27 lines
71 KiB
Python
27 lines
71 KiB
Python
from axi import Planner
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def main():
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planner = Planner(
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acceleration=100, max_velocity=200, corner_factor=0.1, jerk_factor=0.1)
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print 'var PIECES = ['
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draws = list(PATHS)
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jogs = []
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for p1, p2 in zip(draws, draws[1:]):
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jogs.append([p1[-1], p2[0]])
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paths = draws + jogs
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paths[::2] = draws
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paths[1::2] = jogs
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for i, path in enumerate(paths):
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print '['
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blocks = planner.jerk_plan(path)
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for b in blocks:
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record = (b.p1.x, b.p1.y, b.p2.x, b.p2.y, b.j, b.t, i)
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print '[%s],' % ','.join(map(str, record))
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print '],'
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print '];'
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PATHS = [[(258.8, 3.9), (252.57, 7.297), (246.486, 11.028), (240.558, 15.084), (234.797, 19.452), (229.213, 24.12), (223.816, 29.077), (218.617, 34.312), (213.625, 39.812), (208.851, 45.567), (204.306, 51.565), (199.999, 57.794), (195.941, 64.242), (192.141, 70.899), (188.611, 77.751), (185.361, 84.789), (182.4, 92), (179.058, 101.147), (175.987, 110.125), (173.498, 118.016), (171.9, 123.9), (170.239, 130.748), (168.812, 135.337), (168.167, 136.829), (167.555, 137.808), (166.969, 138.292), (166.4, 138.3), (165.802, 137.839), (165.362, 136.938), (165.092, 135.642), (165, 134), (164.877, 132.083), (164.462, 130.587), (163.692, 129.373), (162.5, 128.3), (161.67, 127.67), (161.036, 126.987), (160.568, 126.043), (160.237, 124.625), (159.87, 119.525), (159.7, 110), (159.636, 100.662), (159.862, 95.225), (160.14, 93.441), (160.558, 92), (161.137, 90.69), (161.9, 89.3), (163.775, 86.512), (164.677, 85.545), (165.575, 84.85), (166.482, 84.417), (167.412, 84.237), (168.38, 84.302), (169.4, 84.6), (170.162, 85.048), (170.789, 85.748), (171.269, 86.634), (171.587, 87.637), (171.733, 88.693), (171.692, 89.733), (171.452, 90.691), (171, 91.5), (169.688, 92.739), (169.172, 92.94), (168.75, 92.862), (168.422, 92.509), (168.188, 91.88), (168, 89.8), (168, 86.6), (165.8, 88.7), (164.702, 89.942), (164.212, 90.987), (164.267, 92.089), (164.8, 93.5), (165.511, 94.65), (166.362, 95.425), (167.458, 95.862), (168.9, 96), (170.154, 95.913), (171.227, 95.641), (172.133, 95.167), (172.887, 94.475), (173.506, 93.549), (174.005, 92.372), (174.397, 90.928), (174.7, 89.2), (174.903, 87.08), (174.675, 85.587), (173.884, 84.377), (172.4, 83.1), (171.132, 82.266), (169.872, 81.719), (168.607, 81.462), (167.325, 81.5), (166.015, 81.838), (164.666, 