diff --git a/src/FootTrajectoryGeneration/FootTrajectoryGenerationStandard.cpp b/src/FootTrajectoryGeneration/FootTrajectoryGenerationStandard.cpp
index f6d2cf93c4d2d39a3378cbab8fdb11a1e6d9d1ba..5180cc835135e3ec7d12b3ce2c5f2ac5b06a6bc8 100644
--- a/src/FootTrajectoryGeneration/FootTrajectoryGenerationStandard.cpp
+++ b/src/FootTrajectoryGeneration/FootTrajectoryGenerationStandard.cpp
@@ -172,7 +172,7 @@ int FootTrajectoryGenerationStandard::SetParameters(int PolynomeIndex,
case Z_AXIS:
m_PolynomeZ->SetParameters(TimeInterval,Position);
- m_BsplinesZ->SetParameters(TimeInterval,Position,TimeInterval/3.0,Position*1.5);
+ m_BsplinesZ->SetParameters(TimeInterval,Position,TimeInterval/3.0,Position + m_StepHeight);
break;
case THETA_AXIS:
@@ -213,13 +213,16 @@ int FootTrajectoryGenerationStandard::SetParametersWithInitPosInitSpeed(int Poly
break;
case Z_AXIS:
- m_PolynomeZ->SetParametersWithInitPosInitSpeed(TimeInterval,FinalPosition,InitPosition,InitSpeed);
+
+ m_PolynomeZ->SetParametersWithInitPosInitSpeed(TimeInterval,FinalPosition,InitPosition,InitSpeed);
if ((FinalPosition - InitPosition)== m_StepHeight)
m_BsplinesZ->SetParametersWithInitPos(InitPosition,TimeInterval,InitPosition,0.5*TimeInterval,InitPosition+m_StepHeight);
- else if (FinalPosition >= InitPosition)
- m_BsplinesZ->SetParametersWithInitPos(InitPosition,TimeInterval,FinalPosition,1.5*TimeInterval/5.0,InitPosition+abs(FinalPosition-InitPosition)*1.5);
+ else if (FinalPosition > InitPosition)
+ m_BsplinesZ->SetParametersWithInitPos(InitPosition,TimeInterval,FinalPosition,1.5*TimeInterval/5.0,FinalPosition+m_StepHeight);//+abs(FinalPosition-InitPosition)*1.5);
+ else if (FinalPosition == InitPosition)
+ m_BsplinesZ->SetParametersWithInitPos(InitPosition,TimeInterval,FinalPosition,0.5*TimeInterval,FinalPosition);//+abs(FinalPosition-InitPosition)*1.5);
else if (FinalPosition < InitPosition)
- m_BsplinesZ->SetParametersWithInitPos(InitPosition,TimeInterval,FinalPosition,4.0*TimeInterval/5.0,InitPosition+abs(FinalPosition-InitPosition)*0.2);
+ m_BsplinesZ->SetParametersWithInitPos(InitPosition,TimeInterval,FinalPosition,3.7*TimeInterval/5.0,FinalPosition+m_StepHeight);//abs(FinalPosition-InitPosition)*0.3);
/*if (InitPosition == FinalPosition)
m_PolynomeZ->SetParametersWithInitPosInitSpeed(TimeInterval,FinalPosition,InitPosition,InitSpeed);
@@ -270,10 +273,12 @@ int FootTrajectoryGenerationStandard::SetParameters(int PolynomeIndex, double Ti
//{
