129.15508879324),
+ Boardcore::TrajectoryPoint(2290, 128.092801045001),
+ Boardcore::TrajectoryPoint(2300, 127.027323459846),
+ Boardcore::TrajectoryPoint(2310, 125.957978752964),
+ Boardcore::TrajectoryPoint(2320, 124.88507560579),
+ Boardcore::TrajectoryPoint(2330, 123.808298050092),
+ Boardcore::TrajectoryPoint(2340, 122.727387241368),
+ Boardcore::TrajectoryPoint(2350, 121.642531080083),
+ Boardcore::TrajectoryPoint(2360, 120.55315586054),
+ Boardcore::TrajectoryPoint(2370, 119.45933964258),
+ Boardcore::TrajectoryPoint(2380, 118.361060656959),
+ Boardcore::TrajectoryPoint(2390, 117.257782162523),
+ Boardcore::TrajectoryPoint(2400, 116.149501861304),
+ Boardcore::TrajectoryPoint(2410, 115.036185150723),
+ Boardcore::TrajectoryPoint(2420, 113.917600047795),
+ Boardcore::TrajectoryPoint(2430, 112.793142225371),
+ Boardcore::TrajectoryPoint(2440, 111.663012152568),
+ Boardcore::TrajectoryPoint(2450, 110.526976572206),
+ Boardcore::TrajectoryPoint(2460, 109.384792349785),
+ Boardcore::TrajectoryPoint(2470, 108.236187671702),
+ Boardcore::TrajectoryPoint(2480, 107.080650673299),
+ Boardcore::TrajectoryPoint(2490, 105.918202985069),
+ Boardcore::TrajectoryPoint(2500, 104.748560864017),
+ Boardcore::TrajectoryPoint(2510, 103.57142844651),
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+ Boardcore::TrajectoryPoint(2530, 101.193445191733),
+ Boardcore::TrajectoryPoint(2540, 99.991936670758),
+ Boardcore::TrajectoryPoint(2550, 98.7816211292266),
+ Boardcore::TrajectoryPoint(2560, 97.5621326712553),
+ Boardcore::TrajectoryPoint(2570, 96.3330891872948),
+ Boardcore::TrajectoryPoint(2580, 95.0940914966348),
+ Boardcore::TrajectoryPoint(2590, 93.8447224303209),
+ Boardcore::TrajectoryPoint(2600, 92.5845458501197),
+ Boardcore::TrajectoryPoint(2610, 91.3129069009138),
+ Boardcore::TrajectoryPoint(2620, 90.0292056239672),
+ Boardcore::TrajectoryPoint(2630, 88.733166807779),
+ Boardcore::TrajectoryPoint(2640, 87.4242601066989),
+ Boardcore::TrajectoryPoint(2650, 86.1016652129854),
+ Boardcore::TrajectoryPoint(2660, 84.7644047274742),
+ Boardcore::TrajectoryPoint(2670, 83.4123968030743),
+ Boardcore::TrajectoryPoint(2680, 82.0443260764767),
+ Boardcore::TrajectoryPoint(2690, 80.6595214378804),
+ Boardcore::TrajectoryPoint(2700, 79.2571800420823),
+ Boardcore::TrajectoryPoint(2710, 77.8360540888311),
+ Boardcore::TrajectoryPoint(2720, 76.3951788167869),
+ Boardcore::TrajectoryPoint(2730, 74.9337351145743),
+ Boardcore::TrajectoryPoint(2740, 73.4494313334355),
+ Boardcore::TrajectoryPoint(2750, 71.9417374365831),
+ Boardcore::TrajectoryPoint(2760, 70.408962133249),
+ Boardcore::TrajectoryPoint(2770, 68.8492599229072),
+ Boardcore::TrajectoryPoint(2780, 67.2606139449578),
+ Boardcore::TrajectoryPoint(2790, 65.6408164293912),
+ Boardcore::TrajectoryPoint(2800, 63.9874463520398),
+ Boardcore::TrajectoryPoint(2810, 62.2978438206664),
+ Boardcore::TrajectoryPoint(2820, 60.5690806234602),
+ Boardcore::TrajectoryPoint(2830, 58.7979262551143),
+ Boardcore::TrajectoryPoint(2840, 56.9792624438792),
+ Boardcore::TrajectoryPoint(2850, 55.1097547536487),
+ Boardcore::TrajectoryPoint(2860, 53.1824280445218),
+ Boardcore::TrajectoryPoint(2870, 51.1918767903957),
+ Boardcore::TrajectoryPoint(2880, 49.1300045025326),
+ Boardcore::TrajectoryPoint(2890, 46.9873289715247),
+ Boardcore::TrajectoryPoint(2900, 44.7526773951407),
+ Boardcore::TrajectoryPoint(2910, 42.4096376524901),
+ Boardcore::TrajectoryPoint(2920, 39.9410271753139),
+ Boardcore::TrajectoryPoint(2930, 37.3211423328618),
+ Boardcore::TrajectoryPoint(2940, 34.5157836090082),
+ Boardcore::TrajectoryPoint(2950, 31.4744185328222),
+ Boardcore::TrajectoryPoint(2960, 28.1217474784409),
+ Boardcore::TrajectoryPoint(2970, 24.3269920206659),
+ Boardcore::TrajectoryPoint(2980, 19.8410937053959),
+ Boardcore::TrajectoryPoint(2990, 14.0134721355646),
+ Boardcore::TrajectoryPoint(3000, 0),
+};
+Boardcore::TrajectoryPoint t7_open[] = {
+ Boardcore::TrajectoryPoint(0, 462.397633914683),
+ Boardcore::TrajectoryPoint(10, 460.235443345584),
+ Boardcore::TrajectoryPoint(20, 458.07037540676),
+ Boardcore::TrajectoryPoint(30, 455.890957654999),
