/*  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[] = {0.000000e+000,	0.000000e+000,	-1.000000e+000,	-3.645200e+000,	2.000000e+000,3.000000e+000,	0.000000e+000,	0.000000e+000,	-1.000000e+000,	-1.550800e+000,4.000000e+000,	5.000000e+000,	0.000000e+000,	0.000000e+000,	-1.000000e+000,-4.712400e+000,	6.000000e+000,	7.000000e+000,	0.000000e+000,	0.000000e+000,1.000000e+000,	5.236000e-001,	8.000000e+000,	9.000000e+000,	0.000000e+000,0.000000e+000,	1.000000e+000,	2.598000e+000,	1.000000e+001,	1.100000e+001,-7.071068e-001,	-7.071068e-001,	0.000000e+000,	0.000000e+000,	1.200000e+001,1.300000e+001,	-4.446509e-001,	-8.893018e-001,	1.069009e-001,	1.393081e+000,1.400000e+001,	1.500000e+001,	7.071068e-001,	-7.071068e-001,	0.000000e+000,1.414263e+000,	1.600000e+001,	1.700000e+001,	0.000000e+000,	0.000000e+000,-1.000000e+000,	-5.036000e-001,	1.800000e+001,	1.900000e+001,	9.722956e-001,0.000000e+000,	2.337548e-001,	9.833577e-001,	2.000000e+001,	2.100000e+001,0.000000e+000,	-9.722956e-001,	2.337548e-001,	3.671734e-001,	2.200000e+001,2.300000e+001,	0.000000e+000,	0.000000e+000,	-1.000000e+000,	-4.692400e+000,2.400000e+001,	2.500000e+001,	0.000000e+000,	0.000000e+000,	1.000000e+000,3.665200e+000,	2.600000e+001,	2.700000e+001,	-1.000000e+000,	0.000000e+000,0.000000e+000,	3.819847e-001,	2.800000e+001,	2.900000e+001,	-8.744388e-001,-4.372194e-001,	2.102285e-001,	1.975200e+000,	3.000000e+001,	3.100000e+001,-7.071068e-001,	-7.071068e-001,	0.000000e+000,	0.000000e+000,	3.200000e+001,3.300000e+001,	-7.071068e-001,	-7.071068e-001,	0.000000e+000,	0.000000e+000,3.400000e+001,	3.500000e+001,	-4.372194e-001,	-8.744388e-001,	-2.102285e-001,8.744693e-001,	3.600000e+001,	3.700000e+001,	6.971054e-001,	-6.971054e-001,-1.675949e-001,	1.306509e+000,	3.800000e+001,	3.900000e+001,	-4.372194e-001,-8.744388e-001,	2.102285e-001,	-2.140310e-001,	4.000000e+001,	4.100000e+001,0.000000e+000,	0.000000e+000,	-1.000000e+000,	-2.618000e+000,	4.200000e+001,4.300000e+001,	0.000000e+000,	0.000000e+000,	-1.000000e+000,	-1.570800e+000,4.400000e+001,	4.500000e+001,	0.000000e+000,	0.000000e+000,	-1.000000e+000,-1.570800e+000,	4.600000e+001,	4.700000e+001,	0.000000e+000,	0.000000e+000,1.000000e+000,	3.665200e+000,	4.800000e+001,	4.900000e+001,	-8.512414e-001,-4.256207e-001,	-3.069773e-001,	-4.881415e-001,	5.000000e+001,	5.100000e+001,7.071068e-001,	-7.071068e-001,	0.000000e+000,	-1.414263e+000,	5.200000e+001,5.300000e+001,	6.971054e-001,	-6.971054e-001,	1.675949e-001,	-7.800054e-001,5.400000e+001,	5.500000e+001,	0.000000e+000,	0.000000e+000,	-1.000000e+000,-5.739600e+000,	5.600000e+001,	5.700000e+001,	0.000000e+000,	0.000000e+000,1.000000e+000,	5.759600e+000,	5.800000e+001,	5.900000e+001,	0.000000e+000,-1.000000e+000,	0.000000e+000,	3.819847e-001,	6.000000e+001,	6.100000e+001,0.000000e+000,	0.000000e+000,	-1.000000e+000,	-5.739600e+000,	6.200000e+001,6.300000e+001,	7.071068e-001,	-7.071068e-001,	0.000000e+000,	2.007957e+000,6.400000e+001,	6.500000e+001,	-6.694697e-001,	-6.694697e-001,	3.219016e-001,3.072129e-002,	6.600000e+001,	-3.700000e+001,	6.694697e-001,	6.694697e-001,-3.219016e-001,	