IG.INIVAL

let x[1,0] := 1.179539;
let y[1,0] := 5.652985;
let theta[1,0] := -3.973106;
let v[1,0] := 0.000000;
let phy[1,0] := 0.000000;
let egoV[1, 0, 1, 1] := -2.071314;
let egoV[1, 0, 2, 1] := -0.636269;
let egoV[1, 0, 3, 1] := 2.522982;
let egoV[1, 0, 4, 1] := 1.087937;
let egoV[1, 0, 1, 2] := 7.777226;
let egoV[1, 0, 2, 2] := 9.085664;
let egoV[1, 0, 3, 2] := 5.620718;
let egoV[1, 0, 4, 2] := 4.312280;
let x[1,1] := 1.434114;
let y[1,1] := 5.422045;
let theta[1,1] := -3.869521;
let v[1,1] := -0.729648;
let phy[1,1] := -0.700000;
let egoV[1, 1, 1, 1] := -2.018961;
let egoV[1, 1, 2, 1] := -0.726901;
let egoV[1, 1, 3, 1] := 2.773693;
let egoV[1, 1, 4, 1] := 1.481634;
let egoV[1, 1, 1, 2] := 7.198759;
let egoV[1, 1, 2, 2] := 8.648568;
let egoV[1, 1, 3, 2] := 5.528863;
let egoV[1, 1, 4, 2] := 4.079054;
let x[1,2] := 1.723567;
let y[1,2] := 5.168120;
let theta[1,2] := -3.753292;
let v[1,2] := -0.817379;
let phy[1,2] := -0.645584;
let egoV[1, 2, 1, 1] := -1.912251;
let egoV[1, 2, 2, 1] := -0.797039;
let egoV[1, 2, 3, 1] := 3.041721;
let egoV[1, 2, 4, 1] := 1.926509;
let egoV[1, 2, 1, 2] := 6.532403;
let egoV[1, 2, 2, 2] := 8.122267;
let egoV[1, 2, 3, 2] := 5.429565;
let egoV[1, 2, 4, 2] := 3.839701;
let x[1,3] := 2.020791;
let y[1,3] := 4.995492;
let theta[1,3] := -3.649706;
let v[1,3] := -0.729648;
let phy[1,3] := -0.565761;
let egoV[1, 3, 1, 1] := -1.736606;
let egoV[1, 3, 2, 1] := -0.791765;
let egoV[1, 3, 3, 1] := 3.304845;
let egoV[1, 3, 4, 1] := 2.360004;
let egoV[1, 3, 1, 2] := 5.976516;
let egoV[1, 3, 2, 2] := 7.673171;
let egoV[1, 3, 3, 2] := 5.391833;
let egoV[1, 3, 4, 2] := 3.695178;
let a[1,1] := -1.548901;
let w[1,1] := 0.115514;
let a[1,2] := -0.186237;
let w[1,2] := 0.169450;
let a[1,3] := 0.186237;
let w[1,3] := 0.500000;
let x[2,0] := 2.020791;
let y[2,0] := 4.995492;
let theta[2,0] := -3.649706;
let v[2,0] := -0.729648;
let phy[2,0] := -0.565761;
let egoV[2, 0, 1, 1] := -1.736606;
let egoV[2, 0, 2, 1] := -0.791765;
let egoV[2, 0, 3, 1] := 3.304845;
let egoV[2, 0, 4, 1] := 2.360004;
let egoV[2, 0, 1, 2] := 5.976516;
let egoV[2, 0, 2, 2] := 7.673171;
let egoV[2, 0, 3, 2] := 5.391833;
let egoV[2, 0, 4, 2] := 3.695178;
let x[2,1] := 2.327517;
let y[2,1] := 4.818507;
let theta[2,1] := -3.571755;
let v[2,1] := -0.751739;
let phy[2,1] := 0.632887;
let egoV[2, 1, 1, 1] := -1.494865;
let egoV[2, 1, 2, 1] := -0.685015;
let egoV[2, 1, 3, 1] := 3.576808;
let egoV[2, 1, 4, 1] := 2.766958;
let egoV[2, 1, 1, 2] := 5.503956;
let egoV[2, 1, 2, 2] := 7.269036;
let egoV[2, 1, 3, 2] := 5.313636;
let egoV[2, 1, 4, 2] := 3.548557;
let x[2,2] := 2.628123;
let y[2,2] := 4.651846;
let theta[2,2] := -3.664529;
let v[2,2] := -0.729640;
let phy[2,2] := 0.700000;
let egoV[2, 2, 1, 1] := -1.114320;
let egoV[2, 2, 2, 1] := -0.144435;
let egoV[2, 2, 3, 1] := 3.917911;
let egoV[2, 2, 4, 1] := 2.948025;
let egoV[2, 2, 1, 2] := 5.688457;
let egoV[2, 2, 2, 2] := 7.370921;
let egoV[2, 2, 3, 2] := 5.029112;
let egoV[2, 2, 4, 2] := 3.346647;
let x[2,3] := 2.948461;
let y[2,3] := 4.458772;
let theta[2,3] := -3.777614;
let v[2,3] := -0.793981;
let phy[2,3] := 0.674128;
let egoV[2, 3, 1, 1] := -0.653103;
let egoV[2, 3, 2, 1] := 0.500443;
let egoV[2, 3, 3, 1] := 4.272582;
let egoV[2, 3, 4, 1] := 3.119036;
let egoV[2, 3, 1, 2] := 5.911073;
let egoV[2, 3, 2, 2] := 7.473345;
let egoV[2, 3, 3, 2] := 4.688083;
let egoV[2, 3, 4, 2] := 3.125810;
let a[2,1] := -0.046895;
let w[2,1] := 0.142469;
let a[2,2] := 0.046912;
let w[2,2] := -0.054921;
let a[2,3] := -0.136584;
let w[2,3] := 0.054921;
let x[3,0] := 2.948461;
let y[3,0] := 4.458772;
let theta[3,0] := -3.777614;
let v[3,0] := -0.793981;
let phy[3,0] := 0.674128;
let egoV[3, 0, 1, 1] := -0.653103;
let egoV[3, 0, 2, 1] := 0.500443;
let egoV[3, 0, 3, 1] := 4.272582;
let egoV[3, 0, 4, 1] := 3.119036;
let egoV[3, 0, 1, 2] := 5.911073;
let egoV[3, 0, 2, 2] := 7.473345;
let egoV[3, 0, 3, 2] := 4.688083;
let egoV[3, 0, 4, 2] := 3.125810;
let x[3,1] := 3.217725;
let y[3,1] := 4.229270;
let theta[3,1] := -3.884344;
let v[3,1] := -0.751049;
let phy[3,1] := 0.700000;
let egoV[3, 1, 1, 1] := -0.208636;
let egoV[3, 1, 2, 1] := 1.104771;
let egoV[3, 1, 3, 1] := 4.558740;
let egoV[3, 1, 4, 1] := 3.245333;
let egoV[3, 1, 1, 2] := 6.056972;
let egoV[3, 1, 2, 2] := 7.487470;
let egoV[3, 1, 3, 2] := 4.316221;
let egoV[3, 1, 4, 2] := 2.885722;
let x[3,2] := 3.291537;
let y[3,2] := 4.233528;
let theta[3,2] := -4.047570;
let v[3,2] := 0.156950;
let phy[3,2] := -0.700000;
let egoV[3, 2, 1, 1] := 0.207725;
let egoV[3, 2, 2, 1] := 1.736133;
let egoV[3, 2, 3, 1] := 4.628857;
let egoV[3, 2, 4, 1] := 3.100448;
let egoV[3, 2, 1, 2] := 6.593728;
let egoV[3, 2, 2, 2] := 7.791781;
let egoV[3, 2, 3, 2] := 4.101406;
let egoV[3, 2, 4, 2] := 2.903353;
let x[3,3] := 3.093175;
let y[3,3] := 4.437055;
let theta[3,3] := -4.235995;
let v[3,3] := -0.603306;
let phy[3,3] := 0.700000;
let egoV[3, 3, 1, 1] := 0.506038;
let egoV[3, 3, 2, 1] := 2.231805;
let egoV[3, 3, 3, 1] := 4.382077;
let egoV[3, 3, 4, 1] := 2.656311;
let egoV[3, 3, 1, 2] := 7.333116;
let egoV[3, 3, 2, 2] := 8.223674;
let egoV[3, 3, 3, 2] := 4.056775;
let egoV[3, 3, 4, 2] := 3.166216;
let a[3,1] := 0.091137;
let w[3,1] := -0.500000;
let a[3,2] := 1.927506;
let w[3,2] := 0.500000;
let a[3,3] := -1.613875;
let w[3,3] := -0.500000;
let x[4,0] := 3.093175;
let y[4,0] := 4.437055;
let theta[4,0] := -4.235995;
let v[4,0] := -0.603306;
let phy[4,0] := 0.700000;
let egoV[4, 0, 1, 1] := 0.506038;
let egoV[4, 0, 2, 1] := 2.231805;
let egoV[4, 0, 3, 1] := 4.382077;
let egoV[4, 0, 4, 1] := 2.656311;
let egoV[4, 0, 1, 2] := 7.333116;
let egoV[4, 0, 2, 2] := 8.223674;
let egoV[4, 0, 3, 2] := 4.056775;
let egoV[4, 0, 4, 2] := 3.166216;
let x[4,1] := 3.248045;
let y[4,1] := 4.095693;
let theta[4,1] := -4.341150;
let v[4,1] := -0.795735;
let phy[4,1] := 0.377610;
let egoV[4, 1, 1, 1] := 0.979174;
let egoV[4, 1, 2, 1] := 2.788882;
let egoV[4, 1, 3, 1] := 4.489913;
let egoV[4, 1, 4, 1] := 2.680204;
let egoV[4, 1, 1, 2] := 7.247306;
let egoV[4, 1, 2, 2] := 7.951806;
let egoV[4, 1, 3, 2] := 3.582228;
let egoV[4, 1, 4, 2] := 2.877728;
let x[4,2] := 3.374263;
let y[4,2] := 3.777522;
let theta[4,2] := -4.394251;
let v[4,2] := -0.726619;
let phy[4,2] := -0.000000;
let egoV[4, 2, 1, 1] := 1.275864;
let egoV[4, 2, 2, 1] := 3.120413;
let egoV[4, 2, 3, 1] := 4.587127;
let egoV[4, 2, 4, 1] := 2.742578;
let egoV[4, 2, 1, 2] := 7.045116;
let egoV[4, 2, 2, 2] := 7.652571;
let egoV[4, 2, 3, 2] := 3.198868;
let egoV[4, 2, 4, 2] := 2.591413;
let x[4,3] := 3.482156;
let y[4,3] := 3.449904;
let theta[4,3] := -4.394251;
let v[4,3] := -0.732215;
let phy[4,3] := -0.000000;
let egoV[4, 3, 1, 1] := 1.383757;
let egoV[4, 3, 2, 1] := 3.228306;
let egoV[4, 3, 3, 1] := 4.695020;
let egoV[4, 3, 4, 1] := 2.850471;
let egoV[4, 3, 1, 2] := 6.717497;
let egoV[4, 3, 2, 2] := 7.324952;
let egoV[4, 3, 3, 2] := 2.871249;
let egoV[4, 3, 4, 2] := 2.263794;
let a[4,1] := -0.408491;
let w[4,1] := -0.500000;
let a[4,2] := 0.146721;
let w[4,2] := 0.000000;
let a[4,3] := -0.011879;
let w[4,3] := 0.000000;
let x[5,0] := 3.482156;
let y[5,0] := 3.449904;
let theta[5,0] := -4.394251;
let v[5,0] := -0.732215;
let phy[5,0] := -0.000000;
let egoV[5, 0, 1, 1] := 1.383757;
let egoV[5, 0, 2, 1] := 3.228306;
let egoV[5, 0, 3, 1] := 4.695020;
let egoV[5, 0, 4, 1] := 2.850471;
let egoV[5, 0, 1, 2] := 6.717497;
let egoV[5, 0, 2, 2] := 7.324952;
let egoV[5, 0, 3, 2] := 2.871249;
let egoV[5, 0, 4, 2] := 2.263794;
let x[5,1] := 3.596395;
let y[5,1] := 3.103013;
let theta[5,1] := -4.394251;
let v[5,1] := -0.775286;
let phy[5,1] := -0.000000;
let egoV[5, 1, 1, 1] := 1.497997;
let egoV[5, 1, 2, 1] := 3.342546;
let egoV[5, 1, 3, 1] := 4.809260;
let egoV[5, 1, 4, 1] := 2.964711;
let egoV[5, 1, 1, 2] := 6.370606;
let egoV[5, 1, 2, 2] := 6.978062;
let egoV[5, 1, 3, 2] := 2.524359;
let egoV[5, 1, 4, 2] := 1.916903;
let x[5,2] := 3.710635;
let y[5,2] := 2.756122;
let theta[5,2] := -4.394251;
let v[5,2] := -0.775286;
let phy[5,2] := -0.000000;
let egoV[5, 2, 1, 1] := 1.612236;
let egoV[5, 2, 2, 1] := 3.456786;
let egoV[5, 2, 3, 1] := 4.923500;
let egoV[5, 2, 4, 1] := 3.078950;
let egoV[5, 2, 1, 2] := 6.023716;
let egoV[5, 2, 2, 2] := 6.631171;
let egoV[5, 2, 3, 2] := 2.177468;
let egoV[5, 2, 4, 2] := 1.570013;
let x[5,3] := 3.818528;
let y[5,3] := 2.428504;
let theta[5,3] := -4.394251;
let v[5,3] := -0.732215;
let phy[5,3] := -0.000000;
let egoV[5, 3, 1, 1] := 1.720129;
let egoV[5, 3, 2, 1] := 3.564679;
let egoV[5, 3, 3, 1] := 5.031393;
let egoV[5, 3, 4, 1] := 3.186843;
let egoV[5, 3, 1, 2] := 5.696097;
let egoV[5, 3, 2, 2] := 6.303552;
let egoV[5, 3, 3, 2] := 1.849849;
let egoV[5, 3, 4, 2] := 1.242394;
let a[5,1] := -0.091432;
let w[5,1] := 0.000000;
let a[5,2] := 0.000000;
let w[5,2] := 0.000000;
let a[5,3] := 0.091432;
let w[5,3] := 0.000000;
let x[6,0] := 3.818528;
let y[6,0] := 2.428504;
let theta[6,0] := -4.394251;
let v[6,0] := -0.732215;
let phy[6,0] := -0.000000;
let egoV[6, 0, 1, 1] := 1.720129;
let egoV[6, 0, 2, 1] := 3.564679;
let egoV[6, 0, 3, 1] := 5.031393;
let egoV[6, 0, 4, 1] := 3.186843;
let egoV[6, 0, 1, 2] := 5.696097;
let egoV[6, 0, 2, 2] := 6.303552;