82.481), (163.264, 83.434), (161.8, 84.7), (160.704, 85.961), (159.742, 87.491), (158.919, 89.288), (158.237, 91.35), (157.701, 93.675), (157.314, 96.259), (157.079, 99.102), (157, 102.2), (156.9, 108.5), (154.4, 100.7), (153.144, 97.255), (151.775, 94.269), (150.294, 91.742), (148.7, 89.675), (146.994, 88.067), (145.175, 86.919), (143.244, 86.23), (141.2, 86), (138.377, 86.177), (137.324, 86.427), (136.462, 86.812), (135.756, 87.353), (135.167, 88.067), (134.2, 90.1), (133.882, 91.146), (133.745, 92.211), (133.775, 93.279), (133.956, 94.334), (134.72, 96.34), (135.925, 98.1), (137.458, 99.485), (139.206, 100.366), (140.126, 100.577), (141.058, 100.614), (141.987, 100.46), (142.9, 100.1), (143.823, 99.383), (144.492, 98.412), (144.906, 97.273), (145.062, 96.05), (144.962, 94.827), (144.602, 93.688), (143.981, 92.717), (143.1, 92), (142.296, 91.655), (141.62, 91.511), (141.087, 91.552), (140.712, 91.762), (140.511, 92.128), (140.498, 92.633), (140.69, 93.262), (141.1, 94), (141.828, 95.439), (141.947, 95.96), (141.9, 96.362), (141.684, 96.657), (141.297, 96.855), (140, 97), (139.092, 96.82), (138.212, 96.312), (137.427, 95.523), (136.8, 94.5), (136.319, 93.15), (136.25, 92.1), (136.631, 91.125), (137.5, 90), (138.389, 89.125), (139.214, 88.528), (140.022, 88.218), (140.862, 88.2), (141.782, 88.482), (142.83, 89.072), (145.5, 91.2), (147.219, 92.844), (148.731, 94.617), (150.084, 96.623), (151.325, 98.962), (152.5, 101.738), (153.656, 105.052), (156.1, 113.7), (157.931, 121.237), (158.825, 125.925), (158.944, 127.376), (158.856, 128.325), (158.572, 128.843), (158.1, 129), (157.59, 129.168), (157.191, 129.633), (156.908, 130.334), (156.75, 131.212), (156.834, 133.261), (157.091, 134.312), (157.5, 135.3), (158.061, 136.547), (158.237, 137.55), (158.02, 138.478), (157.4, 139.5), (156.844, 140.377), (156.4, 141.412), (156.106, 142.467), (156, 143.4), (155.913, 143.712), (155.662, 143.688), (154.725, 142.7), (153.3, 140.587), (151.5, 137.5), (146.523, 128.712), (141.524, 120.379), (136.49, 112.487), (131.409, 105.025), (126.272, 97.98), (121.065, 91.34), (115.778, 85.092), (110.4, 79.225), (104.918, 73.726), (99.322, 68.582), (93.6, 63.782), (87.741, 59.312), (81.732, 55.162), (75.564, 51.318), (69.223, 47.768), (62.7, 44.5), (55.845, 41.434), (48.919, 38.722), (42.134, 36.418), (35.7, 34.575), (29.829, 33.248), (24.731, 32.491), (22.538, 32.342), (20.618, 32.357), (18.996, 32.54), (17.7, 32.9), (15.765, 33.928), (15.062, 34.539), (14.536, 35.217), (14.188, 35.962), (14.017, 36.776), (14.026, 37.659), (14.212, 38.612), (15.125, 40.735), (16.758, 43.152), (19.115, 45.871), (22.2, 48.9), (25.062, 51.625), (27.317, 53.958), (29.036, 56.021), (30.287, 57.937), (31.14, 59.831), (31.664, 61.823), (31.928, 64.039), (32, 66.6), (32.123, 69.261), (32.498, 71.78), (33.134, 74.174), (34.037, 76.462), (35.218, 78.662), (36.683, 80.789), (38.441, 82.863), (40.5, 84.9), (42.864, 87.141), (44.678, 89.03), (46.009, 90.738), (46.925, 92.438), (47.494, 94.301), (47.784, 96.502), (47.864, 99.21), (47.8, 102.6), (47.767, 106.238), (47.948, 109.239), (48.428, 111.774), (49.287, 114.012), (50.612, 116.124), (52.483, 118.28), (54.985, 120.648), (58.2, 123.4), (60.473, 125.334), (62.359, 127.191), (63.885, 129.014), (65.075, 130.85), (65.956, 132.742), (66.553, 134.734), (66.893, 136.872), (67, 139.2), (67.221, 142.827), (67.87, 146.188), (68.925, 