+ Boardcore::TrajectoryPoint(40, 453.711539903238),
+ Boardcore::TrajectoryPoint(50, 451.514336157227),
+ Boardcore::TrajectoryPoint(60, 449.314872751501),
+ Boardcore::TrajectoryPoint(70, 447.102447050195),
+ Boardcore::TrajectoryPoint(80, 444.88248484413),
+ Boardcore::TrajectoryPoint(90, 442.654090226107),
+ Boardcore::TrajectoryPoint(100, 440.413161786298),
+ Boardcore::TrajectoryPoint(110, 438.168012938322),
+ Boardcore::TrajectoryPoint(120, 435.905635928798),
+ Boardcore::TrajectoryPoint(130, 433.642906965046),
+ Boardcore::TrajectoryPoint(140, 431.358583498363),
+ Boardcore::TrajectoryPoint(150, 429.07426003168),
+ Boardcore::TrajectoryPoint(160, 426.770621538567),
+ Boardcore::TrajectoryPoint(170, 424.463837491329),
+ Boardcore::TrajectoryPoint(180, 422.140304646602),
+ Boardcore::TrajectoryPoint(190, 419.81052893705),
+ Boardcore::TrajectoryPoint(200, 417.466121489918),
+ Boardcore::TrajectoryPoint(210, 415.112805315026),
+ Boardcore::TrajectoryPoint(220, 412.74649108526),
+ Boardcore::TrajectoryPoint(230, 410.369067114589),
+ Boardcore::TrajectoryPoint(240, 407.979758821029),
+ Boardcore::TrajectoryPoint(250, 405.577640344355),
+ Boardcore::TrajectoryPoint(260, 403.164192202121),
+ Boardcore::TrajectoryPoint(270, 400.736772227624),
+ Boardcore::TrajectoryPoint(280, 398.297976294451),
+ Boardcore::TrajectoryPoint(290, 395.84462659398),
+ Boardcore::TrajectoryPoint(300, 393.379208844188),
+ Boardcore::TrajectoryPoint(310, 390.899278941825),
+ Boardcore::TrajectoryPoint(320, 388.405895044328),
+ Boardcore::TrajectoryPoint(330, 385.898711144167),
+ Boardcore::TrajectoryPoint(340, 383.375941918578),
+ Boardcore::TrajectoryPoint(350, 380.840805767276),
+ Boardcore::TrajectoryPoint(360, 378.287152289556),
+ Boardcore::TrajectoryPoint(370, 375.723339968828),
+ Boardcore::TrajectoryPoint(380, 373.137218295003),
+ Boardcore::TrajectoryPoint(390, 370.543978938833),
+ Boardcore::TrajectoryPoint(400, 367.923714412068),
+ Boardcore::TrajectoryPoint(410, 365.298550667834),
+ Boardcore::TrajectoryPoint(420, 362.644089945617),
+ Boardcore::TrajectoryPoint(430, 360.13759133901),
+ Boardcore::TrajectoryPoint(440, 358.099085747802),
+ Boardcore::TrajectoryPoint(450, 356.072889850885),
+ Boardcore::TrajectoryPoint(460, 354.061970737239),
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+ Boardcore::TrajectoryPoint(490, 348.127596012701),
+ Boardcore::TrajectoryPoint(500, 346.176152646081),
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+ Boardcore::TrajectoryPoint(530, 340.427940681882),
+ Boardcore::TrajectoryPoint(540, 338.545249299336),
+ Boardcore::TrajectoryPoint(550, 336.670679152543),
+ Boardcore::TrajectoryPoint(560, 334.820871155221),
+ Boardcore::TrajectoryPoint(570, 332.980541718444),
+ Boardcore::TrajectoryPoint(580, 331.156267128329),
+ Boardcore::TrajectoryPoint(590, 329.349786541894),
+ Boardcore::TrajectoryPoint(600, 327.552144764473),
+ Boardcore::TrajectoryPoint(610, 325.777443337009),
+ Boardcore::TrajectoryPoint(620, 324.013147463506),
+ Boardcore::TrajectoryPoint(630, 322.262440190035),
+ Boardcore::TrajectoryPoint(640, 320.530884304792),
+ Boardcore::TrajectoryPoint(650, 318.808520904279),
+ Boardcore::TrajectoryPoint(660, 317.104142370719),
+ Boardcore::TrajectoryPoint(670, 315.413712439461),
+ Boardcore::TrajectoryPoint(680, 313.732723863234),
+ Boardcore::TrajectoryPoint(690, 312.072411112226),
+ Boardcore::TrajectoryPoint(700, 310.422406043781),
+ Boardcore::TrajectoryPoint(710, 308.78327137506),
+ Boardcore::TrajectoryPoint(720, 307.163447856811),
+ Boardcore::TrajectoryPoint(730, 305.552937960949),
+ Boardcore::TrajectoryPoint(740, 303.954460520275),
+ Boardcore::TrajectoryPoint(750, 302.373034789028),
+ Boardcore::TrajectoryPoint(760, 300.800905195356),
+ Boardcore::TrajectoryPoint(770, 299.240856843729),
+ Boardcore::TrajectoryPoint(780, 297.696652145373),
+ Boardcore::TrajectoryPoint(790, 296.161644441509),
+ Boardcore::TrajectoryPoint(800, 294.637861430865),
+ Boardcore::TrajectoryPoint(810, 293.129581333874),
+ Boardcore::TrajectoryPoint(820, 291.630331411513),
+ Boardcore::TrajectoryPoint(830, 290.14073024552),