if ((FinalPosition - InitPosition)== m_StepHeight)
m_BsplinesZ->SetParametersWithInitPos(InitPosition,TimeInterval,InitPosition,0.5*TimeInterval,InitPosition+m_StepHeight);
- else if (FinalPosition >= InitPosition)
- m_BsplinesZ->SetParametersWithInitPos(InitPosition,TimeInterval,FinalPosition,1.5*TimeInterval/5.0,InitPosition+abs(FinalPosition-InitPosition)*1.5);
+ else if (FinalPosition > InitPosition)
+ m_BsplinesZ->SetParametersWithInitPos(InitPosition,TimeInterval,FinalPosition,1.5*TimeInterval/5.0,FinalPosition+m_StepHeight);//InitPosition+abs(FinalPosition-InitPosition)*1.5);
+ else if (FinalPosition == InitPosition)
+ m_BsplinesZ->SetParametersWithInitPos(InitPosition,TimeInterval,FinalPosition,0.5*TimeInterval,FinalPosition);//InitPosition+abs(FinalPosition-InitPosition)*1.5);
else if (FinalPosition < InitPosition)
- m_BsplinesZ->SetParametersWithInitPos(InitPosition,TimeInterval,FinalPosition,4.0*TimeInterval/5.0,InitPosition+abs(FinalPosition-InitPosition)*0.2);
+ m_BsplinesZ->SetParametersWithInitPos(InitPosition,TimeInterval,FinalPosition,3.7*TimeInterval/5.0,FinalPosition+m_StepHeight);//+abs(FinalPosition-InitPosition)*0.3);
// else if (FinalPosition == InitPosition)
// m_PolynomeZ->SetParametersWithInitPosInitSpeed(TimeInterval,FinalPosition,InitPosition,InitSpeed);
diff --git a/src/FootTrajectoryGeneration/LeftAndRightFootTrajectoryGenerationMultiple.cpp b/src/FootTrajectoryGeneration/LeftAndRightFootTrajectoryGenerationMultiple.cpp
index 40b4aca5d12a081c31420aafe165feedbe57f2e1..e12e64617d0e30d824316251ad447566d4c0e649 100644
--- a/src/FootTrajectoryGeneration/LeftAndRightFootTrajectoryGenerationMultiple.cpp
+++ b/src/FootTrajectoryGeneration/LeftAndRightFootTrajectoryGenerationMultiple.cpp
@@ -125,14 +125,13 @@ void LeftAndRightFootTrajectoryGenerationMultiple::SetAnInterval(unsigned int In
FootInitialPosition.y,
FootInitialPosition.dy);
- // Z axis.
-
aFTGM->SetParametersWithInitPosInitSpeed(IntervalIndex,
- FootTrajectoryGenerationStandard::Z_AXIS,
- 0.95*m_DeltaTj[IntervalIndex],
- FootFinalPosition.z,
- FootInitialPosition.z,
- FootInitialPosition.dz);
+ FootTrajectoryGenerationStandard::Z_AXIS,
+ m_DeltaTj[IntervalIndex],
+ FootFinalPosition.z,
+ FootInitialPosition.z,
+ FootInitialPosition.dz);
+
// THETA
aFTGM->SetParametersWithInitPosInitSpeed(IntervalIndex,
@@ -160,9 +159,17 @@ void LeftAndRightFootTrajectoryGenerationMultiple::SetAnInterval(unsigned int In
// Init the first interval.
// X axis.