let egoV[6, 0, 3, 2] := 1.849849;
let egoV[6, 0, 4, 2] := 1.242394;
let x[6,1] := 3.932767;
let y[6,1] := 2.081613;
let theta[6,1] := -4.394251;
let v[6,1] := -0.775286;
let phy[6,1] := -0.000000;
let egoV[6, 1, 1, 1] := 1.834369;
let egoV[6, 1, 2, 1] := 3.678918;
let egoV[6, 1, 3, 1] := 5.145632;
let egoV[6, 1, 4, 1] := 3.301083;
let egoV[6, 1, 1, 2] := 5.349206;
let egoV[6, 1, 2, 2] := 5.956662;
let egoV[6, 1, 3, 2] := 1.502959;
let egoV[6, 1, 4, 2] := 0.895503;
let x[6,2] := 4.047007;
let y[6,2] := 1.734723;
let theta[6,2] := -4.394251;
let v[6,2] := -0.775286;
let phy[6,2] := -0.000000;
let egoV[6, 2, 1, 1] := 1.948609;
let egoV[6, 2, 2, 1] := 3.793158;
let egoV[6, 2, 3, 1] := 5.259872;
let egoV[6, 2, 4, 1] := 3.415323;
let egoV[6, 2, 1, 2] := 5.002316;
let egoV[6, 2, 2, 2] := 5.609771;
let egoV[6, 2, 3, 2] := 1.156068;
let egoV[6, 2, 4, 2] := 0.548613;
let x[6,3] := 4.154900;
let y[6,3] := 1.407104;
let theta[6,3] := -4.394251;
let v[6,3] := -0.732215;
let phy[6,3] := -0.000000;
let egoV[6, 3, 1, 1] := 2.056501;
let egoV[6, 3, 2, 1] := 3.901051;
let egoV[6, 3, 3, 1] := 5.367765;
let egoV[6, 3, 4, 1] := 3.523216;
let egoV[6, 3, 1, 2] := 4.674697;
let egoV[6, 3, 2, 2] := 5.282152;
let egoV[6, 3, 3, 2] := 0.828449;
let egoV[6, 3, 4, 2] := 0.220994;
let a[6,1] := -0.091432;
let w[6,1] := 0.000000;
let a[6,2] := 0.000000;
let w[6,2] := 0.000000;
let a[6,3] := 0.091432;
let w[6,3] := -0.038310;
let x[7,0] := 4.154900;
let y[7,0] := 1.407104;
let theta[7,0] := -4.394251;
let v[7,0] := -0.732215;
let phy[7,0] := -0.000000;
let egoV[7, 0, 1, 1] := 2.056501;
let egoV[7, 0, 2, 1] := 3.901051;
let egoV[7, 0, 3, 1] := 5.367765;
let egoV[7, 0, 4, 1] := 3.523216;
let egoV[7, 0, 1, 2] := 4.674697;
let egoV[7, 0, 2, 2] := 5.282152;
let egoV[7, 0, 3, 2] := 0.828449;
let egoV[7, 0, 4, 2] := 0.220994;
let x[7,1] := 4.269140;
let y[7,1] := 1.060213;
let theta[7,1] := -4.394251;
let v[7,1] := -0.775286;
let phy[7,1] := -0.018047;
let egoV[7, 1, 1, 1] := 2.170741;
let egoV[7, 1, 2, 1] := 4.015290;
let egoV[7, 1, 3, 1] := 5.482004;
let egoV[7, 1, 4, 1] := 3.637455;
let egoV[7, 1, 1, 2] := 4.327806;
let egoV[7, 1, 2, 2] := 4.935262;
let egoV[7, 1, 3, 2] := 0.481559;
let egoV[7, 1, 4, 2] := -0.125897;
let x[7,2] := 4.384156;
let y[7,2] := 0.713325;
let theta[7,2] := -4.391896;
let v[7,2] := -0.775798;
let phy[7,2] := -0.550114;
let egoV[7, 2, 1, 1] := 2.278071;
let egoV[7, 2, 2, 1] := 4.121185;
let egoV[7, 2, 3, 1] := 5.598380;
let egoV[7, 2, 4, 1] := 3.755266;
let egoV[7, 2, 1, 2] := 3.975969;
let egoV[7, 2, 2, 2] := 4.587766;
let egoV[7, 2, 3, 2] := 0.137528;
let egoV[7, 2, 4, 2] := -0.474268;
let x[7,3] := 4.518476;
let y[7,3] := 0.385800;
let theta[7,3] := -4.311853;
let v[7,3] := -0.751469;
let phy[7,3] := -0.686416;
let egoV[7, 3, 1, 1] := 2.158259;
let egoV[7, 3, 2, 1] := 3.946554;
let egoV[7, 3, 3, 1] := 5.774852;
let egoV[7, 3, 4, 1] := 3.986557;
let egoV[7, 3, 1, 2] := 3.469599;
let egoV[7, 3, 2, 2] := 4.226809;
let egoV[7, 3, 3, 2] := -0.091067;
let egoV[7, 3, 4, 2] := -0.848276;
let a[7,1] := -0.091432;
let w[7,1] := -0.500000;
let a[7,2] := -0.001087;
let w[7,2] := -0.289342;
let a[7,3] := 0.051646;
let w[7,3] := 0.500000;
let x[8,0] := 4.518476;
let y[8,0] := 0.385800;
let theta[8,0] := -4.311853;
let v[8,0] := -0.751469;
let phy[8,0] := -0.686416;
let egoV[8, 0, 1, 1] := 2.158259;
let egoV[8, 0, 2, 1] := 3.946554;
let egoV[8, 0, 3, 1] := 5.774852;
let egoV[8, 0, 4, 1] := 3.986557;
let egoV[8, 0, 1, 2] := 3.469599;
let egoV[8, 0, 2, 2] := 4.226809;
let egoV[8, 0, 3, 2] := -0.091067;
let egoV[8, 0, 4, 2] := -0.848276;
let x[8,1] := 4.656398;
let y[8,1] := 0.070967;
let theta[8,1] := -4.208267;
let v[8,1] := -0.729648;
let phy[8,1] := -0.185365;
let egoV[8, 1, 1, 1] := 1.989965;
let egoV[8, 1, 2, 1] := 3.690378;
let egoV[8, 1, 3, 1] := 5.955347;
let egoV[8, 1, 4, 1] := 4.254934;
let egoV[8, 1, 1, 2] := 2.894189;
let egoV[8, 1, 2, 2] := 3.832250;
let egoV[8, 1, 3, 2] := -0.273434;
let egoV[8, 1, 4, 2] := -1.211495;
let x[8,2] := 4.827407;
let y[8,2] := -0.239262;
let theta[8,2] := -4.185248;
let v[8,2] := -0.751985;
let phy[8,2] := -0.012405;
let egoV[8, 2, 1, 1] := 2.096699;
let egoV[8, 2, 2, 1] := 3.775071;
let egoV[8, 2, 3, 1] := 6.133940;
let egoV[8, 2, 4, 1] := 4.455569;
let egoV[8, 2, 1, 2] := 2.521838;
let egoV[8, 2, 2, 2] := 3.498789;
let egoV[8, 2, 3, 2] := -0.553674;
let egoV[8, 2, 4, 2] := -1.530625;
let x[8,3] := 5.011527;
let y[8,3] := -0.555628;
let theta[8,3] := -4.183679;
let v[8,3] := -0.777039;
let phy[8,3] := -0.000000;
let egoV[8, 3, 1, 1] := 2.276489;
let egoV[8, 3, 2, 1] := 3.953325;
let egoV[8, 3, 3, 1] := 6.318551;
let egoV[8, 3, 4, 1] := 4.641716;
let egoV[8, 3, 1, 2] := 2.201182;
let egoV[8, 3, 2, 2] := 3.180767;
let egoV[8, 3, 3, 2] := -0.867989;
let egoV[8, 3, 4, 2] := -1.847573;
let a[8,1] := 0.046322;
let w[8,1] := 0.367162;
let a[8,2] := -0.047418;
let w[8,2] := 0.026333;
let a[8,3] := -0.053184;
let w[8,3] := 0.000000;
let x[9,0] := 5.011527;
let y[9,0] := -0.555628;
let theta[9,0] := -4.183679;
let v[9,0] := -0.777039;
let phy[9,0] := -0.000000;
let egoV[9, 0, 1, 1] := 2.276489;
let egoV[9, 0, 2, 1] := 3.953325;
let egoV[9, 0, 3, 1] := 6.318551;
let egoV[9, 0, 4, 1] := 4.641716;
let egoV[9, 0, 1, 2] := 2.201182;
let egoV[9, 0, 2, 2] := 3.180767;
let egoV[9, 0, 3, 2] := -0.867989;
let egoV[9, 0, 4, 2] := -1.847573;
let x[9,1] := 5.369739;
let y[9,1] := -1.168809;
let theta[9,1] := -4.183679;
let v[9,1] := -1.507501;
let phy[9,1] := -0.000000;
let egoV[9, 1, 1, 1] := 2.634700;
let egoV[9, 1, 2, 1] := 4.311536;
let egoV[9, 1, 3, 1] := 6.676763;
let egoV[9, 1, 4, 1] := 4.999927;
let egoV[9, 1, 1, 2] := 1.588002;
let egoV[9, 1, 2, 2] := 2.567586;
let egoV[9, 1, 3, 2] := -1.481170;
let egoV[9, 1, 4, 2] := -2.460754;
let x[9,2] := 5.553962;
let y[9,2] := -1.484159;
let theta[9,2] := -4.183679;
let v[9,2] := -0.775286;
let phy[9,2] := -0.000000;
let egoV[9, 2, 1, 1] := 2.818923;
let egoV[9, 2, 2, 1] := 4.495759;
let egoV[9, 2, 3, 1] := 6.860986;
let egoV[9, 2, 4, 1] := 5.184150;
let egoV[9, 2, 1, 2] := 1.272652;
let egoV[9, 2, 2, 2] := 2.252236;
let egoV[9, 2, 3, 2] := -1.796520;
let egoV[9, 2, 4, 2] := -2.776104;
let x[9,3] := 5.722833;
let y[9,3] := -1.773230;
let theta[9,3] := -4.183679;
let v[9,3] := -0.710679;
let phy[9,3] := -0.000000;
let egoV[9, 3, 1, 1] := 2.987794;
let egoV[9, 3, 2, 1] := 4.664630;
let egoV[9, 3, 3, 1] := 7.029857;
let egoV[9, 3, 4, 1] := 5.353021;
let egoV[9, 3, 1, 2] := 0.983581;
let egoV[9, 3, 2, 2] := 1.963165;
let egoV[9, 3, 3, 2] := -2.085590;
let egoV[9, 3, 4, 2] := -3.065175;
let a[9,1] := -1.550630;
let w[9,1] := 0.000000;
let a[9,2] := 1.554350;
let w[9,2] := 0.000000;
let a[9,3] := 0.137149;
let w[9,3] := 0.000000;
let x[10,0] := 5.722833;
let y[10,0] := -1.773230;
let theta[10,0] := -4.183679;
let v[10,0] := -0.710679;
let phy[10,0] := -0.000000;
let egoV[10, 0, 1, 1] := 2.987794;
let egoV[10, 0, 2, 1] := 4.664630;
let egoV[10, 0, 3, 1] := 7.029857;
let egoV[10, 0, 4, 1] := 5.353021;
let egoV[10, 0, 1, 2] := 0.983581;
let egoV[10, 0, 2, 2] := 1.963165;
let egoV[10, 0, 3, 2] := -2.085590;
let egoV[10, 0, 4, 2] := -3.065175;
let x[10,1] := 5.912173;
let y[10,1] := -2.097339;
let theta[10,1] := -4.183679;
let v[10,1] := -0.796822;
let phy[10,1] := -0.000000;
let egoV[10, 1, 1, 1] := 3.177135;
let egoV[10, 1, 2, 1] := 4.853971;
let egoV[10, 1, 3, 1] := 7.219198;
let egoV[10, 1, 4, 1] := 5.542362;
let egoV[10, 1, 1, 2] := 0.659471;
let egoV[10, 1, 2, 2] := 1.639056;
let egoV[10, 1, 3, 2] := -2.409700;
let egoV[10, 1, 4, 2] := -3.389284;
let x[10,2] := 6.265267;
let y[10,2] := -2.701760;
let theta[10,2] := -4.183679;
let v[10,2] := -1.485965;
let phy[10,2] := -0.066452;
let egoV[10, 2, 1, 1] := 3.530229;
let egoV[10, 2, 2, 1] := 5.207065;
let egoV[10, 2, 3, 1] := 7.572292;
let egoV[10, 2, 4, 1] := 5.895456;
let egoV[10, 2, 1, 2] := 0.055051;
let egoV[10, 2, 2, 2] := 1.034635;
let egoV[10, 2, 3, 2] := -3.014121;
let egoV[10, 2, 4, 2] := -3.993705;
let x[10,3] := 6.457552;
let y[10,3] := -3.029450;
let theta[10,3] := -4.167041;
let v[10,3] := -0.806537;
let phy[10,3] := -0.059300;
let egoV[10, 3, 1, 1] := 3.677028;
let egoV[10, 3, 2, 1] := 5.337335;
let egoV[10, 3, 3, 1] := 7.769592;
let egoV[10, 3, 4, 1] := 6.109285;
let egoV[10, 3, 1, 2] := -0.318522;
let egoV[10, 3, 2, 2] := 0.688823;
let egoV[10, 3, 3, 2] := -3.320023;
let egoV[10, 3, 4, 2] := -4.327368;
let a[10,1] := -0.182865;
let w[10,1] := -0.141064;
let a[10,2] := -1.462918;
let w[10,2] := 0.015182;
let a[10,3] := 1.442293;
let w[10,3] := 0.091829;
let x[11,0] := 6.457552;
let y[11,0] := -3.029450;
let theta[11,0] := -4.167041;
let v[11,0] := -0.806537;
let phy[11,0] := -0.059300;
let egoV[11, 0, 1, 1] := 3.677028;
let egoV[11, 0, 2, 1] := 5.337335;
let egoV[11, 0, 3, 1] := 7.769592;
let egoV[11, 0, 4, 1] := 6.109285;
let egoV[11, 0, 1, 2] := -0.318522;
let egoV[11, 0, 2, 2] := 0.688823;
let egoV[11, 0, 3, 2] := -3.320023;
let egoV[11, 0, 4, 2] := -4.327368;
let x[11,1] := 6.633362;
let y[11,1] := -3.316040;
let theta[11,1] := -4.158985;
let v[11,1] := -0.713729;
let phy[11,1] := -0.016042;