+ Boardcore::TrajectoryPoint(840, 288.666992602935),
+ Boardcore::TrajectoryPoint(850, 287.202063770183),
+ Boardcore::TrajectoryPoint(860, 285.746053584645),
+ Boardcore::TrajectoryPoint(870, 284.304017520188),
+ Boardcore::TrajectoryPoint(880, 282.871928631545),
+ Boardcore::TrajectoryPoint(890, 281.448464679643),
+ Boardcore::TrajectoryPoint(900, 280.035807398446),
+ Boardcore::TrajectoryPoint(910, 278.635056173899),
+ Boardcore::TrajectoryPoint(920, 277.242608452937),
+ Boardcore::TrajectoryPoint(930, 275.858502482607),
+ Boardcore::TrajectoryPoint(940, 274.486661176419),
+ Boardcore::TrajectoryPoint(950, 273.123705797181),
+ Boardcore::TrajectoryPoint(960, 271.768732511992),
+ Boardcore::TrajectoryPoint(970, 270.422074303304),
+ Boardcore::TrajectoryPoint(980, 269.087107076844),
+ Boardcore::TrajectoryPoint(990, 267.759753212187),
+ Boardcore::TrajectoryPoint(1000, 266.440004576942),
+ Boardcore::TrajectoryPoint(1010, 265.128311681573),
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+ Boardcore::TrajectoryPoint(1050, 259.966667118655),
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+ Boardcore::TrajectoryPoint(1080, 256.177841746167),
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+ Boardcore::TrajectoryPoint(1180, 243.994202919291),
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+ Boardcore::TrajectoryPoint(1800, 177.811986579881),
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+ Boardcore::TrajectoryPoint(1900, 167.806213924106),
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+ Boardcore::TrajectoryPoint(2000, 157.792260906707),
+ Boardcore::TrajectoryPoint(2010, 156.787806325795),
+ Boardcore::TrajectoryPoint(2020, 155.782409095975),
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+ Boardcore::TrajectoryPoint(2630, 88.7080464664619),
+ Boardcore::TrajectoryPoint(2640, 87.4002088477987),
+ Boardcore::TrajectoryPoint(2650, 86.0787007076121),
+ Boardcore::TrajectoryPoint(2660, 84.7424667140484),
+ Boardcore::TrajectoryPoint(2670, 83.3914650200792),
+ Boardcore::TrajectoryPoint(2680, 82.0244150950226),
+ Boardcore::TrajectoryPoint(2690, 80.6405741704461),
+ Boardcore::TrajectoryPoint(2700, 79.2392093358966),
+ Boardcore::TrajectoryPoint(2710, 77.8190046452144),
+ Boardcore::TrajectoryPoint(2720, 76.3790612813234),
+ Boardcore::TrajectoryPoint(2730, 74.9184965157595),
+ Boardcore::TrajectoryPoint(2740, 73.4350796888294),
+ Boardcore::TrajectoryPoint(2750, 71.928249956016),
+ Boardcore::TrajectoryPoint(2760, 70.3963158340585),
+ Boardcore::TrajectoryPoint(2770, 68.8374316536634),
+ Boardcore::TrajectoryPoint(2780, 67.2495804075891),
+ Boardcore::TrajectoryPoint(2790, 65.6305541997953),
+ Boardcore::TrajectoryPoint(2800, 63.9779318992499),
+ Boardcore::TrajectoryPoint(2810, 62.2890535246224),
+ Boardcore::TrajectoryPoint(2820, 60.5609907914265),
+ Boardcore::TrajectoryPoint(2830, 58.790513136769),
+ Boardcore::TrajectoryPoint(2840, 56.9725202630961),
+ Boardcore::TrajectoryPoint(2850, 55.1036397992158),
+ Boardcore::TrajectoryPoint(2860, 53.1769318750686),
+ Boardcore::TrajectoryPoint(2870, 51.1869724843178),
+ Boardcore::TrajectoryPoint(2880, 49.1256647246566),
+ Boardcore::TrajectoryPoint(2890, 46.9835260160829),
+ Boardcore::TrajectoryPoint(2900, 44.7493832229852),
+ Boardcore::TrajectoryPoint(2910, 42.406834016481),
+ Boardcore::TrajectoryPoint(2920, 39.93868262156),
+ Boardcore::TrajectoryPoint(2930, 37.3192245374569),
+ Boardcore::TrajectoryPoint(2940, 34.5142664449591),
+ Boardcore::TrajectoryPoint(2950, 31.4732650955334),
+ Boardcore::TrajectoryPoint(2960, 28.1209192843493),
+ Boardcore::TrajectoryPoint(2970, 24.3264552405386),
+ Boardcore::TrajectoryPoint(2980, 19.8408014022802),
+ Boardcore::TrajectoryPoint(2990, 14.0133692779701),
+ Boardcore::TrajectoryPoint(3000, 0),
+};
+Boardcore::TrajectoryPoint t8_open[] = {
+ Boardcore::TrajectoryPoint(0, 460.225158627655),
+ Boardcore::TrajectoryPoint(10, 458.060827677211),
+ Boardcore::TrajectoryPoint(20, 455.890588079475),
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+ Boardcore::TrajectoryPoint(40, 451.527056922347),
+ Boardcore::TrajectoryPoint(50, 449.336961304867),
