/*  mpt_searchTree.c    Identifies a control law associated to a given state X using a binary search tree.  Usage:    region = mpt_searchTree(*X, *U)        if "region" is smaller 1 (region < 1), there is no control law associated to    a given state.   Please note that all code in this file is provided under the terms of the   GNU General Public License, which implies that if you include it directly   into your commercial application, you will need to comply with the license.   If you feel this is not a good solution for you or your company, feel free    to contact me at kvasnica@control.ee.ethz.ch, I can re-license this specific    piece of code to you free of charge.*//* Copyright (C) 2006 by Michal Kvasnica (kvasnica@control.ee.ethz.ch) *//*  This program is free software; you can redistribute it and/or modify    it under the terms of the GNU General Public License as published by    the Free Software Foundation; either version 2 of the License, or    (at your option) any later version.    This program is distributed in the hope that it will be useful,    but WITHOUT ANY WARRANTY; without even the implied warranty of    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the    GNU General Public License for more details.    You should have received a copy of the GNU General Public License    along with this program; if not, write to the Free Software    Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.*/ #define MPT_NU 6#define MPT_NX 3const float MPT_ST[] = 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002,	3.150000e+002,	0.000000e+000,-8.924397e-001,	-4.511668e-001,	-1.267886e+000,	-1.070000e+002,	-3.300000e+001,-5.752168e-001,	-5.752168e-001,	-5.815938e-001,	-2.897810e+000,	-1.070000e+002,3.160000e+002,	0.000000e+000,	-8.924397e-001,	-4.511668e-001,	-1.267886e+000,-1.070000e+002,	-3.300000e+001,	-1.409916e-001,	-8.530002e-001,	-5.025058e-001,-1.660035e+000,	-1.070000e+002,	-3.300000e+001,	6.658424e-001,	-6.658424e-001,3.366121e-001,	-3.427004e-001,	-1.070000e+002,	-1.830000e+002,	7.071068e-001,-7.071068e-001,	0.000000e+000,	-1.674118e+000,	-1.070000e+002,	-1.830000e+002,7.303335e-001,	6.096173e-001,	-3.081879e-001,	-1.349025e+000,	-1.070000e+002,-7.600000e+001,	7.303335e-001,	6.096173e-001,	-3.081879e-001,	-1.349025e+000,-1.070000e+002,	3.170000e+002,	7.071068e-001,	-7.071068e-001,	0.000000e+000,8.208376e-001,	3.180000e+002,	3.190000e+002,	-9.762566e-001,	1.933179e-001,9.773056e-002,	1.075830e+000,	-1.450000e+002,	-7.600000e+001,	-9.832776e-001,-1.625251e-001,	-8.216344e-002,	2.567792e-001,	-1.830000e+002,	-1.000000e+000,-9.832776e-001,	-1.625251e-001,	-8.216344e-002,	2.567792e-001,	-1.830000e+002,-1.000000e+000,	-8.924397e-001,	0.000000e+000,	4.511668e-001,	3.456620e+000,-1.830000e+002,	3.200000e+002,	-8.924397e-001,	0.000000e+000,	4.511668e-001,3.456620e+000,	-1.830000e+002,	-1.000000e+000,	8.828858e-001,	1.459314e-001,-4.463369e-001,	-2.183443e+000,	-1.070000e+002,	-7.600000e+001,	9.762566e-001,-1.933179e-001,	-9.773056e-002,	3.054299e-001,	-3.300000e+001,	-1.000000e+000,8.924397e-001,	0.000000e+000,	-4.511668e-001,	-1.882179e+000,	-3.300000e+001,-1.000000e+000,	8.788223e-001,	-1.740240e-001,	-4.442826e-001,	-1.777184e+000,-3.300000e+001,	-1.000000e+000,	