- aFTGM->SetParametersWithInitPosInitSpeed(IntervalIndex,
+ if (FootFinalPosition.z < FootInitialPosition.z )
+ aFTGM->SetParametersWithInitPosInitSpeed(IntervalIndex,
+ FootTrajectoryGenerationStandard::X_AXIS,
+ m_DeltaTj[IntervalIndex],
+ FootFinalPosition.x,
+ FootInitialPosition.x,
+ FootInitialPosition.dx);
+ else
+ aFTGM->SetParametersWithInitPosInitSpeed(IntervalIndex,
FootTrajectoryGenerationStandard::X_AXIS,
- 0.8*m_DeltaTj[IntervalIndex],
+ 0.75*m_DeltaTj[IntervalIndex],
FootFinalPosition.x,
FootInitialPosition.x,
FootInitialPosition.dx);
@@ -825,7 +832,6 @@ InitializeFromRelativeSteps(deque<RelativeFootPosition> &RelativeFootPositions,
RightFootTmpFinalPos.domega2 = 0.0;
RightFootTmpFinalPos.stepType = 1;
LeftFootTmpFinalPos = LeftFootTmpInitPos;
- //LeftFootTmpFinalPos.z = 0.0;
LeftFootTmpFinalPos.dz = 0.0;
LeftFootTmpFinalPos.stepType = -1;
}
@@ -894,6 +900,7 @@ InitializeFromRelativeSteps(deque<RelativeFootPosition> &RelativeFootPositions,
LeftFootTmpInitPos,
LeftFootTmpFinalPos);
+
ODEBUG("LeftInit: ( " << LeftFootTmpInitPos.x << " , "
<< LeftFootTmpInitPos.y << " , "
<< LeftFootTmpInitPos.z << " ) ( "
@@ -915,6 +922,10 @@ InitializeFromRelativeSteps(deque<RelativeFootPosition> &RelativeFootPositions,
RightFootTmpInitPos,
RightFootTmpFinalPos);
+ if (SupportFoot==1)
+ RightFootTmpFinalPos.z = CurrentSupportFootPosition(2,2);
+ else
+ LeftFootTmpFinalPos.z = CurrentSupportFootPosition(2,2);
ODEBUG("RightInit: ( " << RightFootTmpInitPos.x << " , "
<< RightFootTmpInitPos.y << " , "
<< RightFootTmpInitPos.z << " ) ( "
@@ -928,8 +939,7 @@ InitializeFromRelativeSteps(deque<RelativeFootPosition> &RelativeFootPositions,
<< RightFootTmpFinalPos.dx << " , "
<< RightFootTmpFinalPos.dy << " , "
<< RightFootTmpFinalPos.dz << " ) " );
-
- // Switch from single support to double support.
+ // Switch from single support to double support.
IntervalIndex++;
}
@@ -994,12 +1004,12 @@ InitializeFromRelativeSteps(deque<RelativeFootPosition> &RelativeFootPositions,
{
for(unsigned int lk=0;lk<2;lk++)
{
- //LeftFootTmpFinalPos.z = 0;//CurrentSupportFootPosition(2,2);
+ LeftFootTmpFinalPos.z = CurrentSupportFootPosition(2,2);
LeftFootTmpFinalPos.dz = 0;
SetAnInterval(IntervalIndex,m_LeftFootTrajectory,
LeftFootTmpFinalPos,
LeftFootTmpFinalPos);
- // RightFootTmpFinalPos.z = 0;
+ RightFootTmpFinalPos.z = CurrentSupportFootPosition(2,2);
RightFootTmpFinalPos.dz = 0;
SetAnInterval(IntervalIndex,m_RightFootTrajectory,
RightFootTmpFinalPos,
diff --git a/src/Mathematics/Bsplines.cpp b/src/Mathematics/Bsplines.cpp
index 931eed345645a627ad3a31556fd92d81f3bf5ff1..449d5b16dbb616bf4539d55fb58f888d314a3051 100644