let egoV[11, 1, 1, 1] := 3.831090;
let egoV[11, 1, 2, 1] := 5.483227;
let egoV[11, 1, 3, 1] := 7.947700;
let egoV[11, 1, 4, 1] := 6.295563;
let egoV[11, 1, 1, 2] := -0.627600;
let egoV[11, 1, 2, 2] := 0.393088;
let egoV[11, 1, 3, 2] := -3.596034;
let egoV[11, 1, 4, 2] := -4.616722;
let x[11,2] := 6.827233;
let y[11,2] := -3.628664;
let theta[11,2] := -4.157059;
let v[11,2] := -0.780891;
let phy[11,2] := -0.000000;
let egoV[11, 2, 1, 1] := 4.019787;
let egoV[11, 2, 2, 1] := 5.669955;
let egoV[11, 2, 3, 1] := 8.142108;
let egoV[11, 2, 4, 1] := 6.491940;
let egoV[11, 2, 1, 2] := -0.945627;
let egoV[11, 2, 2, 2] := 0.078242;
let egoV[11, 2, 3, 2] := -3.906125;
let egoV[11, 2, 4, 2] := -4.929994;
let x[11,3] := 7.010732;
let y[11,3] := -3.924409;
let theta[11,3] := -4.157059;
let v[11,3] := -0.738839;
let phy[11,3] := -0.000000;
let egoV[11, 3, 1, 1] := 4.203286;
let egoV[11, 3, 2, 1] := 5.853454;
let egoV[11, 3, 3, 1] := 8.325608;
let egoV[11, 3, 4, 1] := 6.675439;
let egoV[11, 3, 1, 2] := -1.241373;
let egoV[11, 3, 2, 2] := -0.217504;
let egoV[11, 3, 3, 2] := -4.201871;
let egoV[11, 3, 4, 2] := -5.225739;
let a[11,1] := 0.197015;
let w[11,1] := 0.034054;
let a[11,2] := -0.142573;
let w[11,2] := 0.000000;
let a[11,3] := 0.089268;
let w[11,3] := 0.000000;
let x[12,0] := 7.010732;
let y[12,0] := -3.924409;
let theta[12,0] := -4.157059;
let v[12,0] := -0.738839;
let phy[12,0] := -0.000000;
let egoV[12, 0, 1, 1] := 4.203286;
let egoV[12, 0, 2, 1] := 5.853454;
let egoV[12, 0, 3, 1] := 8.325608;
let egoV[12, 0, 4, 1] := 6.675439;
let egoV[12, 0, 1, 2] := -1.241373;
let egoV[12, 0, 2, 2] := -0.217504;
let egoV[12, 0, 3, 2] := -4.201871;
let egoV[12, 0, 4, 2] := -5.225739;
let x[12,1] := 7.205064;
let y[12,1] := -4.237614;
let theta[12,1] := -4.157059;
let v[12,1] := -0.782456;
let phy[12,1] := -0.000000;
let egoV[12, 1, 1, 1] := 4.397618;
let egoV[12, 1, 2, 1] := 6.047787;
let egoV[12, 1, 3, 1] := 8.519940;
let egoV[12, 1, 4, 1] := 6.869771;
let egoV[12, 1, 1, 2] := -1.554577;
let egoV[12, 1, 2, 2] := -0.530708;
let egoV[12, 1, 3, 2] := -4.515075;
let egoV[12, 1, 4, 2] := -5.538944;
let x[12,2] := 7.383256;
let y[12,2] := -4.524805;
let theta[12,2] := -4.157059;
let v[12,2] := -0.717466;
let phy[12,2] := -0.000000;
let egoV[12, 2, 1, 1] := 4.575809;
let egoV[12, 2, 2, 1] := 6.225978;
let egoV[12, 2, 3, 1] := 8.698131;
let egoV[12, 2, 4, 1] := 7.047962;
let egoV[12, 2, 1, 2] := -1.841768;
let egoV[12, 2, 2, 2] := -0.817899;
let egoV[12, 2, 3, 2] := -4.802266;
let egoV[12, 2, 4, 2] := -5.826135;
let x[12,3] := 7.583046;
let y[12,3] := -4.846806;
let theta[12,3] := -4.157059;
let v[12,3] := -0.804432;
let phy[12,3] := -0.000000;
let egoV[12, 3, 1, 1] := 4.775599;
let egoV[12, 3, 2, 1] := 6.425768;
let egoV[12, 3, 3, 1] := 8.897921;
let egoV[12, 3, 4, 1] := 7.247752;
let egoV[12, 3, 1, 2] := -2.163770;
let egoV[12, 3, 2, 2] := -1.139901;
let egoV[12, 3, 3, 2] := -5.124267;
let egoV[12, 3, 4, 2] := -6.148136;
let a[12,1] := -0.092591;
let w[12,1] := 0.000000;
let a[12,2] := 0.137960;
let w[12,2] := 0.000000;
let a[12,3] := -0.184611;
let w[12,3] := 0.000000;
let x[13,0] := 7.583046;
let y[13,0] := -4.846806;
let theta[13,0] := -4.157059;
let v[13,0] := -0.804432;
let phy[13,0] := -0.000000;
let egoV[13, 0, 1, 1] := 4.775599;
let egoV[13, 0, 2, 1] := 6.425768;
let egoV[13, 0, 3, 1] := 8.897921;
let egoV[13, 0, 4, 1] := 7.247752;
let egoV[13, 0, 1, 2] := -2.163770;
let egoV[13, 0, 2, 2] := -1.139901;
let egoV[13, 0, 3, 2] := -5.124267;
let egoV[13, 0, 4, 2] := -6.148136;
let x[13,1] := 7.761179;
let y[13,1] := -5.133903;
let theta[13,1] := -4.157059;
let v[13,1] := -0.717232;
let phy[13,1] := -0.000000;
let egoV[13, 1, 1, 1] := 4.953732;
let egoV[13, 1, 2, 1] := 6.603901;
let egoV[13, 1, 3, 1] := 9.076054;
let egoV[13, 1, 4, 1] := 7.425885;
let egoV[13, 1, 1, 2] := -2.450866;
let egoV[13, 1, 2, 2] := -1.426997;
let egoV[13, 1, 3, 2] := -5.411364;
let egoV[13, 1, 4, 2] := -6.435233;
let x[13,2] := 7.955477;
let y[13,2] := -5.447054;
let theta[13,2] := -4.157059;
let v[13,2] := -0.782322;
let phy[13,2] := -0.000000;
let egoV[13, 2, 1, 1] := 5.148031;
let egoV[13, 2, 2, 1] := 6.798199;
let egoV[13, 2, 3, 1] := 9.270353;
let egoV[13, 2, 4, 1] := 7.620184;
let egoV[13, 2, 1, 2] := -2.764017;
let egoV[13, 2, 2, 2] := -1.740148;
let egoV[13, 2, 3, 2] := -5.724515;
let egoV[13, 2, 4, 2] := -6.748384;
let x[13,3] := 8.139068;
let y[13,3] := -5.742947;
let theta[13,3] := -4.157059;
let v[13,3] := -0.739208;
let phy[13,3] := -0.000000;
let egoV[13, 3, 1, 1] := 5.331622;
let egoV[13, 3, 2, 1] := 6.981790;
let egoV[13, 3, 3, 1] := 9.453944;
let egoV[13, 3, 4, 1] := 7.803775;
let egoV[13, 3, 1, 2] := -3.059911;
let egoV[13, 3, 2, 2] := -2.036042;
let egoV[13, 3, 3, 2] := -6.020408;
let egoV[13, 3, 4, 2] := -7.044277;
let a[13,1] := 0.185110;
let w[13,1] := 0.000000;
let a[13,2] := -0.138174;
let w[13,2] := 0.000000;
let a[13,3] := 0.091522;
let w[13,3] := 0.000000;
let x[14,0] := 8.139068;
let y[14,0] := -5.742947;
let theta[14,0] := -4.157059;
let v[14,0] := -0.739208;
let phy[14,0] := -0.000000;
let egoV[14, 0, 1, 1] := 5.331622;
let egoV[14, 0, 2, 1] := 6.981790;
let egoV[14, 0, 3, 1] := 9.453944;
let egoV[14, 0, 4, 1] := 7.803775;
let egoV[14, 0, 1, 2] := -3.059911;
let egoV[14, 0, 2, 2] := -2.036042;
let egoV[14, 0, 3, 2] := -6.020408;
let egoV[14, 0, 4, 2] := -7.044277;
let x[14,1] := 8.333459;
let y[14,1] := -6.056246;
let theta[14,1] := -4.157059;
let v[14,1] := -0.782691;
let phy[14,1] := -0.000000;
let egoV[14, 1, 1, 1] := 5.526012;
let egoV[14, 1, 2, 1] := 7.176181;
let egoV[14, 1, 3, 1] := 9.648334;
let egoV[14, 1, 4, 1] := 7.998165;
let egoV[14, 1, 1, 2] := -3.373209;
let egoV[14, 1, 2, 2] := -2.349340;
let egoV[14, 1, 3, 2] := -6.333707;
let egoV[14, 1, 4, 2] := -7.357576;
let x[14,2] := 8.517020;
let y[14,2] := -6.352092;
let theta[14,2] := -4.157059;
let v[14,2] := -0.739090;
let phy[14,2] := -0.000000;
let egoV[14, 2, 1, 1] := 5.709574;
let egoV[14, 2, 2, 1] := 7.359743;
let egoV[14, 2, 3, 1] := 9.831896;
let egoV[14, 2, 4, 1] := 8.181727;
let egoV[14, 2, 1, 2] := -3.669056;
let egoV[14, 2, 2, 2] := -2.645187;
let egoV[14, 2, 3, 2] := -6.629554;
let egoV[14, 2, 4, 2] := -7.653423;
let x[14,3] := 8.889481;
let y[14,3] := -6.952387;
let theta[14,3] := -4.157059;
let v[14,3] := -1.499671;
let phy[14,3] := -0.000000;
let egoV[14, 3, 1, 1] := 6.082035;
let egoV[14, 3, 2, 1] := 7.732203;
let egoV[14, 3, 3, 1] := 10.204357;
let egoV[14, 3, 4, 1] := 8.554188;
let egoV[14, 3, 1, 2] := -4.269350;
let egoV[14, 3, 2, 2] := -3.245481;
let egoV[14, 3, 3, 2] := -7.229848;
let egoV[14, 3, 4, 2] := -8.253717;
let a[14,1] := -0.092306;
let w[14,1] := 0.000000;
let a[14,2] := 0.092555;
let w[14,2] := 0.000000;
let a[14,3] := -1.614565;
let w[14,3] := 0.000000;
let x[15,0] := 8.889481;
let y[15,0] := -6.952387;
let theta[15,0] := -4.157059;
let v[15,0] := -1.499671;
let phy[15,0] := -0.000000;
let egoV[15, 0, 1, 1] := 6.082035;
let egoV[15, 0, 2, 1] := 7.732203;
let egoV[15, 0, 3, 1] := 10.204357;
let egoV[15, 0, 4, 1] := 8.554188;
let egoV[15, 0, 1, 2] := -4.269350;
let egoV[15, 0, 2, 2] := -3.245481;
let egoV[15, 0, 3, 2] := -7.229848;
let egoV[15, 0, 4, 2] := -8.253717;
let x[15,1] := 9.089271;
let y[15,1] := -7.274389;
let theta[15,1] := -4.157059;
let v[15,1] := -0.804432;
let phy[15,1] := -0.000000;
let egoV[15, 1, 1, 1] := 6.281825;
let egoV[15, 1, 2, 1] := 7.931993;
let egoV[15, 1, 3, 1] := 10.404147;
let egoV[15, 1, 4, 1] := 8.753978;
let egoV[15, 1, 1, 2] := -4.591352;
let egoV[15, 1, 2, 2] := -3.567483;
let egoV[15, 1, 3, 2] := -7.551850;
let egoV[15, 1, 4, 2] := -8.575719;
let x[15,2] := 9.267463;
let y[15,2] := -7.561579;
let theta[15,2] := -4.157059;
let v[15,2] := -0.717466;
let phy[15,2] := -0.000000;
let egoV[15, 2, 1, 1] := 6.460016;
let egoV[15, 2, 2, 1] := 8.110185;
let egoV[15, 2, 3, 1] := 10.582338;
let egoV[15, 2, 4, 1] := 8.932169;
let egoV[15, 2, 1, 2] := -4.878542;
let egoV[15, 2, 2, 2] := -3.854674;
let egoV[15, 2, 3, 2] := -7.839040;
let egoV[15, 2, 4, 2] := -8.862909;
let x[15,3] := 9.461707;
let y[15,3] := -7.874643;
let theta[15,3] := -4.157059;
let v[15,3] := -0.782104;
let phy[15,3] := -0.000000;
let egoV[15, 3, 1, 1] := 6.654261;
let egoV[15, 3, 2, 1] := 8.304429;
let egoV[15, 3, 3, 1] := 10.776582;
let egoV[15, 3, 4, 1] := 9.126414;
let egoV[15, 3, 1, 2] := -5.191606;
let egoV[15, 3, 2, 2] := -4.167737;
let egoV[15, 3, 3, 2] := -8.152104;
let egoV[15, 3, 4, 2] := -9.175973;
let a[15,1] := 1.475857;
let w[15,1] := 0.000000;
let a[15,2] := 0.184611;
let w[15,2] := 0.000000;
let a[15,3] := -0.137212;
let w[15,3] := 0.000000;
let x[16,0] := 9.461707;
let y[16,0] := -7.874643;
let theta[16,0] := -4.157059;
let v[16,0] := -0.782104;
let phy[16,0] := -0.000000;
let egoV[16, 0, 1, 1] := 6.654261;
let egoV[16, 0, 2, 1] := 8.304429;
let egoV[16, 0, 3, 1] := 10.776582;
let egoV[16, 0, 4, 1] := 9.126414;
let egoV[16, 0, 1, 2] := -5.191606;
let egoV[16, 0, 2, 2] := -4.167737;
let egoV[16, 0, 3, 2] := -8.152104;
let egoV[16, 0, 4, 2] := -9.175973;
let x[16,1] := 9.645294;
let y[16,1] := -8.170530;
let theta[16,1] := -4.157059;
let v[16,1] := -0.739191;