+ Boardcore::TrajectoryPoint(60, 447.12853264931),
+ Boardcore::TrajectoryPoint(70, 444.918134001297),
+ Boardcore::TrajectoryPoint(80, 442.69382987869),
+ Boardcore::TrajectoryPoint(90, 440.462667163239),
+ Boardcore::TrajectoryPoint(100, 438.221711471348),
+ Boardcore::TrajectoryPoint(110, 435.969309023959),
+ Boardcore::TrajectoryPoint(120, 433.710885755415),
+ Boardcore::TrajectoryPoint(130, 431.436752650058),
+ Boardcore::TrajectoryPoint(140, 429.160003568699),
+ Boardcore::TrajectoryPoint(150, 426.863632949304),
+ Boardcore::TrajectoryPoint(160, 424.567262329909),
+ Boardcore::TrajectoryPoint(170, 422.248523479768),
+ Boardcore::TrajectoryPoint(180, 419.929391854839),
+ Boardcore::TrajectoryPoint(190, 417.589933044757),
+ Boardcore::TrajectoryPoint(200, 415.247499542649),
+ Boardcore::TrajectoryPoint(210, 412.886302056624),
+ Boardcore::TrajectoryPoint(220, 410.520007638815),
+ Boardcore::TrajectoryPoint(230, 408.135998651014),
+ Boardcore::TrajectoryPoint(240, 405.745265280491),
+ Boardcore::TrajectoryPoint(250, 403.337314531361),
+ Boardcore::TrajectoryPoint(260, 400.921544293022),
+ Boardcore::TrajectoryPoint(270, 398.488460521606),
+ Boardcore::TrajectoryPoint(280, 396.047034691304),
+ Boardcore::TrajectoryPoint(290, 393.587561802997),
+ Boardcore::TrajectoryPoint(300, 391.119839861583),
+ Boardcore::TrajectoryPoint(310, 388.632652808532),
+ Boardcore::TrajectoryPoint(320, 386.137971396961),
+ Boardcore::TrajectoryPoint(330, 383.621671746041),
+ Boardcore::TrajectoryPoint(340, 381.099343557243),
+ Boardcore::TrajectoryPoint(350, 378.552454718058),
+ Boardcore::TrajectoryPoint(360, 376.001767320946),
+ Boardcore::TrajectoryPoint(370, 373.422729403494),
+ Boardcore::TrajectoryPoint(380, 370.839758188705),
+ Boardcore::TrajectoryPoint(390, 368.230108262556),
+ Boardcore::TrajectoryPoint(400, 365.61239128173),
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+ Boardcore::TrajectoryPoint(420, 360.600532583615),
+ Boardcore::TrajectoryPoint(430, 358.56610459273),
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+ Boardcore::TrajectoryPoint(450, 354.542142437385),
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+ Boardcore::TrajectoryPoint(500, 344.759383999265),
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+ Boardcore::TrajectoryPoint(570, 331.704805845707),
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+ Boardcore::TrajectoryPoint(590, 328.113002006336),
+ Boardcore::TrajectoryPoint(600, 326.340312726937),
+ Boardcore::TrajectoryPoint(610, 324.581705479725),
+ Boardcore::TrajectoryPoint(620, 322.832896092653),
+ Boardcore::TrajectoryPoint(630, 321.106699145628),
+ Boardcore::TrajectoryPoint(640, 319.389478232561),
+ Boardcore::TrajectoryPoint(650, 317.686805072571),
+ Boardcore::TrajectoryPoint(660, 316.001221944481),
+ Boardcore::TrajectoryPoint(670, 314.324876766447),
+ Boardcore::TrajectoryPoint(680, 312.666118625682),
+ Boardcore::TrajectoryPoint(690, 311.02049480437),
+ Boardcore::TrajectoryPoint(700, 309.384254168177),
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+ Boardcore::TrajectoryPoint(820, 290.774873383291),
+ Boardcore::TrajectoryPoint(830, 289.302832212465),
+ Boardcore::TrajectoryPoint(840, 287.840633506221),
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+ Boardcore::TrajectoryPoint(860, 284.9464192575),
+ Boardcore::TrajectoryPoint(870, 283.516847173471),
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+ Boardcore::TrajectoryPoint(900, 279.285940582769),
+ Boardcore::TrajectoryPoint(910, 277.895744766523),
+ Boardcore::TrajectoryPoint(920, 276.513812656106),
+ Boardcore::TrajectoryPoint(930, 275.143195668429),
+ Boardcore::TrajectoryPoint(940, 273.782349295054),
+ Boardcore::TrajectoryPoint(950, 272.429417730194),
+ Boardcore::TrajectoryPoint(960, 271.084410830051),
+ Boardcore::TrajectoryPoint(970, 269.751025072264),
+ Boardcore::TrajectoryPoint(980, 268.425603608007),
+ Boardcore::TrajectoryPoint(990, 267.107733687241),
+ Boardcore::TrajectoryPoint(1000, 265.797399807829),
+ Boardcore::TrajectoryPoint(1010, 264.497951535638),
+ Boardcore::TrajectoryPoint(1020, 263.205758511223),