--- a/src/Mathematics/Bsplines.cpp
+++ b/src/Mathematics/Bsplines.cpp
@@ -416,11 +416,11 @@ void ZBsplines::ZGenerateControlPoints(double IP, double FT, double FP, double T
control_points.push_back(A);
myfile1 << A.x <<" "<< A.y<< endl;
- A = {0.85*m_ToMP,m_MP};
+ A = {0.75*m_ToMP,m_MP};
control_points.push_back(A);
myfile1 << A.x <<" "<< A.y<< endl;
- A = {1.15*m_ToMP,m_MP};
+ A = {1.25*m_ToMP,m_MP};
control_points.push_back(A);
myfile1 << A.x <<" "<< A.y<< endl;
diff --git a/src/ZMPRefTrajectoryGeneration/AnalyticalMorisawaCompact.cpp b/src/ZMPRefTrajectoryGeneration/AnalyticalMorisawaCompact.cpp
index 33caa46a614dd7bb671dbf0998ee57f361017718..e986cbdb1468a78a575fb618039b16e9159571c1 100644
--- a/src/ZMPRefTrajectoryGeneration/AnalyticalMorisawaCompact.cpp
+++ b/src/ZMPRefTrajectoryGeneration/AnalyticalMorisawaCompact.cpp
@@ -2298,23 +2298,18 @@ namespace PatternGeneratorJRL
- if (RightFootAbsPos.z <= LeftFootAbsPos.z){
+ /* if (RightFootAbsPos.z <= LeftFootAbsPos.z){
aCOMPos.z[1] = (m_InitialPoseCoMHeight + RightFootAbsPos.z - aCOMPos.z[0])/m_SamplingPeriod;
aCOMPos.z[0] = m_InitialPoseCoMHeight + RightFootAbsPos.z;
}
else{
aCOMPos.z[1] = (m_InitialPoseCoMHeight + LeftFootAbsPos.z - aCOMPos.z[0])/m_SamplingPeriod;
aCOMPos.z[0] = m_InitialPoseCoMHeight + LeftFootAbsPos.z;
- }
+ }*/
- if (m_isStepStairOn == 0)
- {
- aCOMPos.z[0] = m_InitialPoseCoMHeight;
- }
- else{
- ComputeCoMz(t,aCOMPos.z[0]);
- }
+ ComputeCoMz(t,aCOMPos.z[0], aCOMPos.z[1]);
+
FinalCoMPositions.push_back(aCOMPos);
@@ -2329,41 +2324,82 @@ namespace PatternGeneratorJRL
}
- void AnalyticalMorisawaCompact::ComputeCoMz(double t, double &CoMz)
+ void AnalyticalMorisawaCompact::ComputeCoMz(double t, double &CoMz, double &CoMvelocity)
{
- int Index;
+ int Index,Index2;
double moving_time = m_RelativeFootPositions[0].SStime + m_RelativeFootPositions[0].DStime;
double deltaZ;
-
-
+ double CoMzpre = CoMz;
+ double variable=0.1,variableright = 0.9 ,variableleft = 0.0;
+ double variableright1 = 0.9 ,variableleft1 = 0.0;
+ // put first leg on the stairs with CoM going down variable % of step height
if (t >= moving_time){
- /* Index = int((t-moving_time)/(moving_time*2));
- if (Index < (m_AbsoluteSupportFootPositions.size() - 1)/2){
- deltaZ = (m_AbsoluteSupportFootPositions[2*Index + 1].z - m_AbsoluteSupportFootPositions[2*Index].z );
- CoMz = t*deltaZ/(moving_time*2) + ( m_InitialPoseCoMHeight - (2*Index + 1)*moving_time*deltaZ/(moving_time*2) ) + m_AbsoluteSupportFootPositions[2*Index].z ;
- */
- Index = int((t-moving_time)/(moving_time*2));
- if (Index < (m_AbsoluteSupportFootPositions.size() - 1)/2){