let phy[16,1] := -0.000000;
let egoV[16, 1, 1, 1] := 6.837847;
let egoV[16, 1, 2, 1] := 8.488016;
let egoV[16, 1, 3, 1] := 10.960169;
let egoV[16, 1, 4, 1] := 9.310001;
let egoV[16, 1, 1, 2] := -5.487493;
let egoV[16, 1, 2, 2] := -4.463624;
let egoV[16, 1, 3, 2] := -8.447991;
let egoV[16, 1, 4, 2] := -9.471860;
let x[16,2] := 9.839684;
let y[16,2] := -8.483828;
let theta[16,2] := -4.157059;
let v[16,2] := -0.782691;
let phy[16,2] := -0.000000;
let egoV[16, 2, 1, 1] := 7.032238;
let egoV[16, 2, 2, 1] := 8.682406;
let egoV[16, 2, 3, 1] := 11.154560;
let egoV[16, 2, 4, 1] := 9.504391;
let egoV[16, 2, 1, 2] := -5.800792;
let egoV[16, 2, 2, 2] := -4.776923;
let egoV[16, 2, 3, 2] := -8.761290;
let egoV[16, 2, 4, 2] := -9.785159;
let x[16,3] := 10.017759;
let y[16,3] := -8.770831;
let theta[16,3] := -4.157059;
let v[16,3] := -0.716997;
let phy[16,3] := -0.000000;
let egoV[16, 3, 1, 1] := 7.210312;
let egoV[16, 3, 2, 1] := 8.860481;
let egoV[16, 3, 3, 1] := 11.332634;
let egoV[16, 3, 4, 1] := 9.682466;
let egoV[16, 3, 1, 2] := -6.087794;
let egoV[16, 3, 2, 2] := -5.063925;
let egoV[16, 3, 3, 2] := -9.048292;
let egoV[16, 3, 4, 2] := -10.072161;
let a[16,1] := 0.091095;
let w[16,1] := 0.000000;
let a[16,2] := -0.092341;
let w[16,2] := 0.000000;
let a[16,3] := 0.139456;
let w[16,3] := 0.000000;
let x[17,0] := 10.017759;
let y[17,0] := -8.770831;
let theta[17,0] := -4.157059;
let v[17,0] := -0.716997;
let phy[17,0] := -0.000000;
let egoV[17, 0, 1, 1] := 7.210312;
let egoV[17, 0, 2, 1] := 8.860481;
let egoV[17, 0, 3, 1] := 11.332634;
let egoV[17, 0, 4, 1] := 9.682466;
let egoV[17, 0, 1, 2] := -6.087794;
let egoV[17, 0, 2, 2] := -5.063925;
let egoV[17, 0, 3, 2] := -9.048292;
let egoV[17, 0, 4, 2] := -10.072161;
let x[17,1] := 10.217516;
let y[17,1] := -9.092779;
let theta[17,1] := -4.157059;
let v[17,1] := -0.804298;
let phy[17,1] := -0.000000;
let egoV[17, 1, 1, 1] := 7.410069;
let egoV[17, 1, 2, 1] := 9.060238;
let egoV[17, 1, 3, 1] := 11.532391;
let egoV[17, 1, 4, 1] := 9.882222;
let egoV[17, 1, 1, 2] := -6.409742;
let egoV[17, 1, 2, 2] := -5.385873;
let egoV[17, 1, 3, 2] := -9.370240;
let egoV[17, 1, 4, 2] := -10.394109;
let x[17,2] := 10.395707;
let y[17,2] := -9.379969;
let theta[17,2] := -4.157059;
let v[17,2] := -0.717466;
let phy[17,2] := -0.000000;
let egoV[17, 2, 1, 1] := 7.588260;
let egoV[17, 2, 2, 1] := 9.238429;
let egoV[17, 2, 3, 1] := 11.710582;
let egoV[17, 2, 4, 1] := 10.060414;
let egoV[17, 2, 1, 2] := -6.696933;
let egoV[17, 2, 2, 2] := -5.673064;
let egoV[17, 2, 3, 2] := -9.657431;
let egoV[17, 2, 4, 2] := -10.681300;
let x[17,3] := 10.590097;
let y[17,3] := -9.693268;
let theta[17,3] := -4.157059;
let v[17,3] := -0.782691;
let phy[17,3] := -0.000000;
let egoV[17, 3, 1, 1] := 7.782651;
let egoV[17, 3, 2, 1] := 9.432819;
let egoV[17, 3, 3, 1] := 11.904973;
let egoV[17, 3, 4, 1] := 10.254804;
let egoV[17, 3, 1, 2] := -7.010232;
let egoV[17, 3, 2, 2] := -5.986363;
let egoV[17, 3, 3, 2] := -9.970730;
let egoV[17, 3, 4, 2] := -10.994598;
let a[17,1] := -0.185323;
let w[17,1] := 0.000000;
let a[17,2] := 0.184326;
let w[17,2] := 0.000000;
let a[17,3] := -0.138458;
let w[17,3] := 0.000000;
let x[18,0] := 10.590097;
let y[18,0] := -9.693268;
let theta[18,0] := -4.157059;
let v[18,0] := -0.782691;
let phy[18,0] := -0.000000;
let egoV[18, 0, 1, 1] := 7.782651;
let egoV[18, 0, 2, 1] := 9.432819;
let egoV[18, 0, 3, 1] := 11.904973;
let egoV[18, 0, 4, 1] := 10.254804;
let egoV[18, 0, 1, 2] := -7.010232;
let egoV[18, 0, 2, 2] := -5.986363;
let egoV[18, 0, 3, 2] := -9.970730;
let egoV[18, 0, 4, 2] := -10.994598;
let x[18,1] := 10.773601;
let y[18,1] := -9.989021;
let theta[18,1] := -4.157059;
let v[18,1] := -0.738856;
let phy[18,1] := -0.000000;
let egoV[18, 1, 1, 1] := 7.966154;
let egoV[18, 1, 2, 1] := 9.616323;
let egoV[18, 1, 3, 1] := 12.088476;
let egoV[18, 1, 4, 1] := 10.438307;
let egoV[18, 1, 1, 2] := -7.305984;
let egoV[18, 1, 2, 2] := -6.282115;
let egoV[18, 1, 3, 2] := -10.266482;
let egoV[18, 1, 4, 2] := -11.290351;
let x[18,2] := 10.967929;
let y[18,2] := -10.302219;
let theta[18,2] := -4.157059;
let v[18,2] := -0.782439;
let phy[18,2] := -0.000000;
let egoV[18, 2, 1, 1] := 8.160482;
let egoV[18, 2, 2, 1] := 9.810651;
let egoV[18, 2, 3, 1] := 12.282804;
let egoV[18, 2, 4, 1] := 10.632635;
let egoV[18, 2, 1, 2] := -7.619182;
let egoV[18, 2, 2, 2] := -6.595313;
let egoV[18, 2, 3, 2] := -10.579680;
let egoV[18, 2, 4, 2] := -11.603549;
let x[18,3] := 11.151519;
let y[18,3] := -10.598112;
let theta[18,3] := -4.157059;
let v[18,3] := -0.739208;
let phy[18,3] := -0.000000;
let egoV[18, 3, 1, 1] := 8.344073;
let egoV[18, 3, 2, 1] := 9.994242;
let egoV[18, 3, 3, 1] := 12.466395;
let egoV[18, 3, 4, 1] := 10.816226;
let egoV[18, 3, 1, 2] := -7.915075;
let egoV[18, 3, 2, 2] := -6.891206;
let egoV[18, 3, 3, 2] := -10.875573;
let egoV[18, 3, 4, 2] := -11.899442;
let a[18,1] := 0.093053;
let w[18,1] := 0.000000;
let a[18,2] := -0.092519;
let w[18,2] := 0.000000;
let a[18,3] := 0.091771;
let w[18,3] := 0.000000;
let x[19,0] := 11.151519;
let y[19,0] := -10.598112;
let theta[19,0] := -4.157059;
let v[19,0] := -0.739208;
let phy[19,0] := -0.000000;
let egoV[19, 0, 1, 1] := 8.344073;
let egoV[19, 0, 2, 1] := 9.994242;
let egoV[19, 0, 3, 1] := 12.466395;
let egoV[19, 0, 4, 1] := 10.816226;
let egoV[19, 0, 1, 2] := -7.915075;
let egoV[19, 0, 2, 2] := -6.891206;
let egoV[19, 0, 3, 2] := -10.875573;
let egoV[19, 0, 4, 2] := -11.899442;
let x[19,1] := 11.345910;
let y[19,1] := -10.911411;
let theta[19,1] := -4.157059;
let v[19,1] := -0.782691;
let phy[19,1] := -0.000000;
let egoV[19, 1, 1, 1] := 8.538463;
let egoV[19, 1, 2, 1] := 10.188632;
let egoV[19, 1, 3, 1] := 12.660785;
let egoV[19, 1, 4, 1] := 11.010617;
let egoV[19, 1, 1, 2] := -8.228374;
let egoV[19, 1, 2, 2] := -7.204505;
let egoV[19, 1, 3, 2] := -11.188872;
let egoV[19, 1, 4, 2] := -12.212741;
let x[19,2] := 11.524047;
let y[19,2] := -11.198514;
let theta[19,2] := -4.157059;
let v[19,2] := -0.717248;
let phy[19,2] := -0.000000;
let egoV[19, 2, 1, 1] := 8.716601;
let egoV[19, 2, 2, 1] := 10.366769;
let egoV[19, 2, 3, 1] := 12.838922;
let egoV[19, 2, 4, 1] := 11.188754;
let egoV[19, 2, 1, 2] := -8.515477;
let egoV[19, 2, 2, 2] := -7.491608;
let egoV[19, 2, 3, 2] := -11.475975;
let egoV[19, 2, 4, 2] := -12.499844;
let x[19,3] := 11.723741;
let y[19,3] := -11.520361;
let theta[19,3] := -4.157059;
let v[19,3] := -0.804046;
let phy[19,3] := -0.000000;
let egoV[19, 3, 1, 1] := 8.916295;
let egoV[19, 3, 2, 1] := 10.566463;
let egoV[19, 3, 3, 1] := 13.038617;
let egoV[19, 3, 4, 1] := 11.388448;
let egoV[19, 3, 1, 2] := -8.837325;
let egoV[19, 3, 2, 2] := -7.813456;
let egoV[19, 3, 3, 2] := -11.797823;
let egoV[19, 3, 4, 2] := -12.821691;
let a[19,1] := -0.092306;
let w[19,1] := 0.000000;
let a[19,2] := 0.138921;
let w[19,2] := 0.000000;
let a[19,3] := -0.184255;
let w[19,3] := 0.126217;
let x[20,0] := 11.723741;
let y[20,0] := -11.520361;
let theta[20,0] := -4.157059;
let v[20,0] := -0.804046;
let phy[20,0] := -0.000000;
let egoV[20, 0, 1, 1] := 8.916295;
let egoV[20, 0, 2, 1] := 10.566463;
let egoV[20, 0, 3, 1] := 13.038617;
let egoV[20, 0, 4, 1] := 11.388448;
let egoV[20, 0, 1, 2] := -8.837325;
let egoV[20, 0, 2, 2] := -7.813456;
let egoV[20, 0, 3, 2] := -11.797823;
let egoV[20, 0, 4, 2] := -12.821691;
let x[20,1] := 11.901932;
let y[20,1] := -11.807552;
let theta[20,1] := -4.157059;
let v[20,1] := -0.717466;
let phy[20,1] := 0.059457;
let egoV[20, 1, 1, 1] := 9.094486;
let egoV[20, 1, 2, 1] := 10.744655;
let egoV[20, 1, 3, 1] := 13.216808;
let egoV[20, 1, 4, 1] := 11.566639;
let egoV[20, 1, 1, 2] := -9.124515;
let egoV[20, 1, 2, 2] := -8.100646;
let egoV[20, 1, 3, 2] := -12.085013;
let egoV[20, 1, 4, 2] := -13.108882;
let x[20,2] := 12.096049;
let y[20,2] := -12.121096;
let theta[20,2] := -4.164244;
let v[20,2] := -0.782826;
let phy[20,2] := 0.284719;
let egoV[20, 2, 1, 1] := 9.307953;
let egoV[20, 2, 2, 1] := 10.965436;
let egoV[20, 2, 3, 1] := 13.408896;
let egoV[20, 2, 4, 1] := 11.751413;
let egoV[20, 2, 1, 2] := -9.417956;
let egoV[20, 2, 2, 2] := -8.405970;
let egoV[20, 2, 3, 2] := -12.407998;
let egoV[20, 2, 4, 2] := -13.419983;
let x[20,3] := 12.274799;
let y[20,3] := -12.419919;
let theta[20,3] := -4.202790;
let v[20,3] := -0.739173;
let phy[20,3] := 0.700000;
let egoV[20, 3, 1, 1] := 9.592943;
let egoV[20, 3, 2, 1] := 11.288193;
let egoV[20, 3, 3, 1] := 13.575615;
let egoV[20, 3, 4, 1] := 11.880366;
let egoV[20, 3, 1, 2] := -9.611345;
let egoV[20, 3, 2, 2] := -8.663984;
let egoV[20, 3, 3, 2] := -12.757200;
let egoV[20, 3, 4, 2] := -13.704561;
let a[20,1] := 0.183792;
let w[20,1] := 0.478187;
let a[20,2] := -0.138746;
let w[20,2] := 0.500000;
let a[20,3] := 0.092668;
let w[20,3] := -0.088139;
let x[21,0] := 12.274799;
let y[21,0] := -12.419919;
let theta[21,0] := -4.202790;
let v[21,0] := -0.739173;
let phy[21,0] := 0.700000;
let egoV[21, 0, 1, 1] := 9.592943;
let egoV[21, 0, 2, 1] := 11.288193;
let egoV[21, 0, 3, 1] := 13.575615;
let egoV[21, 0, 4, 1] := 11.880366;
let egoV[21, 0, 1, 2] := -9.611345;
let egoV[21, 0, 2, 2] := -8.663984;
let egoV[21, 0, 3, 2] := -12.757200;