0.000000e+000,	-8.924397e-001,	4.511668e-001,1.424976e+000,	-1.070000e+002,	-3.300000e+001,	-1.409916e-001,	-8.530002e-001,5.025058e-001,	1.088788e+000,	-1.070000e+002,	-3.300000e+001,	-1.625251e-001,-9.832776e-001,	-8.216344e-002,	2.161494e-001,	-1.070000e+002,	-3.300000e+001,9.762566e-001,	-1.933179e-001,	9.773056e-002,	7.688073e-001,	-3.300000e+001,-1.000000e+000,	1.000000e+000,	0.000000e+000,	0.000000e+000,	8.026315e-001,-3.300000e+001,	-1.000000e+000,	0.000000e+000,	-8.924397e-001,	4.511668e-001,-7.624191e-003,	-3.300000e+001,	-1.000000e+000,	1.933179e-001,	-9.762566e-001,9.773056e-002,	-2.571022e-001,	-3.300000e+001,	-1.000000e+000,	-8.788223e-001,1.740240e-001,	-4.442826e-001,	-3.814592e-001,	-1.450000e+002,	-7.600000e+001,0.000000e+000,	8.924397e-001,	-4.511668e-001,	-1.566818e+000,	-1.450000e+002,-7.600000e+001,	-1.933179e-001,	9.762566e-001,	-9.773056e-002,	-1.124158e+000,-1.450000e+002,	-7.600000e+001,	1.409916e-001,	8.530002e-001,	-5.025058e-001,-8.140043e-002,	-1.830000e+002,	-1.450000e+002,	1.625251e-001,	9.832776e-001,8.216344e-002,	9.450953e-001,	-1.830000e+002,	-1.450000e+002,	-5.752168e-001,-5.752168e-001,	5.815938e-001,	5.592044e-002,	-1.830000e+002,	-1.000000e+000,-6.253609e-001,	-5.219956e-001,	5.800382e-001,	1.157662e-001,	-1.830000e+002,-1.000000e+000,	-9.832776e-001,	-1.625251e-001,	-8.216344e-002,	7.730163e-001,-1.830000e+002,	-1.000000e+000,	1.000000e+000,	0.000000e+000,	0.000000e+000,8.026315e-001,	3.210000e+002,	-1.000000e+000,	-6.658424e-001,	-6.658424e-001,-3.366121e-001,	-4.640071e-001,	3.220000e+002,	-1.000000e+000,	5.752168e-001,5.752168e-001,	-5.815938e-001,	-1.162141e+000,	-1.830000e+002,	-1.450000e+002,5.219956e-001,	6.253609e-001,	-5.800382e-001,	-1.099037e+000,	-1.830000e+002,-1.450000e+002,	-5.752168e-001,	-5.752168e-001,	-5.815938e-001,	-2.897810e+000,-1.830000e+002,	3.230000e+002,	-5.752168e-001,	-5.752168e-001,	-5.815938e-001,-2.897810e+000,	-1.830000e+002,	3.240000e+002,	-6.658424e-001,	-6.658424e-001,3.366121e-001,	2.409767e-001,	-1.070000e+002,	-3.300000e+001,	-5.973942e-001,-7.156900e-001,	3.618122e-001,	4.158655e-001,	-1.070000e+002,	-3.300000e+001,7.071068e-001,	-7.071068e-001,	0.000000e+000,	8.208376e-001,	3.250000e+002,3.260000e+002,	6.658424e-001,	6.658424e-001,	-3.366121e-001,	-1.415656e+000,-1.070000e+002,	-7.600000e+001,	5.752168e-001,	5.752168e-001,	5.815938e-001,1.883012e+000,	-1.070000e+002,	-7.600000e+001,	6.253609e-001,	5.219956e-001,5.800382e-001,	1.937971e+000,	-1.070000e+002,	-7.600000e+001,	-8.828858e-001,-1.459314e-001,	4.463369e-001,	3.226126e+000,	-1.830000e+002,	-1.000000e+000,9.762566e-001,	-1.933179e-001,	-9.773056e-002,	9.194760e-001,	-3.300000e+001,-1.000000e+000,	-7.303335e-001,	-6.096173e-001,	-3.081879e-001,	-3.808446e-001,-1.830000e+002,	-1.000000e+000,	-6.253609e-001,	-5.219956e-001,	-5.800382e-001,-2.676519e+000,	-1.830000e+002,	-1.000000e+000,	-6.253609e-001,	-5.219956e-001,-5.800382e-001,	-2.676519e+000,	-1.830000e+002,	-1.000000e+000,	-5.752168e-001,-5.752168e-001,	-5.815938e-001,	-2.989233e+000,	-1.070000e+002,	-3.300000e+001,-5.219956e-001,	-6.253609e-001,	-5.800382e-001,	-2.921242e+000,	-1.070000e+002,-3.300000e+001,};const float MPT_G[] = {0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,