149.248), (70.362, 151.975), (72.161, 154.337), (74.298, 156.3), (76.752, 157.832), (79.5, 158.9), (82.158, 159.325), (86.437, 159.675), (91.748, 159.912), (97.5, 160), (110.981, 160.277), (124.425, 161.012), (136.031, 162.067), (140.583, 162.67), (144, 163.3), (149.5, 164.6), (139.5, 166.8), (133.687, 168.176), (128.069, 169.672), (122.662, 171.282), (117.481, 172.997), (112.542, 174.809), (107.859, 176.711), (103.449, 178.693), (99.325, 180.75), (95.504, 182.872), (92, 185.052), (88.829, 187.282), (86.006, 189.553), (83.547, 191.859), (81.466, 194.19), (79.778, 196.54), (78.5, 198.9), (77.788, 200.759), (77.38, 202.448), (77.278, 203.985), (77.487, 205.387), (78.011, 206.672), (78.852, 207.858), (80.013, 208.961), (81.5, 210), (82.888, 210.959), (83.906, 211.912), (84.559, 212.904), (84.85, 213.975), (84.785, 215.168), (84.369, 216.525), (83.605, 218.088), (82.5, 219.9), (80.714, 222.9), (79.483, 225.673), (78.807, 228.22), (78.687, 230.537), (79.126, 232.626), (79.555, 233.583), (80.123, 234.483), (81.681, 236.108), (83.8, 237.5), (87.5, 239.5), (87.5, 252.2), (87.552, 259.3), (87.837, 263.4), (88.13, 264.7), (88.555, 265.7), (89.137, 266.55), (89.9, 267.4), (91.022, 268.397), (92.2, 269.225), (93.303, 269.791), (94.2, 270), (95.39, 270.162), (96.48, 270.642), (97.464, 271.429), (98.337, 272.513), (99.094, 273.882), (99.727, 275.527), (100.231, 277.436), (100.6, 279.6), (101.048, 282.547), (101.712, 284.8), (102.695, 286.603), (104.1, 288.2), (105.589, 289.62), (106.787, 290.337), (107.967, 290.436), (109.4, 290), (112.642, 288.487), (114.113, 287.553), (115.537, 286.45), (118.414, 283.587), (121.6, 279.6), (125.172, 274.484), (128.483, 268.839), (131.562, 262.597), (134.438, 255.688), (137.14, 248.042), (139.698, 239.592), (142.142, 230.268), (144.5, 220), (147.2, 208.675), (149.9, 199), (152.717, 190.847), (155.862, 182.75), (158.577, 176.528), (159.535, 174.689), (160.1, 174), (160.431, 174.439), (160.8, 175.637), (161.5, 179.6), (162.145, 183.692), (163.005, 187.512), (164.04, 190.977), (165.212, 194), (166.483, 196.498), (167.814, 198.387), (169.166, 199.583), (169.838, 199.894), (170.5, 200), (171.629, 199.773), (172.612, 199.102), (173.446, 198.001), (174.125, 196.488), (174.645, 194.575), (175, 192.28), (175.187, 189.616), (175.2, 186.6), (175.1, 178.5), (177, 181), (181.441, 187.097), (186.275, 194.675), (191.597, 203.866), (197.5, 214.8), (202.756, 224.676), (207.577, 233.188), (212.081, 240.499), (216.387, 246.775), (220.614, 252.179), (224.88, 256.875), (229.302, 261.027), (234, 264.8), (236.702, 266.761), (239.22, 268.405), (241.553, 269.734), (243.698, 270.748), (245.656, 271.448), (247.424, 271.833), (249.002, 271.904), (250.387, 271.663), (251.58, 271.108), (252.577, 270.24), (253.379, 269.061), (253.983, 267.57), (254.388, 265.768), (254.594, 263.656), (254.598, 261.233), (254.4, 258.5), (254.15, 255.287), (254.2, 253.2), (254.625, 251.863), (255.5, 250.9), (259.663, 247.35), (261.012, 245.985), (261.95, 244.775), (262.531, 243.63), (262.812, 242.462), (262.85, 241.182), (262.7, 239.7), (261.475, 234.912), (259.5, 229.3), (258.395, 226.415), (257.631, 223.997), (257.215, 221.949), (257.15, 220.175), (257.441, 218.579), (258.094, 217.066), (259.112, 215.538), (260.5, 213.9), (262.962, 210.8), (263.72, 209.625), (264, 208.9), (263.838, 207.767), (263.383, 206.436), (262.676, 204.971), (261.762, 