let egoV[21, 0, 4, 2] := -13.704561;
let x[21,1] := 12.435501;
let y[21,1] := -12.750927;
let theta[21,1] := -4.313629;
let v[21,1] := -0.781098;
let phy[21,1] := 0.658480;
let egoV[21, 1, 1, 1] := 10.080765;
let egoV[21, 1, 2, 1] := 11.870402;
let egoV[21, 1, 3, 1] := 13.691027;
let egoV[21, 1, 4, 1] := 11.901390;
let egoV[21, 1, 1, 2] := -9.662940;
let egoV[21, 1, 2, 2] := -8.908908;
let egoV[21, 1, 3, 2] := -13.230024;
let egoV[21, 1, 4, 2] := -13.984056;
let x[21,2] := 12.552149;
let y[21,2] := -13.067768;
let theta[21,2] := -4.415299;
let v[21,2] := -0.716728;
let phy[21,2] := 0.700000;
let egoV[21, 2, 1, 1] := 10.522989;
let egoV[21, 2, 2, 1] := 12.379915;
let egoV[21, 2, 3, 1] := 13.752566;
let egoV[21, 2, 4, 1] := 11.895640;
let egoV[21, 2, 1, 2] := -9.756734;
let egoV[21, 2, 2, 2] := -9.188235;
let egoV[21, 2, 3, 2] := -13.671822;
let egoV[21, 2, 4, 2] := -14.240320;
let x[21,3] := 12.641954;
let y[21,3] := -13.435483;
let theta[21,3] := -4.529291;
let v[21,3] := -0.803529;
let phy[21,3] := 0.644457;
let egoV[21, 3, 1, 1] := 11.002576;
let egoV[21, 3, 2, 1] := 12.912114;
let egoV[21, 3, 3, 1] := 13.765872;
let egoV[21, 3, 4, 1] := 11.856334;
let egoV[21, 3, 1, 2] := -9.915130;
let egoV[21, 3, 2, 2] := -9.561537;
let egoV[21, 3, 3, 2] := -14.172157;
let egoV[21, 3, 4, 2] := -14.525750;
let a[21,1] := -0.088998;
let w[21,1] := 0.088139;
let a[21,2] := 0.136644;
let w[21,2] := -0.117907;
let a[21,3] := -0.184260;
let w[21,3] := 0.117907;
let x[22,0] := 12.641954;
let y[22,0] := -13.435483;
let theta[22,0] := -4.529291;
let v[22,0] := -0.803529;
let phy[22,0] := 0.644457;
let egoV[22, 0, 1, 1] := 11.002576;
let egoV[22, 0, 2, 1] := 12.912114;
let egoV[22, 0, 3, 1] := 13.765872;
let egoV[22, 0, 4, 1] := 11.856334;
let egoV[22, 0, 1, 2] := -9.915130;
let egoV[22, 0, 2, 2] := -9.561537;
let egoV[22, 0, 3, 2] := -14.172157;
let egoV[22, 0, 4, 2] := -14.525750;
let x[22,1] := 12.685855;
let y[22,1] := -13.770005;
let theta[22,1] := -4.630883;
let v[22,1] := -0.716216;
let phy[22,1] := 0.700000;
let egoV[22, 1, 1, 1] := 11.411954;
let egoV[22, 1, 2, 1] := 13.347507;
let egoV[22, 1, 3, 1] := 13.729267;
let egoV[22, 1, 4, 1] := 11.793714;
let egoV[22, 1, 1, 2] := -10.101543;
let egoV[22, 1, 2, 2] := -9.943433;
let egoV[22, 1, 3, 2] := -14.616866;
let egoV[22, 1, 4, 2] := -14.774976;
let x[22,2] := 12.694992;
let y[22,2] := -14.138096;
let theta[22,2] := -4.741791;
let v[22,2] := -0.781625;
let phy[22,2] := 0.672652;
let egoV[22, 2, 1, 1] := 11.834947;
let egoV[22, 2, 2, 1] := 13.776108;
let egoV[22, 2, 3, 1] := 13.638262;
let egoV[22, 2, 4, 1] := 11.697101;
let egoV[22, 2, 1, 2] := -10.351175;
let egoV[22, 2, 2, 2] := -10.408266;
let egoV[22, 2, 3, 2] := -15.095239;
let egoV[22, 2, 4, 2] := -15.038149;
let x[22,3] := 12.665468;
let y[22,3] := -14.484553;
let theta[22,3] := -4.846542;
let v[22,3] := -0.738129;
let phy[22,3] := 0.700000;
let egoV[22, 3, 1, 1] := 12.206096;
let egoV[22, 3, 2, 1] := 14.130647;
let egoV[22, 3, 3, 1] := 13.503488;
let egoV[22, 3, 4, 1] := 11.578937;
let egoV[22, 3, 1, 2] := -10.628465;
let egoV[22, 3, 2, 2] := -10.888209;
let egoV[22, 3, 3, 2] := -15.535078;
let egoV[22, 3, 4, 2] := -15.275334;
let a[22,1] := 0.185348;
let w[22,1] := -0.058055;
let a[22,2] := -0.138850;
let w[22,2] := 0.058055;
let a[22,3] := 0.092334;
let w[22,3] := -0.058289;
let x[23,0] := 12.665468;
let y[23,0] := -14.484553;
let theta[23,0] := -4.846542;
let v[23,0] := -0.738129;
let phy[23,0] := 0.700000;
let egoV[23, 0, 1, 1] := 12.206096;
let egoV[23, 0, 2, 1] := 14.130647;
let egoV[23, 0, 3, 1] := 13.503488;
let egoV[23, 0, 4, 1] := 11.578937;
let egoV[23, 0, 1, 2] := -10.628465;
let egoV[23, 0, 2, 2] := -10.888209;
let egoV[23, 0, 3, 2] := -15.535078;
let egoV[23, 0, 4, 2] := -15.275334;
let x[23,1] := 12.596047;
let y[23,1] := -14.846008;
let theta[23,1] := -4.957455;
let v[23,1] := -0.781322;
let phy[23,1] := 0.672542;
let egoV[23, 1, 1, 1] := 12.566312;
let egoV[23, 1, 2, 1] := 14.450287;
let egoV[23, 1, 3, 1] := 13.312640;
let egoV[23, 1, 4, 1] := 11.428664;
let egoV[23, 1, 1, 2] := -10.962767;
let egoV[23, 1, 2, 2] := -11.433936;
let egoV[23, 1, 3, 2] := -15.982835;
let egoV[23, 1, 4, 2] := -15.511666;
let x[23,2] := 12.494373;
let y[23,2] := -15.178229;
let theta[23,2] := -5.062142;
let v[23,2] := -0.737530;
let phy[23,2] := 0.700000;
let egoV[23, 2, 1, 1] := 12.870583;
let egoV[23, 2, 2, 1] := 14.695009;
let egoV[23, 2, 3, 1] := 13.088249;
let egoV[23, 2, 4, 1] := 11.263823;
let egoV[23, 2, 1, 2] := -11.313141;
let egoV[23, 2, 2, 2] := -11.978598;
let egoV[23, 2, 3, 2] := -16.383714;
let egoV[23, 2, 4, 2] := -15.718256;
let x[23,3] := 12.348727;
let y[23,3] := -15.516124;
let theta[23,3] := -5.173034;
let v[23,3] := -0.781082;
let phy[23,3] := 0.658490;
let egoV[23, 3, 1, 1] := 13.150355;
let egoV[23, 3, 2, 1] := 14.889933;
let egoV[23, 3, 3, 1] := 12.805551;
let egoV[23, 3, 4, 1] := 11.065974;
let egoV[23, 3, 1, 2] := -11.716409;
let egoV[23, 3, 2, 2] := -12.579678;
let egoV[23, 3, 3, 2] := -16.779925;
let egoV[23, 3, 4, 2] := -15.916656;
let a[23,1] := -0.091692;
let w[23,1] := 0.058289;
let a[23,2] := 0.092963;
let w[23,2] := -0.088118;
let a[23,3] := -0.092454;
let w[23,3] := 0.088118;
let x[24,0] := 12.348727;
let y[24,0] := -15.516124;
let theta[24,0] := -5.173034;
let v[24,0] := -0.781082;
let phy[24,0] := 0.658490;
let egoV[24, 0, 1, 1] := 13.150355;
let egoV[24, 0, 2, 1] := 14.889933;
let egoV[24, 0, 3, 1] := 12.805551;
let egoV[24, 0, 4, 1] := 11.065974;
let egoV[24, 0, 1, 2] := -11.716409;
let egoV[24, 0, 2, 2] := -12.579678;
let egoV[24, 0, 3, 2] := -16.779925;
let egoV[24, 0, 4, 2] := -15.916656;
let x[24,1] := 12.182555;
let y[24,1] := -15.809625;
let theta[24,1] := -5.274704;
let v[24,1] := -0.715974;
let phy[24,1] := 0.700000;
let egoV[24, 1, 1, 1] := 13.365696;
let egoV[24, 1, 2, 1] := 15.008673;
let egoV[24, 1, 3, 1] := 12.508751;
let egoV[24, 1, 4, 1] := 10.865774;
let egoV[24, 1, 1, 2] := -12.110892;
let egoV[24, 1, 2, 2] := -13.146262;
let egoV[24, 1, 3, 2] := -17.113265;
let egoV[24, 1, 4, 2] := -16.077895;
let x[24,2] := 11.962817;
let y[24,2] := -16.117258;
let theta[24,2] := -5.388698;
let v[24,2] := -0.802532;
let phy[24,2] := 0.645211;
let egoV[24, 2, 1, 1] := 13.558999;
let egoV[24, 2, 2, 1] := 15.073542;
let egoV[24, 2, 3, 1] := 12.138610;
let egoV[24, 2, 4, 1] := 10.624067;
let egoV[24, 2, 1, 2] := -12.577111;
let egoV[24, 2, 2, 2] := -13.792645;
let egoV[24, 2, 3, 2] := -17.449541;
let egoV[24, 2, 4, 2] := -16.234007;
let x[24,3] := 11.738635;
let y[24,3] := -16.368874;
let theta[24,3] := -5.490323;
let v[24,3] := -0.715382;
let phy[24,3] := 0.700000;
let egoV[24, 3, 1, 1] := 13.685731;
let egoV[24, 3, 2, 1] := 15.069144;
let egoV[24, 3, 3, 1] := 11.778361;
let egoV[24, 3, 4, 1] := 10.394948;
let egoV[24, 3, 1, 2] := -13.008924;
let egoV[24, 3, 2, 2] := -14.371838;
let egoV[24, 3, 3, 2] := -17.712117;
let egoV[24, 3, 4, 2] := -16.349204;
let a[24,1] := 0.138213;
let w[24,1] := -0.116307;
let a[24,2] := -0.183746;
let w[24,2] := 0.116307;
let a[24,3] := 0.185002;
let w[24,3] := 0.000000;
let x[25,0] := 11.738635;
let y[25,0] := -16.368874;
let theta[25,0] := -5.490323;
let v[25,0] := -0.715382;
let phy[25,0] := 0.700000;
let egoV[25, 0, 1, 1] := 13.685731;
let egoV[25, 0, 2, 1] := 15.069144;
let egoV[25, 0, 3, 1] := 11.778361;
let egoV[25, 0, 4, 1] := 10.394948;
let egoV[25, 0, 1, 2] := -13.008924;
let egoV[25, 0, 2, 2] := -14.371838;
let egoV[25, 0, 3, 2] := -17.712117;
let egoV[25, 0, 4, 2] := -16.349204;
let x[25,1] := 11.466251;
let y[25,1] := -16.615782;
let theta[25,1] := -5.601196;
let v[25,1] := -0.780422;
let phy[25,1] := 0.700000;
let egoV[25, 1, 1, 1] := 13.773156;
let egoV[25, 1, 2, 1] := 14.997274;
let egoV[25, 1, 3, 1] := 11.357109;
let egoV[25, 1, 4, 1] := 10.132991;
let egoV[25, 1, 1, 2] := -13.491901;
let egoV[25, 1, 2, 2] := -14.999514;
let egoV[25, 1, 3, 2] := -17.955174;
let egoV[25, 1, 4, 2] := -16.447560;
let x[25,2] := 11.361306;
let y[25,2] := -16.739568;
let theta[25,2] := -5.807703;
let v[25,2] := 0.344501;
let phy[25,2] := -0.700000;
let egoV[25, 2, 1, 1] := 14.259723;
let egoV[25, 2, 2, 1] := 15.148708;
let egoV[25, 2, 3, 1] := 10.979851;
let egoV[25, 2, 4, 1] := 10.090866;
let egoV[25, 2, 1, 2] := -14.155073;
let egoV[25, 2, 2, 2] := -15.881650;
let egoV[25, 2, 3, 2] := -18.028123;
let egoV[25, 2, 4, 2] := -16.301546;
let x[25,3] := 11.696864;
let y[25,3] := -16.588878;
let theta[25,3] := -5.918592;
let v[25,3] := 0.780855;
let phy[25,3] := -0.659457;
let egoV[25, 3, 1, 1] := 14.863485;
let egoV[25, 3, 2, 1] := 15.555943;
let egoV[25, 3, 3, 1] := 11.175157;
let egoV[25, 3, 4, 1] := 10.482699;
let egoV[25, 3, 1, 2] := -14.341001;
let egoV[25, 3, 2, 2] := -16.155351;
let egoV[25, 3, 3, 2] := -17.827306;
let egoV[25, 3, 4, 2] := -16.012956;
let a[25,1] := -0.138068;
let w[25,1] := -0.500000;
let a[25,2] := 2.387993;
let w[25,2] := 0.086066;
let a[25,3] := 0.926296;
let w[25,3] := 0.500000;
let x[26,0] := 11.696864;
let y[26,0] := -16.588878;
let theta[26,0] := -5.918592;
let v[26,0] := 0.780855;
let phy[26,0] := -0.659457;