-5.928146e-001,	-2.110000e+002,	6.700000e+001,	-6.694697e-001,-6.694697e-001,	3.219016e-001,	8.136028e-002,	-2.110000e+002,	6.800000e+001,1.000000e+000,	0.000000e+000,	0.000000e+000,	3.819847e-001,	6.900000e+001,7.000000e+001,	1.000000e+000,	0.000000e+000,	0.000000e+000,	3.819847e-001,7.100000e+001,	7.200000e+001,	-6.971054e-001,	-6.971054e-001,	-1.675949e-001,8.775060e-002,	7.300000e+001,	7.400000e+001,	-6.971054e-001,	-6.971054e-001,-1.675949e-001,	-1.785330e-001,	7.500000e+001,	7.600000e+001,	0.000000e+000,0.000000e+000,	-1.000000e+000,	-2.618000e+000,	7.700000e+001,	7.800000e+001,-4.446509e-001,	-8.893018e-001,	-1.069009e-001,	-1.057249e+000,	-1.200000e+002,7.900000e+001,	-4.446509e-001,	-8.893018e-001,	-1.069009e-001,	-1.057249e+000,8.000000e+001,	8.100000e+001,	-4.372194e-001,	-8.744388e-001,	2.102285e-001,-2.140310e-001,	8.200000e+001,	8.300000e+001,	-8.512414e-001,	-4.256207e-001,3.069773e-001,	-4.762356e-001,	8.400000e+001,	8.500000e+001,	-8.744388e-001,-4.372194e-001,	-2.102285e-001,	-1.314762e+000,	8.600000e+001,	8.700000e+001,-8.512414e-001,	-4.256207e-001,	3.069773e-001,	-4.762356e-001,	8.800000e+001,8.900000e+001,	-8.744388e-001,	-4.372194e-001,	-2.102285e-001,	-1.314762e+000,9.000000e+001,	9.100000e+001,	7.071068e-001,	-7.071068e-001,	0.000000e+000,-1.414263e+000,	9.200000e+001,	9.300000e+001,	6.971054e-001,	-6.971054e-001,1.675949e-001,	-7.800054e-001,	9.400000e+001,	9.500000e+001,	0.000000e+000,9.722956e-001,	2.337548e-001,	1.101520e+000,	9.600000e+001,	9.700000e+001,0.000000e+000,	-9.722956e-001,	-2.337548e-001,	-1.472922e+000,	9.800000e+001,9.900000e+001,	0.000000e+000,	0.000000e+000,	-1.000000e+000,	-4.692400e+000,1.000000e+002,	1.010000e+002,	0.000000e+000,	0.000000e+000,	-1.000000e+000,-4.692400e+000,	1.020000e+002,	1.030000e+002,	-6.971054e-001,	-6.971054e-001,1.675949e-001,	1.197401e-001,	1.040000e+002,	-3.700000e+001,	-6.971054e-001,-6.971054e-001,	1.675949e-001,	1.724694e-001,	-2.110000e+002,	1.050000e+002,8.744388e-001,	4.372194e-001,	-2.102285e-001,	-2.342294e+000,	1.060000e+002,1.070000e+002,	-4.372194e-001,	-8.744388e-001,	-2.102285e-001,	-4.464074e-001,1.080000e+002,	1.090000e+002,	-4.372194e-001,	-8.744388e-001,	-2.102285e-001,-4.464074e-001,	1.100000e+002,	1.110000e+002,	-9.722956e-001,	0.000000e+000,2.337548e-001,	1.717704e+000,	1.120000e+002,	1.130000e+002,	0.000000e+000,0.000000e+000,	-1.000000e+000,	-5.739600e+000,	-8.200000e+001,	-2.110000e+002,0.000000e+000,	0.000000e+000,	-1.000000e+000,	-5.739600e+000,	1.140000e+002,-2.110000e+002,	0.000000e+000,	-9.722956e-001,	-2.337548e-001,	-1.472922e+000,1.150000e+002,	1.160000e+002,	-9.722956e-001,	0.000000e+000,	2.337548e-001,1.717704e+000,	1.170000e+002,	1.180000e+002,	7.271420e-001,	6.069533e-001,-3.207370e-001,	-4.200212e-001,	1.190000e+002,	-8.200000e+001,	6.694697e-001,6.694697e-001,	-3.219016e-001,	-5.928146e-001,	-1.200000e+002,	-8.200000e+001,-6.694697e-001,	-6.694697e-001,	3.219016e-001,	8.136028e-002,	-1.200000e+002,1.200000e+002,	7.071068e-001,	-7.071068e-001,	0.000000e+000,	2.268755e-001,1.210000e+002,	1.220000e+002,	7.071068e-001,	-7.071068e-001,	