+ Boardcore::TrajectoryPoint(1030, 261.92071630529),
+ Boardcore::TrajectoryPoint(1040, 260.642790504593),
+ Boardcore::TrajectoryPoint(1050, 259.374272699812),
+ Boardcore::TrajectoryPoint(1060, 258.11310898435),
+ Boardcore::TrajectoryPoint(1070, 256.858673506351),
+ Boardcore::TrajectoryPoint(1080, 255.610918116137),
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+ Boardcore::TrajectoryPoint(1900, 167.647897161843),
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+ Boardcore::TrajectoryPoint(1980, 159.661529454477),
+ Boardcore::TrajectoryPoint(1990, 158.660963224684),
+ Boardcore::TrajectoryPoint(2000, 157.659693928947),
+ Boardcore::TrajectoryPoint(2010, 156.657659736065),
+ Boardcore::TrajectoryPoint(2020, 155.654665510178),
+ Boardcore::TrajectoryPoint(2030, 154.650736783788),
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+ Boardcore::TrajectoryPoint(2100, 147.59043143727),
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+ Boardcore::TrajectoryPoint(2160, 141.478285810006),
+ Boardcore::TrajectoryPoint(2170, 140.452684283189),
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+ Boardcore::TrajectoryPoint(2930, 37.3173328187741),
+ Boardcore::TrajectoryPoint(2940, 34.5127698921887),
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+ Boardcore::TrajectoryPoint(2980, 19.8405130559335),
+ Boardcore::TrajectoryPoint(2990, 14.0132678114949),
+ Boardcore::TrajectoryPoint(3000, 0),
+};
+Boardcore::TrajectoryPoint t9_open[] = {
+ Boardcore::TrajectoryPoint(0, 458.068111201296),
+ Boardcore::TrajectoryPoint(10, 455.903232083041),
+ Boardcore::TrajectoryPoint(20, 453.731294762838),
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+ Boardcore::TrajectoryPoint(310, 386.383353037444),
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+ Boardcore::TrajectoryPoint(330, 381.361387663329),
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+ Boardcore::TrajectoryPoint(2990, 14.013167708107),
+ Boardcore::TrajectoryPoint(3000, 0),
+};
+Boardcore::TrajectoryPoint t10_open[] = {
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+ Boardcore::TrajectoryPoint(1070, 255.738652581327),
+ Boardcore::TrajectoryPoint(1080, 254.509514668294),
+ Boardcore::TrajectoryPoint(1090, 253.286623775184),
+ Boardcore::TrajectoryPoint(1100, 252.069927113472),
+ Boardcore::TrajectoryPoint(1110, 250.859366563059),
+ Boardcore::TrajectoryPoint(1120, 249.6555174207),
+ Boardcore::TrajectoryPoint(1130, 248.458872567378),
+ Boardcore::TrajectoryPoint(1140, 247.26799569363),
+ Boardcore::TrajectoryPoint(1150, 246.082822612056),
+ Boardcore::TrajectoryPoint(1160, 244.903285372289),
+ Boardcore::TrajectoryPoint(1170, 243.72940726308),
+ Boardcore::TrajectoryPoint(1180, 242.562367098793),
+ Boardcore::TrajectoryPoint(1190, 241.400606106653),
+ Boardcore::TrajectoryPoint(1200, 240.244053397253),
+ Boardcore::TrajectoryPoint(1210, 239.092635481923),
+ Boardcore::TrajectoryPoint(1220, 237.946276562556),
+ Boardcore::TrajectoryPoint(1230, 236.805012029187),
+ Boardcore::TrajectoryPoint(1240, 235.669571469639),
+ Boardcore::TrajectoryPoint(1250, 234.538850224578),
+ Boardcore::TrajectoryPoint(1260, 233.412772273789),
+ Boardcore::TrajectoryPoint(1270, 232.291260067213),
+ Boardcore::TrajectoryPoint(1280, 231.174234726322),
+ Boardcore::TrajectoryPoint(1290, 230.061616229901),
+ Boardcore::TrajectoryPoint(1300, 228.953342588456),
+ Boardcore::TrajectoryPoint(1310, 227.84996800678),
+ Boardcore::TrajectoryPoint(1320, 226.750683739627),
+ Boardcore::TrajectoryPoint(1330, 225.655411499397),
+ Boardcore::TrajectoryPoint(1340, 224.564072317215),
+ Boardcore::TrajectoryPoint(1350, 223.476586669852),
+ Boardcore::TrajectoryPoint(1360, 222.392874596151),
+ Boardcore::TrajectoryPoint(1370, 221.312855803683),
+ Boardcore::TrajectoryPoint(1380, 220.236449766287),
+ Boardcore::TrajectoryPoint(1390, 219.163575813133),
+ Boardcore::TrajectoryPoint(1400, 218.094364638547),
+ Boardcore::TrajectoryPoint(1410, 217.028615759068),
+ Boardcore::TrajectoryPoint(1420, 215.966116664575),
+ Boardcore::TrajectoryPoint(1430, 214.906789764082),
+ Boardcore::TrajectoryPoint(1440, 213.850557500272),