let egoV[26, 0, 1, 1] := 14.863485;
let egoV[26, 0, 2, 1] := 15.555943;
let egoV[26, 0, 3, 1] := 11.175157;
let egoV[26, 0, 4, 1] := 10.482699;
let egoV[26, 0, 1, 2] := -14.341001;
let egoV[26, 0, 2, 2] := -16.155351;
let egoV[26, 0, 3, 2] := -17.827306;
let egoV[26, 0, 4, 2] := -16.012956;
let x[26,1] := 12.017954;
let y[26,1] := -16.483523;
let theta[26,1] := -6.020436;
let v[26,1] := -0.717365;
let phy[26,1] := -0.000000;
let egoV[26, 1, 1, 1] := 15.396704;
let egoV[26, 1, 2, 1] := 15.901113;
let egoV[26, 1, 3, 1] := 11.373042;
let egoV[26, 1, 4, 1] := 10.868633;
let egoV[26, 1, 1, 2] := -14.569238;
let egoV[26, 1, 2, 2] := -16.444588;
let egoV[26, 1, 3, 2] := -17.662494;
let egoV[26, 1, 4, 2] := -15.787144;
let x[26,2] := 12.017954;
let y[26,2] := -16.483523;
let theta[26,2] := -6.020436;
let v[26,2] := -0.000000;
let phy[26,2] := NaN;
let egoV[26, 2, 1, 1] := 15.396704;
let egoV[26, 2, 2, 1] := 15.901113;
let egoV[26, 2, 3, 1] := 11.373042;
let egoV[26, 2, 4, 1] := 10.868633;
let egoV[26, 2, 1, 2] := -14.569238;
let egoV[26, 2, 2, 2] := -16.444588;
let egoV[26, 2, 3, 2] := -17.662494;
let egoV[26, 2, 4, 2] := -15.787144;
let x[26,3] := 12.017954;
let y[26,3] := -16.483523;
let theta[26,3] := -6.020436;
let v[26,3] := -0.000000;
let phy[26,3] := NaN;
let egoV[26, 3, 1, 1] := 15.396704;
let egoV[26, 3, 2, 1] := 15.901113;
let egoV[26, 3, 3, 1] := 11.373042;
let egoV[26, 3, 4, 1] := 10.868633;
let egoV[26, 3, 1, 2] := -14.569238;
let egoV[26, 3, 2, 2] := -16.444588;
let egoV[26, 3, 3, 2] := -17.662494;
let egoV[26, 3, 4, 2] := -15.787144;
let a[26,1] := -3.180431;
let w[26,1] := NaN;
let a[26,2] := 1.522827;
let w[26,2] := NaN;
let a[26,3] := 0.000000;
let w[26,3] := NaN;
let x[27,0] := 12.017954;
let y[27,0] := -16.483523;
let theta[27,0] := -6.020436;
let v[27,0] := -0.000000;
let phy[27,0] := NaN;
let egoV[27, 0, 1, 1] := 15.396704;
let egoV[27, 0, 2, 1] := 15.901113;
let egoV[27, 0, 3, 1] := 11.373042;
let egoV[27, 0, 4, 1] := 10.868633;
let egoV[27, 0, 1, 2] := -14.569238;
let egoV[27, 0, 2, 2] := -16.444588;
let egoV[27, 0, 3, 2] := -17.662494;
let egoV[27, 0, 4, 2] := -15.787144;
let x[27,1] := 12.017954;
let y[27,1] := -16.483523;
let theta[27,1] := -6.020436;
let v[27,1] := -0.000000;
let phy[27,1] := NaN;
let egoV[27, 1, 1, 1] := 15.396704;
let egoV[27, 1, 2, 1] := 15.901113;
let egoV[27, 1, 3, 1] := 11.373042;
let egoV[27, 1, 4, 1] := 10.868633;
let egoV[27, 1, 1, 2] := -14.569238;
let egoV[27, 1, 2, 2] := -16.444588;
let egoV[27, 1, 3, 2] := -17.662494;
let egoV[27, 1, 4, 2] := -15.787144;
let x[27,2] := 12.017954;
let y[27,2] := -16.483523;
let theta[27,2] := -6.020436;
let v[27,2] := -0.000000;
let phy[27,2] := NaN;
let egoV[27, 2, 1, 1] := 15.396704;
let egoV[27, 2, 2, 1] := 15.901113;
let egoV[27, 2, 3, 1] := 11.373042;
let egoV[27, 2, 4, 1] := 10.868633;
let egoV[27, 2, 1, 2] := -14.569238;
let egoV[27, 2, 2, 2] := -16.444588;
let egoV[27, 2, 3, 2] := -17.662494;
let egoV[27, 2, 4, 2] := -15.787144;
let x[27,3] := 12.017954;
let y[27,3] := -16.483523;
let theta[27,3] := -6.020436;
let v[27,3] := -0.000000;
let phy[27,3] := NaN;
let egoV[27, 3, 1, 1] := 15.396704;
let egoV[27, 3, 2, 1] := 15.901113;
let egoV[27, 3, 3, 1] := 11.373042;
let egoV[27, 3, 4, 1] := 10.868633;
let egoV[27, 3, 1, 2] := -14.569238;
let egoV[27, 3, 2, 2] := -16.444588;
let egoV[27, 3, 3, 2] := -17.662494;
let egoV[27, 3, 4, 2] := -15.787144;
let a[27,1] := 0.000000;
let w[27,1] := NaN;
let a[27,2] := 0.000000;
let w[27,2] := NaN;
let a[27,3] := 0.000000;
let w[27,3] := NaN;
let x[28,0] := 12.017954;
let y[28,0] := -16.483523;
let theta[28,0] := -6.020436;
let v[28,0] := -0.000000;
let phy[28,0] := NaN;
let egoV[28, 0, 1, 1] := 15.396704;
let egoV[28, 0, 2, 1] := 15.901113;
let egoV[28, 0, 3, 1] := 11.373042;
let egoV[28, 0, 4, 1] := 10.868633;
let egoV[28, 0, 1, 2] := -14.569238;
let egoV[28, 0, 2, 2] := -16.444588;
let egoV[28, 0, 3, 2] := -17.662494;
let egoV[28, 0, 4, 2] := -15.787144;
let x[28,1] := 12.017954;
let y[28,1] := -16.483523;
let theta[28,1] := -6.020436;
let v[28,1] := -0.000000;
let phy[28,1] := NaN;
let egoV[28, 1, 1, 1] := 15.396704;
let egoV[28, 1, 2, 1] := 15.901113;
let egoV[28, 1, 3, 1] := 11.373042;
let egoV[28, 1, 4, 1] := 10.868633;
let egoV[28, 1, 1, 2] := -14.569238;
let egoV[28, 1, 2, 2] := -16.444588;
let egoV[28, 1, 3, 2] := -17.662494;
let egoV[28, 1, 4, 2] := -15.787144;
let x[28,2] := 12.017954;
let y[28,2] := -16.483523;
let theta[28,2] := -6.020436;
let v[28,2] := -0.000000;
let phy[28,2] := NaN;
let egoV[28, 2, 1, 1] := 15.396704;
let egoV[28, 2, 2, 1] := 15.901113;
let egoV[28, 2, 3, 1] := 11.373042;
let egoV[28, 2, 4, 1] := 10.868633;
let egoV[28, 2, 1, 2] := -14.569238;
let egoV[28, 2, 2, 2] := -16.444588;
let egoV[28, 2, 3, 2] := -17.662494;
let egoV[28, 2, 4, 2] := -15.787144;
let x[28,3] := 12.017954;
let y[28,3] := -16.483523;
let theta[28,3] := -6.020436;
let v[28,3] := -0.000000;
let phy[28,3] := NaN;
let egoV[28, 3, 1, 1] := 15.396704;
let egoV[28, 3, 2, 1] := 15.901113;
let egoV[28, 3, 3, 1] := 11.373042;
let egoV[28, 3, 4, 1] := 10.868633;
let egoV[28, 3, 1, 2] := -14.569238;
let egoV[28, 3, 2, 2] := -16.444588;
let egoV[28, 3, 3, 2] := -17.662494;
let egoV[28, 3, 4, 2] := -15.787144;
let a[28,1] := 0.000000;
let w[28,1] := NaN;
let a[28,2] := 0.000000;
let w[28,2] := NaN;
let a[28,3] := 0.000000;
let w[28,3] := NaN;
let x[29,0] := 12.017954;
let y[29,0] := -16.483523;
let theta[29,0] := -6.020436;
let v[29,0] := -0.000000;
let phy[29,0] := NaN;
let egoV[29, 0, 1, 1] := 15.396704;
let egoV[29, 0, 2, 1] := 15.901113;
let egoV[29, 0, 3, 1] := 11.373042;
let egoV[29, 0, 4, 1] := 10.868633;
let egoV[29, 0, 1, 2] := -14.569238;
let egoV[29, 0, 2, 2] := -16.444588;
let egoV[29, 0, 3, 2] := -17.662494;
let egoV[29, 0, 4, 2] := -15.787144;
let x[29,1] := 12.017954;
let y[29,1] := -16.483523;
let theta[29,1] := -6.020436;
let v[29,1] := -0.000000;
let phy[29,1] := NaN;
let egoV[29, 1, 1, 1] := 15.396704;
let egoV[29, 1, 2, 1] := 15.901113;
let egoV[29, 1, 3, 1] := 11.373042;
let egoV[29, 1, 4, 1] := 10.868633;
let egoV[29, 1, 1, 2] := -14.569238;
let egoV[29, 1, 2, 2] := -16.444588;
let egoV[29, 1, 3, 2] := -17.662494;
let egoV[29, 1, 4, 2] := -15.787144;
let x[29,2] := 12.017954;
let y[29,2] := -16.483523;
let theta[29,2] := -6.020436;
let v[29,2] := -0.000000;
let phy[29,2] := NaN;
let egoV[29, 2, 1, 1] := 15.396704;
let egoV[29, 2, 2, 1] := 15.901113;
let egoV[29, 2, 3, 1] := 11.373042;
let egoV[29, 2, 4, 1] := 10.868633;
let egoV[29, 2, 1, 2] := -14.569238;
let egoV[29, 2, 2, 2] := -16.444588;
let egoV[29, 2, 3, 2] := -17.662494;
let egoV[29, 2, 4, 2] := -15.787144;
let x[29,3] := 12.017954;
let y[29,3] := -16.483523;
let theta[29,3] := -6.020436;
let v[29,3] := -0.000000;
let phy[29,3] := NaN;
let egoV[29, 3, 1, 1] := 15.396704;
let egoV[29, 3, 2, 1] := 15.901113;
let egoV[29, 3, 3, 1] := 11.373042;
let egoV[29, 3, 4, 1] := 10.868633;
let egoV[29, 3, 1, 2] := -14.569238;
let egoV[29, 3, 2, 2] := -16.444588;
let egoV[29, 3, 3, 2] := -17.662494;
let egoV[29, 3, 4, 2] := -15.787144;
let a[29,1] := 0.000000;
let w[29,1] := NaN;
let a[29,2] := 0.000000;
let w[29,2] := NaN;
let a[29,3] := 0.000000;
let w[29,3] := NaN;
let x[30,0] := 12.017954;
let y[30,0] := -16.483523;
let theta[30,0] := -6.020436;
let v[30,0] := -0.000000;
let phy[30,0] := NaN;
let egoV[30, 0, 1, 1] := 15.396704;
let egoV[30, 0, 2, 1] := 15.901113;
let egoV[30, 0, 3, 1] := 11.373042;
let egoV[30, 0, 4, 1] := 10.868633;
let egoV[30, 0, 1, 2] := -14.569238;
let egoV[30, 0, 2, 2] := -16.444588;
let egoV[30, 0, 3, 2] := -17.662494;
let egoV[30, 0, 4, 2] := -15.787144;
let x[30,1] := 12.017954;
let y[30,1] := -16.483523;
let theta[30,1] := -6.020436;
let v[30,1] := -0.000000;
let phy[30,1] := NaN;
let egoV[30, 1, 1, 1] := 15.396704;
let egoV[30, 1, 2, 1] := 15.901113;
let egoV[30, 1, 3, 1] := 11.373042;
let egoV[30, 1, 4, 1] := 10.868633;
let egoV[30, 1, 1, 2] := -14.569238;
let egoV[30, 1, 2, 2] := -16.444588;
let egoV[30, 1, 3, 2] := -17.662494;
let egoV[30, 1, 4, 2] := -15.787144;
let x[30,2] := 12.017954;
let y[30,2] := -16.483523;
let theta[30,2] := -6.020436;
let v[30,2] := -0.000000;
let phy[30,2] := NaN;
let egoV[30, 2, 1, 1] := 15.396704;
let egoV[30, 2, 2, 1] := 15.901113;
let egoV[30, 2, 3, 1] := 11.373042;
let egoV[30, 2, 4, 1] := 10.868633;
let egoV[30, 2, 1, 2] := -14.569238;
let egoV[30, 2, 2, 2] := -16.444588;
let egoV[30, 2, 3, 2] := -17.662494;
let egoV[30, 2, 4, 2] := -15.787144;
let x[30,3] := 12.017954;
let y[30,3] := -16.483523;
let theta[30,3] := -6.020436;
let v[30,3] := -0.000000;
let phy[30,3] := NaN;
let egoV[30, 3, 1, 1] := 15.396704;
let egoV[30, 3, 2, 1] := 15.901113;
let egoV[30, 3, 3, 1] := 11.373042;
let egoV[30, 3, 4, 1] := 10.868633;
let egoV[30, 3, 1, 2] := -14.569238;
let egoV[30, 3, 2, 2] := -16.444588;
let egoV[30, 3, 3, 2] := -17.662494;
let egoV[30, 3, 4, 2] := -15.787144;
let a[30,1] := 0.000000;
let w[30,1] := NaN;
let a[30,2] := 0.000000;
let w[30,2] := NaN;
let a[30,3] := 0.000000;
let w[30,3] := NaN;
let x[31,0] := 12.017954;
let y[31,0] := -16.483523;
let theta[31,0] := -6.020436;
let v[31,0] := -0.000000;