0.000000e+000,2.268755e-001,	1.230000e+002,	1.240000e+002,	1.000000e+000,	0.000000e+000,0.000000e+000,	4.576251e-001,	-1.200000e+002,	1.250000e+002,	-1.000000e+000,0.000000e+000,	0.000000e+000,	4.576251e-001,	-1.710000e+002,	1.260000e+002,1.000000e+000,	0.000000e+000,	0.000000e+000,	4.576251e-001,	-3.700000e+001,1.270000e+002,	-1.000000e+000,	0.000000e+000,	0.000000e+000,	4.576251e-001,-2.110000e+002,	1.280000e+002,	-6.971054e-001,	6.971054e-001,	1.675949e-001,-1.891806e+000,	1.290000e+002,	1.300000e+002,	-6.971054e-001,	-6.971054e-001,-1.675949e-001,	-2.312623e-001,	1.310000e+002,	-3.700000e+001,	-6.971054e-001,6.971054e-001,	1.675949e-001,	-1.359159e-001,	1.320000e+002,	1.330000e+002,-6.971054e-001,	6.971054e-001,	1.675949e-001,	-1.359159e-001,	1.340000e+002,1.350000e+002,	-4.446509e-001,	-8.893018e-001,	-1.069009e-001,	-6.839157e-001,1.360000e+002,	1.370000e+002,	1.000000e+000,	0.000000e+000,	0.000000e+000,4.576251e-001,	-1.200000e+002,	1.380000e+002,	0.000000e+000,	0.000000e+000,-1.000000e+000,	-2.618000e+000,	1.390000e+002,	1.400000e+002,	-9.722956e-001,0.000000e+000,	-2.337548e-001,	-1.670088e-001,	-1.710000e+002,	1.410000e+002,-9.722956e-001,	0.000000e+000,	-2.337548e-001,	-1.670088e-001,	-2.110000e+002,1.420000e+002,	-1.000000e+000,	0.000000e+000,	0.000000e+000,	4.576251e-001,-1.710000e+002,	1.430000e+002,	-1.000000e+000,	0.000000e+000,	0.000000e+000,4.576251e-001,	-2.110000e+002,	1.440000e+002,	0.000000e+000,	-9.722956e-001,2.337548e-001,	8.121203e-001,	-8.200000e+001,	1.450000e+002,	6.971054e-001,-6.971054e-001,	-1.675949e-001,	1.306509e+000,	1.460000e+002,	1.470000e+002,0.000000e+000,	-1.000000e+000,	0.000000e+000,	4.576251e-001,	-8.200000e+001,1.480000e+002,	0.000000e+000,	-1.000000e+000,	0.000000e+000,	4.576251e-001,-1.200000e+002,	1.490000e+002,	0.000000e+000,	-9.722956e-001,	2.337548e-001,-7.777346e-002,	1.500000e+002,	-2.110000e+002,	0.000000e+000,	-9.722956e-001,2.337548e-001,	-7.777346e-002,	1.510000e+002,	-1.000000e+000,	0.000000e+000,-1.000000e+000,	0.000000e+000,	-4.576251e-001,	1.520000e+002,	-2.110000e+002,0.000000e+000,	-1.000000e+000,	0.000000e+000,	-4.576251e-001,	1.530000e+002,-1.000000e+000,	6.694697e-001,	6.694697e-001,	3.219016e-001,	1.092623e+000,-1.200000e+002,	1.540000e+002,	6.694697e-001,	6.694697e-001,	3.219016e-001,1.092623e+000,	-2.110000e+002,	1.550000e+002,	6.971054e-001,	6.971054e-001,-1.675949e-001,	-7.577660e-001,	1.560000e+002,	-8.200000e+001,	-7.587494e-001,-6.333364e-001,	-1.522638e-001,	-2.431359e-001,	1.570000e+002,	1.580000e+002,0.000000e+000,	-9.722956e-001,	-2.337548e-001,	-1.546467e+000,	1.590000e+002,-2.110000e+002,	0.000000e+000,	-9.722956e-001,	-2.337548e-001,	-6.565733e-001,-8.200000e+001,	1.600000e+002,	0.000000e+000,	-9.722956e-001,	-2.337548e-001,-6.565733e-001,	-1.200000e+002,	1.610000e+002,	-9.722956e-001,	0.000000e+000,2.337548e-001,	1.791249e+000,	1.620000e+002,	1.630000e+002,	-6.694697e-001,-6.694697e-001,	-3.219016e-001,	-1.604077e+000,	-1.200000e+002,	1.640000e+002,0.000000e+000,	-9.722956e-001,	-2.337548e-001,	-6.565733e-001,	-1.200000e+002,1.650000e+002,	-6.694697e-001,	-6.694697e-001,	