+ Boardcore::TrajectoryPoint(1450, 212.797342408032),
+ Boardcore::TrajectoryPoint(1460, 211.747067167393),
+ Boardcore::TrajectoryPoint(1470, 210.699654651252),
+ Boardcore::TrajectoryPoint(1480, 209.655027968261),
+ Boardcore::TrajectoryPoint(1490, 208.613110501219),
+ Boardcore::TrajectoryPoint(1500, 207.573825941296),
+ Boardcore::TrajectoryPoint(1510, 206.537098318383),
+ Boardcore::TrajectoryPoint(1520, 205.502852027855),
+ Boardcore::TrajectoryPoint(1530, 204.471011853997),
+ Boardcore::TrajectoryPoint(1540, 203.441502990343),
+ Boardcore::TrajectoryPoint(1550, 202.414251057156),
+ Boardcore::TrajectoryPoint(1560, 201.38918211624),
+ Boardcore::TrajectoryPoint(1570, 200.36622268331),
+ Boardcore::TrajectoryPoint(1580, 199.345299738067),
+ Boardcore::TrajectoryPoint(1590, 198.326340732176),
+ Boardcore::TrajectoryPoint(1600, 197.309273595274),
+ Boardcore::TrajectoryPoint(1610, 196.294026739184),
+ Boardcore::TrajectoryPoint(1620, 195.280529060448),
+ Boardcore::TrajectoryPoint(1630, 194.268709941301),
+ Boardcore::TrajectoryPoint(1640, 193.258499249229),
+ Boardcore::TrajectoryPoint(1650, 192.249827335182),
+ Boardcore::TrajectoryPoint(1660, 191.242625030575),
+ Boardcore::TrajectoryPoint(1670, 190.236823643142),
+ Boardcore::TrajectoryPoint(1680, 189.232354951746),
+ Boardcore::TrajectoryPoint(1690, 188.229151200224),
+ Boardcore::TrajectoryPoint(1700, 187.227145090323),
+ Boardcore::TrajectoryPoint(1710, 186.226269773817),
+ Boardcore::TrajectoryPoint(1720, 185.226458843854),
+ Boardcore::TrajectoryPoint(1730, 184.227646325594),
+ Boardcore::TrajectoryPoint(1740, 183.229766666192),
+ Boardcore::TrajectoryPoint(1750, 182.232787232446),
+ Boardcore::TrajectoryPoint(1760, 181.236637476528),
+ Boardcore::TrajectoryPoint(1770, 180.241218918521),
+ Boardcore::TrajectoryPoint(1780, 179.24646705496),
+ Boardcore::TrajectoryPoint(1790, 178.252317763938),
+ Boardcore::TrajectoryPoint(1800, 177.258707290797),
+ Boardcore::TrajectoryPoint(1810, 176.265572233506),
+ Boardcore::TrajectoryPoint(1820, 175.272849527733),
+ Boardcore::TrajectoryPoint(1830, 174.280482069503),
+ Boardcore::TrajectoryPoint(1840, 173.288421148983),
+ Boardcore::TrajectoryPoint(1850, 172.296572968603),
+ Boardcore::TrajectoryPoint(1860, 171.304875277813),
+ Boardcore::TrajectoryPoint(1870, 170.313266093127),
+ Boardcore::TrajectoryPoint(1880, 169.321683681018),
+ Boardcore::TrajectoryPoint(1890, 168.330064193709),
+ Boardcore::TrajectoryPoint(1900, 167.338328279721),
+ Boardcore::TrajectoryPoint(1910, 166.346419922266),
+ Boardcore::TrajectoryPoint(1920, 165.354277889913),
+ Boardcore::TrajectoryPoint(1930, 164.361841115878),
+ Boardcore::TrajectoryPoint(1940, 163.36903069772),
+ Boardcore::TrajectoryPoint(1950, 162.375745500999),
+ Boardcore::TrajectoryPoint(1960, 161.381965511128),
+ Boardcore::TrajectoryPoint(1970, 160.387629833486),
+ Boardcore::TrajectoryPoint(1980, 159.39266900463),
+ Boardcore::TrajectoryPoint(1990, 158.396913480294),
+ Boardcore::TrajectoryPoint(2000, 157.400400445722),
+ Boardcore::TrajectoryPoint(2010, 156.403068874297),
+ Boardcore::TrajectoryPoint(2020, 155.404796348287),
+ Boardcore::TrajectoryPoint(2030, 154.405458283226),
+ Boardcore::TrajectoryPoint(2040, 153.405097219225),
+ Boardcore::TrajectoryPoint(2050, 152.403651313327),
+ Boardcore::TrajectoryPoint(2060, 151.400825968402),
+ Boardcore::TrajectoryPoint(2070, 150.396770156656),
+ Boardcore::TrajectoryPoint(2080, 149.391421706329),
+ Boardcore::TrajectoryPoint(2090, 148.384449705786),
+ Boardcore::TrajectoryPoint(2100, 147.37601719136),
+ Boardcore::TrajectoryPoint(2110, 146.366048757874),
+ Boardcore::TrajectoryPoint(2120, 145.354196062337),
+ Boardcore::TrajectoryPoint(2130, 144.340686239954),
+ Boardcore::TrajectoryPoint(2140, 143.325277831038),
+ Boardcore::TrajectoryPoint(2150, 142.307847001651),
+ Boardcore::TrajectoryPoint(2160, 141.28853830064),
+ Boardcore::TrajectoryPoint(2170, 140.26684136977),
+ Boardcore::TrajectoryPoint(2180, 139.24309331544),
+ Boardcore::TrajectoryPoint(2190, 138.216916749842),
+ Boardcore::TrajectoryPoint(2200, 137.18835657407),