let phy[31,0] := NaN;
let egoV[31, 0, 1, 1] := 15.396704;
let egoV[31, 0, 2, 1] := 15.901113;
let egoV[31, 0, 3, 1] := 11.373042;
let egoV[31, 0, 4, 1] := 10.868633;
let egoV[31, 0, 1, 2] := -14.569238;
let egoV[31, 0, 2, 2] := -16.444588;
let egoV[31, 0, 3, 2] := -17.662494;
let egoV[31, 0, 4, 2] := -15.787144;
let x[31,1] := 12.017954;
let y[31,1] := -16.483523;
let theta[31,1] := -6.020436;
let v[31,1] := -0.000000;
let phy[31,1] := NaN;
let egoV[31, 1, 1, 1] := 15.396704;
let egoV[31, 1, 2, 1] := 15.901113;
let egoV[31, 1, 3, 1] := 11.373042;
let egoV[31, 1, 4, 1] := 10.868633;
let egoV[31, 1, 1, 2] := -14.569238;
let egoV[31, 1, 2, 2] := -16.444588;
let egoV[31, 1, 3, 2] := -17.662494;
let egoV[31, 1, 4, 2] := -15.787144;
let x[31,2] := 12.017954;
let y[31,2] := -16.483523;
let theta[31,2] := -6.020436;
let v[31,2] := -0.000000;
let phy[31,2] := NaN;
let egoV[31, 2, 1, 1] := 15.396704;
let egoV[31, 2, 2, 1] := 15.901113;
let egoV[31, 2, 3, 1] := 11.373042;
let egoV[31, 2, 4, 1] := 10.868633;
let egoV[31, 2, 1, 2] := -14.569238;
let egoV[31, 2, 2, 2] := -16.444588;
let egoV[31, 2, 3, 2] := -17.662494;
let egoV[31, 2, 4, 2] := -15.787144;
let x[31,3] := 12.017954;
let y[31,3] := -16.483523;
let theta[31,3] := -6.020436;
let v[31,3] := -0.000000;
let phy[31,3] := NaN;
let egoV[31, 3, 1, 1] := 15.396704;
let egoV[31, 3, 2, 1] := 15.901113;
let egoV[31, 3, 3, 1] := 11.373042;
let egoV[31, 3, 4, 1] := 10.868633;
let egoV[31, 3, 1, 2] := -14.569238;
let egoV[31, 3, 2, 2] := -16.444588;
let egoV[31, 3, 3, 2] := -17.662494;
let egoV[31, 3, 4, 2] := -15.787144;
let a[31,1] := 0.000000;
let w[31,1] := NaN;
let a[31,2] := 0.000000;
let w[31,2] := NaN;
let a[31,3] := 0.000000;
let w[31,3] := NaN;
let x[32,0] := 12.017954;
let y[32,0] := -16.483523;
let theta[32,0] := -6.020436;
let v[32,0] := -0.000000;
let phy[32,0] := NaN;
let egoV[32, 0, 1, 1] := 15.396704;
let egoV[32, 0, 2, 1] := 15.901113;
let egoV[32, 0, 3, 1] := 11.373042;
let egoV[32, 0, 4, 1] := 10.868633;
let egoV[32, 0, 1, 2] := -14.569238;
let egoV[32, 0, 2, 2] := -16.444588;
let egoV[32, 0, 3, 2] := -17.662494;
let egoV[32, 0, 4, 2] := -15.787144;
let x[32,1] := 12.017954;
let y[32,1] := -16.483523;
let theta[32,1] := -6.020436;
let v[32,1] := -0.000000;
let phy[32,1] := NaN;
let egoV[32, 1, 1, 1] := 15.396704;
let egoV[32, 1, 2, 1] := 15.901113;
let egoV[32, 1, 3, 1] := 11.373042;
let egoV[32, 1, 4, 1] := 10.868633;
let egoV[32, 1, 1, 2] := -14.569238;
let egoV[32, 1, 2, 2] := -16.444588;
let egoV[32, 1, 3, 2] := -17.662494;
let egoV[32, 1, 4, 2] := -15.787144;
let x[32,2] := 12.017954;
let y[32,2] := -16.483523;
let theta[32,2] := -6.020436;
let v[32,2] := -0.000000;
let phy[32,2] := NaN;
let egoV[32, 2, 1, 1] := 15.396704;
let egoV[32, 2, 2, 1] := 15.901113;
let egoV[32, 2, 3, 1] := 11.373042;
let egoV[32, 2, 4, 1] := 10.868633;
let egoV[32, 2, 1, 2] := -14.569238;
let egoV[32, 2, 2, 2] := -16.444588;
let egoV[32, 2, 3, 2] := -17.662494;
let egoV[32, 2, 4, 2] := -15.787144;
let x[32,3] := 12.017954;
let y[32,3] := -16.483523;
let theta[32,3] := -6.020436;
let v[32,3] := -0.000000;
let phy[32,3] := NaN;
let egoV[32, 3, 1, 1] := 15.396704;
let egoV[32, 3, 2, 1] := 15.901113;
let egoV[32, 3, 3, 1] := 11.373042;
let egoV[32, 3, 4, 1] := 10.868633;
let egoV[32, 3, 1, 2] := -14.569238;
let egoV[32, 3, 2, 2] := -16.444588;
let egoV[32, 3, 3, 2] := -17.662494;
let egoV[32, 3, 4, 2] := -15.787144;
let a[32,1] := 0.000000;
let w[32,1] := NaN;
let a[32,2] := 0.000000;
let w[32,2] := NaN;
let a[32,3] := 0.000000;
let w[32,3] := NaN;
let x[33,0] := 12.017954;
let y[33,0] := -16.483523;
let theta[33,0] := -6.020436;
let v[33,0] := -0.000000;
let phy[33,0] := NaN;
let egoV[33, 0, 1, 1] := 15.396704;
let egoV[33, 0, 2, 1] := 15.901113;
let egoV[33, 0, 3, 1] := 11.373042;
let egoV[33, 0, 4, 1] := 10.868633;
let egoV[33, 0, 1, 2] := -14.569238;
let egoV[33, 0, 2, 2] := -16.444588;
let egoV[33, 0, 3, 2] := -17.662494;
let egoV[33, 0, 4, 2] := -15.787144;
let x[33,1] := 12.017954;
let y[33,1] := -16.483523;
let theta[33,1] := -6.020436;
let v[33,1] := -0.000000;
let phy[33,1] := NaN;
let egoV[33, 1, 1, 1] := 15.396704;
let egoV[33, 1, 2, 1] := 15.901113;
let egoV[33, 1, 3, 1] := 11.373042;
let egoV[33, 1, 4, 1] := 10.868633;
let egoV[33, 1, 1, 2] := -14.569238;
let egoV[33, 1, 2, 2] := -16.444588;
let egoV[33, 1, 3, 2] := -17.662494;
let egoV[33, 1, 4, 2] := -15.787144;
let x[33,2] := 12.017954;
let y[33,2] := -16.483523;
let theta[33,2] := -6.020436;
let v[33,2] := -0.000000;
let phy[33,2] := NaN;
let egoV[33, 2, 1, 1] := 15.396704;
let egoV[33, 2, 2, 1] := 15.901113;
let egoV[33, 2, 3, 1] := 11.373042;
let egoV[33, 2, 4, 1] := 10.868633;
let egoV[33, 2, 1, 2] := -14.569238;
let egoV[33, 2, 2, 2] := -16.444588;
let egoV[33, 2, 3, 2] := -17.662494;
let egoV[33, 2, 4, 2] := -15.787144;
let x[33,3] := 12.017954;
let y[33,3] := -16.483523;
let theta[33,3] := -6.020436;
let v[33,3] := -0.000000;
let phy[33,3] := NaN;
let egoV[33, 3, 1, 1] := 15.396704;
let egoV[33, 3, 2, 1] := 15.901113;
let egoV[33, 3, 3, 1] := 11.373042;
let egoV[33, 3, 4, 1] := 10.868633;
let egoV[33, 3, 1, 2] := -14.569238;
let egoV[33, 3, 2, 2] := -16.444588;
let egoV[33, 3, 3, 2] := -17.662494;
let egoV[33, 3, 4, 2] := -15.787144;
let a[33,1] := 0.000000;
let w[33,1] := NaN;
let a[33,2] := 0.000000;
let w[33,2] := NaN;
let a[33,3] := 0.000000;
let w[33,3] := NaN;
let x[34,0] := 12.017954;
let y[34,0] := -16.483523;
let theta[34,0] := -6.020436;
let v[34,0] := -0.000000;
let phy[34,0] := NaN;
let egoV[34, 0, 1, 1] := 15.396704;
let egoV[34, 0, 2, 1] := 15.901113;
let egoV[34, 0, 3, 1] := 11.373042;
let egoV[34, 0, 4, 1] := 10.868633;
let egoV[34, 0, 1, 2] := -14.569238;
let egoV[34, 0, 2, 2] := -16.444588;
let egoV[34, 0, 3, 2] := -17.662494;
let egoV[34, 0, 4, 2] := -15.787144;
let x[34,1] := 12.017954;
let y[34,1] := -16.483523;
let theta[34,1] := -6.020436;
let v[34,1] := -0.000000;
let phy[34,1] := NaN;
let egoV[34, 1, 1, 1] := 15.396704;
let egoV[34, 1, 2, 1] := 15.901113;
let egoV[34, 1, 3, 1] := 11.373042;
let egoV[34, 1, 4, 1] := 10.868633;
let egoV[34, 1, 1, 2] := -14.569238;
let egoV[34, 1, 2, 2] := -16.444588;
let egoV[34, 1, 3, 2] := -17.662494;
let egoV[34, 1, 4, 2] := -15.787144;
let x[34,2] := 12.017954;
let y[34,2] := -16.483523;
let theta[34,2] := -6.020436;
let v[34,2] := -0.000000;
let phy[34,2] := NaN;
let egoV[34, 2, 1, 1] := 15.396704;
let egoV[34, 2, 2, 1] := 15.901113;
let egoV[34, 2, 3, 1] := 11.373042;
let egoV[34, 2, 4, 1] := 10.868633;
let egoV[34, 2, 1, 2] := -14.569238;
let egoV[34, 2, 2, 2] := -16.444588;
let egoV[34, 2, 3, 2] := -17.662494;
let egoV[34, 2, 4, 2] := -15.787144;
let x[34,3] := 12.017954;
let y[34,3] := -16.483523;
let theta[34,3] := -6.020436;
let v[34,3] := -0.000000;
let phy[34,3] := NaN;
let egoV[34, 3, 1, 1] := 15.396704;
let egoV[34, 3, 2, 1] := 15.901113;
let egoV[34, 3, 3, 1] := 11.373042;
let egoV[34, 3, 4, 1] := 10.868633;
let egoV[34, 3, 1, 2] := -14.569238;
let egoV[34, 3, 2, 2] := -16.444588;
let egoV[34, 3, 3, 2] := -17.662494;
let egoV[34, 3, 4, 2] := -15.787144;
let a[34,1] := 0.000000;
let w[34,1] := NaN;
let a[34,2] := 0.000000;
let w[34,2] := NaN;
let a[34,3] := 0.000000;
let w[34,3] := NaN;
let x[35,0] := 12.017954;
let y[35,0] := -16.483523;
let theta[35,0] := -6.020436;
let v[35,0] := -0.000000;
let phy[35,0] := NaN;
let egoV[35, 0, 1, 1] := 15.396704;
let egoV[35, 0, 2, 1] := 15.901113;
let egoV[35, 0, 3, 1] := 11.373042;
let egoV[35, 0, 4, 1] := 10.868633;
let egoV[35, 0, 1, 2] := -14.569238;
let egoV[35, 0, 2, 2] := -16.444588;
let egoV[35, 0, 3, 2] := -17.662494;
let egoV[35, 0, 4, 2] := -15.787144;
let x[35,1] := 12.017954;
let y[35,1] := -16.483523;
let theta[35,1] := -6.020436;
let v[35,1] := -0.000000;
let phy[35,1] := NaN;
let egoV[35, 1, 1, 1] := 15.396704;
let egoV[35, 1, 2, 1] := 15.901113;
let egoV[35, 1, 3, 1] := 11.373042;
let egoV[35, 1, 4, 1] := 10.868633;
let egoV[35, 1, 1, 2] := -14.569238;
let egoV[35, 1, 2, 2] := -16.444588;
let egoV[35, 1, 3, 2] := -17.662494;
let egoV[35, 1, 4, 2] := -15.787144;
let x[35,2] := 12.017954;
let y[35,2] := -16.483523;
let theta[35,2] := -6.020436;
let v[35,2] := -0.000000;
let phy[35,2] := NaN;
let egoV[35, 2, 1, 1] := 15.396704;
let egoV[35, 2, 2, 1] := 15.901113;
let egoV[35, 2, 3, 1] := 11.373042;
let egoV[35, 2, 4, 1] := 10.868633;
let egoV[35, 2, 1, 2] := -14.569238;
let egoV[35, 2, 2, 2] := -16.444588;
let egoV[35, 2, 3, 2] := -17.662494;
let egoV[35, 2, 4, 2] := -15.787144;
let x[35,3] := 12.017954;
let y[35,3] := -16.483523;
let theta[35,3] := -6.020436;
let v[35,3] := -0.000000;
let phy[35,3] := NaN;
let egoV[35, 3, 1, 1] := 15.396704;
let egoV[35, 3, 2, 1] := 15.901113;
let egoV[35, 3, 3, 1] := 11.373042;
let egoV[35, 3, 4, 1] := 10.868633;
let egoV[35, 3, 1, 2] := -14.569238;
let egoV[35, 3, 2, 2] := -16.444588;
let egoV[35, 3, 3, 2] := -17.662494;
let egoV[35, 3, 4, 2] := -15.787144;
let a[35,1] := 0.000000;
let w[35,1] := NaN;
let a[35,2] := 0.000000;
let w[35,2] := NaN;
let a[35,3] := 0.000000;
let w[35,3] := NaN;
let x[36,0] := 12.017954;
let y[36,0] := -16.483523;