- deltaZ = (m_AbsoluteSupportFootPositions[2*Index + 1].z - m_AbsoluteSupportFootPositions[2*Index].z );
- if (deltaZ > 0 && t>=(2*Index+2)*moving_time && t<=(2*Index+2)*moving_time + m_RelativeFootPositions[2*Index+1].SStime)
- CoMz = t*deltaZ/m_RelativeFootPositions[0].SStime + m_InitialPoseCoMHeight - (2*Index + 2)*moving_time*deltaZ/m_RelativeFootPositions[0].SStime + m_AbsoluteSupportFootPositions[2*Index].z ;
- else if (deltaZ > 0 && t>(2*Index+2)*moving_time + m_RelativeFootPositions[2*Index+1].SStime)
- CoMz = CoMz;
- if (deltaZ < 0 && t>=(2*Index+1)*moving_time && t<=(2*Index+2)*moving_time )
- CoMz = t*deltaZ/moving_time + m_InitialPoseCoMHeight - (2*Index + 1)*moving_time*deltaZ/moving_time + m_AbsoluteSupportFootPositions[2*Index].z ;
- else if (deltaZ > 0 && t>(2*Index+2)*moving_time + m_RelativeFootPositions[2*Index+1].SStime)
- CoMz = CoMz;
+ Index2 = int(t/moving_time);
+
+
+ if (Index2 < m_AbsoluteSupportFootPositions.size())
+ {
+ // climbing
+ if (m_AbsoluteSupportFootPositions[Index2].z > m_AbsoluteSupportFootPositions[Index2-1].z)
+ {
+ deltaZ = (-m_AbsoluteSupportFootPositions[Index2].z + m_AbsoluteSupportFootPositions[Index2-1].z );
+ if (t <= Index2*moving_time + variableright*m_RelativeFootPositions[Index2].SStime && t >= Index2*moving_time + variableleft*m_RelativeFootPositions[Index2].SStime)
+ CoMz = (t-Index2*moving_time - variableleft*m_RelativeFootPositions[Index2].SStime)*variable*deltaZ/((variableright-variableleft)*m_RelativeFootPositions[Index2].SStime) + m_InitialPoseCoMHeight + m_AbsoluteSupportFootPositions[Index2-1].z ;
+ else if (t < Index2*moving_time + variableleft*m_RelativeFootPositions[Index2].SStime)
+ CoMz = m_InitialPoseCoMHeight + m_AbsoluteSupportFootPositions[Index2-1].z ;
+ else
+ CoMz = m_InitialPoseCoMHeight + m_AbsoluteSupportFootPositions[Index2-1].z + variable*deltaZ;
+ }
+ else if (m_AbsoluteSupportFootPositions[Index2].z == m_AbsoluteSupportFootPositions[Index2-1].z && m_RelativeFootPositions[Index2-1].sz > 0)
+ {
+ deltaZ = (m_AbsoluteSupportFootPositions[Index2].z - m_AbsoluteSupportFootPositions[Index2-2].z );
+ if (t <= Index2*moving_time + variableright1*m_RelativeFootPositions[Index2].SStime && t >= Index2*moving_time + variableleft1*m_RelativeFootPositions[Index2].SStime)
+ CoMz = (t-Index2*moving_time - variableleft1*m_RelativeFootPositions[Index2].SStime)*(1+variable)*deltaZ/((variableright1-variableleft1)*m_RelativeFootPositions[Index2].SStime) + m_InitialPoseCoMHeight + m_AbsoluteSupportFootPositions[Index2-2].z - variable*deltaZ ;
+ else if (t < Index2*moving_time + variableleft1*m_RelativeFootPositions[Index2].SStime)