-3.219016e-001,	-1.654716e+000,1.660000e+002,	-1.000000e+000,	-8.512414e-001,	-4.256207e-001,	-3.069773e-001,-4.881415e-001,	-2.110000e+002,	-1.000000e+000,	-6.971054e-001,	6.971054e-001,-1.675949e-001,	1.947088e-001,	1.670000e+002,	1.680000e+002,	6.971054e-001,-6.971054e-001,	1.675949e-001,	-1.950598e+000,	1.690000e+002,	1.700000e+002,-8.744388e-001,	-4.372194e-001,	2.102285e-001,	1.975200e+000,	1.710000e+002,-1.200000e+002,	0.000000e+000,	-1.000000e+000,	0.000000e+000,	-4.576251e-001,1.720000e+002,	-2.110000e+002,	0.000000e+000,	0.000000e+000,	1.000000e+000,5.759600e+000,	1.730000e+002,	1.740000e+002,	0.000000e+000,	0.000000e+000,1.000000e+000,	5.759600e+000,	-2.110000e+002,	-1.710000e+002,	1.000000e+000,0.000000e+000,	0.000000e+000,	4.576251e-001,	-1.200000e+002,	1.750000e+002,1.000000e+000,	0.000000e+000,	0.000000e+000,	3.819847e-001,	-3.700000e+001,-1.000000e+000,	-9.547605e-001,	1.890613e-001,	2.295391e-001,	1.478197e+000,-1.710000e+002,	-8.200000e+001,	0.000000e+000,	0.000000e+000,	-1.000000e+000,-5.739600e+000,	1.760000e+002,	1.770000e+002,	0.000000e+000,	-1.000000e+000,0.000000e+000,	-4.576251e-001,	1.780000e+002,	-2.110000e+002,	0.000000e+000,-1.000000e+000,	0.000000e+000,	4.576251e-001,	-1.200000e+002,	1.790000e+002,0.000000e+000,	-1.000000e+000,	0.000000e+000,	-4.576251e-001,	1.800000e+002,-1.000000e+000,	0.000000e+000,	0.000000e+000,	1.000000e+000,	5.759600e+000,1.810000e+002,	1.820000e+002,	0.000000e+000,	0.000000e+000,	1.000000e+000,5.759600e+000,	1.830000e+002,	1.840000e+002,	6.694697e-001,	6.694697e-001,-3.219016e-001,	-6.434536e-001,	-1.200000e+002,	-8.200000e+001,	-6.069533e-001,-7.271420e-001,	3.207370e-001,	2.517146e-001,	-1.200000e+002,	-3.700000e+001,6.069533e-001,	7.271420e-001,	-3.207370e-001,	-6.604069e-001,	-2.110000e+002,-1.710000e+002,	6.694697e-001,	6.694697e-001,	-3.219016e-001,	-6.434536e-001,-2.110000e+002,	-1.710000e+002,	-7.271420e-001,	-6.069533e-001,	3.207370e-001,1.132886e-002,	-2.110000e+002,	-1.000000e+000,	-6.694697e-001,	-6.694697e-001,3.219016e-001,	3.072129e-002,	-2.110000e+002,	-1.000000e+000,	9.858560e-001,1.629513e-001,	3.917599e-002,	1.140948e-001,	-1.200000e+002,	-8.200000e+001,-1.000000e+000,	0.000000e+000,	0.000000e+000,	3.819847e-001,	1.850000e+002,-8.200000e+001,	9.798846e-001,	-1.940363e-001,	-4.664932e-002,	5.239460e-001,-3.700000e+001,	-1.000000e+000,	-4.372194e-001,	-8.744388e-001,	-2.102285e-001,5.073757e-001,	1.860000e+002,	1.870000e+002,	6.971054e-001,	6.971054e-001,1.675949e-001,	-3.540342e-001,	-1.200000e+002,	-8.200000e+001,	6.971054e-001,-6.971054e-001,	-1.675949e-001,	2.477102e+000,	1.880000e+002,	1.890000e+002,-6.971054e-001,	6.971054e-001,	1.675949e-001,	-1.891806e+000,	1.900000e+002,1.910000e+002,	6.971054e-001,	6.971054e-001,	1.675949e-001,	-4.067636e-001,-2.110000e+002,	-1.710000e+002,	-4.472136e-001,	-8.944272e-001,	0.000000e+000,7.453560e-001,	1.920000e+002,	1.930000e+002,	-6.971054e-001,	-6.971054e-001,-1.675949e-001,	-2.312623e-001,	-2.110000e+002,	-1.000000e+000,	-7.587494e-001,-6.333364e-001,	-1.522638e-001,	-2.431359e-001,	-2.110000e+002,	-1.000000e+000,9.722956e-001,	