203.438), (259.486, 200.42), (258.21, 199.066), (256.9, 197.9), (255.141, 196.419), (253.831, 195.092), (252.962, 193.866), (252.525, 192.688), (252.509, 191.504), (252.906, 190.264), (253.706, 188.913), (254.9, 187.4), (256.096, 185.965), (256.984, 184.636), (257.568, 183.38), (257.85, 182.162), (257.832, 180.95), (257.516, 179.708), (256.904, 178.403), (256, 177), (254.352, 175.037), (252.274, 173.165), (249.791, 171.391), (246.928, 169.722), (243.71, 168.164), (240.162, 166.724), (236.309, 165.409), (232.175, 164.225), (227.786, 163.18), (223.166, 162.279), (218.341, 161.531), (213.334, 160.941), (208.172, 160.516), (202.879, 160.263), (197.48, 160.189), (192, 160.3), (177.5, 160.8), (184, 157.8), (187.633, 156.165), (191.761, 154.489), (201.387, 151.037), (212.645, 147.492), (225.3, 143.9), (235.289, 141.07), (238.96, 139.813), (241.912, 138.587), (244.27, 137.338), (246.155, 136.011), (247.69, 134.55), (249, 132.9), (249.98, 131.353), (250.747, 129.695), (251.303, 127.899), (251.65, 125.938), (251.791, 123.784), (251.728, 121.411), (251.464, 118.792), (251, 115.9), (250.524, 112.931), (250.308, 110.283), (250.365, 107.89), (250.712, 105.688), (251.364, 103.612), (252.336, 101.598), (253.643, 99.583), (255.3, 97.5), (257.712, 94.45), (259.562, 91.606), (260.869, 88.866), (261.65, 86.125), (261.925, 83.281), (261.712, 80.231), (261.031, 76.872), (259.9, 73.1), (258.712, 69.472), (258.402, 68.189), (258.275, 67.1), (258.326, 66.086), (258.55, 65.028), (259.5, 62.3), (261.637, 57.6), (264.3, 52.9), (265.415, 50.826), (266.281, 48.666), (266.895, 46.435), (267.25, 44.15), (267.343, 41.828), (267.169, 39.484), (266.723, 37.136), (266, 34.8), (265.504, 33.028), (265.298, 31.219), (265.39, 29.344), (265.788, 27.375), (266.499, 25.284), (267.533, 23.044), (268.897, 20.625), (270.6, 18), (273.203, 13.881), (275.225, 10.1), (276.534, 6.919), (276.881, 5.635), (277, 4.6), (276.864, 3.656), (276.472, 2.784), (275.85, 2.002), (275.025, 1.325), (274.021, 0.77), (272.866, 0.353), (271.583, 0.091), (270.2, 0), (268.081, 0.258), (265.4, 1.012), (262.269, 2.236), (258.8, 3.9), (258.8, 3.9)], [(255.9, 12.3), (254.721, 13.187), (253.741, 14.106), (252.971, 15.035), (252.425, 15.95), (252.113, 16.827), (252.047, 17.644), (252.239, 18.376), (252.7, 19), (253.384, 19.276), (254.516, 19.237), (255.952, 18.937), (257.55, 18.425), (259.167, 17.754), (260.659, 16.975), (261.885, 16.14), (262.7, 15.3), (263.749, 13.539), (264.098, 12.103), (264.035, 11.519), (263.827, 11.029), (263.483, 10.638), (263.012, 10.35), (261.734, 10.103), (260.07, 10.322), (258.099, 11.043), (255.9, 12.3), (255.9, 12.3)], [(255.4, 25.6), (254.759, 27.291), (254.475, 28.625), (254.528, 29.622), (254.9, 30.3), (255.564, 30.729), (256.258, 30.772), (256.944, 30.472), (257.588, 29.875), (258.151, 29.025), (258.598, 27.966), (258.894, 26.743), (259, 25.4), (258.923, 23.961), (258.705, 22.942), (258.362, 22.343), (257.913, 22.163), (257.374, 22.399), (256.764, 23.052), (256.1, 24.119), (255.4, 25.6), (255.4, 25.6)], [(249.8, 35.7), (249.5, 42.5), (249.238, 47.838), (248.952, 50.305), (248.6, 52.2), (248.236, 54.186), (248.238, 55.338), (248.396, 55.668), (248.67, 55.87), (249.6, 56), (251.137, 55.82), (252.589, 55.373), (253.945, 54.69), (255.192, 53.798), (256.32, 52.728), (257.315, 51.509), (258.167, 50.169), (258.863, 48.737), (259.391, 47.244), (259.74, 