+ CoMz = m_InitialPoseCoMHeight + m_AbsoluteSupportFootPositions[Index2-2].z - variable*deltaZ;
+ else
+ CoMz = m_InitialPoseCoMHeight + m_AbsoluteSupportFootPositions[Index2].z;
+ }
+
+ // going down et normal walk
+ if (m_AbsoluteSupportFootPositions[Index2].z <= m_AbsoluteSupportFootPositions[Index2-1].z && m_RelativeFootPositions[Index2-1].sz <= 0)
+ {
+ deltaZ = (m_AbsoluteSupportFootPositions[Index2].z - m_AbsoluteSupportFootPositions[Index2-1].z );
+ if (t <= Index2*moving_time + 0.9*m_RelativeFootPositions[Index2].SStime )
+ CoMz = (t-Index2*moving_time)*deltaZ/(0.9*m_RelativeFootPositions[Index2].SStime) + m_InitialPoseCoMHeight + m_AbsoluteSupportFootPositions[Index2-1].z ;
+ else
+ CoMz = m_InitialPoseCoMHeight + m_AbsoluteSupportFootPositions[Index2].z;
}
}
+
+ else
+ CoMz = m_InitialPoseCoMHeight + m_AbsoluteSupportFootPositions.back().z;
+
+
+
+ }
else
- CoMz = m_InitialPoseCoMHeight;
+ CoMz = m_InitialPoseCoMHeight ;
+ CoMvelocity = (CoMz -CoMzpre)/m_SamplingPeriod;
}
}
+ /*Index = int((t-moving_time)/(moving_time*2));
+ if (Index < (m_AbsoluteSupportFootPositions.size() - 1)/2){
+ deltaZ = (m_AbsoluteSupportFootPositions[2*Index + 1].z - m_AbsoluteSupportFootPositions[2*Index].z );
+ if (deltaZ > 0 && t>=(2*Index+2)*moving_time && t<=(2*Index+2)*moving_time + m_RelativeFootPositions[2*Index+1].SStime)
+ CoMz = t*deltaZ/m_RelativeFootPositions[0].SStime + m_InitialPoseCoMHeight - (2*Index + 2)*moving_time*deltaZ/m_RelativeFootPositions[0].SStime + m_AbsoluteSupportFootPositions[2*Index].z ;
+ else if (deltaZ > 0 && t>(2*Index+2)*moving_time + m_RelativeFootPositions[2*Index+1].SStime)
+ CoMz = CoMz + m_AbsoluteSupportFootPositions[2*Index].z;
+ if (deltaZ < 0 && t>=(2*Index+1)*moving_time && t<=(2*Index+2)*moving_time )
+ CoMz = t*deltaZ/moving_time + m_InitialPoseCoMHeight - (2*Index + 1)*moving_time*deltaZ/moving_time + m_AbsoluteSupportFootPositions[2*Index].z ;
+ else if (deltaZ > 0 && t>(2*Index+2)*moving_time + m_RelativeFootPositions[2*Index+1].SStime)
+ CoMz = CoMz + m_AbsoluteSupportFootPositions[2*Index].z;
+ }*/
diff --git a/src/ZMPRefTrajectoryGeneration/AnalyticalMorisawaCompact.hh b/src/ZMPRefTrajectoryGeneration/AnalyticalMorisawaCompact.hh
index 0ddfe13c2acc20fe869dd38b35d833518fd8eb15..a5ced615ba6cc7ea6f1c281004bd9187571963cd 100644
--- a/src/ZMPRefTrajectoryGeneration/AnalyticalMorisawaCompact.hh
+++ b/src/ZMPRefTrajectoryGeneration/AnalyticalMorisawaCompact.hh
@@ -556,7 +556,7 @@ namespace PatternGeneratorJRL
deque<FootAbsolutePosition> & FinalRightFootAbsolutePositions);
- void ComputeCoMz(double t, double &CoMz);
+ void ComputeCoMz(double t, double &CoMz, double &CoMvelocity);