0.000000e+000,	2.337548e-001,	1.056903e+000,	-1.200000e+002,1.940000e+002,	-4.446509e-001,	-8.893018e-001,	-1.069009e-001,	-1.057249e+000,-1.200000e+002,	-3.700000e+001,	-4.372194e-001,	-8.744388e-001,	2.102285e-001,1.530627e-001,	1.950000e+002,	1.960000e+002,	9.547605e-001,	-1.890613e-001,2.295391e-001,	7.570944e-001,	-3.700000e+001,	1.970000e+002,	1.000000e+000,0.000000e+000,	0.000000e+000,	4.576251e-001,	-3.700000e+001,	1.980000e+002,-9.722956e-001,	0.000000e+000,	-2.337548e-001,	-2.405537e-001,	1.990000e+002,-8.200000e+001,	4.446509e-001,	8.893018e-001,	1.069009e-001,	1.430582e+000,2.000000e+002,	2.010000e+002,	-1.000000e+000,	0.000000e+000,	0.000000e+000,3.819847e-001,	2.020000e+002,	-8.200000e+001,	-9.858560e-001,	-1.629513e-001,3.917599e-002,	2.371671e-001,	2.030000e+002,	-1.000000e+000,	-8.512414e-001,-4.256207e-001,	-3.069773e-001,	-1.202852e+000,	2.040000e+002,	2.050000e+002,-8.512414e-001,	-4.256207e-001,	3.069773e-001,	-1.190946e+000,	2.060000e+002,2.070000e+002,	-7.071068e-001,	7.071068e-001,	0.000000e+000,	-1.178511e+000,-3.700000e+001,	2.080000e+002,	0.000000e+000,	-1.000000e+000,	0.000000e+000,3.819847e-001,	2.090000e+002,	-1.710000e+002,	0.000000e+000,	-1.000000e+000,0.000000e+000,	3.819847e-001,	2.100000e+002,	-3.700000e+001,	0.000000e+000,-9.722956e-001,	2.337548e-001,	-4.228595e-003,	-1.710000e+002,	2.110000e+002,1.908640e-001,	-9.638641e-001,	1.858411e-001,	1.822994e-001,	-3.700000e+001,2.120000e+002,	0.000000e+000,	-1.000000e+000,	0.000000e+000,	-3.819847e-001,-1.710000e+002,	2.130000e+002,	0.000000e+000,	-1.000000e+000,	0.000000e+000,-3.819847e-001,	-3.700000e+001,	2.140000e+002,	-7.071068e-001,	7.071068e-001,0.000000e+000,	2.268755e-001,	2.150000e+002,	2.160000e+002,	-6.971054e-001,6.971054e-001,	-1.675949e-001,	1.365302e+000,	2.170000e+002,	2.180000e+002,-6.971054e-001,	6.971054e-001,	-1.675949e-001,	1.947088e-001,	2.190000e+002,2.200000e+002,	6.971054e-001,	-6.971054e-001,	1.675949e-001,	-1.950598e+000,2.210000e+002,	2.220000e+002,	-4.446509e-001,	-8.893018e-001,	-1.069009e-001,-1.057249e+000,	2.230000e+002,	-2.110000e+002,	0.000000e+000,	-9.722956e-001,-2.337548e-001,	-1.472922e+000,	-1.710000e+002,	2.240000e+002,	0.000000e+000,-9.722956e-001,	-2.337548e-001,	-7.301182e-001,	2.250000e+002,	-1.710000e+002,-8.512414e-001,	-4.256207e-001,	-3.069773e-001,	-8.454968e-001,	2.260000e+002,2.270000e+002,	1.908640e-001,	-9.638641e-001,	-1.858411e-001,	-1.415143e+000,-3.700000e+001,	-1.000000e+000,	0.000000e+000,	-9.722956e-001,	-2.337548e-001,-1.546467e+000,	2.280000e+002,	-1.000000e+000,	0.000000e+000,	-9.722956e-001,-2.337548e-001,	-1.546467e+000,	2.290000e+002,	2.300000e+002,	0.000000e+000,-9.722956e-001,	-2.337548e-001,	-1.546467e+000,	-3.700000e+001,	-1.000000e+000,-6.694697e-001,	-6.694697e-001,	-3.219016e-001,	-1.604077e+000,	-2.110000e+002,2.310000e+002,	-6.971054e-001,	-6.971054e-001,	1.675949e-001,	1.724694e-001,-1.200000e+002,	-3.700000e+001,	-6.301649e-001,	-7.549499e-001,	1.815016e-001,1.539173e-001,	-1.200000e+002,	-3.700000e+001,	-7.587494e-001,	-6.333364e-001,1.522638e-001,	2.950191e-001,	-2.110000e+002,	-1.000000e+000,	