+ Boardcore::TrajectoryPoint(2210, 136.157287831462),
+ Boardcore::TrajectoryPoint(2220, 135.123531108801),
+ Boardcore::TrajectoryPoint(2230, 134.087135262256),
+ Boardcore::TrajectoryPoint(2240, 133.047785102265),
+ Boardcore::TrajectoryPoint(2250, 132.005604044118),
+ Boardcore::TrajectoryPoint(2260, 130.960250196032),
+ Boardcore::TrajectoryPoint(2270, 129.911801656033),
+ Boardcore::TrajectoryPoint(2280, 128.860019524771),
+ Boardcore::TrajectoryPoint(2290, 127.804795904233),
+ Boardcore::TrajectoryPoint(2300, 126.746145475618),
+ Boardcore::TrajectoryPoint(2310, 125.683612497035),
+ Boardcore::TrajectoryPoint(2320, 124.617520348647),
+ Boardcore::TrajectoryPoint(2330, 123.547232338342),
+ Boardcore::TrajectoryPoint(2340, 122.472960509036),
+ Boardcore::TrajectoryPoint(2350, 121.394588530472),
+ Boardcore::TrajectoryPoint(2360, 120.311525375063),
+ Boardcore::TrajectoryPoint(2370, 119.224097032534),
+ Boardcore::TrajectoryPoint(2380, 118.132063878606),
+ Boardcore::TrajectoryPoint(2390, 117.034839208998),
+ Boardcore::TrajectoryPoint(2400, 115.932697092471),
+ Boardcore::TrajectoryPoint(2410, 114.825437335918),
+ Boardcore::TrajectoryPoint(2420, 113.712606262047),
+ Boardcore::TrajectoryPoint(2430, 112.594038795687),
+ Boardcore::TrajectoryPoint(2440, 111.469717930564),
+ Boardcore::TrajectoryPoint(2450, 110.339410207384),
+ Boardcore::TrajectoryPoint(2460, 109.202872333869),
+ Boardcore::TrajectoryPoint(2470, 108.059623072553),
+ Boardcore::TrajectoryPoint(2480, 106.909568874665),
+ Boardcore::TrajectoryPoint(2490, 105.752522884459),
+ Boardcore::TrajectoryPoint(2500, 104.588201307872),
+ Boardcore::TrajectoryPoint(2510, 103.416308261054),
+ Boardcore::TrajectoryPoint(2520, 102.236535195866),
+ Boardcore::TrajectoryPoint(2530, 101.048560285149),
+ Boardcore::TrajectoryPoint(2540, 99.8520477652275),
+ Boardcore::TrajectoryPoint(2550, 98.6466472329299),
+ Boardcore::TrajectoryPoint(2560, 97.4319928940923),
+ Boardcore::TrajectoryPoint(2570, 96.2077027602285),
+ Boardcore::TrajectoryPoint(2580, 94.9733777897316),
+ Boardcore::TrajectoryPoint(2590, 93.7286009696134),
+ Boardcore::TrajectoryPoint(2600, 92.4729363334064),
+ Boardcore::TrajectoryPoint(2610, 91.2058934077025),
+ Boardcore::TrajectoryPoint(2620, 89.9265377241368),
+ Boardcore::TrajectoryPoint(2630, 88.6347644935103),
+ Boardcore::TrajectoryPoint(2640, 87.3300436120329),
+ Boardcore::TrajectoryPoint(2650, 86.0117044870175),
+ Boardcore::TrajectoryPoint(2660, 84.6784632859802),
+ Boardcore::TrajectoryPoint(2670, 83.3303954322048),
+ Boardcore::TrajectoryPoint(2680, 81.9663224714599),
+ Boardcore::TrajectoryPoint(2690, 80.5852916423076),
+ Boardcore::TrajectoryPoint(2700, 79.186774925544),
+ Boardcore::TrajectoryPoint(2710, 77.7692567623198),
+ Boardcore::TrajectoryPoint(2720, 76.3320314652333),
+ Boardcore::TrajectoryPoint(2730, 74.8740300100356),
+ Boardcore::TrajectoryPoint(2740, 73.3932003159864),
+ Boardcore::TrajectoryPoint(2750, 71.8888913166507),
+ Boardcore::TrajectoryPoint(2760, 70.3594109678489),
+ Boardcore::TrajectoryPoint(2770, 68.8029131075916),
+ Boardcore::TrajectoryPoint(2780, 67.2173802996045),
+ Boardcore::TrajectoryPoint(2790, 65.6006042781576),
+ Boardcore::TrajectoryPoint(2800, 63.9501635977427),
+ Boardcore::TrajectoryPoint(2810, 62.2633980137858),
+ Boardcore::TrajectoryPoint(2820, 60.5373790259145),
+ Boardcore::TrajectoryPoint(2830, 58.7688758989049),
+ Boardcore::TrajectoryPoint(2840, 56.9528408829811),
+ Boardcore::TrajectoryPoint(2850, 55.0857906943522),
+ Boardcore::TrajectoryPoint(2860, 53.1608885686685),
+ Boardcore::TrajectoryPoint(2870, 51.1726564697814),
+ Boardcore::TrajectoryPoint(2880, 49.1129962863124),
+ Boardcore::TrajectoryPoint(2890, 46.9724243532722),
+ Boardcore::TrajectoryPoint(2900, 44.7397665575609),
+ Boardcore::TrajectoryPoint(2910, 42.3986491773757),
+ Boardcore::TrajectoryPoint(2920, 39.9318378436545),
+ Boardcore::TrajectoryPoint(2930, 37.3136255127328),
+ Boardcore::TrajectoryPoint(2940, 34.5098369629541),
+ Boardcore::TrajectoryPoint(2950, 31.4698974599527),
+ Boardcore::TrajectoryPoint(2960, 28.1185011838155),
+ Boardcore::TrajectoryPoint(2970, 24.324887952423),