/*! \brief LU decomposition of the Z matrix. */
MAL_MATRIX_TYPE(double) m_AF;
diff --git a/tests/TestMorisawa2007.cpp b/tests/TestMorisawa2007.cpp
index bb0d227c93fabcd7abd85cf1424e3a08d2165c80..c335e261872db318a871ca74817d4e8ddef9ff5c 100644
--- a/tests/TestMorisawa2007.cpp
+++ b/tests/TestMorisawa2007.cpp
@@ -351,13 +351,13 @@ protected:
ostringstream oss(std::ostringstream::ate);
if ( iteration == 0 ){
- oss.str("/tmp/Step_Stair_Down.pos");
+ oss.str("/tmp/Step_Stair_Down_Seq.pos");
aFileName = oss.str();
aof.open(aFileName.c_str(),ofstream::out);
aof.close();
}
///----
- oss.str("/tmp/Step_Stair_Down.pos");
+ oss.str("/tmp/Step_Stair_Down_Seq.pos");
aFileName = oss.str();
aof.open(aFileName.c_str(),ofstream::app);
aof.precision(8);
@@ -373,12 +373,12 @@ protected:
aof.close();
if ( iteration == 0 ){
- oss.str("/tmp/Step_Stair_Down.hip");
+ oss.str("/tmp/Step_Stair_Down_Seq.hip");
aFileName = oss.str();
aof.open(aFileName.c_str(),ofstream::out);
aof.close();
}
- oss.str("/tmp/Step_Stair_Down.hip");
+ oss.str("/tmp/Step_Stair_Down_Seq.hip");
aFileName = oss.str();
aof.open(aFileName.c_str(),ofstream::app);
aof.precision(8);
@@ -391,7 +391,7 @@ protected:
aof.close();
if ( iteration == 0 ){
- oss.str("/tmp/Step_Stair_Down.zmp");
+ oss.str("/tmp/Step_Stair_Down_Seq.zmp");
aFileName = oss.str();
aof.open(aFileName.c_str(),ofstream::out);
aof.close();
@@ -402,7 +402,7 @@ protected:
aSupportState = m_OneStep.LeftFootPosition ;
else
aSupportState = m_OneStep.RightFootPosition ;
- oss.str("/tmp/Step_Stair_Down.zmp");
+ oss.str("/tmp/Step_Stair_Down_Seq.zmp");
aFileName = oss.str();
aof.open(aFileName.c_str(),ofstream::app);
aof.precision(8);
@@ -498,16 +498,44 @@ protected:
{
istringstream strm2(":stepstairseq 0.0 -0.105 0.0 0.0\
- 0.3 0.19 -0.086 0.0\
- 0.0 -0.19 0.0 0.0\
- 0.3 0.19 0.086 0.0\
+ 0.3 0.19 -0.15 0.0\
0.0 -0.19 0.0 0.0\
- 0.3 0.19 0.0 0.0\
+ 0.3 0.19 -0.15 0.0\
0.0 -0.19 0.0 0.0\
- 0.3 0.19 0.0 0.0\
+ 0.3 0.19 -0.15 0.0\
0.0 -0.19 0.0 0.0\
");
aPGI.ParseCmd(strm2);
+ /*0.0 -0.105 0.0 0.0\
+ 0.2 0.19 0.0 0.0\
+ 0.2 -0.19 0.0 0.0\
+ 0.2 0.19 0.0 0.0\
+ 0.0 -0.19 0.0 0.0\
+
+ 0.2 0.19 0.0 0.0\
+ 0.2 -0.19 0.0 0.0\
+ 0.2 0.19 0.0 0.0\
+ 0.2 -0.19 0.0 0.0\
+ 0.1 0.19 0.0 0.0\
+ 0.4 -0.19 0.086 0.0\
+ 0.0 0.19 0.0 0.0\
+ 0.4 -0.19 0.086 0.0\
+ 0.0 0.19 0.0 0.0\
+ 0.4 -0.19 0.086 0.0\
+ 0.0 0.19 0.0 0.0\
+ 0.2 -0.19 0.0 0.0\
+ 0.2 0.19 0.0 0.0\
+ 0.0 -0.19 0.0 0.0\
+ 0.4 0.19 -0.086 0.0\
+ 0.0 -0.19 0.0 0.0\
+ 0.4 0.19 -0.086 0.0\
+ 0.0 -0.19 0.0 0.0\
+ 0.4 0.19 -0.086 0.0\
+ 0.0 -0.19 0.0 0.0\
+ 0.2 0.19 0.0 0.0\
+ 0.2 -0.19 0.0 0.0\
+ 0.2 0.19 0.0 0.0\
+ 0.0 -0.19 0.0 0.0\*/
}
}