-6.971054e-001,-6.971054e-001,	1.675949e-001,	1.197401e-001,	-2.110000e+002,	-1.000000e+000,0.000000e+000,	-1.000000e+000,	0.000000e+000,	3.819847e-001,	-8.200000e+001,-1.710000e+002,	0.000000e+000,	-9.722956e-001,	-2.337548e-001,	-6.565733e-001,-8.200000e+001,	2.320000e+002,	-1.000000e+000,	0.000000e+000,	0.000000e+000,4.576251e-001,	-1.710000e+002,	2.330000e+002,	-9.722956e-001,	0.000000e+000,2.337548e-001,	1.791249e+000,	-1.710000e+002,	2.340000e+002,	1.000000e+000,0.000000e+000,	0.000000e+000,	3.819847e-001,	2.350000e+002,	-8.200000e+001,-8.744388e-001,	-4.372194e-001,	2.102285e-001,	1.975200e+000,	-8.200000e+001,-1.200000e+002,	9.722956e-001,	0.000000e+000,	-2.337548e-001,	-9.013556e-001,-1.200000e+002,	2.360000e+002,	8.744388e-001,	4.372194e-001,	-2.102285e-001,-2.342294e+000,	2.370000e+002,	2.380000e+002,	8.744388e-001,	4.372194e-001,-2.102285e-001,	-1.608106e+000,	2.390000e+002,	2.400000e+002,	0.000000e+000,-1.000000e+000,	0.000000e+000,	-3.819847e-001,	-3.700000e+001,	2.410000e+002,-1.000000e+000,	0.000000e+000,	0.000000e+000,	4.576251e-001,	-2.110000e+002,2.420000e+002,	6.971054e-001,	6.971054e-001,	1.675949e-001,	4.975459e-001,2.430000e+002,	-2.110000e+002,	1.000000e+000,	0.000000e+000,	0.000000e+000,4.576251e-001,	-3.700000e+001,	2.440000e+002,	9.722956e-001,	0.000000e+000,-2.337548e-001,	-9.013556e-001,	-3.700000e+001,	2.450000e+002,	-9.798846e-001,1.940363e-001,	4.664932e-002,	1.358598e-001,	-1.710000e+002,	-8.200000e+001,-1.000000e+000,	0.000000e+000,	0.000000e+000,	3.819847e-001,	-2.110000e+002,-1.000000e+000,	-9.858560e-001,	-1.629513e-001,	-3.917599e-002,	4.400087e-001,-2.110000e+002,	-1.000000e+000,	6.971054e-001,	6.971054e-001,	1.675949e-001,-4.067636e-001,	-1.200000e+002,	-8.200000e+001,	7.587494e-001,	6.333364e-001,1.522638e-001,	-1.833216e-001,	-1.200000e+002,	-8.200000e+001,	-6.971054e-001,-6.971054e-001,	-1.675949e-001,	-1.785330e-001,	-1.200000e+002,	-3.700000e+001,-6.301649e-001,	-7.549499e-001,	-1.815016e-001,	-8.047372e-003,	-1.200000e+002,-3.700000e+001,	6.971054e-001,	6.971054e-001,	1.675949e-001,	-3.540342e-001,-2.110000e+002,	-1.710000e+002,	6.971054e-001,	6.971054e-001,	1.675949e-001,-3.540342e-001,	-2.110000e+002,	2.460000e+002,	9.599776e-001,	1.586738e-001,2.307934e-001,	1.012688e+000,	-1.200000e+002,	-8.200000e+001,	9.858560e-001,1.629513e-001,	-3.917599e-002,	3.169363e-001,	-1.200000e+002,	-8.200000e+001,1.000000e+000,	0.000000e+000,	0.000000e+000,	3.819847e-001,	-1.200000e+002,-8.200000e+001,	9.722956e-001,	0.000000e+000,	2.337548e-001,	1.056903e+000,-3.700000e+001,	-1.000000e+000,	-4.372194e-001,	-8.744388e-001,	2.102285e-001,-5.811246e-001,	2.470000e+002,	2.480000e+002,	-9.547605e-001,	1.890613e-001,-2.295391e-001,	-1.142058e-001,	-1.710000e+002,	-8.200000e+001,	-9.599776e-001,-1.586738e-001,	-2.307934e-001,	-4.731294e-001,	-2.110000e+002,	-1.000000e+000,-9.722956e-001,	0.000000e+000,	-2.337548e-001,	-2.405537e-001,	-2.110000e+002,-1.000000e+000,	-9.798846e-001,	1.940363e-001,	-4.664932e-002,	3.773960e-001,-1.710000e+002,	-8.200000e+001,	-1.000000e+000,	0.000000e+000,	0.000000e+000,3.819847e-001,	