45.718), (259.897, 44.188), (259.852, 42.683), (259.591, 41.232), (259.103, 39.866), (258.377, 38.612), (257.4, 37.5), (256.372, 36.668), (255.214, 35.981), (254.002, 35.454), (252.812, 35.1), (251.721, 34.934), (250.805, 34.969), (250.139, 35.22), (249.8, 35.7), (249.8, 35.7)], [(238.6, 25.1), (237.565, 26.043), (236.789, 27.034), (236.278, 28.021), (236.037, 28.95), (236.074, 29.766), (236.392, 30.416), (236.999, 30.845), (237.9, 31), (238.952, 30.832), (240.106, 30.37), (241.289, 29.676), (242.425, 28.812), (243.439, 27.841), (244.256, 26.823), (244.802, 25.822), (245, 24.9), (244.864, 24.08), (244.478, 23.497), (243.871, 23.153), (243.075, 23.05), (242.119, 23.191), (241.034, 23.578), (239.851, 24.214), (238.6, 25.1), (238.6, 25.1)], [(226, 38.1), (225.57, 38.944), (225.337, 39.75), (225.311, 40.406), (225.5, 40.8), (225.931, 40.999), (226.509, 40.947), (227.875, 40.25), (229.128, 39.028), (229.566, 38.32), (229.8, 37.6), (229.834, 36.859), (229.6, 36.356), (229.16, 36.088), (228.575, 36.05), (227.905, 36.237), (227.212, 36.644), (226.557, 37.266), (226, 38.1), (226, 38.1)], [(227.2, 46.7), (225.358, 47.906), (222.887, 49.975), (220.098, 52.606), (217.3, 55.5), (213.902, 59.37), (210.641, 63.337), (207.513, 67.409), (204.512, 71.598), (201.633, 75.913), (198.871, 80.364), (196.22, 84.961), (193.675, 89.713), (191.231, 94.63), (188.882, 99.722), (186.624, 104.999), (184.45, 110.47), (180.337, 122.037), (176.5, 134.5), (173.312, 145.85), (172, 151.2), (172.118, 151.184), (172.456, 150.716), (173.7, 148.6), (177.8, 140.9), (182.529, 132.063), (187.805, 122.933), (193.65, 113.476), (200.087, 103.662), (207.139, 93.46), (214.827, 82.836), (223.173, 71.76), (232.2, 60.2), (234.198, 57.58), (235.773, 55.256), (236.934, 53.204), (237.688, 51.4), (238.043, 49.821), (238.008, 48.444), (237.591, 47.245), (236.8, 46.2), (236.059, 45.651), (235.131, 45.28), (234.044, 45.084), (232.825, 45.062), (231.503, 45.215), (230.106, 45.539), (228.662, 46.035), (227.2, 46.7), (227.2, 46.7)], [(232.6, 49.4), (232.231, 48.701), (231.727, 48.255), (231.094, 48.059), (230.337, 48.112), (229.464, 48.415), (228.48, 48.964), (226.2, 50.8), (223.659, 53.477), (221.414, 56.428), (219.547, 59.459), (218.137, 62.375), (217.267, 64.982), (217.017, 67.084), (217.15, 67.886), (217.468, 68.489), (217.981, 68.868), (218.7, 69), (219.531, 68.821), (220.503, 68.31), (222.756, 66.458), (225.225, 63.774), (227.675, 60.587), (229.872, 57.228), (231.581, 54.023), (232.569, 51.304), (232.719, 50.23), (232.6, 49.4), (232.6, 49.4)], [(225.1, 54.5), (224.091, 55.77), (223.25, 57.064), (222.597, 58.323), (222.15, 59.487), (221.928, 60.497), (221.95, 61.292), (222.234, 61.813), (222.8, 62), (223.64, 61.643), (224.798, 60.684), (227.537, 57.625), (229.958, 54.153), (230.717, 52.679), (231, 51.6), (230.857, 51.113), (230.458, 50.914), (229.845, 50.979), (229.062, 51.287), (227.161, 52.542), (225.1, 54.5), (225.1, 54.5)], [(215, 46.5), (214.531, 47.214), (214.308, 47.902), (214.302, 48.516), (214.487, 49.013), (214.837, 49.345), (215.323, 49.467), (215.92, 49.334), (216.6, 48.9), (217.508, 47.742), 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180.289), (130.561, 180.115), (130.075, 180.138), (128.381, 180.792), (125.6, 182.3), (123.003, 184.005), (121.475, 185.513), (121.164, 186.119), (121.184, 186.589), (121.556, 186.892), (122.3, 187), (123.157, 