let theta[36,0] := -6.020436;
let v[36,0] := -0.000000;
let phy[36,0] := NaN;
let egoV[36, 0, 1, 1] := 15.396704;
let egoV[36, 0, 2, 1] := 15.901113;
let egoV[36, 0, 3, 1] := 11.373042;
let egoV[36, 0, 4, 1] := 10.868633;
let egoV[36, 0, 1, 2] := -14.569238;
let egoV[36, 0, 2, 2] := -16.444588;
let egoV[36, 0, 3, 2] := -17.662494;
let egoV[36, 0, 4, 2] := -15.787144;
let x[36,1] := 12.017954;
let y[36,1] := -16.483523;
let theta[36,1] := -6.020436;
let v[36,1] := -0.000000;
let phy[36,1] := NaN;
let egoV[36, 1, 1, 1] := 15.396704;
let egoV[36, 1, 2, 1] := 15.901113;
let egoV[36, 1, 3, 1] := 11.373042;
let egoV[36, 1, 4, 1] := 10.868633;
let egoV[36, 1, 1, 2] := -14.569238;
let egoV[36, 1, 2, 2] := -16.444588;
let egoV[36, 1, 3, 2] := -17.662494;
let egoV[36, 1, 4, 2] := -15.787144;
let x[36,2] := 12.017954;
let y[36,2] := -16.483523;
let theta[36,2] := -6.020436;
let v[36,2] := -0.000000;
let phy[36,2] := NaN;
let egoV[36, 2, 1, 1] := 15.396704;
let egoV[36, 2, 2, 1] := 15.901113;
let egoV[36, 2, 3, 1] := 11.373042;
let egoV[36, 2, 4, 1] := 10.868633;
let egoV[36, 2, 1, 2] := -14.569238;
let egoV[36, 2, 2, 2] := -16.444588;
let egoV[36, 2, 3, 2] := -17.662494;
let egoV[36, 2, 4, 2] := -15.787144;
let x[36,3] := 12.017954;
let y[36,3] := -16.483523;
let theta[36,3] := -6.020436;
let v[36,3] := -0.000000;
let phy[36,3] := NaN;
let egoV[36, 3, 1, 1] := 15.396704;
let egoV[36, 3, 2, 1] := 15.901113;
let egoV[36, 3, 3, 1] := 11.373042;
let egoV[36, 3, 4, 1] := 10.868633;
let egoV[36, 3, 1, 2] := -14.569238;
let egoV[36, 3, 2, 2] := -16.444588;
let egoV[36, 3, 3, 2] := -17.662494;
let egoV[36, 3, 4, 2] := -15.787144;
let a[36,1] := 0.000000;
let w[36,1] := NaN;
let a[36,2] := 0.000000;
let w[36,2] := NaN;
let a[36,3] := 0.000000;
let w[36,3] := NaN;
let x[37,0] := 12.017954;
let y[37,0] := -16.483523;
let theta[37,0] := -6.020436;
let v[37,0] := -0.000000;
let phy[37,0] := NaN;
let egoV[37, 0, 1, 1] := 15.396704;
let egoV[37, 0, 2, 1] := 15.901113;
let egoV[37, 0, 3, 1] := 11.373042;
let egoV[37, 0, 4, 1] := 10.868633;
let egoV[37, 0, 1, 2] := -14.569238;
let egoV[37, 0, 2, 2] := -16.444588;
let egoV[37, 0, 3, 2] := -17.662494;
let egoV[37, 0, 4, 2] := -15.787144;
let x[37,1] := 12.017954;
let y[37,1] := -16.483523;
let theta[37,1] := -6.020436;
let v[37,1] := -0.000000;
let phy[37,1] := NaN;
let egoV[37, 1, 1, 1] := 15.396704;
let egoV[37, 1, 2, 1] := 15.901113;
let egoV[37, 1, 3, 1] := 11.373042;
let egoV[37, 1, 4, 1] := 10.868633;
let egoV[37, 1, 1, 2] := -14.569238;
let egoV[37, 1, 2, 2] := -16.444588;
let egoV[37, 1, 3, 2] := -17.662494;
let egoV[37, 1, 4, 2] := -15.787144;
let x[37,2] := 12.017954;
let y[37,2] := -16.483523;
let theta[37,2] := -6.020436;
let v[37,2] := -0.000000;
let phy[37,2] := NaN;
let egoV[37, 2, 1, 1] := 15.396704;
let egoV[37, 2, 2, 1] := 15.901113;
let egoV[37, 2, 3, 1] := 11.373042;
let egoV[37, 2, 4, 1] := 10.868633;
let egoV[37, 2, 1, 2] := -14.569238;
let egoV[37, 2, 2, 2] := -16.444588;
let egoV[37, 2, 3, 2] := -17.662494;
let egoV[37, 2, 4, 2] := -15.787144;
let x[37,3] := 12.017954;
let y[37,3] := -16.483523;
let theta[37,3] := -6.020436;
let v[37,3] := -0.000000;
let phy[37,3] := NaN;
let egoV[37, 3, 1, 1] := 15.396704;
let egoV[37, 3, 2, 1] := 15.901113;
let egoV[37, 3, 3, 1] := 11.373042;
let egoV[37, 3, 4, 1] := 10.868633;
let egoV[37, 3, 1, 2] := -14.569238;
let egoV[37, 3, 2, 2] := -16.444588;
let egoV[37, 3, 3, 2] := -17.662494;
let egoV[37, 3, 4, 2] := -15.787144;
let a[37,1] := 0.000000;
let w[37,1] := NaN;
let a[37,2] := 0.000000;
let w[37,2] := NaN;
let a[37,3] := 0.000000;
let w[37,3] := NaN;
let x[38,0] := 12.017954;
let y[38,0] := -16.483523;
let theta[38,0] := -6.020436;
let v[38,0] := -0.000000;
let phy[38,0] := NaN;
let egoV[38, 0, 1, 1] := 15.396704;
let egoV[38, 0, 2, 1] := 15.901113;
let egoV[38, 0, 3, 1] := 11.373042;
let egoV[38, 0, 4, 1] := 10.868633;
let egoV[38, 0, 1, 2] := -14.569238;
let egoV[38, 0, 2, 2] := -16.444588;
let egoV[38, 0, 3, 2] := -17.662494;
let egoV[38, 0, 4, 2] := -15.787144;
let x[38,1] := 12.017954;
let y[38,1] := -16.483523;
let theta[38,1] := -6.020436;
let v[38,1] := -0.000000;
let phy[38,1] := NaN;
let egoV[38, 1, 1, 1] := 15.396704;
let egoV[38, 1, 2, 1] := 15.901113;
let egoV[38, 1, 3, 1] := 11.373042;
let egoV[38, 1, 4, 1] := 10.868633;
let egoV[38, 1, 1, 2] := -14.569238;
let egoV[38, 1, 2, 2] := -16.444588;
let egoV[38, 1, 3, 2] := -17.662494;
let egoV[38, 1, 4, 2] := -15.787144;
let x[38,2] := 12.017954;
let y[38,2] := -16.483523;
let theta[38,2] := -6.020436;
let v[38,2] := -0.000000;
let phy[38,2] := NaN;
let egoV[38, 2, 1, 1] := 15.396704;
let egoV[38, 2, 2, 1] := 15.901113;
let egoV[38, 2, 3, 1] := 11.373042;
let egoV[38, 2, 4, 1] := 10.868633;
let egoV[38, 2, 1, 2] := -14.569238;
let egoV[38, 2, 2, 2] := -16.444588;
let egoV[38, 2, 3, 2] := -17.662494;
let egoV[38, 2, 4, 2] := -15.787144;
let x[38,3] := 12.017954;
let y[38,3] := -16.483523;
let theta[38,3] := -6.020436;
let v[38,3] := -0.000000;
let phy[38,3] := NaN;
let egoV[38, 3, 1, 1] := 15.396704;
let egoV[38, 3, 2, 1] := 15.901113;
let egoV[38, 3, 3, 1] := 11.373042;
let egoV[38, 3, 4, 1] := 10.868633;
let egoV[38, 3, 1, 2] := -14.569238;
let egoV[38, 3, 2, 2] := -16.444588;
let egoV[38, 3, 3, 2] := -17.662494;
let egoV[38, 3, 4, 2] := -15.787144;
let a[38,1] := 0.000000;
let w[38,1] := NaN;
let a[38,2] := 0.000000;
let w[38,2] := NaN;
let a[38,3] := 0.000000;
let w[38,3] := NaN;
let x[39,0] := 12.017954;
let y[39,0] := -16.483523;
let theta[39,0] := -6.020436;
let v[39,0] := -0.000000;
let phy[39,0] := NaN;
let egoV[39, 0, 1, 1] := 15.396704;
let egoV[39, 0, 2, 1] := 15.901113;
let egoV[39, 0, 3, 1] := 11.373042;
let egoV[39, 0, 4, 1] := 10.868633;
let egoV[39, 0, 1, 2] := -14.569238;
let egoV[39, 0, 2, 2] := -16.444588;
let egoV[39, 0, 3, 2] := -17.662494;
let egoV[39, 0, 4, 2] := -15.787144;
let x[39,1] := 12.017954;
let y[39,1] := -16.483523;
let theta[39,1] := -6.020436;
let v[39,1] := -0.000000;
let phy[39,1] := NaN;
let egoV[39, 1, 1, 1] := 15.396704;
let egoV[39, 1, 2, 1] := 15.901113;
let egoV[39, 1, 3, 1] := 11.373042;
let egoV[39, 1, 4, 1] := 10.868633;
let egoV[39, 1, 1, 2] := -14.569238;
let egoV[39, 1, 2, 2] := -16.444588;
let egoV[39, 1, 3, 2] := -17.662494;
let egoV[39, 1, 4, 2] := -15.787144;
let x[39,2] := 12.017954;
let y[39,2] := -16.483523;
let theta[39,2] := -6.020436;
let v[39,2] := -0.000000;
let phy[39,2] := NaN;
let egoV[39, 2, 1, 1] := 15.396704;
let egoV[39, 2, 2, 1] := 15.901113;
let egoV[39, 2, 3, 1] := 11.373042;
let egoV[39, 2, 4, 1] := 10.868633;
let egoV[39, 2, 1, 2] := -14.569238;
let egoV[39, 2, 2, 2] := -16.444588;
let egoV[39, 2, 3, 2] := -17.662494;
let egoV[39, 2, 4, 2] := -15.787144;
let x[39,3] := 12.017954;
let y[39,3] := -16.483523;
let theta[39,3] := -6.020436;
let v[39,3] := -0.000000;
let phy[39,3] := NaN;
let egoV[39, 3, 1, 1] := 15.396704;
let egoV[39, 3, 2, 1] := 15.901113;
let egoV[39, 3, 3, 1] := 11.373042;
let egoV[39, 3, 4, 1] := 10.868633;
let egoV[39, 3, 1, 2] := -14.569238;
let egoV[39, 3, 2, 2] := -16.444588;
let egoV[39, 3, 3, 2] := -17.662494;
let egoV[39, 3, 4, 2] := -15.787144;
let a[39,1] := 0.000000;
let w[39,1] := NaN;
let a[39,2] := 0.000000;
let w[39,2] := NaN;
let a[39,3] := 0.000000;
let w[39,3] := NaN;
let x[40,0] := 12.017954;
let y[40,0] := -16.483523;
let theta[40,0] := -6.020436;
let v[40,0] := -0.000000;
let phy[40,0] := NaN;
let egoV[40, 0, 1, 1] := 15.396704;
let egoV[40, 0, 2, 1] := 15.901113;
let egoV[40, 0, 3, 1] := 11.373042;
let egoV[40, 0, 4, 1] := 10.868633;
let egoV[40, 0, 1, 2] := -14.569238;
let egoV[40, 0, 2, 2] := -16.444588;
let egoV[40, 0, 3, 2] := -17.662494;
let egoV[40, 0, 4, 2] := -15.787144;
let x[40,1] := 12.017954;
let y[40,1] := -16.483523;
let theta[40,1] := -6.020436;
let v[40,1] := -0.000000;
let phy[40,1] := NaN;
let egoV[40, 1, 1, 1] := 15.396704;
let egoV[40, 1, 2, 1] := 15.901113;
let egoV[40, 1, 3, 1] := 11.373042;
let egoV[40, 1, 4, 1] := 10.868633;
let egoV[40, 1, 1, 2] := -14.569238;
let egoV[40, 1, 2, 2] := -16.444588;
let egoV[40, 1, 3, 2] := -17.662494;
let egoV[40, 1, 4, 2] := -15.787144;
let x[40,2] := 12.017954;
let y[40,2] := -16.483523;
let theta[40,2] := -6.020436;
let v[40,2] := -0.000000;
let phy[40,2] := NaN;
let egoV[40, 2, 1, 1] := 15.396704;
let egoV[40, 2, 2, 1] := 15.901113;
let egoV[40, 2, 3, 1] := 11.373042;
let egoV[40, 2, 4, 1] := 10.868633;
let egoV[40, 2, 1, 2] := -14.569238;
let egoV[40, 2, 2, 2] := -16.444588;
let egoV[40, 2, 3, 2] := -17.662494;
let egoV[40, 2, 4, 2] := -15.787144;
let x[40,3] := 12.017954;
let y[40,3] := -16.483523;
let theta[40,3] := -6.020436;
let v[40,3] := 0.000000;
let phy[40,3] := 0.000000;
let egoV[40, 3, 1, 1] := 15.396704;
let egoV[40, 3, 2, 1] := 15.901113;
let egoV[40, 3, 3, 1] := 11.373042;
let egoV[40, 3, 4, 1] := 10.868633;
let egoV[40, 3, 1, 2] := -14.569238;
let egoV[40, 3, 2, 2] := -16.444588;
let egoV[40, 3, 3, 2] := -17.662494;
let egoV[40, 3, 4, 2] := -15.787144;
let a[40,1] := 0.000000;
let w[40,1] := NaN;
let a[40,2] := 0.000000;
let w[40,2] := NaN;
let a[40,3] := 0.000000;
let w[40,3] := 0.000000;