+ Boardcore::TrajectoryPoint(2980, 19.8399479164747),
+ Boardcore::TrajectoryPoint(2990, 14.013068940521),
+ Boardcore::TrajectoryPoint(3000, 0),
+};
+Boardcore::Trajectory t_closed[] = {
+ Boardcore::Trajectory{0.0, t0_closed, 301},
+ Boardcore::Trajectory{0.0, t1_closed, 301},
+ Boardcore::Trajectory{0.0, t2_closed, 301},
+ Boardcore::Trajectory{0.0, t3_closed, 301},
+ Boardcore::Trajectory{0.0, t4_closed, 301},
+ Boardcore::Trajectory{0.0, t5_closed, 301},
+ Boardcore::Trajectory{0.0, t6_closed, 301},
+ Boardcore::Trajectory{0.0, t7_closed, 301},
+ Boardcore::Trajectory{0.0, t8_closed, 301},
+ Boardcore::Trajectory{0.0, t9_closed, 301},
+ Boardcore::Trajectory{0.0, t10_closed, 301},
+};
+Boardcore::Trajectory t_open[] = {
+ Boardcore::Trajectory{0.0, t0_open, 301},
+ Boardcore::Trajectory{0.0, t1_open, 301},
+ Boardcore::Trajectory{0.0, t2_open, 301},
+ Boardcore::Trajectory{0.0, t3_open, 301},
+ Boardcore::Trajectory{0.0, t4_open, 301},
+ Boardcore::Trajectory{0.0, t5_open, 301},
+ Boardcore::Trajectory{0.0, t6_open, 301},
+ Boardcore::Trajectory{0.0, t7_open, 301},
+ Boardcore::Trajectory{0.0, t8_open, 301},
+ Boardcore::Trajectory{0.0, t9_open, 301},
+ Boardcore::Trajectory{0.0, t10_open, 301},
+};
+const Boardcore::TrajectorySet CLOSED_TRAJECTORY_SET(t_closed, 11);
+const Boardcore::TrajectorySet OPEN_TRAJECTORY_SET(t_open, 11);
+
+} // namespace Boardcore
\ No newline at end of file
diff --git a/src/tests/catch/test-airbrakesInterp.cpp b/src/tests/catch/test-airbrakesInterp.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..8f774cf5dd9db49fc7b5bd0944b3f6d6d5b8ede8
--- /dev/null
+++ b/src/tests/catch/test-airbrakesInterp.cpp
@@ -0,0 +1,115 @@
+/* Copyright (c) 2023 Skyward Experimental Rocketry
+ * Author: Matteo Pignataro
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include <algorithms/AirBrakes/AirBrakesInterp.h>
+
+#include <algorithm>
+#include <catch2/catch.hpp>
+#include <fstream>
+#include <iostream>
+
+#include "../algorithms/Airbrakes/test-airbrakesInterp-data.h"
+#include "../algorithms/Airbrakes/test-airbrakesInterp-references.h"
+
+using namespace Boardcore;
+using namespace std;
+
+constexpr float MINIMUM_ALTITUDE = 1000;
+constexpr float MAXIMUM_ALTITUDE = 3000;
+constexpr float STARTING_FILTER_VALUE = 0.9f;
+constexpr float ABK_CRITICAL_ALTITUDE = 2990;
+constexpr float DZ = 10;
+constexpr float INITIAL_MASS = 28;
+constexpr float DM = 0.2f;
+constexpr uint16_t N_FORWARD = 1;
+
+static const Boardcore::AirBrakesConfig ABK_CONFIG{
+ 0.4884, -1.4391, 6.6940,
+ -18.4272, 29.1044, -24.5585,
+ 8.6058, 9.0426, 159.5995,
+ 4.8188, -208.4471, 47.0771,
+ 1.9433e+03, -205.6689, -6.4634e+03,
+ 331.0332, 8.8763e+03, -161.8111,
+ -3.9917e+03, 2.8025e-06, 0.0373,
+ 20, -0.009216, 0.02492,
+ -0.01627, 0.03191, 0.017671458676443,
+ 0,
+};
+
+AirBrakesInterpConfig getConfig()
+{
+ AirBrakesInterpConfig config;
+ config.FILTER_MINIMUM_ALTITUDE = MINIMUM_ALTITUDE;
+ config.FILTER_MAXIMUM_ALTITUDE = MAXIMUM_ALTITUDE;
+ config.STARTING_FILTER_VALUE = STARTING_FILTER_VALUE;
+ config.ABK_CRITICAL_ALTITUDE = ABK_CRITICAL_ALTITUDE;
+ config.DZ = DZ;
+ config.INITIAL_MASS = INITIAL_MASS;
+ config.DM = DM;
+ config.N_FORWARD = N_FORWARD;
+ return config;
+}
+
+NASState getState()
+{
+ // Index of the progressive data point
+ static size_t i = 0;
+
+ // Max out the counter
+ i = min(Z.size() - 1, i);
+
+ NASState state;
+ state.timestamp =
+ i + 1; // Increasing timestamp to let the algorithm evolve
+ state.d = -Z[i]; // Compute altitude AGL
+ state.vd = -Vz[i];
+
+ i += 1;
+ return state;
+}
+
+TEST_CASE("ABK Update Test")
+{
+ AirBrakesInterp abk(
+ []() { return static_cast<TimedTrajectoryPoint>(getState()); },
+ OPEN_TRAJECTORY_SET, CLOSED_TRAJECTORY_SET, ABK_CONFIG, getConfig(),
+ [&](float position)
+ {
+ static int i = 0;
+
+ // Check the output
+ if (position != Approx(ABK[i]).epsilon(0.01))
+ {
+ FAIL("The computed position differs from the correct one["
+ << i << "]: " << position << " != " << ABK[i]);
+ }
+
+ i++;
+ });
+
+ abk.begin(28.8);
+
+ for (size_t i = 0; i < Z.size(); i++)
+ {
+ abk.update();
+ }
+}
\ No newline at end of file