186.821), (124.303, 186.333), (127, 184.738), (129.472, 182.823), (130.336, 181.937), (130.8, 181.2), (130.8, 181.2)], [(133.1, 190.3), (133.914, 189.377), (134.512, 188.462), (134.83, 187.642), (134.8, 187), (134.491, 186.755), (133.9, 186.912), (133.084, 187.464), (132.1, 188.4), (131.191, 189.495), (130.625, 190.427), (130.377, 191.154), (130.425, 191.637), (130.745, 191.835), (131.312, 191.705), (132.105, 191.207), (133.1, 190.3), (133.1, 190.3)], [(128, 195.1), (127.8, 194.325), (127.578, 194.087), (127.3, 194), (126.773, 194.172), (125.992, 194.645), (123.963, 196.238), (121.802, 198.261), (120.1, 200.2), (119.484, 201.114), (119.3, 201.663), (119.566, 201.93), (120.3, 202), (121.148, 201.769), (122.262, 201.147), (124.825, 199.15), (127.05, 196.853), (127.743, 195.856), 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[(224.2, 104.4), (218.207, 107.965), (212.216, 112.219), (206.211, 117.176), (200.175, 122.85), (194.093, 129.255), (187.947, 136.406), (181.721, 144.316), (175.4, 153), (171.6, 158.5), (176.5, 154), (179.31, 151.523), (182.07, 149.281), (184.936, 147.18), (188.062, 145.125), (191.606, 143.023), (195.723, 140.781), (206.3, 135.5), (214.342, 131.512), (220.088, 128.275), (222.412, 126.738), (224.539, 125.15), (228.7, 121.5), (231.632, 118.667), (234.122, 115.958), (236.157, 113.391), (237.725, 110.987), (238.815, 108.767), (239.416, 106.748), (239.514, 104.953), (239.1, 103.4), (238.324, 102.237), (237.208, 101.447), (235.765, 101.027), (234.013, 100.975), (231.964, 101.289), (229.636, 101.966), (227.043, 103.004), (224.2, 104.4), (224.2, 104.4)], [(227.3, 109.6), (226.025, 110.703), (224.975, 111.825), (224.262, 112.834), (224, 113.6), (224.177, 114.248), (224.427, 114.375), (224.812, 114.362), (226.067, 113.895), (228.1, 112.8), (229.745, 111.804), (231.133, 110.797), (232.233, 109.822), (233.012, 108.925), (233.441, 108.15), (233.486, 107.541), (233.116, 107.143), (232.3, 107), (231.336, 107.209), (230.062, 107.775), (228.658, 108.603), (227.3, 109.6), (227.3, 109.6)], [(236.7, 105.7), (236.449, 105.166), (236.078, 104.763), (235.593, 104.487), (235.003, 104.336), (233.539, 104.394), (231.75, 104.912), (229.698, 105.867), (227.447, 107.233), (225.06, 108.985), (222.6, 111.1), (221.027, 112.645), (219.769, 114.106), (218.838, 115.445), (218.25, 116.625), (218.018, 117.608), (218.156, 118.356), (218.679, 118.833), (219.6, 119), (220.628, 118.885), (221.815, 118.556), (224.536, 117.358), (227.498, 115.609), (230.438, 113.512), (233.091, 111.271), (235.195, 109.086), (235.959, 108.079), (236.486, 107.162), (236.744, 106.36), (236.7, 105.7), (236.7, 105.7)], [(238.3, 123.9), (237.012, 126.523), (235.5, 128.613), (233.462, 130.495), (230.6, 132.5), (227.495, 134.611), (225.633, 136.206), (225.146, 136.805), (224.945, 137.267), (225.02, 137.591), (225.362, 137.775), (226.816, 137.711), (229.236, 137.056), (232.554, 135.792), (236.7, 133.9), (239.354, 132.55), (241.417, 131.309), (242.924, 130.121), (243.912, 128.925), (244.418, 127.664), (244.477, 126.278), (244.125, 124.71), (243.4, 122.9), (242.012, 120.125), (241.417, 119.3), (241, 119), (240.62, 119.386), (239.987, 120.438), (238.3, 123.9), (238.3, 123.9)]]
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if __name__ == '__main__':
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main()
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