-2.110000e+002,	-1.000000e+000,	0.000000e+000,	-9.722956e-001,2.337548e-001,	7.385754e-001,	2.490000e+002,	-1.710000e+002,	0.000000e+000,-9.722956e-001,	2.337548e-001,	7.385754e-001,	-8.200000e+001,	-1.710000e+002,-1.571827e-001,	-9.509560e-001,	2.664136e-001,	5.087424e-001,	-1.200000e+002,-3.700000e+001,	0.000000e+000,	-9.722956e-001,	2.337548e-001,	8.121203e-001,-1.200000e+002,	-3.700000e+001,	-8.512414e-001,	-4.256207e-001,	3.069773e-001,-8.335909e-001,	2.500000e+002,	2.510000e+002,	-1.940363e-001,	9.798846e-001,-4.664932e-002,	-6.216461e-001,	-1.710000e+002,	-8.200000e+001,	-1.629513e-001,-9.858560e-001,	-3.917599e-002,	3.204649e-002,	-1.200000e+002,	-3.700000e+001,1.571827e-001,	9.509560e-001,	-2.664136e-001,	2.574537e-002,	-2.110000e+002,-1.710000e+002,	0.000000e+000,	-9.722956e-001,	2.337548e-001,	-4.228595e-003,-3.700000e+001,	-1.000000e+000,	1.629513e-001,	9.858560e-001,	3.917599e-002,5.220569e-001,	-2.110000e+002,	-1.710000e+002,	1.940363e-001,	-9.798846e-001,4.664932e-002,	-3.815978e-002,	-3.700000e+001,	-1.000000e+000,	7.271420e-001,6.069533e-001,	3.207370e-001,	1.018933e+000,	-1.200000e+002,	-8.200000e+001,6.694697e-001,	6.694697e-001,	3.219016e-001,	1.041984e+000,	-1.200000e+002,-8.200000e+001,	7.071068e-001,	-7.071068e-001,	0.000000e+000,	-2.601651e+000,2.520000e+002,	2.530000e+002,	6.069533e-001,	7.271420e-001,	3.207370e-001,1.259318e+000,	-2.110000e+002,	-1.710000e+002,	6.971054e-001,	6.971054e-001,-1.675949e-001,	-7.050366e-001,	-1.200000e+002,	-8.200000e+001,	7.587494e-001,6.333364e-001,	-1.522638e-001,	-7.214766e-001,	-1.200000e+002,	-8.200000e+001,6.301649e-001,	7.549499e-001,	-1.815016e-001,	-5.782393e-001,	-2.110000e+002,-1.710000e+002,	6.971054e-001,	6.971054e-001,	-1.675949e-001,	-7.577660e-001,-2.110000e+002,	-1.710000e+002,	-6.971054e-001,	6.971054e-001,	-1.675949e-001,1.365302e+000,	2.540000e+002,	2.550000e+002,	1.571827e-001,	9.509560e-001,2.664136e-001,	1.345688e+000,	-2.110000e+002,	-1.710000e+002,	-1.908640e-001,9.638641e-001,	1.858411e-001,	7.661242e-001,	-1.710000e+002,	-8.200000e+001,0.000000e+000,	-9.722956e-001,	-2.337548e-001,	-7.301182e-001,	-1.200000e+002,-3.700000e+001,	-1.571827e-001,	-9.509560e-001,	-2.664136e-001,	-8.111998e-001,-1.200000e+002,	-3.700000e+001,	1.908640e-001,	-9.638641e-001,	-1.858411e-001,-1.415143e+000,	-3.700000e+001,	-1.000000e+000,	-6.694697e-001,	-6.694697e-001,-3.219016e-001,	-1.910443e+000,	2.560000e+002,	-3.700000e+001,	-6.069533e-001,-7.271420e-001,	-3.207370e-001,	-1.668011e+000,	-1.200000e+002,	-3.700000e+001,-7.271420e-001,	-6.069533e-001,	-3.207370e-001,	-1.427625e+000,	-2.110000e+002,-1.000000e+000,	0.000000e+000,	-1.000000e+000,	0.000000e+000,	4.576251e-001,-8.200000e+001,	2.570000e+002,	-9.798846e-001,	1.940363e-001,	4.664932e-002,4.289599e-001,	-1.710000e+002,	-8.200000e+001,	4.446509e-001,	8.893018e-001,-1.069009e-001,	-1.766414e+000,	2.580000e+002,	2.590000e+002,	9.858560e-001,1.629513e-001,	3.917599e-002,	3.602395e-001,	-1.200000e+002,	-8.200000e+001,9.722956e-001,	0.000000e+000,	-2.337548e-001,	-9.749005e-001,	2.600000e+002,-8.200000e+001,	0.000000e+000,	-1.000000e+000,	0.000000e+000,	-3.819847e-001,-1.710000e+002,	-2.110000e+002,	1.629513e-001,	9.858560e-001,	-3.917599e-002,-9.102590e-002,	-2.110000e+002,	-1.710000e+002,	-1.629513e-001,	-9.858560e-001,3.917599e-002,	6.451293e-001,	-1.200000e+002,	-3.700000e+001,	0.000000e+000,-1.000000e+000,	0.000000e+000,	3.819847e-001,	-1.200000e+002,	-3.700000e+001,1.940363e-001,	-9.798846e-001,	-4.664932e-002,	-7.681961e-001,	-3.700000e+001,-1.000000e+000,	-9.858560e-001,	-1.629513e-001,	-3.917599e-002,	1.938639e-001,2.610000e+002,	-1.000000e+000,	-9.722956e-001,	0.000000e+000,	2.337548e-001,1.791249e+000,	-2.110000e+002,	2.620000e+002,	-4.372194e-001,	-8.744388e-001,-2.102285e-001,	-8.135011e-001,	2.630000e+002,	2.640000e+002,	-4.446509e-001,-8.893018e-001,	1.069009e-001,	1.019748e+000,	2.650000e+002,	2.660000e+002,6.301649e-001,	7.549499e-001,	1.815016e-001,	-4.162745e-001,	-2.110000e+002,-1.710000e+002,	1.000000e+000,	0.000000e+000,	0.000000e+000,	3.819847e-001,-3.700000e+001,	-1.000000e+000,	9.798846e-001,	-1.940363e-001,	4.664932e-002,2.824099e-001,	-3.700000e+001,	-1.000000e+000,	-1.908640e-001,	9.638641e-001,-1.858411e-001,	-8.313179e-001,	-1.710000e+002,	-8.200000e+001,	0.000000e+000,-9.722956e-001,	2.337548e-001,	7.385754e-001,	-1.200000e+002,	-3.700000e+001,-1.571827e-001,	-9.509560e-001,	2.664136e-001,	5.087424e-001,	-1.200000e+002,-3.700000e+001,	6.069533e-001,	7.271420e-001,	3.207370e-001,	1.259318e+000,-2.110000e+002,	-1.710000e+002,	6.694697e-001,	6.694697e-001,	3.219016e-001,1.041984e+000,	-2.110000e+002,	-1.710000e+002,	6.301649e-001,	7.549499e-001,-1.815016e-001,	-5.782393e-001,	-2.110000e+002,	-1.710000e+002,	6.971054e-001,6.971054e-001,	-1.675949e-001,	-7.050366e-001,	-2.110000e+002,	-1.710000e+002,-6.694697e-001,	-6.694697e-001,	-3.219016e-001,	-1.654716e+000,	2.670000e+002,-3.700000e+001,	-1.940363e-001,	9.798846e-001,	4.664932e-002,	1.083903e-001,-1.710000e+002,	-8.200000e+001,	-9.722956e-001,	0.000000e+000,	2.337548e-001,1.717704e+000,	-1.710000e+002,	-8.200000e+001,	-9.547605e-001,	1.890613e-001,2.295391e-001,	1.478197e+000,	-1.710000e+002,	-8.200000e+001,	9.599776e-001,1.586738e-001,	-2.307934e-001,	-1.198173e+000,	-1.200000e+002,	-8.200000e+001,-1.000000e+000,	0.000000e+000,	0.000000e+000,	3.819847e-001,	-2.110000e+002,-1.000000e+000,	-9.599776e-001,	-1.586738e-001,	2.307934e-001,	1.737731e+000,-2.110000e+002,	-1.000000e+000,	1.000000e+000,	0.000000e+000,	0.000000e+000,3.819847e-001,	-3.700000e+001,	-1.000000e+000,	9.798846e-001,	-1.940363e-001,-4.664932e-002,	2.308459e-001,	-3.700000e+001,	-1.000000e+000,	9.722956e-001,0.000000e+000,	-2.337548e-001,	-9.749005e-001,	-3.700000e+001,	-1.000000e+000,9.547605e-001,	-1.890613e-001,	-2.295391e-001,	-8.353089e-001,	-3.700000e+001,-1.000000e+000,	-6.069533e-001,	-7.271420e-001,	-3.207370e-001,	-1.668011e+000,-1.200000e+002,	-3.700000e+001,};const float MPT_G[] = {0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,0,1,0,0,0,1,1,0,0,0,0,1,1,0,0,0,0,1,1,0,0,0,0,1,1,0,0,0,0,1,1,0,0,0,0,1,1,0,0,0,0,1,1,0,0,0,0,1,1,0,0,0,0,1,1,0,0,0,0,1,1,0,0,0,0,1,1,0,0,0,0,1,1,0,0,0,0,1,1,0,0,0,0,1,1,0,0,0,0,1,